The invention discloses a robot foot capable of being used for walking of a soft soil robot, and belongs to the field of robot feet. The robot foot comprises a toe disc, a toe group arranged on the toe disc, a rotary power mechanism arranged on a mechanical leg and used for driving the toe disc to rotate, and an inclined power mechanism arranged on the mechanical leg and used for driving the toe group to incline. A sleeve A is coaxially and rotationally arranged on the mechanical leg, and a sleeve B is coaxially and rotationally arranged on the sleeve A; the toe disc is fixedly arranged at thelower end of the sleeve A; the toe group consists of a toe A, a toe B and a toe C; the rotary power mechanism comprises a motor A, a rotating shaft A, a driving bevel gear A and a driven bevel gear A; and the inclined power mechanism comprises a motor B, a rotating shaft B, a driving bevel gear B and a driven bevel gear B. The robot foot is simple and reasonable in structure, can improve the pressure resistance of soft soil through rotation, automatically adjusts the pressure intensity on the ground, and can be used for walking on the soft soil surface.
本发明公开了一种可用于软土机器人迈步行走的机器足,属于机器足领域。它包括脚趾盘,装设于脚趾盘上的脚趾组,装设于机械腿上驱动脚趾盘旋转运动的旋转动力机构,以及装设于机械腿上驱动脚趾组倾斜的倾斜动力机构;机械腿上同轴线转动装设有套筒A,套筒A上同轴线转动装设有套筒B;脚趾盘固定装设于套筒A的下端;脚趾组由脚趾A、脚趾B和脚趾C组成;旋转动力机构包括电机A、转轴A、主动锥齿轮A和从动锥齿轮A;倾斜动力机构包括电机B、转轴B、主动锥齿轮B和从动锥齿轮B。本发明是一种结构简单合理、能够通过旋转来提高软土抗压能力、并自动调节对地面压强、可用于软土地面行走的迈步机器足。
Robot foot capable of being used for walking of soft soil robot
一种可用于软土机器人迈步行走的机器足
2020-12-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
European Patent Office | 2022
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