Multi-degree-of-freedom robot supporting and walking device

Abstract

A multi-degree-of-freedom robot supporting walking device comprises supporting legs and supporting feet on the lower portions of the supporting legs. Each supporting leg comprises a vertically-arranged connecting rod and a hinge joint at the lower end of the connecting rod, an adapter capable of swinging leftwards and rightwards is further hinged to the hinge joint, the supporting legs are connected with the adapter, and telescopic driving machines are connected between the left side and the right side of each supporting leg and the connecting rod; the supporting leg comprises a sole, the sole comprises an arch, the middle of the arch is hinged to the lower side of the adapter, and the rotating axis of the arch and the rotating axis of the adapter are perpendicular and not coplanar; toes are further hinged to the front portion of the arch, an elastic piece and a limiting piece are connected between the toes and the sole, the arch can be driven to turn over up and down / left and right through synchronous / asynchronous actions of the telescopic driving machine, and then the supporting stability is guaranteed; the turning freedom degree and flexibility of the arch are remarkably improved, and the supporting stability of the supporting walking device is further guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a multi-degree-of-freedom robot support and walking device. Background Technology

[0002] The foot structure of a robot is crucial for its stable standing or walking. Patent application CN202320305767.X discloses a roll-direction movement structure for the legs of a humanoid robot. By setting a foot rotation seat, a front rotation support, and a rear rotation support, it ensures that the foot plate has a degree of freedom in another direction while rotating, facilitating multi-degree-of-freedom control of the foot plate and contributing to robot stability. Through the cooperation of a limiting plate and a torsion spring, the toe plate can be firmly attached to the ground, ultimately enabling the robot to stand or walk stably. However, its application still has certain limitations.

[0003] 1) The rotation axes of its front and rear rotating supports intersect with the rotation axis of the foot rotating seat. This causes the robot's left and right flipping and up and down flipping movements to be performed from one point, which ultimately restricts both left and right flipping and up and down flipping, affecting the flipping angle and flipping flexibility.

[0004] 2) Its front and rear rotating supports are respectively hinged to the front and rear sides of the foot rotating seat, and the foot plate is directly fixed to the lower side of the two supports. It only constructs the foot-toe movement system. The foot itself is a fixed structure and cannot be adjusted independently, which still has a certain impact on the stability of standing and walking.

[0005] 3) Its foot and toe plates adopt a plate-like structure. When the ground is uneven, the plate-like structure will have difficulty supporting the robot to stand stably.

[0006] 4) It uses a torsion spring to reset the toes. Once the torsion spring is damaged or fails, the secondary installation will be more difficult.

[0007] 5) The way its limiting plate is set up means that it can only be used to prevent the toes from turning upwards too much, and cannot provide an effective limit for the toes to turn downwards (reset). Utility Model Content

[0008] To address the technical problems existing in the background art, this utility model provides a multi-degree-of-freedom robot support walking device.

[0009] The technical solution of this utility model is as follows:

[0010] A multi-degree-of-freedom robot support and walking device includes support legs and support feet at the bottom, and the support feet enable the robot to perform overall support and walking functions.

[0011] Specifically, the support leg includes a vertically arranged connecting rod and a hinge joint at its lower end. The support leg also includes a transition piece that is hinged to the hinge joint at the top and can swing left and right at the bottom. The support foot is connected to the lower part of the transition piece. Telescopic drive mechanisms are connected to the connecting rod on both sides of the support foot. The support foot includes a foot arch, which is hinged to the lower side of the transition piece at the middle and has a front and rear section that can rotate up and down. The rotation axis of the foot arch is perpendicular to and not coplanar with the rotation axis of the transition piece. The front of the foot arch is also hinged to toes that can rotate up and down. An elastic element connects the toes to the foot arch, and the toes are subjected to downward elastic force by the elastic element. A protective mechanism is also connected between the toes and the foot arch. The limiting component to prevent excessive toe rollover, based on the aforementioned structure, can drive the arch of the foot to roll up and down through the synchronous action of two telescopic drive motors, and can drive the arch and toes to roll left and right through the asynchronous action of the two telescopic drive motors. This ensures the support stability of the walking device. Furthermore, since the rotation axis of the arch is perpendicular to and not coplanar with the rotation axis of the adapter, the left and right rollover and up and down rollover of the arch occur on the upper and lower sides of the adapter, respectively. This ensures that the left and right rollover and up and down rollover of the arch do not interfere with each other, ensuring that the arch has sufficient freedom and flexibility in its rollover. Ultimately, the rollover action of the arch can better achieve a balance adjustment effect, further ensuring the support stability of the walking device.

[0012] As described above, a preferred core technical concept of this utility model is a multi-degree-of-freedom robot walking device. The front part of the arch of the foot is inclined towards the front and lower part of the adapter. The foot also includes a heel located below the rear part of the arch. The front part of the heel is fixed to the lower end of the connecting rod, and the rear part is inclined towards the rear and lower part of the adapter. Based on this structure, the front part of the arch and the rear part of the heel can complete the overall support work. The position of the heel relative to the connector is fixed. By the action of the telescopic drive motor, only the arch can be moved to adjust the distance between the front part of the arch and the rear part of the heel. A complete toe-arch-heel movement system is established, which further ensures the support stability and adaptability of the walking device.

[0013] As a further preferred embodiment, pads are provided on both sides of the toes and the front of the arch, and on both sides of the back of the heel. Several pads can complete the support work of the entire walking device. When the ground is uneven, the pads, in conjunction with the action of the telescopic drive, still ensure that several pads can touch the ground at the same time, further ensuring the overall support stability of the walking device.

[0014] More preferably, in order to ensure that the pad remains in contact with the ground more stably when the supporting walking device is in use, i.e. when the toes, arches and heels are moving, until the supporting walking device is fully lifted, the pad is hinged to the outside of the ball of the foot or toes.

[0015] To ensure that the pad can smoothly return to its original position after the supporting walking device is lifted, and thus ensure that the pad can smoothly touch the ground when the supporting walking device lands and provide a stable support for the supporting walking device, a return spring or return torsion spring is provided at the hinge connection position of the pad.

[0016] As described above, in a multi-degree-of-freedom robot walking device, the elastic element includes an elastic rope / tension spring located on the side of the supporting foot, with its two ends connected to the front of the toes and the heel, respectively. This method of providing elastic force to the toes through an elastic rope / tension spring or tension spring only requires fixing the two ends of the elastic rope / tension spring, making the disassembly and maintenance of the elastic element more convenient.

[0017] To further ensure the freedom of the arch to rotate left and right and up and down, the horizontal plane on which the rotation axis of the adapter is located is above the horizontal plane on which the rotation axis of the arch is located, and the vertical distance between the rotation axis of the adapter and the rotation axis of the arch is 7-12cm.

[0018] As described above, a multi-degree-of-freedom robot support walking device has a strip-shaped limiting opening on the upper front side of the foot arch. The limiting component includes a pull rod, one end of which is hinged to the front side of the toes, and the other end is slidably engaged with the limiting opening. This design of the pull rod not only effectively prevents the toes from excessively turning upwards, but also provides effective limiting when the toes return to their original position, preventing the toes from being excessively repositioned by elastic force and ensuring the stability of its cooperation with the foot.

[0019] The beneficial effects of this utility model are as follows:

[0020] 1) The synchronous action of the two telescopic drive motors can drive the arch of the foot to rotate up and down. The asynchronous action of the two telescopic drive motors can drive the arch of the foot and toes to rotate left and right, thereby ensuring the support stability of the walking device. Since the rotation axis of the arch of the foot is perpendicular to and not coplanar with the rotation axis of the adapter, the left and right rotation and the up and down rotation of the arch of the foot are performed on the upper and lower sides of the adapter, respectively. This ensures that the left and right rotation and the up and down rotation of the arch of the foot will not interfere with each other, ensuring that the arch of the foot has sufficient freedom and flexibility of rotation. Ultimately, the rotation of the arch of the foot can better achieve the balance adjustment effect, further ensuring the support stability of the walking device.

[0021] 2) The overall support work can be completed by the front part of the arch and the back part of the heel. The position of the heel relative to the connecting piece is fixed. The movement of the telescopic drive can only drive the arch to adjust the distance between the front part of the arch and the back part of the heel. This establishes a complete toe-arch-heel movement system, which further ensures the support stability and adaptability of the walking support device.

[0022] 3) When the ground is uneven, the pads, in conjunction with the movement of the telescopic drive, still ensure that several pads can touch the ground at the same time, further ensuring the overall support stability of the walking device.

[0023] 4) The method of providing elastic force to the toes through elastic cords / springs or tension springs only requires fixing the two ends of the elastic cords / springs, making the disassembly and maintenance of the elastic components more convenient;

[0024] 5) The pull bar not only effectively prevents the toes from turning upwards excessively, but also provides effective restraint when the toes return to their original position, preventing the toes from being excessively reset by elastic force and ensuring the stability of their fit with the foot. Attached Figure Description

[0025] The advantages and solutions of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this invention.

[0026] In the attached diagram:

[0027] Figure 1 This is a schematic diagram of the structure of the walking support device in the embodiment;

[0028] Figure 2 This is a schematic diagram of the support leg in the embodiment;

[0029] Figure 3 This is a schematic diagram of the support foot structure in the embodiment;

[0030] Figure 4 This is a schematic diagram of the foot arch structure in the embodiment;

[0031] Figure 5 This is a schematic diagram of the heel structure in the embodiment;

[0032] Figure 6 This is a schematic diagram of the limiting method of the pull rod in the embodiment;

[0033] The components represented by the various reference numerals in the diagram are:

[0034] 1. Support leg; 11. Connecting rod; 12. Hinge joint; 13. Adapter; 14. First connecting ball joint; 2. Support foot; 21. Foot; 211. Arch; 2111. Support arm; 2112. Adapter rod; 212. Heel; 2121. First support rod; 2122. Fixing plate; 22. Toe; 23. Support component; 3. Telescopic drive mechanism; 4. Pull rod. Detailed Implementation

[0035] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0036] Example

[0037] This embodiment provides a multi-degree-of-freedom robot support and walking device. See [link / reference] Figure 1 The device includes a support leg 1 and a support foot 2 at its lower part. The support foot 2 and the support leg 1 are also connected by a telescopic drive motor 3. Through the cooperation of the support foot 2 and the telescopic drive motor 3, the robot can complete the overall support and walking work. The structure of the support walking device (the above-mentioned multi-degree-of-freedom robot support walking device) will be described in detail below with reference to the accompanying drawings.

[0038] In this embodiment, combined with Figure 2 The support leg 1 includes a vertically arranged connecting rod 11 and a hinge joint 12 at its lower end. The support leg 1 also includes a transition piece 13 that is hinged to the hinge joint 12 at the top and can swing left and right at the bottom. The support foot 2 is connected to the lower part of the transition piece 13, and telescopic drive motors 3 are connected to the connecting rod 11 on both the left and right sides. That is, there are two sets of telescopic drive motors 3. One end of each set of telescopic drive motors 3 is connected to the connecting rod 11, and the other end is connected to both sides of the support foot 2 respectively.

[0039] In this embodiment, combined with Figure 3The supporting foot 2 includes a foot ball 21, which includes an arch 211 that is hinged to the lower side of the adapter 13 in the middle and can rotate up and down in the front and back. The rotation axis of the arch 211 is perpendicular to and not coplanar with the rotation axis of the adapter 13. The front part of the arch 211 is also hinged to a toe 22 that can rotate up and down. An elastic element (not shown) is connected between the toe 22 and the foot ball 21, and the toe 22 is subjected to the elastic force of the elastic element downward. A limiting element that can prevent the toe 22 from rotating excessively is also connected between the toe 22 and the arch 211. Based on the above structure, the arch 21 can be driven by the synchronous action of the two telescopic drive motors 3. 1. The arch 211 and toes 22 can be rotated left and right by the asynchronous action of the two telescopic drive motors 3, thereby ensuring the support stability of the walking device. Since the rotation axis of the arch 211 is perpendicular to and not coplanar with the rotation axis of the adapter 13, the left and right rotation and the up and down rotation of the arch 211 are performed on the upper and lower sides of the adapter 13, respectively. This ensures that the left and right rotation and the up and down rotation of the arch 211 will not interfere with each other, ensuring that the arch 211 has sufficient rotation freedom and flexibility. Ultimately, the rotation of the arch 211 can better achieve the balance adjustment effect, further ensuring the support stability of the walking device.

[0040] Combination Figure 4 Specifically, the structure of the arch 211 includes two support arms 2111 with a gap between them. Each support arm 2111 includes a hinge ring located in its middle. The two support arms 2111 are hinged to the two sides of the connecting angle through the hinge ring. To ensure that the two support arms 2111 can move synchronously and to ensure the structural stability of the arch 211, a transition rod 2112 is connected between the rear ends of the two support arms 2111. Based on the above structure, the left and right sides of the middle of the connecting rod 11 are provided with first connecting ball heads 14. The two ends of the transition rod 2112 extend to the outside of the support arm 2111 and are provided with second connecting ball heads. The two ends of the telescopic drive 3 are universally connected to the first connecting ball heads 14 and the second connecting ball heads respectively.

[0041] To further ensure the freedom of the arch 211 to rotate left and right and up and down, the horizontal plane where the rotation axis of the adapter 13 is located is above the horizontal plane where the rotation axis of the arch 211 is located, and the vertical distance between the rotation axis of the adapter 13 and the rotation axis of the arch 211 is 7-12cm, preferably 10cm.

[0042] Combination Figure 5As a preferred core technical concept of this utility model, the front part of the arch 211 is inclined towards the front and lower part of the adapter 13, that is, the front side of the two support arms 2111 is inclined towards the front and lower part of the adapter 13. The foot 21 also includes a heel 212 located below the rear part of the arch 211. Its front part is fixed to the lower end of the connecting rod 11, and its rear part is inclined towards the rear and lower part of the adapter 13. Based on this structure, the front part of the arch 211 and the rear part of the heel 212 can complete the overall support work. The position of the heel 212 relative to the connector is fixed. By the action of the telescopic drive 3, only the arch 211 can be driven to move to adjust the distance between the front part of the arch 211 and the rear part of the heel 212. A complete toe 22-arch 211-heel 212 movement system is established, which further ensures the support stability and adaptability of the walking device.

[0043] Specifically, the heel 212 includes a first support rod 2121, one end of which is provided with a fixing plate 2122 and is fixed to the lower side of the adapter 13 through the fixing plate 2122, and the other end is inclined towards the rear and lower part of the adapter 13.

[0044] Combination Figure 6 Specifically, the connection structure of the toe 22 includes a second support rod. One end of the first support rod 2121 is hinged between the front ends of the two support arms 2111, and the other end faces the front side of the two support arms 2111 and can be flipped up and down.

[0045] In this embodiment, as a preferred implementation, to ensure the stability of the support structure of the walking device, support members 23 are provided at the front of the toes 22 and the arch 211, and at the rear of the heel 212. Specifically, each support member 23 includes a central rod and pads at both ends. The support member 23 located at the front of the toes 22 has its central rod horizontally passing through the front end of the second support rod and perpendicular to it, with its pads located on both sides of the front end of the second support rod (i.e., on both sides of the front of the toes 22). The support member 23 located at the front of the arch 211 has its central rod horizontally passing through the front ends of the two support arms 2111 and perpendicular to them, with its pads located on both support arms 2111. On the outer front end of 1 (i.e., on both sides of the front part of the arch 211), the rear end of the second support rod is hinged and fixed to the middle rod between the front ends of the two support arms 2111; the support member 23 located at the rear of the heel 212 has its middle rod horizontally passing through the rear end of the first support rod 2121 and perpendicular to the first support rod 2121, and its pads are located on both sides of the rear end of the first support rod 2121 (i.e., on both sides of the rear part of the heel 212). The support work of the entire walking device can be completed by several pads. When the ground is uneven, the setting of the pads, in conjunction with the action of the telescopic drive 3, still ensures that several pads can touch the ground at the same time, further ensuring the overall support stability of the walking device.

[0046] As a further preferred embodiment, in order to ensure that the pad can remain in contact with the ground more stably until the supporting walking device is fully lifted when the toes 22, arch 211 and heel 212 are in use (prenatal education, stepping, etc.), the pad is hinged to the outside of the ball of the foot 21 or toes 22, that is, the pad is hinged to both ends of the intermediate rod.

[0047] Preferably, in order to ensure that the pad can smoothly return to its original position after the supporting walking device is lifted, and thus ensure that the pad can smoothly touch the ground when the supporting walking device lands and provide a stable support for the supporting walking device, a return spring or return torsion spring is provided at the hinge connection position between the pad and the intermediate rod.

[0048] In this embodiment, the elastic element includes an elastic rope / spring located on the underside of the support foot 2, with its two ends connected to the front end of the second support rod of the toe 22 and the rear end of the second support rod of the heel 212, respectively. This method of providing elastic force to the toe 22 through an elastic rope / spring or a spring only requires fixing the two ends of the elastic rope / spring, making the disassembly and maintenance of the elastic element more convenient.

[0049] In this embodiment, regarding the structure and arrangement of the limiting member, a strip-shaped limiting opening is provided on the upper front side of the arch 211, that is, limiting openings are provided on the upper front side of both support arms 2111 along their length direction. The limiting member includes a pull rod 4, one end of which is hinged to the front end of the second support rod of the toe 22, and the other end is located between the two support arms 2111. Both sides are slidably engaged with the two limiting openings, so that the setting of the pull rod 4 can not only effectively prevent the toe 22 from excessively turning upward, but also provide effective limiting when the toe 22 returns to its original position, preventing the toe 22 from being excessively returned to its original position by elastic force, and ensuring the stability of its engagement with the foot 21.

Claims

1. A multi-degree-of-freedom robot support and walking device, characterized in that, Includes a supporting leg (1) and its lower supporting foot (2); The support leg (1) includes a vertically arranged connecting rod (11) and a hinge joint (12) at its lower end. The support leg (1) also includes a transition piece (13) that is hinged to the hinge joint (12) at the top and can swing left and right at the bottom. The support foot (2) is connected to the lower part of the transition piece (13). Telescopic drive motors (3) are connected between the left and right sides of the support leg (2) and the connecting rod (11); The supporting foot (2) includes a foot (21), the foot (21) includes an arch (211) which is hinged to the lower side of the adapter (13) in the middle and can be flipped up and down in the front and back. The rotation axis of the arch (211) is perpendicular to and not coplanar with the rotation axis of the adapter (13). The front part of the arch (211) is also hinged to a toe (22) that can flip up and down. An elastic element is connected between the toe (22) and the sole (21), and the toe (22) is subjected to the elastic force of the elastic element downward. A limiting member is also connected between the toes (22) and the arch (211) to prevent the toes (22) from excessively rotating.

2. The multi-degree-of-freedom robot support and walking device according to claim 1, characterized in that, The front part of the arch (211) is inclined towards the front and lower part of the adapter (13); The foot (21) also includes a heel (212) located below the rear of the arch (211), the front of which is fixed to the lower end of the connecting rod (11), and the rear of which is inclined toward the rear and lower part of the adapter (13).

3. The multi-degree-of-freedom robot support and walking device according to claim 2, characterized in that, Pads are provided on both sides of the front part of the toes (22) and the arch (211), and on both sides of the rear part of the heel (212).

4. The multi-degree-of-freedom robot support and walking device according to claim 3, characterized in that, The pad is hinged to the outside of the foot (21) or toes.

5. A multi-degree-of-freedom robot support and walking device according to claim 4, characterized in that, The hinged connection of the pad is provided with a return spring or a return torsion spring.

6. A multi-degree-of-freedom robot support and walking device according to claim 2, characterized in that, The elastic element includes an elastic rope / spring located on the underside of the support foot (2), with its two ends connected to the front side of the toes (22) and the heel (212) respectively.

7. A multi-degree-of-freedom robot support and walking device according to claim 2, characterized in that, The vertical distance between the rotation axis of the adapter (13) and the rotation axis of the foot arch (211) is 7-12cm.

8. A multi-degree-of-freedom robot support and walking device according to claim 2, characterized in that, The upper front part of the foot arch (211) is provided with a strip-shaped limiting opening; The limiting component includes a pull rod (4), one end of which is hinged to the front side of the toe (22), and the other end is slidably engaged with the limiting port.

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