Foot mechanism of walking type polar region scientific investigation robot

Abstract

A foot mechanism of a walking type polar region scientific investigation robot belongs to the technical field of Antarctic scientific investigation operation equipment, and is characterized in that the top is connected with a shank of the robot through a shank connecting plate, and the bottom is connected with a robot crawler chassis through a slewing support; a cross bearing and an electric air cylinder are installed on the upper middle portion to control pitching and side-tipping motion of the crawler chassis, a servo motor, a harmonic reducer and a rotary support are installed on the lower middle portion to achieve rotary motion when the crawler chassis is lifted, and four compression springs are installed in the middle to achieve damping and resetting functions of the foot mechanism. The whole mechanism has the advantages that the control requirement for three rotational degrees of freedom of the crawler chassis is met, the foot end state of the foot of the robot can be adjusted according to the ground condition, and the requirements of the robot for high bearing and rapid movement of the foot mechanism are met.

Description

technical field [0001] The invention belongs to the technical field of polar scientific research operation equipment, and in particular relates to a foot mechanism of a walking polar scientific research robot. Background technique [0002] Antarctic scientific expedition machinery and equipment are developing toward large-scale and deep-penetrating ice sheet inland. Designing a large-scale robotic walking mechanism suitable for the Antarctic scientific expedition service conditions is of great strategic significance for carrying out all-climate scientific expeditions in the Antarctic ice sheet interior. At present, most Antarctic scientific research robots are pure crawler and wheeled mobile robots. The feet of these robots are crawlers or wheels, which have the advantages of fast movement and high bearing capacity. The disadvantage is that they cannot adapt to rough terrain and cross ice cracks in polar regions. obstacle. At present, walking robots are designed and manufa...

AI Technical Summary

Problems solved by technology

At present, most Antarctic scientific research robots are pure crawler and wheeled mobile robots. The feet of these robots are crawlers or wheels, which have the advantages of fast movement and high bearing capacity. The disadvantage is that they cannot adapt to rough terrain and cross ice cracks in polar regions. obstacle

At present, walking robots are designed and manufactured in the field of construction machinery. The walking mechanism is a combination of legs and wheels, which overcomes the shortcomings of pure crawler and wheel walking mechanisms that cannot walk on complex terrain, but still has the freedom of foot mechanisms. The disadvantages are less degree, slow turning speed, and difficulty in adjusting the pose of the robot.

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