Wheel-foot type robot leg system with damping function

A shock absorption system and robot technology, applied in the field of robots, can solve the problems of low mobility, unstable walking, imprecise motion trajectory, etc., and achieve the effect of simple structure and lower overall weight.

Active Publication Date: 2020-12-29
KUNMING UNIV OF SCI & TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

Wheeled mobile robots have low mobility on muddy and rough roads, and it is difficult to cross obstacles; footed mobile robots have weak carrying capacity, and there are still problems such as slow speed, low efficiency, and unstable walking when walking on flat roads; Most legged mobile robots do not have

Method used

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  • Wheel-foot type robot leg system with damping function
  • Wheel-foot type robot leg system with damping function
  • Wheel-foot type robot leg system with damping function

Examples

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Example Embodiment

[0033]Example 1: Such asFigure 1-10As shown, a wheel-footed robot leg system with shock absorption function includes a hip joint mechanism 2, a thigh mechanism 3, a calf mechanism 4, a spring damping system 5, and a wheel-foot mechanism 6; the hip joint mechanism 2, Used to rotate relative to the main robot structure 1, driving the thigh mechanism 3, the calf mechanism 4, the spring damping system 5, and the wheel-foot mechanism 6 to rotate with the hip joint mechanism 2. The thigh mechanism 3 is used to rotate relative to the hip joint mechanism 2. , Drive the calf mechanism 4, the spring shock absorption system 5, and the wheel foot mechanism 6 to rotate with the thigh mechanism 3. The calf mechanism 4 is used to rotate relative to the thigh mechanism 3, and drives the spring shock absorption system 5 and the wheel foot mechanism 6 to follow the calf The mechanism 4 rotates; the spring damping system 5 is used to connect the calf mechanism 4 and the wheel-foot mechanism 6 for shoc...

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Abstract

The invention discloses a wheel-foot type robot leg system with a damping function. The wheel-foot type robot leg system comprises a hip joint mechanism, a thigh mechanism, a shank mechanism, a springdamping system and a wheel-foot mechanism; the hip joint mechanism is used for rotating relative to a robot main body structure; the thigh mechanism is used for rotating relative to the hip joint mechanism; the shank mechanism is used for rotating relative to the thigh mechanism; the spring damping system is used for damping; and the wheel-foot mechanism is used for driving the robot main body structure, the hip joint mechanism, the thigh mechanism, the shank mechanism and the spring damping system to do wheel-type movement along with the wheel-foot mechanism. According to the wheel-foot typerobot leg system, wheel type movement and foot type movement can be achieved, compared with a traditional wheel-foot combined type robot, the robot is simpler in structure, the wheel type movement and the foot type movement can be achieved only by adding the wheel-foot mechanism to the foot end of a foot type movement robot, a wheel type movement mechanism does not need to be independently designed at other positions of the robot, and the overall weight of the robot is effectively reduced.

Description

technical field [0001] The invention relates to a wheel-foot robot leg system with a shock absorbing function, belonging to the technical field of robots. Background technique [0002] At present, mobile robots can be divided into wheeled mobile robots, crawler mobile robots, and legged mobile robots according to their mobile actuators. Wheeled mobile robots have low mobility on muddy and rough roads, and it is difficult to cross obstacles; footed mobile robots have weak carrying capacity, and there are still problems such as slow speed, low efficiency, and unstable walking when walking on flat roads; Most legged mobile robots do not have a shock absorption system. Elastic rubber rings are often added to the feet to reduce impact, but the effect is not ideal, and it will accelerate the wear of the rubber ring, and the trajectory of the robot is not accurate when walking. At the same time, it also greatly reduces the service life of the motor. Contents of the invention ...

Claims

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Application Information

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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 胡康康陈明方姚国一陈中平张祥郑仕高陈平张立朋莫翔
Owner KUNMING UNIV OF SCI & TECH
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