Steering-by-wire steering platform and manipulation method for a heavy-duty manned legged robot

A wire-controlled steering and robot technology, applied in mechanical steering mechanisms, steering mechanisms, electric steering mechanisms, etc., to increase driving comfort, reduce manipulation burden, and improve compliance.

Active Publication Date: 2018-04-10
严格科创产业发展集团合肥有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention is to solve the problem that the driver cannot manipulate the heavy-duty footed robot to perform steering movement very softly and conveniently, and now provides a wire-controlled steering operation platform and operation method for the heavy-duty manned footed robot

Method used

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  • Steering-by-wire steering platform and manipulation method for a heavy-duty manned legged robot
  • Steering-by-wire steering platform and manipulation method for a heavy-duty manned legged robot
  • Steering-by-wire steering platform and manipulation method for a heavy-duty manned legged robot

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specific Embodiment approach 1

[0039] Specific implementation mode 1: refer to the attached figure 1 Describe this embodiment in detail, the linear steering manipulation platform of the heavy-duty manned legged robot described in this embodiment includes a steering wheel module, a motion control module and a steering execution module, and the steering wheel module is composed of a steering wheel, a steering shaft, a torque sensor, Composed of a rotation angle sensor, a road sensor motor, a reducer and a motor current sensor; the motion control unit module is composed of a motion planning unit and a motion controller; the steering execution module is composed of a single-leg controller, a three-degree-of-freedom hydraulically driven leg , rotary transformer, pressure sensor and displacement sensor.

specific Embodiment approach 2

[0040] Specific embodiment 2: This embodiment is a further description of the manipulation method realized by the steering-by-wire steering platform of a heavy-duty manned footed robot described in specific embodiment 1. figure 2 Specifically explaining this embodiment, the steering wheel in the steering wheel module is fixed to one end of the steering shaft through a key connection, and its function is manifested in two aspects. On the one hand, it converts the torque input by the driver into a steering angle and outputs it; feedback information to the driver.

specific Embodiment approach 3

[0041] Specific embodiment 3: This embodiment is a further description of the manipulation method realized by the steering-by-wire steering platform of a heavy-duty manned footed robot described in specific embodiment 1. figure 2 Specifically explaining this embodiment, the steering shaft in the steering wheel module is used as a rigid connector to connect other devices in the module in series, and to apply the road surface information simulated by the road sensor motor to the steering wheel.

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Abstract

The invention discloses a steer-by-wire manipulating platform and method for a heavy manned foot type robot, and aims to solve the problems that the manipulating difficulty is large due to attributes of large weight, complex structure and the like of the robot in the sheering process. The manipulating platform consists of a steering wheel module, a motion control unit module and a sheering execution module. The manipulating method realized based on the manipulating platform can be summarized as follows: the steering wheel module is used for receiving manipulating instructions of a driver on one hand and feeding back road sensing information to the driver on the other hand; the motion control unit module is used for planning the foot end coordinates of the robot on one hand and controlling a road sensing motor to output resisting moment on the other hand; the sheering execution module is used for planning the target corners of joints of leg parts and driving the legs to support a robot body to sheer on one hand, and feeding back collected leg part information to the motion control unit module on the other hand. Through introduction of the steering wheel manipulating mode, the manipulating load of the driver is reduced, and meanwhile the manipulating accuracy is improved. The steer-by-wire manipulating platform and method are suitable for manipulating the foot type robot.

Description

technical field [0001] The invention belongs to the technical field of legged robot manipulation, and in particular relates to a method for driving a legged robot in a steering wheel mode to complete the steering movement during travel, and the steering wheel control information is transmitted in the form of electrical signals. Background technique [0002] Heavy-duty manned legged robots have become one of the research hotspots in the field of robotics because of their good adaptability, large load capacity, and high stability in all working conditions. As a manned, multi-joint redundant legged robot, the existing intelligent control algorithm cannot guarantee that the robot can autonomously complete the tasks assigned by the driver in an extremely complex environment, so a set of reliable , and a convenient control system have become one of the problems to be solved urgently before the heavy-duty manned footed mobile robot can be put into use. [0003] Among the various m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032B62D5/04
CPCB62D5/001B62D5/0481B62D57/032
Inventor 尤波李佳钰许家忠蔡佳龙王岩
Owner 严格科创产业发展集团合肥有限公司
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