Foot structure of biped robot

Abstract

The utility model discloses a foot structure of a biped robot, which comprises a mechanical foot front end block and a mechanical foot rear end block, and further comprises a mechanical foot front end assembly, a mechanical foot middle end assembly, a mechanical foot rear end assembly and a damping stabilizing structure, the mechanical foot front end assembly is arranged on the mechanical foot front end block, the mechanical foot rear end assembly is arranged on the mechanical foot rear end block, the mechanical foot middle end assembly is arranged between the mechanical foot front end assembly and the mechanical foot rear end assembly, and the damping stabilizing structures are arranged on the mechanical foot front end block and the mechanical foot rear end block. According to the foot structure of the biped robot, the damping and stabilizing structures are arranged at the front end of the mechanical foot and the rear end of the mechanical foot, so that when the robot moves, the air bag buffers and dampens, meanwhile, the air bag stretches out and draws back, the whole structure is stable, and the situation that the whole structure is unstable when the foot bottom ground of a ground robot is uneven is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of biped robots, in particular to a foot structure of a biped robot. Background Art

[0002] A bipedal robot is a robot that simulates human walking on two legs. Bipedal robots are more flexible and maneuverable than general mobile robots. The bipedal walking model is a variable structure mechanism, with an open chain for single-leg support and a closed chain for double-leg support. In order to ensure the stability of the gait during walking, strict constraints should be imposed on the walking gait.

[0003] Most of the existing bipedal robots have flat-foot structures. When walking on uneven ground, protrusions on the ground reduce the number of support points of the robot's feet and cause the support points to slip, thereby affecting the robot's gait stability, causing the robot's overall balance to be unbalanced, and causing it to fall.

[0004] Therefore, the utility model provides a foot structure of a biped robot to solve the above problems. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a foot structure of a biped robot to solve the above problems.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a foot structure of a bipedal robot, including a mechanical foot front end block and a mechanical foot rear end block, and also including a mechanical foot front end component, a mechanical foot mid-end component, a mechanical foot rear end component and a shock-absorbing stabilization structure, the mechanical foot front end component is arranged on the mechanical foot front end block, the mechanical foot rear end component is arranged on the mechanical foot rear end block, the mechanical foot mid-end component is arranged between the mechanical foot front end component and the mechanical foot rear end component, and the shock-absorbing stabilization structure is arranged on the mechanical foot front end block and the mechanical foot rear end block.

[0007] Preferably, the front end assembly of the mechanical foot includes a first connecting member, the first connecting member is fixedly connected to the front end of the front end block of the mechanical foot, the rear end of the first connecting member is rotatably connected to the second connecting member, the side ends of the second connecting member are rotatably connected to the side walls of the front end block of the mechanical foot, and the rear side of the second connecting member is rotatably connected to the first adapter.

[0008] Preferably, the front end assembly of the mechanical foot also includes a driving motor, which is arranged on the upper side of the front end block of the mechanical foot, and the output end of the driving motor is fixedly connected to a first gear, and the rear side end of the front end block of the mechanical foot is rotatably connected to a first rotating shaft, and the side end of the first rotating shaft is fixedly connected to a second gear, and the first gear and the second gear are meshed with each other.

[0009] Preferably, a first pneumatic rod is fixedly connected to the first adapter, an end of the first pneumatic rod away from the first adapter is rotatably connected to a connecting shaft, a side end of the connecting shaft is fixedly connected to a second slider, and the connecting shaft is rotatably connected to an adapter plate, the front end assembly of the mechanical foot also includes a first connecting rod and a first electric rod, a side end of the first connecting rod is provided with a sliding groove, the second slider is slidably connected in the sliding groove, an end of the adapter plate away from the first pneumatic rod is fixedly connected to the first slider, and the first slider is provided on the first electric rod.

[0010] Preferably, the front end assembly of the mechanical foot further includes a connecting ring, the connecting ring is fixedly connected to the side end of the front end block of the mechanical foot, the first rotating shaft is arranged on the inner side of the connecting ring, and the first sliding block is arranged on the connecting ring.

[0011] Preferably, the mid-end assembly of the mechanical foot includes a second hydraulic rod and a first rotating plate, one end of the second hydraulic rod is fixedly connected to the first rotating plate, the other end of the first rotating plate is fixedly connected to the first rotating shaft through a connecting block, a first hydraulic rod is provided at a side end of the first rotating plate, a second connecting plate is rotatably connected to the bottom end of the first rotating plate, an end of the second connecting plate away from the first rotating plate is rotatably connected to the second rotating plate, and a spring is provided between the front end block of the mechanical foot and the rear end block of the mechanical foot.

[0012] Preferably, the rear end assembly of the mechanical foot comprises a third hydraulic rod, the third hydraulic rod is fixedly connected to the rear end block of the mechanical foot, and a transfer block is provided on the side of the second rotating plate away from the second connecting rod.

[0013] Preferably, the shock-absorbing stabilizing structure includes an electric air pump, a plurality of connecting holes are provided on the front end block and the rear end block of the mechanical foot, an airbag is provided at the bottom of the electric air pump, and the airbag is respectively arranged on the front end block and the rear end block of the mechanical foot through the connecting holes.

[0014] Beneficial Effects

[0015] The utility model provides a foot structure of a biped robot. Compared with the prior art, it has the following beneficial effects:

[0016] (1) A foot structure of a bipedal robot, wherein a shock-absorbing and stabilizing structure is arranged at the front end and the rear end of the mechanical foot, so that when the robot moves, airbags are used for cushioning and shock-absorbing. At the same time, the airbags are expanded and contracted to make the whole body stable, thereby avoiding overall instability when the ground under the robot's feet is uneven.

[0017] (2) A foot structure of a biped robot, which adjusts the direction of the force exerted on the front end of the mechanical foot by the extension of the second hydraulic rod through the rotation angle of the first rotation axis of the front end assembly of the mechanical foot and the rotation angle of the first rotation plate. At the same time, the force exerted by the extension and retraction of the first pneumatic rod is adjusted in coordination, so that when the front end of the mechanical foot is tilted on the ground, it can be adjusted to ensure the stability of the overall gait. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a side view of the overall structure of the utility model;

[0019] Figure 2 It is the overall structure diagram of the utility model;

[0020] Figure 3 It is a side view of the electric air pump structure of the utility model;

[0021] Figure 4 It is an oblique view of the overall structure of the utility model;

[0022] Figure 5 It is a side view of the overall structure of the utility model;

[0023] Figure 6 This is the first electric rod diagram of the utility model.

[0024] In the figure, 1 is the front end of the mechanical foot; 2 is the rear end of the mechanical foot;

[0025] Mechanical foot front end assembly; 31, first connecting member; 32, second connecting member; 33, first adapter; 34, first gear; 35, second gear; 36, driving motor; 37, first pneumatic rod; 38, first electric rod; 39, first slider; 391, adapter plate; 392, second slider; 393, connecting shaft; 394, first rotating shaft; 395, connecting ring; 396, first connecting rod;

[0026] Mechanical foot mid-end assembly: 41, second hydraulic rod; 42, spring; 43, first hydraulic rod; 44, second connecting rod; 45, first rotating plate; 46, second connecting plate; 47, second rotating plate;

[0027] Mechanical foot rear end assembly: 51, third hydraulic rod; 52, adapter block;

[0028] Shock-absorbing and stabilizing structure; 61. connecting hole; 62. air bag; 63. electric air pump. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Embodiment 1:

[0031] See also Figure 1-6 A foot structure of a bipedal robot includes a mechanical foot front end block 1 and a mechanical foot rear end block 2, and also includes a mechanical foot front end component, a mechanical foot middle end component, a mechanical foot rear end component and a shock-absorbing stabilizing structure. The mechanical foot front end component is arranged on the mechanical foot front end block 1, the mechanical foot rear end component is arranged on the mechanical foot rear end block 2, the mechanical foot middle end component is arranged between the mechanical foot front end component and the mechanical foot rear end component, and the shock-absorbing stabilizing structure is arranged on the mechanical foot front end block 1 and the mechanical foot rear end block 2.

[0032] The front end assembly of the mechanical foot includes a first connecting member 31, which is fixedly connected to the front end of the front end block 1 of the mechanical foot. The rear end of the first connecting member 31 is rotatably connected to the second connecting member 32. The side ends of the second connecting member 32 are rotatably connected to the side walls of the front end block 1 of the mechanical foot. The rear side of the second connecting member 32 is rotatably connected to the first adapter 33.

[0033] The front end assembly of the mechanical foot also includes a drive motor 36, which is arranged on the upper side of the front end block 1 of the mechanical foot. The output end of the drive motor 36 is fixedly connected to the first gear 34. The rear side end of the front end block 1 of the mechanical foot is rotatably connected to the first rotating shaft 394. The side end of the first rotating shaft 394 is fixedly connected to the second gear 35, and the first gear 34 and the second gear 35 are meshed with each other.

[0034] The first adapter 33 is fixedly connected to a first pneumatic rod 37, an end of the first pneumatic rod 37 away from the first adapter 33 is rotatably connected to a connecting shaft 393, a side end of the connecting shaft 393 is fixedly connected to a second slider 392, the connecting shaft 393 is rotatably connected to an adapter plate 391, the front end assembly of the mechanical foot also includes a first connecting rod 396 and a first electric rod 38, a side end of the first connecting rod 396 is provided with a slide groove, the second slider 392 is slidably connected in the slide groove, an end of the adapter plate 391 away from the first pneumatic rod 37 is fixedly connected to a first slider 39, and the first slider 39 is provided on the first electric rod 38.

[0035] The front end assembly of the mechanical foot also includes a connecting ring 395 , which is fixedly connected to the side end of the front end block 1 of the mechanical foot. The first rotating shaft 394 is arranged on the inner side of the connecting ring 395 , and the first sliding block 39 is arranged on the connecting ring 395 .

[0036] The middle-end assembly of the mechanical foot includes a second hydraulic rod 41 and a first rotating plate 45, one end of the second hydraulic rod 41 is fixedly connected to the first rotating plate 45, the other end of the first rotating plate 45 is fixedly connected to the first rotating shaft 394 through a connecting block, a first hydraulic rod 43 is arranged on the side end of the first rotating plate 45, a second connecting plate 46 is rotatably connected to the bottom end of the first rotating plate 45, and a second connecting plate 47 is rotatably connected to the end of the second connecting plate 46 away from the first rotating plate 45, and a spring 42 is arranged between the front end block 1 of the mechanical foot and the rear end block 2 of the mechanical foot.

[0037] The rear end assembly of the mechanical foot includes a third hydraulic rod 51 , which is fixedly connected to the rear end block 2 of the mechanical foot. A transfer block 52 is provided on a side of the second rotating plate 47 away from the second connecting rod 44 .

[0038] The shock-absorbing stabilizing structure includes an electric air pump 63, a plurality of connecting holes 61 are provided on the front end block 1 of the mechanical foot and the rear end block 2 of the mechanical foot, an air bag 62 is provided at the bottom of the electric air pump 63, and the air bag 62 is respectively provided on the front end block 1 of the mechanical foot and the rear end block 2 of the mechanical foot through the connecting holes 61.

[0039] Working process: When the biped robot starts to move, the legs are raised, driving the second connecting rod 44 to move upward, and the second connecting rod 44 moves upward, driving the entire mechanism to move upward. When the legs fall, the entire mechanism moves downward, and the drive motor 36 is started to drive the first gear 34 to rotate. The rotation of the first gear 34 drives the second gear 35 to rotate, and the first hydraulic rod 43 is coordinated to adjust the angle between the first rotating plate 45 and the second connecting plate 46, and then the second hydraulic rod 41 is coordinated to push the first rotating shaft 394, so that the front end 1 and the rear end of the entire mechanical foot are tilted downward. At the same time, the first electric rod 38 drives the first slider 39 to move up and down, the first slider 39 drives the adapter plate 391 to move up and down, the second slider 392 drives the connecting shaft 393 to move up and down, and the connecting shaft 393 drives the second slider 392 to move along the internal groove of the first connecting rod 396. At the same time, the first pneumatic rod 37 is extended and retracted. , so that the front end of the front end 1 of the mechanical foot is lifted, and the second hydraulic rod 41 pushes the first rotating shaft 394, so that the front end 1 of the entire mechanical foot remains horizontal when it is about to land. When the front end 1 of the mechanical foot lands, the electric air pump 63 arranged on the front end 1 of the mechanical foot is started, so that the air bag 62 is filled with air pressure, and the air bag 62 cushions the entirety. At the same time, when uneven stones appear, the air bag 62 cushions so that the expansion and contraction states of several air bags 62 are different, so as to avoid the overall stability of the front end 1 of the mechanical foot. When the front end 1 of the mechanical foot lands, the spring 42 stretches, so that the rear end 2 of the mechanical foot is subjected to the force of the second hydraulic rod 41, and the adapter block 52 stretches, so that the rear end 2 of the mechanical foot tends to be horizontal as a whole after the front end 1 of the mechanical foot lands, and then the electric air pump 63 is used to fill the inside of the air bag 62 with gas. When the rear end 2 of the mechanical foot lands, the air bag 62 compresses and cushions, so as to make the entirety stable.

[0040] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A foot structure of a biped robot, comprising a mechanical foot front end block (1) and a mechanical foot rear end block (2), characterized in that: The invention also comprises a mechanical foot front end component, a mechanical foot middle end component, a mechanical foot rear end component and a shock absorbing and stabilizing structure, wherein the mechanical foot front end component is arranged on the mechanical foot front end block (1), the mechanical foot rear end component is arranged on the mechanical foot rear end block (2), the mechanical foot middle end component is arranged between the mechanical foot front end component and the mechanical foot rear end component, and the shock absorbing and stabilizing structure is arranged on the mechanical foot front end block (1) and the mechanical foot rear end block (2).

2. The foot structure of a biped robot according to claim 1, characterized in that: The front end assembly of the mechanical foot comprises a first connecting member (31), the first connecting member (31) being fixedly connected to the front end of the front end block (1) of the mechanical foot, the rear end of the first connecting member (31) being rotatably connected to a second connecting member (32), the side ends of both sides of the second connecting member (32) being rotatably connected to the side walls of the front end block (1) of the mechanical foot, and the rear side of the second connecting member (32) being rotatably connected to a first adapter (33).

3. The foot structure of a biped robot according to claim 2, characterized in that: The front end assembly of the mechanical foot further comprises a driving motor (36), wherein the driving motor (36) is arranged on the upper side of the front end block (1) of the mechanical foot, and the output end of the driving motor (36) is fixedly connected to a first gear (34), and the rear side end of the front end block (1) of the mechanical foot is rotatably connected to a first rotating shaft (394), and the side end of the first rotating shaft (394) is fixedly connected to a second gear (35), and the first gear (34) and the second gear (35) are meshed with each other.

4. The foot structure of a biped robot according to claim 3, characterized in that: The first adapter (33) is fixedly connected to a first pneumatic rod (37), one end of the first pneumatic rod (37) away from the first adapter (33) is rotatably connected to a connecting shaft (393), a side end of the connecting shaft (393) is fixedly connected to a second slider (392), and the connecting shaft (393) is rotatably connected to an adapter plate (391), and the front end assembly of the mechanical foot further comprises a first connecting rod (396) and a first electric rod (38), a side end of the first connecting rod (396) is provided with a slide groove, the second slider (392) is slidably connected in the slide groove, and one end of the adapter plate (391) away from the first pneumatic rod (37) is fixedly connected to a first slider (39), and the first slider (39) is provided on the first electric rod (38).

5. The foot structure of a biped robot according to claim 4, characterized in that: The mechanical foot front end assembly further comprises a connecting ring (395), wherein the connecting ring (395) is fixedly connected to a side end of the mechanical foot front end block (1), the first rotating shaft (394) is arranged inside the connecting ring (395), and the first sliding block (39) is arranged on the connecting ring (395).

6. The foot structure of a biped robot according to claim 1, characterized in that: The mechanical foot mid-end assembly comprises a second hydraulic rod (41) and a first rotating plate (45), one end of the second hydraulic rod (41) is fixedly connected to the first rotating plate (45), the other end of the first rotating plate (45) is fixedly connected to the first rotating shaft (394) via a connecting block, a first hydraulic rod (43) is arranged at a side end of the first rotating plate (45), a second connecting plate (46) is rotatably connected to the bottom end of the first rotating plate (45), and an end of the second connecting plate (46) away from the first rotating plate (45) is rotatably connected to the second rotating plate (47), and a spring (42) is arranged between the front end block (1) of the mechanical foot and the rear end block (2) of the mechanical foot.

7. The foot structure of a biped robot according to claim 6, characterized in that: The mechanical foot rear end assembly comprises a third hydraulic rod (51), the third hydraulic rod (51) is fixedly connected to the mechanical foot rear end block (2), and a transfer block (52) is provided on a side of the second rotating plate (47) away from the second connecting rod (44).

8. The foot structure of a biped robot according to claim 1, characterized in that: The shock-absorbing stabilizing structure comprises an electric air pump (63), a plurality of connection holes (61) are provided on the front end block (1) of the mechanical foot and the rear end block (2) of the mechanical foot, an air bag (62) is provided at the bottom of the electric air pump (63), and the air bag (62) is respectively provided on the front end block (1) of the mechanical foot and the rear end block (2) of the mechanical foot through the connection holes (61).

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