The invention relates to the technical field of robots, and particularly discloses a nailing type foot structure which comprises a shell, a foot, a first energy accumulator, a nail body, a second energy accumulator and a self-conversion assembly. The shell is provided with an accommodating cavity, and the foot part is configured to be in sliding connection with the shell; one end of the first energy accumulator is connected with the tail end of the foot, and the first energy accumulator is used for bearing the axial pressure of the foot and accumulating elastic potential energy so that the foot can axially reset; the head end of the nail body is configured to penetrate through the foot in a sliding mode, and the tail end of the nail body is located in the containing cavity. The second energy accumulator is located in the containing cavity and used for bearing axial pressure and accumulating elastic potential energy. The self-conversion assembly is used for converting the elastic potential energy stored in the second energy accumulator into kinetic energy according to the stroke of the first energy accumulator, so that the nail body is ejected according to the direction of the kinetic energy; the nailing type foot structure has the buffering function and is good in stability, and therefore the adaptability of the spider robot to various motion environments is fundamentally improved.

    本发明涉及机器人技术领域,具体公开一种钉入式足部结构,该结构包括壳体、足部、第一蓄能器、钉体、第二蓄能器和自转换组件;壳体具有容纳腔,足部配置为与壳体滑动连接;第一蓄能器一端配置为与足部的末端连接,第一蓄能器用于的承受足部的轴向压力并积蓄弹性势能,以供足部轴向复位;钉体首端配置为可滑动地穿过足部,钉体末端位于容纳腔内;第二蓄能器位于容纳腔内,第二蓄能器用于的承受轴向压力并积蓄弹性势能;自转换组件用于根据第一蓄能器的行程而将第二蓄能器的储存的弹性势能转化为动能,以使钉体根据动能的方向弹射;该钉入式足部结构具有缓冲功能,稳定性好,从而在根本上提高蜘蛛机器人对多种运动环境的适应性。


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    Title :

    Nail-in type foot structure


    Additional title:

    一种钉入式足部结构


    Contributors:
    CHEN RUNHAO (author) / ZHENG DONGCHI (author) / ZHOU JINGLIN (author) / ZHANG ZIRONG (author) / ZHU FANGYUAN (author) / CHEN ZEJIA (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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