The invention discloses a variable-posture foot type robot module and a variable-posture foot type robot. A body part and limb parts which are symmetrically arranged on the left side and the right side of the body part are included; the limb parts comprise a leg part and a foot part, the leg part is pivoted with the body part, the leg part is in transmission connection with the body part through an angle adjusting mechanism, the foot part is in transmission connection with the leg part through a walking driving mechanism, and the foot part is provided with a first supporting part, a second supporting part, a third supporting part and a fourth supporting part; in a standing posture, the third supporting part abuts against a walking surface; in an overturning and standing posture , the firstsupporting part abuts against the walking surface; in a getting down posture, the fourth supporting part abuts against the walking surface; and in an overturning and getting down posture, the secondsupporting part abuts against the walking surface. The robot has two postures of a standing posture and a getting down posture, the height and width of the robot can be actively or passively adjustedaccording to a current movable space during walking, walking and obstacle crossing can still be kept during overturning, and a fault-tolerant capability and an application prospect are improved.
本发明公开了一种变姿态足式机器人模块及变姿态足式机器人,包括身体部和对称设置在身体部左右两侧的肢体部,肢体部包括腿部和脚部,腿部与身体部枢接,且腿部通过角度调节机构与身体部传动连接,脚部通过行走驱动机构与腿部传动连接,脚部设有第一支撑部、第二支撑部、第三支撑部和第四支撑部;站立姿态时,第三支撑部与行走面相抵;翻转站立姿态时,第一支撑部与行走面相抵;趴下姿态时,第四支撑部与行走面相抵;翻转趴下姿态时,第二支撑部与行走面相抵。具有站立姿态和趴下姿态两种姿态,在行走时可够根据当前可运动的空间进行主动或被动调整自身的高度及宽度,并且在倾覆时仍可保持行走和翻越障碍,提高了容错能力和应用前景。
Variable-posture foot-type robot module and variable-posture foot type robot
一种变姿态足式机器人模块及变姿态足式机器人
2020-10-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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