Foot structure of four foot walking robot with foot float support

Abstract

The foot structure of four foot waling robot with floated foot support includes calf, subsidiary ball cover plate, knuckle, instep seat, upper washer, clamp plate, balls in holder, lower washer, sole seat, approach sensor, foot pad, feeling sensor, buffering pad, outer casing and pressing spring connected together. The present invention is light, firm and floatable, and has elastic compensation capacity and environment feeling capacity.

Description

technical field [0001] The invention relates to a foot structure of a robot, in particular to a foot structure of a quadruped walking robot supported by floating feet, which is used in the field of robots. Background technique [0002] Walking robots have obvious advantages in crossing obstacles, passing through rough terrain, soft ground and mobility flexibility, and quadruped walking robots are an important branch of robots. The quadruped walking robot has stronger carrying capacity and better stability than the biped walking robot, and is simpler in structure than the hexapod and eight-leg walking robots. [0003] After literature search, it is found that the Chinese patent publication number is: 1407922, the patent name is: legged mobile robot, method of controlling the robot, foot structure of the robot, and movable leg unit of the robot, and the application date is: November 2001 On the 16th, the foot structure described in this patent consists of three parts: a foot ...

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Problems solved by technology

[0003] After literature search, it is found that the Chinese patent publication number is: 1407922, the patent name is: legged mobile robot, method of controlling the robot, foot structure of the robot, and movable leg unit of the robot, and the application date is: November 2001 On the 16th, the foot structure described in this patent consists of three parts: a foot seat, a foot pad, and an ankle connection unit. The foot pad is composed of at least two cushioning materials arranged at predetermined positions on the bottom plate of the foot seat. different, and located on the inside and outside of the foot base plate, the characteristics of the foot and ankle connection unit are not given in this patent, but in the legged mobile robot, the feet of the quadruped walking robot and the biped walking robot are in the structural shape, The use of ankle connection units and sensors is different, so the foot structure in this patent cannot be directly applied to quadruped walking robots, and the defects of this foot structure in the actual use of quadruped walking robots are: 1. When the quadruped walking robot is walking statically, the error of the transmission chain and the driving error will cause motion interference and jamming between the supporting legs, which will cause the walking machine to fail, cause the motor to stall or burn out, and the foot structure cannot compensate for the transmission. Chain error and drive error

2. When the quadruped walking robot walks dynamically in a diagonal trot state, when the robot moves faster, the four legs are in the swing phase at the same time, and the four legs are in the air at the same time. This alternating process requires the robot mechanism to have elasticity and vibration reduction functions , the foot structure does not meet the requirements of the elastic mechanism for this movement

3. The walking robot is in constant contact with the walking surface when walking, and the reaction force from the walking surface becomes a large impulse force, which becomes a kind of interference and causes the robot to be unstable. The foot structure cannot effectively absorb this impulse force

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