The invention relates to the technical field of robots, and discloses a foot stabilizing structure and a quadruped robot, the foot stabilizing structure comprises a robot leg, a tough plate is arranged below the robot leg, the two ends of the tough plate are rotatably connected with toothed bars, and one end of each toothed bar penetrates through the robot leg and extends into the robot leg. According to the device, the tough plate, the toothed bar, the air cylinder and the like are arranged to be used in cooperation, when the device encounters the ground with the too large inclination angle or the smooth ground, the air cylinder is started, the started air cylinder drives the connecting rod and the vertical rod to move upwards, the upwards-moving vertical rod drives the second gear to rotate through the teeth, and the rotating second gear drives the first gear to rotate; when the robot body walks, the rotating first gear drives the toothed bar to move, so that the toothed bar expands the tough plate, the arc-shaped tough plate is expanded into a strip shape, the contact between the tough plate and the ground is increased, when the robot body walks, the stability of the feet of the robot body is improved, and the robot body can walk on the ground with the too large inclination angle or the smooth ground conveniently.
本发明涉及机器人技术领域,且公开一种足部稳定结构及四足机器人,包括机器腿,所述机器腿的下方设置有韧性板,且韧性板的两端均转动连接有齿杆,齿杆的一端贯穿机器腿并延伸至机器腿内部设置。本发明,通过设置韧性板、齿杆与气缸等配合使用,在遇到倾斜角度过大或光滑的地面时,气缸启动,启动的气缸带动连接杆与竖杆上移,上移的竖杆通过齿牙带动第二齿轮转动,转动的第二齿轮带动第一齿轮转动,转动的第一齿轮带动齿杆移动,使得齿杆撑开韧性板,这样把弧形的韧性板撑开成条形,使得韧性板与地面的接触增加,以在机器人主体行走的时候,增加机器人主体足部的稳定性,便于机器人主体在倾斜角度过大或光滑的地面行走。
Foot stabilizing structure and quadruped robot
一种足部稳定结构及四足机器人
2024-11-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot end structure of foot type robot, leg movement mechanism and quadruped robot
European Patent Office | 2021
|