Hybrid robot leg mechanism and walking robot based on upr-r structure
A leg mechanism and robot technology, applied in motor vehicles, transportation and packaging, etc., can solve problems affecting the normal operation of robots, slow walking speed, poor leg mechanism flexibility, etc., to achieve large range of motion, reduce vibration, and reduce weight Effect
Inactive Publication Date: 2020-07-21
SHANDONG UNIV
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Problems solved by technology
[0004] For this reason, the technical problem to be solved by the present invention is that the leg mechanism of the hybrid robot in the prior art has many structural components, which leads to poor flexibility of the leg mechanism, slow walking speed, and easily causes mechanism vibration, which affects the normal operation of the robot. In order to provide a simplified structure, good flexibility, large range of motion, stable walking and fast speed, and can effectively protect the set of precision instruments, to ensure the normal operation of the robot based on the UPR-R structure of the hybrid robot leg mechanism and walking robot
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[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0032] Such as Figure 1-3 As shown, it is a preferred embodiment of the leg mechanism of the hybrid robot based on the UPR-R structure of the present invention, including a static platform 1 and a thigh assembly connected to the static platform 1, and a thigh assembly connected to the thigh assembly through a moving platform 2. As for the lower leg assembly, in the initial state, acute angles are formed between the static platform 1 and the thig...
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The invention relates to the field of walking robots. The purpose is to provide a hybrid robot leg mechanism and a walking robot based on the UPR-R structure, which has simplified structure, good flexibility, large range of motion, stable walking and fast speed, and can effectively protect the set parts. precision instrument. The above-mentioned leg mechanism includes a static platform (1), a thigh assembly connected to the static platform (1), and a lower leg assembly connected to the thigh assembly through a dynamic platform (2), and the thigh assembly includes at least three UPR structures. branch chain, the lower leg (27) is rotatably connected to the thigh assembly through the moving platform (2); in the initial state, between the static platform (1) and the thigh assembly, between the thigh assembly and the The calf components are all set at sharp angles between each other. The invention solves the problems that the existing hybrid robot has many structural components of the leg mechanism, poor flexibility of the leg mechanism, slow walking speed, and easy vibration of the mechanism.
Description
technical field [0001] The invention relates to the technical field of walking robots, in particular to a leg mechanism of a hybrid robot based on a UPR-R structure and a walking robot. Background technique [0002] In recent years, the demand for underwater robots in underwater safety inspection, fish farming, ship cleaning, marine engineering, science and education has been increasing. Under the dual promotion of technological innovation and market demand, the underwater robot industry has developed rapidly. At present, underwater robots can be divided into four types: wheeled robots, crawler robots, legged robots and hybrid robots according to their walking methods. Compared with other walking robots, legged robots have lower requirements on the working environment, are more adaptable, and have greater use value. Legged robots can be divided into biped robots, quadruped robots, hexapod robots and multi-legged robots. The stability of quadruped robots is stronger than tha...
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IPC IPC(8): B62D57/032
Inventor 马广英刘润晨陈原王光明高军
Owner SHANDONG UNIV