CN110550122B - Supporting leg lower limb mechanism of multi-legged robot with large load bearing ratio - Google Patents
Supporting leg lower limb mechanism of multi-legged robot with large load bearing ratio Download PDFInfo
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- CN110550122B CN110550122B CN201810538772.9A CN201810538772A CN110550122B CN 110550122 B CN110550122 B CN 110550122B CN 201810538772 A CN201810538772 A CN 201810538772A CN 110550122 B CN110550122 B CN 110550122B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
A supporting leg lower limb mechanism of a multi-legged robot with a large load bearing ratio relates to a supporting leg lower limb mechanism of a robot. The mechanism solves the problems of instantaneous impact between feet and the ground and terrain adaptability when the foot type robot travels in a non-structural terrain environment. The ball head rod base buffer cushion is arranged on the sole of the ball head rod base; the auxiliary buffer spring is positioned between the upper gland of the ball rod and the ball rod sleeve, the main buffer tower spring is positioned between the ball rod sleeve and the ball rod base, and the auxiliary buffer spring and the main buffer tower spring are matched with each other to realize main buffer of foot-to-ground contact; the buffer rubber cushion is embedded into the ball head rod to press the cover; the ball head end of the ball head rod is embedded into the ball head rod base, and the outer wall of the ball head rod is provided with guide grooves which are uniformly distributed on the circumference; a ball head rod sleeve is embedded with a directional sleeve and fixed through a bolt; the guide keys uniformly distributed on the circumference are matched with the inner wall of the ball head rod sleeve; the return spring and the auxiliary foot spring interact to realize the grounding and the ground separation of the auxiliary foot; the six-dimensional force sensor is connected with the shank and the directional sleeve. The invention is used for the multi-legged robot with large load ratio.
Description
Technical Field
The invention relates to a robot lower limb supporting mechanism.
Background
With the rapid development of foot-type robot technology, a large number of autonomous mobile foot-type robots are widely used, and a foot-type robot with intelligence, high trafficability, large load capacity and cooperative working characteristics gradually becomes one of the important trends in the development of foot-type robots. Foot robots are less demanding relative to the road surface, can utilize isolated ground support to pass obstacles in a discontinuous manner, and have unique advantages in wheeled and tracked robots passing through areas that are inefficient or difficult to pass. Based on the existing relatively mature model machine of the multi-legged robot with large load ratio, which is oriented to engineering application and has load bearing capacity, generally has the characteristics of large volume and large mass. In order to solve the problems of instantaneous impact force between the supporting feet and the ground when the robot travels in the non-structural terrain environment, enhancing the ground holding capacity of the supporting feet, reducing the quality of single legs of the supporting legs and improving the terrain adaptability in the non-structural terrain environment, the large-load-ratio multi-foot robot puts severe requirements on lower limb mechanisms of the supporting legs. In the research of the multi-legged robot with a large load ratio, a great deal of research is carried out in developed countries such as the United states and Japan, and the research in the aspect is relatively lagged in China. Compared with a multi-foot robot with a large load ratio, the light or small multi-foot robot does not have the capacity of bearing and transporting materials, the interaction force between feet and the ground is relatively low, and the design of the lower limb mechanism of the supporting leg is relatively simple. In view of the external actual working conditions and the heavy load characteristics of the multi-legged robot with a large load ratio, the design of the supporting leg lower limb mechanism with high ground holding power, small-legged ground instantaneous impact force, low mass and high terrain adaptability has certain challenges.
Disclosure of Invention
The invention aims to provide a supporting leg lower limb mechanism of a multi-foot robot with a large load bearing ratio, which aims to solve the problems of instantaneous impact force between a supporting foot and the ground when the robot travels in an unstructured terrain environment, enhance the ground holding capacity of the supporting foot, reduce the quality of a supporting leg single leg and improve the terrain adaptability in the unstructured terrain environment.
The technical scheme adopted by the invention for solving the technical problems is as follows: the mechanism comprises a shank, a six-dimensional force sensor, a directional sleeve, a buffer rubber pad, a ball head rod upper gland, an auxiliary foot upper connecting rod, an auxiliary foot spring, an auxiliary foot lower connecting rod, an auxiliary foot supporting rod, a ball head rod base, a tower spring guard plate, an auxiliary foot return spring, a main buffer tower spring, a ball head rod, a starting touchdown/completely liftoff judgment limit switch baffle, a completely treaded/starting liftoff judgment limit switch, a ball head rod base buffer pad, a ball head rod lower gland, a guide key, a ball head rod sleeve, an auxiliary buffer spring and a six-dimensional force sensor cover plate, wherein the ball head rod base buffer pad is arranged on the sole of the ball head rod base to realize primary buffer of instant impact force of foot-ground contact, and is provided with inverted pyramid-shaped foot nails, the auxiliary buffer spring is positioned between the ball head rod upper gland and the ball head rod sleeve and is externally embedded in the ball head rod, the main buffer tower spring is positioned between the ball head rod sleeve and the ball head rod base and is externally embedded in the ball head rod, the tower spring guard plate is used for limiting the lower end position of the main buffer tower spring, the auxiliary buffer spring and the main buffer tower spring are mutually matched to realize secondary buffer of foot-to-ground contact instantaneous impact force, a buffer rubber cushion is embedded to the outer wall of the ball head rod upper gland to realize tertiary buffer of foot-to-ground contact instantaneous impact force, the ball head end of the ball head rod is internally embedded to the ball head rod base, the other end of the ball head rod is connected with the ball head rod upper gland through a bolt, the ball head rod lower gland and the ball head rod base together act to restrain the ball head rod, the outer wall of the ball head rod is provided with 3 ball head rod guide grooves which are uniformly distributed on the circumference, the ball head rod sleeve is fixedly connected with the directional sleeve through a bolt, 3 guide keys are, the ball rod moves up and down in a mode of following a guide key through the ball rod guide groove, the start ground contact/full ground lift judgment limit switch baffle, the full step/start ground lift judgment limit switch and the full step/start ground lift judgment limit switch baffle act together to judge ground contact and ground lift of the supporting foot, the black bottom end face of the six-dimensional force sensor is connected with the shank, the tool face of the six-dimensional force sensor is installed on the outer wall of the upper end face of the directional sleeve, the lower end position of the main buffering tower spring is limited through the tower spring guard plate, and the shank is structurally provided with a hole to reduce the self mass and improve the load ratio of the large-load-ratio multi-legged robot on the premise of meeting the strength.
The auxiliary foot upper connecting rod, the auxiliary foot spring, the auxiliary foot lower connecting rod, the auxiliary foot supporting rod and the auxiliary foot return spring jointly construct auxiliary feet, the number of the auxiliary feet is 4, the auxiliary feet are circumferentially and uniformly distributed in the directional sleeve, the auxiliary foot return spring pulls the auxiliary foot lower connecting rod to enable the auxiliary feet to touch the ground in the process from the ground to the complete treading of the sole of the ball head rod base, the auxiliary foot upper connecting rod pulls the auxiliary foot lower connecting rod upwards through the auxiliary foot spring to enable the auxiliary feet to lift the ground in the process from the ground to the complete ground, and the auxiliary foot spring and the auxiliary foot return spring jointly increase the flexibility of the auxiliary feet.
The sole of the ball head rod base is provided with inverted pyramid-shaped foot nails to enhance the ground-grasping force of the supporting foot, the thickness of the buffer pad of the ball head rod base is slightly higher than that of the foot sole foot nails of the ball head rod base, so that the primary buffer of instant impact force of foot-ground contact is realized, meanwhile, the sound of foot-ground contact is reduced, and the foot sole foot nails of the ball head rod base gradually contact the ground and grasp the ground along with the continuous stepping of the supporting foot.
The invention has the following beneficial effects: the invention has a three-stage buffering function, a ball head rod base buffering pad is arranged on the sole of the ball head rod base to realize primary buffering of foot-ground contact instantaneous impact force, an auxiliary buffering spring and a main buffering tower spring are mutually matched to realize secondary buffering of the foot-ground contact instantaneous impact force, a buffering rubber cushion is embedded on the outer wall of an upper pressing cover of the ball head rod and used for buffering the collision of the upper pressing cover of the ball head rod when in contact with the inner wall of a directional sleeve to realize three-stage buffering of the foot-ground contact instantaneous impact force, wherein the secondary buffering bears the main part of the foot-ground contact instantaneous impact force; the supporting leg lower limb mechanism of the multi-legged robot with the large load bearing ratio comprises a six-dimensional force sensor for acquiring interaction force data of the foot and the ground in real time, and can provide data support for gait planning, obstacle crossing, motion control, information fusion and the like of the robot; the supporting leg lower limb mechanism of the multi-legged robot with the large load ratio comprises a photoelectric limit switch for judging whether the supporting leg is off the ground or on the step, so that signal data are provided for a control system, and meanwhile, a foundation guarantee is provided for stable walking of the robot; the invention is based on the bionic principle, has skillful structural design of the lower limb mechanism of the supporting leg, and is suitable for the legged robot with heavy load characteristic and high terrain adaptability and capable of cooperating with human beings.
Drawings
FIG. 1 is an isometric view of a lower limb mechanism of a supporting leg of a large load ratio multi-legged robot of the invention, FIG. 2 is an isometric view of a foot end mechanism part in the lower limb mechanism of the supporting leg of the large load ratio multi-legged robot of the invention, FIG. 3 is a cross-sectional view of the lower limb mechanism of the supporting leg of the large load ratio multi-legged robot of the invention along a plane where a ball head bar is located in a top view, the cross-sectional view is a symmetrical plane of an auxiliary foot and passes through two screw hole axes of a guide key, and FIG. 4 is an angled bottom view of the lower limb mechanism of the supporting leg of the large load.
Detailed Description
The first embodiment is as follows: the mechanism of the embodiment is described with reference to fig. 1-4, and comprises a shank 1, a six-dimensional force sensor 2, a directional sleeve 3-1, a cushion rubber pad 3-2, a ball head rod upper gland 3-3, an auxiliary foot upper connecting rod 3-4, an auxiliary foot spring 3-5, an auxiliary foot lower connecting rod 3-6, an auxiliary foot supporting rod 3-7, a ball head rod base 3-8, a tower spring guard plate 3-9, an auxiliary foot return spring 3-10, a main cushion tower spring 3-11, a ball head rod 3-12, a start touch/full lift judgment limit switch 3-13, a start touch/full lift judgment limit switch baffle 3-14, a full touch/start lift judgment limit switch baffle 3-15, a full touch/start lift judgment limit switch 3-16, a positioning sleeve 3-1, a cushion rubber pad 3-2, a ball head rod upper gland 3-3, a secondary, 3-17 parts of ball head rod base buffer cushion, 3-18 parts of ball head rod lower gland, 3-19 parts of guide key, 3-20 parts of ball head rod sleeve, 3-21 parts of auxiliary buffer spring and a six-dimensional force sensor cover plate 4, wherein the 3-17 parts of ball head rod base buffer cushion are arranged on the sole of the 3-8 part of ball head rod base to realize the primary buffer of the instant impact force of foot-ground contact, the 3-8 part of ball head rod base is provided with inverted pyramid-shaped foot nails, the 3-21 parts of auxiliary buffer spring are arranged between the 3-3 parts of ball head rod upper gland and the 3-20 parts of ball head rod sleeve and are externally embedded in the 3-12 parts of ball head rod, the 3-11 parts of main buffer tower spring are arranged between the 3-20 parts of ball head rod sleeve and the 3-8 parts of ball head rod base and are externally embedded in the 3-12 parts of ball head rod, the 3-9 parts of tower spring is used for limiting, the auxiliary buffer springs 3-21 and the main buffer tower spring 3-11 are mutually matched to realize secondary buffer of foot-to-ground contact instantaneous impact force, the buffer rubber pads 3-2 are sleeved and embedded on the outer wall of the ball head rod upper gland 3-3 to realize tertiary buffer of foot-to-ground contact instantaneous impact force, the ball head ends of the ball head rods 3-12 are embedded in the ball head rod bases 3-8, the other ends of the ball head rods 3-12 are connected with the ball head rod upper gland 3-3 through bolts, the ball head rod lower gland 3-18 and the ball head rod bases 3-8 jointly act to restrain the ball head rods 3-12, the outer walls of the ball head rods 3-12 are provided with 3 ball head rod guide grooves 3-12-1 which are uniformly distributed on the circumference, the ball head rod sleeves 3-20 are fixedly connected with the directional sleeves 3-1 through bolts, 3 guide keys 3-19 are uniformly distributed in the grooves on the inner walls of the ball head rod sleeves 3-20 and are fixed through screws, the ball head rod 3-12 moves up and down along the guide key 3-19 through the ball head rod guide groove 3-12-1, the start ground contact/full ground contact judgment limit switch 3-13, the start ground contact/full ground contact judgment limit switch baffle 3-14, the full step/full ground contact judgment limit switch 3-16 and the full step/full ground contact judgment limit switch baffle 3-15 jointly act to judge the ground contact and the ground contact of the supporting foot, the black bottom end surface of the six-dimensional force sensor 2 is connected with the shank 1, and the tool surface of the six-dimensional force sensor 2 is installed on the outer wall of the upper end surface of the orientation sleeve 3-1.
The second embodiment is as follows: the embodiment is described by combining the figures 1, 2 and 3, the auxiliary foot upper connecting rod 3-4, the auxiliary foot spring 3-5, the auxiliary foot lower connecting rod 3-6, the auxiliary foot supporting rod 3-7 and the auxiliary foot return spring 3-10 of the embodiment jointly construct an auxiliary foot, the number of the auxiliary foot is 4, the auxiliary foot is circumferentially and uniformly distributed on the orientation sleeve 3-1, the sole of the bulb rod base 3-8 is in the process from ground contact to complete treading, the auxiliary foot return spring 3-10 pulls the auxiliary foot lower connecting rod 3-6 to make the auxiliary foot touch the ground, in the process from touching the ground to completely leaving the ground of the sole of the ball head rod base 3-8, the auxiliary foot upper connecting rod 3-4 pulls the auxiliary foot lower connecting rod 3-6 upwards through the auxiliary foot spring 3-5 to lift the auxiliary foot off the ground, and the auxiliary foot spring 3-5 and the auxiliary foot return spring 3-10 jointly increase the flexibility of the auxiliary foot. Other embodiments are the same as the first embodiment.
The third concrete implementation mode: referring to fig. 1, 2 and 4, the embodiment is described, the sole of the club base 3-8 of the embodiment is provided with inverted pyramid-shaped foot nails to enhance the ground-holding force of the supporting foot, the thickness of the club base buffer cushion 3-17 is slightly higher than that of the club base 3-8, so as to realize the primary buffer of the instant impact force of the foot-ground contact and reduce the sound of the foot-ground contact, and the foot nails of the club base 3-8 gradually contact the ground and hold the ground as the supporting foot is continuously stepped. Other embodiments are the same as the first embodiment.
The fourth concrete implementation mode: referring to fig. 1 and 2, the start-touchdown/full-liftoff determination limit switches 3-13 and the start-touchdown/full-liftoff determination limit switch barriers 3-14 of the present embodiment cooperate to detect the start of transition of the support leg from the swing phase to the support phase or the full transition of the support phase to the swing phase, the full-touchdown/start-liftoff determination limit switches 3-16 and the full-touchdown/start-liftoff determination limit switch barriers 3-15 cooperate to detect the full transition of the support leg from the swing phase to the support phase or the start of transition of the support phase to the swing phase, the start-touchdown/full-liftoff determination limit switches 3-13 and the full-touchdown/start-liftoff determination limit switches 3-16 are mounted to the orientation sleeve 3-1, the start-touchdown/full-liftoff determination limit switch barriers 3-14 and the full-touchdown/start-liftoff determination limit -15 is fixed to the cover 3-3 on the ball-end stem by means of screws. Other embodiments are the same as the first embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 and 4, and the tibia 1 of the present embodiment is configured to have a hole on the premise of satisfying the strength, so as to reduce the self-mass and improve the load ratio of the large-load-ratio multi-legged robot. Other embodiments are the same as the first embodiment.
The sixth specific implementation mode: referring to fig. 1, 2 and 3, the present embodiment is described, and the outer wall of the ball head rod 3-12 of the present embodiment is provided with 3 guide grooves which are uniformly distributed in the circumference. Other embodiments are the same as the first embodiment.
The seventh embodiment: the present embodiment will be described with reference to fig. 1, 2, and 3, and the lower end position of the main damper tower spring 3-11 of the present embodiment is defined by the tower spring guard 3-9.
The working principle is as follows: when the multi-legged robot supporting leg is converted from swing phase to support phase, ball rod base cushion pads 3-17 in a supporting leg lower limb mechanism contact the ground to realize primary buffering of instant impact force of foot-ground contact, a ground contact/full ground lift judgment limit switch baffle plate 3-14 and a full tread/full ground lift judgment limit switch baffle plate 3-15 simultaneously start to move upwards, as a shank 1 is gradually lowered, foot nails on the bottom surface of the ball rod base plate 3-8 are contacted with the ground and adapt to the terrain, a ground contact/full ground lift judgment limit switch baffle plate 3-14 is started to leave a signal area of a ground contact/full ground lift judgment limit switch 3-13, the fact that the robot supports the foot contact is judged, a main buffer tower spring 3-11 is gradually compressed, and an auxiliary buffer spring 3-21 is gradually relaxed to realize secondary buffering of the instant impact force of foot-ground contact, the upper pressing cover 3-3 of the ball head rod drives the upper connecting rod 3-4 of the auxiliary foot and pulls the lower connecting rod 3-6 of the auxiliary foot to move simultaneously through the spring 3-5 of the auxiliary foot, along with the ball head rod 3-12 gradually moves upwards along a guide key 3-19 fixed in an inner wall groove of a sleeve 3-20 of the ball head rod, a buffer rubber pad 3-2 is contacted with the inner wall of a directional sleeve 3-1 to realize the three-stage buffer of the instant impact force of foot-ground contact, the limit switch baffle 3-15 is judged to be fully stepped/started to lift off, the limit switch baffle 3-15 also enters a signal area of the limit switch 3-16 which is judged to be fully stepped/started to lift off simultaneously, the support foot of the robot is judged to be stepped, the return spring 3-10 of the auxiliary foot restrains the lower connecting rod 3-6 of the auxiliary foot to enable the end part of the lower connecting rod 3-6 of. The internal motion of the supporting leg lower limb mechanism from full stepping to full lifting is opposite to that of the foot end mechanism 3 in the process from full lifting to full stepping.
Claims (6)
1. The utility model provides a big burden is than polypod robot supporting leg low limbs mechanism which characterized in that: the mechanism comprises a shank (1), a six-dimensional force sensor (2), a directional sleeve (3-1), a buffer rubber pad (3-2), a ball head rod upper gland (3-3), a ball head rod base (3-8), a tower spring guard plate (3-9), a main buffer tower spring (3-11), a ball head rod (3-12), a start-to-touch/complete-off judgment limit switch (3-13), a start-to-touch/complete-off judgment limit switch baffle (3-14), a complete-to-step/start-to-off judgment limit switch baffle (3-15), a complete-to-step/start-to-off judgment limit switch (3-16), a ball head rod base buffer pad (3-17), a ball head rod lower gland (3-18), a guide key (3-19), a ball head rod sleeve (3-20), The device comprises auxiliary buffer springs (3-21), a six-dimensional force sensor cover plate (4) and a plurality of auxiliary feet; the ball head rod base buffer pads (3-17) are arranged on the soles of the ball head rod base (3-8) to realize primary buffer of instant impact force of foot-ground contact, and inverted pyramid-shaped foot nails are arranged on the soles of the ball head rod base (3-8); the auxiliary buffer springs (3-21) are positioned between the ball head rod upper gland (3-3) and the ball head rod sleeve (3-20) and are externally embedded in the ball head rod (3-12), the main buffer tower springs (3-11) are positioned between the ball head rod sleeve (3-20) and the ball head rod base (3-8) and are externally embedded in the ball head rod (3-12), the height of the tower spring guard plates (3-9) is higher than the upper end surface of the ball head rod lower gland (3-18), the tower spring guard plates (3-9) are used for limiting the lower end positions of the main buffer tower springs (3-11), and the auxiliary buffer springs (3-21) and the main buffer tower springs (3-11) are matched with each other to realize secondary buffer of foot-ground contact instant impact force; the buffer rubber pad (3-2) is sleeved and embedded on the outer wall of the upper gland (3-3) of the ball head rod to realize three-level buffer of instant impact force of foot-to-ground contact; the ball head end of the ball head rod (3-12) is embedded into a ball head rod base (3-8), the other end of the ball head rod (3-12) is connected with a ball head rod upper gland (3-3) through a bolt, a ball head rod lower gland (3-18) and the ball head rod base (3-8) jointly act to restrain the ball head rod (3-12), the outer wall of the ball head rod (3-12) is provided with ball head rod guide grooves (3-12-1) which are uniformly distributed on the circumference, a ball head rod sleeve (3-20) is fixedly connected with a directional sleeve (3-1) through a bolt, guide keys (3-19) are uniformly distributed in grooves in the inner wall of the ball head rod sleeve (3-20) and fixed through a screw, and the ball head rod (3-12) moves up and down through the ball head rod guide grooves (3-12-1) in a mode along the guide keys (3-19); the grounding start/full-ground judgment limit switch (3-13), the grounding start/full-ground judgment limit switch baffle (3-14), the full-step/full-ground judgment limit switch (3-16) and the full-step/full-ground judgment limit switch baffle (3-15) jointly act to judge the grounding step and the ground lift of the supporting foot, the black bottom end face of the six-dimensional force sensor (2) is connected with the shank (1), and the tool face of the six-dimensional force sensor (2) is installed on the outer wall of the upper end face of the orientation sleeve (3-1); the number of the auxiliary feet is 4, the auxiliary feet are uniformly distributed on the directional sleeve (3-1) in the circumferential direction, a plurality of strip-shaped switch mounting holes are formed in the side wall of the directional sleeve (3-1) along the axis direction of the directional sleeve, and two configuration holes which are parallel up and down are formed between every two adjacent strip-shaped switch mounting holes; the auxiliary foot comprises an auxiliary foot upper connecting rod (3-4), an auxiliary foot spring (3-5), an auxiliary foot lower connecting rod (3-6), an auxiliary foot supporting rod (3-7) and an auxiliary foot return spring (3-10), the upper end of the auxiliary foot upper connecting rod (3-4) extends into a configuration hole at the lower part of the directional sleeve (3-1) and is connected to the bulb rod upper pressing cover (3-3) in an upward extending mode, the lower end of the auxiliary foot upper connecting rod (3-4) is connected with the upper end of the auxiliary foot lower connecting rod (3-6) through the auxiliary foot spring (3-5), the auxiliary foot supporting rod (3-7) is an arc-shaped supporting rod, the lower end of the auxiliary foot lower connecting rod (3-6) is rotatably connected with the middle part of the auxiliary foot supporting rod (3-7), one end of the auxiliary foot supporting rod (3-7) contacts the ground, and the other end of the auxiliary foot supporting rod (3-7) is rotatably installed on a return spring base (3 On the spring mounting seat, one end of an auxiliary foot return spring (3-10) is connected with the return spring mounting seat, and the other end of the auxiliary foot return spring (3-10) is connected with the rotary connection part of the lower ends of an auxiliary foot support rod (3-7) and an auxiliary foot lower connecting rod (3-6); in the process from ground contact to full treading of the sole of the ball head rod base (3-8), the auxiliary foot return spring (3-10) pulls the auxiliary foot support rod (3-7) to enable the auxiliary foot to be grounded, in the process from ground contact to full ground contact of the sole of the ball head rod base (3-8), the auxiliary foot upper connecting rod (3-4) pulls the auxiliary foot lower connecting rod (3-6) upwards through the auxiliary foot spring (3-5) to enable the auxiliary foot to be grounded, and the auxiliary foot spring (3-5) and the auxiliary foot return spring (3-10) increase the flexibility of the auxiliary foot together.
2. The supporting leg lower limb mechanism of the multi-legged robot with large weight bearing ratio as claimed in claim 1, characterized in that the soles of the ball bar bases (3-8) are provided with inverted pyramid-shaped foot nails to enhance the ground-holding force of the supporting feet, the thickness of the ball bar base buffer pads (3-17) is slightly higher than that of the sole foot nails of the ball bar bases (3-8) to realize the primary buffer of the instant impact force of the foot-ground contact and reduce the sound of the foot-ground contact, and the sole foot nails of the ball bar bases (3-8) gradually contact the ground and hold the ground as the supporting feet are continuously stepped.
3. The supporting leg lower limb mechanism of the multi-legged robot with large load bearing ratio according to claim 1 or 2, characterized in that the starting touchdown/full liftoff judgment limit switch (3-13) and the starting touchdown/full liftoff judgment limit switch barrier (3-14) cooperate to detect the starting transition of the supporting leg from the swing phase to the supporting phase or the complete transition of the supporting phase to the swing phase, the full step-down/starting liftoff judgment limit switch (3-16) and the full step-down/starting liftoff judgment limit switch barrier (3-15) cooperate to detect the complete transition of the supporting leg from the swing phase to the supporting phase or the starting transition of the supporting phase to the swing phase, the starting touchdown/full liftoff judgment limit switch (3-13) and the full step-down/starting liftoff judgment limit switch (3-16) are installed and embedded in the elongated switch installation hole of the orientation sleeve (3-1), the starting touchdown/full liftoff judgment limit switch baffle (3-14) and the full step/starting liftoff judgment limit switch baffle (3-15) are fixed on a gland (3-3) on the ball head rod through screws.
4. The supporting leg lower limb mechanism of the multi-legged robot with the large load ratio as claimed in claim 3, wherein the shank (1) is provided with holes in the structure on the premise of satisfying the strength, so as to reduce the self-mass and improve the load ratio of the multi-legged robot with the large load ratio.
5. The lower limb mechanism of the supporting leg of the multi-legged robot with large load-bearing ratio as claimed in claim 4, wherein the outer wall of the ball-head rod (3-12) is provided with 3 guide grooves which are evenly distributed circumferentially.
6. The lower limb mechanism of the support legs of the multi-legged robot with large load ratio as claimed in claim 5, wherein the lower end position of the main buffer tower spring (3-11) is limited by the tower spring guard plate (3-9).
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| CN201810538772.9A CN110550122B (en) | 2018-05-30 | 2018-05-30 | Supporting leg lower limb mechanism of multi-legged robot with large load bearing ratio |
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| CN201810538772.9A CN110550122B (en) | 2018-05-30 | 2018-05-30 | Supporting leg lower limb mechanism of multi-legged robot with large load bearing ratio |
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| CN110550122B true CN110550122B (en) | 2020-05-19 |
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| CN111452879B (en) * | 2020-04-09 | 2021-05-28 | 北京交通大学 | Bionic foot of robot and robot with bionic foot |
| CN112478013B (en) * | 2020-11-24 | 2021-12-17 | 真木农业设备（安徽）有限公司 | Foot buffer mechanism of robot |
| CN114228861B (en) * | 2022-01-07 | 2023-11-10 | 江苏大学 | Toe-web cooperative variable-area anti-sinking bionic foot and bionic machinery |
| CN116161141B (en) * | 2023-04-21 | 2023-06-30 | 成都理工大学 | Self-resetting damping foot end of heavy-load six-foot robot |
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