Self-adaption sand land biomimetic mechanical foot

Abstract

The invention discloses a self-adaption sand ground biomimetic mechanical foot, and belongs to a foot type robot mainly applied to walking on sand ground. The self-adaption sand ground biomimetic mechanical foot consists of a support frame, a linear motor, a connecting element, a first foot toe, a second foot toe, an elastic fabric, a buffer mechanism and the like, wherein the connecting element consists of a first connecting element, a second connecting element, a pin shaft and a screw stud; the buffer mechanism consists of a support frame, a foot sole, a spring and a connecting post, and is used for simulating an ostrich tarsometatarsus joint to achieve the buffer and shock absorption effects. The self-adaption sand ground biomimetic mechanical foot can achieve the beneficial effects that when the robot walks on the sand ground, the two toes are separated when the foot touches the ground; the elastic fabric spreads, so that the ground contact area is increased; the stability of the robot is improved; when the foot is lifted up, the two toes are closed and are overlapped for a certain area; the elastic fabric contracts; the stress area in the moving process is reduced. Meanwhile, the bottom of the first foot toe and the bottom of the second foot toe are provided with groove structures matched with the elastic fabric; the sand fixing and current limiting functions can be realized; the gait stability and the traction performance of the foot type robot can be improved.

Description

Technical field [0001] The invention relates to the field of foot-type robots, in particular to the feet of a robot walking on sand. Background technique [0002] Robot research has always been a hot direction in the mechanical field. Currently, the main mobile methods of robots are wheeled, tracked and footed. Wheeled robots are highly efficient and easy to operate, but have poor sand passability. Although crawler-type robots can run on sandy and muddy ground, they are stable in operation, with heavy crawler plates, high energy consumption, and slow speed. Compared with the first two types of robots, foot robots have attracted much attention because of their flexible gait and strong obstacle-crossing ability, and can adapt to a variety of different grounds, especially in sandy ground and other soft ground with good passing performance. [0003] Most of the traditional foot robots only focus on walking on hard ground, with simple foot structure and poor adaptability. When walkin...

AI Technical Summary

Problems solved by technology

Traditional legged robots can no longer meet the needs of walking on sandy ground

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