CN103029768B - Quadruped robot ratchet foot unit - Google Patents
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- CN103029768B CN103029768B CN201310006996.2A CN201310006996A CN103029768B CN 103029768 B CN103029768 B CN 103029768B CN 201310006996 A CN201310006996 A CN 201310006996A CN 103029768 B CN103029768 B CN 103029768B
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- 229920002635 polyurethane Polymers 0.000 claims description 8
- 239000004814 polyurethane Substances 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 5
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 6
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
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Abstract
本发明公布了一种四足机器人棘轮足装置,所述棘轮足装置安装在四足机器人腿部,所述棘轮足装置包括足部托盘、连接平板、大空心销轴、小空心销轴、棘轮和棘轮垫块,足部托盘与四足机器人小腿连接,连接平板通过螺钉与足部托盘固连,通过螺钉将棘轮和棘轮垫块固定在连接平板上,再通过大空心销轴和小空心销轴固定棘轮和棘轮垫块使两者不发生相对滑移。基于独特的棘轮的设计,可以使四足机器人在与地面接触时产生良好的摩擦力和抓地力。本发明四足机器人棘轮足装置,具有结构简单,重量轻,拆装方便,抓地力强,运动能力突出等特点。
The invention discloses a ratchet foot device for a quadruped robot. The ratchet foot device is installed on the leg of a quadruped robot. The ratchet foot device includes a foot tray, a connecting plate, a large hollow pin shaft, a small hollow pin shaft, and a ratchet wheel. And the ratchet block, the foot tray is connected with the lower leg of the quadruped robot, the connecting plate is fixedly connected with the foot tray through screws, the ratchet and the ratchet block are fixed on the connecting plate through the screws, and then through the large hollow pin shaft and the small hollow pin The shaft fixes the ratchet and the ratchet pad so that the two do not slip relative to each other. Based on the unique ratchet design, the quadruped robot can generate good friction and grip when it comes into contact with the ground. The ratchet foot device of the quadruped robot of the present invention has the characteristics of simple structure, light weight, convenient assembly and disassembly, strong grip force, outstanding exercise ability and the like.
Description
技术领域technical field
本发明涉及一种棘轮足装置,特别涉及一种四足机器人棘轮足装置。The invention relates to a ratchet foot device, in particular to a ratchet foot device for a quadruped robot.
背景技术Background technique
机器人最大的特点在于其能够代替人类完成相关任务,随着人类对自身安全要求的提高,在复杂和危险的环境中就更加需要机器人来代替人类开展工作。就地面机器人而言,目前主要运动方式是依靠轮子或履带,而在坑洼不平的地面或者更加复杂的环境下,这种类型的机器人是无法正常运动的。足式机器人就具有更广泛的地形适应性,其可以在危险环境下进行检测、反恐、侦查、攻击、排爆等任务,具有重要的实用意义。其中研究最广泛的足式机器人是四足机器人。The biggest feature of robots is that they can replace humans to complete related tasks. With the improvement of human safety requirements, robots are more needed to replace humans in complex and dangerous environments. As far as ground robots are concerned, the current main way of movement is to rely on wheels or crawlers, and this type of robot cannot move normally on uneven ground or in more complex environments. The legged robot has a wider range of terrain adaptability, and it can perform tasks such as detection, anti-terrorism, reconnaissance, attack, and explosive discharge in dangerous environments, which has important practical significance. The most widely studied legged robot is the quadruped robot.
四足机器人的足部结构设计对于四足机器人的运动能力起着重要的作用。由于体积的限制,四足机器人的足部不可能设计的很大,更小的触地面积将产生更大的触地压强,从而在快速运动的过程中容易因摩擦力和抓地力不够而产生打滑的现象。The foot structure design of a quadruped robot plays an important role in the locomotion ability of a quadruped robot. Due to volume limitations, the feet of quadruped robots cannot be designed to be very large, and a smaller contact area will generate greater contact pressure, which is likely to be caused by insufficient friction and grip during fast movement. The phenomenon of slipping.
目前常见的四足机器人的足部装置的触地部件为半圆柱状聚氨酯块。要想增加触地摩擦力和抓地力,只能通过增大聚氨酯块的尺寸来获得,而过大的聚氨酯块将会对四足机器人的步态规划产生不利影响,并且有可能会产生运动干涉的问题。同时,该足部装置在冰面或者其他光滑地面上无法产生足够的摩擦力和抓地力,产生打滑的现象。The ground-contacting part of the foot device of a common quadruped robot is a semi-cylindrical polyurethane block. If you want to increase the ground friction and grip, you can only obtain it by increasing the size of the polyurethane block, and the excessively large polyurethane block will have an adverse effect on the gait planning of the quadruped robot, and may cause motion interference The problem. At the same time, the foot device cannot generate sufficient friction and grip on ice or other slippery surfaces, resulting in slippage.
如何提高四足机器人足部装置与接触面的摩擦力和抓地力以使其能够适应各种复杂地形成为四足机器人研究中的一大热点和难点问题。How to improve the friction and grip between the quadruped robot's foot device and the contact surface so that it can adapt to various complex terrains has become a hot and difficult problem in the research of quadruped robots.
发明内容Contents of the invention
本发明实施例的目的是针对上述现有技术的缺陷,提供了一种可以为四足机器人提供更大摩擦力和抓地力的棘轮足装置。The purpose of the embodiments of the present invention is to provide a ratchet foot device that can provide a quadruped robot with greater friction and grip to address the above-mentioned defects in the prior art.
为了实现上述目的本发明采取的技术方案是:一种四足机器人棘轮足装置,包括足部托盘、连接平板、大空心销轴、小空心销轴、棘轮和棘轮垫块。所述足部托盘与四足机器人小腿连接,所述连接平板通过螺钉与所述足部托盘固连,通过螺钉将所述棘轮和所述棘轮垫块固定在连接平板上,再通过所述大空心销轴和所述小空心销轴固定所述棘轮和所述棘轮垫块使两者不发生相对滑移。In order to achieve the above object, the technical solution adopted by the present invention is: a ratchet foot device for a quadruped robot, including a foot tray, a connecting plate, a large hollow pin, a small hollow pin, a ratchet and a ratchet pad. The foot tray is connected to the lower leg of the quadruped robot, the connecting plate is fixedly connected to the foot tray through screws, and the ratchet and the ratchet spacer are fixed on the connecting plate through screws, and then through the large The hollow pin shaft and the small hollow pin shaft fix the ratchet and the ratchet pad so that the two do not slip relative to each other.
所述棘轮为变齿棘轮,中间部位齿尺寸大,齿尺寸向两端依次减小。The ratchet is a variable-tooth ratchet, with large teeth in the middle and smaller teeth in turn toward both ends.
所述小空心销轴两端加工有外螺纹。所述小空心销轴穿过所述大空心销轴,再穿过所述棘轮和所述棘轮垫块,通过螺母与所述小空心销轴的两端外螺纹的配合将所述棘轮和所述棘轮垫块连接在一起。Both ends of the small hollow pin are processed with external threads. The small hollow pin shaft passes through the large hollow pin shaft, and then passes through the ratchet wheel and the ratchet pad, and the ratchet wheel and the ratchet wheel are connected to each other through the cooperation of the nut and the external threads at both ends of the small hollow pin shaft. The above ratchet pads are connected together.
所述棘轮垫块有两个,左右对称分布在所述棘轮的两端。There are two ratchet pads, symmetrically distributed at both ends of the ratchet.
所述连接平板加工有止动槽,用于与所述棘轮的连接。The connecting plate is processed with a stop groove for connecting with the ratchet.
所述棘轮顶部设有凸台,所述凸台与所述连接平板的止动槽相配合,防止所述棘轮与所述连接平板发生松动。The top of the ratchet is provided with a boss, and the boss matches the stop groove of the connecting plate to prevent the ratchet from loosening with the connecting plate.
所述棘轮垫块材料为聚氨酯。The material of the ratchet block is polyurethane.
本发明实施例提供的技术方案带来的有益效果是:The beneficial effects brought by the technical solution provided by the embodiments of the present invention are:
相比现有技术,本棘轮足装置所设计的独特的变齿棘轮棘轮,能够在与地面接触的瞬间产生足够的摩擦力和抓地力,并且能够在后续动作中持续产生摩擦力和抓地力,从而不会因摩擦力不够而产生打滑的现象,运动能力突出,环境适应性强,并且结构简单,重量轻,易拆装。Compared with the existing technology, the unique variable-tooth ratchet ratchet designed by this ratchet foot device can generate sufficient friction and grip at the moment of contact with the ground, and can continue to generate friction and grip in subsequent actions. Therefore, there will be no slipping due to insufficient friction, outstanding athletic ability, strong environmental adaptability, simple structure, light weight, and easy assembly and disassembly.
附图说明Description of drawings
图1是本发明实施例提供的四足机器人棘轮足装置的等轴测视图;Fig. 1 is an isometric view of a ratchet foot device for a quadruped robot provided by an embodiment of the present invention;
图2是本发明实施例提供的四足机器人棘轮足装置的爆炸视图;Fig. 2 is an exploded view of the ratchet foot device of the quadruped robot provided by the embodiment of the present invention;
图3是本发明实施例提供的四足机器人棘轮足装置的主视图;Fig. 3 is the front view of the ratchet foot device of the quadruped robot provided by the embodiment of the present invention;
图4是图3中A向剖视图;Fig. 4 is a cross-sectional view of A direction in Fig. 3;
图5是棘轮零件的等轴测图;Figure 5 is an isometric view of the ratchet part;
图中:1足部托盘,2连接平板,3大空心销轴,4小空心销轴,5棘轮,6棘轮垫块。In the figure: 1 foot tray, 2 connection plates, 3 large hollow pins, 4 small hollow pins, 5 ratchets, 6 ratchet pads.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明实施方式作进一步地详细描述。In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
参见图1及图2,一种四足机器人棘轮足装置,包括足部托盘1、连接平板2、大空心销轴3、小空心销轴4、棘轮5和棘轮垫块6。足部托盘1与四足机器人小腿连接,连接平板2通过螺钉与足部托盘1固连,通过螺钉将棘轮5和棘轮垫块6固定在连接平板上,再通过大空心销轴3和小空心销轴4固定棘轮5和棘轮垫块6使两者不发生相对滑移。Referring to FIG. 1 and FIG. 2 , a ratchet foot device for a quadruped robot includes a foot tray 1 , a connecting plate 2 , a large hollow pin 3 , a small hollow pin 4 , a ratchet 5 and a ratchet pad 6 . The foot tray 1 is connected to the lower leg of the quadruped robot, the connecting plate 2 is fixedly connected to the foot tray 1 through screws, the ratchet 5 and the ratchet pad 6 are fixed on the connecting plate through the screws, and then through the large hollow pin shaft 3 and the small hollow pin The pin shaft 4 fixes the ratchet 5 and the ratchet pad 6 so that the two do not slip relative to each other.
参见图5,棘轮5为变齿棘轮,中间部位齿尺寸大,齿尺寸向两端依次减小。Referring to Fig. 5 , the ratchet 5 is a variable-tooth ratchet, the middle part has large teeth, and the teeth gradually decrease toward both ends.
由于四足机器人足部着地时,一般情况下,足部中间位置首先触地,然后两侧着地,所以棘轮5的中间部位齿的尺寸必须足够大才能承受地面的冲击力,同时也能提供更大的抓地力,随着四足机器人的运动,足部与地面的触点会向侧面移动,此时所需要承受的冲击力大幅减小,所需要的抓地力也小,小尺寸的轮齿已经能够满足要求,此时若轮齿的尺寸过大反而会造成足部不稳的情况出现。Because when the foot of the quadruped robot touches the ground, under normal circumstances, the middle position of the foot first touches the ground, and then the two sides touch the ground, so the size of the teeth in the middle part of the ratchet 5 must be large enough to withstand the impact of the ground, and also provide more Large grip. With the movement of the quadruped robot, the contact between the foot and the ground will move sideways. At this time, the impact force that needs to be borne is greatly reduced, and the required grip is also small. Small-sized gear teeth It has been able to meet the requirements. At this time, if the size of the gear teeth is too large, it will cause the foot to be unstable.
特别的,作为优选,棘轮5的两个端面在不影响零件之间的配合的前提下,镜像加工出多个槽,在保证强度的同时大幅度的减轻了重量。In particular, preferably, the two end surfaces of the ratchet 5 are mirror-processed with a plurality of grooves on the premise of not affecting the cooperation between the parts, which greatly reduces the weight while ensuring the strength.
参见图2、图3及图4,小空心销轴4两端加工有外螺纹。小空心销轴4穿过大空心销轴3,再穿过棘轮5和棘轮垫块6,通过螺母与小空心销轴4的两端外螺纹的配合将棘轮5和棘轮垫块6连接在一起。Referring to Fig. 2, Fig. 3 and Fig. 4, the two ends of the small hollow pin shaft 4 are processed with external threads. The small hollow pin 4 passes through the large hollow pin 3, and then passes through the ratchet 5 and the ratchet pad 6, and the ratchet 5 and the ratchet pad 6 are connected together through the cooperation of the nut and the external threads at both ends of the small hollow pin 4 .
特别的,大空心销轴3和小空心销轴4加工成空心是为了减轻重量,同时两者均采用高强度的合金钢制作,在起到固定作用的同时,还能够承受由棘轮垫块6传递过来的地面反作用力,起到加强筋的作用。In particular, the large hollow pin shaft 3 and the small hollow pin shaft 4 are processed to be hollow in order to reduce weight, and both of them are made of high-strength alloy steel. The transmitted ground reaction force acts as a stiffener.
作为优选,棘轮垫块6有两个,左右对称分布在棘轮5的两端。Preferably, there are two ratchet pads 6, symmetrically distributed at both ends of the ratchet 5.
进一步的,参见图2,作为优选,连接平板2加工有止动槽,用于与棘轮5的连接。Further, referring to FIG. 2 , preferably, the connection plate 2 is processed with a stop groove for connection with the ratchet 5 .
参见图5,棘轮5顶部设有凸台,所述凸台与连接平板2的止动槽相配合,防止棘轮5与连接平板2发生松动。Referring to FIG. 5 , a boss is provided on the top of the ratchet 5 , and the boss cooperates with the stop groove of the connecting plate 2 to prevent the ratchet 5 and the connecting plate 2 from loosening.
具体的,作为优选,棘轮垫块6材料为聚氨酯。聚氨酯材料具有很好的强度、弹性和耐磨性,当棘轮足装置与地面接触时,棘轮5提供摩擦力和抓地力,两侧的棘轮垫块6能提供额外的摩擦力,并且作为主要支撑面起到支撑的作用,同时由于聚氨酯材料的弹性,棘轮垫块6还能够缓冲地面的反作用力,使运动更加平稳。Specifically, preferably, the material of the ratchet block 6 is polyurethane. The polyurethane material has good strength, elasticity and wear resistance. When the ratchet foot device is in contact with the ground, the ratchet 5 provides friction and grip, and the ratchet pads 6 on both sides can provide additional friction and serve as the main support The surface plays the role of support, and at the same time due to the elasticity of the polyurethane material, the ratchet block 6 can also buffer the reaction force of the ground to make the movement more stable.
以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
Claims (7)
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CN102530121A (en) * | 2011-12-29 | 2012-07-04 | 浙江大学 | Leg of multi-legged walking robot |
CN102730095A (en) * | 2012-06-18 | 2012-10-17 | 杭州电子科技大学 | Flexibly landed foot mechanism of humanoid robot |
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CN102514649A (en) * | 2011-12-29 | 2012-06-27 | 北京航空航天大学 | Humanoid robot foot plate mechanism with multiple degrees of freedom |
CN102530121A (en) * | 2011-12-29 | 2012-07-04 | 浙江大学 | Leg of multi-legged walking robot |
CN102730095A (en) * | 2012-06-18 | 2012-10-17 | 杭州电子科技大学 | Flexibly landed foot mechanism of humanoid robot |
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