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Mechanical foot for multi-foot robot

A multi-legged robot and mechanical foot technology, applied in the field of mechanical feet, can solve the problems of reducing the working space of the manipulator and increasing the weight of the robot, and achieve the effects of simple structure, light weight and simple control

Active Publication Date: 2018-11-13
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The function of grasping objects is realized through an additional robotic arm, which not only increases the weight of the robot, but also reduces the working space of the robotic gripper due to the interaction between the mechanical foot and the robotic arm

Method used

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  • Mechanical foot for multi-foot robot
  • Mechanical foot for multi-foot robot
  • Mechanical foot for multi-foot robot

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Experimental program
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Embodiment Construction

[0027] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0028] The present invention designs a mechanical claw for a multi-legged robot, which has a mechanical foot 1 and a manipulator 2, such as figure 1 shown.

[0029] The mechanical foot 1 includes four parts: sole 101, support rod 102, lower fixing part 103 and upper fixing part 104, as shown in Fig. 2 . Among them, the lower part of the sole 101 is a spherical arc surface, which realizes a spherical hinge contact with the ground, has a relatively large bearing area, and can maintain the structural stability of the robot, making the robot suitable for various complex terrains. The upper part of the sole 101 is a plane for installing the support rod 102 . There are three support rods 102, vertically arranged, evenly distributed in the circumferential direction, and the bottom end is fixed with the sole 101 after passing through the flat concave hole 105 desig...

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Abstract

The invention discloses a mechanical foot for a multi-foot robot. The physical mechanical structure is divided into two parts, one of which is a mechanical foot structure, the bottom of each supporting rod is in the form of a semi-sphere, three supporting rods with the supporting function are arranged in the middle of each supporting rod which is provided with a cylindrical body for containing themotor, the cylindrical body can be connected with the leg structure, two of which is a three-finger under-actuated connecting rod type mechanical arm claw, torsional springs are arranged between thefirst knuckle and the second knuckle and between the second knuckle and the third knuckle. The mechanical foot and the mechanical claw form a whole through the movement auxiliary constraint of a sliding block and a rod piece, the function switching of grabbing and supporting is realized through the switching of the foot claw structures, a driving system of the mechanical paw is built on the basisof the physical mechanical structure, the driving system is a linear stepper motor with a trapezoidal screw rod, the motor is controlled by a matched driver, and the motor driver is connected into a220V turn to 12V transformer.

Description

technical field [0001] The invention belongs to the fields of robotics, mechanism and the like, and relates to a mechanical claw for a multi-legged robot, which has the functions of manipulator grabbing and mechanical foot support. Background technique [0002] Ground mobile robot is a highly comprehensive intelligent machine system, which can be roughly divided into wheeled robots, legged robots, crawler robots and other bionic mobile robots according to different motion mechanism modes. Among them, legged robots have attracted more and more attention from scholars and industries in various countries due to their good mobility and superior adaptability to terrain. The currently developed multi-legged robots are widely used in the fields of heavy object transportation, exploration of areas with complex terrain such as volcanoes and seabeds, and education and entertainment, but the existing multi-legged walking robots are usually only used as a mobile platform. [0003] The ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/02B25J15/10
CPCB25J15/00B25J15/0009B25J15/0206B25J15/10
Inventor 徐坤李斌丁希仑
Owner BEIHANG UNIV
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