The invention discloses a four-footed bionic robot with sole feedback, and relates to the technical field of four-footed bionic robots. The device comprises an H-shaped machine shell, rotating shafts of servo motors I are fixed to the tops of the front faces of four large arms, driving modules penetrate through the bottoms of the front faces of the four large arms and are fixedly installed, small arms are fixed to the front faces of rotating shafts of servo motors II of the four driving modules, the four small arms are arranged in the same mode, round shells are fixed to the bottom faces of the small arms, and the round shells are fixed to the bottom faces of the round shells. A pressure sensor is fixedly installed on the top of the inner wall of the round shell, a spring is arranged on the bottom face of the pressure sensor, and a rubber pad is fixed to the bottom face of the spring of the pressure sensor. By increasing the contact area between the feet of the forearms of the four-footed bionic robot and the ground, the problem that equipment topples due to the fact that the supporting force of the feet of the four-footed bionic robot is small during outdoor exploration is solved.
本发明公开了一种带足底反馈的四足仿生机器人,涉及四足仿生机器人技术领域。本发明包括H形机壳,四个所述大臂正面顶部均固定有伺服电机一转轴,四个所述大臂正面底部均贯穿且固定安装有驱动模组,四个所述驱动模组的伺服电机二转轴正面均固定有小臂,四个所述小臂均为相同设置,所述小臂底面固定有圆壳,所述圆壳内壁顶部固定安装有压力感应器,所述压力感应器底面设置有弹簧,所述压力感应器的弹簧底面固定有橡胶垫。本发明通过四足仿生机器人的小臂脚部与地面的接触面积增加,避免四足仿生机器人在户外勘探时脚部支撑力较小造成设备倾倒的问题。
Quadruped bionic robot with sole feedback
一种带足底反馈的四足仿生机器人
2024-07-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |