Single-motor-driven robot walking mechanism

Abstract

The invention discloses a single-motor-driven robot walking mechanism. The single-motor-driven robot walking mechanism comprises a shell, a worm-gear driving mechanism arranged in the shell, a crank and connecting rod mechanism connected with the output end of the worm-gear driving mechanism and an elastic sole arranged at the tail end of the crank and connecting rod mechanism. The worm-gear driving mechanism comprises a motor, an output shaft, a worm and a worm gear, wherein the worm is engaged with the worm gear; the motor is in driving connection with the worm through a coupler, and the output shaft is in coaxial connection with the worm gear; the crank and connecting rod mechanism comprises a crank, a connecting rod, a frame connecting rod and a machine-body connecting rod, one end of the crank is connected with the output shaft, the other end of the crank is rotationally hinged to the upper end of the connecting rod, one end of the frame connecting rod is rotationally hinged to the machine-body connecting rod, the other end of the frame connecting rod is rotationally hinged to the middle of the connecting rod, and the other end of the machine-body connecting rod is used for being connected with a machine body. The single-motor-driven robot walking mechanism is simple in structure and easy to control, has both the stability and the robustness, is similar to the sole of a person in track, can achieve straight-line walking, and has the advantages of damping and adapting to complex terrains.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot walking mechanism driven by a single motor. Background technique [0002] Nowadays, the research on robots is a research hotspot in all countries in the world. The mainstream legged walking robots are mainly divided into two categories. One is represented by Japanese companies and is called active walking robots. Various actions, but they all involve the use of large-torque drive systems and high-gain feedback control. The other type is passive walking machines that have been studied more in recent years. Compared with traditional robots, passive walking robots have a simpler structure And higher energy efficiency, and the walking gait of passive walking robot is more natural, more similar to human walking gait. At present, good results have been achieved in the research of passive walking robots at home and abroad, and a very representative physical prototype...

AI Technical Summary

Problems solved by technology

For example, a passive walking robot "commando" developed by a certain university in 2010, the biggest shortcoming of this structure is that the transmission structure is complicated, and it is not suitable for actual large-scale promotion.

The University of the Netherlands has developed a variety of passive walking robots. Among them, the knee joints of the semi-passive walking robots have complex self-locking structures. The biggest problem with this structure is the complicated design of the knee joints.

Images