CN113335413B - Flexible robot foot and using method thereof - Google Patents

Abstract

The invention discloses a flexible robot foot and a use method thereof. The robot foot includes a foot body, an adaptive terrain module and an active alignment module. The adaptive terrain module includes a rear side bracket, a front side bracket, a link frame, a rotating link and a plurality of adaptive elastic chains. The automatic alignment module includes a first motor, a second motor, a distance measuring sensor group and a U-shaped bracket; the distance measuring sensor group includes three distance measuring sensors. The three distance measuring sensors are respectively fixed on the bottom of the two rear side brackets and one of the front side brackets, or respectively fixed on the bottom of the two front side brackets and one of the front side brackets and the rear side brackets. The feet of the flexible robot can passively adapt to the uneven road surface, so as to ensure that the robot is always kept level, and the ability of the robot to adapt to the uneven road surface is improved. The invention utilizes the distance difference of each ranging sensor to realize the automatic identification of the slope terrain, and then realizes the automatic adjustment of the foot posture of the flexible robot.

Description

A flexible robot foot and method of using the same

technical field

The invention belongs to the technical field of soft robots, and in particular relates to a flexible robot foot and a use method thereof.

Background technique

Most humanoid robots are designed with flat feet. When a robot with flat feet travels through uneven terrain, motion becomes a very difficult problem. Currently, control architectures are usually proposed to enable robots to walk on different types of textured terrain. The proposed methods are usually Based on a force/torque control scheme, relying on terrain recognition, and modeling interaction phenomena as viscoelastic phenomena, it is inconvenient and thus limits the performance of robots with flat feet. The present invention proposes a flexible robot foot designed to interact with all types of terrain through its inherent passive adaptive deformation to overcome the limitations of uneven road surfaces.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a flexible robot foot and a method of using the same.

The present invention is a flexible robot foot, comprising a foot body, an adaptive terrain module and an active alignment module. The adaptive terrain module includes a rear side bracket, a front side bracket, a link frame, a rotating link and a plurality of adaptive elastic chains. The top ends of the two rear side brackets are respectively fixedly connected with the two sides of the foot body; the top ends of the two front side brackets and the top ends of the two rear side brackets are respectively hinged through hinge shafts; elastic pieces. The bottom ends of the two front side brackets and the bottom ends of the two rear side brackets are respectively connected by a connecting frame. The tops of multiple adaptive elastic chains arranged side by side are connected with two connecting frames. The adaptive elastic chain consists of multiple adaptive unit blocks connected in series. Any two adjacent adaptive unit blocks are connected by one or more elastic ropes.

The automatic alignment module includes a first motor, a second motor, a distance measuring sensor group and a U-shaped bracket; the main shaft of the first motor is fixed with the top of the foot body; the second motor is fixed on the first motor, and the main shaft is connected to the top of the foot body. U-shaped bracket fixed. The U-shaped bracket is used to connect with the feet of the multi-legged robot. The distance measuring sensor group includes three distance measuring sensors. The three distance measuring sensors are respectively fixed on the bottom of the two rear side brackets and one of the front side brackets, or respectively fixed on the bottom of the two front side brackets and one of the front side brackets and the rear side brackets.

Preferably, the foot body includes a foot plate, a side wall and an elastic tie; the foot plate is arranged horizontally. The side wall is fastened to the rear of the foot plate. The two ends of the elastic cable ties are respectively fixed with the two sides of the front part of the foot plate.

Preferably, a rotating connecting piece is arranged between the adaptive elastic chain and the connecting frame. The rotating connecting piece includes a first hinge seat and a second hinge seat. The first hinge seat is connected with the bottom of the connecting frame. The bottom of the first hinged seat is hinged with the top of the second hinged seat. The second hinge seat is fixed with one of the adaptive unit blocks of the adaptive elastic chain.

Preferably, the bottom of the connecting frame is provided with a T-shaped chute. A T-shaped bump is arranged on the first hinge seat. The T-shaped projections on the first hinge seat are slidably connected with the T-shaped sliding grooves on the corresponding connecting frame.

Preferably, the second hinge seat is provided with a connecting groove. The top of each adaptive unit block is provided with connection bumps. The connection bumps of any two adaptive unit blocks on the adaptive elastic chain are connected with the connection grooves of the corresponding two rotating connecting pieces through bolts and nuts or pins.

Preferably, the first motor and the second motor are both dual-shaft motors.

Preferably, the main shaft axis of the first motor and the main shaft axis of the second motor are perpendicular to each other.

Preferably, both ends of the main shaft of the first motor are connected with the side wall through a mortise and tenon mechanism. The mortise and tenon mechanism includes a tenon, a mortise and a fixing pin; the tenon is fixed on the main shaft of the first motor, and the mortise is fixed on the inner wall of the side wall; the tenon and the mortise are snapped together . Corresponding positions of the tenon and the middle of the mortise are provided with pin holes, and the fixing pins are inserted into the pin holes.

Preferably, the elastic member adopts a torsion spring. The torsion spring is sleeved on the hinge shaft, and the two ends are respectively clamped to the inner side of the rear side bracket and the inner side of the front side bracket.

The use of the flexible robot foot is as follows:

Step 1: A flexible robot foot is installed at the end of each mechanical foot of the multi-legged robot.

Step 2: The feet of the multi-legged robot drive the feet of the flexible robot to move, so as to realize the walking of the multi-legged robot. When the foot of the flexible robot steps on the unevenness of the ground, each adaptive elastic chain moves position or deforms adaptively, so that the main body of the foot remains parallel to the ground.

During the walking process of the multi-legged robot, when the distance values detected by the three ranging sensors are different, the first motor or the second motor rotates to adjust the posture of the foot body and the adaptive terrain module, so that the three ranging sensors The detected distance values tend to be consistent. At this time, under the condition that the foot posture of the multi-legged robot remains unchanged, each adaptive elastic chain is facing the ground.

The beneficial effects that the present invention has are:

1. The present invention has an adaptive unit block. When the foot of the flexible robot walks on a road surface with bar-shaped obstacles along the left and right directions, the middle part of the foot of the flexible robot and the front end of the foot of the flexible robot step on the bar-shaped obstacle. When the adaptive unit blocks are connected by elastic ropes, the adaptive unit blocks can be dislocated from each other, so that the adaptive unit block at the lower end of the front side bracket and the adaptive unit block at the lower end of the rear side bracket can still be in contact with the ground. The foot plate continues to be kept horizontal, which increases the environmental adaptability of the flexible robot foot to walk on a road surface with bar-shaped obstacles along the left and right directions. The foot of the flexible robot can passively adapt to the uneven road surface, so as to ensure that the top of the foot of the flexible robot is always level, and the ability of the robot to pass through the uneven road surface is improved.

2. The self-adaptive unit blocks distributed in the array of the present invention increase the contact area between the feet of the flexible robot and the ground, reduce the pressure of the feet of the flexible robot on the ground, and make the feet of the flexible robot less likely to sink into sand and swamps. The ability of the flexible robot feet to adapt to the sandy swamp environment is increased, and the mobility of the flexible robot feet in the sandy and swampy areas is increased.

3. The automatic alignment module of the present invention also includes a mortise and tenon mechanism, which comprises a tenon head, a mortise eye and a fixing pin; the first motor is connected to the side wall through the mortise and tenon mechanism, which simplifies the disassembly and assembly steps of the first motor; When the humanoid robot with flat feet needs to walk on uneven roads, the mortise and tenon mechanism is disassembled, the flat feet of the humanoid robot are assembled between the foot plate and the side wall, and the flat feet are fixed with elastic ties to make the flat bottom The humanoid robot is easier to walk on the uneven road surface; when the humanoid robot without flat feet needs to walk on the uneven ground, the mechanical foot end of the humanoid robot is fixed with the U-shaped bracket, the first motor The mortise and tenon mechanism is connected to the side wall, so that the humanoid robot without flat feet can walk on uneven road more easily.

4. The present invention is provided with a ranging sensor group. When the flexible robot foot uses the distance difference of each ranging sensor to realize the automatic identification of the slope terrain, and then realize the automatic adjustment of the flexible robot foot posture, so that the adaptive unit block is always positive. On the ground, the flexible robot foot can move on various types of slopes, which improves the environmental adaptability of the flexible robot foot.

5. The lower side of the connecting frame of the present invention is provided with a transverse T-shaped chute, and the upper end of the first hinge seat is a T-shaped slider. The adaptive unit block can slide in the direction of the T-shaped chute. In the case of a bar-shaped obstacle in the front and rear directions, the first hinge seat is allowed to slide in the transverse T-shaped chute through the T-shaped slider, thereby driving the adaptive unit block to move away from the bar-shaped obstacle. In this way, when When the soft robot's feet hit the ground, there is a gap between the adaptive unit blocks that can accommodate bar-like obstacles.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is another position schematic diagram of the overall structure of the present invention;

Fig. 3 is the partial cross-sectional schematic diagram of the present invention;

Fig. 4 is the front schematic diagram of the present invention;

Fig. 5 is the bottom view of the present invention;

6 is a schematic diagram of the deformation of the adaptive elastic chain when the present invention encounters an obstacle;

Figure 7 is a top view of the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in Figures 1 and 2, a flexible robot foot includes a foot body 1, an adaptive terrain module 2, an active alignment module 3 and a controller; the foot body 1 includes a foot plate 1-1, a side wall 1-2 and elastic cable ties 1-3; the foot plate 1-1 is placed horizontally. The side panel 1-2 is fixedly connected to the rear of the foot panel 1-1. The two ends of the elastic ties 1-3 are respectively fixed to the two sides of the front of the foot plate 1-1; the elastic ties 1-3 are used to remove the For the positive module 3, the elastic tie 1-3 and the side wall 1-2 are directly used to fix the foot plate 1-1 and the flat foot.

As shown in Figures 1, 3, 4 and 5, the adaptive terrain module 2 includes a rear side support 2-1, a front side support 2-2, a connecting frame 2-3, a rotating connecting piece and a plurality of adaptive elastic chains. The top ends of the two rear side brackets 2-1 are respectively fixedly connected with the two sides of the side panel 1-2; the top ends of the two front side brackets 2-2 and the top ends of the two rear side brackets 2-1 are respectively hinged through hinge shafts ; The bottom ends of the two front side brackets 2-2 and the bottom ends of the two rear side brackets 2-1 are respectively fixedly connected by two connecting frames 2-3.

The two connecting frames 2-3 are provided with four rotating connecting pieces. The rotating connection includes a first hinge seat 2-4 and a second hinge seat. The bottom of the connecting frame 2-3 is provided with a T-shaped chute. A T-shaped bump is provided on the first hinge seat 2-4. The T-shaped projections on the first hinge base 2-4 are slidably connected with the T-shaped sliding grooves on the corresponding connecting frame 2-3. The bottom of the first hinge seat 2-4 is hinged with the top of the second hinge seat. The second hinge seat is provided with a connecting groove.

The rear sides of the tops of the four adaptive elastic chains are respectively connected with the four rotating connecting pieces on the rear side bracket 2-1. The front sides of the tops of the four adaptive elastic chains are respectively connected with the four rotating connecting pieces on the front side brackets 2-2. The adaptive elastic chain includes a plurality of adaptive unit blocks 2-5 connected in series. Any two adjacent adaptive unit blocks 2-5 are connected by elastic ropes 2-6. The top of each adaptive unit block 2-5 is provided with connection bumps. A self-adapting elastic chain corresponds to a rotating connecting piece in each of the two connecting frames 2-3. The connection bumps of any two adaptive unit blocks 2-5 on the adaptive elastic chain are connected with the connection grooves of the corresponding two rotating connecting pieces through bolts, nuts or pins. Therefore, the four adaptive elastic chains are connected to the bottom of the foot body 1, and by selecting different adaptive unit blocks 2-5 to connect with the rotating connecting piece, the distance between the rear side bracket 2-1 and the front side bracket 2-2 can be adjusted. angle.

As shown in Figure 6, during operation, when the foot of the flexible robot walks on a road surface with bar-shaped obstacles in the left-right direction, if the middle part of the foot of the flexible robot and the front end of the foot of the flexible robot step on the bar-shaped obstacle , the adaptive unit blocks 2-5 connected by elastic ropes 2-6 are automatically dislocated from each other, so that the adaptive unit block 2-5 at the lower end of the front side bracket 2-2 and the adaptive unit block 2-5 at the lower end of the rear side bracket 2-1 are automatically dislocated from each other. The block 2-5 can still be in contact with the ground, while the adaptive unit block 2-5 in contact with the obstacle rises according to the shape of the obstacle, so that the foot plate 1-1 continues to remain horizontal, which increases the flexibility of the flexible robot foot. Environmental adaptability for walking on the road surface with strip-shaped obstacles along the left and right directions.

When encountering a bar-shaped obstacle in the front-rear direction, the obstacle will push the four adaptive elastic chains to traverse along the T-shaped chute, so that when the feet of the flexible robot step on the ground, the four adaptive elastic chains can be connected between the four adaptive elastic chains. A gap is vacated, and the gap accommodates the bar-shaped obstacle, thereby making it easier for the flexible robot foot to walk on the road surface with the bar-shaped obstacle in the front-rear direction.

A torsion spring 2-7 is arranged between the rear side bracket 2-1 and the front side bracket 2-2, and both ends of the torsion spring 2-7 are respectively clamped to the inner side of the rear side bracket 2-1 and the front side bracket 2 -2 inside. When working, the two ends of the torsion spring 2-7 stretch the rear side bracket 2-1 and the front side bracket 2-2 to both sides, so that the adaptive elastic chain is stretched straight, so that each adaptive unit block 2-5 is in contact with the ground. The maximum contact area is maintained, thereby increasing the mobility and environmental adaptability of the flexible robot feet to walk on sandy and swampy ground.

The automatic alignment module 3 includes a first motor 3-5, a second motor 3-2, a distance measuring sensor group 3-3 and a U-shaped bracket 3-4; the first motor 3-5 and the second motor 3-2 are both Double shaft motor. Both ends of the main shaft of the first motor 3-5 are fixedly connected to both sides of the inner wall of the side wall 1-2 respectively; the second motor 3-2 is fixed on the first motor 3-5, and the two ends of the main shaft are connected to the U-shaped bracket. The two side panels of 3-4 are fixed separately. The axis of the main axis of the first motor 3-5 and the axis of the main axis of the second motor 3-2 are perpendicular to each other; the U-shaped bracket 3-4 is used for connecting with the feet of the multi-legged robot.

As shown in FIG. 4 , both ends of the main shaft of the first motor 3-5 are connected with the side wall 1-2 through a mortise and tenon mechanism 3-1. The mortise and tenon mechanism 3-1 includes a tenon 3-11, a mortise 3-12 and a fixing pin 3-13; the tenon 3-11 is fixed on the main shaft of the first motor 3-5, and the mortise The eye 3-12 is fixed on the inner wall of the side wall 1-2; the tenon 3-11 can be snapped with the socket eye 3-12. A pin hole 3-14 is defined in the corresponding position of the tenon 3-11 and the middle of the socket eye 3-12, and the fixing pin 3-13 is inserted into the pin hole 3-14. During operation, the first motor 3-5 is connected to the side wall 1-2 through the mortise and tenon mechanism 3-1, which simplifies the disassembly and assembly steps of the first motor 3-5; When walking on the road, disassemble the mortise and tenon mechanism 3-1, assemble the mechanical foot end of the flat-bottomed humanoid robot between the foot plate 1-1 and the side wall 1-2, and fix the flat bottom with elastic ties 1-3 The end of the mechanical foot of the humanoid robot makes it easier for the flat-bottomed humanoid robot to walk on uneven roads; when the humanoid robot without flat-bottomed feet needs to walk on uneven ground, the The humanoid robot is fixedly connected with the U-shaped bracket 3-4, and the first motor 3-5 is connected with the side wall 1-2 through the mortise and tenon mechanism 3-1, so that the humanoid robot is easier to operate on uneven road surfaces walk.

As shown in Figures 1 and 7, the distance measuring sensor group 3-3 includes a front distance measuring sensor 3-31, a rear left distance measuring sensor 3-32 and a rear right distance measuring sensor 3-33; the front distance measuring sensor 3 -31 is fixed on the outer side of the left front side bracket 2-2, the distance from the front distance measuring sensor 3-31 to the ground is L1; the rear left distance measuring sensor 3-32 is installed on the left rear side bracket 2-1 The outer side of the rear left ranging sensor 3-32 measures the distance from the ground as L2; the rear right ranging sensor 3-33 is installed on the outer side of the right rear bracket 2-1, and the rear right ranging sensor 3- 33 measures the distance from the ground as L3. On a flat bottom surface, L1=L2=L3. When working, when the foot of the flexible robot walks on the uphill terrain, L1>L2, the controller controls the first motor 3-5 to rotate forward to drive the front end of the foot of the flexible robot to rise. When L1=L2, the first motor 3-5 Stop the rotation, the lower side of the adaptive unit block 2-5 is facing the ground; when the foot of the flexible robot walks on the downhill terrain, L1<L2, the first motor 3-5 reverses and drives the front end of the foot of the flexible robot to descend, when L1= At L2, the controller controls the first motor 3-5 to stop rotating, and the lower side of the adaptive unit block 2-5 faces the ground; when the foot of the flexible robot walks on the slope with high left and low right, L2<L3, the second The motor 3-2 turns left. When L2=L3, the second motor 3-2 brakes, so that the lower side of the adaptive unit block 2-5 faces the ground; When L2>L3, the controller controls the second motor 3-2 to turn right. When L2=L3, the second motor 3-2 brakes, so that the lower side of the adaptive unit block 2-5 faces the ground; The ranging sensor 3-31, the rear left ranging sensor 3-32 and the rear right ranging sensor 3-33 feed back the data of L1, L2 and L3, and the controller controls the first motor 3-5 and the second motor 3-2 to rotate , the adaptive unit blocks 2-5 can always face the ground, so that the feet of the flexible robot can move on various types of slopes, and the environmental adaptability of the feet of the flexible robot is improved.

The use of the flexible robot foot is as follows:

Step 1: A flexible robot foot is installed at the end of each mechanical foot of the multi-legged robot. Specifically, the U-shaped bracket of the foot of the flexible robot is fixed with the corresponding foot of the multi-legged robot.

Step 2: The feet of the multi-legged robot drive the feet of the flexible robot to move, so as to realize the walking of the multi-legged robot. When the foot of the flexible robot steps on the unevenness of the ground, each adaptive elastic chain moves position or deforms adaptively, so that the main body 1 of the foot remains parallel to the ground and improves the walking stability of the multi-legged robot.

During the walking process of the multi-legged robot, the front ranging sensor 3-31, the rear left ranging sensor 3-32 and the rear right ranging sensor 3-33 respectively detect the distance from itself to the ground, and the three distance values are respectively recorded as L1, L2, L3.

When L1>L2, when it is judged that the multi-legged robot is walking on an uphill terrain, the controller controls the first motor 3-5 to rotate forward to drive the front end of the foot of the flexible robot to rise, until L1=L2, the first motor 3-5 stops rotating , at this time, under the condition that the foot posture of the multi-legged robot remains unchanged, each adaptive elastic chain is made to face the ground.

When L1<L2, when it is judged that the multi-legged robot is walking on a downhill terrain, the controller controls the first motor 3-5 to reversely drive the front end of the foot of the flexible robot to descend, until L1=L2, the first motor 3-5 stops rotating, At this time, under the condition that the foot posture of the multi-legged robot remains unchanged, each adaptive elastic chain is made to face the ground.

When L2<L3, it is judged that the ground on the left side of the foot of the flexible robot is higher than the ground on the right side, and the controller controls the second motor 3-2 to rotate forward, so that the foot body 1 and the adaptive terrain module 2 are inclined to the left as a whole , until L2=L3, the second motor 3-2 stops rotating. At this time, under the condition that the foot posture of the multi-legged robot remains unchanged, each adaptive elastic chain is made to face the ground.

When L2>L3, it is judged that the ground on the right side of the foot of the flexible robot is higher than the ground on the left side, and the controller controls the second motor 3-2 to reverse, so that the foot body 1 and the adaptive terrain module 2 are inclined to the right as a whole , until L2=L3, the second motor 3-2 stops rotating. At this time, under the condition that the foot posture of the multi-legged robot remains unchanged, each adaptive elastic chain is made to face the ground.

Based on the method, the multi-legged robot can walk freely on different terrains under the condition that its own walking posture remains basically unchanged.

Claims (10)

1. A flexible robot foot, comprising a foot body (1); characterized in that: it further comprises an adaptive terrain module (2) and an active alignment module (3); the adaptive terrain module (2) includes a rear support (2-1), front side brackets (2-2), connecting frame (2-3), rotating connectors and multiple adaptive elastic chains; the top ends of the two rear side brackets (2-1) and the foot body The two sides of (1) are respectively fixed; the top ends of the two front brackets (2-2) and the top ends of the two rear brackets (2-1) are hinged through hinge shafts respectively; the front brackets (2-2) and the An elastic piece is arranged between the rear side brackets (2-1); one is passed between the bottom ends of the two front side brackets (2-2) and between the bottom ends of the two rear side brackets (2-1). The connecting frames (2-3) are connected; the tops of the multiple adaptive elastic chains arranged side by side are all connected with two connecting frames (2-3); the adaptive elastic chain includes a plurality of adaptive unit blocks (2-3) connected in series in sequence 5) Composition; any two adjacent adaptive unit blocks (2-5) are connected by one or more elastic ropes (2-6); The active alignment module (3) includes a first motor (3-5), a second motor (3-2), a distance measuring sensor group (3-3) and a U-shaped bracket (3-4); the first motor The main shaft of (3-5) is fixed to the top of the foot body (1); the second motor (3-2) is fixed to the first motor (3-5), and the main shaft is fixed to the U-shaped bracket (3-4) ;U-shaped brackets (3-4) are used to connect with the mechanical feet of the multi-legged robot; The distance-measuring sensor group (3-3) includes three distance-measuring sensors; the three distance-measuring sensors are respectively fixed on the bottoms of two rear side brackets (2-1) and one of the front side brackets (2-2) , or fixed to the bottom of the two front brackets (2-2) and one of the front brackets (2-2) and the rear bracket (2-1) respectively. 2. A flexible robot foot according to claim 1, characterized in that: the foot body (1) comprises a foot plate (1-1), a side wall (1-2) and an elastic tie (1-3); the foot plate (1-1) is arranged horizontally; the side wall (1-2) is fixedly connected to the rear of the foot plate (1-1); The two ends are respectively fastened to the two sides of the front part of the foot plate (1-1). 3 . The flexible robot foot according to claim 1 , wherein a rotating connecting piece is arranged between the adaptive elastic chain and the connecting frame ( 2 - 3 ); the rotating connecting piece comprises a first hinge joint. 4 . The seat (2-4) and the second hinge seat; the first hinge seat (2-4) is connected with the bottom of the connecting frame (2-3); the bottom of the first hinge seat (2-4) is connected with the bottom of the second hinge seat The top is hinged; the second hinge seat is fixed with one of the adaptive unit blocks (2-5) of the adaptive elastic chain. 4. A flexible robot foot according to claim 3, characterized in that: the bottom of the connecting frame (2-3) is provided with a T-shaped chute; the first hinge seat (2-4) is provided with T-shaped bumps; the T-shaped bumps on the first hinge seat (2-4) are slidably connected with the T-shaped chute on the corresponding connecting frame (2-3). 5. A flexible robot foot according to claim 3, characterized in that: the second hinge seat is provided with a connecting groove; the top of each adaptive unit block (2-5) is provided with a connecting bump ; The connection bumps of any two adaptive unit blocks (2-5) on the adaptive elastic chain are connected with the connection grooves of the corresponding two rotating connectors through bolts and nuts or pins. 6 . The flexible robot foot according to claim 1 , wherein the first motor ( 3 - 5 ) and the second motor ( 3 - 2 ) are both dual-shaft motors. 7 . 7. A flexible robot foot according to claim 1, characterized in that: the axis of the main axis of the first motor (3-5) and the axis of the main axis of the second motor (3-2) are perpendicular to each other. 8. A flexible robot foot according to claim 1, characterized in that: the main shaft of the first motor (3-5) is connected with the foot body (1) through a mortise and tenon mechanism (3-1); The mortise and tenon mechanism (3-1) includes a tenon (3-11), a mortise (3-12) and a fixing pin (3-13); the tenon (3-11) is fixed on the first motor ( 3-5) on the main shaft, the socket eye (3-12) is fixed on the inner wall of the foot body (1); the tenon (3-11) is clamped with the socket eye (3-12); The corresponding positions in the middle of the tenon (3-11) and the mortise (3-12) are provided with pin holes (3-14), and the fixing pins (3-13) are inserted in the pin holes (3-14) . 9 . The flexible robot foot according to claim 1 , wherein the elastic member adopts a torsion spring; the torsion spring (2-7) is sleeved on the hinge shaft, and the two ends are respectively clamped to the rear side. 10 . Inside of bracket (2-1) and inside of front bracket (2-2). 10. The method for using a flexible robot foot according to claim 1, wherein in step 1, a flexible robot foot is installed at the end of each mechanical foot of the multi-legged robot; Step 2: The feet of the multi-legged robot drive the feet of the flexible robot to move, so as to realize the walking of the multi-legged robot; when the feet of the flexible robot step on the unevenness of the ground, each adaptive elastic chain adaptively moves the position or deforms. Keep the foot body (1) parallel to the ground; During the walking process of the multi-legged robot, when the distance values detected by the three distance measuring sensors are different, the first motor (3-5) or the second motor (3-2) rotates to adjust the foot body (1) and the The posture of the adaptive terrain module (2) makes the distance values detected by the three ranging sensors tend to be consistent; at this time, under the condition that the foot posture of the multipedal robot remains unchanged, each adaptive elastic chain is facing the ground. .

Images