An adjustable passively stabilized mechanical foot

A passively stabilized, mechanical foot technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of poor adaptability to rough terrain and single foot structure, and achieve the effect of strong adaptability and good stability

Active Publication Date: 2020-11-03
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem that the foot structure of the current legged robot is single and the adaptability to rough terrain is poor, the present invention provides an adjustable passive non-slip mechanical foot

Method used

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  • An adjustable passively stabilized mechanical foot
  • An adjustable passively stabilized mechanical foot
  • An adjustable passively stabilized mechanical foot

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Embodiment Construction

[0020] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0021] An adjustable passive and stable mechanical foot has a symmetrical structure as a whole, consisting of a mounting pillar 1, a left foot 9, and a right foot 12. Take the left side of the mechanical foot as an example: a passive anti-slip adjustment device 23 is provided at the joint between the bottom of the installation pillar 1 and the left foot 9, and the passive anti-slip adjustment device 23 includes a spiral step platform 9-I arranged on the left foot 9 and a Install the spiral stepped groove 1-I on the pillar 1, and the spiral stepped groove is matched with the spiral stepped platform, so that when the left foot and the mounting pillar are relatively rotated, the palm of the foot will be pushed to slide to both sides. Buffer adjustment devic...

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Abstract

The invention discloses an adjustable passively-stable mechanical foot. The invention mainly aims at the problems that a robot foot is low in terrain adaptability and prone to slip when traveling on rough road surfaces, and designs the mechanical foot which is simple in structure, adjustable, stable and reliable. The adjustable passively-stable mechanical foot mainly consists of a mounting supportcolumn, feet, cushioning adjusting devices, foot clamping devices, foot rotary devices and passively-antiskid adjusting devices. When the mechanical foot travels on rough terrain, the mechanical footcan adapt to the rough terrain in different conditions by virtue of the adjustment of the cushioning adjusting devices. Through the function of the passively-antiskid devices and the foot rotary devices, the mechanical foot can automatically adapt to different rough terrain features when traveling on the rough road surfaces, and the contact manner between the feet and the rough terrain can be more stable and reliable.

Description

technical field [0001] The invention relates to the field of robot foot structures, in particular to a mechanical foot structure with passive anti-slip function and adaptable to different rugged road surfaces. Background technique [0002] Mobile robots mainly refer to legged mobile robots and wheeled robots. Legged mobile robots have always been a research hotspot because of their excellent terrain adaptability. With the continuous deepening of the research on legged robots, more and more attention has been paid to the stability of legged robots in different terrains. A legged robot with a good foot structure can effectively enhance the walking stability of the robot during walking and improve the stability of the foot. The contact state between the end and the ground reduces the impact, prolongs the life of the robot parts, and improves the reliability of the robot mechanism; at the same time, the robot with a good foot structure has a higher energy utilization rate and be...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 田为军刘海丛茜任雷黎柱君罗智友孙宇
Owner JILIN UNIV
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