Two-stage buffer foot device applicable to obstacle crossing robot

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

technical field [0001] The present invention relates to a walking robot, more particularly, to a foot device with two-stage cushioning suitable for an obstacle-surmounting robot. Background technique [0002] Robots are usually divided into wheeled robots, tracked robots, and footed robots. Among them, the legged robot, that is, the walking robot, can cross relatively large obstacles (such as ditch, ridge, etc.), and the large number of degrees of freedom in the legs of the robot can make the movement of the robot more flexible. Compared with wheeled and tracked robots, walking robots have stronger adaptability to complex terrain, so they have a wide range of application prospects, such as space exploration, surveillance and reconnaissance, mining, nuclear energy industry, post-earthquake rescue, etc. [0003] As a typical representative of multi-legged walking robots, hexapod walking robots are characterized by rich gaits and the ability to walk efficiently on complex road...

AI Technical Summary

Problems solved by technology

Although the sensor of this design can collect in real time, it is easy to wear and tear, and because the sensor is in direct contact with the external environment, it will affect the service life and acquisition accuracy of the sensor

Images