CN102530121A - Leg of multi-legged walking robot - Google Patents
Leg of multi-legged walking robot Download PDFInfo
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- CN102530121A CN102530121A CN2011104516773A CN201110451677A CN102530121A CN 102530121 A CN102530121 A CN 102530121A CN 2011104516773 A CN2011104516773 A CN 2011104516773A CN 201110451677 A CN201110451677 A CN 201110451677A CN 102530121 A CN102530121 A CN 102530121A
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Abstract
本发明公开了一种多足步行机器人脚，现有平底足端式脚结构复杂且容易绊倒。本发明机器人脚包括多足步行机器人脚机械装置和多足步行机器人脚测力装置组成。多足步行机器人脚机械装置包括球形足端、减震测力部分和小腿脚连接件组成。减震测力部分由球形足端连接件、脚连接件、脚部套筒、减震压缩弹簧、压垫、固定螺钉组成。多足步行机器人脚测力装置由压力传感器和信号采集处理器组成。本发明采用球形足端式脚结构，结构简单紧凑，多足步行机器人行走灵活可靠；压缩弹簧减震装置有效的减小了多足步行机器人在行走过程中与地面之间的冲击；采用压力传感器对多足步行机器人的脚力进行测量，大大降低了多足机器人脚力测量的难度和复杂性。
The invention discloses a foot for a walking robot with multiple legs. The existing flat-bottom foot-end type foot has a complicated structure and is easy to trip. The robot foot of the present invention is composed of a multi-legged walking robot foot mechanical device and a multi-legged walking robot foot force measuring device. The multi-legged walking robot foot mechanical device consists of a spherical foot end, a shock-absorbing force-measuring part and a lower leg foot connecting piece. The shock-absorbing and force-measuring part is composed of a spherical foot-end connector, a foot connector, a foot sleeve, a shock-absorbing compression spring, a pressure pad, and a fixing screw. The multi-leg walking robot foot force measuring device is composed of a pressure sensor and a signal acquisition processor. The invention adopts a spherical foot-end type foot structure, which is simple and compact in structure, and the multi-legged walking robot can walk flexibly and reliably; the compression spring damping device effectively reduces the impact between the multi-legged walking robot and the ground during the walking process; the pressure sensor is adopted The measurement of the foot force of the multi-legged walking robot greatly reduces the difficulty and complexity of the foot force measurement of the multi-legged robot.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of polypody walking robot pin.
Background technology
That the mode of motion that the mobile robot adopted mainly comprises is wheeled, crawler type, sufficient formula, mode of motion such as hybrid.For wheeled robot, since wheel came out, it moves in rigid flat on the ground was the ten minutes failure-free.But when on uneven ground, going, the energy consumption of wheeled robot will increase greatly, and on soft terrain or serious rugged landform, the effect of wheel also will seriously be lost, and mobile efficient reduces greatly.Caterpillar type robot makes the vehicle body distribution of load on a bigger area; Be equivalent to a kind of device of paving the way for wheel; And can produce bigger propulsive force, can on soft terrain, walk, and be unlikely to be absorbed in wherein; But the manoevreability of caterpillar type robot on uneven ground is still very poor, and the robot fuselage rocks seriously.With respect to the ground mobile robot of types such as wheeled, crawler type, the polypody walking robot has plurality of advantages.At first, this robotlike only needs some discrete points to supply its foot that falls when motion, thereby successfully through rugged, soft or muddy ground.Secondly, this robotlike can avoid toppling through regulating self center of gravity, has higher stability.The polypody walking robot is having more advantage aspect compatible with environment and the kinematic dexterity, has also received extensive attention because of its locomotor activity stronger on complicated earth surface.Along with the progress of Computer Control Technology, polypody walking robot technology is fast-developing especially, and the polypody walking robot has all had in fields such as military and national defense, biomedicine, aerospace, industrial agriculturals widely to be used.
Since the eighties in 20th century four feet walking robot that begins one's study such as robotics pioneer, the U.S. famous robot scholar R.B.McGhee, the research of polypody walking robot receives numerous scholars' concern always.Polypody walking robot development its leg structure so far mainly contains two kinds of forms: flatfoot end formula pin and spherical sufficient end formula pin.Abroad, the imitative mammal four feet walking robot BISAM of people such as Dillmann development adopts spherical sufficient end formula leg structure; The TITAN series four feet walking robot of people such as the father Shigeo professor Hirose development of Tokyo polytechnical university robot adopts flatfoot end formula leg structure; The IAI research center Gonzalez de Santos team of Spain CSIC research parliament has succeeded in developing clearance robot Silo4 and Silo6 in succession; Wherein the pin of four feet walking robot Silo4 is a flatfoot end formula leg structure, and the six-legged walking machine device people Silo6 that follow-up research is accomplished has then adopted spherical sufficient end formula pin; BigDog military robot and small-sized four feet walking robot LittleDog that Boston Dynamics company releases then adopt spherical sufficient end formula leg structure.At home, the bionical six-legged walking machine device people's of Beijing Institute of Technology's development pin is spherical sufficient end formula leg structure; The MiniQuad restructural polypody walking robot of people such as the Chen XueDong of Central China University of Science and Technology development has adopted spherical sufficient end formula leg structure equally.
Spherical sufficient end formula pin has significant preceence with respect to flatfoot end formula leg structure.At first, flatfoot end formula leg structure is complicated, and spherical sufficient end formula leg structure compact; Secondly, the passive joint in the flatfoot end formula pin causes the polypody walking robot in the process of walking, to be tripped easily, has therefore also limited the range of movement of robot foot.Though spherical sufficient end formula pin has numerous advantages; But also there are some problem demanding prompt solutions in the sufficient end formula of existing sphere leg structure; As lacking efficient buffer, damping, anti-skidding design in the sphere foot end formula leg structure, ground is complicated in the face of the measurement process of the application force of pin, precision is low, reliability is not high.Spherical sufficient end formula leg structure needs further design study.
Summary of the invention
The object of the present invention is to provide a kind of polypody walking robot pin that overcomes above problem.The present invention adopts spherical sufficient end formula leg structure, is made up of polypody walking robot pin mechanical device and polypody walking robot pin device for measuring force.
Polypody walking robot pin mechanical device comprises spherical foot end, damping dynamometry partial sum shank pin attaching parts composition.Spherical foot end is processed for elastomeric material; This kind foot end contacts non-rigid contact for flexibility between fall foot back and ground; Not only can prevent the polypody walking robot when walking, skid but also can reduce and ground between impact, can improve the comformability of polypody walking robot by actv. to environment.Damping dynamometry part is made up of sphere foot end connection, foot's sleeve, damping compression spring, pressure pad, pin attaching parts, fix screw.The upper end of spherical sufficient end connection places foot's sleeve; Between the step ring of spherical sufficient end connection and the foot's sleeve lining is free-running fit; Can slide relative between the step ring of spherical sufficient end connection and the foot's sleeve lining; Place pressure pad on the round boss of spherical sufficient end connection, this round boss is positioned at foot's sleeve, and the lower end of spherical sufficient end connection is threaded with sphere foot end after passing the circular hole of foot's sleeve; Captive joint with the foot sleeve through fix screw in the lower end of pin attaching parts; The damping compression spring is put in foot's sleeve; And be enclosed within simultaneously on the lower end of upper end and pin attaching parts of spherical sufficient end connection; The spring force that the damping compression spring produces acts on the step ring and pin attaching parts of spherical sufficient end connection; The step ring bottom surface that makes spherical sufficient end connection contacts with the inner bottom surface of foot's sleeve, and the damping compression spring makes between the upper end of lower end and spherical sufficient end connection of pin attaching parts and forms certain clearance.Fix by bolt of rear end plate and captive nut between the jaw of the upper end of pin attaching parts and shank pin attaching parts; Can rotate a certain angle around bolt of rear end plate between the jaw of the upper end of pin attaching parts and shank pin attaching parts; Thereby function with ankle-joint; Be carved with the angle groove of 0 to 120 degree on the upper end side plane of pin attaching parts; Interval 1 degree has gap on the jaw of shank pin attaching parts between the angle groove, can measure the angle that the pin attaching parts turns over respect to shank pin attaching parts through the angle groove on gap on the shank pin attaching parts jaw and the pin attaching parts upper end side plane; When the angle that the pin attaching parts turns over respect to shank pin attaching parts reaches required angle, make the stationkeeping of pin attaching parts with respect to shank pin attaching parts thereby bolt of rear end plate and captive nut tightened.
Polypody walking robot pin device for measuring force is made up of pressure sensor and signal acquisition process device.Pressure sensor is arranged on the lower end round boss of pin attaching parts; The signal wire (SW) of pressure sensor is connected with the signal acquisition process device through the metallic channel of pin attaching parts lower end; The force signal that pressure sensor measured carries out acquisition of signal and signal conditioning by the signal acquisition process device, obtains reliable and effective force signal observed reading through the signal acquisition process device.The size that is positioned at the pressure pad upper surface on the spherical sufficient end connection round boss is identical with effective survey area of pressure sensor; Each suffered power of pin acts on the pressure sensor through pressure pad uniformly; The survey precision of pressure sensor is improved greatly, thereby can accurately measure the suffered power of polypody walking robot pin.
The beneficial effect that the present invention can reach:
(1) the present invention adopts spherical sufficient end formula leg structure, and is simple and compact for structure, thereby makes polypody walking robot person walks flexibility and reliability;
(2) adopt the compression spring shock absorption device, actv. has reduced polypody walking robot mutual action and the vibrations and the impact that cause can significantly improve the stability in the polypody walking robot walking process in the process of walking and between the ground;
(3) adopts pressure sensor is measured polypody walking robot human leg-driven, greatly reduces difficulty and complexity that the multi-foot robot strength of one's legs is measured, has reduced the cost that the multi-foot robot strength of one's legs is measured;
(4) the suffered remainder after remove compression spring power in the power of pin central axis direction of polypody walking robot all acts on effective survey area of pressure sensor, has improved the precision and the reliability of pressure sensor ergometry greatly;
(5) the multi-foot robot pin is with respect to turning over certain angle between the multi-foot robot shank; Thereby can increase in the polypody walking robot strength of one's legs component greatly along the pin central axis direction; This masterpiece is used on the pressure sensor, and the measurement range of pressure sensor and precision are effectively improved.
Description of drawings
Fig. 1 three-dimensional structure scheme drawing of the present invention;
Fig. 2 structure cutaway view of the present invention;
Fig. 3 pin attaching parts structural representation;
Fig. 4 shank pin attaching parts structural representation.
Among the figure: 1. spherical foot end, 2. spherical sufficient end connection, 3. foot's sleeve, 4. damping compression spring; 5. pressure pad, 6. pin attaching parts, 7. fix screw, 8. shank pin attaching parts; 9. bolt of rear end plate, 10. captive nut, 11. angle grooves, 12. gap; 13. pressure sensor, 14. signal acquisition process devices, 15. metallic channels.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.
Like Fig. 1, shown in Figure 2, the present invention adopts spherical sufficient end formula leg structure, is made up of polypody walking robot pin mechanical device and polypody walking robot pin device for measuring force.
Polypody walking robot pin mechanical device comprises sphere foot end 1, damping dynamometry partial sum shank pin attaching parts 8 compositions.Spherical foot end 1 is processed by elastomeric material; This kind foot end contacts non-rigid contact for flexibility between fall foot back and ground; Not only can increase that friction between polypody walking robot pin and the ground prevents that the polypody walking robot from skidding when walking but can and ground between form buffering and reduce to impact, can improve the comformability of polypody walking robot by actv. to environment.Damping dynamometry part is made up of sphere foot end connection 2, foot's sleeve 3, damping compression spring 4, pressure pad 5, pin attaching parts 6, fix screw 7.The upper end of spherical sufficient end connection 2 places foot's sleeve 3; Between the step ring of spherical sufficient end connection 2 and foot's sleeve 3 inwalls is free-running fit; Can slide relative between the step ring of spherical sufficient end connection 2 and foot's sleeve 3 inwalls; Place pressure pad 5 on the round boss of spherical sufficient end connection 2, this round boss is positioned at foot's sleeve 3, and the lower end of spherical sufficient end connection 2 is threaded with sphere foot end 1 after passing the circular hole of foot's sleeve 3; Captive joint with foot sleeve 3 through fix screw 7 in the lower end of pin attaching parts 6; Damping compression spring 4 is put in foot's sleeve 3; And be enclosed within simultaneously on the lower end of upper end and pin attaching parts 6 of spherical sufficient end connection 2; The spring force that damping compression spring 4 produces acts on the step ring and pin attaching parts 6 of spherical sufficient end connection 2; The step ring bottom surface that makes spherical sufficient end connection 2 contacts with the inner bottom surface of foot sleeve 3, and damping compression spring 4 makes between the upper end of lower end and spherical sufficient end connection 2 of pin attaching parts 6 and forms certain clearance.Fixing with captive nut 10 between the jaw of the upper end of pin attaching parts 6 and shank pin attaching parts 8 by bolt of rear end plate 9; Can rotate a certain angle around bolt of rear end plate 9 between the jaw of the upper end of pin attaching parts 6 and shank pin attaching parts 8; Thereby function with ankle-joint; Be carved with the angle groove 11 of 0 to 120 degree on the upper end side plane of pin attaching parts 6 as shown in Figure 3; Interval 1 degree between the angle groove 11; Have gap 12 on the jaw of shank pin attaching parts 8 as shown in Figure 4; Can measure the angle that pin attaching parts 6 turns over respect to shank pin attaching parts 8 through gap on shank pin attaching parts 8 jaws 12 and the angle groove 11 on the pin attaching parts 6 upper end side planes, when the angle that pin attaching parts 6 turns over respect to shank pin attaching parts 8 reaches required angle, make the stationkeeping of pin attaching parts 6 with respect to shank pin attaching parts 8 thereby bolt of rear end plate 9 and captive nut 10 tightened.
Polypody walking robot pin device for measuring force is made up of pressure sensor 13 and signal acquisition process device 14.Pressure sensor 13 is arranged on the lower end round boss of pin attaching parts 6; The signal wire (SW) of pressure sensor 13 is connected with signal acquisition process device 14 through the metallic channel 15 of pin attaching parts 6 lower ends; The force signal that pressure sensor 13 is measured carries out acquisition of signal and signal conditioning by signal acquisition process device 14, obtains reliable and effective force signal observed reading through signal acquisition process device 14.The size that is positioned at pressure pad 5 upper surfaces on spherical sufficient end connection 2 round boss is identical with effective survey area of pressure sensor 13; Each suffered power of pin acts on the pressure sensor 13 through pressure pad 5 uniformly; The survey precision of pressure sensor 13 is improved greatly, thereby can accurately measure the suffered power of polypody walking robot pin.
Working process in the face of polypody walking robot pin is elaborated down.
Before control polypody walking robot person walks; At first the bolt of rear end plate 9 with polypody walking robot pin unclamps with captive nut 10; Walking step state according to the polypody walking robot; Artificial adjustment polypody walking robot pin is with respect to the angle of shank; Measure the angle of polypody walking robot pin through angle groove in the pin attaching parts 6 11 and the gap 12 on shank pin attaching parts 8 jaws with respect to shank, reach the required angle of adjustment after, bolt of rear end plate 9 and captive nut 10 tightened make the stationkeeping of pin attaching parts 6 with respect to shank pin attaching parts 8.The polypody walking robot can be walked then; When polypody walking robot pin contacts with ground; The spherical foot end 1 that elastomeric material is processed produces infinitesimal deformation, the flexible contact between spherical foot end 1 and the ground, the effect of ground force under with the sufficient end connection 2 of the spherical foot end 1 bonded assembly sphere while compression shock absorption compression spring 4 that in foot's sleeve 3, slides; 4 pairs of polypody walking robots of damping compression spring carry out bumper and absorbing shock; Damping compression spring 4 further is compressed up to pressure pad 5 and contacts with pressure sensor 13, pressure pad 5 squeeze pressure sensors 13 under the effect of ground force, and 13 pairs of suffered squeese pressures of pressure sensor are measured; And the force signal of being surveyed is input in the signal acquisition process device 14, can obtain reliable and effective force information through the acquisition process of 14 pairs of force signals of signal acquisition process device.Can be in real time in the walking process of polypody walking robot in the face of the application force of polypody walking robot pin with recording, measured force information not only accurately but also rapid, can well be grasped polypody walking robot stressing conditions in the process of walking.The force information that passes through to be obtained can be to the stressed comprehensive analyses that carries out in the polypody walking robot walking process, and its analysis result can instruct the control to the polypody walking robot.
Claims (1)
1. a polypody walking robot pin comprises polypody walking robot pin mechanical device and polypody walking robot pin device for measuring force, it is characterized in that:
Polypody walking robot pin mechanical device comprises spherical foot end, damping dynamometry partial sum shank pin attaching parts composition; Spherical foot end is processed for elastomeric material; Damping dynamometry part is made up of sphere foot end connection, foot's sleeve, damping compression spring, pressure pad, pin attaching parts, fix screw; The upper end of spherical sufficient end connection places foot's sleeve; Between the step ring of spherical sufficient end connection and the foot's sleeve lining is free-running fit; Can slide relative between the step ring of spherical sufficient end connection and the foot's sleeve lining; Place pressure pad on the round boss of spherical sufficient end connection, this round boss is positioned at foot's sleeve, and the lower end of spherical sufficient end connection is threaded with sphere foot end after passing the circular hole of foot's sleeve; Captive joint with the foot sleeve through fix screw in the lower end of pin attaching parts; The damping compression spring is put in foot's sleeve; And be enclosed within simultaneously on the lower end of upper end and pin attaching parts of spherical sufficient end connection; The spring force that the damping compression spring produces acts on the step ring and pin attaching parts of spherical sufficient end connection; The step ring bottom surface that makes spherical sufficient end connection contacts with the inner bottom surface of foot's sleeve, and the damping compression spring makes between the upper end of lower end and spherical sufficient end connection of pin attaching parts and forms certain clearance; Fix by bolt of rear end plate and captive nut between the jaw of the upper end of pin attaching parts and shank pin attaching parts; Can rotate a certain angle around bolt of rear end plate between the jaw of the upper end of pin attaching parts and shank pin attaching parts; Be carved with the angle groove of 0 to 120 degree on the upper end side plane of pin attaching parts; Interval 1 degree has gap on the jaw of shank pin attaching parts between the angle groove;
Polypody walking robot pin device for measuring force is made up of pressure sensor and signal acquisition process device; Pressure sensor is arranged on the lower end round boss of pin attaching parts, and the signal wire (SW) of pressure sensor is connected with the signal acquisition process device through the metallic channel of pin attaching parts lower end.
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| CN 201110451677 CN102530121B (en) | 2011-12-29 | 2011-12-29 | Leg of multi-legged walking robot |
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| CN 201110451677 CN102530121B (en) | 2011-12-29 | 2011-12-29 | Leg of multi-legged walking robot |
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| CN102530121B CN102530121B (en) | 2013-08-07 |
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Cited By (14)
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| CN103029768A (en) * | 2013-01-09 | 2013-04-10 | 北京理工大学 | Ratchet foot device for quadruped robots |
| CN103057619A (en) * | 2013-01-25 | 2013-04-24 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
| CN103303388A (en) * | 2013-07-08 | 2013-09-18 | 北京理工大学 | Omni directional and self-adaptation elastic foot of four-footed robot |
| CN104401416A (en) * | 2014-12-11 | 2015-03-11 | 吉林大学 | Rigid-flexible coupling buffer bionic foot |
| CN104843102A (en) * | 2015-03-17 | 2015-08-19 | 北京理工大学 | Damping foot type robot based on six-degrees-of-freedom parallel mechanism |
| CN105841721A (en) * | 2016-03-21 | 2016-08-10 | 中广核核电运营有限公司 | Fiber Bragg grating force sense sensor, robot and sensing measurement method of robot |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN108820070A (en) * | 2018-08-16 | 2018-11-16 | 西南科技大学 | A kind of robot foot end structure |
| CN110103258A (en) * | 2019-06-10 | 2019-08-09 | 哈尔滨理工大学 | One kind, which is contacted to earth, detects sufficient end |
| CN110440975A (en) * | 2019-08-06 | 2019-11-12 | 厦门大学 | Quadruped robot club foot end spherical surface vector force checking device and detection method |
| CN111619693A (en) * | 2020-05-27 | 2020-09-04 | 哈尔滨工业大学 | Robot foot end mechanism |
| US10926409B1 (en) | 2014-10-21 | 2021-02-23 | University Of South Florida | Systems and methods for controlling walking robots |
| CN113511284A (en) * | 2021-07-30 | 2021-10-19 | 中国空空导弹研究院 | Foot structure of quadruped robot |
| WO2024143475A1 (en) * | 2022-12-28 | 2024-07-04 | 川崎重工業株式会社 | Robot leg |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103029768B (en) * | 2013-01-09 | 2015-12-09 | 北京理工大学 | Quadruped robot ratchet foot unit |
| CN103029768A (en) * | 2013-01-09 | 2013-04-10 | 北京理工大学 | Ratchet foot device for quadruped robots |
| CN103057619A (en) * | 2013-01-25 | 2013-04-24 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
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| CN103303388A (en) * | 2013-07-08 | 2013-09-18 | 北京理工大学 | Omni directional and self-adaptation elastic foot of four-footed robot |
| CN103303388B (en) * | 2013-07-08 | 2016-01-20 | 北京理工大学 | The comprehensive self adaptation elastic foot of quadruped robot |
| US10926409B1 (en) | 2014-10-21 | 2021-02-23 | University Of South Florida | Systems and methods for controlling walking robots |
| CN104401416A (en) * | 2014-12-11 | 2015-03-11 | 吉林大学 | Rigid-flexible coupling buffer bionic foot |
| CN104401416B (en) * | 2014-12-11 | 2016-06-22 | 吉林大学 | Coupled Rigid-flexible cushions bionical foot |
| CN104843102A (en) * | 2015-03-17 | 2015-08-19 | 北京理工大学 | Damping foot type robot based on six-degrees-of-freedom parallel mechanism |
| CN105841721A (en) * | 2016-03-21 | 2016-08-10 | 中广核核电运营有限公司 | Fiber Bragg grating force sense sensor, robot and sensing measurement method of robot |
| CN105841721B (en) * | 2016-03-21 | 2018-08-03 | 中广核核电运营有限公司 | A kind of fiber grating force sensor, robot and its sensing measuring method |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN108820070A (en) * | 2018-08-16 | 2018-11-16 | 西南科技大学 | A kind of robot foot end structure |
| CN110103258A (en) * | 2019-06-10 | 2019-08-09 | 哈尔滨理工大学 | One kind, which is contacted to earth, detects sufficient end |
| CN110440975A (en) * | 2019-08-06 | 2019-11-12 | 厦门大学 | Quadruped robot club foot end spherical surface vector force checking device and detection method |
| CN111619693A (en) * | 2020-05-27 | 2020-09-04 | 哈尔滨工业大学 | Robot foot end mechanism |
| CN111619693B (en) * | 2020-05-27 | 2021-08-27 | 哈尔滨工业大学 | Robot foot end mechanism |
| CN113511284A (en) * | 2021-07-30 | 2021-10-19 | 中国空空导弹研究院 | Foot structure of quadruped robot |
| CN113511284B (en) * | 2021-07-30 | 2022-08-23 | 中国空空导弹研究院 | Foot structure of quadruped robot |
| WO2024143475A1 (en) * | 2022-12-28 | 2024-07-04 | 川崎重工業株式会社 | Robot leg |
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