The invention relates to the technical field of robots, in particular to a foot structure of a hexapod robot with a grounding feedback function. The foot type structure of the six-foot robot with the grounding feedback function comprises a feedback unit, a foot end unit and a fixing unit, the feedback unit is connected with the foot end unit, and the feedback unit and the foot end unit are connected and fixed through the fixing unit. The feedback unit mainly uses an encoder, a cylindrical cam and a bevel gear for information feedback; the foot end unit adopts a spring and a rubber shock absorber for buffering; the fixing unit limits and fixes the feedback unit and the foot end unit through a clamping groove and a screw. According to the invention, the structure is simple, the cost is relatively low, the robot can sense whether the feet touch the ground or not, so that corresponding gait and posture adjustment can be carried out in time to adapt to complex terrains, a certain damping and buffering effect can be achieved, meanwhile, the sensing feedback mode is sensitive and rapid, and the control is more convenient.

    本发明涉及机器人技术领域,具体涉及一种触地反馈的六足机器人的足部结构。一种触底反馈的六足机器人的足式结构,包括反馈单元、足端单元和固定单元,所述的反馈单元与足端单元相连接,固定单元再将反馈单元和足端单元连接固定。反馈单元主要是利用了编码器、圆柱凸轮和锥齿轮传动进行信息反馈的;足端单元采用了弹簧和橡胶减震器进行了缓冲;固定单元通过卡槽和螺钉将反馈单元和足端单元限位固定。本发明结构简单、成本较低,能使机器人感知到足部是否触地,从而及时进行相应的步态、姿态的调整,以便适应复杂地形,也能起到一定减震缓冲的作用,同时传感反馈方式灵敏迅速,控制更加方便。


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    Title :

    Ground contact feedback foot type structure of hexapod robot


    Additional title:

    一种触地反馈的六足机器人足式结构


    Contributors:
    WU HAN (author) / XIE TINGTING (author) / DENG WENJING (author) / WANG JIAN (author) / KUAI YIFAN (author) / GAO JIE (author)

    Publication date :

    2023-09-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / F16F SPRINGS , Federn / F16H Getriebe , GEARING



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