Biped robot sole structure with rapid shock absorption and road surface adaptability

A biped robot and adaptability technology, applied in the field of robotics, can solve the problems that robots are difficult to have effective cushioning and shock absorption road adaptability, and achieve the effects of improving walking performance, increasing effective ground contact area, and reducing control difficulty

Active Publication Date: 2020-06-12
ZHEJIANG LAB
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned problems existing in the flexible shock-absorbing feet of existing robots, at the same time, for existing humanoid robots, flat-footed structures and stepped short-step walking methods are often used, which makes it difficult for robots to have effective cushioning and shock absorption and road adaptability. Problem, the present invention provides a foot mechanism with fast shock absorption and road adaptability suitable for the flat foot structure of the existing humanoid robot. This mechanism can make the original robot flat foot Complete effective shock absorption in a short period of time when impacting, protecting the foot drive joints

Method used

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  • Biped robot sole structure with rapid shock absorption and road surface adaptability
  • Biped robot sole structure with rapid shock absorption and road surface adaptability
  • Biped robot sole structure with rapid shock absorption and road surface adaptability

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with accompanying drawing.

[0030] refer to Figure 1-2 : the plantar mechanism of the flat foot of the humanoid robot, including the original flat foot 1, cage 8, longitudinal arch mechanism, transverse arch mechanism and four plantar modules of the robot; the four sides of the cage 8 are installed The buckle 2 is fixedly connected with the flat foot 1, and the sole module is composed of a wear-resistant anti-skid layer in contact with the ground and a buffer and shock-absorbing layer fixedly connected with the flat foot 1, and the four sole modules are fixed on the flat foot 1. On the four corners, the sole modules are connected by the arch mechanism. According to the position of the modules on the soles of the feet, they are divided into the upper layer of the inner forefoot module 3, the lower layer of the inner forefoot module 4, the upper layer of the outer forefoot module 6, and the outer foref...

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Abstract

The invention relates to a biped robot sole structure with rapid shock absorption and road surface adaptability. The mechanism can effectively improve the shock absorption and buffer capacity of feetof a humanoid robot and improve the adaptability of the robot to uneven road surfaces. The sole mechanism comprises a retainer used for installation and playing a supporting role, a longitudinal archmechanism and a transverse arch mechanism which are connected with the retainer, and an inner side forefoot module, an outer side forefoot module, an inner side heel module and an outer side heel module which are connected with the arch mechanism. The rapid shock absorption and road surface adaptation sole mechanism for the flat plate foot of the humanoid robot is suitable for meeting the requirements of various humanoid robots with the flat plate foot as a main sole structure for quick shock absorption and uneven road surface adaptation.

Description

technical field [0001] The invention relates to a biped robot foot structure with fast shock absorption and road surface adaptability, belonging to the technical field of robots. Background technique [0002] A humanoid robot is a bipedal robot that imitates the human body structure and walking gait. Its advantages lie in its strong adaptability to complex environments, and its movement is relatively light and flexible. In order to reduce the difficulty of gait control during walking and reduce the possibility of toppling during walking, most of the current humanoid robots use an integral flat foot in the design of the sole structure, using a whole rectangular plane as the The foot touches the ground to walk while controlling the plane of the foot to remain parallel to the ground while walking. When the foot mechanism is impacted by the road surface, the cushioning and shock absorption ability is poor, and the road surface impact is almost completely transmitted to the ankl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 沈方岩杜睿龙顾建军朱世强
Owner ZHEJIANG LAB
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