The invention is suitable for the technical field of robots, and provides a bimorphic robot foot device which comprises a foot bone rod and further comprises a wheel type moving module, the wheel type moving module comprises a main shaft arranged at the bottom of the foot bone rod, an electric wheel is rotationally installed on the main shaft, and a tire is installed on the electric wheel; the foot type moving module comprises a left front claw, a left rear claw, a right front claw and a right rear claw, a first telescopic piece and a second telescopic piece are further arranged on the foot bone rod, the first telescopic piece is connected with the left rear claw and the right rear claw through two rear connecting rods, and the second telescopic piece is connected with the left rear claw and the right rear claw through two rear connecting rods. The second telescopic piece is connected with the left front claw and the right front claw through two front connecting rods. The device is simple in mechanical structure, after the device is applied to the robot, through the switchable movement modes, the movement modes are replaced according to different terrains, the robot can rapidly move in different environments, and the adaptability of the robot to various terrains is effectively improved.

    本发明适用于机器人技术领域,提供了一种双形态机器人足部装置,包括足骨杆,还包括:轮式移动模块,所述轮式移动模块包括设置于足骨杆底部的主轴,所述主轴上转动安装有电动轮,所述电动轮上安装有轮胎;足式移动模块,所述足式移动模块包括左前爪和左后爪,以及右前爪和右后爪,所述足骨杆上还设置有第一伸缩件和第二伸缩件,所述第一伸缩件通过两个后连接杆与左后爪和右后爪连接,所述第二伸缩件通过两个前连接杆与左前爪和右前爪连接。该装置的机械结构简单,将该装置应用于机器人上之后,通过可切换的运动方式,根据不同地形更换运动方式,可使得机器人在不同环境下进行快速移动,有效提升了机器人对各种地形的适应能力。


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    Title :

    Bimorphic robot foot device


    Additional title:

    一种双形态机器人足部装置


    Contributors:
    LUO YANRU (author) / YI FENGHAO (author) / ZHU XIANYONG (author) / XIAO XIONG (author)

    Publication date :

    2024-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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