The invention relates to a passive two-degree-of-freedom foot device of a quadruped robot, and belongs to the field of design of anti-skid foot mechanisms of quadruped robot body mechanisms. The device comprises a shank 1, a cross pin shaft assembly 2, a sole skeleton 3 and a sole non-slip mat 4. The left end and the right end of the cross-shaped pin shaft assembly 2 are connected with the four-foot robot shanks 1, the front end and the rear end of the cross-shaped pin shaft assembly 2 are connected with the sole frameworks 3, and rolling and pitching movement of feet is achieved through cross-shaped pin shafts. The sole non-slip mat 4 is fixed around the sole skeleton 3 through the screws 5, and the lower end of the sole non-slip mat 4 is used for increasing friction force between the sole and the ground. A passive two-degree-of-freedom design scheme is adopted in the main body, the contact area and the road holding force can be effectively increased when the quadruped robot moves at a high speed or climbs a slope, and the slippage phenomenon generated between the soles and the ground is reduced. The device is simple and reliable in structure and obvious in anti-skid effect.
本发明涉及一种四足机器人被动式双自由度足装置,属于四足机器人本体机构防滑足机构设计领域。本发明的装置包括小腿1、十字销轴组件2、足底骨架3和足底防滑垫4四部分结构。所述十字销轴组件2左右端连接四足机器人小腿1,前后端连接足底骨架3,通过十字销轴实现足部的横滚和俯仰运动;足底防滑垫4通过螺钉5固定在足底骨架3周围,其下端用于增加足底与地面之间的摩擦力。本发明主体采用被动式双自由度设计方案,在四足机器人高速移动或爬坡时可有效增加接触面积和抓地力,减少足底与地面产生的滑移现象。装置结构简单、可靠、防滑效果较为明显。
Passive type two-degree-of-freedom foot device of quadruped robot
一种四足机器人被动式双自由度足装置
2022-07-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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