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Leg drive and transmission device for legged mobile platform

A technology for driving transmission and legs, which is applied in the field of leg driving and transmission devices for footed motorized platforms, which can solve problems such as increasing the cost of robots and affecting the effect of robot movement, and achieves the reduction of small jumps, the improvement of service life, and the improvement of stability Effect

Inactive Publication Date: 2012-07-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, a large amount of heat will be generated during the working process of the hydraulic system, and the mobile robot must be equipped with additional heat dissipation equipment. In short, the use of hydraulic drive will increase the cost of the robot and affect the effect of the robot's movement

Method used

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  • Leg drive and transmission device for legged mobile platform
  • Leg drive and transmission device for legged mobile platform
  • Leg drive and transmission device for legged mobile platform

Examples

Experimental program
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Effect test

Embodiment Construction

[0021] figure 1 As shown, the legged mobile platform includes a body 1 and a leg device 2, and four identical leg devices 2 are distributed side by side on the left and right sides of the body 1, and each leg has a figure 2 A set of drive transmissions is shown.

[0022] like figure 2 As shown, the leg drive transmission device is composed of a double-motor side swing assembly 3 , a connecting rod booster assembly 4 , and a composite damping assembly 5 .

[0023] like image 3As shown, the dual-motor side swing assembly includes a body 1, a symmetrically arranged servo motor 6, a motor bracket 7, a pinion 8, a large gear 9, a load-bearing shaft 10, a self-aligning bearing 11, and a leg support 12. The servo motor 6 is fixed on the body 1 through the motor bracket 7, the pinion 8 is connected to the servo motor; the large gear 9 is fixed to the leg bracket 12, the load-bearing shaft 10 is fixed to the body 1, and the load-bearing shaft 10 and the large gear 9 are aligned b...

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Abstract

The invention relates to a leg drive and transmission device for a legged mobile platform. The device comprises a double-motor side swing component, a connecting rod booster component and a combined shock-absorbing component, wherein the side swing motion of each leg of the platform is completed through the double-motor side swing component; the double-motor side swing component avoids a radial load on the motor shafts by gear transmission to prolong the service lives of the motors, amplifies the output torques of the servomotors and improves the accuracy of controlling the side swing motion of the platform; the leg-lifting motion of each leg of the platform is completed through the connecting rod booster component; the connecting rod booster component converts a linear motion into a rotary motion, amplifies the output forces of the electrical cylinders through the booster lever based on the lever principle and increases the load-carrying capability of the platform; and the combined shock-absorbing component comprises multiple stages of springs and mass blocks, the multiple stages of springs can effectively absorb the ground impact on the platform during motion, and the mass blocks make a reciprocating sliding motion to reduce small-amplitude jump of the legs during motion. Therefore, the motion stability of the platform is improved.

Description

technical field [0001] The invention belongs to the application field of mobile robots, and in particular relates to a driving transmission device for legs of a foot motorized platform. Background technique [0002] The footed robot is an important part of the ground mobile robot, which mainly uses the alternating motion of the robot's legs to move. Compared with other types of mobile robots, legged robots have stronger adaptability to unstructured environments, and can perform tasks in areas where wheeled and tracked robots cannot enter. Especially the legged robots designed according to bionics, they not only have the perfect structure evolved by animals for thousands of years, but also have a stronger power system than animals, and can achieve more complex functions. Because bionic footed robots involve many disciplines such as machinery, automation, information, materials, artificial intelligence, etc., and have broad application prospects, the research on bionic footed...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 罗庆生常青韩宝玲马朋
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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