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A six-bar mechanism for a footed robot

A six-bar mechanism and robot technology, applied in the field of robots, can solve the problems of inability to adapt to complex terrain environment, movement speed, energy efficiency disadvantage, etc., and achieve the effect of solving the problem of hard landing

Active Publication Date: 2022-04-08
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Compared with wheeled robots, legged robots have significant advantages in terrain adaptability, and have the ability to walk on complex ground and avoid obstacles, but they are at a disadvantage in terms of movement speed and energy efficiency.
Wheeled robots have the highest movement speed, but cannot adapt to complex terrain environments

Method used

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  • A six-bar mechanism for a footed robot
  • A six-bar mechanism for a footed robot
  • A six-bar mechanism for a footed robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0018] Such as figure 1 , the present invention provides a schematic structural diagram of a six-bar mechanism for a legged robot, the six-bar mechanism includes a hip bar 1, a thigh bar 2, a calf bar 3, an upper passive bar 4, a lower passive bar 5, a first rotating Slider mechanism 6, elastic member 7 and second rotary slider mechanism 8; one end of said hip rod 1 is connected with one end of thigh rod 2 through a rotary joint, and the other end of said thigh rod 2 is connected with one end of calf rod 3 The connection is rotatable through a revolving joint, which refers to a revolving joint containing a driving device, which can make two connected parts rotate relative to each other, and realize the movement of the six-bar mechanism through the coordinated driving of the two revolving joints. One end of the first rotating slider mechanism 6 is movably connected with the other end of the calf bar 3 through a rotating shaft; the other end of the hip bar 1 is movably connected...

Embodiment 2

[0020] Such as figure 2 , the present invention also provides a structural schematic diagram of a six-bar mechanism for a legged robot, the six-bar mechanism also includes: a driving wheel 9, a driven wheel 10, a mechanical foot 11 and a driving device 12, the driving wheel 9 and One end of the lower passive rod 5 close to the first rotary slider mechanism 6 is movably connected through a rotating shaft, and the lower end of the mechanical foot 11 and the lower leg rod 3 is movably connected through a rotating shaft, and the rotating joint connecting the lower end of the lower leg rod 3 and the mechanical foot 11 The calf rod 3 and the mechanical foot 11 can be relatively rotated, the driven wheel 10 is movably connected to the mechanical foot 11 through a rotating shaft, the driving device 12 is fixedly connected to the upper driven rod 4, and the driving device 12 includes a motor 1201, a synchronous Wheel 1202 and synchronous belt 1203, in order to reduce the moment of ine...

Embodiment 3

[0022] Such as image 3 and Figure 4 , using the six-bar mechanism of the legged robot for the biped robot, including two sets of six-bar mechanisms for the legged robot and a set of connecting parts 13, fixing the six-bar mechanism for the legged robot to the connecting parts 13, the bipedal robot can be mutually transformed in the bipedal and four-wheeled forms as required, which improves the adaptability of the robot. The specific process is as follows: the thigh bar 2 swings relative to the hip bar 1, so that image 3 As shown, the obtuse angle between the thigh rod 2 and the hip rod 1 decreases, and the calf rod 3 swings relative to the thigh rod 2, so that the obtuse angle between the calf rod 3 and the thigh rod 2 decreases, thus driving the upper passive rod 4 and the lower passive rod 5 Rotate around the rotating shaft of the upper passive rod 4 and the hip rod 1 to realize the deformation of the six-bar mechanism and the ground contact of the driving wheel 9; at t...

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Abstract

The invention discloses a six-bar mechanism for a legged robot, comprising a hip bar, a thigh bar, a calf bar, an upper passive bar, a lower passive bar, a first rotary slider mechanism, an elastic member and a second rotary slider Mechanism; one end of the hip bar is rotatably connected to one end of the thigh bar, the other end of the thigh bar is rotatably connected to one end of the calf bar, and one end of the first rotary slider mechanism is movably connected to the other end of the calf bar; The other end of the hip rod is movably connected with one end of the upper passive rod, and the second rotary slider mechanism is movably connected with the other end of the upper passive rod; the lower passive rod is respectively connected with the second rotary slider mechanism and the first The rotary slider mechanism is movably connected, one end of the elastic member is fixedly connected to the upper passive rod, and the other end of the elastic member is fixedly connected to one end of the lower passive rod close to the second rotary slider mechanism. The six-bar mechanism achieves the purpose of elastic landing when the robot adapts to complex terrain and transforms from a biped form to a four-wheel form.

Description

technical field [0001] The invention relates to the field of robots, in particular to a six-bar mechanism for a legged robot. Background technique [0002] In nature and human society, there are places that humans cannot reach and special occasions that may endanger human life, such as planetary surfaces, construction sites, mines, disaster prevention and rescue, and anti-terrorist struggles. Continuous exploration and research are carried out on these environments to seek a way Feasible ways to solve problems become the needs of the development of science and technology and the progress of human society. Irregular and uneven terrain is a common feature of these environments, limiting the application of wheeled and tracked robots. In this context, research on legged robots has flourished. [0003] Compared with wheeled robots, legged robots have significant advantages in terms of terrain adaptability, and have the ability to walk on complex ground and avoid obstacles, but ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 陈令凯黄冠宇蔡建东孔令雨谢安桓张丹
Owner ZHEJIANG LAB
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