Single-driving-force multi-freedom-degree foot device realizing self-adaption to landform

Abstract

The invention provides a single-driving-force multi-freedom-degree foot device realizing self-adaption to the landform. The single-driving-force multi-freedom-degree foot device comprises a foot driver and a foot sole four-bar mechanism; the foot sole four-bar mechanism is further connected with a forefoot and a heel; the four-bar mechanism comprises a mid-foot; the two sides of the mid-foot are correspondingly hinged with a forefoot buffer and a heel buffer through mid-foot joints; the foot driver is hinged with the size, hinged with the heel buffer, of the mid-foot by a connecting rod; the heel buffer is hinged with the heel through a heel joint; the forefoot buffer is hinged with the forefoot through a forefoot joint; a forefoot connecting rod is further hinged between the mid-foot andthe forefoot; and a fixed connecting rod is hinged between the middle part of the forefoot connecting rod and the heel joint. Compared with a foot structure of a common multi-foot robot, the single-driving-force multi-freedom-degree foot device provided by the invention has a plurality of independent freedom degrees; the important joints are flexible, so the quick athletic capability, the balancecapability, the adaption capability to various landforms, of the foot are improved; and the possibility for the foot to implement complicated action is increased.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-degree-of-freedom foot device with a single driving force that can adapt to terrain. Background technique [0002] The multi-legged robot is supported by each foot touching the ground during walking, and its footholds are discrete. This discreteness is not only limited to the plane, but also exists in the three-dimensional space. Therefore, compared with wheeled and tracked robots, the walking Footed robots have strong adaptability to various terrains and can walk and work in unstructured environments. However, at present, the foot structures of multi-legged robots are mostly simple structures such as hemispherical, drop-shaped and circular, which directly wrap the top of the calf rod, which limits the flexibility and adaptability of the body movement. In addition, many of the existing robot foot structures are motion mechanisms driven by at least two motors, ...

AI Technical Summary

Problems solved by technology

[0005] In view of the deficiencies and defects of the prior art mentioned above, the object of the present invention is to provide a multi-degree-of-freedom foot device with a single driving force that can adapt to the terrain, so as to solve the problem of the maneuverability of the foot movement mechanism of the traditional legged robot in the prior art. Technical problems of poor performance, weak ability to adapt to various terrains, small carrying capacity, and low control precision

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