A self-energized non-slip bionic foot with adjustable force position

Abstract

The invention relates to a self-energized non-slip bionic foot with adjustable stress position, which includes a sliding wheel, a reset device, a front supporting foot and a rear supporting foot, and the sliding wheel is used to detect the sliding condition of the foot end and change the tangential friction at the same time The direction of the force is the positive pressure of the supporting foot to achieve self-energizing anti-skid effect. At the same time, the front and rear support feet adopt a multi-section coupling structure, which increases the contact area of ​​the foot and the ground with the increase of the positive pressure, changes the position of the force, and realizes the dynamic self-adaptation of the foot-ground adhesion through the mechanical device. The invention does not introduce new active parts, has a simple structure, is convenient to control, is suitable for the ups and downs of the footed robot with a large slope, enhances the passing ability of the footed robot, and improves the overall performance of the robot.

Description

technical field [0001] The invention relates to a high-adhesion bionic foot end of a quadruped robot, in particular to a self-energizing non-slip bionic foot with an adjustable center of gravity. Background technique [0002] Compared with ordinary wheeled robots and tracked robots, legged robots have stronger ability to adapt to complex terrain. In order to expand the reachable area of ​​legged robots, improving the climbing ability of legged robots has always been a research hotspot. Improving the adhesion coefficient between the foot end of the legged robot and the ground is the key to improving the mobility and passability of the legged robot. At present, the foot end of the legged robot is mainly in a fixed shape, which is easy to control but difficult to provide greater adhesion and difficult to adapt to rugged terrain with a certain slope. Contents of the invention [0003] In order to solve the problem that the existing legged robots cannot provide greater adhesio...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing legged robots cannot provide greater adhesion and are difficult to adapt to rugged terrain with a certain slope, the present invention provides a foot end structure suitable for climbing terrain, which realizes self-increasing force and front and rear center of gravity in the case of slipping Adjustable bionic foot

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