The invention discloses a heavy-load multi-legged robot supporting leg lower limb mechanism with the jumping characteristic, and relates to the field of robots. The problems that an existing supporting leg foot end mechanism of a heavy-load robot is complex in structure, and the obstacle crossing ability and the passing ability are insufficient when the robot faces rugged terrains are solved. A driving assembly is embedded in a shank groove, a lead screw is installed in a shank sleeve, the upper end of the lead screw is connected with an output shaft of the driving assembly, and a lead screw nut is installed on the lower portion of the lead screw to form a nut and lead screw pair; the compression rod is arranged on the lead screw nut in a sleeving mode, the inner spring is inserted into the shank sleeve, the lower end of the inner spring is inserted into the shank sleeve and abuts against the upper limiting shaft shoulder, and the bottom check ring is packaged on the bottom end face of the shank sleeve; the outer spring is sleeved on the shank sleeve; the buffer spring is inserted in the compression sleeve, the bottom check ring is packaged on the lower end face of the compression sleeve, and the ball head end of the ball head compression rod is placed in the spherical groove. The invention is applied to the heavy-load jumping multi-legged robot.
一种具有跳跃特性的重载多足机器人支撑腿下肢机构,它涉及机器人领域。本发明为了解决现有重载机器人的支撑腿足端机构存在结构复杂,以及在面对崎岖地形时越障能力和通过能力不足的问题。本发明的驱动组件内嵌在小腿凹槽内,丝杠安装在小腿套筒内,丝杠的上端与驱动组件的输出轴连接,丝杠螺母安装在丝杠的下部并形成螺母丝杠副;压缩杆套装在丝杠螺母上,内弹簧插装在小腿套筒内,内弹簧的下端与插装在小腿套筒内并与上限位轴肩相抵,底部挡圈封装在小腿套筒的底端面上;外弹簧套装在小腿套筒上;缓冲弹簧插装在压缩套筒内,底部挡圈封装在压缩套筒的下端面上,球头压缩杆的球头端放置于球形凹槽内。本发明用于重载跳跃多足机器人中。
Supporting leg lower limb mechanism of heavy-load multi-legged robot with jumping characteristic
一种具有跳跃特性的重载多足机器人支撑腿下肢机构
2024-08-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
MULTI-LEGGED ROBOT LOAD BALANCING METHOD, MULTI-LEGGED ROBOT, AND STORAGE MEDIUM
European Patent Office | 2023
|Lower limb leg-foot structure with jumping ability and biped robot
European Patent Office | 2025
|MECHANISM OF ONE-LEGGED ROBOT ENABLING JUMPING ON WALL SURFACE, AND CONTROL METHOD
European Patent Office | 2020
|