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A foot movement device

A mobile device and foot technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of inability to effectively switch between the walking function of two feet and the sliding function of casters, and achieve stable walking across obstacles, improve adaptability, and effectively switch Effect

Active Publication Date: 2021-07-16
牛勐
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The invention provides a foot moving device, which overcomes the disadvantage that the existing walking robot cannot effectively switch between the walking function of the feet and the sliding function of the casters

Method used

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  • A foot movement device
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  • A foot movement device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] refer to Figure 1-13 , the foot moving device of the present embodiment, comprising:

[0048] The top plate 1, the first vertical baffle plate 101 extends downwards around the top plate 1;

[0049] The base plate 2 located below the top plate 1 has a second vertical baffle 201 extending upwards around the bottom plate 2, and the first vertical baffle 101 covers the outside of the second vertical baffle 201, so that the top plate 1, the first vertical baffle 101. The second vertical baffle 201 and the bottom plate 2 form the outer cover of the foot moving device;

[0050] The rear wheel support 5, the top of the rear wheel support 5 is connected to the lower surface of the top plate 1, the lower end of the rear wheel support 5 is equipped with casters 15, specifically in this embodiment, the rear wheel module mainly includes the rear wheel support 5, the rear wheel support 5 The caster 15 at the lower end and the corresponding mechanism for driving the lower end caste...

Embodiment 2

[0055] The structure of the foot moving device of this embodiment is basically the same as that of Embodiment 1, further: it also includes a leg 9, the lower end of the leg 9 is provided with a spherical groove 901, and one side of the upper end of the top plate 1 is provided with a The spherical protrusion 102 inside the spherical groove 901.

[0056] In this embodiment, the lower end of the leg 9 is provided with a spherical groove 901, and one side of the upper end of the top plate 1 is provided with a spherical protrusion 102 that can be embedded in the spherical groove 901, so that the leg 9 forms a hinge with the top plate 1 below, The outrigger 9 can be connected with the walking drive system of the walking robot. The above structure realizes that the feet of the walking robot can flexibly rotate and twist in order to adapt to the unevenness of the ground, ensuring that the posture of the walking robot's body and lower legs is always in vertical orientation.

Embodiment 3

[0058] The structure of the foot moving device of this embodiment is basically the same as that of Embodiment 2. Furthermore, a horizontal slide bar 8 is respectively provided on both sides of each caster opening 205, and a pair of horizontal slide bars 8 on both sides of each caster opening 205 Two horizontal baffle plates 7 are installed on the bar 8, and the two ends of the horizontal baffle plate 7 are provided with baffle plate through holes 701 respectively, and the baffle plate through holes 701 at the two ends of the horizontal baffle plate 7 are respectively passed through by the corresponding horizontal slide bar 8 ( That is, the horizontal baffle 7 is carried on a pair of horizontal slide bars 8, and one end of each horizontal baffle 7 is passed by a horizontal slide bar 8, and the other end is passed by another horizontal slide bar 8), and each horizontal slide bar 8 both ends are respectively provided with support block 801; Figure 9 , the support block 801 at on...

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Abstract

The invention discloses a foot moving device, which relates to a foot moving device applied to a walking robot. The invention comprises: a top plate, a bottom plate located below the top plate, and a rear wheel bracket. Casters and a support rod are installed at the lower end of the rear wheel bracket. A longitudinal arm, a central shaft is arranged between the two parallel longitudinal arms, and casters are installed on the central shaft; and at least one fixing piece, the fixing piece is connected to the lower surface of the top plate, and a rotating circle is arranged in the fixing piece An annular cavity in which the disk rotates on the horizontal plane. The rotating disk is connected with a threaded column downward from its center point. The threaded column is covered with a support tube threaded with the threaded column. The lower end of the support tube is connected to the upper surface of the bottom plate. The invention overcomes the disadvantage that the existing walking robot cannot effectively switch between the walking function of two feet and the sliding function of casters.

Description

technical field [0001] The invention relates to a mobile device, and more specifically, mainly relates to a foot mobile device applied to a walking robot. Background technique [0002] With the development of the times and the advancement of science and technology, robot technology is gradually entering our lives. Various service robots and industrial robots are growing rapidly and improving day by day. Most of the existing robots are moved by casters. Casters can be used to move to the designated position smoothly and quickly, but the use of casters is very limited. On uneven ground or even a common small step, it will cause obstacles to the movement of casters, which seriously affects the movement of the caster robot. [0003] At present, some robots that imitate human feet to move by alternately touching the ground with both feet have appeared on the market. This type of robot can better cross obstacles and uneven ground, but during the walking process, the robot's feet a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 牛猛牛加浩牛子祥
Owner 牛勐