The invention discloses a multifunctional humanoid robot foot end, and belongs to the technical field of humanoid robots. The foot end comprises a carbon fiber sole elastic piece, a carbon fiber heel elastic piece, a fixing gasket, an elastic piece connecting base and an ankle joint assembly. The carbon fiber heel elastic piece is fixed to the bottom face of the elastic piece connecting base, after the front end of the carbon fiber sole elastic piece penetrates through a limiting groove in the elastic piece connecting base in the horizontal direction, the rear end of the carbon fiber sole elastic piece is fixedly connected with the elastic piece connecting base through a fixing gasket, and an included angle is formed between the carbon fiber sole elastic piece and the horizontal plane. The double-front sole elastic sheet structure at the front end of the carbon fiber sole elastic sheet is in contact with the ground, and the rear part of the carbon fiber heel elastic sheet is in contact with the ground, so that three-point support for the foot end is formed; the ankle joint assembly is installed in an installation groove in the upper surface of the elastic piece connecting base and can achieve multi-degree-of-freedom movement simulating the ankles of people. Certain elastic deformation is provided while the structural strength is met, so that the foot end has good pavement adaptability and stability.
本发明公开了一种多功能仿人机器人足端,属于仿人机器人技术领域。足端包括碳纤维足掌弹片、碳纤维足跟弹片、固定垫片、弹片连接座和踝关节组件;碳纤维足跟弹片固定在弹片连接座的底面,碳纤维足掌弹片的前端沿水平方向穿过弹片连接座上的限位槽后,碳纤维足掌弹片的后端通过固定垫片与弹片连接座固定连接,碳纤维足掌弹片与水平面呈一个夹角,碳纤维足掌弹片前端的双前足掌弹片结构与地面接触,碳纤维足跟弹片的后方与地面接触,形成对足端的三点支撑;踝关节组件安装在弹片连接座上表面的安装槽内,踝关节组件能够实现仿人足踝多自由度运动。本发明在满足结构强度的同时提供一定的弹性变形,使得足端具有良好的路面适应性和稳定性。
Multifunctional humanoid robot foot end
一种多功能仿人机器人足端
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |