The invention relates to the technical field of foot type robots, in particular to a multifunctional foot end of a foot type robot. The multifunctional foot end of the foot type robot comprises a foot end shell, a spherical hinge type multi-dimensional force sensor, a reset assembly and a dust cover. The sensor shell is contained in the first mounting hole, the receptor and the loading end are both contained in the sensor shell, the spherical hinge cover and the loading end jointly form a spherical cavity, and the spherical hinge cover is provided with a first through hole communicated with the spherical cavity; the spherical hinge rod comprises a ball head and a connecting rod connected with the ball head, the ball head is rotatably assembled in the spherical cavity, and the connecting rod extends out of the spherical cavity from the first through hole; the reset assembly is connected with the foot end shell and the connecting rod, located outside the spherical cavity, of the spherical hinge rod and used for making the spherical hinge rod tend to return to the initial position. According to the multifunctional foot end of the foot type robot, the stress condition of the foot end can be detected in real time, the stability of the foot type robot is improved, and the foot end is compact in structure and convenient to assemble.
本发明涉及足式机器人技术领域,具体而言,涉及一种具有多功能的足式机器人足端。具有多功能的足式机器人足端包括足端外壳、球铰式多维力传感器、复位组件以及防尘罩;传感器外壳容置于第一安装孔内,感受器及加载端均容置于传感器外壳内,球铰盖与加载端共同形成球形腔,且球铰盖开设有与球形腔连通的第一通孔;球铰杆包括球头以及与球头连接的连接杆,球头可转动地装配于球形腔内,连接杆由第一通孔伸出球形腔;复位组件与足端外壳及球铰杆位于球形腔外的连接杆分别连接,且用于使得球铰杆具备回复至初始位置的趋势。该具有多功能的足式机器人足端能够实时检测足端的受力情况,提高足式机器人的稳定性,而且其结构紧凑,装配方便。
Multifunctional foot end of foot type robot
具有多功能的足式机器人足端
2024-06-04
Patent
Electronic Resource
Chinese
Intelligent service-type multifunctional foot-type robot
European Patent Office | 2021
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