Robot foot device with terrain adaptability

Abstract

The utility model discloses a robot foot device with terrain adaptability. The device is composed of a hooke joint, a connecting platform and four contact feet, the hooke joint is composed of a first hinge seat, a second hinge seat and two rotating pairs, each contact foot is composed of a first component, a second component and a circular arc dovetail groove, and torsion return springs are installed at the positions of the two rotating pairs of the hooke joint and used for achieving the reset function. A buffering and damping device is arranged between the connecting platform and the first component, one end of the connecting platform is fixedly connected with the second hinge seat, the other end of the connecting platform is connected with one end of the first component through a first moving pair, the other end of the first component is connected with one end of the second component through an arc-shaped dovetail groove, and the four contact feet are symmetrically arranged below the connecting platform. The contact foot structure can be automatically adjusted, the terrain adaptive capacity is improved, and the contact foot structure has the advantages of being good in terrain adaptive capacity, high in buffering and damping capacity and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially a robot foot device with terrain self adaptability. BACKGROUND

[0002] The application field of robot is expanding, and the foot type robot is an important branch of the robot family, and has the ability of easily adapting to complex terrain. When the foot type robot walks, the foot will be subjected to a huge impact force and oscillation, and the complex terrain environment affects the stability of the robot walking, and has a certain influence on the fuselage and the foot, which is not conducive to the walking of the robot. Under this background, it is crucial to design a robot foot device with terrain self adaptability.

[0003] The existing reported foot type robot foot mechanism mainly includes: a robot foot device designed by Hu Zison, Zhang Zhiwei and others of Anhui University of Science and Technology (patent publication number: CN112118900A), and a large bearing foot type robot foot mechanism designed by Wang Fuj, Li Jun and others of Dalian University of Technology (patent publication number: CN105015241A). The main disadvantage of the above-mentioned foot type robot foot mechanism is that the robot foot structure is relatively single, and cannot well adapt to irregular ground. Therefore, the foot type robot foot mechanism has not been well developed and applied.

[0004] In summary, in order to promote the innovation and practical application of the foot type robot foot device, a new model superior to the existing mechanism needs to be created. INVENTION CONTENTS

[0005] The utility model aims at overcoming the defects of the prior art and providing a device capable of automatically adjusting the foot structure according to the change of terrain, so as to adapt to complex terrain.

[0006] The technical scheme of the utility model is: a robot foot device with terrain self adaptability, mainly comprising: a Hooke joint, a connecting platform and four contact feet, wherein the Hooke joint is composed of a hinge seat one, a hinge seat two and a rotating pair one and a rotating pair two, the contact foot is composed of a component one and a component two and an arc-shaped dovetail groove, and characterized in that: one end of the hinge seat one and one end of the hinge seat two are connected by the rotating pair one and the rotating pair two, the other end of the hinge seat two is fixedly connected with one end of the connecting platform, the other end of the connecting platform is connected with one end of the component one by a moving pair one, and the other end of the component one is connected with one end of the component two by the arc-shaped dovetail groove.

[0007] Further, the connecting platform is a square platform, the component two is approximately horseshoe-shaped and has the arc-shaped dovetail groove, and the component one has an arc-shaped sliding block matched with the arc-shaped dovetail groove on the component two.

[0008] Further, the connecting platform and the component one are equipped with a buffer damping device, the buffer damping device is a telescopic return spring, the rotating pair one and the rotating pair two are equipped with a torsion return spring, and the telescopic return spring and the torsion return spring are used for realizing the reset function.

[0009] Further, the two rotating axes of the rotating pair one and the rotating pair two are perpendicular to each other, and the axis of the moving pair one is perpendicular to the plane of the connecting platform.

[0010] Further, the four contact feet are symmetrically arranged at the middle points of the four edges below the connecting platform.

[0011] Further, the square connecting platform (4) can be replaced by a circular platform.

[0012] Further, the four contact feet below the connecting platform can be replaced by three contact feet which are symmetrically arranged in a circumferential manner below the connecting platform.

[0013] The utility model has the advantages that: the utility model can automatically adjust the contact foot structure, improve the terrain adaptability, and has the advantages of good terrain self-adaptability and strong buffer damping capacity.

[0014] In addition to the purposes, characteristics and advantages described above, the utility model has other purposes, characteristics and advantages. The utility model will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0015] ATTACHED Figure 1 It is a structural schematic diagram of the utility model.

[0016] ATTACHED Figure 2 It is a contact foot structure schematic diagram of the utility model.

[0017] ATTACHED Figure 3 It is a flat ground turning longitudinal slope state structure schematic diagram of the utility model.

[0018] ATTACHED Figure 4 It is a self-adaptive pit structure schematic diagram (cross section view) of the utility model.

[0019] ATTACHED Figure 5 It is a self-adaptive convex obstacle structure schematic diagram of the utility model.

[0020] The figure mark: hinged seat one 1, rotating pair one R1, rotating pair two R2, hinged seat two 2, moving pair one P1, torsion return spring 3, connecting platform 4, buffer damping device 5, component one 6, component two 7, circular arc dovetail groove 701. DETAILED DESCRIPTION

[0021] Example 1, please refer to Figures 1-2The robot foot device with terrain adaptability mainly comprises a hooke joint, a connecting platform 4 and four contact feet, wherein the hooke joint is composed of a hinged seat one 1 and a hinged seat two 2 and a rotating pair one R1 and a rotating pair two R2, the contact foot is composed of a component one 6 and a component two 7 and a circular arc dovetail groove 701, and the connecting platform 4 is fixedly connected with the hinged seat two 2 at one end, and the component one 6 is connected with the component two 7 at one end through the circular arc dovetail groove 701.

[0022] Specifically, the connecting platform 4 is a square platform, the component two 7 is approximately horseshoe-shaped and is provided with the circular arc dovetail groove 701, and the component one 6 is provided with a circular arc slider which is matched with the circular arc dovetail groove 701 on the component two 7.

[0023] Specifically, a buffer damping device 5 is arranged between the connecting platform 4 and the component one 6, the buffer damping device 5 is a telescopic return spring, and the rotating pair one R1 and the rotating pair two R2 are internally provided with torsion return springs 3, which are used for realizing the reset function.

[0024] Specifically, the two rotating axes of the rotating pair one R1 and the rotating pair two R2 are perpendicular to each other, and the axis of the moving pair one P1 is perpendicular to the plane of the connecting platform 4.

[0025] Specifically, the four contact feet are symmetrically arranged at the middle points of the four edges below the connecting platform 4.

[0026] Specifically, the square connecting platform 4 can be replaced by a circular platform.

[0027] Specifically, the four contact feet below the connecting platform can be replaced by three contact feet which are symmetrically arranged in a circular manner below the connecting platform 4.

[0028] Embodiment 2, please refer to Figures 1-3A robot foot device with terrain adaptability has good terrain adaptability, such as being able to adapt to complex and changing slope terrain. The working principle of the foot device adapting to the process of turning from flat ground to longitudinal slope terrain is described as follows: when the foot device of the foot robot falls on flat ground, the rotating joint one R1 and the rotating joint two R2 do not rotate, so the torsion return spring 3 inside is not changed, the extension return spring in the buffer and damping device 5 is compressed, and the component one 6 is in the middle part of the circular arc dovetail groove 701; when the foot device of the foot robot falls on the slope, the component two 7 in the foot device contacts the slope, due to the action of the contact force and the contact surface friction, the component two 7 and the component one 6 slide along the circular arc dovetail groove 701, so that the component two 7 is tightly attached to the surface of the pit, the torsion return spring 3 inside the rotating joint one R1 and the rotating joint two R2 is twisted, at the same time, the moving joint one P1 moves, and the extension return spring of the buffer and damping device 5 is compressed or relaxed, thereby buffering and damping, thereby adapting to the pit terrain, Figure 3 The structure diagram of the foot device when turning from flat ground to longitudinal slope terrain, when the foot device of the robot leaves the slope (i.e. when lifting the foot), the rotating joint one R1 is reset due to the action of the torsion return spring 3, and the moving joint one P1 is reset due to the action of the extension return spring;..., so the cycle is repeated until the foot device of the robot completely steps on the slope, that is, the transition of turning from flat ground to longitudinal slope is completed. Similarly, when the foot device turns from flat ground to transverse slope terrain, the foot device can adapt to the transverse slope by adjusting the sliding of the circular arc dovetail groove 701, the torsion return spring 3, the extension return spring of the buffer and damping device 5, and the rotating joint two R2; when the foot device turns from flat ground to transverse and longitudinal combined slope terrain, the foot device can adapt to other slope terrain with changing slope by adjusting the sliding of the circular arc dovetail groove 701, the torsion return spring 3, the extension return spring of the buffer and damping device 5, the rotating joint one R1, and the rotating joint two R2.

[0029] Example 3, please refer to Figures 1-2 , Figure 4 A robot foot device with terrain adaptability can not only adapt to slope terrain, but also adapt to pit terrain. The working principle of the foot device adapting to the pit process is described as follows: when the foot device of the robot contacts the pit, due to the action of the contact force, the component two 7 and the component one 6 slide along the circular arc dovetail groove 701, thereby tightly attaching to the surface of the pit, the torsion return spring 3 inside the rotating joint one R1 and the rotating joint two R2 is twisted, at the same time, the moving joint one P1 moves, and the extension return spring of the buffer and damping device 5 is compressed or relaxed, thereby buffering and damping, thereby adapting to the pit terrain, Figure 4This is a schematic diagram (sectional view) of the adaptive recess of the foot device; when the foot device leaves the recess, the first rotating joint R1 and the second rotating joint R2 are reset by the torsional return spring 3, and the first sliding joint P1 is reset by the extension return spring.

[0030] Example 4, please refer to Figures 1-2 , Figure 5 A terrain-adaptive robotic foot device can adapt not only to slopes and depressions, but also to raised obstacles. The working principle is described below using the adaptation process to raised obstacles as an example: When the robotic foot device contacts a raised obstacle, under the action of contact force and friction, component 7 and component 6 slide along the arc-shaped dovetail groove 701. Since the four components 7 do not contact the raised object simultaneously, the connecting platform 4, which is fixed to the hinge seat 2, rotates around the rotation axis of the first rotating joint R1 (or the second rotating joint R2). At this time, the torsion return spring 3 inside the first rotating joint R1 (or the second rotating joint R2) twists, and simultaneously the locating joint P1 moves to a certain extent. The telescopic return spring of the buffer and vibration damping device 5 is compressed or released, playing a buffering and vibration damping role, thus adapting to the raised obstacle terrain. Figure 5 This is a schematic diagram of the foot device's adaptive mechanism to protruding obstacles (the moment when all four components 7 are in contact with the protrusion). When the foot device leaves the protruding obstacle, revolute joints R1 and R2 are reset by the torsional return spring 3, and prismatic joint P1 is reset by the extension return spring. This method enables the robot's foot device to adapt when stepping on a protruding obstacle. Besides adapting to slopes, depressions, and protruding obstacles, this device can also adapt to complex terrain combinations. Its working principle can be found in Examples 1-4, and will not be repeated here.

[0031] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic foot device having terrain adaptability, comprising: Hooke joint, connecting platform (4) and four contact feet, wherein the Hooke joint is composed of hinged seat one (1) and hinged seat two (2) and rotating pair one (R1) and rotating pair two (R2), the contact feet are composed of component one (6) and component two (7) and a circular arc dovetail groove (701), characterized in that one end of the hinged seat one (1) is connected with one end of the hinged seat two (2) by the rotating pair one (R1) and the rotating pair two (R2), the other end of the hinged seat two (2) is fixedly connected with one end of the connecting platform (4), the other end of the connecting platform (4) is connected with one end of the component one (6) by the moving pair one (P1), the other end of the component one (6) is connected with one end of the component two (7) by the circular arc dovetail groove (701).

2. The robotic foot device having terrain adaptability according to claim 1, wherein The connecting platform (4) is a square platform, the component two (7) is approximately horseshoe-shaped and has the circular arc dovetail groove (701), and the component one (6) has the circular arc slider matched with the circular arc dovetail groove (701) on the component two (7).

3. The robotic foot device with terrain adaptability of claim 1, wherein The connecting platform (4) and the component one (6) are provided with the buffer damping device (5), the buffer damping device (5) is a telescopic return spring, and the rotating pair one (R1) and the rotating pair two (R2) are provided with torsion return springs (3) and are used for realizing the reset function.

4. The robotic foot device with terrain adaptability of claim 1, wherein The two rotating axes of the rotating pair one (R1) and the rotating pair two (R2) are perpendicular to each other, and the axis of the moving pair one (P1) is perpendicular to the plane of the connecting platform (4).

5. The robotic foot device with terrain adaptability of claim 1, wherein The four contact feet are symmetrically arranged at the middle points of the four edges below the connecting platform (4).

6. The robotic foot device with terrain adaptability of claim 2, wherein The square connecting platform (4) can be replaced by a circular platform.

7. The robotic foot device with terrain adaptability of claim 1, wherein The four contact feet below the connecting platform (4) can be replaced by three contact feet symmetrically arranged in a circumferential manner below the connecting platform (4).

Images