The invention provides a self-adaptive tensioning foot structure based on a tensioning overall structure. The self-adaptive tensioning foot structure is formed by combining a tensioning ankle joint, a self-adaptive tensioning foot sole and a silica gel foot sole face. The tensioning ankle joint is composed of an upper end leg and foot connecting end, a tensioning foot main body framework, a first spring and a second spring; the self-adaptive tensioning sole is composed of a rotating rod piece, a supporting shaft, a third spring and a pin. The bottom face of the silica gel foot is rectangular and is located at the contact position of the tensioning foot sole and the ground. According to the self-adaptive tensioning foot structure, the quadruped robot can walk in a self-adaptive mode under the non-structural terrain, and compared with other foot structures, the stability and movement performance of the quadruped robot are improved.
本发明提供一种基于张拉整体结构的自适应张拉足部结构,由张拉踝关节、自适应张拉脚掌、硅胶脚底面组合而成;所述张拉踝关节由上端腿足连接端、张拉足主体骨架、第一弹簧、第二弹簧组成;所述自适应张拉脚掌由转动杆件、支撑轴、第三弹簧、销钉组成;所述硅胶脚底面呈长方形面状位于张拉脚掌与地面接触处。本发明自适应张拉足部结构使得四足机器人能够在非结构地形下自适应行走,相比与其他足部结构,提高了四足机器人的稳定性及运动性能。
Self-adaptive stretch-draw foot structure based on stretch-draw overall structure
一种基于张拉整体结构的自适应张拉足部结构
2024-05-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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