Sole mechanism for robots

Abstract

A sole mechanism for robots, which is disclosed by the invention, belongs to the technical field of robots, and particularly relates to a sole mechanism which can enhance the climbing ability of the legs of a multi-legged robot. The sole mechanism comprises a contact friction part, an active ground-gripping part and a foot-connected part. In the contact friction part, a foot pad with a composite pattern is adopted to increase the friction coefficient between the contact friction part and a contact surface, so that the climbing stability of the feet of the robot can be enhanced to adapt to a variety of complex mountain environments. In the active ground-gripping part, toothed gripping tooth blocks are adopted to stick into the ground, so that the ground-gripping ability of the feet of the robot is enhanced, and thereby the feet of the robot can be more adaptive to mountain slopes with complex road conditions. In the foot-connected part, separate semicircular holddown structures are adopted, so that the sole can be conveniently connected with the foot of the robot. The sole mechanism has the functions of slip resistance and robot foot protection, can be used as a universal module, is easy and convenient to adjust, replace and maintain, and enhances the stability, adaptability and flexibility of the walking of the robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a sole mechanism for improving the climbing ability of the feet of a multi-legged robot, which has good flexibility and adaptability. Background technique [0002] Multi-legged robots can cross obstacles, climb stairs, trek through swamps, etc. through discrete footholds, and have high adaptability, but the adaptability of fixed feet to various road conditions and complex landforms is limited. [0003] In recent years, multi-legged robots have received great attention due to their advantages of mobility and environmental adaptability. Stanford University in the United States simulated cockroaches and developed a micro robot Spiny-Bot. Its feet have extremely fine barbs, which "buckle" the flanges on the rough wall, and increase the friction between the contact surface with the wall through the barbs. , so as to realize wall-climbing operations, but the ability to move on smooth sur...

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, aiming at the lack of flexibility and adaptability to complex mountainous landforms in the field of footed mobile robots, a foot mechanism with the ability to improve the gripping ability of the robot's feet is invented, namely Through the cooperation of the wedge-shaped claw block and the return spring, the claw structure can flexibly relax and retract on the bottom of the robot

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