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A c-shaped outrigger for walking and a walking robot

A technology of walking posture and driving mechanism, applied in the field of walking robots, can solve problems such as walking difficulties, and achieve the effect of strong adaptability to the environment

Active Publication Date: 2020-06-23
BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It stands stably, cannot be pushed down, and can maintain an upright posture even if the soles of the feet are uneven, but it is more difficult to walk on different terrains

Method used

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  • A c-shaped outrigger for walking and a walking robot
  • A c-shaped outrigger for walking and a walking robot
  • A c-shaped outrigger for walking and a walking robot

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Embodiment Construction

[0037] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0038] Such as figure 2 As shown, the C-shaped leg A for walking of the present invention includes a C-shaped leg A1, a walking frame, and a driving mechanism.

[0039] The C-shaped legs can greatly improve the smoothness of the robot's travel, protect the feet and also have a good shock absorption effect. The end of the C-shaped leg A1 has a gait adjustment section, which is a straight bar, its upper surface forms a guide slide, and its lower surface forms a rack.

[0040] Among them, the C-shaped legs are made of nylon material, which can reduce the weight of the legs and make walking more smooth, and can deform when the robot legs contact the ground, reducing the impact on the ground. Th...

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Abstract

The invention discloses a C-type supporting leg for walking and a walking robot. The C-type supporting leg comprises C-type legs, walking supporting brackets and drive mechanisms; the C-type legs areprovided with gait adjustment sections, guiding slide grooves are formed in the first surfaces of the gait adjustment sections, and racks are arranged on the second surfaces of the gait adjustment sections; the walking supporting brackets include first pulleys, second pulleys and first gears, the first pulleys and the second pulleys are disposed on the first surfaces of the gait adjustment sections and are matched with the guiding slide grooves, and the first gears are disposed on the second surfaces of the gait adjustment sections and meshed with the racks; the drive mechanisms include driveshafts for driving the first gears and drive sleeves which sleeve the outer circumferences of the drive shafts, and the drive sleeves are fixedly connected to the supporting brackets. Through the cooperation of the C-type legs, the robot has two degrees of freedom and three gaits during the travel process, and can adapt to most terrains, the walking gait can be changed at any time according to thedifferent terrains, and the robot has strong adaptability to the environment.

Description

technical field [0001] The invention relates to the field of walking robots, in particular to a walking robot with two degrees of freedom and three walking gaits and a C-shaped outrigger for walking. Background technique [0002] At present, the walking robot is an important branch of the robot family, which not only has a strong carrying capacity, but also easily adapts to uneven terrain. It can walk slowly and smoothly using a statically stable gait and run with a dynamically stable gait. Compared with wheeled and tracked mobile robots, walking robots have unique and superior performance on rough roads. Under this background, the research of walking robots has flourished. [0003] The walking robot mainly sends the condition of the ground back to the computer through the gravity sensor of its body and the tactile sensor of the soles of the feet, and the computer makes a judgment based on the road surface condition, then balances the body, and walks stably back and forth, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 秦建军路可欣李鑫磊林键陈红兵李欢桂
Owner BEIJING UNIV OF CIVIL ENG & ARCHITECTURE