The foldable foot end mechanism comprises a first end portion and a second end portion which are connected through a damping mechanism, and the damping mechanism comprises a telescopic rod, a compression spring connected to the telescopic rod in a sleeving mode and a damper connected with the telescopic rod; and the stretching mechanism is hinged with the first end part and the second end part. The damping device comprises a damping mechanism and a self-adaptive unfolding and folding mechanism, and the damping mechanism mainly achieves the buffering and damping functions through mutual cooperation of a damper, a spring and other components; the self-adaptive unfolding and folding mechanism is mainly used for increasing the contact area of the foot end to reduce the pressure intensity of the foot end through the dead weight of the robot and the under-actuated mechanism, and the foot adaptability of the foot type robot on the complex ground is greatly improved.
本发明公开了一种可展收足端机构及足式机器人,包括:通过减震机构连接的第一端部和第二端部,所述的减震机构包括伸缩杆、套接在所述伸缩杆上的压缩弹簧以及与所述伸缩杆连接的阻尼器;伸展机构,所述伸展机构与所述第一端部和第二端部铰接。本发明包括减震机构和自适应展收机构,减震机构主要通过阻尼器、弹簧和其他部件之间相互配合,实现缓冲减震的功能;自适应展收机构主要通过机器人自重,通过欠驱动机构,实现增大足端接触面积来减小足端压强,极大的提高了足式机器人的在复杂地面的足地适应性。
Foldable foot end mechanism and foot type robot
一种可展收足端机构及足式机器人
2024-01-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot type robot grounding sensing mechanism and foot type robot
European Patent Office | 2021
|Leg mechanism of leg-foot type robot and leg-foot type robot
European Patent Office | 2020
|Foot mechanism with high load bearing of foot type robot
European Patent Office | 2015
|CARDAN UNIVERSAL JOINT FOOT MECHANISM OF FOOT-TYPE WALKING ROBOT
European Patent Office | 2024
|