The invention discloses a rigid-flexible coupling bionic mechanical foot with buffering and anti-subsidence functions, which belongs to the technical field of bionic robots and comprises a mounting interface module, a ground contact pressing module, a sand stabilization and flow limiting module and an anti-slip buffering module. The installation interface module is fixedly connected to the upper end of the support pressing plate, three guide holes are formed in a non-load area of the support pressing plate, the left side and the right side of the bottom of the support pressing plate are symmetrically and rotationally connected with side connecting rods and front connecting rods through small cylindrical pins, and the lower ends of the two side connecting rods are rotationally connected with side foot bottom plates through small cylindrical pins. The lower ends of the two front connecting rods are rotationally connected with a left flipper and a right flipper through small cylindrical pins respectively; when the legs of the robot fall, the bionic mechanical feet can gather and press the loose sand base, and sinking and slipping of the bionic mechanical feet are avoided; after the legs of the robot are lifted, the support pressing plate can automatically move upwards to drive the left flipper, the right flipper and the side foot bottom plate to reset, the mobility of the sand is recovered again, and the bionic mechanical foot can be smoothly lifted off the ground.

    本发明公开了一种具有缓冲与抗沉陷功能的刚柔耦合仿生机械足,属于仿生机器人技术领域,包括安装接口模块、触地压紧模块、固沙限流模块以及防滑缓冲模块;安装接口模块固定连接在支架压板上端,支架压板在其无载荷区域开设三个导向孔,支架压板底部左右两侧通过小圆柱销对称转动连接有侧连接杆和前连接杆,两个侧连接杆下端通过小圆柱销均转动连接有侧足底板,两个前连接杆下端通过小圆柱销分别转动连接有左脚蹼和右脚蹼;机器人落腿时,仿生机械足可聚拢并压紧散沙基底,避免仿生机械足的下陷与打滑;机器人抬腿后,支架压板可自动向上移动带动左脚蹼、右脚蹼与侧足底板复位,沙地的流动性重新恢复,仿生机械足可顺利地离地。


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    Titel :

    Rigid-flexible coupling bionic mechanical foot with buffering and anti-subsidence functions


    Weitere Titelangaben:

    一种具有缓冲与抗沉陷功能的刚柔耦合仿生机械足


    Beteiligte:
    PANG HAO (Autor:in) / ZHANG SEN (Autor:in) / WANG HAO (Autor:in) / RUAN ZHOUJIE (Autor:in) / LIU CHUNBAO (Autor:in)

    Erscheinungsdatum :

    2024-05-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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