The invention relates to a passive spherical sole, a robot leg, a robot and a movement method of the robot, and belongs to the technical field of space robot application. The robot comprises four groups of robot legs and a trunk part, passive spherical soles are mounted on the robot legs, and each passive spherical sole mainly comprises a passive ankle joint connecting mechanism, an adhesion mechanism upper cover, an adhesion mechanism shell, a driving module and a thin film pressure sensor. Wherein the passive ankle joint mechanism mainly comprises an ankle joint pitching connecting piece, a primary-secondary screw, a torsion spring and an ankle joint rolling connecting piece; the driving module mainly comprises a wire spool, a rope, a speed reducing motor, a Hall encoder, a pin shaft, an adhesion petal, a torsion spring and an adhesion mechanism lower cover; and the adhesion part of the driving module consists of four groups of adhesion units which are uniformly distributed. The space four-foot crawling robot is provided with the passive spherical soles, the stress condition of the foot ends of the robot can be sensed, and self-adaptive crawling of the robot in the space environment is achieved.
本发明体涉及一种被动球形脚掌及机器腿与机器人及其运动方法,属于空间机器人应用技术领域。机器人包括4组机器腿和躯干部分,机器腿上安装有被动球形脚掌,被动球形脚掌主要包括被动踝关节连接机构、黏附机构上盖、黏附机构壳体、驱动模块、薄膜压力传感器。其中被动踝关节机构主要包括踝关节俯仰连接件、子母螺钉、扭转弹簧、踝关节横滚连接件;驱动模块主要包括绕线盘、绳线、减速电机、霍尔编码器、销轴、黏附瓣、扭转弹簧、黏附机构下盖,驱动模块黏附部分由4组均匀分布的黏附单元组成。本发明空间四足爬行机器人具有被动球形脚掌,并能感知机器人足端受力情况,实现空间环境中机器人自适应爬行。
Passive spherical sole, robot leg, robot and movement method of robot
被动球形脚掌及机器腿与机器人及其运动方法
2023-10-24
Patent
Electronic Resource
Chinese
Spherical robot capable of conducting foot type movement and working method of robot
European Patent Office | 2015
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