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A leg structure of a footed robot and a footed robot having the same

A robot and leg technology, applied in the leg structure of footed robots and the field of footed robots with it, can solve the problems of limited expansion and contraction of hydraulic cylinders, obstacle surmounting ability of footed robots, influence of center of gravity adjustment ability, movement of footed robots Insufficient space and other problems, to achieve the effect of efficient movement, clear movement principle, and convenient movement

Active Publication Date: 2019-12-03
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Moreover, the movement space of the leg of the existing legged robot depends entirely on the expansion and contraction of the hydraulic cylinder, and the expansion and contraction of the hydraulic cylinder depends on the design of the hydraulic cylinder. The design of the hydraulic cylinder often needs to comprehensively consider factors such as weight and structural space. The high-power hydraulic cylinder does not meet the objective requirements of the legged robot mechanism. Therefore, the expansion and contraction of the hydraulic cylinder in the existing design is limited, which leads to the lack of space for the legs of the legged robot to move, which also makes the obstacle-crossing of the legged robot difficult. ability, center of gravity adjustment, and stride length per step are affected

Method used

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  • A leg structure of a footed robot and a footed robot having the same
  • A leg structure of a footed robot and a footed robot having the same
  • A leg structure of a footed robot and a footed robot having the same

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Embodiment 1

[0030] This embodiment provides a footed robot leg structure, such as figure 1 As shown, the structure includes a crank-rocker mechanism, the rocker 3 of the crank-rocker mechanism is connected with a driving device 2 for driving its rotation, the crank 5 of the crank-rocker mechanism is connected with a moving foot 11, and drives the moving foot 11 swings.

[0031] The crank and rocker mechanism includes a frame 1, a rocker 3, a connecting rod 4 and a crank 5, wherein the free end of the rocker 3 and the connecting rod 4 are hinged at the first hinge point 7, and the fixed end of the rocker 3 is hinged with the frame 1 at the first hinge point 7. Two hinge points 8; the fixed end of the crank 5 and the frame 1 are hinged at the third hinge point 9, and the free end of the crank 5 and the connecting rod 4 are hinged at the fourth hinge point 10. One end of the driving device 2 is hinged to the frame at the fifth hinge point 12 , and the other end is hinged to the rocker 3 . ...

Embodiment 2

[0041] Such as Figure 6 As shown, Embodiment 2 provides a footed robot leg structure, which is basically the same as the footed robot leg structure in Embodiment 1. The difference is that this embodiment adds A second sports foot 17 is provided, that is, a second sports foot 17 is hinged at one end of the sports foot 11, and the second sports foot 11 and the second sports foot 17 are driven and connected by a second drive device and a second crank-rocker mechanism, And the second driving device drives the rocker connected to the second crank-rocker mechanism, and the crank of the second crank-rocker mechanism is hinged to the second moving foot 17 . In this embodiment, the structures of the above-mentioned second driving device and the second crank-rocker mechanism are the same as those of the driving device 2 and the crank-rocker mechanism in Embodiment 1, and will not be repeated here.

[0042] Specifically, in this embodiment, the crank 5 and the sports foot 11 are integr...

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Abstract

The invention belongs to the technical field of robots, and discloses a foot-type robot leg structure. The foot-type robot leg structure comprises a crank and rocker mechanism, a rocker of the crank and rocker mechanism is connected with a driving device and is driven by the driving device; and a crank of the crank and rocker mechanism is connected with moving feet, and the moving feet is driven by the crank to swing. The invention further discloses a foot-type robot of the leg structure of the foot-type robot. Movement controlling of the leg of the robot is realized by matching of the crank and rocker mechanism and the driving device. Compared with the prior art, the limitation to leg movement performance of the robot from the movement performance of an input part and expansion amount of a hydraulic cylinder is overcome, the movement speed of the leg is increased, and movement space of the leg is enlarged. The foot-type robot leg structure and the foot-type robot with same are simple in structure, clear in movement principle, and convenient to realize movement.

Description

technical field [0001] The invention relates to the application field of robot technology, in particular to a leg structure of a footed robot and a footed robot with the same. Background technique [0002] Footed robot is one of the most cutting-edge topics in the field of robotics research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence. Footed robots show strong adaptability due to their non-continuous contact with the ground during walking, especially on passages with obstacles or inaccessible work sites, so they are considered It is widely used in emergency rescue, disaster relief, mine clearance, site exploration, entertainment and civil and other fields. The leg of the robot is an important part of the robot and plays a very important role in the movement of the legged robot. Therefore, in order to make the legged robot work better, the design of the legs is particular...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 杨跞彭放王鹏程孙开胜
Owner SIASUN CO LTD
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