Reconfigurable device for walking robot with four/two parallel legs

Abstract

The invention provides a reconfigurable device for a walking robot with four/two parallel legs, belonging to the technical field of robots. The leg mechanism of the robot is structurally designed in a modularization way, and the legs are of a same structure. When four-leg walking is carried out, the leg mechanism is a 3-UPU, and when two-leg walking is carried out, the leg mechanism is a 3-SPU (Synergistic Processing Unit), wherein the conversion between the two leg mechanisms is realized through a rotation-pair retaining device, and the conversion between four legs and two legs is realized through a merging device. The rotation-pair retaining device comprises an electromagnet, an electromagnetic chuck base, friction plates, a friction plate carrier, a support column, a spring and a rotation-pair retaining plate, a rotation pair in a pair S is controlled to be locked and unlocked through the lamination and the separation of the friction plates, and the lamination and the separation of the friction plates are controlled by the sucker type electromagnet. The merging device comprises an electromagnetic chuck, a guiding device, a push-pull type electromagnet and a locking clamp, and the merging device is locked by controlling the positions of two legs to be merged, merging the soles through the electromagnetic chuck and the guiding device, and driving the locking clamp to act by the push-pull type electromagnet.

Description

technical field [0001] The invention discloses a mechanical structure design of a reconfigurable device for a quadruped / biped parallel-legged walking robot. The robot is mainly used for walking robots for helping the elderly and the disabled, and belongs to the technical field of robots. Background technique [0002] With the development of science and technology, the application range of robots is becoming wider and wider, and the configuration of each robot can only adapt to a certain limited range. The way to solve this problem is to design reconfigurable devices for robots, so that robots Robots that can be assembled into different configurations according to needs to complete work tasks in various environments and expand the scope of use of robots. Therefore, the research on reconfigurable robots has been paid more and more attention. For a reconfigurable device for a quadruped / biped parallel-legged walking robot in the present invention, a reconfigurable design is car...

AI Technical Summary

Problems solved by technology

However, compared with quadrupeds, the stability of bipeds is poor. For the elderly and people with lower limbs, they will feel fear. Therefore, the first choice of walking robots for the elderly and disabled should be multi-legged.

However, a shortcoming of the multi-legged walking robot for the elderly and the disabled is that there is a large inclination when going up and down the stairs, which will make the occupants lose their sense of security.

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