Leg of multi-legged walking robot

Abstract

The invention discloses a leg of a multi-legged walking robot. The existing flat soled leg structure is complex and easy to cause tripping over. The robot leg comprises a leg mechanical device of the multi-legged walking robot and a leg dynamometrical device of the multi-legged walking robot. The leg mechanical device of the multi-legged walking robot comprises a spherical foot, a damping dynamometrical portion and a shank connector, and the damping dynamometrical portion comprises a spherical foot connector, a leg connector, a leg sleeve, a damping compression spring, a pressure pad and fixing screws. The leg dynamometrical device of the multi-legged walking robot consists of a pressure sensor and a signal acquisition processor. The leg of a multi-legged walking robot is in the sphericalfoot end type foot structure and simple and compact in structure, and the multi-legged walking robot is flexible and reliable in walking. Impact between the multi-legged walking robot and the ground during walking of the robot is effectively reduced by means of the compression spring damping device. Difficulty and complexity in dynamometry of the leg of the multi-legged walking robot are greatly reduced by using the pressure sensor for dynamometry of the leg of the multi-legged walking robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-leg walking robot foot. Background technique [0002] The motion modes adopted by mobile robots mainly include wheel type, crawler type, foot type, hybrid type and other motion forms. For wheeled robots, since the wheel came out, it has been very reliable in moving on hard flat ground. However, when driving on uneven ground, the energy consumption of the wheeled robot will increase greatly, and on soft ground or severely uneven terrain, the role of the wheels will also be seriously lost, and the moving efficiency will be greatly reduced. The crawler robot distributes the load of the body on a larger area, which is equivalent to a device for paving the road for the wheels, and can generate greater propulsion, and can walk on soft ground without getting stuck in it, but the crawler robot The maneuverability of the robot on uneven ground is still poor, and the r...

AI Technical Summary

Problems solved by technology

First, the structure of the flat-bottomed foot is complex, while the structure of the spherical-bottomed foot is simple and compact; secondly, the passive joints in the flat-bottomed foot are likely to cause the multi-legged walking robot to trip during the walking process, which also limits the Range of motion of the robot foot

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