The invention relates to a multi-foot walking robot, a control method thereof and a foot end mechanism with an improved structure, which belong to the technical field of robots. The foot end mechanismcomprises a fixed support and a hydraulic cylinder fixedly arranged on the fixed support, and a grounding foot end is fixedly arranged at the output end of a valve rod of the hydraulic cylinder; a reset energy accumulator and an adjustable damper used for adjusting oil outlet damping of an oil port are connected with the oil port of an oil cavity, located on the side, deviating from the groundingfoot end, of a piston of the hydraulic cylinder. The pre-charging pressure of the reset energy accumulator is adjustable, and the reset energy accumulator is used for forcing the grounding foot end to elastically reset after the grounding foot end touches the ground and is lifted. The foot end mechanism with the improved structure can effectively reduce collision oscillation generated when the foot end mechanism touches the ground, can detect the output force of the foot end and judge whether the foot end touches the ground through the pressure sensor, and can be widely applied to the technical field of robots.

    本发明涉及一种多足步行机器人及其控制方法与结构改进的足端机构,属于机器人技术领域。足端机构包括固定支架及固设在固定支架上的液压缸,在液压缸的阀杆输出端上固设有触地足端;液压缸位于其活塞背离触地足端的一侧的油腔的油口上连接有复位蓄能器,及用于调节油口的出油阻尼的可调阻尼器;复位蓄能器的预充压力可调,用于迫使触地足端在触地抬起后的弹性复位。该经结构改进之后的足端机构,能有效地减少触地时所产生的碰撞震荡,且可通过压力传感器检测足端的输出力与着地判断,可广泛应用于机器人技术领域中。


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    Titel :

    Multi-foot walking robot, control method thereof and foot end mechanism with improved structure


    Weitere Titelangaben:

    一种多足步行机器人及其控制方法与结构改进的足端机构


    Beteiligte:
    JIN BO (Autor:in) / ZHAI SHUO (Autor:in) / DONG JUNKUI (Autor:in) / LIU ZIQI (Autor:in)

    Erscheinungsdatum :

    2020-11-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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