CN103481963A - Two-stage buffer foot device applicable to obstacle crossing robot - Google Patents

Two-stage buffer foot device applicable to obstacle crossing robot Download PDF

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Publication number
CN103481963A
CN103481963A CN201310418472.4A CN201310418472A CN103481963A CN 103481963 A CN103481963 A CN 103481963A CN 201310418472 A CN201310418472 A CN 201310418472A CN 103481963 A CN103481963 A CN 103481963A
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China
Prior art keywords
steering wheel
spring
wheel support
pad
connecting panel
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CN201310418472.4A
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Chinese (zh)
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CN103481963B (en
Inventor
刘冬
陈伟海
裴忠才
王建华
戴冠雄
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Beihang University
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Beihang University
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Priority to CN201310418472.4A priority Critical patent/CN103481963B/en
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Publication of CN103481963B publication Critical patent/CN103481963B/en
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Abstract

The invention discloses a two-stage buffer foot device applicable to an obstacle crossing robot. The foot device comprises an AD steering gear bracket (1A), an AG steering gear bracket (1B), an AA transfer plate (1C), an AB transfer plate (1D), an AA connecting plate (1E), an AB connecting plate (1F), an AA swivel bearing (1G), an AA linear bearing (1P), an AA pressure sensor (1M), an AA spring (11), an AB spring (1H), an AA sliding rod (1J), an AA rubber foot pad (1k), an AA gasket (1L), an AA external unit (1N) and an AA sleeve (1Q). Each foot achieves passive compliance through a spring damping system and a rubber sole; the pressure sensors are integrated in the two-stage spring buffer device to realize active compliance, and accordingly foot end pressure information can be effectively acquired; meanwhile, external environment disturbance is avoided, and consumption and wear are reduced. In addition, positioning is performed through the linear bearings and flanges to realize linear displacement of the foot end sliding rods.

Description

A kind of foot device with two-stage buffering that is applicable to barrier-surpassing robot
Technical field
The present invention relates to a kind of walking robot, more particularly, refer to a kind of foot device with two-stage buffering that is applicable to barrier-surpassing robot.
Background technology
Robot is divided into wheeled robot, caterpillar type robot and legged type robot etc. usually.Wherein, legged type robot, namely walking robot, can stride across larger obstacle (Ru Gou, bank etc.), and a large amount of degree of freedom that the shank of robot has can make the motion of robot more flexible.Be compared to wheeled and caterpillar type robot, walking robot has stronger adaptive capacity to complicated landform, therefore has a wide range of applications, such as deep space probing, supervision and scouting, mining, nuclear power industry, earthquake Post disaster relief etc.
Typical Representative as Multifeet walking robot, the characteristics of Six-foot walking robot are have abundant gait and can efficiently walk on complex road surface, there is multiple gait, can adapt to the requirement of asynchronous line speed and load, the limbs structure of redundancy, make it in the situation that lose some limbs and still can continue to carry out certain task, improved the reliability of system.The advantage of Six-foot walking robot make its particularly be adapted in complicated natural environment carrying out the field investigation, under water search and deep space probing etc. to independence, task that reliability requirement is higher.
Six biped robots have a lot of sorting techniques, such as series parallel structure, type of drive, shank degree of freedom number etc.Six biped robots need every leg at least to need three degree of freedom.Because the limbs structure of this structure and insect is the most approaching, can realize stable attitude control, take action also more flexible.So, after the Robot II of nineteen ninety-five, six biped robots become main flow with 3 degree of freedom of every leg.Therefore the Six-foot walking robot that has 18 degree of freedom becomes main flow.The robot architecture of this configuration is simple, control is easy, kinematic accuracy is high, but when tackling scarce capacity, the especially throwing over barrier of irregular terrain profiles or climbing, when the foreleg of robot can not provide good support, the stability of body and landform carrying capacity are affected.
Foot is the end of robot leg actr, is the contact portion on robot and ground.The leg of most robot all adopts rigid construction, and during walking, robot contacts with external environment condition, and the bearing force on ground can produce and impact robot, affects the stability of robot ambulation.Review realm of nature, the animal walking process is highly stable, and elastomeric leg structure can be cushioned to the impulsive force on ground them, run in addition obstacle, their sole can be made reflection, makes them can adapt to fast accidental relief, to maintain the stability of when walking health.The compliant mechanism of robot leg design has at present become the focus of research gradually, and various types of buffer gears and buffering components and parts are applied to the design of robot foot section, thereby realize the submissive design of robot foot section.
The compliant mechanism of robot foot section comprises passive compliance and active compliance: 1) passive compliance mechanism, utilize some to absorb or mechanism that the mechanical devices of stored energy forms as spring, damping etc.Be characterized in simple in structure, strongly professional, but do not possess control function, adaptive capacity is poor; 2) active compliance mechanism, refer to possess the mechanism of contact force perception, and robot utilizes force feedback to adopt certain control policy control action power output.The device that active compliance is used usually has pressure sensor, three-dimensional force sensor, torque sensor etc., and the control policy of taking is not here discussed.
The common mode of passive compliance is at the integrated spring installation of shank and lays elastic damping at sufficient end at present.Modal is one-level spring buffer mechanism.Active compliance adopts SMD pressure sensor usually, directly is contained in sufficient end, the force information contacted with ground for obtaining toe.Although this design sensor can Real-time Collection, easily wearing and tearing, and, because sensor directly contacts with external environment, can affect service life and the acquisition precision of sensor.
Summary of the invention
The objective of the invention is to propose to be applicable to the foot device with two-stage buffering of barrier-surpassing robot, this foot device is realized passive compliance at the bottom of by spring damper system and rubber feet, meanwhile pressure sensor is integrated in the two-stage spring bumper and realizes active compliance, can the actv. collection foot terminal pressure information, avoid external environmental interference simultaneously, reduce and consume and wearing and tearing.By linear bearing and flange location, realize the straight-line displacement of foot end slide bar in addition.The robot foot section that the present invention proposes realization simple and compact for structure, easy is controlled, improved the impact resistance of robot leg structure, the concussion reduced in robot motion's process is impacted, simultaneously can be for take a step to put aside energy next time, effectively improve energy efficiency, increased the landform adaptive capacity, reduced internal force between leg, and prevent from causing disturbance of overall importance, there is high road surface adaptive capacity and high buffering accumulation of energy ability.The identical foot device of six structures of the present invention's design is arranged on a trunk body, has formed a kind of Six-foot walking robot with obstacle climbing ability.Each foot device has three joints, is respectively hip joint, large leg joint and calf joint, and described hip joint is assemblied on the trunk body; The coordination in three joints has guaranteed swing, dipping and heaving and the flexion and extension of each leg.The combination of three joints and joint of trunk has guaranteed Six-foot walking robot good carrying capacity when throwing over barrier and the climbing.Each foot device adopts buffering to connect, and can within the cycle of taking a step, complete damping energy storage recycling.The Six-foot walking robot motion of the present invention design flexibly, response rapidly, motion space is large, movement inertia is little, is applicable to the motion under the non-structure topographic condition of field complexity.
A kind of foot device with two-stage buffering that is applicable to barrier-surpassing robot of the present invention, this foot device includes AD steering wheel support 1A, AG steering wheel support 1B, AA transmission plate 1C, AB transmission plate 1D, AA connecting panel 1E, AB connecting panel 1F, AA swivel bearing 1G, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H, AA slide bar 1J, AA rubber feet pad 1K, AA pad 1L, the external 1N of AA and AA sleeve 1Q.Wherein, the external 1N of AA, AA sleeve 1Q, AA slide bar 1J, AA rubber feet pad 1K, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H and AA pad 1L belong to calf joint.
The end of AA slide bar 1J is arranged in AA rubber feet pad 1K, and the other end of AA slide bar 1J contacts with AA pressure sensor 1M; Be socketed with AA spring 1I, AA linear bearing 1P and AA sleeve 1Q on AA slide bar 1J, and the end in contact of the end of AA linear bearing 1P and AA spring 1I, the other end of AA spring 1I stops by the dome ring 1J1 on AA slide bar 1J;
The end of AA linear bearing 1P inserts the upper end of AA sleeve 1Q; The bottom of AA sleeve 1Q and AD steering wheel support 1A is fixed;
The external 1N of AA is fixed on the lateral plates of AD steering wheel support 1A, is placed with AB spring 1H, AA pad 1L and AA pressure sensor 1M in the external 1N of AA; Be provided with AA pad 1L between AB spring 1H and AA pressure sensor 1M.
AD steering wheel support 1A is for installing AD steering wheel 8D;
Bottom and the AA sleeve 1Q of AD steering wheel support 1A fix.
AG steering wheel support 1B is for installing AG steering wheel 8G; Top and the AA transmission plate 1C of AG steering wheel support 1B fix, and bottom and the AB transmission plate 1D of AG steering wheel support 1B fix.
The end of AA transmission plate 1C is connected to AA swivel bearing 1G(AA swivel bearing 1G and is arranged on the AA driving rotor 8A1 of AA steering wheel 8A) upper, the other end of AA transmission plate 1C is fixed on the top of AG steering wheel support 1B.
The end of AB transmission plate 1D is connected to the AA driven rotor of AA steering wheel 8A, and (AA driven rotor and AA driving rotor 8A1 are oppositely arranged on the both sides of AA steering wheel 8A, the accompanying drawing number of AA driven rotor is not shown in the drawings) upper, the other end of AB transmission plate 1D is fixed on the bottom of AG steering wheel support 1B.
The end of AA connecting panel 1E is connected with the AG driven rotor of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driven rotor of AD steering wheel 8D.
The end of AB connecting panel 1F is connected with the AG driving rotor 8G1 of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driving rotor 8D1 of AD steering wheel 8D.
The accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram that the present invention has the Six-foot walking robot of obstacle climbing ability; Figure 1A is the birds-eye view that the present invention has the Six-foot walking robot of obstacle climbing ability; Figure 1B is the left view that the present invention has the Six-foot walking robot of obstacle climbing ability; Fig. 2 is the constructional drawing of trunk body of the present invention; Fig. 2 A is the exploded drawings of front end body of the present invention; Fig. 3 is the constructional drawing of rear end of the present invention body; Fig. 3 A is the three-dimensional structure diagram of obstacle detouring transmission component in the body of rear end of the present invention; Fig. 3 B is the constructional drawing of the roller bearing end cap in obstacle detouring transmission component of the present invention; Fig. 3 C is the exploded drawings of rear end of the present invention body; Fig. 4 is the three-dimensional structure diagram of left front leg of the present invention; Fig. 4 A is the three-dimensional structure diagram of lower leg portion in left front leg of the present invention; Fig. 4 B is the exploded drawings of left front leg of the present invention; Fig. 4 C is the exploded drawings of the left leg of the present invention; Fig. 4 D is the exploded drawings of the left back leg of the present invention; Fig. 5 is the three-dimensional structure diagram of RAT of the present invention; Fig. 5 A is the exploded drawings of RAT of the present invention; Fig. 5 B is the exploded drawings of the right leg of the present invention; Fig. 5 C is the exploded drawings of right rear leg of the present invention.
1. left front leg 1A.AD steering wheel support 1B.AG steering wheel support 1C.AA transmission plate
1D.AB transmission plate 1E.AA connecting panel 1F.AB connecting panel 1G.AA swivel bearing
1H.AB spring 1I.AA spring 1J.AA slide bar 1J1. dome ring
1K.AA rubber feet pad 1L.AA pad 1M.AA pressure sensor 1N.AA external
1P.AA linear bearing 1Q.AA sleeve 2. RAT 2A.BD steering wheel support
2B.BG steering wheel support 2C.BA transmission plate 2D.BB transmission plate 2E.BA connecting panel
2F.BB connecting panel 2G.BA swivel bearing 2H.BB spring 2I.BA spring
2J.BA slide bar 2J1. dome ring 2K.BA rubber feet pad 2L.BA pad
2M.BA pressure sensor 2N.BA external 2P.BA linear bearing 2Q.BA sleeve
3. left leg 3A.AE steering wheel support 3B.AH steering wheel support 3C.AC transmission plate
3D.AD transmission plate 3E.AC connecting panel 3F.AD connecting panel 3G.AB swivel bearing
3H.AD spring 3I.AC spring 3J.AB slide bar 3J1. dome ring
3K.AB rubber feet pad 3L.AB pad 3M.AB pressure sensor 3N.AB external
3P.AB linear bearing 3Q.AB sleeve 4. right leg 4A.BE steering wheel support
4B.BH steering wheel support 4C.BC transmission plate 4D.BD transmission plate 4E.BC connecting panel
4F.BD connecting panel 4G.BB swivel bearing 4H.BD spring 4I.BC spring
4J.BB slide bar 4J1. dome ring 4K.BB rubber feet pad 4L.BB pad
4M.BB pressure sensor 4N.BB external 4P.BB linear bearing 4Q.BB sleeve
5. left back leg 5A.AF steering wheel support 5B.AJ steering wheel support 5C.AE transmission plate
5D.AF transmission plate 5E.AE connecting panel 5F.AF connecting panel 5G.AC swivel bearing
5H.AF spring 5I.AE spring 5J.AC slide bar 5J1. dome ring
5K.AC rubber feet pad 5L.AC pad 5M.AC pressure sensor 5N.AC external
5P.AC linear bearing 5Q.AC sleeve 6. right rear leg 6A.BF steering wheel support
6B.BJ steering wheel support 6C.BE transmission plate 6D.BF transmission plate 6E.BE connecting panel
6F.BF connecting panel 6G.BC swivel bearing 6H.BF spring 6I.BE spring
6J.BC slide bar 6J1. dome ring 6K.BC rubber feet pad 6L.BC pad
6M.BC pressure sensor 6N.BC external 6P.BC linear bearing 6Q.BC sleeve
7. trunk body 7A. front end body 7A01.A stay bearing plate 7A011.AA installation plate
7A012.BA installation plate 7A013. intermediate mass 7A02.A cover plate 7A03.A left riser
7A04.A right riser 7A05. front U-shaped plate 7A051. upper fitting 7A052. lower fitting
7A053. middle fitting 7A06. rear U-shaped plate 7A061. left fitting 7A062. right fitting
7A063. middle fitting 7A07.AA steering wheel frame 7A071. transverse slat 7A072. riser
7A08.BA steering wheel frame 7A081. transverse slat 7A082. riser 7B. rear end body
7B01.B stay bearing plate 7B011.AB installation plate 7B012.BB installation plate 7B013.A lightening hole
7B014.AC installation plate 7B015.BC installation plate 7B016.B lightening hole 7B017. flange piece
7B02.B cover plate 7B03.B left riser 7B04.B right riser 7B13.C left riser
7B14.C right riser 7B05. front L shaped plate 7A06. back L-shaped slab 7B07.AB steering wheel frame
7B071. transverse slat 7B072. riser 7B08.BB steering wheel frame 7B081. transverse slat
7B082. riser 7B17.AC steering wheel frame 7B171. transverse slat 7B172. riser
7B18.BC steering wheel frame 7B181. transverse slat 7B182. riser 7B09. obstacle detouring transmission component
7B901. the left locating plate of bearing 7B9011. bearing bore 7B902. the right locating plate of bearing 7B9021. bearing bore
7B903. left bearing 7B904. right bearing 7B905. driving gear shaft 7B906. driving gear
7B907. roller bearing end cap 7B9071. keyway 7B908. ring gear 7B909. passive tooth wheel shaft
7B9091. groove 7B9092. keyway 7B910. back-up ring 7B911. rubber cradle
7B912. metal washer 7B913. flat key 7B914. back-up ring 7B915. flat key
7A09. machine plate before steering wheel 7A07. the left locating plate of bearing 7A08. the right locating plate of bearing 7C. trunk steering wheel
8A.AA steering wheel 8A1.AA driving rotor 8B.AB steering wheel 8B1.AB driving rotor
8C.AC steering wheel 8C1.AC driving rotor 8D.AD steering wheel 8D1.AD driving rotor
8E.AE steering wheel 8E1.AE driving rotor 8F.AF steering wheel 8F1.AF driving rotor
8G.AG steering wheel 8G1.AG driving rotor 8H.AH steering wheel 8H1.AH driving rotor
8J.AJ steering wheel 8J1.AJ driving rotor ? ?
9A.BA steering wheel 9A1.BA driving rotor 9B.BB steering wheel 9B1.BB driving rotor
9C.BC steering wheel 9C1.BC driving rotor 9D.BD steering wheel 9D1.BD driving rotor
9E.BE steering wheel 9E1.BE driving rotor 9F.BF steering wheel 9F1.BF driving rotor
9G.BG steering wheel 9G1.BG driving rotor 9H.BH steering wheel 9H1.BH driving rotor
9J.BJ steering wheel 9J1.BJ driving rotor ? ?
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, the identical foot device of six structures of the present invention's design is arranged on a trunk body, formed a kind of Six-foot walking robot with obstacle climbing ability.Include left front leg 1, RAT 2, left leg 3, right leg 4, left back leg 5, right rear leg 6 and trunk body 7 for the Six-foot walking robot with obstacle climbing ability; Described trunk body 7 is comprised of front end body 7A and rear end body 7B.Wherein, left front leg 1, RAT 2, left leg 3, right leg 4, left back leg 5 are identical with the structure of right rear leg 6; Left front leg 1 is with the X-axis line of trunk body 7 symmetrically arranged with right leg 4, left back leg 5 with right rear leg 6 with RAT 2, left leg 3.
Left front leg 1
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, Fig. 4 A, Fig. 4 B, left front leg 1 includes AD steering wheel support 1A, AG steering wheel support 1B, AA transmission plate 1C, AB transmission plate 1D, AA connecting panel 1E, AB connecting panel 1F, AA swivel bearing 1G, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H, AA slide bar 1J, AA rubber feet pad 1K, AA pad 1L, the external 1N of AA and AA sleeve 1Q.Wherein, the external 1N of AA, AA sleeve 1Q, AA slide bar 1J, AA rubber feet pad 1K, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H and AA pad 1L belong to calf joint.
The end of AA slide bar 1J is arranged in AA rubber feet pad 1K, and the other end of AA slide bar 1J contacts with AA pressure sensor 1M; Be socketed with AA spring 1I, AA linear bearing 1P and AA sleeve 1Q on AA slide bar 1J, and the end in contact of the end of AA linear bearing 1P and AA spring 1I, the other end of AA spring 1I stops by the dome ring 1J1 on AA slide bar 1J;
The end of AA linear bearing 1P inserts the upper end of AA sleeve 1Q; The bottom of AA sleeve 1Q and AD steering wheel support 1A is fixed;
The external 1N of AA is fixed on the lateral plates of AD steering wheel support 1A, is placed with AB spring 1H, AA pad 1L and AA pressure sensor 1M in the external 1N of AA; Be provided with AA pad 1L between AB spring 1H and AA pressure sensor 1M.
In the present invention; the AA rubber feet pad 1K of foot mechanism is when being subject to the bearing force on ground; AA spring 1I shrinks; AA slide bar 1J is along AA linear bearing 1P upward movement; drive also upward movement of AA pressure sensor 1M, AB spring 1H is compressed then, when obtaining the real-time pressure information in AA rubber feet pad 1K end; effectively protect AA pressure sensor 1M, avoided contacting with ground the wearing and tearing that bring.
AD steering wheel support 1A is for installing AD steering wheel 8D;
Bottom and the AA sleeve 1Q of AD steering wheel support 1A fix.
AG steering wheel support 1B is for installing AG steering wheel 8G; Top and the AA transmission plate 1C of AG steering wheel support 1B fix, and bottom and the AB transmission plate 1D of AG steering wheel support 1B fix.
The end of AA transmission plate 1C is connected to AA swivel bearing 1G(AA swivel bearing 1G and is arranged on the AA driving rotor 8A1 of AA steering wheel 8A) upper, the other end of AA transmission plate 1C is fixed on the top of AG steering wheel support 1B.
The end of AB transmission plate 1D is connected to the AA driven rotor of AA steering wheel 8A, and (AA driven rotor and AA driving rotor 8A1 are oppositely arranged on the both sides of AA steering wheel 8A, the accompanying drawing number of AA driven rotor is not shown in the drawings) upper, the other end of AB transmission plate 1D is fixed on the bottom of AG steering wheel support 1B.
The end of AA connecting panel 1E is connected with the AG driven rotor of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driven rotor of AD steering wheel 8D.
The end of AB connecting panel 1F is connected with the AG driving rotor 8G1 of AG steering wheel 8G, and the other end of AA connecting panel 1E is connected with the AD driving rotor 8D1 of AD steering wheel 8D.
In the present invention, the foot end rubber pad 1K in left front leg 1 fixes by locating dowel pin, has stoped relatively rotating of rubber pad 1K and slide bar 1J; AA spring 1I, between AA linear bearing 1P and slide bar 1J, has buffer action; AA linear bearing 1P lower end and AD steering wheel support 1A bottom with flange are fixing, and AA sleeve 1Q connects firmly by the bottom of bolt and AA steering wheel support 1A, makes AA slide bar 1J to move along AA linear bearing 1P; AB spring 1H is positioned at AA outer cover 1N, and the lower end of AB spring 1H is connected with pressure sensor 1M by pad 1L.
RAT 2
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5, Fig. 5 A, RAT 2 includes BD steering wheel support 2A, BG steering wheel support 2B, BA transmission plate 2C, BB transmission plate 2D, BA connecting panel 2E, BB connecting panel 2F, BA swivel bearing 2G, BA linear bearing 2P, BA pressure sensor 2M, BA spring 2I, BB spring 2H, BA slide bar 2J, BA rubber feet pad 2K, BA pad 2L, the external 2N of BA and BA sleeve 2Q.Wherein, the external 2N of BA, BA sleeve 2Q, BA slide bar 2J, BA rubber feet pad 2K, BA linear bearing 2P, BA pressure sensor 2M, BA spring 2I, BB spring 2H and BA pad 2L belong to calf joint.
The end of BA slide bar 2J is arranged in BA rubber feet pad 2K, and the other end of BA slide bar 2J contacts with BA pressure sensor 2M; Be socketed with BA spring 2I, BA linear bearing 2P and BA sleeve 2Q on BA slide bar 2J, and the end in contact of the end of BA linear bearing 2P and BA spring 2I, the other end of BA spring 2I stops by the dome ring 2J1 on BA slide bar 2J;
The end of BA linear bearing 2P inserts the upper end of BA sleeve 2Q; The bottom of BA sleeve 2Q and AD steering wheel support 2A is fixed;
The external 2N of BA is fixed on the lateral plates of BD steering wheel support 2A, is placed with BB spring 2H, BA pad 2L and BA pressure sensor 2M in the external 2N of BA; Be provided with BA pad 2L between BB spring 2H and BA pressure sensor 2M.
In the present invention; the BA rubber feet pad 2K of foot mechanism is when being subject to the bearing force on ground; BA spring 2I shrinks; BA slide bar 2J is along BA linear bearing 2P upward movement; drive also upward movement of BA pressure sensor 2M, BB spring 2H is compressed then, when obtaining the real-time pressure information in BA rubber feet pad 2K end; effectively protect BA pressure sensor 2M, avoided contacting with ground the wearing and tearing that bring.
BD steering wheel support 2A is for installing BD steering wheel 9D;
Bottom and the BA sleeve 2Q of BD steering wheel support 2A fix.
BG steering wheel support 2B is for installing BG steering wheel 9G; Top and the BA transmission plate 2C of BG steering wheel support 2B fix, and bottom and the BB transmission plate 2D of BG steering wheel support 2B fix.
The end of BA transmission plate 2C is connected to BA swivel bearing 2G(BA swivel bearing 2G and is arranged on the AA driving rotor 9A1 of BA steering wheel 9A) upper, the other end of BA transmission plate 2C is fixed on the top of BG steering wheel support 2B.
The end of BB transmission plate 2D is connected to the BA driven rotor of BA steering wheel 9A, and (BA driven rotor and BA driving rotor 9A2 are oppositely arranged on the both sides of BA steering wheel 9A, the accompanying drawing number of BA driven rotor is not shown in the drawings) upper, the other end of BB transmission plate 2D is fixed on the bottom of BG steering wheel support 2B.
The end of BA connecting panel 2E is connected with the AG driven rotor of BG steering wheel 9G, and the other end of BA connecting panel 2E is connected with the BD driven rotor of BD steering wheel 9D.
The end of BB connecting panel 2F is connected with the BG driving rotor 9G1 of BG steering wheel 9G, and the other end of BA connecting panel 2E is connected with the BD driving rotor 9D1 of BD steering wheel 9D.
Left leg 3
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4 C, left leg 3 includes AE steering wheel support 3A, AH steering wheel support 3B, AC transmission plate 3C, AD transmission plate 3D, AC connecting panel 3E, AD connecting panel 3F, AB swivel bearing 3G, AB linear bearing 3P, AB pressure sensor 3M, AC spring 3I, AD spring 3H, AB slide bar 3J, AB rubber feet pad 3K, AB pad 3L, the external 3N of AB and AB sleeve 3Q.Wherein, the external 3N of AB, AB sleeve 3Q, AB slide bar 3J, AB rubber feet pad 3K, AB linear bearing 3P, AB pressure sensor 3M, AC spring 3I, AD spring 3H and AB pad 3L belong to calf joint.
The end of AB slide bar 3J is arranged in AB rubber feet pad 3K, and the other end of AB slide bar 3J contacts with AB pressure sensor 3M; Be socketed with AC spring 3I, AB linear bearing 3P and AB sleeve 3Q on AB slide bar 3J, and the end in contact of the end of AB linear bearing 3P and AC spring 3I, the other end of AC spring 3I stops by the dome ring 3J1 on AB slide bar 3J;
The end of AB linear bearing 3P inserts the upper end of AB sleeve 3Q; The bottom of AB sleeve 3Q and AE steering wheel support 3A is fixed;
The external 3N of AB is fixed on the lateral plates of AE steering wheel support 3A, is placed with AD spring 3H, AB pad 3L and AB pressure sensor 3M in the external 3N of AB; Be provided with AB pad 3L between AD spring 3H and AB pressure sensor 3M.
In the present invention; the AB rubber feet pad 3K of foot mechanism is when being subject to the bearing force on ground; AC spring 3I shrinks; AB slide bar 3J is along AB linear bearing 3P upward movement; drive also upward movement of AB pressure sensor 3M, AD spring 3H is compressed then, when obtaining the real-time pressure information in AB rubber feet pad 3K end; effectively protect AB pressure sensor 3M, avoided contacting with ground the wearing and tearing that bring.
AE steering wheel support 3A is for installing AE steering wheel 8E;
Bottom and the AB sleeve 3Q of AE steering wheel support 3A fix.
AH steering wheel support 3B is for installing AH steering wheel 8H; Top and the AC transmission plate 3C of AH steering wheel support 3B fix, and bottom and the AD transmission plate 3D of AH steering wheel support 3B fix.
The end of AC transmission plate 3C is connected to AB swivel bearing 3G(AB swivel bearing 3G and is arranged on the AB driving rotor 8B1 of AB steering wheel 8B) upper, the other end of AC transmission plate 3C is fixed on the top of AH steering wheel support 3B.
The end of AD transmission plate 3D is connected to the AB driven rotor of AB steering wheel 8B, and (AB driven rotor and AB driving rotor 8B1 are oppositely arranged on the both sides of AB steering wheel 8B, the accompanying drawing number of AB driven rotor is not shown in the drawings) upper, the other end of AD transmission plate 3D is fixed on the bottom of AH steering wheel support 3B.
The end of AB connecting panel 3E is connected with the AH driven rotor of AH steering wheel 8H, and the other end of AC connecting panel 3E is connected with the AE driven rotor of AE steering wheel 8E.
The end of AB connecting panel 3F is connected with the AH driving rotor 8H1 of AH steering wheel 8H, and the other end of AC connecting panel 3E is connected with the AE driving rotor 8E1 of AE steering wheel 8E.
Right leg 4
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5 B, right leg 4 includes BE steering wheel support 4A, BH steering wheel support 4B, BC transmission plate 4C, BD transmission plate 4D, BC connecting panel 4E, BD connecting panel 4F, BB swivel bearing 4G, BB linear bearing 4P, BB pressure sensor 4M, BC spring 4I, BD spring 4H, BB slide bar 4J, BB rubber feet pad 4K, BB pad 4L, the external 4N of BB and BB sleeve 4Q.Wherein, the external 4N of BB, BB sleeve 4Q, BB slide bar 4J, BB rubber feet pad 4K, BB linear bearing 4P, BB pressure sensor 4M, BC spring 4I, BD spring 4H and BB pad 4L belong to calf joint.
The end of BB slide bar 4J is arranged in BB rubber feet pad 4K, and the other end of BB slide bar 4J contacts with BB pressure sensor 4M; Be socketed with BC spring 4I, BB linear bearing 4P and BB sleeve 4Q on BB slide bar 4J, and the end in contact of the end of BB linear bearing 4P and BC spring 4I, the other end of BC spring 4I stops by the dome ring 4J1 on BB slide bar 4J;
The end of BB linear bearing 4P inserts the upper end of BB sleeve 4Q; The bottom of BB sleeve 4Q and BE steering wheel support 4A is fixed;
The external 4N of BB is fixed on the lateral plates of BE steering wheel support 4A, is placed with BD spring 4H, BB pad 4L and BB pressure sensor 4M in the external 4N of BB; Be provided with BB pad 4L between BD spring 4H and BB pressure sensor 4M.
In the present invention; the BB rubber feet pad 4K of foot mechanism is when being subject to the bearing force on ground; BC spring 4I shrinks; BB slide bar 4J is along BB linear bearing 4P upward movement; drive also upward movement of BB pressure sensor 4M, BD spring 4H is compressed then, when obtaining the real-time pressure information in BB rubber feet pad 4K end; effectively protect BB pressure sensor 4M, avoided contacting with ground the wearing and tearing that bring.
BE steering wheel support 4A is for installing BD steering wheel 9D;
Bottom and the BB sleeve 4Q of BD steering wheel support 4A fix.
BH steering wheel support 4B is for installing BG steering wheel 9G; Top and the BC transmission plate 4C of BG steering wheel support 4B fix, and bottom and the BB transmission plate 4D of BG steering wheel support 4B fix.
The end of BC transmission plate 4C is connected to BB swivel bearing 4G(BB swivel bearing 4G and is arranged on the BB driving rotor 9B1 of BB steering wheel 9B) upper, the other end of BC transmission plate 4C is fixed on the top of BG steering wheel support 4B.
The end of BD transmission plate 4D is connected to the BB driven rotor of BB steering wheel 9B, and (BB driven rotor and BB driving rotor 9B1 are oppositely arranged on the both sides of BB steering wheel 9B, the accompanying drawing number of BB driven rotor is not shown in the drawings) upper, the other end of BD transmission plate 4D is fixed on the bottom of BH steering wheel support 4B.
The end of BC connecting panel 4E is connected with the AH driven rotor of BH steering wheel 9H, and the other end of BC connecting panel 4E is connected with the BE driven rotor of BE steering wheel 9E.
The end of BD connecting panel 4F is connected with the BH driving rotor 9H1 of BH steering wheel 9H, and the other end of BC connecting panel 4E is connected with the BE driving rotor 9E1 of BE steering wheel 9E.
Left back leg 5
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4 D, left back leg 5 includes AF steering wheel support 5A, AJ steering wheel support 5B, AE transmission plate 5C, AF transmission plate 5D, AE connecting panel 5E, AF connecting panel 5F, AC swivel bearing 5G, AC linear bearing 5P, AC pressure sensor 5M, AE spring 5I, AF spring 5H, AC slide bar 5J, AC rubber feet pad 5K, AC pad 5L, the external 5N of AC and AC sleeve 5Q.Wherein, the external 5N of AC, AC sleeve 5Q, AC slide bar 5J, AC rubber feet pad 5K, AC linear bearing 5P, AC pressure sensor 5M, AE spring 5I, AF spring 5H and AC pad 5L belong to calf joint.
The end of AC slide bar 5J is arranged in AC rubber feet pad 5K, and the other end of AC slide bar 5J contacts with AC pressure sensor 5M; Be socketed with AE spring 5I, AC linear bearing 5P and AC sleeve 5Q on AC slide bar 5J, and the end in contact of the end of AC linear bearing 5P and AC spring 5I, the other end of AE spring 5I stops by the dome ring 5J1 on AC slide bar 5J;
The end of AC linear bearing 5P inserts the upper end of AC sleeve 5Q; The bottom of AC sleeve 5Q and AF steering wheel support 5A is fixed;
The external 5N of AC is fixed on the lateral plates of AF steering wheel support 5A, is placed with AF spring 5H, AC pad 5L and AC pressure sensor 5M in the external 5N of AC; Be provided with AC pad 5L between AF spring 5H and AC pressure sensor 5M.
In the present invention; the AC rubber feet pad 5K of foot mechanism is when being subject to the bearing force on ground; AE spring 5I shrinks; AC slide bar 5J is along AC linear bearing 5P upward movement; drive also upward movement of AC pressure sensor 5M, AF spring 5H is compressed then, when obtaining the real-time pressure information in AC rubber feet pad 5K end; effectively protect AC pressure sensor 5M, avoided contacting with ground the wearing and tearing that bring.
AF steering wheel support 5A is for installing AF steering wheel 8F;
Bottom and the AC sleeve 5Q of AF steering wheel support 5A fix.
AJ steering wheel support 5B is for installing AJ steering wheel 8J; The top of AJ steering wheel support 5B and AE pass plate 5C and fix, and bottom and the AF transmission plate 5D of AJ steering wheel support 5B fix.
The end of AE transmission plate 5C is connected to AC swivel bearing 5G(AC swivel bearing 5G and is arranged on the AC driving rotor 8C1 of AC steering wheel 8C) upper, the other end of AE transmission plate 5C is fixed on the top of AJ steering wheel support 5B.
The end of AF transmission plate 5D is connected to the AF driven rotor of AF steering wheel 8F, and (AF driven rotor and AF driving rotor 8F1 are oppositely arranged on the both sides of AF steering wheel 8F, the accompanying drawing number of AF driven rotor is not shown in the drawings) upper, the other end of AF transmission plate 5D is fixed on the bottom of AJ steering wheel support 5B.
The end of AE connecting panel 5E is connected with the AJ driven rotor of AJ steering wheel 8G, and the other end of AE connecting panel 5E is connected with the AF driven rotor of AF steering wheel 8F.
The end of AF connecting panel 5F is connected with the AJ driving rotor 8J1 of AJ steering wheel 8J, and the other end of AE connecting panel 5E is connected with the AF driving rotor 8F1 of AF steering wheel 8F.
Right rear leg 6
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5 C, right rear leg 6 includes BF steering wheel support 6A, BJ steering wheel support 6B, BE transmission plate 6C, BF transmission plate 6D, BE connecting panel 6E, BF connecting panel 6F, BA swivel bearing 6G, BA linear bearing 6P, BA pressure sensor 6M, BE spring 6I, BF spring 6H, BA slide bar 6J, BA rubber feet pad 6K, BA pad 6L, the external 6N of BA and BA sleeve 6Q.Wherein, the external 6N of BA, BA sleeve 6Q, BA slide bar 6J, BA rubber feet pad 6K, BA linear bearing 6P, BA pressure sensor 6M, BE spring 6I, BF spring 6H and BA pad 6L belong to calf joint.
The end of BA slide bar 6J is arranged in BA rubber feet pad 6K, and the other end of BA slide bar 6J contacts with BA pressure sensor 6M; Be socketed with BE spring 6I, BA linear bearing 6P and BA sleeve 6Q on BA slide bar 6J, and the end in contact of the end of BA linear bearing 6P and BE spring 6I, the other end of BE spring 6I stops by the dome ring 6J1 on BA slide bar 6J;
The end of BA linear bearing 6P inserts the upper end of BA sleeve 6Q; The bottom of BA sleeve 6Q and BF steering wheel support 6A is fixed;
The external 6N of BA is fixed on the lateral plates of BF steering wheel support 6A, is placed with BF spring 6H, BA pad 6L and BA pressure sensor 6M in the external 6N of BA; Be provided with BA pad 6L between BF spring 6H and BA pressure sensor 6M.
In the present invention; the BA rubber feet pad 6K of foot mechanism is when being subject to the bearing force on ground; BE spring 6I shrinks; BA slide bar 6J is along BA linear bearing 6P upward movement; drive also upward movement of BA pressure sensor 6M, BF spring 6H is compressed then, when obtaining the real-time pressure information in BA rubber feet pad 6K end; effectively protect BA pressure sensor 6M, avoided contacting with ground the wearing and tearing that bring.
BF steering wheel support 6A is for installing BF steering wheel 9F;
Bottom and the BA sleeve 6Q of BF steering wheel support 6A fix.
BJ steering wheel support 6B is for installing BJ steering wheel 9J; Top and the BE transmission plate 6C of BJ steering wheel support 6B fix, and bottom and the BF transmission plate 6D of BJ steering wheel support 6B fix.
The end of BE transmission plate 6C is connected to BA swivel bearing 6G(BA swivel bearing 6G and is arranged on the BC driving rotor 9C1 of BC steering wheel 9C) upper, the other end of BE transmission plate 6C is fixed on the top of BJ steering wheel support 6B.
The end of BF transmission plate 6D is connected to the BC driven rotor of BC steering wheel 9C, and (BC driven rotor and BC driving rotor 9C1 are oppositely arranged on the both sides of BC steering wheel 9C, the accompanying drawing number of BC driven rotor is not shown in the drawings) upper, the other end of BF transmission plate 6D is fixed on the bottom of BF steering wheel support 6B.
The end of BE connecting panel 6E is connected with the BJ driven rotor of BJ steering wheel 9J, and the other end of BE connecting panel 6E is connected with the BD driven rotor of BD steering wheel 9D.
The end of BF connecting panel 6F is connected with the BJ driving rotor 9J1 of BJ steering wheel 9J, and the other end of BE connecting panel 6E is connected with the BF driving rotor 9F1 of BF steering wheel 9F.
In the present invention, six leg mechanisms are designed to a kind of thigh, calf joint with the walking robot application of trunk that be applicable to two-stage buffering.Pad existing passive compliance by two-stage spring shock absorption and rubber feet in calf joint, meanwhile pressure sensor is integrated in the two-stage spring buffer and realizes active compliance, can the actv. collection foot terminal pressure information, avoid external environmental interference simultaneously, reduce and consume and wearing and tearing.Linear bearing by flanged dish positions in addition, realizes the straight-line displacement of slide bar.Simple compact, the easy realization of the foot structure that the present invention proposes is controlled, improved the impact resistance of robot leg structure, the concussion reduced in robot motion's process is impacted, simultaneously can be for take a step to put aside energy next time, effectively improve energy efficiency, increased the landform adaptive capacity, reduced internal force between leg, and prevent from causing disturbance of overall importance, there is high road surface adaptive capacity and high buffering accumulation of energy ability.
In the present invention, steering wheel is chosen the RX28 steering wheel of Dynamixel series, and pressure sensor is chosen Honeywell FSG-15N1A type pressure sensor.
In the present invention, driving gear and the ring gear in six leg assemblies, selected are spur bevel gear, modulus 1.5, and the number of teeth 20, reference diameter 30mm, transmitting ratio is 1:1.
Front end body 7A
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 2, Fig. 2 A, front end body 7A includes A stay bearing plate 7A01, the left riser 7A03 of A cover plate 7A02, A, the right riser 7A04 of A, front U-shaped plate 7A05, rear U-shaped plate 7A06, AA steering wheel frame 7A07 and BA steering wheel frame 7A08;
The left end of A stay bearing plate 7A01 is that AA installs plate 7A011, and the right-hand member of A stay bearing plate 7A01 is that BA installs plate 7A012, between AA adapter plate 7A011 and BA adapter plate 7A012, is intermediate mass 7A013; It is upper for fixing AA steering wheel 8A that described AA installs plate 7A011; It is upper for fixing BA steering wheel 9A that described BA installs plate 7A012; Be fixed with the left riser 7A03 of A, the right riser 7A04 of A on described intermediate mass 7A013, and be spaced in intervals between the left riser 7A03 of A and the right riser 7A04 of A.
AA steering wheel frame 7A07 is provided with transverse slat 7A071 and riser 7A072; Transverse slat 7A071 is used for fixedly AA steering wheel 8A; Riser 7A072 is fixed on the left riser 7A03 of A; The assembling of AA steering wheel frame 7A07 and the left riser 7A03 of A, make the AA of the transverse slat 7A071 of AA steering wheel frame 7A07 and A stay bearing plate 7A01 install between plate 7A011 and be spaced in intervals, and this spacing is just in time for fixed placement AA steering wheel 8A.
BA steering wheel frame 7A08 is provided with transverse slat 7A081 and riser 7A082; Transverse slat 7A081 is used for fixedly BA steering wheel 9A; Riser 7A082 is fixed on the right riser 7A04 of A; The assembling of BA steering wheel frame 7A08 and the right riser 7A04 of A, make the BA of the transverse slat 7A081 of BA steering wheel frame 7A08 and A stay bearing plate 7A01 install between plate 7A012 and be spaced in intervals, and this spacing is just in time for fixed placement BA steering wheel 9A.
The end of front U-shaped plate 7A05 is upper fitting 7A051, and the other end of front U-shaped plate 7A05 is lower fitting 7A052, between upper fitting 7A051 and lower fitting 7A052, is middle fitting 7A053.Upper fitting 7A051 is connected with A cover plate 7A02.Lower fitting 7A052 is connected with the middle adapter plate 7A013 of A stay bearing plate 7A01.Middle fitting 7A053 is connected with the middle fitting 7A063 of rear U-shaped plate 7A06.
The end of rear U-shaped plate 7A06 is left fitting 7A061, and the other end of rear U-shaped plate 7A06 is right fitting 7A062, between left fitting 7A061 and right fitting 7A062, is middle fitting 7A063.Roller bearing end cap 7B907 in the obstacle detouring transmission component 7B09 of left fitting 7A061 and rear end body 7B is connected.The flange of passive tooth wheel shaft 7B909 in the obstacle detouring transmission component 7B09 of right fitting 7A062 and rear end body 7B is connected.Middle fitting 7A063 is connected with the middle fitting 7A053 of front U-shaped plate 7A05.
Front end body 7A is assembled into: it is upper that the left riser 7A03 of A and A right riser 7A04 keeping parallelism and an end are fixed on A stay bearing plate 7A01, and the other end is fixed on A cover plate 7A02; AA steering wheel frame 7A07 is fixed on the outer panel face of the left riser 7A03 of A; BA steering wheel frame 7A08 is fixed on the outer panel face of the right riser 7A04 of A; It is upper that the end of front U-shaped plate 7A05 is fixed on A cover plate 7A02, and the other end is fixed on A stay bearing plate 7A01; The middle part of the middle part of front U-shaped plate 7A05 and rear U-shaped plate 7A06 is fixed.
Rear end body 7B
Shown in Fig. 1, Figure 1A, Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, rear end body 7B includes B stay bearing plate 7B01, the left riser 7B03 of B cover plate 7B02, B, the right riser 7B04 of B, the left riser 7B13 of C, the right riser 7B14 of C, front L shaped plate 7B05, back L-shaped slab 7B06, AB steering wheel frame 7B07, AC steering wheel frame 7B17, BB steering wheel frame 7B08, BC steering wheel frame 7B18 and obstacle detouring transmission component 7B09;
B stay bearing plate 7B01 is provided with AB plate 7B011, AC installation plate 7B014, BB installation plate 7B012 unit, BC installation plate 7B015, flange piece 7B017 is installed, it is A lightening hole 7B013 that AB installs between plate 7B011 and BB installation plate 7B012, and it is B lightening hole 7B016 that AC installs between plate 7B014 and BC installation plate 7B015; It is upper for fixing AB steering wheel 8B that described AB installs plate 7B011; It is upper for fixing BB steering wheel 9B that described BB installs plate 7B012; The both sides of described A lightening hole 7B013 are used for the fixedly left riser 7B03 of B, the right riser 7B04 of B, and are spaced in intervals between the left riser 7B03 of B and the right riser 7B04 of B; The both sides of described B lightening hole 7B016 are used for the left riser 7B13 of fixation of C, the right riser 7B14 of C, and are spaced in intervals between the left riser 7B13 of C and the right riser 7B14 of C; Be fixed with obstacle detouring transmission component 7B09, front L shaped plate 7B05 and back L-shaped slab 7B06 on described flange piece 7B17.
AB steering wheel frame 7B07 is provided with transverse slat 7B071 and riser 7B072; Transverse slat 7B071 is used for fixedly AB steering wheel 8B; Riser 7B072 is fixed on the left riser 7B03 of B; The assembling of AB steering wheel frame 7B07 and the left riser 7B03 of B, make the AB of the transverse slat 7B071 of AB steering wheel frame 7B07 and B stay bearing plate 7B01 install between plate 7B011 and be spaced in intervals, and this spacing is just in time for fixed placement AB steering wheel 8B.
AC steering wheel frame 7B17 is provided with transverse slat 7B171 and riser 7B172; Transverse slat 7B171 is used for fixedly AC steering wheel 8C; Riser 7B172 is fixed on the left riser 7B13 of C; The assembling of AC steering wheel frame 7B17 and the left riser 7B13 of C, make the AC of the transverse slat 7B171 of AC steering wheel frame 7B17 and B stay bearing plate 7B01 install between plate 7B014 and be spaced in intervals, and this spacing is just in time for fixed placement AC steering wheel 8C.
BB steering wheel frame 7B08 is provided with transverse slat 7B081 and riser 7B082; Transverse slat 7B081 is used for fixedly BB steering wheel 9B; Riser 7B082 is fixed on the right riser 7B04 of B; The assembling of BB steering wheel frame 7B08 and the right riser 7B04 of B, make the BB of the transverse slat 7B081 of BB steering wheel frame 7B08 and B stay bearing plate 7B01 install between plate 7B012 and be spaced in intervals, and this spacing is just in time for fixed placement BB steering wheel 9B.
BC steering wheel frame 7B18 is provided with transverse slat 7B181 and riser 7B182; Transverse slat 7B181 is used for fixedly BC steering wheel 9C; Riser 7B182 is fixed on the right riser 7B14 of C; The assembling of BC steering wheel frame 7B18 and the right riser 7B14 of C, make the BC of the transverse slat 7B181 of BC steering wheel frame 7B18 and B stay bearing plate 7B01 install between plate 7B015 and be spaced in intervals, and this spacing is just in time for fixed placement BC steering wheel 9C.
Front L shaped plate 7B05 and back L-shaped slab 7B06 are staggered relatively and be fixed on flange piece 7B17 above, fixed installation trunk steering wheel 7C between front L shaped plate 7B05 and back L-shaped slab 7B06.
Obstacle detouring transmission component 7B09 includes driving gear 7B906, driving gear shaft 7B905, ring gear 7B908, passive tooth wheel shaft 7B909, left bearing 7B903, right bearing 7B904, the left locating plate 7B901 of bearing and the right locating plate 7B902 of bearing; The left locating plate 7B901 of bearing and bearing right locating plate 7B902 keeping parallelism and be fixedly mounted on the flange piece 7B017 of B stay bearing plate 7B01; It is upper that driving gear 7B906 is arranged on driving gear shaft 7B905 by flat key 7B915, and the end of driving gear 7B906 is by back-up ring 7B914 chucking; Ring gear 7B908 is arranged on passive tooth wheel shaft 7B909 by flat key 7B913, and the end of ring gear 7B908 withstands on the inner ring of left bearing 7B903, the other end of ring gear 7B908 is fixed by the shaft shoulder 7B9092 on passive tooth wheel shaft 7B909, by metal washer 7B912, rubber cradle 7B911 compensated position gap; Left bearing 7B903 is arranged in the bearing bore 7B9011 of the left locating plate 7B901 of bearing, and the outer ring of left bearing 7B903 fixed by described bearing bore 7B9011, and the inner ring of left bearing 7B903 is fixed by ring gear 7B908; Right bearing 7B904 is arranged in the bearing bore 7B9021 of the right locating plate 7B902 of bearing, and the outer ring of right bearing 7B904 is fixed by described bearing bore 7B9021, the inner ring of right bearing 7B904 is fixed by the back-up ring 7B910 on the groove 7B9091 that is stuck in passive tooth wheel shaft 7B909 and is provided with.Described passive tooth wheel shaft 7B909 is with flange.
In the present invention, the end of the passive tooth wheel shaft 7B909 of obstacle detouring transmission component 7B09 is arranged in the bearing bore of the right locating plate 7B902 of bearing through right bearing 7B904(right bearing 7B904 in turn), back-up ring 7B910, ring gear 7B908, rubber cradle 7B911, metal washer 7B912, left bearing 7B903(left bearing 7B903 be arranged in the bearing bore of the left locating plate 7B901 of bearing) after be connected on roller bearing end cap 7B907.Flat key 7B913 is separately fixed in the keyway 7B9071 of the keyway 7B9092 of passive tooth wheel shaft 7B909 and roller bearing end cap 7B907, has effectively guaranteed being synchronized with the movement of roller bearing end cap 7B907 and passive tooth wheel shaft 7B909.
In the present invention, it is upper that the driving rotor of trunk steering wheel 7C is connected to driving gear shaft 7B905, and driving gear shaft 7B,905 mono-end is through driving gear 7B906 and back-up ring 7B914.
In the present invention, obstacle detouring transmission component 7B09 drives driving gear 7B906 motion by the output of trunk steering wheel 7C, under the moving condition of driving gear 7B906, drive ring gear 7B908 motion, the motion of ring gear 7B908 passes to passive tooth wheel shaft 7B909; The motion of passive tooth wheel shaft 7B909 makes front end body 7A can realize luffing.
19 degree of freedom
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, a kind of Six-foot walking robot with obstacle climbing ability of the present invention's design, this robot includes hip joint, large leg joint and calf joint.
In the present invention, hip joint includes the first left hip joint, the second left hip joint, the 3rd left hip joint, the first right hip joint, the second right hip joint, the 3rd right hip joint; The first left hip joint comprises AA steering wheel 8A, AA swivel bearing 1G, AA transmission plate 1C, AB transmission plate 1D; The second left hip joint comprises AB steering wheel 8B, AB swivel bearing 3G, AC transmission plate 3C, AD transmission plate 3D; The 3rd left hip joint comprises AC steering wheel 8C, AC swivel bearing 5G, AE transmission plate 5C, AF transmission plate 5D; The first right hip joint comprises BA steering wheel 9A, BA swivel bearing 2G, BA transmission plate 2C, BB transmission plate 2D; The second right hip joint comprises BB steering wheel 9B, BB swivel bearing 4G, BC transmission plate 4C, BD transmission plate 4D; The 3rd right hip joint comprises BC steering wheel 9C, BC swivel bearing 6G, BE transmission plate 6C, BF transmission plate 6D.
In the present invention, large leg joint includes the first left thigh joint, the second left thigh joint, the 3rd left thigh joint, the first right thigh joint, the second right thigh joint, the 3rd right thigh joint; The first left thigh joint comprises AG steering wheel 8G, AA connecting panel 1E, AB connecting panel 1F, AG steering wheel support 1B; The second left thigh joint comprises AH steering wheel 8H, AC connecting panel 3E, AD connecting panel 3F, AH steering wheel support 3B; The 3rd left thigh joint comprises AJ steering wheel 8J, AE connecting panel 5E, AF connecting panel 5F, AJ steering wheel support 5B; The first right thigh joint comprises BG steering wheel 9G, BA connecting panel 2E, BB connecting panel 2F, BG steering wheel support 2B; The second right thigh joint comprises BH steering wheel 9H, BC connecting panel 4E, BD connecting panel 4F, BH steering wheel support 4B; The 3rd right thigh joint comprises BJ steering wheel 9J, BE connecting panel 6E, BF connecting panel 6F, BJ steering wheel support 6B.
In the present invention, calf joint includes the first left leg joint, the second left leg joint, the 3rd left leg joint, the first right leg joint, the second right leg joint, the 3rd right leg joint; The first left leg joint comprises AD steering wheel 8D, AD steering wheel support 1A, the external 1N of AA, AA sleeve 1Q, AA slide bar 1J, AA rubber feet pad 1K, AA linear bearing 1P, AA pressure sensor 1M, AA spring 1I, AB spring 1H and AA pad 1L; The second left leg joint comprises AE steering wheel 8E, AE steering wheel support 3A, the external 3N of AB, AB sleeve 3Q, AB slide bar 3J, AB rubber feet pad 3K, AB linear bearing 3P, AB pressure sensor 3M, AC spring 3I, AD spring 3H and AB pad 3L; The 3rd left leg joint comprises AF steering wheel 8F, AF steering wheel support 5A, the external 5N of AC, AC sleeve 5Q, AC slide bar 5J, AC rubber feet pad 5K, AC linear bearing 5P, AC pressure sensor 5M, AE spring 5I, AF spring 5H and AC pad 5L; The first right leg joint comprises BD steering wheel 9D, BD steering wheel support 2A, the external 2N of BA, BA sleeve 2Q, BA slide bar 2J, BA rubber feet pad 2K, BA linear bearing 2P, BA pressure sensor 2M, BA spring 2I, BB spring 2H and BA pad 2L; The second right leg joint comprises BE steering wheel 9E, BE steering wheel support 4A, the external 4N of BB, BB sleeve 4Q, BB slide bar 4J, BB rubber feet pad 4K, BB linear bearing 4P, BB pressure sensor 4M, BC spring 4I, BD spring 4H and BB pad 4L; The 3rd right leg joint comprises BF steering wheel 9F, BF steering wheel support 6A, the external 6N of BC, BC sleeve 6Q, BC slide bar 6J, BC rubber feet pad 6K, BC linear bearing 6P, BC pressure sensor 6M, BE spring 6I, BF spring 6H and BC pad 6L.
The driving rotor of steering wheel of take in the present invention carries out the called after of degree of freedom as rotary joint:
(1) first degree of freedom: refer to the rotation that the driving rotor around AA steering wheel 8A carries out, the driving rotor of described AA steering wheel 8A is parallel to Y-axis.
(2) second degree of freedom: refer to the rotation that the driving rotor around AB steering wheel 8B carries out, the driving rotor of described AB steering wheel 8B is parallel to Y-axis.
(3) three degree of freedom: refer to the rotation that the driving rotor around AC steering wheel 8C carries out, the driving rotor of described AC steering wheel 8C is parallel to Y-axis.
(4) four-degree-of-freedoms: refer to the rotation that the driving rotor around AD steering wheel 8D carries out, the driving rotor of described AD steering wheel 8D is parallel to X-axis.
(5) five degree of freedom: refer to the rotation that the driving rotor around AE steering wheel 8E carries out, the driving rotor of described AE steering wheel 8E is parallel to X-axis.
(6) six degree of freedoms: refer to the rotation that the driving rotor around AF steering wheel 8F carries out, the driving rotor of described AF steering wheel 8F is parallel to X-axis.
(7) seven freedoms: refer to the rotation that the driving rotor around AG steering wheel 8G carries out, the driving rotor of described AG steering wheel 8G is parallel to X-axis.
(8) eight degrees of freedom: refer to the rotation that the driving rotor around AH steering wheel 8H carries out, the driving rotor of described AH steering wheel 8H is parallel to X-axis.
(9) nine-degree of freedom: refer to the rotation that the driving rotor around AJ steering wheel 8J carries out, the driving rotor of described AJ steering wheel 8J is parallel to X-axis.
(10) the tenth degree of freedom: refer to the rotation that the driving rotor around BA steering wheel 9A carries out, the driving rotor of described BA steering wheel 9A is parallel to Y-axis.
(11) the tenth single-degree-of-freedoms: refer to the rotation that the driving rotor around BB steering wheel 9B carries out, the driving rotor of described BB steering wheel 9B is parallel to Y-axis.
(12) the tenth two degrees of freedom: refer to the rotation that the driving rotor around BC steering wheel 9C carries out, the driving rotor of described BC steering wheel 9C is parallel to Y-axis.
(13) thirteen-degree-of-freedoms: refer to the rotation that the driving rotor around BD steering wheel 9D carries out, the driving rotor of described BD steering wheel 9D is parallel to X-axis.
(14) the tenth four-degree-of-freedoms: refer to the rotation that the driving rotor around BE steering wheel 9E carries out, the driving rotor of described BE steering wheel 9E is parallel to X-axis.
(15) the tenth five degree of freedom: refer to the rotation that the driving rotor around BF steering wheel 9F carries out, the driving rotor of described BF steering wheel 9F is parallel to X-axis.
(16) the tenth six degree of freedoms: refer to the rotation that the driving rotor around BG steering wheel 9G carries out, the driving rotor of described BG steering wheel 9G is parallel to X-axis.
(17) the tenth seven freedoms: refer to the rotation that the driving rotor around BH steering wheel 9H carries out, the driving rotor of described BH steering wheel 9H is parallel to X-axis.
(18) the tenth eight degrees of freedom: refer to the rotation that the driving rotor around BJ steering wheel 9J carries out, the driving rotor of described BJ steering wheel 9J is parallel to X-axis.
(19) the tenth nine-degree of freedom: refer to the rotation of carrying out around passive tooth wheel shaft 7B909, the axis of described passive tooth wheel shaft 7B909 is parallel to Z axis.
A kind of Six-foot walking robot with obstacle climbing ability of the present invention's design, this robot has 19 degree of freedom and 3 joints, has solved the defect that common six biped robot obstacle climbing ability deficiencies and torso portion can not be moved.
Advantage with foot device of two-stage buffering of the present invention is:
(1) foot has the passive compliance mechanisms such as spring, rubber damping and pressure sensor as active compliance mechanism, has reduced the oscillatory surge of robot foot section, is conducive to realize steady walking.
(2) shock absorber that foot consists of the two-stage spring, can, by regulating the rigidity of two springs, realize the passive compliance of robot foot end effectively.
(3) high-resolution pressure sensor is integrated in the inside of leg, and protection sleeve is equipped with in outside, when obtaining the foot end with the ground contact force, has effectively protected pressure sensor, reduces collision and wearing and tearing with ground.
(4) rubber damping of sufficient end adopts the dome-type design, has reduced the friction force on sufficient end and ground, has strengthened the comformability of shank on irregular ground.
(5) adopt the linear bearing of flanged dish to connect shank sleeve and slide bar, guaranteed that slide bar does straight-line motion along the direction of sleeve all the time.
(6) locating dowel pin of sufficient end has stoped slide bar and foot to hold relatively rotating of rubber damping, makes rubber damping more firm regularly, and then realizes its shock-absorbing function.

Claims (3)

1. the foot device with two-stage buffering that is applicable to barrier-surpassing robot is characterized in that:
This foot device includes AD steering wheel support (1A), AG steering wheel support (1B), AA transmission plate (1C), AB transmission plate (1D), AA connecting panel (1E), AB connecting panel (1F), AA swivel bearing (1G), AA linear bearing (1P), AA pressure sensor (1M), AA spring (1I), AB spring (1H), AA slide bar (1J), AA rubber feet pad (1K), AA pad (1L), AA external (1N) and AA sleeve (1Q);
One end of AA slide bar (1J) is arranged in AA rubber feet pad (1K), and the other end of AA slide bar (1J) contacts with AA pressure sensor (1M); Be socketed with AA spring (1I), AA linear bearing (1P) and AA sleeve (1Q) on AA slide bar (1J), and an end in contact of the end of AA linear bearing (1P) and AA spring (1I), the other end of AA spring (1I) stops by the dome ring (1J1) on AA slide bar (1J);
One end of AA linear bearing (1P) inserts the upper end of AA sleeve (1Q); AA sleeve (1Q) is fixed with the bottom of AD steering wheel support (1A);
AA external (1N) is fixed on the lateral plates of AD steering wheel support (1A), is placed with AB spring (1H), AA pad (1L) and AA pressure sensor (1M) in AA external (1N); Be provided with AA pad (1L) between AB spring (1H) and AA pressure sensor (1M);
AD steering wheel support (1A) is for installing AD steering wheel (8D);
The bottom of AD steering wheel support (1A) and AA sleeve (1Q) are fixing;
AG steering wheel support (1B) is for installing AG steering wheel (8G); The top of AG steering wheel support (1B) and AA transmission plate (1C) are fixing, and the bottom of AG steering wheel support (1B) and AB transmission plate (1D) are fixing;
It is upper that one end of AA transmission plate (1C) is connected to AA swivel bearing (1G), and the other end of AA transmission plate (1C) is fixed on the top of AG steering wheel support (1B);
One end of AB transmission plate (1D) is connected on the AA driven rotor of AA steering wheel (8A), and the other end of AB transmission plate (1D) is fixed on the bottom of AG steering wheel support (1B);
One end of AA connecting panel (1E) is connected with the AG driven rotor of AG steering wheel (8G), and the other end of AA connecting panel (1E) is connected with the AD driven rotor of AD steering wheel (8D);
One end of AB connecting panel (1F) is connected with the AG driving rotor (8G1) of AG steering wheel (8G), and the other end of AA connecting panel (1E) is connected with the AD driving rotor (8D1) of AD steering wheel (8D).
2. the Six-foot walking robot with obstacle climbing ability according to claim 1, it is characterized in that: this foot device includes large leg joint and calf joint;
Large leg joint comprises AG steering wheel (8G), AA connecting panel (1E), AB connecting panel (1F), AG steering wheel support (1B);
Calf joint comprises AD steering wheel (8D), AD steering wheel support (1A), AA external (1N), AA sleeve (1Q), AA slide bar (1J), AA rubber feet pad (1K), AA linear bearing (1P), AA pressure sensor (1M), AA spring (1I), AB spring (1H) and AA pad (1L).
3. the Six-foot walking robot with obstacle climbing ability according to claim 1 is characterized in that: this foot device be take the driving rotor of steering wheel and is had two degree of freedom as rotary joint;
The first degree of freedom: refer to the rotation that the driving rotor around AD steering wheel (8D) carries out, the driving rotor of described AD steering wheel (8D) is parallel to X-axis;
The second degree of freedom: refer to the rotation that the driving rotor around AG steering wheel (8G) carries out, the driving rotor of described AG steering wheel (8G) is parallel to X-axis.
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CN104260800A (en) * 2014-10-16 2015-01-07 北京理工大学 Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker
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CN106005087A (en) * 2016-06-25 2016-10-12 李玉婷 Hexapod robot
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CN108382484A (en) * 2018-02-28 2018-08-10 华中科技大学 A kind of Multifeet walking robot for flexibly turning to advance
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