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A parallel wheel-foot robot leg structure and mobile robot

A robot and wheel foot technology, which is applied in the field of robots, can solve the problems of small weight and large joint swing angle, and achieve the effect of large rotation angle, reduced moment of inertia, and increased stiffness

Active Publication Date: 2021-04-16
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] The purpose of the present invention is to overcome the defects of the prior art and provide a parallel wheel-footed robot leg structure. The three driving modules are all fixedly connected on the frame to minimize the load; the rollers are fixedly connected to the front swing module In addition, the complexity of the structure is not increased (no additional rollers and drivers are required), and the added weight is also very small; finally, the joint swing angles in the present invention are relatively large, which can not only meet the needs of walking, but also the robot dog The front paws can also be flipped vertically to complete actions similar to ANYmal pressing the elevator button

Method used

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  • A parallel wheel-foot robot leg structure and mobile robot
  • A parallel wheel-foot robot leg structure and mobile robot
  • A parallel wheel-foot robot leg structure and mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] Embodiment 1: see attached Figure 9a-15 As shown, the parallel wheel-footed robot leg structure of the present invention includes a frame, a side swing axis module, a front swing axis module, a thigh module, a shank module and rollers. The leg structure is a parallel mechanism, in which the frame is a static platform, and the lower leg is a dynamic platform at the end. The side swing can be a roll motion (Roll), and the front swing can be a pitch motion (Pitch).

[0054] More specifically, the drive module 1 includes a frame 104 and three drive motors 101, 102, 103 fixedly connected to the frame 104, the output axes of the three drive motors 101, 102, 103 are parallel; the side swing axis module 2 includes The side swing shaft 211 arranged on the frame 104 along the axial direction perpendicular to the drive motor output shaft; the connecting block 501 is fixed on the side swing shaft 211, which can drive the calf module 3, thigh module 4, and front swing through the ...

Embodiment 2

[0072] Embodiment 2: as Figure 17-21 , the difference between this embodiment and Embodiment 1 is that a sector gear 308 is also fixed on the outer side of the flange 105 of the front swing reducer of the thigh, and the passive parallel shaft gear 302 is an incomplete passive parallel shaft gear 302, which refers to a part of the outer circumference There are no tooth settings on the face. When changing from a footed movement to a wheeled movement, first make the side swing angle zero, the big and small legs start to turn upwards from the upright posture, the forward swing speed of the thigh is equal to the forward swing speed of the calf, and the sector gear 308 and the passive parallel shaft gear 302 Gradually meshing, because the passive parallel shaft gear 302 is an incomplete gear, and the active parallel shaft gear 301 and the passive parallel shaft gear 302 are gradually disengaged. The ground continues to rotate with the active parallel shaft gear 301, and the robot ...

Embodiment 3

[0073] Embodiment 3: The difference between this embodiment and Embodiment 1 is: the side swing driving gear 201, the calf swing forward driving gear 202, the thigh swing forward driving gear 203, the thigh swing forward passive gear 204, the calf swing forward driven gear 207, the thigh The forward swing transition gear 206, the forward swing transition gear 209 of the shank and the side swing driven gear 210 are all bevel gears.

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Abstract

The invention relates to a parallel wheel-foot robot leg structure, which comprises a drive module composed of three motors, a side swing axis module, a front swing axis module, a thigh module, a lower leg module and rollers. The leg structure is a parallel mechanism, in which the frame is a static platform, and the lower leg is a dynamic platform at the end. The three driving motors are always connected to the frame, so the leg structure is light in weight, has the characteristics of good rigidity, low energy consumption, and large robot carrying capacity and traction capacity. There is a parallel-axis gear with a large outer diameter in the front swing module, and the driving gear is fixedly connected with the roller, so in addition to the foot movement when the calf touches the ground, the roller can also touch the ground when the thigh and thigh swing upwards off the ground , the mobile robot can use the wheels to realize the wheeled movement mode, which has strong environmental adaptability and can achieve faster movement speed.

Description

technical field [0001] The invention relates to the field of robots, in particular to a parallel wheel-foot robot leg structure. Background technique [0002] At present, most of the existing mobile robots use wheel-foot or leg-foot movement. The wheel-foot movement method has the advantages of relatively low energy consumption and fast movement speed, while the leg-foot movement method has the advantages of strong obstacle-crossing ability due to the large and small leg structure, so many prototypes combine the two together , hoping to take into account the advantages of both. [0003] Such as figure 1 As shown, the Chinese invention patent CN109018058A discloses a wheel-foot integrated robot leg structure. This leg structure includes thighs, calves and foot ends; the whole leg has three groups of hydraulic cylinders with the same structure controlled by servo valves, which can realize leg The side swing of the upper part, the front swing of the thigh and the calf, the f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028B25J11/00B25J18/00B25J17/00B25J9/10
CPCB25J9/102B25J11/00B25J17/00B25J18/00B62D57/028
Inventor 杨东超陶铂吴庆园陈恳朱衡孙可平
Owner TSINGHUA UNIV
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