Bionic sole mechanism for foot type robot

Abstract

The invention belongs to the technical field of robots, discloses a bionic sole mechanism for a foot type robot and relates to a robot bionic sole mechanism with high adhesive force and a damping function. The chicken foot bionic design of the bionic sole mechanism is realized through a claw steel plate, a sole rubber mat, heel conical nails and tiptoe triangular nails. It is guaranteed that the foot mechanism has high adhesive force and the damping function, self restoration of a bionic sole is achieved by means of a tension spring, and foot stress is measured through a three-dimensional force sensor. The bionic sole is composed of the claw steel plate, the coupling screw sole rubber mat, the heel conical nails, tiptoe triangular nail coupling screws and the tiptoe triangular nails. The chicken foot bionic design of the bionic sole mechanism is realized through the sole rubber mat, the tiptoe triangular nails, the heel conical nails and the claw steel plate, an elastic opening is formed in the front end of the claw steel plate, and in this way, the foot mechanism has a better damping function and higher adhesive force so as to be adapted to different road conditions.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a bionic foot sole mechanism of a robot with large adhesion and shock-absorbing functions. 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 For the soft pavement with low support stiffness and uneven distribution, it has the characteristics of large contact area, no relative sliding, and strong ground adaptability, but it h...

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Problems solved by technology

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 For soft pavement with low support stiffness and uneven distribution, it has the characteristics of large contact area, no relative sliding, and strong ground adaptability, but it has few degrees of freedom and low adhesion

The patent publication number is CN103204191A, and the inventor Wang Fuji et al. disclosed a robot foot end mechanism in the invention patent "A Robot Foot End Mechanism", which directly adopts the rubber foot sole for anti-slip design to provide adhesion, but its design cannot Adapts to all road surfaces, does not provide sufficient adhesion

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