A variable damping flexible leg and its quadruped robot
A magneto-rheological damper and variable damping technology, which is applied to motor vehicles, elastic suspensions, suspensions, etc., can solve the problems of no buffer structure, aging, robot damage, etc., and achieve a good effect of vibration reduction and buffering
Active Publication Date: 2019-11-12
SHENYANG SIASUN ROBOT & AUTOMATION
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Problems solved by technology
In existing robots, especially quadruped robots, in order to facilitate the control and make the control simpler and more convenient, the leg structure is generally mainly a rigid structure; although this structure is simple and convenient to control, it does not have any cushioning and vibration reduction structures. , there is a large shock and vibration during use
[0003] Therefore, in the leg mechanism of the robot with the above-mentioned rigid structure, the rigid structure mostly adopts passive vibration reduction, the anti-vibration ability is weak, and the robot is greatly affected by vibration; during long-term use, it is easy to cause vibration and impact to cause damage to the robot. Or aging, affecting its service life
Method used
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[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0024] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation shown in the drawings Or positional relationship is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply...
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The invention provides a variable damping flexible leg comprising a hip joint, a thigh, a knee joint, a shank and a foot end which are sequentially connected. The hip joint is provided with a first driving system for driving the whole variable damping flexible leg to stretch outwards, a second driving system for driving the thigh to rotate and a third driving system for driving the knee joint to rotate. The first driving system and / or the second driving system is provided with a variable damping control device which comprises a magneto-rheological damper and a spring, the magneto-rheological damper is sleeved with the spring, and the first driving system and / or the second driving system is connected with the magneto-rheological damper and the spring. According to the variable damping flexible leg, the first driving system and / or the second driving system is provided with the variable damping device, the magneto-rheological damper and the spring are combined, the characteristic of variable damping of all the joints is achieved through the magneto-rheological damper, and thus the better vibration reduction and buffering effect can be achieved.
Description
technical field [0001] The invention relates to the field of automatic robots, in particular to a variable damping flexible leg and a quadruped robot thereof. Background technique [0002] In the field of robotics, quadruped robots are one of them, and more specifically belong to one of legged robots. In existing robots, especially quadruped robots, in order to facilitate the control and make the control simpler and more convenient, the leg structure is generally mainly a rigid structure; although this structure is simple and convenient to control, it does not have any cushioning and vibration reduction structures. , There is a large shock and vibration during use. [0003] Therefore, in the leg mechanism of the robot with the above-mentioned rigid structure, the rigid structure mostly adopts passive vibration reduction, the anti-vibration ability is weak, and the robot is greatly affected by vibration; during long-term use, it is easy to cause vibration and impact to cause...
Claims
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IPC IPC(8): B62D57/032B60G15/02
Inventor 何伟全付杰李学威陈廷辉张鹏冯春雨
Owner SHENYANG SIASUN ROBOT & AUTOMATION