A leg structure of a wheel-foot integrate robot is disclosed

A robot, all-in-one technology, applied in the field of robots, can solve problems such as low travel speed, and achieve the effects of fast response speed, high control accuracy and good dynamic performance

Pending Publication Date: 2018-12-18
HARBIN UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0002] The wheel type has the advantages of simple structure, easy control, fast moving speed and strong stability, but the ground must be continuous and flat, and it cannot pass when it encounters a continuous obstacle of a certain height.
[0003] Compared with wheeled robots, foo

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  • A leg structure of a wheel-foot integrate robot is disclosed
  • A leg structure of a wheel-foot integrate robot is disclosed
  • A leg structure of a wheel-foot integrate robot is disclosed

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[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0020] A wheel-foot-integrated robot leg structure, the structure of which is as follows figure 1 As shown, it includes: a first hydraulic cylinder (1), a connecting rod (2), a second hydraulic cylinder (3), a thigh connecting rod (4), a third hydraulic cylinder (5), a lower leg (6), a spring (7) ), wheel (8), stepper drive integrated machine (9), oil block (10), servo valve (11), pin shaft (12), yaw shaft (13).

[0021] The piston rod of the first hydraulic cylinder (1) is hinged with the connecting rod (2) to form a yaw hip joint, and the connecting rod (2) and the second hydraulic cylinder (3) are respectively hinged with the upper part of the thigh connecting rod (4) to form a hip joint , the thigh link (4) and the third hydraulic cylinder (5) are respectively hi...

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Abstract

The invention relates to a leg structure of a wheel-foot integrated robot, which comprises a yaw mechanism, a thigh, a lower leg and a foot end of the robot. The whole leg has three sets of identicalhydraulic cylinders controlled by servo valves, the leg swing can be realized, the forward and backward movement of the thighs and calves, The direction of the wheels can be adjusted arbitrarily, andthere is a separate power source at the foot of the robot. A stepping drive machine is used to integrate the driving and control. According to the feedback of the motor motion parameters and real-timestate, the control parameters are adjusted at any time to make the motor reach the preset torque or speed. When traveling on a flat section of the road, the foot motor can be used alone to drive thewheels to rotate, so as to make the movement faster and save energy; When a user moves on a bumpy stretch of road, hydraulic actuators can be used to help the robot get over obstacles.

Description

technical field [0001] The invention relates to the field of robots, in particular to the leg structure of a hydraulic quadruped robot, which can make the robot move faster and more flexibly by using a wheel-foot integrated structure. Background technique [0002] The wheeled type has the advantages of simple structure, easy control, fast moving speed and strong stability, but requires that the ground must be continuous and flat, and it cannot pass when it encounters a continuous obstacle of a certain height. [0003] Compared with wheeled robots, footed robots only need discrete support points, can adapt to almost all kinds of complex terrains, can cross obstacles, and have better flexibility and adaptation in complex terrains and unstructured environments However, the disadvantage of legged robots is the low speed of travel. Contents of the invention [0004] The object of the present invention is to solve the deficiencies of the above-mentioned technologies, and propos...

Claims

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Application Information

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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 邵俊鹏迟涵威孙桂涛
Owner HARBIN UNIV OF SCI & TECH
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