The invention relates to a bionic quadruped robot foot. The bionic quadruped robot foot comprises a claw system; the claw system comprises a bionic claw tip, a connecting rod, a basic framework, a bionic foot pad, a telescopic spring, a long rod and a fixing pin; the basic framework comprises a fixed block and a plurality of quadrilateral plates; the bionic foot pad is positioned below the basic framework; the number of the connecting rods is not less than 3 and is one less than that of the quadrilateral plates; the connecting rods are respectively inserted into the intervals between the quadrilateral plates and are in one-to-one correspondence with the intervals between the quadrilateral plates; the bionic claw tip comprises a rod I, a rod II and a rod III which are connected in sequence, one end, not connected with the rod II, of the rod I is a tip end, and the tip end faces downwards; when the bionic foot pad does not make contact with the ground, the bottom of the bionic foot pad is located below the tip end of the rod I; when the bionic foot pad is in contact with the ground, the tip end of the rod I is also in contact with the ground and keeps still. The feet of the bionic quadruped robot can obtain good road holding force and stability on frozen soil and ice surfaces, and the bionic quadruped robot runs stably; the structure is simple, and operation is convenient.
本发明涉及一种仿生四足机器人足,包括爪子系统;爪子系统包括仿生爪尖、连杆、基础架构、仿生脚垫、伸缩弹簧、长杆和固定销钉;基础架构包括固定块和多个四边形板;仿生脚垫位于基础架构的下方;连杆的数量不少于3个,数量比四边形板的数量少一个;连杆分别插入四边形板之间的间隔内,且与四边形板之间的间隔一一对应;仿生爪尖包括依次相连的杆I、杆II和杆III,杆I未与杆II相连的一端为尖端,且尖端向下;当仿生脚垫未接触地面时,仿生脚垫的底部位于杆I尖端的下方;当仿生脚垫接触地面时,杆I的尖端也接触地面,并保持静止。本发明的仿生四足机器人足能在冻土和冰面上获得好的抓地力和稳定性,平稳运行;且结构简单,便于操作。
Foot of bionic quadruped robot
一种仿生四足机器人足
2024-08-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Bionic passive foot claw for climbing of quadruped robot
European Patent Office | 2024
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