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Foot retracting device transforming mechanism of biped robot

A biped robot and telescopic device technology, applied in the field of robotics, can solve problems such as slow movement

Pending Publication Date: 2017-05-31
GEER TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the object of the present invention is to provide a deformation mechanism for the foot telescopic device of a biped robot, so as to solve the problem that the biped robot can only realize walking motion, and the motion is very slow when it does not climb stairs or cross obstacles. question

Method used

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  • Foot retracting device transforming mechanism of biped robot
  • Foot retracting device transforming mechanism of biped robot
  • Foot retracting device transforming mechanism of biped robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0059] Such as Figure 3-8 As shown, the deformation mechanism of a biped robot foot telescopic device provided by the present invention includes two groups of telescopic mechanisms installed on the feet of the robot and two groups of walking mechanisms respectively connected with the two groups of telescopic mechanisms; the telescopic mechanism includes Fixed mount 11, telescopic drive motor 1 and telescopic transmission device, fixed mount 11 is fixedly connected with the foot M of robot, telescopic drive motor 1 and telescopic transmission device are installed on the fixed mount 11, and the output shaft of telescopic drive motor 1 and all The above-mentioned telescopic transmission device is connected.

[0060] Described walking mechanism comprises support frame 10, walking drive motor 9 and walking wheel 8, and wherein support frame 10 is connected with described telescopic transmission device, and walking wheel 8 is rotatably installed on the support frame 10 by bearing b...

Embodiment 2

[0071] Such as Figure 9-13 As shown, the telescopic transmission device includes a rotating shaft 3, a cam 5, a worm 13, a worm wheel 14, a roller 6 and a push rod D, wherein the rotating shaft 3 is installed on the fixed frame 11 through the bearing a4, and the cam 5 is sleeved on the rotating shaft 3, And it is connected with the output shaft of the telescopic drive motor 1, the cam 5 is provided with a groove C along the circumferential direction, the push rod D is connected with the support frame 10, the push rod D is provided with a slider aA and a roller 6, the slider aA is connected with the fixed frame The chute B on 11 is slidingly connected, the roller 6 is accommodated in the groove C on the cam 5, and the push rod D on the support frame 10 is in contact with the groove C on the cam 5 through the roller 6. The worm wheel 14 is installed coaxially with the cam 5 , the worm 13 is rotatably mounted on the fixed frame 11 through the bearing c15 and meshed with the worm...

Embodiment 3

[0079] Such as Figure 14-16 As shown, the telescopic transmission device includes a worm 13, a worm wheel 14, a gear 16 and a rack 17, wherein the worm 13 is rotatably mounted on the fixed frame 11 through a bearing c15, and is connected with the output shaft of the telescopic drive motor 1, and the worm wheel 14 And the gear 16 is rotatably installed on the fixed frame 11 through the rotating shaft 3, and the worm wheel 14 is meshed with the worm screw 13. The lower end of the rack 17 is fixedly connected with the support frame 10 , the upper end is slidably connected with the fixed frame 11 , and the gear 16 is engaged with the rack 17 .

[0080] Furthermore, the fixed frame is provided with a guide surface F, and the back surface N of the rack 16 is in contact with the guide surface F on the fixed frame, and can slide relatively.

[0081] The working principle of the present invention is:

[0082] Telescopic drive motor 1 drives worm 13 to drive worm gear 14 to move, wor...

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Abstract

The invention relates to the technical field of robots, in particular to a foot retracting device transforming mechanism of a biped robot. The foot retracting device transforming mechanism comprises two retracting mechanisms and two traveling mechanisms which are mounted on two feet of the robot. Each retracting mechanism comprises a fixing frame, a retraction driving motor and a retraction transmission device, wherein the fixing frame is connected with one foot of the robot, the retraction driving motor and the retraction transmission device are mounted on the fixing frame, and an output shaft of the retraction driving motor is connected with the retraction transmission device. Each traveling mechanism comprises a supporting frame, a traveling driving motor and a traveling wheel, wherein the supporting frame is connected with the corresponding retraction transmission device, the traveling driving motor and the traveling wheel are mounted on the supporting frame, and an output shaft of the traveling driving motor is connected with the traveling wheel. The foot retracting device transforming mechanism has the advantages that the motors drive a retracting device to control retraction of the traveling wheels, so that the biped robot can be transformed into a two-wheel balance robot in a specific environment, and motion superiority of the biped robot and the balance robot can be fully used.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a deformation mechanism of a foot expansion device of a biped robot. Background technique [0002] In recent years, with the invention of information technology, automatic control technology, communication technology, etc., the automation and intelligence of robots have become higher and higher, and more and more robots have entered people's daily lives, making it possible to change people's lifestyles. Ingeniously designed robots not only replace humans to complete various tasks, but also can expand human capabilities in many ways, playing an important role in various fields. [0003] Currently, biped robots on the market can only walk. When they are not climbing stairs or crossing obstacles, their movements are very slow, and they cannot quickly complete tasks in an environment that requires high speed and low energy consumption. Contents of the invention [0004] In view of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 董学会唐明军
Owner GEER TECH CO LTD
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