Adjustable foot end of leg-foot type robot

Abstract

The invention discloses an adjustable foot end of a leg-foot type robot. The adjustable foot end comprises a sole, two front toes and a rear toe, wherein the sole is mounted at the bottom of a robot shank; the two front toes are symmetrically arranged on the two sides of the sole, rear ends of the front toes can be rotationally installed on the sole, and front ends of the front toes are fixedly connected together; a top end of the foretoe control push rod can be rotatably mounted on the front side of the robot shank, and a bottom end is connected with a top end of the foretoe connecting rod; a front end of the rear toe is rotatably mounted on the sole, and a rear end of the rear toe is connected with a bottom end of the rear toe control push rod; a top end of the rear toe control push rod is mounted on the rear side of the robot shank; buffer springs are installed between the front toe control push rod and the front toe connecting rod and between the rear toe and the rear toe control push rod. The adjustable foot end can solve a problem that environment adaptability is poor due to the fact that the foot end is low in adhesive force and prone to slipping on soft, ice and snow pavements and the like.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an adjustable foot end of a legged robot. Background technique [0002] Quadruped robot is a kind of mobile legged robot, which can adapt to complex environments and has a wide range of application scenarios. The foot end of the robot is in direct contact with the ground and is an important part for moving, carrying, adapting to the ground and driving. The feet of quadruped robots mainly include cylindrical feet (including semi-cylindrical feet) and spherical feet (including hemispherical feet). The cylindrical foot end and the spherical foot end can achieve a smooth transition with the ground, improving the flexibility and ground adaptability of the foot walking mechanism. The small contact area enables the cylindrical or spherical foot to adapt to various complex ground environments, making it easy to contact the ground at any angle, and there is no restriction on the movement...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the present invention provides an adjustable foot end of a legged robot, which uses push rods to control the relative positions of the front and rear toes and soles to adjust the contact state between the foot end and the ground, thereby Solve the problem of poor environmental adaptability of the foot end due to low adhesion and easy slipping on soft, ice and snow road surfaces

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