The embodiment of the invention discloses a mechanical foot, a mechanical leg and a robot. The mechanical foot comprises an abutting piece and a rolling wheel, wherein the abutting piece is connected with the first supporting piece, the first supporting piece comprises a first side wall and a second side wall, one end of the abutting piece is connected with the first side wall, the other end of the abutting piece faces the second side wall and extends in the direction away from the first supporting piece, and the abutting piece comprises an abutting face; the rolling wheel is rotationally connected with the abutting piece, the mechanical foot has a first use state and a second use state, and in the first use state, and the abutting face makes contact with the ground; in the second use state, a roller is in contact with the ground. According to the mechanical foot, the robot can be combined with specific road conditions, so the mechanical foot can be switched between the first use state and the second use state, and compared with the prior art that roller motion is adopted in the whole process, the motion performance of the mechanical foot under the uneven road conditions can be improved; compared with the prior art in which a pressing surface is in contact with the ground in the whole process, control difficulty and control cost can be reduced.
本申请实施例公开了机械足、机械腿及机器人。机械足包括抵压件和滚轮,抵压件连接第一支撑件,第一支撑件包括第一侧壁和第二侧壁,抵压件的一端连接第一侧壁,抵压件的另一端朝向第二侧壁且远离第一支撑件的方向延伸,抵压件包括抵压面;滚轮与抵压件转动连接,机械足具有第一使用状态和第二使用状态,第一使用状态下,抵压面与地面接触;第二使用状态下,滚轮与地面接触。本申请实施例使得机器人可结合具体的路况情形使机械足在第一使用状态、第二使用状态之间切换,相较于相关技术中全程采用滚轮运动而言可提升机械足在非平整路况下的运动性能,相较于相关技术中全程采用抵压面与地面接触的足式运动而言可降低控制难度及控制成本。
Mechanical foot, mechanical leg and robot
机械足、机械腿及机器人
2021-10-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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