The invention discloses a six-connecting-rod rigidity-variable double-foot wheel-legged robot, and relates to the technical field of robot research and development. Two foot wheel legs are installed on the two sides of the robot head, thigh connecting rods and driving connecting rods of the foot wheel legs are connected with a joint driving motor through a variable stiffness converter, an input flange is connected with an absolute angle sensor and the joint driving motor, an output flange is rotationally installed on the outer side of the closed end of a shell, and a plurality of radial through grooves are formed in the closed end of the shell. The output flange is provided with a plurality of arch-shaped through grooves, the outer side ends of the sliders are inserted into the corresponding radial through grooves and the arch-shaped through grooves, the anchors are fixed to the inner side ends of the absolute angle sensors, a plurality of leaf springs are fixed to the edges of the anchors, the corresponding leaf springs are clamped and connected through the inner side ends of the sliders, and the output flange is connected with an adjusting gear of the steering engine in a meshed mode. The variable stiffness converter is introduced between the foot wheel leg and the joint driving motor, so that the variable stiffness requirement can be met, rapid and accurate response between the foot wheel leg and the joint driving motor can be guaranteed, and the buffering characteristic on impact moment is achieved.
一种六连杆变刚度双足轮腿式机器人,涉及机器人研发技术领域。机器人头部两侧安装两个足轮腿,足轮腿的大腿连杆和驱动连杆通过变刚度转换器与关节驱动电机连接,输入法兰连接绝对角传感器与关节驱动电机,输出法兰转动安装在外壳封闭端外侧,外壳封闭端开设多个径向通槽,输出法兰开设多个弓形通槽,滑动器外侧端插装在对应的径向通槽和弓形通槽内,锚固定在绝对角传感器内侧端且边缘固定多个片簧,滑动器内侧端将对应的片簧夹紧连接,输出法兰与舵机的调节齿轮啮合连接。在足轮腿与关节驱动电机之间引入变刚度转换器能够实现变刚度的需求,有助于保障足轮腿与关节驱动电机之间的快速准确响应,对于冲击力矩具有缓冲特性。
Six-connecting-rod rigidity-variable double-foot wheel-legged robot
一种六连杆变刚度双足轮腿式机器人
2024-08-16
Patent
Electronic Resource
Chinese
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