Blue-sheep-simulation rigid-flexible coupling buffer anti-skid hoof

Abstract

The invention relates to a blue-sheep-simulation rigid-flexible coupling buffer anti-skid hoof. The hoof comprises a first side edge zigzag form structure, a second side edge zigzag form structure, afirst hoof toe rigid split structure, a second hoof toe rigid split structure, a first rubber hoof baseplate flexible split structure and a second rubber hoof baseplate flexible split structure; the interiors of the hoof toe rigid split structures are hollow, the bottoms and heels of the outer sides of the hoof toe rigid split structures and the rubber hoof baseplate flexible split structures forma rigid-flexible coupling structure, the bottoms of the outer sides of the hoof toe rigid split structures are in an inward concave state, and the rubber hoof baseplate flexible split structures arein an inward concave state. Through barb-shaped side edge zigzag form structure distributed on the outer side faces of the hoof toe rigid split structures, curved surfaces of the bottoms of the hoof toe rigid split structures in the front-rear and left-right directions and rigid-flexible coupling of outer and middle sides of the hoof toe rigid split structures, the biomechanics functions of skid prevention, buffer and pavement adaption of slope movement of the hoof are effectively unified and combined, and the motion stability and safety of the hoof are improved.

Description

technical field [0001] The invention belongs to the technical field of mechanical bionic engineering, and in particular relates to an imitation blue sheep rigid-flexible coupling buffering anti-skid hoof applied to a quadruped robot. Background technique [0002] The current mobile robots can be roughly divided into wheeled robots and legged robots. Compared with wheeled robots, legged robots can adopt different gaits and different contact methods with the ground, so as to effectively overcome obstacles and adapt to complex road surfaces. Happening. With the advancement of science and technology, bionic legged robots have developed rapidly and are widely used in many fields of society. Among many types of legged robots, quadruped walking robots have achieved rapid development due to their remarkable characteristics such as strong carrying capacity, good stability, and simple structure, and are also a research hotspot in the field of bionic robots. [0003] At present, most...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of poor cushioning and anti-skid performance of the foot of the existing quadruped robot in the large-angle slope contact movement, and to provide a rock sheep rigid-flexible coupling buffer and anti-skid shoe that can overcome the above shortcomings palm

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