The invention belongs to the field of mobile robots, and particularly relates to a foot-type mobile robot foot end suitable for non-structural terrains and a walking method, and the foot-type mobile robot foot end comprises a foundation plate, a spherical hinge module and an elastic air bag group; the spherical hinge module comprises a spherical hinge seat connected to the leg of the mobile robot, a spherical hinge head integrally connected with the spherical hinge seat and a spherical pair for installing the spherical hinge head, and the spherical pair is connected into a middle through hole of the foundation plate through a spherical pair fixing plate; the force sensor installed on the spherical pair fixing plate is used for measuring the load borne by the spherical hinge module. The elastic air bag set comprises a plurality of elastic air bags, the elastic air bags are arranged and installed at the bottom of the foundation plate through the elastic air bag fixing modules in the walking direction, the foot pulling device can adapt to different working conditions and different terrains, and the adsorption resistance of soft soil to the foot end in the foot pulling process is effectively reduced.
本发明属于移动机器人领域,具体涉及一种适用于非结构地形的足式移动机器人足端及行走方法,包括础板、球铰模块和弹性气囊组;所述的球铰模块包括连接在移动机器人腿部的球铰座、与球铰座一体连接的球铰头和安装球铰头的球面副,所述的球面副通过球面副固定板连接在础板的中间通孔内;安装在球面副固定板的力传感器用于测量球铰模块所受载荷;所述的弹性气囊组包括和多个弹性气囊,弹性气囊沿行走方向通过弹性气囊固定模块排列安装在础板底部,本发明可以适应不同工况和不同地形,有效减小拔足过程中松软土壤对足端的吸附阻力。
Foot end of foot type mobile robot suitable for non-structural terrain and walking method
一种适用于非结构地形的足式移动机器人足端及行走方法
2024-12-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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