The invention relates to a passive spherical sole, a robot leg, a robot and a movement method of the robot, and belongs to the technical field of space robot application. The robot comprises four groups of robot legs and a trunk part, passive spherical soles are mounted on the robot legs, and each passive spherical sole mainly comprises a passive ankle joint connecting mechanism, an adhesion mechanism upper cover, an adhesion mechanism shell, a driving module and a thin film pressure sensor. Wherein the passive ankle joint mechanism mainly comprises an ankle joint pitching connecting piece, a primary-secondary screw, a torsion spring and an ankle joint rolling connecting piece; the driving module mainly comprises a wire spool, a rope, a speed reducing motor, a Hall encoder, a pin shaft, an adhesion petal, a torsion spring and an adhesion mechanism lower cover; and the adhesion part of the driving module consists of four groups of adhesion units which are uniformly distributed. The space four-foot crawling robot is provided with the passive spherical soles, the stress condition of the foot ends of the robot can be sensed, and self-adaptive crawling of the robot in the space environment is achieved.
本发明体涉及一种被动球形脚掌及机器腿与机器人及其运动方法,属于空间机器人应用技术领域。机器人包括4组机器腿和躯干部分,机器腿上安装有被动球形脚掌,被动球形脚掌主要包括被动踝关节连接机构、黏附机构上盖、黏附机构壳体、驱动模块、薄膜压力传感器。其中被动踝关节机构主要包括踝关节俯仰连接件、子母螺钉、扭转弹簧、踝关节横滚连接件;驱动模块主要包括绕线盘、绳线、减速电机、霍尔编码器、销轴、黏附瓣、扭转弹簧、黏附机构下盖,驱动模块黏附部分由4组均匀分布的黏附单元组成。本发明空间四足爬行机器人具有被动球形脚掌,并能感知机器人足端受力情况,实现空间环境中机器人自适应爬行。
Passive spherical sole, robot leg, robot and movement method of robot
被动球形脚掌及机器腿与机器人及其运动方法
24.10.2023
Patent
Elektronische Ressource
Chinesisch
Spherical robot capable of conducting foot type movement and working method of robot
Europäisches Patentamt | 2015
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