A wheeled robot leg system with shock absorption function

A shock absorption system and robot technology, which is applied in the field of robots, can solve problems such as unstable walking, low mobility, and inaccurate motion trajectories, and achieve the effects of precise motion trajectories, compact mechanical structures, and high-efficiency motion effects

Active Publication Date: 2021-08-24
KUNMING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • 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 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

Method used

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  • A wheeled robot leg system with shock absorption function
  • A wheeled robot leg system with shock absorption function
  • A wheeled robot leg system with shock absorption function

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Embodiment 1

[0033] Embodiment 1: as Figure 1-10 As shown, a wheel-foot robot leg system with shock absorption function includes a hip joint mechanism 2, a thigh mechanism 3, a calf mechanism 4, a spring shock absorbing system 5, and a wheel-foot mechanism 6; the hip joint mechanism 2, It is used to rotate relative to the main body structure 1 of the robot, and drives 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 damping system 5, the wheel foot mechanism 6 to rotate with the thigh mechanism 3; The mechanism 4 rotates; the spring damping system 5 is used to connect the calf mechanism 4 and the wheel foot mechanism 6 for shock absorption; the wheel foot mechanism 6 is used to drive the robot main structure 1, the hip joint mechanism 2, the thigh Mechanism 3, shank mechanis...

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PUM

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Abstract

The invention discloses a wheel foot robot leg system with a shock absorbing function, comprising a hip joint mechanism, a thigh mechanism, a calf mechanism, a spring shock absorbing system, and a wheel foot mechanism; the hip joint mechanism is used to rotate relative to the main structure of the robot The thigh mechanism is used to rotate relative to the hip joint mechanism; the lower leg mechanism is used to rotate relative to the thigh mechanism; the spring damping system is used for shock absorption; the wheel foot mechanism is used to drive the main structure of the robot, the hip joint mechanism, the thigh mechanism, and the lower leg The mechanism and the spring damping system carry out wheeled movement with the wheel foot mechanism. The invention can not only realize wheeled movement, but also realize footed movement. Compared with the traditional wheel-foot compound robot, the robot has a simpler structure, and only needs to add wheel feet to the foot end of the foot-type mobile robot. The mechanism can realize wheeled movement and footed movement, and there is no need to separately design wheeled movement mechanism at other positions of the robot, which effectively reduces the overall weight of the robot.

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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Patent Type & Authority Patents(China)
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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