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Ratchet foot device for quadruped robots

A quadruped robot and ratchet technology, which is applied in the field of ratchet foot devices, can solve the problems of the adverse effects of gait planning of quadruped robots, the inability to generate sufficient friction and grip force, and the increase of ground-contact friction, and achieve light weight and structure. Simple, athletic performance

Active Publication Date: 2013-04-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If you want to increase the ground friction and grip, you can only obtain it by increasing the size of the polyurethane block, and the excessively large polyurethane block will have an adverse effect on the gait planning of the quadruped robot, and may cause motion interference The problem
At the same time, the foot device cannot generate enough friction and grip on ice or other smooth surfaces, resulting in slippage

Method used

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  • Ratchet foot device for quadruped robots
  • Ratchet foot device for quadruped robots
  • Ratchet foot device for quadruped robots

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Embodiment Construction

[0022] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0023] see figure 1 and figure 2 , a ratchet foot device for a quadruped robot, comprising a foot tray 1, a connecting plate 2, a large hollow pin 3, a small hollow pin 4, a ratchet 5 and a ratchet pad 6. The foot tray 1 is connected to the lower leg of the quadruped robot, the connecting plate 2 is fixedly connected to the foot tray 1 through screws, the ratchet 5 and the ratchet pad 6 are fixed on the connecting plate through the screws, and then through the large hollow pin shaft 3 and the small hollow pin The pin shaft 4 fixes the ratchet 5 and the ratchet pad 6 so that the two do not slip relative to each other.

[0024] see Figure 5 , the ratchet 5 is a variable-tooth ratchet, the tooth size of the middle part is large, and ...

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Abstract

The invention discloses a ratchet foot device for quadruped robots. The ratchet foot device is mounted to a foot of a quadruped robot. The ratchet foot device comprises a foot tray, a connecting flat plate, a large hollow pin, a small hollow pin, a ratchet and a ratchet cushion block. The foot tray is connected with the shank part of the quadruped robot, the connecting flat plate is fixedly connected with the foot tray through bolts, the ratchet and the ratchet cushion block are fixed on the connecting flat plate through bolts, and then the ratchet and the ratchet cushion block are fixed through the large hollow pin and the small hollow pin to prevent relative slippage between the ratchet and the ratchet cushion block. Based on the unique ratchet design, the quadruped robot generates desired friction and grip forces when contacted with the ground. The ratchet foot device for quadruped robots, disclosed by the invention, has the characteristics of simple structure, light weight, convenience for assembly and disassembly, strong grip force and excellent motor capability.

Description

technical field [0001] The invention relates to a ratchet foot device, in particular to a ratchet foot device for a quadruped robot. Background technique [0002] The biggest feature of robots is that they can replace humans to complete related tasks. With the improvement of human safety requirements, robots are more needed to replace humans in complex and dangerous environments. As far as ground robots are concerned, the current main way of movement is to rely on wheels or crawlers, and this type of robot cannot move normally on uneven ground or in more complex environments. The legged robot has a wider range of terrain adaptability, and it can perform tasks such as detection, anti-terrorism, reconnaissance, attack, and explosive discharge in dangerous environments, which has important practical significance. The most widely studied legged robot is the quadruped robot. [0003] The foot structure design of a quadruped robot plays an important role in the locomotion abilit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 刘华欣黄强高峻峣段星光黄承祖李鑫刘轶徐喆
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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