A robot foot structure and robot based on magnetorheological technology

Abstract

The invention discloses a robot foot structure based on a magnetorheological technique. The robot foot structure is used for being mounted at the tail of the leg of a robot and comprises a foot assembly, the foot assembly comprises a main lower foot body for being in contact with the ground to provide support, and the contact surface of the bottom of the main lower foot body and the ground is provided with a magnetorheological elastomer; an electromagnetic coil is mounted on the foot assembly and provided with a current input end, and when the electromagnetic coil is powered on, the magnetorheological elastomer is located in an electromagnetic field generated by the electromagnetic coil. The invention further discloses a robot provided with the robot foot structure. The robot foot structure can make the feet of the robot better fit the ground, the ground gripping force is improved, forwarding is more stable, and the impact on the leg-foot robot during travelling is effectively reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot foot structure and a robot based on magneto-rheological technology. Background technique [0002] For the need for comprehensive and in-depth exploration but not suitable for human beings to directly enter the complex terrain environment. For example, in some engineering construction or mining of mineral resources, various complex terrains are often encountered, which greatly affects the safety and quality of the project, so it is necessary to detect the terrain environment; for example, in archaeological research, sometimes it is necessary to To understand the specifics of the interior of the tomb, humans are not suitable for direct entry, and robots need to be used to explore first, so as to facilitate the subsequent archaeological excavation work of scientific researchers. [0003] For a long time, wheeled and tracked robots have been the preferred types of exploration...

AI Technical Summary

Problems solved by technology

However, wheeled robots and crawler robots have high requirements for the passing surface. If they need to pass through uneven surfaces, wheeled robots need to be equipped with a wheel transmission system with a large degree of freedom. This transmission system is complex in structure and easy to damage. Wheeled robots and tracked robots cannot pass well on surfaces that are inclined or have large height differences

Therefore, it is more suitable to use leg-footed robots for surfaces with uneven, inclined or large height differences. The contact is unstable, resulting in slipping, rollover, etc., and the impact force is relatively large, which will cause great damage to the robot structure

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