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Robot foot end structure

A robot and foot end technology, applied in the field of machinery, can solve problems such as affecting the service life of the robot, affecting the work of the robot, and difficult unstructured road surfaces, and achieves the effects of simple structure, increased contact range, and easy maintenance.

Pending Publication Date: 2018-11-16
CHENGDU UNIVERSITY OF TECHNOLOGY +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the invention of the present invention is to: aim at the small stress-bearing area of ​​the feet of the existing legged robots, the robot is prone to slipping, and it is difficult to walk smoothly on non-structural roads, which affects the normal work of the robot. , Unsteady walking will cause a huge impact on the robot and affect the service life of the robot. A robot foot structure is provided

Method used

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  • Robot foot end structure

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Effect test

Embodiment 1

[0041] The foot end structure of the robot of this embodiment includes an upper end connector, an upper cover at the center of the palm, a lower cover at the center of the palm, a spring at the center of the palm, toes at the end of the foot, a toe spring, and a spherical hinge. In the present embodiment, there are three foot end toes and toe springs respectively. Wherein, the upper connecting piece is used to be connected with the main body of the robot, and the palm upper cover is flexibly connected with the upper connecting piece through a ball hinge.

[0042] At the same time, the upper connecting piece is flexibly connected with the palm upper cover, and the center of the palm upper cover is connected with the center of the palm lower cover through a palm spring. Further, in this embodiment, a telescopic sleeve can also be arranged on the palm spring. In this embodiment, the toe at the foot end includes a support portion and a connecting portion for contacting the ground...

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Abstract

The invention discloses a robot foot end structure and aims to solve the problem that the foot-end stress area of an existing foot-type robot is small, the robot possibly produces a slippery phenomenon and difficultly stably walks on a non-structural road surface, normal work of the robot is affected, but a large foot-type robot walks unstably due to excessive self weight, great impact is producedto the robot and the service life of the robot is affected. The robot foot end structure adopts a spring structure and mutual cooperation of parts to achieve the functions of contact area increase and buffering damping. According to the robot foot end structure, on one hand, the contact range of foot end toes is widened and a robot body is kept stable through spring compression, on the other hand, a buffering damping effect is played, and thus the service life of the robot is prolonged. The robot foot end structure is reasonable in design, ingenious in concept, simple in structure, convenientto operate, low in production and maintenance cost and easy to use, has a higher application value and has remarkable progressive significance in development of multi-legged robots.

Description

technical field [0001] The invention relates to the field of machinery, especially the field of hexapod robots, and specifically relates to a robot foot end structure. Background technique [0002] At present, most legged robots can only walk stably on structured roads; while on unstructured roads, their stability is significantly reduced. Especially for large legged robots, there will be a huge impact when walking, and it is easy to cause damage to the driving device and connecting parts. [0003] Further, the force-receiving area of ​​the foot end of the existing legged robot is small, and the robot is prone to slipping. Especially when walking on unstructured roads, the contact area may be further reduced due to the unevenness of the ground, which seriously affects the normal operation of the robot. However, due to the excessive weight of the large legged robot, it is difficult to accurately control the legs. When walking, it will have a huge impact, causing damage to t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 蒋刚留沧海江涌刘丽莉古鹏陈斯昀李晨胡勇杭建峰詹惠轲卢展段小虎薛志峰
Owner CHENGDU UNIVERSITY OF TECHNOLOGY
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