The invention discloses a rigidity-controllable ankle joint device for a climbing robot, and relates to the field of climbing robots, the rigidity-controllable ankle joint device comprises a soft multi-cavity element and matched parts thereof, a ball blocking mechanism and an attachment tail end, one end of the ball blocking mechanism is connected with the soft multi-cavity element and the matched parts thereof, and the other end of the ball blocking mechanism is connected with the attachment tail end. And the other end of the ball retarding mechanism is connected with the attachment tail end. The ankle joint device is active and controllable, complete in function, large in variable rigidity range and small and compact in structure, the joint rigidity can be changed with small air pressure, the requirement for a pneumatic system of the robot is low, control is easy, the structural rigidity of the ankle joint device is actively regulated and controlled, and the mechanical strength of the robot is improved. The low-rigidity state meets the requirement for adaptability of contact between the attachment tail end and the wall face, the high-rigidity state meets the requirements for transmission accuracy and high efficiency when the attachment tail end and the wall face are desorbed, and realizability of the ankle joint to a complex tail end track is achieved.

    本发明公开了一种用于攀爬机器人的刚度可控的踝关节装置,涉及攀爬机器人领域,包括软体多腔元件及其配套零件、球阻滞机构和附着末端,所述球阻滞机构的一端连接所述软体多腔元件及其配套零件,所述球阻滞机构的另一端连接所述附着末端。本发明踝关节装置主动可控、功能完备、变刚度范围大、结构小巧紧凑,需要很小的气压即可实现关节刚度的改变,对机器人气动系统的要求低,控制简单,踝关节装置的结构刚度实现主动调控,其低刚度状态满足附着末端与壁面接触的适应性需求,高刚度状态满足附着末端与壁面脱附时传动的精确性与高效性需求,实现踝关节对于复杂末端轨迹的可实现性。


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    Title :

    Rigidity-controllable ankle joint device for climbing robot


    Additional title:

    一种用于攀爬机器人的刚度可控的踝关节装置


    Contributors:
    WANG ZHOUYI (author) / YAO JUNSHENG (author) / WENG ZHIYUAN (author) / ZHANG PEIQING (author) / YUAN QINGSONG (author)

    Publication date :

    2023-07-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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