The invention relates to a three-point supporting intelligent foot structure which comprises a foot mechanism which comprises a foot arch body, a cantilever groove formed in the first side of the foot arch body, a first toe and a second toe which are rotationally connected to the second side of the foot arch body, and at least two sets of elastic assemblies arranged between the first toe and the foot arch body and between the second toe and the foot arch body; the detection mechanism comprises a first displacement sensor and a second displacement sensor which are respectively connected to the foot arch body, a third displacement sensor arranged on the first side of the foot arch body, and an inertial measurement unit connected to the foot arch body. A supporting foot structure can be provided for a foot type robot, an intelligent artificial limb and the like, meanwhile, stress information and foot postures can be provided for the robot through a displacement sensor and an inertial sensor which are integrated in the foot, and collision between the foot and the ground can be buffered through an elastic assembly and a cantilever beam structure; and the stress condition of the robot body is improved.

    本发明涉及一种三点支撑智能足结构,包括:足机构,其包括:足弓本体、开设于足弓本体第一侧的悬臂槽、分别转动连接于足弓本体第二侧的第一脚趾和第二脚趾、以及至少两组分别设置在第一脚趾和第二脚趾与足弓本体之间的弹性组件;检测机构,其包括:分别连接于足弓本体的第一位移传感器和第二位移传感器、设置于足弓本体第一侧的第三位移传感器、以及连接于足弓本体的惯性测量单元。本发明可为足式机器人及智能假肢等提供一种支撑足结构,同时可通过集成在足内部的位移传感器和惯性传感器为机器人提供受力信息和足部位姿,还能通过弹性组件和悬臂梁结构对足地之间的碰撞提供缓冲,改善机器人本体的受力情况。


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    Title :

    Three-point supporting intelligent foot structure, robot and detection method


    Additional title:

    一种三点支撑智能足结构、机器人及检测方法


    Contributors:
    LI WEIDA (author) / LI JUAN (author) / WANG ZHANWU (author)

    Publication date :

    2024-07-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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