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Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle

A humanoid robot and mobile device technology, applied in the field of foot wheeled mobile devices, can solve the problems of difficult control, difficult to move stably and quickly, and high energy consumption, and achieve the effects of easy control, compact structure, and reduced energy consumption.

Active Publication Date: 2009-05-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a kind of leg type mobile device that is used on humanoid robot, multi-legged walking machine; Stable and fast movement, difficult to control, and high energy consumption when walking

Method used

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  • Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle
  • Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle
  • Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle

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specific Embodiment approach 1

[0008] Specific implementation mode one: as Figure 1~2 As shown, the wheeled mobile device for humanoid robots and multi-legged walking machines described in this embodiment is composed of a mobile mode conversion mechanism and a wheeled mobile mechanism. The mobile mode conversion mechanism is composed of a guide column 7, a lifting Plate 6, support member 5, first driving motor 2, first pulley 13, first synchronous belt 3, second pulley 14, rotating screw rod 4 and nut 12 are formed; , the third pulley 15, the second synchronous belt 9, the fourth pulley 16, the support shaft 10 and the driving wheel 11; The top of the outer edge 1-1 provided on the bottom of the outer end surface of the foot 1 is fixedly connected with the foot 1, and the lifting plate 6 and the nut 12 are fixedly connected into one body, and the lifting plate 6 is set on the guide column 7, and the guide column 7 One end is installed on the outer edge 1-1, the other end of the guide column 7 is installed...

specific Embodiment approach 2

[0009] Specific implementation mode two: as Figure 1~3 As shown, the wheeled mobile device for feet in this embodiment also includes an auxiliary support wheel 17, the auxiliary support wheel 17 is installed on the outer end surface of the foot 1, and the auxiliary support wheel 17 is located on the side of the driving wheel 11. ahead. Auxiliary support wheels 17 are set to enhance the stability of humanoid robots and multi-legged walking machines when walking in a wheeled manner. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0010] Specific implementation mode three: as figure 1 , figure 2 and Figure 4 As shown, the wheeled mobile device for feet in this embodiment also includes two auxiliary support wheels 17, one of which is installed on the outer end surface of the foot 1, and the auxiliary support wheel 17 is located on the drive wheel 11 Another auxiliary support wheel 17 is installed on the outside end surface of the hand 18 on the same side as the pin 1 . The application of the wheeled mobile device for the feet in this embodiment realizes that the two hands of the humanoid robot are on the ground. At the same time, it is used for the left and right feet and the left and right hands to realize the four-wheel drive, which makes the humanoid robot more stable when walking in a wheeled way. Other components and connections are the same as those in the first embodiment.

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Abstract

A wheel shifter for feet is used for a humanoid robot and a multi-legged robot, and relates to a wheel shifter for feet. The invention solves the problems that the prior humanoid robots, the multi-legged robot and the like of the mobile legged robots are difficult to accomplish stable and fast movement, and difficult to control, and have high energy consumption in walking movement. The wheel shifter for feet comprises a moving mode conversion mechanism and a wheel moving mechanism; a lifting plate is fixedly connected with a nut into a whole; the lifting plate is sleeved on a guiding column; a rotation screw is arranged in parallel to the guiding column; the nut is sleeved on the rotation screw; one end of the rotation screw is mounted at the periphery; the other end of the rotation screw is mounted on a support piece; and a driving wheel is mounted on the other end of the support shaft. The application of the invention accomplishes the switching between the walking mode and the wheel moving mode of the humanoid robots and multi-legged robots, and further accomplishes the stable and fast movement of the humanoid robots and multi-legged robots on a smooth pavement; and the invention is easy to control.

Description

technical field [0001] The invention relates to a wheel-type mobile device for feet, in particular to a wheel-type mobile device for legs used on a humanoid robot and a multi-legged walking machine. Background technique [0002] In today's legged mobile robot research technology including humanoid robots, robots such as ASIMO of Japan's Honda Corporation and HRP2 of the Industrial Technology Research Institute of Japan's Ministry of International Trade and Industry can walk stably on flat ground at the fastest speed of 6km / h, Climbing stairs, but still very limited in environmental adaptability. Among the legged mobile robots, when bipedal walking machines and multi-legged walking machines (multi-legged refers to three-legged or more than three legs) walk, many joints of the walking machine need at least ten motors to drive to walk. Therefore, the body of the walking machine It consumes a lot of energy when walking, especially for fully self-supporting mobile robots, the en...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
Inventor 吴伟国梁风
Owner HARBIN INST OF TECH
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