The invention discloses a foot end device and a foot type robot. The foot end device comprises a supporting rod, a fixing piece and a pre-tightening assembly. A movable hole is formed in the fixing piece in the first direction, the first end of the supporting rod is located in the movable hole and can move in the movable hole, a limiting structure for preventing the supporting rod from being separated from the movable hole is arranged between the fixing piece and the supporting rod, an installation through hole formed in the second direction is formed in the surface of the fixing piece, and the second direction is not parallel to the first direction. At least two mounting through holes are formed in the circumferential direction of the fixing piece at intervals; at least two pre-tightening assemblies are arranged and correspond to the mounting through holes one to one, each pre-tightening assembly comprises an elastic piece, the first end of each elastic piece extends into the corresponding fixing piece through the corresponding mounting through hole and abuts against the corresponding supporting rod, and the second end of each elastic piece is fixed to the corresponding fixing piece. The supporting rod can swing and stretch out and draw back by a certain amplitude relative to the fixing piece. When impact or collision occurs, impact acting force is fully absorbed through swinging and stretching of the supporting rods, and core components are protected.
本发明公开了一种足端装置及足式机器人,足端装置包括支撑杆、固定件和预紧组件;固定件沿第一方向设有活动孔,支撑杆的第一端位于活动孔内并能够在活动孔内活动,固定件与支撑杆之间设有防止支撑杆从活动孔脱离的限位结构,固定件的表面设有沿第二方向设置的安装通孔,第二方向与第一方向不平行,安装通孔设有至少两个并沿固定件的周向呈间隔设置;预紧组件设有至少两个并与安装通孔一一对应,预紧组件包括弹性件,弹性件的第一端通过安装通孔伸入固定件内并抵压支撑杆,弹性件的第二端与固定件固定。支撑杆能够相对固定件进行一定幅度的摆动和伸缩;在遭遇冲击或碰撞的时候,通过支撑杆的摆动和伸缩,充分吸收冲击作用力的作用,保护核心部件。
Foot end device and foot type robot
足端装置及足式机器人
2022-12-23
Patent
Electronic Resource
Chinese
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