The variable-rigidity foot structure of the biped robot comprises a shank support and a foot fixing piece, the rear portion of the foot fixing piece is fixedly connected with a heel, the left side and the right side of the heel are each provided with a shaft head, and the two shaft heads are each movably connected with an ankle joint driving device; the front portion of the foot fixing piece is fixedly connected with an arch, the front end of the arch is rotationally connected with a sole, the rear end of the sole is rotationally connected with a first connecting rod, the other end of the first connecting rod is rotationally connected with a second connecting rod and a third connecting rod, the other end of the second connecting rod is rotationally connected to the foot fixing piece, and the other end of the third connecting rod is rotationally connected with a damping assembly. The damping assembly comprises a sleeve, a damping spring arranged in the sleeve and a piston which is connected into the sleeve in a sliding mode and can abut against the damping spring, the piston is connected with an adjusting rod, the adjusting rod is fixed relative to the shank support, and a rigidity adjusting device is arranged between the adjusting rod and the piston. The method has the advantages of being more flexible, efficient and higher in adaptability.
本发明公开了一种双足机器人的可变刚度足部结构,包括小腿支架、足部固定件,足部固定件后部固定连接有足跟,足跟的左右两侧均设有轴头,两个轴头上均活动连接踝关节驱动装置;足部固定件前部固定连接有足弓,足弓前端转动连接有脚掌,脚掌后端转动连接有第一连杆,第一连杆另一端转动连接有第二连杆和第三连杆,第二连杆的另一端转动连接在足部固定件上,第三连杆的另一端转动连接有阻尼组件,阻尼组件包括套筒、设在套筒中的阻尼弹簧、滑动连接在套筒中并能顶压阻尼弹簧的活塞,活塞上连接有调节杆,调节杆相对小腿支架固定,调节杆和活塞之间设有刚度调节装置。本发明具有更加灵活、高效、适应性更强的优点。
Rigidity-variable foot structure of biped robot
一种双足机器人的可变刚度足部结构
2025-03-21
Patent
Electronic Resource
Chinese
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