The invention provides a foot end structure and a foot type robot, and relates to the technical field of robots. The foot end structure comprises a mounting base, a bag body and a driving piece. The bag body is supported at the bottom of the mounting base, and a closed space is formed in the bag body and used for containing a fluid medium. The driving part is mounted on the mounting seat and is used for driving the bag body to deform, so that the closed space is enlarged or reduced, and the pressure of the fluid medium in the bag body is reduced or increased. The bag body forms the closed space for containing the fluid medium, fluid medium leakage does not need to be worried about, and reliability is high. Due to the fact that the space is closed, the total amount of the fluid medium in the closed space is constant, the bag body is driven by the driving piece to deform so as to change the size of the closed space, the pressure of the fluid medium in the bag body is changed, and the rigidity of the foot end structure is adjusted.

    本申请提供了一种足端结构及足式机器人,涉及机器人技术领域。足端结构包括安装座、袋体和驱动件。袋体支撑于安装座的底部,袋体的内部形成有密闭空间,密闭空间用于容纳流体介质。驱动件安装于安装座,驱动件用于驱动袋体变形,以使密闭空间增大或减小,以使袋体内的流体介质的压力减小或增大。袋体形成容纳流体介质的密闭空间,无需担心流体介质泄漏,可靠性较高。由于空间是密闭的,密闭空间内的流体介质的总量恒定,则通过驱动件驱动袋体变形从而改变密闭空间的大小,从而改变袋体内的流体介质的压力大小,从而调节足端结构的刚度。


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    Title :

    Foot end structure and foot type robot


    Additional title:

    一种足端结构及足式机器人


    Contributors:
    HONG KECHENG (author) / WANG YINGQIAN (author) / LI YESONG (author) / LI XIAOHUA (author) / XIANG XINGCAN (author)

    Publication date :

    2022-12-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / F16F SPRINGS , Federn



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