The invention discloses a bionic underwater foot type robot leg structure. The structure comprises a tibia, a femur, a joint and a foot structure, wherein the tibia and the femur are connected throughthe joint, and the bionic underwater foot type robot leg structure is characterized in that the foot structure is connected with the end of the tibia; the foot structure comprises a connecting block,a tibia connecting piece, a film piezoelectric sensor, a straight rod, a crank connecting rod mechanism, a pressure spring and a disc; the tibia connecting piece is fixed to the tail end of the tibia, the connecting block is fixedly connected with the tibia connecting piece, the film piezoelectric sensor is sealed between the tibia connecting piece and the tibia connecting piece, the connecting block is connected with the disc through the crank connecting rod mechanism, the compression spring is arranged between the disc and the connecting block, and the straight rod penetrates through the disc and the compression spring; the top of the straight rod is located in a clamping groove in the end face of the connecting block, and the top of the straight rod can make contact with the thin-filmpiezoelectric sensor under the pressure of the pressure spring.

    本发明公开了一种仿生水下足式机器人腿部结构及仿生水下足式机器人,包括胫骨、股骨、关节和足部结构,胫骨、股骨通过关节相连,其特征在于,所述的足部结构与胫骨端部相连,足部结构包括连接块、胫骨连接件、薄膜压电式传感器、直杆、曲柄连杆机构、压簧及圆盘;胫骨连接件与胫骨末端固定,连接块与胫骨连接件固定连接,薄膜压电式传感器被密封在胫骨连接件与胫骨连接件之间,连接块与圆盘通过曲柄连杆机构连接,压簧置于圆盘与连接块之间,直杆穿过圆盘、压簧,直杆的顶部位于连接块端面卡槽内,在压簧的压力下,直杆的顶部可与薄膜压电式传感器接触。


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    Title :

    Leg structure of bionic underwater foot type robot and bionic underwater foot type robot


    Additional title:

    一种仿生水下足式机器人腿部结构及仿生水下足式机器人


    Contributors:
    DU FUXIN (author) / XU YANJIE (author) / LI YIBIN (author) / LUO HAOQI (author) / CHEN ZIXIAO (author) / QIN CHUANJIE (author) / LI WENXUAN (author) / WANG HONGHUI (author) / ZHANG TAO (author) / LEI YANQIANG (author)

    Publication date :

    2021-01-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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