Impact-resistant and shock-absorbing mechanical foot for robot

Abstract

The invention discloses an impact-resistant and shock-absorbing mechanical foot for a robot. The impact-resistant and shock-absorbing mechanical foot is arranged at the end of a lower leg of the robot. The impact-resistant and shock-absorbing mechanical foot comprises a foot plate assembly, an ankle bone barrel assembly and a root bone, wherein the bottom end of the ankle bone barrel assembly is connected with the foot plate assembly, the outer wall of the ankle bone barrel assembly is fixedly connected with the root bone, and the root bone is connected with the end of the lower leg. The anklebone barrel assembly comprises a main barrel body, a laminating assembly, an auxiliary barrel body assembly, a main piston and an ankle bone shaft, wherein the main barrel body is provided with a main chamber, the main piston is installed in the main chamber and can slide down along the inner wall of the main chamber, the ankle bone shaft is arranged on the lower end face of the main piston, theankle bone shaft extends downwards and penetrates through the end face of the main barrel body to be connected to the foot plate assembly, the auxiliary barrel body assembly is arranged on the upper portion of the main barrel body, the inner space of the auxiliary barrel body assembly is connected to the main chamber, the upper space of the main piston and the auxiliary barrel body assembly in themain chamber are filled with oil, the laminating assembly stretches into the oil, and the oil is pressed towards the main piston when the laminating assembly operates.

Description

technical field [0001] The invention relates to the field of robots, in particular to an impact-resistant and shock-absorbing mechanical foot for robots. Background technique [0002] Robots need mechanical feet to walk, and when the robot walks, jumps, or the ground is uneven, the mechanical feet will receive impact when going up and down steps. Appropriate buffering is required. [0003] In the prior art, elastic bodies such as buffer pads or springs are generally added to the bottom of the machine foot for shock absorption. However, after the machine foot is impacted, the displacement of the elastic body is linearly related to the elastic force. If the elastic coefficient is large, the cushioning It is very stiff, and the impact force will still be transmitted to the lower leg of the robot, affecting the running state and characteristics of the lower leg and rear parts. If the elastic coefficient of the elastic body is small, then when the impact force is large, a large ...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, elastic bodies such as buffer pads or springs are generally added to the bottom of the machine foot for shock absorption. However, after the machine foot is impacted, the displacement of the elastic body is linearly related to the elastic force. If the elastic coefficient is large, the cushioning It is very stiff, and the impact force will still be transmitted to the lower leg of the robot, affecting the running state and characteristics of the lower leg and rear parts. If the elastic coefficient of the elastic body is small, then when the impact force is large, a large stroke of elasticity is required Therefore, there is an urgent need for a mechanical foot that can not only provide soft cushioning when the impact force is small, but also cushion in a smaller size when the impact force is large.

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