A foot mechanism of a large load-bearing legged robot

Abstract

The invention discloses a foot mechanism with high load bearing of a foot type robot, belongs to the technical field of robots, and relates to a foot mechanism with high load bearing of the foot type robot, which has a favorable shock absorption property and a favorable self-resetting property. The foot mechanism of the foot type robot adopts conical springs to realize the shock absorption property and the self-resetting property of the foot mechanism and adopts a piston sliding structure to realize a shock absorption displacement stroke, and the requirements for the high load bearing, the good shock absorption property and the good self-resetting property of the foot mechanism are met. In the foot mechanism, a slip-proof rubber foot bottom pad is bonded on a foot bottom plate, so that a slip phenomenon in an advance process is avoided; spring seats are mounted in grooves of the foot bottom plate, and the conical springs are mounted between the spring seats and lower bearing pad rings; a ball head rod is mounted in an arc-shaped groove of the foot bottom plate, a ball pair structure is constituted by the ball head rod and the arc-shaped groove, and the ball pair is in clearance fit. According to the foot mechanism disclosed by the invention, the requirements for the high load bearing, the good shock absorption property and the good self-resetting property of the foot mechanism are met, and the foot mechanism is simple in integral structure, low in gravity center design, and safe and reliable.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a large-load-bearing foot robot foot mechanism with good shock absorption performance and self-resetting performance. Background technique [0002] The application of legged robots is becoming more and more widespread. In-depth research on legged robot technology and foot mechanisms has been carried out at home and abroad, which makes the requirements of legged robots for feet continue to increase. For example, the patent publication number is CN102001370A, and the invention patent "Foot Mechanism of Hexapod Robot" disclosed by the inventor Li Mantian and others discloses a foot mechanism of a hexapod robot, which adopts deep groove ball bearings and circumferentially evenly distributed spring sole structure, which is aimed at On the soft pavement with low support stiffness and uneven distribution, it has the characteristics of large contact area, no relative sliding, and strong gro...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies in the prior art, the present invention invents a foot mechanism of a large-load-bearing legged robot, which uses a truncated cone coil spring to realize the damping and self-resetting functions of the foot mechanism, and adopts a piston sliding structure to realize the shock-absorbing displacement stroke. To overcome the defects that the existing robot feet do not have large load-bearing capacity and good shock absorption performance, and do not have self-resetting ability, high design center of gravity, and poor stability, the large-load-bearing foot robot foot mechanism not only has strong load-bearing capacity, but also has good Excellent adaptability, self-resetting and shock absorption performance

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