The invention belongs to the technical field of robots, and provides a heavy-load field robot snowfield sole surface with a self-snow-removing function. The foot bottom surface comprises a foot bottom plate and an arc-shaped rubber foot surface, and the foot bottom plate is partially provided with foot nails which are arranged in a crossed manner so as to realize a snowfield gripping function; the arc-shaped rubber foot surfaces are arranged on the surface of the foot surface in a crossed mode, the contact area of a traditional nail type foot surface is increased, and therefore foot surface friction force is increased, and foot surface elasticity is improved. The automatic snow removal compression spring is arranged on the foot nails in the rubber, the foot nails play a guiding role on the spring, and the outer surfaces of the foot nails are compressed between the foot bottom plate and the arc-shaped rubber foot face. When the rubber foot surface is sunken, accumulated snow can be accumulated on the sunken surface and is not easy to remove, and when the foot surface is lifted, the compression spring arranged in the rubber can apply outward acting force to the rubber foot surface, so that the rubber foot surface protrudes, and the accumulated snow in the sunken foot surface is automatically removed. The foot bottom surface mechanism can meet the requirement of heavy-load advancing on a snowy road surface, and has good flexibility and high adaptability.

    本发明属于机器人技术领域,提出了一种自除雪功能的重载野外机器人雪地足底面。该足底面包括足底板和弧状橡胶足面,足底板部分布置有交叉排布足钉以实现雪地抓地功能;弧状橡胶足面十字交叉布置于足面表面,增加传统钉式足面的接触面积,从而增加足面摩擦力,且增加足面弹性。自动除雪压缩弹簧布置于橡胶内部的足钉上,足钉对弹簧起导向作用,在足钉外表面,压缩于足底板和弧状橡胶足面之间。橡胶足面发生凹陷时,凹陷面会有积雪且不易清除,而当足面抬起时,橡胶内部布置的压缩弹簧会对橡胶足面给予向外的作用力,使橡胶足面凸起,自动除去凹陷足面内积雪。该足底面机构可以满足积雪路面重载行进要求,具有较好的灵活性和高适应性。


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    Title :

    Heavy-load field robot snowfield sole surface with automatic snow removal function


    Additional title:

    一种自除雪功能的重载野外机器人雪地足底面


    Contributors:
    CHEN JIAXUAN (author) / FU RAO (author) / WEI GANG (author) / LI TENGLONG (author) / LIU JINGYUAN (author) / SHI JIA (author) / ZHANG KUN (author)

    Publication date :

    2022-07-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / F16F SPRINGS , Federn



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