Air bag type robot leg buffer mechanism with rigidity being adjustable

Abstract

The invention provides an air bag type robot leg buffer mechanism with the rigidity being adjustable. The air bag type robot leg buffer mechanism comprises a connecting block, an air bag, a leg outercylinder, a telescopic rod and a force sensor. The connecting block is mounted at the upper end of the leg outer cylinder, the telescopic rod is mounted in the leg outer cylinder, the lower portion ofthe telescopic rod extends out of the leg outer cylinder, and the space between a piston part at the upper end of the telescopic rod and the inner top of the leg outer cylinder is an oil chamber. Theoil chamber is divided into an upper portion and a lower portion through a separation plate, the upper portion is provided with the air bag, hydraulic oil is stored in the lower portion, and the lower portion is connected with an outer pressure adjusting loop. Damping holes are formed in the separation plate, and the force sensor used for measuring the magnitude and the direction of the contact force between a foot and the ground is mounted at the lower end of the telescopic rod. The air bag type robot leg buffer mechanism can adjust the rigidity of an air spring online according to the ground hardness information detected by the sensor device, the impact of the ground on a robot is reduced, the stability of the robot when walking in dynamic gait is improved, and thus the robot can walk in a most stable state.

Description

technical field [0001] The invention relates to a leg buffer mechanism of a hydraulically driven mammal-imitating mobile robot, which belongs to the technical field of multi-legged mobile robots. Background technique [0002] At present, the relevant technologies of wheeled and tracked mobile robots have been fully developed, and many various mobile robot products have been applied to entertainment, anti-terrorism and explosives, hazardous environment operations, and military fields. Wheeled robots have the advantages of small frictional resistance and fast speed, but they are only suitable for flat ground environments and have poor obstacle-surmounting ability. Tracked robots have strong adaptability to the environment, and can climb over obstacles, climb stairs, and cross trenches, etc., but their transmission efficiency is low. Wheelless, whether it is a wheeled robot or a crawler robot, can only walk on less than half of the land on the earth, while humans and animals c...

AI Technical Summary

Problems solved by technology

Therefore, the problem of dynamic walking stability is a difficult problem for quadruped mammalian robots

This mechanism alleviates the ground impact force when the f...

Images