The invention relates to a multifunctional biped robot foot structure capable of adapting to different working states, the whole foot structure is designed in a functional modularization mode, when walking is needed, the foot structure obtains information of a foot sole sensor in real time, self-adaptive posture adjustment of a biped robot on the uneven and smooth ground is achieved through two stages, and the function of the biped robot is achieved. The two stages comprise preliminary fine adjustment of an anti-skid air cushion and torsional springs on the two sides and comprehensive adjustment of five toe joints and two foot side plates controlled by a pneumatic driving mechanism; when the biped robot is in the state that the foot structure needs to be fixed such as grabbing, the multiple pneumatic driving devices are driven to lift the toes and the side foot plates, the vacuum generator is driven, air in the self-adaptive suction cup mechanism is extracted, and the foot structure of the biped robot is firmly adsorbed to the ground. By means of the torsional spring characteristics and the pneumatic control technology, mechanisms such as toes and side foot plates are cooperatively controlled, and the adaptive capacity of the robot foot to the ground in different working states is achieved.

    本发明涉及一种可适应不同工作状态的多功能双足机器人足部结构,整个足部结构功能模块化设计,在需要行走时,该足部结构实时获取脚底传感器信息并通过两阶段实现双足机器人在不平整光滑地面上的自适应姿态调整,两阶段包括防滑气垫和两侧扭簧的初步细小调整和气动驱动机构控制五个脚趾关节与两个脚侧板所做的全面调整;当双足机器人处于抓取等需要固定足部结构状态时,驱动多个气动驱动装置抬起脚趾与侧脚板,驱动真空发生器并抽取自适应吸盘机构内气体,使双足机器人足部结构牢牢吸附在地面上。本发明利用扭簧特性和气动控制技术,对脚趾、侧脚板等机构协同控制,实现了机器人足部在不同工作状态下对地面的适应能力。


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    Titel :

    Multifunctional biped robot foot structure capable of adapting to different working states


    Weitere Titelangaben:

    一种可适应不同工作状态的多功能双足机器人足部结构


    Beteiligte:
    GAN CHUNBIAO (Autor:in) / ZHANG JINLIN (Autor:in) / LI ZIJING (Autor:in) / LU MENGYUE (Autor:in) / YU TIANHAO (Autor:in) / JIN ZIXIN (Autor:in) / CHEN YONGMING (Autor:in)

    Erscheinungsdatum :

    23.01.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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