The invention discloses a terrain self-adaption foot structure of a foot type robot and a working method, the terrain self-adaption foot structure comprises two bone attaching plates, a middle foot is arranged between the two bone attaching plates, each bone attaching plate is connected with the middle foot in a hinged mode, and needles are arranged at the bottoms of the bone attaching plates; various sensors and a motor are arranged on the middle foot part, an output shaft of the motor is connected with a gear set with a rocker arm through a key groove, the rocker arm of the gear set is connected with the bone attaching plate through a connecting rod, and the rotating angle of the bone attaching plate is changed through the motor; according to the bionic structure of the goat foot, the two bone attaching sections simulating the outline of the goat foot are additionally arranged on the two sides of the center of the foot of the robot, the contact area is increased, and the sliding phenomenon can be effectively reduced. Extra contact points are increased through the extended bone attaching section, extra stability and friction force are given to the robot, and therefore the stability of the robot is remarkably improved on the bumpy terrain.

    本发明公开了一种足式机器人的地形自适应足部结构及工作方法,所述地形自适应足部结构包括两个附骨板,所述两个附骨板之间设置有中间足部,每个附骨板均与中间足部通过铰接的方式连接,所述附骨板的底部设置有针刺;所述中间足部上设置有多种传感器和电机,所述电机的输出轴通过键槽与带摇臂的齿轮组连接,齿轮组的摇臂通过连杆与附骨板连接,通过电机改变附骨板的转动角度;本发明是对山羊足部的仿生结构,在机器人足部中央部位两侧,增设了两个模仿山羊足轮廓的附骨段,增大了接触面积,可有效减少滑动现象。延长的附骨段将增加额外的接触点,赋予机器人额外的稳定性和摩擦力,从而在崎岖不平的地形上显著提升机器人的稳定性。


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    Title :

    Terrain self-adaptive foot structure of foot type robot and working method


    Additional title:

    一种足式机器人的地形自适应足部结构及工作方法


    Contributors:
    WANG QIXIAN (author) / HAN JIAZHEN (author) / WANG YONG (author) / XIE YUDONG (author) / ZHANG ZHIGANG (author) / HUO ZHIPU (author)

    Publication date :

    2024-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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