Foot end buffering and damping device of quadruped robot

Abstract

The utility model discloses a foot end buffering and damping device of a quadruped robot, which is applied to an action leg and comprises a supporting block and a connecting component, and the supporting block is arranged at the end part of the action leg; the connecting assembly is arranged at the joint of the supporting block and the moving leg and comprises a connecting sleeve, the moving leg is sleeved with the connecting sleeve, the end, away from the moving leg, of the connecting sleeve is connected to the top of the supporting block in a threaded penetrating mode, and a damping part is arranged in an inner cavity of the connecting sleeve. A movable part for adjusting the resilience force of the damping part is arranged at the bottom of the supporting block; the connecting assembly is arranged at the connecting position of the moving leg and the supporting block, the damping part arranged in the inner cavity of the connecting sleeve in the connecting assembly is used for buffering walking vibration, and compared with the stroke fixed design of the damping part, the moving part can manually adjust the buffering stroke of the damping part according to the buffering requirement, and therefore the buffering stroke of the damping part can be adjusted manually. The buffering requirements of walking of the quadruped robot under various environment working conditions are met.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot foot end damping technology field, especially four -legged robot's foot end buffer damping device. BACKGROUND

[0002] In the four -legged robot foot end buffer damping design, the traditional scheme adopts the damping buffer structure of fixed stroke, and the preset damping part absorbs the vibration energy in the walking process,

[0003] However, the stroke of the fixed damping part cannot be adjusted according to different environments (such as rugged terrain, soft ground or hard road surface), resulting in insufficient damping when vibration is transmitted to the body and excessive damping when energy is lost, which will affect the movement of the four -legged robot.

[0004] Therefore, how to design a foot end damping device that can manually adjust the buffer stroke according to the environmental requirements has become a problem to be solved. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing four -legged robot's foot end buffer damping device to solve the problems in the background art.

[0006] To achieve the above object, the utility model provides the following technical scheme: a four -legged robot's foot end buffer damping device is applied to the action leg, comprising:

[0007] Supporting block, the supporting block is arranged at the end of the action leg,

[0008] Connecting assembly, the connecting assembly is arranged at the connecting place of the supporting block and the action leg, the connecting assembly is used for buffering the vibration of the supporting block, the connecting assembly includes a connecting sleeve, the connecting sleeve is sleeved on the outside of the action leg, one end of the connecting sleeve away from the action leg is connected to the top of the supporting block in screw thread, the inner chamber of the connecting sleeve is provided with a damping part, the bottom of the supporting block is provided with a movable part for adjusting the resilience of the damping part.

[0009] Preferably, the damping part includes:

[0010] Damping ring, the damping ring is sleeved on the outside of the action leg and located in the inner chamber of the connecting sleeve,

[0011] Resilient member, the resilient member is arranged in the inner chamber of the connecting sleeve, and the resilient member is used for the resilient reset of the action leg.

[0012] Preferably, the resilient member includes:

[0013] Compression spring, both ends of the compression spring are arranged in the inner chamber of the action leg and the inner chamber of the connecting sleeve respectively,

[0014] a pressing plate, which is arranged in the inner cavity of the connecting sleeve and located at the end of the compression spring away from the action leg;

[0015] a positioning mechanism, which is arranged in the middle part of the compression spring and used for the active positioning of the compression spring.

[0016] Preferably, the positioning mechanism comprises:

[0017] a positioning column, which is arranged on the inner cavity wall of the action leg and the end of which is connected to the middle part of one end of the compression spring;

[0018] a pressing column, which is arranged on the side of the pressing plate close to the compression spring and the end of which is connected to the middle part of the other end of the compression spring.

[0019] Preferably, the active part comprises an adjusting bolt, the end of which is connected to the bottom of the supporting block and the inner cavity of the connecting sleeve in sequence, and the adjusting bolt is used for pushing the position of the adjusting pressing plate.

[0020] Preferably, the bottom of the supporting block is provided with an adjusting hole, which is used for the insertion of the adjusting bolt.

[0021] Preferably, the bottom of the supporting block is provided with a flexible pad, which is used for sealing the adjusting hole.

[0022] The technical effects and advantages of the utility model are as follows:

[0023] The utility model discloses a connecting assembly is arranged at the connecting place of the action leg and the supporting block, and the damping part arranged in the inner cavity of the connecting sleeve in the connecting assembly is used for buffering the vibration of walking. Compared with the fixed design of the stroke of the damping part, the active part can manually adjust the buffering stroke of the damping part according to the buffering requirement, so as to adapt to the buffering requirement of the walking of the quadruped robot under various environmental conditions. DRAWINGS

[0024] Figure 1 It is the structural schematic diagram that the utility model whole connects with the quadruped robot.

[0025] Figure 2 It is the structural schematic diagram of the utility model whole.

[0026] Figure 3 It is the sectional view of the utility model whole.

[0027] Figure 4 It is the structural schematic diagram of the connecting sleeve of the utility model.

[0028] In the figure: 1, support block; 101, adjusting hole; 2, action leg; 201, positioning column; 3, connecting sleeve; 4, compression spring; 5, damping ring; 6, pressing plate; 601, extrusion column; 7, adjusting bolt; 8, flexible pad. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0030] The utility model provides a kind of Figures 1-4 As shown in the figure:

[0031] Embodiment one, the foot end buffer damping device of four-legged robot, it is applied to action leg 2, including support block 1 and connecting assembly;

[0032] Specifically, support block 1 is arranged at the end of action leg 2, and connecting assembly is arranged at the connecting position of support block 1 and action leg 2, and connecting assembly is used to buffer the vibration of support block 1;

[0033] It should be noted that the material of support block 1 is plastic, and connecting assembly includes connecting sleeve 3, which is sleeved on the outer side of action leg 2, and the end of connecting sleeve 3 away from action leg 2 is threadedly connected to the top of support block 1, and the inner cavity of connecting sleeve 3 is provided with a damping part, and the bottom of support block 1 is provided with a movable part for adjusting the resilience of the damping part;

[0034] Specifically, the outer bottom of connecting sleeve 3 is provided with a thread, and the top of support block 1 is provided with a corresponding thread groove, and the damping part includes a damping ring 5 and a resilient member;

[0035] It should be noted that the damping ring 5 is sleeved on the outer side of action leg 2 and located in the inner cavity of connecting sleeve 3, and the resilient member is arranged in the inner cavity of connecting sleeve 3, and the resilient member is used for the resilient reset of action leg 2;

[0036] Specifically, the connecting position of damping ring 5 and action leg 2 is bonded by high-temperature resistant glue, and damping ring 5 converts the walking vibration energy of action leg 2 into heat loss, thereby playing a buffering role, and the resilient member includes a compression spring 4, a pressing plate 6 and a positioning mechanism;

[0037] It should be noted that the two ends of compression spring 4 are respectively arranged in the inner cavity of action leg 2 and the inner cavity of connecting sleeve 3, and the pressing plate 6 is arranged in the inner cavity of connecting sleeve 3 and located at the end of compression spring 4 away from action leg 2;

[0038] Specifically, the pressing plate 6 is movable in the inner cavity of the connecting sleeve 3, and the positioning mechanism is arranged at the middle portion of the compression spring 4 and is used for active positioning of the compression spring 4.

[0039] It should be noted that the positioning mechanism comprises a positioning column 201 and an extrusion column 601.

[0040] Specifically, the positioning column 201 is arranged on the inner cavity wall of the action leg 2, and the end portion of the positioning column 201 is connected to the middle portion of one end of the compression spring 4; the extrusion column 601 is arranged on one side of the pressing plate 6 close to the compression spring 4, and the end portion of the extrusion column 601 is connected to the middle portion of the other end of the compression spring 4.

[0041] It should be noted that the positioning column 201 is welded and fixed to the inner wall of the action leg 2, and the extrusion column 601 is welded and fixed to the pressing plate 6, and the positioning column 201 and the extrusion column 601 jointly limit the position of the compression spring 4.

[0042] Embodiment two, an activity part applied to the foot end buffer and shock absorbing device of the quadruped robot in embodiment one;

[0043] Specifically, the activity part comprises an adjusting bolt 7, and the end portion of the adjusting bolt 7 is sequentially connected to the bottom of the supporting block 1 and the inner cavity of the connecting sleeve 3, and the adjusting bolt 7 is used for pushing the position of the adjusting pressing plate 6.

[0044] It should be noted that the bottom of the supporting block 1 is provided with an adjusting hole 101, the adjusting hole 101 is used for the insertion of the adjusting bolt 7, and the inner wall of the adjusting hole 101 is provided with a thread corresponding to the adjusting bolt 7, and the adjusting bolt 7 is rotated and moved to extrude the adjusting pressing plate 6, so as to adjust the initial length of the compression spring 4, thereby adjusting the buffer stroke of the damping ring 5.

[0045] It should be noted that the bottom of the supporting block 1 is provided with a flexible pad 8, and the flexible pad 8 is used for closing the adjusting hole 101, the flexible pad 8 is made of rubber material, and the flexible pad 8 is fixedly connected to the supporting block 1 by using glue, so as to prevent foreign matters from entering the adjusting hole 101 and blocking the adjusting hole 101.

[0046] In actual use, the connecting assembly is arranged at the connection between the action leg 2 and the supporting block 1, and the damping part arranged in the inner cavity of the connecting sleeve 3 of the connecting assembly is used for buffering the vibration during walking, compared with the fixed stroke design of the damping part, the activity part can manually adjust the buffer stroke of the damping part according to the buffer requirement, so as to adapt to the buffer requirement of the quadruped robot walking in various environmental conditions.

[0047] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and is not intended to limit the present application, although the foregoing embodiments of the present application has been described in detail, for the skilled in the art, it still can be modified, or for part of the technical features of the equivalent replacement, the spirit and principles of the present application, made any modification, equivalent replacement, improvement, etc., should be included within the scope of the present application.

Claims

1. A foot-end cushioning and shock-absorbing device for a quadruped robot, applied to the moving leg (2), characterized in that, include: Support block (1), the support block (1) is disposed at the end of the moving leg (2); A connecting component is provided at the connection between the support block (1) and the moving leg (2). The connecting component is used to buffer the vibration of the support block (1). The connecting component includes a connecting sleeve (3). The connecting sleeve (3) is sleeved on the outside of the moving leg (2). The end of the connecting sleeve (3) away from the moving leg (2) is threadedly connected to the top of the support block (1). The inner cavity of the connecting sleeve (3) is provided with a damping part. The bottom of the support block (1) is provided with a movable part for adjusting the rebound force of the damping part.

2. The foot-end cushioning and shock-absorbing device for a quadruped robot according to claim 1, characterized in that, The damping component includes: Damping ring (5), the damping ring (5) is sleeved on the outside of the moving leg (2) and located in the inner cavity of the connecting sleeve (3); A spring-loaded component is disposed in the inner cavity of the connecting sleeve (3) and is used for the spring-loaded reset of the moving leg (2).

3. The foot-end cushioning and shock-absorbing device for a quadruped robot according to claim 2, characterized in that, The spring-loaded component includes: Compression spring (4), the two ends of which are respectively disposed in the inner cavity of the moving leg (2) and the inner cavity of the connecting sleeve (3); Pressure plate (6), the pressure plate (6) is disposed in the inner cavity of the connecting sleeve (3) and located at the end of the compression spring (4) away from the moving leg (2); A positioning mechanism is provided in the middle of the compression spring (4) and is used for the movable positioning of the compression spring (4).

4. The foot-end cushioning and shock-absorbing device for a quadruped robot according to claim 3, characterized in that, The positioning mechanism includes: Positioning post (201), the positioning post (201) is disposed on the inner wall of the moving leg (2), and the end of the positioning post (201) is inserted and connected to the middle of one end of the compression spring (4); The extrusion column (601) is located on the side of the pressure plate (6) near the compression spring (4), and the end of the extrusion column (601) is inserted and connected to the middle of the other end of the compression spring (4).

5. The foot-end cushioning and shock-absorbing device for a quadruped robot according to claim 1, characterized in that, The movable part includes an adjusting bolt (7), the end of which is sequentially inserted and connected to the bottom of the support block (1) and the inner cavity of the connecting sleeve (3). The adjusting bolt (7) is used to push and adjust the position of the pressure plate (6).

6. A foot-end cushioning and shock-absorbing device for a quadruped robot according to claim 5, characterized in that, The bottom of the support block (1) is provided with an adjustment hole (101), which is used to adjust the insertion of the bolt (7).

7. A foot-end cushioning and shock-absorbing device for a quadruped robot according to claim 6, characterized in that, The bottom of the support block (1) is provided with a flexible pad (8), which is used to close the adjustment hole (101).

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