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Self-limited foot end mechanism for waling robot

A walking robot and foot end technology, applied in the field of robotics, can solve problems such as poor limit ability, poor adaptability, and less degrees of freedom, and achieve the effects of low manufacturing cost, simple structure, and reduced cost and difficulty

Pending Publication Date: 2019-10-29
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Based on the technical problems of large and heavy-loaded hexapod robots with fewer degrees of freedom, poor adaptability, and poor limit ability in the existing technology, the present invention proposes a self-limiting foot end mechanism for walking robots

Method used

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  • Self-limited foot end mechanism for waling robot
  • Self-limited foot end mechanism for waling robot
  • Self-limited foot end mechanism for waling robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] refer to Figure 1-3 , a self-limiting foot-end mechanism of a walking robot, comprising a foot-end rubber base 18 and a foot-end calf flange 7, the top outer wall of the foot-end rubber base 18 is provided with first fixing holes distributed in a ring, and the first fixing holes The inner wall of the foot end base 18 is connected with the foot end base 14 through the first fixing mechanism, and the top outer wall of the foot end base 14 is provided with a second fixing hole distributed in a ring, and the second fixing hole The inner wall of the foot end is plugged with a second fixing mechanism, the foot end base is connected with the foot end ball head limit plate 13 through the second fixing mechanism, and the top outer wall of the foot end calf flange 7 is provided with a third fixing hole distributed in a ring, and the second The inner walls of the three fixing holes are plugged with a third fixing mechanism, and the foot-end calf flange 7 is connected with a spoke...

Embodiment 2

[0036] refer tofigure 1 , a self-limiting foot-end mechanism of a walking robot. Compared with Embodiment 1, this embodiment also includes a sealing groove on the inner wall of the foot-end ball head limiting plate 13, and a rubber sealing ring 20 is installed inside the sealing groove. .

[0037] During the movement, the rubber sealing ring 20 can prevent the leakage of lubricating grease during the movement, save resources and reduce the waste of lubricating grease.

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Abstract

The invention belongs to the technical field of robots and particularly relates to a self-limited foot end mechanism for a waling robot. In order to solve the problems that a large-sized heavy-load six-foot robot in the prior art is low in degree of freedom and poor in self-adaptability and limiting capacity, the following scheme is proposed. The mechanism comprises a foot end rubber base and a food end calf flange, a first fixing hole which is annularly distributed is formed in the outer wall of the top of the foot end rubber base, a first fixing mechanism is inserted to the inner wall of thefirst fixing hole, a food end base is connected to the foot end rubber base through the first fixing mechanism, and a second fixing hole which is annularly distributed is formed in the outer wall ofthe top of the foot end base. The self-limited foot end mechanism can effectively bear the heavy-load multi-foot robot and is low in processing manufacturing cost, for the forward movement condition of a robot body and the current specific road condition of the ground, the state of the robot body can be changed so that the robot can adapt to the current condition, and the mechanism has good self-adaptability and bearing capacity.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a self-limiting foot end mechanism of a walking robot. Background technique [0002] Robots are one of the greatest achievements in the field of science and technology, and they have continued to change human society in just over a decade. Robots exist in all fields such as industry, agriculture, military, aerospace, medical care, and entertainment. Nowadays, people's requirements for robots have become Not only to complete some simple and specific tasks, but even to go outdoors, ocean and sky. Among them, the ground mobile robots mainly have wheeled, footed, crawler, creeping and vibrating methods, and hexapod robots are A typical robot, compared with wheeled and tracked robots, has better mobility and the ability to adapt to complex terrain. Its research has important scientific significance and practical application value. The frequency of human encounters with natural disaster...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 刘昕晖张菁伦金兆辉陈伟王洪洋田浩张昊昱白文秀潘雨龙
Owner JILIN UNIV
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