Modularization sheep foot simulation mechanical foot device

Abstract

The invention discloses a modularization sheep foot simulation mechanical foot device which comprises an interface shell, a foot installation plate, plugging mechanisms and foot mechanisms. The interface shell is internally provided with a connection block. A plugging hole is formed in the connection block in the vertical direction, the top face of the foot installation plate is provided with a plugging shaft, and the bottom face of the foot installation plate is used for installation of the foot mechanisms. The plugging shaft penetrates into the plugging hole, due to the fact that the two sets of plugging mechanisms sequentially penetrate through the connection block from the two sides of the interface shell and the end of each plugging mechanism can be located in the plugging shaft, positioning between the interface shell and the foot installation plate is achieved. Detaching between the interface shell and the foot installation plate is achieved by pulling the plugging mechanisms. The foot mechanisms are designed by simulating the sheep feet and are connected with a left hoof section and a right hoof section through two branch chains respectively. Each branch chain is provided with a buffering and energy storing spring to achieve vibration reducing and energy storing. The modularization sheep foot simulation mechanical foot device has the advantages that fast replacing between the foot mechanisms and legs of a robot can be achieved, and the modularization sheep foot simulation mechanical foot device is suitable for leg type and wheel leg type robots to walk on complicated grounds in the open gas.

Description

technical field

[0001] The invention relates to the field of mechanical design, in particular to a modular imitation sheep foot mechanical foot device. Background technique

[0002] Mobile robots can be divided into wheeled robots, legged robots and wheel-legged robots. Compared with wheeled robots, legged robots can adopt different stances and can adapt to complex ground environments. Among them, the legged robot is in contact with the ground and supports the fixed body through its feet. Traditional legged robot feet are generally spherical feet, planar feet or cylindrical feet. This type of foot has a simple structure and function, and can meet the needs of walking on flat ground, but it cannot better adapt to complex field ground environments. For example, when traditional mechanical feet walk on muddy or soft ground, they will sink too deep, support points slip, Insufficient driving force, difficulty in getting out of the foot, etc., will produce shock vibration when ...

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