The invention discloses a variable-stiffness self-adaptive toe joint which comprises a sole plate and toes and further comprises a driving mechanism and a driven mechanism, and the driven mechanism comprises a pressing wheel. One side of each toe is connected with the sole plate through the titanium steel plate spring, the pressing wheel is located above the titanium steel plate spring and presses the titanium steel plate spring, and the driving mechanism can drive the pressing wheel to move above the titanium steel plate spring so as to adjust the rotating radius of the toes. One side of the toe is connected with the sole plate through the titanium steel plate spring, the pressing wheel is located above the titanium steel plate spring and can press the titanium steel plate spring, the driving mechanism can drive the pressing wheel to move along the titanium steel plate spring, and the bending radius when the toe is stressed is changed through different contact positions of the pressing wheel and the titanium steel plate spring; the variable stiffness self-adaptive movement of the toes in the movement process is achieved, and the walking speed, the stride height and stride of the robot in the walking process and the walking stability of the robot are improved.
本发明公开了一种变刚度自适应脚趾关节,包括脚底板以及脚趾,还包括有驱动机构以及从动机构,其中从动机构包括有压轮;脚趾的一侧通过钛钢板弹簧与脚底板连接,其中压轮位于钛钢板弹簧的上方并压住钛钢板弹簧,所述驱动机构能够通过带动压轮在钛钢板弹簧上方移动,从而调节脚趾的转动半径。本申请通过在脚趾的一侧通过钛钢板弹簧与脚底板连接,压轮位于钛钢板弹簧上方并能够压住钛钢板弹簧,驱动机构能够带动压轮沿着钛钢板弹簧移动,通过压轮与钛钢板弹簧接触位置的不同从而改变脚趾受力时的弯曲半径,实现脚趾在运动过程中的变刚度自适应运动,提高了机器人在步行过程中的步行速度、可跨越高度和步幅,以及机器人行走稳定性。
Variable-stiffness self-adaptive toe joint, toe joint operation method and application thereof
一种变刚度自适应脚趾关节、脚趾关节操作方法及其应用
2024-12-27
Patent
Electronic Resource
Chinese
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