Robot sole segmented walking device

Abstract

The utility model relates to the technical field of robots, in particular to a robot sole segmented walking device which comprises a shank part, an ankle seat, a rear sole part and a front sole part. The ankle base can swing front and back, the rear sole part can swing up and down, and the front sole part can swing up and down. Compared with a walking device of a traditional robot, the walking device can execute the action that the tiptoe touches the ground and the heel lifts off the ground, and can also execute the action that the tiptoe lifts off the ground and the heel touches the ground. The rear sole part can swing left and right, and the front sole part can swing left and right along with the rear sole part. Compared with a walking device of a traditional robot, left turning actions of the front foot sole part and the rear foot sole part can be executed, and right turning actions of the front foot sole part and the rear foot sole part can also be executed. As a whole, the robot sole segmented walking device is split into a plurality of modules, normal gaits of human beings are restored as much as possible during working, the requirements of a supporting phase and a swinging phase are met, and the walking speed of a robot is increased.

Description

Technical Field

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

[0002] When humans walk in a normal gait, first the heel touches the ground, then the heel and the forefoot touch the ground, then the heel leaves the ground, and then the forefoot changes from the grounded state to the grounded state. Then, the heel touches the ground again. The whole process is divided into two stages. The first stage, from the heel touching the ground to the toes leaving the ground, is called the support phase; the second stage, from the toes leaving the ground to the heel touching the ground again, is called the swing phase. The forefoot and heel touch the ground separately at different stages of walking. Only when the heel and toes can touch the ground and leave the ground separately can we walk in a normal posture and speed up our pace.

[0003] For traditional robots, the feet are often two plate-shaped support bases, which make it difficult to restore the normal gait of humans when working, thus limiting the walking speed of the robot. Utility Model Content

[0004] The utility model provides a robot foot segmented walking device, which is used to solve the problem that the two feet of a traditional robot are often two plate-shaped support seats, which are difficult to restore the normal gait of humans during work and restrict the walking speed of the robot.

[0005] The utility model provides a robot foot segmented walking device, comprising:

[0006] Lower leg;

[0007] An ankle seat, the top of which is rotatably connected to the bottom of the calf portion via a first rotating shaft;

[0008] The rear sole part is rotatably connected to the bottom of the ankle seat through a second rotating shaft;

[0009] The front sole part, the rear end of which is rotatably connected to the front end of the rear sole part via a third rotating shaft;

[0010] The axes of the first rotating shaft and the third rotating shaft are parallel to each other; the axes of the second rotating shaft and the first rotating shaft are perpendicular to each other; the ankle seat can swing forward and backward; the rear sole can swing up and down, and can swing left and right; the front sole can swing up and down, and the rear sole can swing left and right.

[0011] In some embodiments, it also includes:

[0012] A first transmission rod is fixedly mounted on the rear end of the rear sole portion, and a first connecting ball is provided at each end;

[0013] There are two first linear actuators, both of which are tilted, and one end of the cylinder away from the output shaft is rotatably connected to the rear end of the calf, and one end of the output shaft away from the cylinder is provided with a first mounting hole adapted to the first connecting ball;

[0014] A second transmission rod is fixedly mounted on the rear end of the forefoot portion, and a second connecting ball is arranged in the middle;

[0015] The second linear drive is tilted, and one end of the cylinder away from the output shaft is rotatably connected to the front end of the calf, and one end of the output shaft away from the cylinder is provided with a second mounting hole adapted to the second connecting ball.

[0016] In some embodiments, the first linear drive is a servo electric cylinder, an electric push rod, a pneumatic cylinder or a hydraulic cylinder; the second linear drive is a servo electric cylinder, an electric push rod, a pneumatic cylinder or a hydraulic cylinder.

[0017] In some embodiments, it also includes:

[0018] The rear pressure sensor is installed on the sole of the rear foot;

[0019] Front pressure sensor, installed on the forefoot.

[0020] In some embodiments, it also includes:

[0021] The rear buffer part is installed on the rear sole of the foot;

[0022] The front buffer is installed on the forefoot.

[0023] In some of the embodiments, the calf portion is a hollow structure; the ankle seat is a hollow structure; the rear sole portion is a hollow structure; and the forefoot portion is a hollow structure.

[0024] In some embodiments, first side panels are respectively provided on opposite sides of the calf portion; the bottoms of the first side panels on both sides are arc-shaped structures;

[0025] The second side panels are respectively arranged on opposite sides of the rear sole; and the tops of the second side panels on both sides are respectively arranged with clearance grooves;

[0026] The ankle seat is a tapered structure.

[0027] The beneficial effects of the utility model are as follows: the robot foot segmented walking device of the utility model is provided with a calf, an ankle seat, a rear sole and a forefoot, the ankle seat can swing forward and backward, the rear sole can swing up and down, and the forefoot can swing up and down. Compared with the walking device of the traditional robot, it can not only perform the action of the toes touching the ground and the heels off the ground, but also perform the action of the toes leaving the ground and the heels touching the ground. The rear sole can also swing left and right, and the forefoot can swing left and right with the rear sole. Compared with the walking device of the traditional robot, it can not only perform the action of the forefoot and the rear sole turning left, but also perform the action of the forefoot and the rear sole turning right. On the whole, the robot foot segmented walking device is divided into multiple modules, which can restore the normal gait of humans as much as possible when working. When walking and striding, the entire sole can be adjusted in four directions to meet the requirements of the support phase and the swing phase, so that the robot can make a beautiful gait close to that of human walking, which is conducive to improving the walking speed of the robot. When stepping, touching the ground, and leaving the ground, the front and rear soles of the feet are adjusted in four directions, so that the center of gravity of the robot transitions smoothly, which is conducive to improving the balance and stability of the bipedal robot when walking. In addition, the bipedal robot can adapt to various road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic structural diagram of some specific embodiments of a robot foot segmented walking device of the utility model;

[0029] Figure 2 yes Figure 1 The schematic diagram of the structure of the robot foot segmented walking device from another perspective;

[0030] Figure 3 yes Figure 1 The schematic structural diagrams of some specific embodiments of the ankle seat in the robot foot segmented walking device shown;

[0031] Figure 4 yes Figure 1 A schematic diagram of the combined structure of the rear sole part, the second rotating shaft, the third rotating shaft, the first transmission rod and the rear pressure sensor in the robot sole segmented walking device shown;

[0032] Figure 5 yes Figure 1 A schematic diagram of the combined structure of the front sole part, the second transmission rod and the front pressure sensor in the robot sole segmented walking device shown;

[0033] Figure 6 yes Figure 1 A schematic diagram of the combined structure of the front sole part and the front pressure sensor in the robot foot segmented walking device shown;

[0034] Figure 7 yes Figure 1The schematic diagram of the robot foot segmented walking device shown is when the toes touch the ground and the heels leave the ground;

[0035] Figure 8 yes Figure 1 The schematic diagram of the robot foot segmented walking device shown is when the toes leave the ground and the heels touch the ground;

[0036] Fig. 9 yes Figure 1 The schematic diagram of the robot foot segmented walking device shown is when the front foot and the rear foot are turned left;

[0037] Fig.10 yes Figure 1 The schematic diagram of the robot foot segmented walking device shown is when the front and rear sole parts perform right turning actions.

[0038] In the accompanying drawings, 110, calf part; 120, ankle seat; 130, rear sole part; 140, front sole part; 151, first rotating shaft; 152, second rotating shaft; 153, third rotating shaft; 161, first transmission rod; 1611, first connecting ball; 162, second transmission rod; 1621, second connecting ball; 171, first linear drive; 172, second linear drive; 181, rear pressure sensor; 182, front pressure sensor; 191, rear buffer part; 192, front buffer part. DETAILED DESCRIPTION

[0039] The technical solution of the utility model will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0040] As described in the background art, for traditional robots, the two feet are often two plate-shaped support seats, which are difficult to restore the normal gait of humans when working, thus restricting the walking speed of the robot.

[0041] To improve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6The utility model provides a robot foot segmented walking device, including a calf portion 110, an ankle seat 120, a rear sole portion 130 and a front sole portion 140. The top of the ankle seat 120 is rotatably connected to the bottom of the calf portion 110 via a first rotating shaft 151. The rear sole portion 130 is rotatably connected to the bottom of the ankle seat 120 via a second rotating shaft 152. The rear end of the front sole portion 140 is rotatably connected to the front end of the rear sole portion 130 via a third rotating shaft 153. The axes of the first rotating shaft 151 and the third rotating shaft 153 are parallel to each other, and the axes of the second rotating shaft 152 and the first rotating shaft 151 are perpendicular to each other. The ankle seat 120 can swing back and forth, the rear sole portion 130 can swing up and down, and the front sole portion 140 can swing up and down. Compared with the traditional robot walking device, it can not only perform the following Figure 7 The toe-on-heel-off movement shown can also be performed Figure 8 The toes are off the ground and the heels are on the ground. The rear sole 130 can also swing left and right, and the front sole 140 can swing left and right after the sole 130. Compared with the walking device of the traditional robot, it can not only perform the following Fig. 9 The left turning action of the forefoot portion 140 and the rear foot portion 130 shown in the figure can also be performed as follows: Fig.10 The front sole 140 and the rear sole 130 are shown turning right. On the whole, the robot foot segmented walking device is divided into multiple modules, which restore the normal gait of humans as much as possible during operation. When walking and striding, the entire sole can be adjusted in four directions to meet the requirements of the support phase and the swing phase, so that the robot can make a beautiful gait close to that of humans, which is conducive to improving the walking speed of the robot. When striding, touching the ground and leaving the ground, the front sole 140 and the rear sole 130 are adjusted in four directions, so that the center of gravity of the robot transitions smoothly, which is conducive to improving the balance and stability of the bipedal robot when walking. In addition, the bipedal robot can adapt to various road conditions.

[0042] Specifically, in the exemplary embodiment, the robot foot segmented walking device also includes a first transmission rod 161, two first linear drivers 171, a second transmission rod 162 and a second linear driver 172. The opposite ends of the first transmission rod 161 are respectively fixedly mounted on the opposite sides of the rear end of the rear sole portion 130. A first connecting ball 1611 is respectively arranged at both ends of the first transmission rod 161. The two first linear drivers 171 are both arranged at an angle. The ends of the cylinders of the two first linear drivers 171 away from the output shaft are respectively rotatably connected to the rear end of the calf portion 110, and the ends of the output shafts away from the cylinders are respectively provided with first mounting holes adapted to the first connecting balls 1611. The two ends of the second transmission rod 162 are respectively fixedly mounted on the opposite sides of the rear end of the front sole portion 140, and a second connecting ball 1621 is arranged in the middle. The second linear drive 172 is tilted, and one end of the cylinder away from the output shaft is rotatably connected to the front end of the calf 110, and one end of the output shaft away from the cylinder is provided with a second mounting hole adapted to the second connecting ball 1621. The first linear drive 171 and the second linear drive 172 provide power, thereby improving the degree of automation.

[0043] Specifically, when the toes touch the ground and the heels leave the ground, or the toes leave the ground and the heels touch the ground, the second linear driver 172 controls the forefoot portion 140 to rotate around the third rotation axis 153, and the output shafts of the two first linear drivers 171 extend or retract the same stroke to control the rear sole portion 130 to rotate around the third rotation axis 153. When the forefoot portion 140 and the rear sole portion 130 turn left, or the forefoot portion 140 and the rear sole portion 130 turn right, the second linear driver 172 does not move, and the output shaft of one of the first linear drivers 171 extends, and the output shaft of the other linear driver retracts, and the retracted stroke is equal to the extended stroke.

[0044] Preferably, the first linear drive 171 and the second linear drive 172 can be servo electric cylinders with higher control accuracy. The first linear drive 171 and the second linear drive 172 can also be electric push rods, which can control the thrust and speed by adjusting the pitch, and can achieve very precise positioning and motion control. There is no need to use liquids or gases and other working fluids during work, so there will be no problem of hydraulic oil or gas leakage polluting the working environment. At the same time, it is easy to install and has low maintenance costs. Of course, the first linear drive 171 and the second linear drive 172 can also be hydraulic cylinders or air cylinders, with relatively stable power output, faster action, strong reliability, simple structure, and low maintenance costs.

[0045] Preferably, the robot foot segmented walking device further includes a rear pressure sensor 181 and a front pressure sensor 182. The rear pressure sensor 181 is installed on the rear sole portion 130. The front pressure sensor 182 is installed on the front sole portion 140. When the rear sole portion 130 contacts the ground, the rear pressure sensor 181 feeds back a trigger signal to the robot's brain; when the front sole portion 140 contacts the ground, the front pressure sensor 182 feeds back a trigger signal to the robot's brain, so as to facilitate subsequent gait control.

[0046] Preferably, a rear receiving hole is provided at the bottom of the rear end of the rear sole portion 130, and the front pressure sensor 182 is installed in the rear receiving hole, with the sensing contact facing downward. A front receiving hole is provided at the bottom of the middle of the front sole portion 140, and the rear pressure sensor 181 is installed in the front receiving hole, with the sensing contact facing downward.

[0047] Preferably, the robot foot segmented walking device further includes a rear buffer 191 and a front buffer 192. The rear buffer 191 is mounted on the rear sole 130 for buffering when the rear sole 130 touches the ground. The front buffer 192 is mounted on the front sole 140 for buffering when the front sole 140 touches the ground.

[0048] In some embodiments, the rear buffer portion 191 is a buffer pad installed at the bottom of the rear sole portion 130 . The front buffer portion 192 is a buffer pad installed at the bottom of the forefoot portion 140 .

[0049] In other embodiments, the rear buffer 191 is a spring installed at the bottom or opposite sides of the rear sole 130, and the bottom end can abut against the ground. The front buffer 192 is a spring installed at the bottom or opposite sides of the forefoot 140, and the bottom end can abut against the ground.

[0050] Preferably, the calf portion 110 is a hollow structure. The ankle seat 120 is a hollow structure. The rear sole portion 130 is a hollow structure. The forefoot sole portion 140 is a hollow structure. In this way, the robot sole segmented walking device achieves a lightweight design.

[0051] Specifically, in the exemplary embodiment, first side panels are respectively provided on opposite sides of the calf portion 110. The bottoms of the first side panels on both sides are arc-shaped structures. Second side panels are respectively provided on opposite sides of the rear sole portion 130, and the tops of the second side panels on both sides are respectively provided with clearance grooves. The ankle seat 120 is a conical structure. The overall structure is relatively compact and the layout is relatively reasonable.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present utility model, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0056] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A robot foot segmented walking device, characterized in that: include: Lower leg; An ankle seat, the top of which is rotatably connected to the bottom of the calf portion via a first rotating shaft; The rear sole part is rotatably connected to the bottom of the ankle seat via a second rotating shaft; The front sole part, the rear end of which is rotatably connected to the front end of the rear sole part via a third rotating shaft; The axes of the first rotating shaft and the third rotating shaft are parallel to each other; the axes of the second rotating shaft and the first rotating shaft are perpendicular to each other; the ankle seat can swing forward and backward; the rear sole part can swing up and down, and can swing left and right; the front sole part can swing up and down, and can swing left and right with the rear sole part.

2. The robot foot segmented walking device according to claim 1, characterized in that: Also includes: A first transmission rod is fixedly mounted on the rear end of the rear sole portion, and has a first connecting ball at each end; There are two first linear actuators, both of which are tilted, and one end of the cylinder away from the output shaft is rotatably connected to the rear end of the calf part, and one end of the output shaft away from the cylinder is provided with a first mounting hole adapted to the first connecting ball; A second transmission rod is fixedly mounted on the rear end of the forefoot portion, and a second connecting ball is arranged in the middle; The second linear drive is tilted, and one end of the cylinder away from the output shaft is rotatably connected to the front end of the calf part, and one end of the output shaft away from the cylinder is provided with a second mounting hole adapted to the second connecting ball.

3. The robot foot segmented walking device according to claim 2, characterized in that: The first linear drive is a servo electric cylinder, an electric push rod, a pneumatic cylinder or a hydraulic cylinder; the second linear drive is a servo electric cylinder, an electric push rod, a pneumatic cylinder or a hydraulic cylinder.

4. The robot foot segmented walking device according to any one of claims 1 to 3, characterized in that: Also includes: A rear pressure sensor is mounted on the rear sole of the foot; The front pressure sensor is installed on the forefoot portion.

5. The robot foot segmented walking device according to any one of claims 1 to 3, characterized in that: Also includes: A rear buffer portion, mounted on the rear sole portion; The front buffer portion is installed on the forefoot portion.

6. The robot foot segmented walking device according to any one of claims 1 to 3, characterized in that: The calf portion is a hollow structure; the ankle seat is a hollow structure; the rear sole portion is a hollow structure; and the fore sole portion is a hollow structure.

7. The robot foot segmented walking device according to any one of claims 1 to 3, characterized in that: The first side panels are respectively provided on opposite sides of the calf portion; the bottoms of the first side panels on both sides are arc-shaped structures; The second side panels are respectively arranged on opposite sides of the rear sole portion; and the tops of the second side panels on both sides are respectively arranged with clearance grooves; The ankle seat is a cone-shaped structure.

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