A foot mechanism of a walking polar scientific research robot

A robot and walking technology, which is applied in the field of foot mechanism of walking polar scientific research robot, can solve the problems of inability to adapt to rough terrain, slow turning speed, and less degree of freedom of foot mechanism, so as to improve stability and pass through the environment Sexuality, reducing difficulty, and expanding the scope of scientific research

Active Publication Date: 2022-04-26
TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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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.

Method used

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  • A foot mechanism of a walking polar scientific research robot
  • A foot mechanism of a walking polar scientific research robot
  • A foot mechanism of a walking polar scientific research robot

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Embodiment Construction

[0016] attached figure 1 , 2 , 3, 4, 5, 6, 7, 8, 9 are an embodiment of the present invention, and the foot mechanism control is characterized in that:

[0017] Active control of the foot mechanism: When the polar scientific research robot is driving on uneven snowy roads or encounters ice cracks, the robot moves in walking mode. This mode is to realize the robot movement by swinging the robot legs. The foot mechanism expands and contracts through four electric cylinders 4, and greatly adjusts the pitch and roll angles of the crawler chassis 16 to adapt to the terrain and improves the stability of the robot when driving; when the crawler foot mechanism sinks into the snow or falls into the ice When there is a crack, the crawler chassis 16 can be pitched, rolled and rotated to adjust the attitude of the crawler chassis 16 by driving the first, second, third and fourth electric cylinders 4.1, 4.2, 4.3, 4.4 and the servo motor 7 , to facilitate the crawler chassis to get out of...

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Abstract

A foot mechanism of a walking polar scientific research robot, which belongs to the technical field of Antarctic scientific research operation equipment. There are cross bearings and electric cylinders to control the pitch and roll movements of the crawler chassis. Servo motors, harmonic reducers and slewing supports are installed in the middle and lower parts to realize the rotary motion when the crawler chassis is lifted. Four compression springs are installed in the middle to realize full The shock absorption and reset function of the internal mechanism. The advantage of the whole mechanism is that it realizes the control requirements of the three rotational degrees of freedom of the crawler chassis. The foot of the robot can adjust the state of the foot end according to the ground conditions to meet the needs of the robot for high load and fast movement of the foot mechanism.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032B62D55/065
CPCB62D57/032B62D55/065
Inventor 赵富强李钊钰杜特杜鹏阳牛志刚
Owner TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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