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Linear driving walking robot leg structure and parallel four-footed walking robot

A linear drive mechanism and walking robot technology, applied in the field of robotics, can solve the problems of difficult protection of electronic devices, large moment of inertia, uneven distribution of drive power, etc., to achieve convenient unified protection, small moment of inertia, optimized structure and material properties Effect

Active Publication Date: 2015-10-21
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] For the above-mentioned deficiencies existing in the prior art, the object of the present invention is to provide a kind of straight-line driven walking robot leg configuration and parallel quadruped walking robot, to solve the problem that the moment of inertia of the legs of the existing walker (legged robot) is relatively large. , drive and electronic devices are not easy to protect and the drive power distribution is uneven and other issues

Method used

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  • Linear driving walking robot leg structure and parallel four-footed walking robot
  • Linear driving walking robot leg structure and parallel four-footed walking robot

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Embodiment 1

[0040] 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:

[0041]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, so as to realize the front and rear swing of the swing rod 2; The transmission rod b6 links to each other, and the transmission rod a3 and the transmission rod b6 link to each other with the calf rod 4 through the rotary hinge e and the rotary hinge f respectively, and the calf rod 4 links to each other with the foot rod 5 through a spring telescopic mechanism. The toe structure of the robot has the ability of arbitrary movement in three-...

Embodiment 2

[0043] This embodiment provides a parallel quadruped walking robot, including a body frame V and four linearly driven walking robot leg configurations provided in Embodiment 1 arranged on the body frame V, and the four linearly driven walking robots The side swing block 1 of the robot leg configuration is arranged symmetrically or in the same direction under the body frame V by rotating the hinge a, so as to realize the left and right swing of the leg telescopic mechanism of the walking robot leg configuration driven by a straight line; The driving mechanism and the linear driving mechanism are arranged above the body frame V respectively.

[0044] The present embodiment will be described in detail below in conjunction with the accompanying drawings.

[0045] The side swing block 1 is connected with the body frame V through the rotating hinge a to realize the left and right swing of the telescopic mechanism of the legs, and is connected with the swing rod 2 through another rot...

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Abstract

The invention provides a linear driving walking robot leg structure which comprises a leg stretching and retracting mechanism, a parallel drive mechanism and a linear drive mechanism. The linear drive mechanism is connected with the parallel drive mechanism in a driving manner and the parallel drive mechanism is connected with the leg stretching and retracting mechanism in a driving manner. The invention further provides a parallel four-footed walking robot with the linear driving walking robot leg structure and has the beneficial effects that the mass of legs is low, rotational inertia is small, and electronic elements such as a driver and a sensor can be conveniently protected. The purposes of protection and maneuverability of the robot walking under the operation conditions of complex terrain and the severe environment are achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a linearly driven walking robot leg configuration and a parallel quadruped 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., ordinary equipment cannot effectively and quickly transport detection and rescue equipment to the destination. Legged robots (walkers) with high obstacle-surmounting ability are more suitable for being dispatched to these places for work. Therefore, it has important practical significance for the research of military and civilian legged robots. [0003] Legged robots should have two very important characterist...

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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