CN115503847A - Foot device and legged robot - Google Patents

Abstract

The invention discloses a foot end device and a foot type robot, wherein the foot end device comprises a supporting rod, a fixing piece and a pre-tightening assembly; the fixing part is provided with a movable hole along a first direction, the first end of the supporting rod is positioned in the movable hole and can move in the movable hole, a limiting structure for preventing the supporting rod from being separated from the movable hole is arranged between the fixing part and the supporting rod, the surface of the fixing part is provided with mounting through holes arranged along a second direction, the second direction is not parallel to the first direction, and at least two mounting through holes are arranged at intervals along the circumferential direction of the fixing part; the pre-tightening assembly is provided with at least two mounting through holes in one-to-one correspondence, the pre-tightening assembly comprises an elastic piece, the first end of the elastic piece extends into the fixing piece through the mounting through holes and abuts against the supporting rod, and the second end of the elastic piece is fixed with the fixing piece. The supporting rod can swing and stretch in a certain range relative to the fixing piece; when the automobile meets impact or collision, the action of impact force is fully absorbed through the swinging and stretching of the supporting rod, and the core component is protected.

Description

Foot device and legged robot

technical field

The invention relates to the technical field of legged robots, in particular to a foot end device and a legged robot.

Background technique

With the continuous development of science and technology, legged robots have received widespread attention at home and abroad. The application scenarios of legged robots are complex and changeable, and they are prone to shocks, collisions and other emergencies during the movement. The foot end of the legged robot is directly in contact with the ground, which is an important part of the legged robot. Excessive impact force of the road on the foot will cause the motor to bear a large impact torque, resulting in increased difficulty in controlling the motor; a large impact force will also cause the joint position to withstand transient overload, and the risk of cracking of the components will increase, resulting in The reliability of legged robots is reduced. Therefore, a good foot end can resist the impact force from the ground during movement and reduce the difficulty of control.

In order to obtain good impact resistance, some foot-end devices use inflatable elastic parts and use glue to bond the inflatable elastic parts to the foot end, so as to use the inflatable elastic parts to achieve the purpose of cushioning and shock absorption; however, this method is prone to degumming and Air leakage reduces the cushioning capacity of the foot end and cannot effectively resist the impact force from the ground. There are also some foot-end devices that use foam and glue on the foot end, using the cushioning and shock absorption capacity of foam to resist the impact of the ground; however, the wear resistance of foam is extremely poor, and the service life is short. Difficult to meet the actual work needs.

Contents of the invention

Based on this, it is necessary to provide a foot-end device and a foot-type robot; the foot-end device can fully absorb the impact force when encountering unexpected situations such as impact and collision through the setting of fixing parts and pre-tightening components, so as to achieve protection. The role of core components; the legged robot includes the aforementioned foot end device, which can fully absorb the impact force when encountering shocks, collisions and other emergencies, so as to protect the core components.

Its technical scheme is as follows:

One embodiment provides a foot end device comprising:

support rod;

A fixing piece, the fixing piece is provided with a movable hole along the first direction, the first end of the support rod is located in the movable hole, the first end of the support rod can be stretched or swung in the movable hole, A limiting structure is provided between the fixing member and the supporting rod to prevent the supporting rod from detaching from the movable hole, the surface of the fixing member is provided with an installation through hole arranged along the second direction, and the first The two directions are not parallel to the first direction, and at least two installation through holes are arranged at intervals along the circumferential direction of the fixing member;

A pre-tensioning assembly, the pre-tensioning assembly is provided with at least two and corresponds to the installation through holes one by one, the pre-tensioning assembly includes an elastic member, and the first end of the elastic member extends through the installation through hole The fixing member is inside and presses against the supporting rod, and the second end of the elastic member is fixed with the fixing member.

In the above-mentioned foot end device, at least two pretensioning components realize the pretensioning of the support rod through the corresponding installation through holes, so that the support rod can swing and stretch to a certain extent relative to the fixed part; the limit structure prevents the support rod from moving The function of hole detachment; when encountering impact or collision, the swing and expansion of the support rod relative to the fixed part can play the role of cushioning and shock absorption, so as to fully absorb the impact force and protect the core components.

The technical scheme is further described below:

In one of the embodiments, an annular groove is provided at the pressing part of the supporting rod and the elastic member, the annular groove is arranged along the circumferential direction of the supporting rod, and the first end of the elastic member is pressed against the inside the annular groove.

The first end of the elastic member is pressed in the annular groove to play the role of pressing the support rod; and when at least two elastic members are pressed in the annular groove, and different elastic members are in different positions of the annular groove, then It can support and limit the support rod, and at the same time play a buffering role when the support rod swings or stretches relative to the fixed part.

In one of the embodiments, the support rod is provided with a first annular step and a second annular step, and the first annular step and the second annular step are arranged at intervals and are arranged along the circumference of the support rod , the annular groove is formed between the first annular step and the second annular step.

Both the first annular step and the second annular step are arranged around the support rod to form an annular groove to limit the pressing position of the elastic member, and at the same time, the first annular step and the second annular step play a limiting role through the wall surface of the step , and at the same time, it can make the support rod have a certain degree of freedom, so as to perform swinging and telescopic movements for buffering and shock absorption.

In one embodiment, the fixing part is provided with a snap-fit part that cooperates with the second annular step, and the second annular step and the snap-fit part form the position-limiting structure.

Through the cooperation of the second annular step and the clamping portion, the position of the support rod is limited, and the support rod is prevented from detaching from the movable hole.

In one embodiment, the annular groove is a groove opened around the circumference of the support rod.

Open a groove around the circumference of the support rod to form an annular groove to provide another embodiment of the annular groove. When the support rod is stretched relative to the fixed part, the side wall of the annular groove and the elastic part are press-fitted to play a buffer shock absorption.

In one of the embodiments, the groove depth of the annular groove gradually increases from the edge of the groove to the middle of the groove.

The groove bottom of the annular groove is deeper than other places, so that after the elastic member is pressed against the support rod through the annular groove, the elastic member can play a better buffering role when the support rod is in the swinging process and after the subsequent impact force disappears Better reset the support rod.

In one of the embodiments, the pre-tightening assembly further includes a fixing screw, the fixing screw is arranged at the second end of the elastic member, and the installation through hole is provided with a screw thread matched with the fixing screw.

The fixing screw can realize its own telescopic movement along the installation through hole through the rotation operation with the installation through hole, thereby driving the movement of the elastic member, and then realizing the adjustment of the pretightening force of the elastic member to complete the adjustment of the pretightening force on the support rod. With such a setting, the foot end device can freely adjust the stiffness of the foot end according to different application conditions and the total weight of the applied robot, and reduce the stiffness of the foot end in all directions as much as possible on the premise of ensuring the control accuracy of the foot robot. stiffness.

In one embodiment, the pre-tightening assembly further includes a top ball, the top ball is arranged at the first end of the elastic member, and the elastic member presses the support rod through the top ball.

The elastic member presses the support rod through the top ball, and the top ball better acts on the support rod through the arc surface, so as to adapt to the swing and expansion of the support rod relative to the fixed part.

In one embodiment, the second end of the support rod is provided with a buffer, and the buffer is spherical or cylindrical with an arc-shaped contact surface.

When in use, the second end of the support rod is in contact with the ground, and through the setting of the buffer, the buffer further acts as a buffer and shock absorber between the ground and the support rod; the buffer is spherical or columnar with an arc-shaped contact surface , which can make the cushioning parts better contact with the ground in different situations.

In one embodiment, a pressure sensor is arranged in the buffer member.

The pressure sensor is used to obtain the collision impact force encountered by the foot device to provide a basis for motion control.

In one embodiment, the buffer member is a rubber body fixed on the second end of the support rod.

Compared with the inflatable structure and the foam structure, the rubber body is not only low in cost, but also does not need to consider the sealing requirements, and has good wear resistance and long service life, which can meet the cushioning and shock absorption requirements of the foot end device.

Another embodiment also provides a legged robot, including the foot end device described in any one of the above technical solutions.

The above-mentioned legged robot adopts the aforementioned foot-end device. When encountering an impact or collision, the support rod can swing and expand relative to the fixed part, so as to play the role of buffering and shock absorption, and realize the effect of fully absorbing the impact force. And protect the core components.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

In addition, the drawings are not drawn in a 1:1 scale, and the relative sizes of the various elements are drawn in the drawings only as examples and not necessarily in true scale.

Fig. 1 is a schematic diagram of the overall structure of the foot end device in an embodiment of the present invention;

Fig. 2 is an exploded view of the overall structure of the foot end device in the embodiment of Fig. 1;

Fig. 3 is the assembly drawing of support bar and buffer member in Fig. 1 embodiment;

Fig. 4 is the enlarged view of the local structure of the annular groove in the embodiment of Fig. 1;

Fig. 5 is a schematic structural view of the fixture in the embodiment of Fig. 1;

Fig. 6 is an assembly diagram of the pretensioning assembly in the embodiment of Fig. 1 .

Notes on drawings:

100. Support rod; 110. Buffer piece; 120. Annular groove; 131. First annular step; 132. Second annular step; 200. Fixing piece; 210. Installation through hole; 220. Movable hole; 300. Preload assembly ; 310, elastic piece; 320, fixing screw; 330, top bead; 400, shank.

detailed description

Embodiments of the present invention are described in detail below in conjunction with accompanying drawings:

In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

Legged robots are a type of robots that imitate foot movements to move, such as humanoid robots, bionic robots, etc. Legs and foot-end devices connected to the legs are usually set under the body of such robots.

As shown in Fig. 1, the fixing part 200 of the foot end device is fixed on the lower leg 400, the foot end device is in contact with the ground and other media, and the lower leg 400 realizes movement through linkage with components such as the thigh (not shown in the figure) Features.

Please refer to FIG. 1 and FIG. 2 , an embodiment provides a foot device, including a support rod 100 , a fixing member 200 and a pretensioning assembly 300 . in:

The fixing part 200 is fixed to the calf 400, and the support rod 100 is installed on the fixing part 200 through the pretensioning assembly 300, and the supporting rod 100 can swing and telescopically move relative to the fixing part 200 to a certain extent, and the telescopic movement is along the cylinder of the fixing part 200. Move in the long direction to buffer impact forces such as collisions received by swinging and telescopic movement.

specifically:

In the embodiment shown in FIG. 1 and FIG. 2 , the support rod 100 may be a cylindrical rod structure.

In the embodiment shown in Figures 1 and 2, the fixing member 200 is provided with a movable hole 220 along the first direction, the first end of the support rod 100 is located in the movable hole 220, and the support rod 100 The first end can stretch or swing in the movable hole 220, and a limiting structure is provided between the fixing member 200 and the support rod 100 to prevent the support rod 100 from detaching from the movable hole 220. The surface of the fixing member 200 is provided with installation through holes 210 arranged along a second direction, the second direction is not parallel to the first direction, and at least two installation through holes 210 are provided along the fixing member 200 The circumferential direction is set at intervals.

The fixing part 200 is fixed with the calf 400, and the first end of the support rod 100 extends into the movable hole 220 of the fixing part 200, and can swing and telescopically move to a certain extent in the movable hole 220, so as to play an impact effect on collisions and the like force cushioning.

Further, the first direction is a direction along the length of the fixing member 200 , and the second direction is a direction perpendicular to the first direction.

Optionally, as shown in FIG. 1 and FIG. 2 , the fixing member 200 is a fixing cylinder, and the first direction is the length direction of the fixing cylinder.

In the embodiment shown in Figure 1 and Figure 2, there are at least two pretensioning assemblies 300 corresponding to the installation through holes 210 one by one, the pretensioning assembly 300 includes an elastic member 310, and the elastic member The first end of 310 extends into the movable hole 220 of the fixing member 200 through the installation through hole 210 and presses against the support rod 100 , the second end of the elastic member 310 is connected to the fixing member 200 fixed.

The first end of the elastic member 310 can extend into the movable hole 220 of the fixing member 200 through the installation through hole 210, so as to press the support rod 100, thereby matching the support rod 100 and enabling the support rod 100 to be loosely fitted on the fixing member 200 At the same time, the support rod 100 can swing and telescopically move relative to the fixing member 200 to a certain extent, and the second end of the elastic member 310 is fixed on the fixing member 200 .

It should be noted:

The first end of the elastic member 310 refers to the end of the elastic member 310 that is press-fitted with the support rod 100 (direct press fit or indirect press fit, and the indirect press fit can be through the top bead 330 pressing the support bar 100 and the second end of the elastic member 310 refers to the end fixed on the support bar 100 and the fixing member 200 (direct connection and fixing or indirect connection and fixing, and the indirect connection and fixing can be carried out through the fixing screw 320 and the fixing member 200 Fixed), which will be used later and will not be repeated.

Optionally, the elastic member 310 is a spring or columnar rubber.

In the foot end device, at least two pretensioning components 300 realize the pretensioning of the support rod 100 through the corresponding installation through holes 210, so that the support rod 100 can swing and stretch to a certain extent relative to the fixing member 200; To prevent the support rod 100 from detaching from the movable hole 220; when encountering an impact or collision, it can fully absorb the impact force and protect the core components.

Under the same coefficient of friction, the larger the contact area between the buffer member 110 of the foot end device and the ground, the less likely the legged robot will slip during motion, and the higher the motion stability of the legged robot will be. Since the support rod 100 and the fixing member 200 are loosely fitted through the pretensioning assembly 300 and have a certain range of swing and telescopic movement, it is equivalent to a detachable connection between the support rod 100 and the fixing member 200 (or can be understood as the lower leg 400 ). , and disassembly is very convenient. With such an arrangement, it is possible to freely match a more matching cushioning member 110 according to the friction coefficient of the ground in practical applications. specifically:

In the case of a large ground friction system, a buffer member 110 with a small contact area with the ground is selected;

When the friction coefficient of the ground is small, the buffer member 110 with a large contact area with the ground is selected.

The supporting rod 100 and the cushioning member 110 are arranged in a complete set. According to the difference in ground friction coefficient, only the supporting rod 100 and the buffering member 110 need to be replaced without replacing the entire leg structure of the legged robot, which is efficient and convenient.

In one embodiment, please refer to FIG. 2 and FIG. 3 , an annular groove 120 is provided at the pressing portion between the support rod 100 and the elastic member 310 , and the annular groove 120 is arranged along the circumference of the support rod 100 , A first end of the elastic member 310 presses against the annular groove 120 .

The first end of the elastic member 310 is pressed in the annular groove 120 to play the role of pressing the support rod 100; and at least two elastic members 310 are pressed in the annular groove 120, and different elastic members 310 are in the ring Different positions of the slot 120 can support and limit the support rod 100 , and at the same time play a buffer role when the support rod 100 swings or stretches relative to the fixing member 200 .

Specifically, when the support rod 100 swings relative to the fixing member 200, the elastic member 310 can limit the position of the support rod 100, prevent the support rod 100 from slipping from the movable hole 220 of the fixing member 200, and at the same time play a role in buffering and shock absorption. function; and when the support rod 100 expands and contracts relative to the fixing part 200, that is, when the support rod 100 is passively stretched and contracted due to an impact force, the groove wall of the annular groove 120 and the elastic member 310 are press-fitted to further play a role in buffering and shock absorption. Function, improve the impact resistance of the foot device.

In the embodiment shown in Figure 3, the annular groove 120 is arranged on the end of the support rod 100 away from the buffer member 110, and the annular groove 120 cooperates with the elastic member 310 so that the elastic member 310, the fixing member 200 and the support rod 100 The cooperation realizes clearance fit between the support rod 100 and the fixing member 200 and the support rod 100 can also swing and telescopically move relative to the fixing member 200 to a certain extent.

The annular groove 120 can be implemented in many different ways, three of which are introduced below:

In one embodiment, please refer to FIG. 2 and FIG. 3 , the support rod 100 is provided with a first annular step 131 and a second annular step 132, and the first annular step 131 and the second annular step 132 are spaced apart. The annular groove 120 is formed between the first annular step 131 and the second annular step 132 and arranged along the circumference of the support rod 100 .

Both the first annular step 131 and the second annular step 132 are arranged around the support rod 100, thereby forming the annular groove 120 to limit the pressing position of the elastic member 310. At the same time, the first annular step 131 and the second annular step 132 pass through The wall surface of the step acts as a limiter, and at the same time enables the support rod 100 to have a certain degree of freedom, so as to perform swinging and telescopic movements for buffering and shock absorption.

Optionally, the gap fit between the first annular step 131 and the second annular step 132 and the inner wall of the fixing member 200 is to reserve a space for the support rod 100 to swing relative to the fixing member 200, and at the same time provide the support rod 100 with a cushioning effect. Activity space during earthquake action. Such setting enables the support rod 100 to move linearly and telescopically relative to the fixing part 200, and at the same time to deflect and swing relative to the fixing part 200, so as to realize the multi-directional stiffness adjustment of the foot end device, along the axial direction of the leg where the foot end device is located. Free adjustment of linear stiffness and radial deflection stiffness, flexible and adaptable.

In the embodiment shown in Fig. 3 and Fig. 4, the first annular step 131 and the second annular step 132 are circular annular steps around the outer circumference of the support rod 100, and the first annular step 131 and the second annular step An annular groove 120 is formed between the steps 132 .

In another embodiment, please refer to FIG. 3 and FIG. 4 , the annular groove 120 is a groove opened around the circumference of the support rod 100 .

In the embodiment shown in FIG. 3 , an annular groove 120 is provided on the support rod 100, and the annular groove 120 can also be used to accommodate the first end of the elastic member 310 (the first end of the elastic member 310 is provided in the specific implementation). top bead 330).

There is also an embodiment, as shown in Figure 3, the first annular step 131 and the second annular step 132 on the support rod 100; at the same time, the corresponding support rod between the first annular step 131 and the second annular step 132 A groove is formed around the area of 100 , so that the first annular step 131 , the second annular step 132 and the groove formed on the support rod 100 jointly form an annular groove 120 .

On the one hand, both the first annular step 131 and the second annular step 132 are in clearance fit with the inner wall of the fixing member 200; The spaces between the annular steps 132 jointly form a larger space, that is, the annular groove 120 , so as to realize functions such as buffering and shock absorption with the elastic member 310 .

In the case of unexpected situations such as impact and collision, the groove wall of the annular groove 120 and the first annular step 131 and the second annular step 132 can be press-fitted with the elastic member 310. Absorbs impact forces and protects core components.

In one embodiment, the fixing member 200 is provided with a locking part that cooperates with the second annular step 132 , and the second annular step 132 and the locking part form the limiting structure.

Through the cooperation of the second annular step 132 and the locking part, the position of the support rod 100 is limited, and the support rod 100 is prevented from detaching from the movable hole 220 .

In one embodiment, please refer to FIG. 3 and FIG. 4 , the groove depth of the annular groove 120 gradually increases from the edge of the groove to the middle of the groove.

The groove bottom of the annular groove 120 is deeper than other places, so that after the elastic member 310 is pressed against the support rod 100 through the annular groove 120, the elastic member 310 can play a better buffering role and prevent the support rod 100 from swinging. It is better to reset the support rod 100 after the subsequent impact force disappears.

In the embodiment shown in Figure 3, the groove section of the annular groove 120 is arranged in an arc shape, and the groove depth is gradually reduced from the groove bottom to the two groove sides to form an arc structure, so that the support rod When the support rod 100 swings relative to the fixing member 200 , the elastic member 310 is pressed against the support rod 100 .

Specifically, in the embodiment shown in Figure 4, the depths of different positions of the annular groove 120 are a, b and c respectively, wherein the depth of the position in the middle of the annular groove is a, and the depths of the edges on both sides of the middle are b and c, it can be clearly seen from Figure 4 that the depth a in the middle is greater than b and c near the edge.

In one embodiment, please refer to FIG. 1 , FIG. 2 , FIG. 5 and FIG. 6 , the pretensioning assembly 300 further includes a fixing screw 320 , and the fixing screw 320 is arranged at the second end of the elastic member 310 , so The mounting through hole 210 is provided with a thread matched with the fixing screw 320 .

The fixing screw 320 can realize its telescopic movement along the installation through hole 210 through the rotation operation with the installation through hole 210, thereby driving the movement of the elastic member 310, and then realizing the adjustment of the pretightening force of the elastic member 310 to complete the adjustment of the support rod 100. preload adjustment. With such a setting, the foot end device can freely adjust the stiffness of the foot end according to different application conditions and the total weight of the applied robot, and reduce the stiffness of the foot end in all directions as much as possible on the premise of ensuring the control accuracy of the foot robot. stiffness.

In the embodiment shown in Figure 4 and Figure 5, the fixing screw 320 can be screwed into the installation through hole 210, and the elastic member 310 is pressed against the support rod 100, when the fixing screw 320 rotates, due to the fixing screw 320 telescopically moves relative to the installation through hole 210 , so as to realize the adjustment of the pretightening force exerted by the elastic member 310 on the support rod 100 .

In one embodiment, please refer to FIG. 5 , the pretensioning assembly 300 further includes a top bead 330 , the top bead 330 is arranged at the first end of the elastic member 310 , and the elastic member 310 is pressed against by the top bead 330 The support rod 100 .

The elastic member 310 presses the support rod 100 through the top bead 330 , and the top bead 330 better acts on the support rod 100 through the arc surface, so as to adapt to the swing and expansion of the support rod 100 relative to the fixing member 200 .

In the embodiment shown in Fig. 3 and Fig. 6, the groove section of the annular groove 120 is arranged in an arc shape to better match the arc surface of the top ball 330. When the support rod 100 swings relative to the fixture 200, the top ball 330 is better matched by the arc-shaped annular groove 120 .

In one embodiment, please refer to FIG. 1 , FIG. 2 and FIG. 5 , there are multiple installation through holes 210 uniformly distributed along the circumference of the fixing member 200 , and the pretensioning assembly 300 is provided with multiple And correspond to the installation through holes 210 one by one.

There are multiple preloading assemblies 300 arranged evenly, so as to adjust the preloading of the support rod 100 in all directions, thereby realizing the adjustment of the stiffness of the foot end in all directions, so as to adapt to different working conditions and applications. The total weight of the robot.

A plurality of preload components 300 are evenly distributed around the circumference, which is equivalent to a set of multi-directional stiffness adjustment mechanism. By rotating the fixing screw 320, the preload force of the elastic member 310 is adjusted, and the support rod 100 is pressed against the support rod 100 through the top bead 330, and the support rod 100 is opposite to each other. As the swing stiffness of the lower leg 400 (or the fixing member 200 ) along the axis of the elastic member 310 changes; at the same time, the equivalent stiffness of the supporting rod 100 moving up and down relative to the lower leg 400 also changes accordingly.

Therefore, in actual use, the stiffness can be freely adjusted according to different application conditions and the total weight of the legged robot (referring to the legged robot used in the foot-end device). On the premise of ensuring the control accuracy of the legged robot , as much as possible to reduce the stiffness of the foot device in all directions, so that it can fully resist and absorb the impact force in case of impact, collision and other unexpected situations, so as to protect the core components of the legged robot.

In specific applications, the following two situations can be distinguished:

When the road surface is rough, the walking process of the legged robot is not stable or the legged robot performs running and jumping actions. At this time, the leg structure of the legged robot is vulnerable to impact. In order to better absorb the impact energy and achieve the buffering effect, the fixing screw 320 should be rotated to loosen the elastic member 310 so that the top bead 330 on the elastic member 310 is aligned with the supporting rod. The pre-tightening force of 100 is reduced, so as to achieve the effect of reducing the equivalent stiffness. Since the elastic parts 310 are evenly distributed on the circumference of the fixing part 200, adjusting the pre-tightening force of the corresponding elastic parts 310 can realize the stiffness adjustment in this direction . When the total weight of the legged robot increases, the impact force received during the running and jumping process will increase proportionally. At this time, the preload of the elastic member 310 should be proportionally reduced to achieve free adjustment of stiffness.

When the road surface is flat, the legged robot does not need to run and jump. At this time, the impact force on the leg structure can be ignored. Rotate the fixing screw 320 to tighten the elastic member 310, so that the pre-tightening force of the top ball 330 on the elastic member 310 to the support rod 100 is increased, thereby achieving the effect of increasing the equivalent stiffness and reducing the external impact of the leg 400 structure When the deformation, and to improve the control precision of the leg structure. When the total weight of the legged robot decreases, the impact force received during running and jumping will decrease proportionally. At this time, the preload of the elastic member 310 should be proportionally increased to realize the free adjustment of stiffness.

In one embodiment, please refer to FIG. 2 , there are eight pretensioning components 300 ; correspondingly, eight installation through holes 210 are evenly distributed around the circumference of the fixing member 200 .

During specific implementation, when the adjustment is satisfied, the greater the number of pretensioning assemblies 300, the more the stiffness of the foot-end device can be adjusted, so that the stiffness of the foot-end device can be adjusted more flexibly to further improve the foot-end device. The terminal device is adaptable to the ground under different working conditions.

In one embodiment, the second end of the support rod 100 is provided with a buffer member 110, and the buffer member 110 is spherical or columnar with an arc-shaped contact surface.

When in use, the second end of the support rod 100 is in contact with the ground, and through the setting of the buffer member 110, the buffer member 110 further acts as a buffer and shock absorber between the ground and the support rod 100; the buffer member 110 is spherical or has an arc shape The columnar arrangement of the contact surface can make the buffer member 110 better contact the ground in different situations.

In one embodiment, the buffer member 110 is provided with a pressure sensor.

The pressure sensor is used to obtain the collision impact force encountered by the foot device to provide a basis for motion control.

The pressure sensor can feed back the pressure data of the foot-end device touching the ground in real time, so that the control system of the footed robot can recognize the road conditions and adjust its own posture in time to correct the next step of the footed robot and ensure the movement posture of the footed robot correctness.

In one embodiment, the buffer member 110 is a rubber body fixed on the second end of the support rod 100 .

Compared with the inflatable structure and the foam structure, the rubber body is not only low in cost, but also does not need to consider the sealing requirements, and has good wear resistance and long service life, which can meet the cushioning and shock absorption requirements of the foot end device.

Optionally, the buffer member 110 is spherical or cylindrical and made of rubber.

The cushioning member 110 made of rubber also facilitates the installation of the pressure sensor.

Another embodiment also provides a legged robot, including the foot end device as described in any one of the above embodiments.

The legged robot adopts the above-mentioned foot end device. When encountering an impact or collision, the support rod 100 can swing and stretch relative to the fixing part 200, so as to play the role of buffering and shock absorption, and realize the effect of fully absorbing the impact force , and protect core components.

specifically:

As shown in Figures 1 and 2, the fixture 200 is fixed to the shank 400 of the legged robot, the lower end of the support rod 100 (i.e. the second end of the support rod 100) is provided with a buffer 110, and the upper end of the support rod 100 (i.e. the support The first end of the rod 100) extends into the movable hole 220 of the fixing member 200, and the fixing member 200 has eight installation through holes 210 evenly distributed in the circumferential direction, and the eight installation through holes 210 correspond to eight pretensioning assemblies 300, eight A pretensioning assembly 300 supports and limits the upper end of the support rod 100 in the fixing part 200 through the corresponding installation through hole 210, and enables the supporting rod 100 to deflect, swing and telescopically move relative to the fixing part 200 when encountering an impact collision, The pre-tightening assembly 300 has buffering and shock-absorbing effects on both the circumferential direction and the axial direction of the support rod 100 .

When the support rod 100 is impacted and collided, the buffer member 110 at the lower end performs primary buffer shock absorption, while the support rod 100 performs secondary buffer shock absorption by swinging and telescopically moving relative to the fixing member 200 through the pre-tightening assembly 300, which greatly reduces the impact. The impact of the collision on the foot-end unit.

In addition, according to different application conditions and the total weight of the legged robot, the stiffness can be adjusted freely. On the premise of ensuring the control accuracy of the legged robot, the rigidity of the foot device in all directions can be reduced as much as possible to avoid shocks, collisions, etc. Sufficiently absorb shocks in case of emergencies to achieve the effect of protecting core components.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiment.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (12)

1. A foot device, characterized in that it comprises: support rod; A fixing piece, the fixing piece is provided with a movable hole along the first direction, the first end of the support rod is located in the movable hole, the first end of the support rod can be stretched or swung in the movable hole, A limiting structure is provided between the fixing member and the supporting rod to prevent the supporting rod from detaching from the movable hole, the surface of the fixing member is provided with an installation through hole arranged along the second direction, and the first The two directions are not parallel to the first direction, and at least two installation through holes are arranged at intervals along the circumferential direction of the fixing member; A pre-tensioning assembly, the pre-tensioning assembly is provided with at least two and corresponds to the installation through holes one by one, the pre-tensioning assembly includes an elastic member, and the first end of the elastic member extends through the installation through hole The movable hole is pressed against the support rod, and the second end of the elastic member is fixed with the fixing member. 2. The foot end device according to claim 1, characterized in that, an annular groove is provided at the pressing part of the support rod and the elastic member, and the annular groove is arranged along the circumference of the support rod, and the The first end of the elastic member presses against the annular groove. 3. The foot end device according to claim 2, wherein the support rod is provided with a first annular step and a second annular step, the first annular step and the second annular step are arranged at intervals and are arranged along the circumference of the support rod, and the annular groove is formed between the first annular step and the second annular step. 4. The foot end device according to claim 3, characterized in that, the fixing part is provided with a clamping part that cooperates with the second annular step, and the second annular step and the clamping part are composed of The limiting structure. 5. The foot end device according to claim 2, wherein the annular groove is a groove opened around the circumference of the support rod. 6 . The foot end device according to claim 2 , wherein the depth of the annular groove gradually increases from the edge of the groove to the middle of the groove. 7 . 7. The foot end device according to claim 1, wherein the pre-tightening assembly further includes a fixing screw, the fixing screw is arranged at the second end of the elastic member, and the installation through hole is provided with a The set screw fits the thread. 8. The foot end device according to claim 1, wherein the pretensioning assembly further comprises a top bead, the top bead is arranged at the first end of the elastic member, and the elastic member is pressed against by the top bead the support rod. 9. The foot end device according to any one of claims 1-8, characterized in that, the second end of the support rod is provided with a buffer, and the buffer is spherical or cylindrical with an arc-shaped contact surface . 10 . The foot device according to claim 9 , wherein a pressure sensor is provided in the cushioning member. 11 . 11. The foot end device according to claim 9, wherein the buffer member is a rubber body fixed on the second end of the support rod. 12. A legged robot, characterized in that it comprises the foot end device according to any one of claims 1-11.

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