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A large-slope walking foot for legged robots facing hard mountain environments

A robotic, steep-slope technology

Active Publication Date: 2016-05-18
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing articulated multi-legged walking robot has poor foot movement performance, insufficient foot-ground equivalent adhesion coefficient, and does not make full use of the large-slope terrain

Method used

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  • A large-slope walking foot for legged robots facing hard mountain environments
  • A large-slope walking foot for legged robots facing hard mountain environments

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0010] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment mode, a kind of leg type robot walking foot of this embodiment facing the hard mountainous environment with large slope includes ball hinge foot ankle joint 1, sole 2, toe 3, limit switch 4, rack group 5, The first transmission gear set 6, the second transmission gear set 7 and the third transmission gear set 8, the limit switch 4 is installed on the ball hinge foot ankle joint 1, the ball hinge foot ankle joint 1 is installed on the root of the sole 2, and the tooth The bar group 5 is slidably installed on the sole of the foot 2, and the first transmission gear group 6, the second transmission gear group 7 and the third transmission gear group 8 are sequentially engaged and installed on the right side of the rack group 5 from left to right, and the second A transmission gear set 6 meshes with the rack set 5, and the toe 3 is fixedly connected through a third transmission gear set...

specific Embodiment approach 2

[0011] Specific implementation mode two: combination figure 1 and figure 2 Describe this embodiment, the bottom of the base of the sole 2 of this embodiment is a tooth-shaped sole. In this way, on the basis of having active joints, the tooth-shaped sole is set at the bottom of the sole of the foot 2, so that the adaptability of the robot foot to the ground can be improved again. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0012] Specific implementation mode three: combination figure 1 and figure 2 The present embodiment will be described. The toe 3 of the present embodiment is a hook toe. Such arrangement facilitates the improvement of the ability of the walking foot of the robot to adhere to the ground. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

A leg robot large-gradient walking leg oriented to hard mountain environment relates to robot large-gradient walking legs. The leg robot large-gradient walking leg oriented to the hard mountain environment solves the problem that the legs of existing joint type multi-legged walking robots are poor in motion performance, low in equivalent adhesion coefficient and incapable of making full use of large-gradient terrains. According to the leg robot large-gradient walking leg oriented to the hard mountain environment, a limit switch (4) is mounted on a spherical hinge ankle joint (1), the spherical hinge ankle joint (1) is mounted at the root of a sole (2), a rack group (5) is slidingly mounted on the sole (2), and a first transmission gear group (6), a second transmission gear group (7) and a third transmission gear group (8) are sequentially engaged and mounted on the right of the rack group (5) from left to right, wherein the first transmission gear group is engaged with the rack group (5), and toes (3) are fixedly connected through the third transmission gear group (8). The leg robot large-gradient walking leg oriented to the hard mountain environment is applicable to large-gradient walking.

Description

technical field [0001] The invention relates to a large-slope walking foot of a robot, in particular to a large-slope walking foot of a legged robot facing a hard mountainous environment. Background technique [0002] Robot feet with high adhesion are essential for legged robots facing hard mountainous environments, and are an important part of legged mobile robots. The terrain in the mountainous environment is rugged and the slope exceeds 45-50 degrees. Therefore, it is necessary to ensure that the footed mobile robot can safely and smoothly climb up the large-angle slope. On the one hand, it depends on the efficient and stable drive control of the footed mobile robot. The robot foot can provide sufficient adhesion, so that the legged mobile robot can stand stably on the hillside without sliding down. The safe, stable and efficient robot foot with high adhesion is the basis for large-slope movement. At present, most foot structures use passive adaptive joints, generally cy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 高海波丁亮宋杨邓宗全刘逸群金马于海涛
Owner HARBIN INST OF TECH
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