Split type universal joint pin pair mechanical leg foot end mechanism

Abstract

The invention discloses a split type universal joint pin pair mechanical leg foot end mechanism which comprises a foot end connecting mechanism, a spring damping shock absorption mechanism, a universal joint pin pair rotating mechanism, a split type sole and a sole, the split type sole is connected with the foot end connecting mechanism through the universal joint pin pair rotating mechanism, the sole is arranged at the bottom of the split type sole, the foot end connecting mechanism is used for being connected with a robot leg, and the two ends of the spring damping shock absorption mechanism are connected with the robot leg and the split type sole respectively. According to the invention, the stability, the dynamic property and the smoothness of the walking mechanical system during advancing can be enhanced, enough friction force and fitting degree can be provided under different road surface conditions, meanwhile, the foot end can be quickly replaced according to requirements, and the walking mechanical system foot end mechanism can work in a complex environment according to needs.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a split-type cross-axis auxiliary mechanical leg foot end mechanism. Background technique [0002] At present, robots can be divided into wheeled robots, tracked robots, legged robots, wheeled robots, etc. according to the way they move. Wheeled robots have strong carrying capacity and fast driving speed on flat roads, but they have low mobility and low obstacle-surmounting ability on roads in complex environments. Therefore, legged robots have significant advantages on complex roads such as mountains and slopes. [0003] The foot-end mechanism can buffer the impact of the road surface and optimize the walking state; most of the foot-end mechanisms of existing foot robots use cylindrical rubber soles, flat soles or claw soles. Among them, the cylindrical and flat soles have simple structures and are suitable for road surfaces that do not change frequently. However, the adhesion p...

AI Technical Summary

Problems solved by technology

Among them, the cylindrical and flat soles have simple structures and are suitable for road surfaces that do not change frequently, but they provide insufficient adhesion. Encountering hard obstacles on the road surface is likely to cause instability or even rollover, making it difficult for the robot to complete straight-line walking.

The claw-type structure uses the sharp shape of the foot end to make the foot end penetrate into the ground to complete the forward movement, but it is difficult to adapt to the hard road surface, which is greatly affected by the nature of the soil, and the mechanism's bearing capacity is limited, which is easy to cause damage to the foot end mechanism.

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