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Camel foot simulated mechanical foot device

A technology of mechanical feet and camels, applied in the field of mechanical design, can solve problems such as difficulty in walking, and achieve the effect of convenient and rapid switching

Inactive Publication Date: 2012-03-28
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the difficulty of walking on sandy ground and soft ground with the above-mentioned traditional mechanical feet, the present invention proposes a mechanical foot device imitating a camel foot, which is suitable for walking on sandy ground, soft ground, etc. walk

Method used

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Embodiment Construction

[0031] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0032] The present invention is a kind of imitation camel foot mechanical foot device, such as figure 1 , figure 2 , image 3 As shown, including mechanical interface 1, ankle joint 2 and sole 3;

[0033] mechanical interface 1 such as Figure 4 As shown, it includes an interface shell 101 , an interface inner shell 102 , a preload spring 103 , a preload spring guide rod 104 and a latch 105 .

[0034] The left and right sides of the interface housing 101 are connected to the legs of the robot by screws, and the upper end is provided with a threaded through hole, and a pre-tension spring inverted rod 104 is installed, and a pre-tension spring 103 is installed on the periphery of the pre-tension spring inverted rod 104, and a latch 105 is installed on the lower end, and the pre-tension spring 103. The bolt 105 can move up and down along the pre-ten...

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Abstract

The invention discloses a camel foot simulated mechanical foot device which comprises a mechanical interface, an ankle joint and a sole, wherein the mechanical interface is used for fixing a mechanical foot and legs of a robot, and has a rapid replacement function for carrying out rapid replacement on various foot ends of the robot; the ankle joint is fixed below the mechanical interface, and hasthe function of freely rotating along two direction shafts on a horizontal plane, so that the sole can rotate with two degrees of freedom relative to the robot; and the sole is arranged below the ankle joint, and has the functions of completing the contact with the ground and simulating the deformation of camel feet, and the like. The device disclosed by the invention can simulate the functions (such as area expansion, sinking for sand fixation, rotating for pedaling sand, rotating for sand outputting, and the like when a camel foot is walking on deserts and soft soils and the like) of the camel foot, can be used for improving the walking characteristics of leg robots on the landforms, and can carry out rapid replacement on various foot ends through rapidly replacing interfaces.

Description

technical field [0001] The invention relates to a camel-like mechanical foot device, which belongs to the field of mechanical design. Background technique [0002] Traditional mobile robots can be divided into wheeled robots and legged robots. Compared with wheeled robots, legged robots can adopt different gaits and different contact modes with the ground, and have the characteristics of avoiding obstacles and adapting to complex landforms. The different contact modes between the legged robot and the ground are realized through different mechanical feet. Traditional mechanical feet are generally spherical feet or simple flat or curved feet, supplemented by shock absorbing devices such as springs. This type of mechanical foot has a simple structure and function, and is suitable for walking on rigid and flat ground, but the walking effect on complex road surfaces is poor. Insufficient driving force and difficulty in getting out. At present, there are very few studies on me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 丁希仑张澈陈浩张群
Owner BEIHANG UNIV
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