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Foot end mechanism of robot

A robot and foot-end technology, applied in the field of robots, can solve the problems of poor adaptability and less degrees of freedom, and achieve the effects of reducing impact, improving stability, and increasing friction performance

Inactive Publication Date: 2013-07-17
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, and to solve the problems of the current multi-legged robot foot end mechanism with few degrees of freedom and poor adaptability, a new type of foot end mechanism has been invented.

Method used

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Embodiment Construction

[0010] The specific implementation manner of the present invention is described in detail in conjunction with accompanying drawing and technical scheme: figure 2 is the appearance diagram of the foot end mechanism, figure 2 The middle adapter plate 20 and the three-way load cell 18 are fixedly connected by eight uniformly distributed screws 33 in the ring, and four adapter plate connecting bolts 19 and four nuts 22 are used to connect the adapter plate 20 to the leg end flange 21. connect. The leg mechanism above the leg end flange 21 is used as a source of power to drive the foot end mechanism to move in all directions, and the foot end mechanism for different purposes can be replaced to ensure that the leg mechanism is not disturbed, realizing modularization design.

[0011] attached figure 1It is a structural cross-sectional view of the foot-end mechanism, which is composed of the foot-end mechanical part and the force-measuring part, wherein the ball head rod 14 and t...

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Abstract

The invention discloses a foot end mechanism of a robot, belongs to the relevant technical field of robots, and particularly relates to a foot end mechanism of a multi-legged walking robot. The mechanism can be adjusted according to the specific circumstance of the ground, and has fine flexibility and adaptability. The foot end mechanism comprises a mechanical portion and a force measuring portion, wherein the mechanical portion is provided with a spherical joint component to realize wide-angle flexible swing in optional directions and vertical rotation. A rubber ring is used as a shock absorption device, the impact of the ground on a foot end can be effectively reduced when a foot falls, a rubber foot pad realizes an anti-slip function and is provided with optimally designed pattern lines, friction performances are enhanced, moving stability of the robot is improved, and the rubber foot pad can be replaced according to different road surfaces. The force measuring portion is provided with a three-way force measuring sensor for measuring real-time stress of the foot end, and stress change of the foot end in the moving process is known. The foot end mechanism is simple, flexible, multifunctional and low in manufacturing cost.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a foot end mechanism of a multi-legged walking robot, which can be adjusted according to the specific conditions of the ground and has good flexibility and self-adaptability. Background technique [0002] Robots are generally divided into three categories: wheeled robots, tracked robots and multi-legged robots. On hard and flat road conditions, wheeled robots and tracked robots move fast, and have high stability and persistence. However, in non-ideal environments such as rugged hills or swamps, the role of wheels and tracks will be severely lost, and the moving efficiency will be greatly reduced. Compared with the robots with the first two modes of movement, multi-legged robots can cross obstacles, climb stairs, trek through swamps, etc. through discrete footholds, and can find support points to stabilize the body on complex landforms. In addition, this type of robot ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 王福吉贾振元宁福达李明星马建伟许强
Owner DALIAN UNIV OF TECH
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