The invention discloses a sole stabilizing device capable of adapting to an unstructured environment and a robot. The sole stabilizing device comprises a fixed rack device; the fixed rack device is used for mounting the foot end mechanism, the compound gear transmission system and the energy storage and shock absorption device; the foot end mechanism comprises a front end supporting connecting rod and a rear end supporting connecting rod; the energy storage and shock absorption device comprises a spring damping device, a force bearing torsion disc and a torsion spring disc; the spring damping device comprises a torsional spring and a rotary damper; the other ends of the torsional spring and the rotary damper are connected with the torsional spring disc; the compound gear transmission system is used for power transmission and conversion; the front-end supporting connecting rod drives the force-bearing torsion disc to rotate through the compound gear transmission system, so that the spring damping device is driven to rotate; the rear-end supporting connecting rod drives the torsion spring disc to rotate so as to drive the spring damping device to rotate; the front-end supporting connecting rod and the rear-end supporting connecting rod drive the spring damping device to rotate in opposite directions. The device can adapt to various complex environments, and the functional diversity is improved.
本发明公开了一种可适应非结构化环境的足底稳定装置及机器人,包括固定机架装置;固定机架装置用于安装足端机构、复合齿轮传动系统和储能及减震装置;足端机构包括前端支撑连杆和后端支撑连杆;储能及减震装置包括弹簧阻尼装置、承力扭盘和扭簧盘;弹簧阻尼装置包括扭簧和旋转阻尼器;扭簧和旋转阻尼器的一端均连接承力扭盘,另一端均连接扭簧盘;复合齿轮传动系统用于动力传递与转换;前端支撑连杆通过复合齿轮传动系统驱动承力扭盘旋转,从而带动弹簧阻尼装置旋转;后端支撑连杆驱动扭簧盘旋转,从而带动弹簧阻尼装置旋转;前端支撑连杆和后端支撑连杆带动弹簧阻尼装置旋转的方向相反。本发明能够适应多种复杂环境,提高了功能多样性。
Sole stabilizing device capable of adapting to unstructured environment and robot
一种可适应非结构化环境的足底稳定装置及机器人
2025-03-28
Patent
Electronic Resource
Chinese
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