The invention discloses an active and passive combined suspension cushioning wheel-leg robot shank structure which comprises a connecting rod and a linear displacement measuring element. The top of the connecting rod is connected with the shank connecting piece; the lower portion of the buffer is located in the shank shell, and a linear guide mechanism is arranged between the connecting rod and the shank shell. The linear displacement measuring element is mounted on the crus shell; the shank shells are connected with motors through motor connecting pieces, and the motors are connected with robot walking wheels. According to the shank structure, suspension and shock absorption of the wheel-legged robot are achieved, high-speed stable movement of the robot is guaranteed, and the wheel-legged robot integrates high-load and high-complex-environment adaptability.

    本发明公开了一种主被动结合的悬挂缓震轮腿机器人小腿结构,包括连接杆和直线位移测量元件;连接杆顶部连接小腿连接件,内部连接缓冲器;缓冲器下部位于小腿外壳内,且连接杆与小腿外壳之间设有直线导向机构;直线位移测量元件安装在小腿外壳上;小腿外壳通过电机连接件连接电机,电机连接机器人行走轮。本发明的小腿结构实现轮腿机器人的悬挂缓震,保证机器人的高速平稳移动,使轮腿机器人集高负载和高复杂环境适应性能。


    Access

    Download


    Export, share and cite



    Title :

    Active-passive combined shank structure of suspension cushioning wheel-leg robot


    Additional title:

    主被动结合的悬挂缓震轮腿机器人小腿结构


    Contributors:
    CHEN XUECHAO (author) / JANG KEUM-TAE (author) / YU ZHANGGUO (author) / MENG FEI (author) / HUANG QIANG (author) / ZHAO LINGXUAN (author) / DU JIAHENG (author)

    Publication date :

    2023-06-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Biped robot lower limb structure with passive soft shank

    WANG GENG / WANG HONGWEI / CUI LONG et al. | European Patent Office | 2023

    Free access

    Wheel-leg combined type mobile robot with passive self-adaptive suspension

    SONG YIMIN / YANG ZHIYUE / SUN TAO et al. | European Patent Office | 2021

    Free access

    CUSHIONING WHEEL MEMBER

    CHEN CHUNG-HSIN / CHEN YU-JUNG | European Patent Office | 2015

    Free access

    Cushioning wheel member

    CHEN CHUNG-HSIN / CHEN YU-JUNG | European Patent Office | 2015

    Free access

    WHEEL WITH INTERNAL CUSHIONING

    ENAEV ALEKSANDR ANDREEVICH / TIMOFEEV VLADIMIR SERGEEVICH / MALTSEV PAVEL NIKOLAEVICH | European Patent Office | 2020

    Free access