Gasbag robot leg buffer mechanism with adjustable rigidity

Abstract

The invention discloses a gasbag robot leg buffer mechanism with adjustable rigidity, which comprises a connecting block, a gasbag, an outer barrel of a leg, a telescopic link and a force sensor. The connecting block is arranged at an upper end of the outer barrel of the leg, the telescopic link is arranged in the outer barrel of the leg, the lower part of the telescopic link extends out of the outer barrel of the leg. An oil chamber is formed between a piston part at the upper end of the telescopic link and the inner top of the outer barrel of the leg. The oil chamber is divided into an upper part and a lower part by a partition plate, wherein the gasbag is arranged on the upper part of the oil chamber, and hydraulic oil is stored in the lower part of the oil chamber and is connected with an external pressure regulation loop. A damping hole is formed on the partition plate, and the force sensor which is used for measuring magnitude and direction of contact force between foot and ground is arranged at the lower end of the telescopic link. The gasbag robot leg buffer mechanism with adjustable rigidity can regulate rigidity of an air spring on line according to the ground rigidity information detected by a sensing unit, reduce the impact of the round to the robot and improve the stability of dynamic walk of the robot. Then the robot walks in the most stable state.

Description

technical field [0001] The invention relates to a leg buffer mechanism of a hydraulically driven mammal-imitating mobile robot, which belongs to the technical field of multi-legged mobile robots. Background technique [0002] At present, the relevant technologies of wheeled and tracked mobile robots have been fully developed, and many various mobile robot products have been applied to entertainment, anti-terrorism and explosives, hazardous environment operations, and military fields. Wheeled robots have the advantages of small frictional resistance and fast speed, but they are only suitable for flat ground environments and have poor obstacle-surmounting ability. Tracked robots have strong adaptability to the environment, and can climb over obstacles, climb stairs, and cross trenches, etc., but their transmission efficiency is low. Wheelless, whether it is a wheeled robot or a crawler robot, can only walk on less than half of the land on the earth, while humans and animals c...

AI Technical Summary

Problems solved by technology

Therefore, the problem of dynamic walking stability is a difficult problem for quadruped mammalian robots

This mechanism alleviates the ground impact force when the foot lands to a certain extent, but the structure is complex, and the spring stiffness cannot be adjusted online according to the ground environment with different hardness.

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