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Linearly-driven walking robot leg configuration and parallel-connected six-legged walking robot

A technology of a linear drive mechanism and a walking robot, applied in the field of robots, can solve the problems of large rotational inertia of walker legs, uneven distribution of driver power, and difficult protection of electronic devices, so as to facilitate unified protection, reduce mass and rotational inertia, The effect of high protection security level

Active Publication Date: 2015-09-23
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a linearly driven walking robot leg configuration and a parallel hexapod walking robot to solve the problem of the large moment of inertia of the legs of the existing walker and the problems of driving and electronic devices. Not easy to protect, uneven distribution of drive power and other issues

Method used

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  • Linearly-driven walking robot leg configuration and parallel-connected six-legged walking robot
  • Linearly-driven walking robot leg configuration and parallel-connected six-legged walking robot

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Embodiment

[0038] This embodiment provides a linear drive walking robot leg configuration, including: a leg expansion mechanism, a parallel drive mechanism and a linear drive mechanism; the linear drive mechanism is connected to the parallel drive mechanism, and the parallel drive mechanism is connected to the parallel drive mechanism. The leg telescoping mechanism drives the connection; where:

[0039]The side swing block 1 is connected to the swing rod 2 through the rotation hinge b arranged orthogonally to the rotation axis of the side swing block 1 to realize the front and rear swing of the swing rod 2; the swing rod 2 is connected to the transmission rod a3 respectively through the rotation hinge c and the rotation hinge d , transmission rod b 6 links to each other, transmission rod a3, transmission rod b 6 links to each other with shank bar 4 by rotating hinge e and rotating hinge f respectively, and elastic foot bar 5 is installed at shank bar 4 bottoms. The toe structure of the r...

Embodiment 2

[0041] According to another aspect of the present invention, a parallel hexapod walking robot is provided, including a robot frame X and six linearly driven walking robot leg configurations arranged on the robot frame X, and the six linearly driven leg structures The side swing block 1 of the leg configuration of the walking robot is arranged symmetrically or in the same direction under the robot frame X through the rotating hinge a, so as to realize the left and right swing of the leg telescopic mechanism of the leg configuration of the walking robot driven by a straight line. The parallel drive mechanism and the linear drive mechanism are respectively arranged above the robot frame X, wherein the rotating hinge g8 is connected with the robot frame X.

[0042] The present embodiment will be described in detail below in conjunction with the accompanying drawings.

[0043] The side swing block 1 is connected to the robot frame X through the rotating hinge a to realize the left ...

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Abstract

The invention provides a linearly-driven walking robot leg configuration which comprises leg stretching mechanisms, parallel-connected driving mechanisms and linear driving mechanisms. The linear driving mechanisms are connected with the parallel-connected driving mechanisms in a driving mode, and the parallel-connected driving mechanisms are connected with the leg stretching mechanisms in a driving mode. Meanwhile, the invention provides a parallel-connected six-legged walking robot with the linearly-driven walking robot leg configuration. The linearly-driven walking robot leg configuration and the parallel-connected six-legged walking robot have the advantages of being low in leg mass, small in rotation inertia, convenient to protect and uniform in driver specification. The linearly-driven walking robot leg configuration and the parallel-connected six-legged walking robot with the linearly-driven walking robot leg configuration achieve the purposes of protection of the robot walking under working conditions of complex terrain and severe environments, maneuverability and the overload work.

Description

technical field [0001] The invention relates to the field of robots, in particular to a linearly driven walking robot leg configuration and a parallel hexapod walking robot which are convenient for protection. Background technique [0002] The biggest difference between legged robots and wheeled robots and tracked robots is that legged robots have higher maneuverability, and they are more suitable for performing tasks in complex terrain, especially in areas where disasters occur, such as: earthquakes, Fire, poisonous gas leakage in the factory area, etc. Among the legged robots, the hexapod robot has higher walking stability and higher carrying capacity because it can adopt a 3-3 wave gait. Various tasks can be performed by carrying various equipment on the robot. Therefore, the study of the hexapod-legged robot has important practical significance. [0003] Legged robots usually need to have two very important characteristics in order to complete specified tasks: protect...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 高峰陈先宝金振林潘阳
Owner SHANGHAI JIAO TONG UNIV
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