The four-wheel-foot robot based on the planetary ball screws comprises a robot body, and the front end, the rear end, the left end and the right end of the robot body are each provided with four columnar robot wheel legs distributed in the longitudinal direction of the robot body; and each columnar robot wheel leg performs telescopic motion by adopting a planetary roller lead screw transmission mechanism and walks in cooperation with an independent controlled action. The planetary roller screw transmission mechanism is adopted, the advantages that the planetary roller screw transmission mechanism is accurate in transmission ratio, stable in transmission and high in bearing capacity are utilized, meanwhile, a planetary roller screw has the self-locking capacity, and the bearing energy consumption of the robot can be greatly reduced; meanwhile, compared with a traditional mechanical leg of a double-joint series structure, the columnar joint leg reduces one leg structure, on the basis that the obstacle crossing capacity is not reduced, the weight of the mechanical leg is reduced, namely, the inertia of the mechanical leg is reduced, and the movement flexibility of the quadruped robot is improved.
本发明提供了一种基于行星滚珠丝杠的四轮足机器人,包括机器人本体,所述机器人本体的前后左右两端均设有四条沿着所述机器人本体纵向分布的柱状机器人轮腿,各个所述柱状机器人轮腿均采用行星滚柱丝杠传动机构进行伸缩运动并配合独立受控动作进行行走。本发明采用行星滚柱丝杠传动机构,利用行星滚柱丝杠传动机构传动比准确、传动平稳、承载能力强的优点,同时行星滚珠丝杠还具有自锁能力,能大幅度降低机器人的承载能耗;同时柱状关节腿相比传统双关节串联结构机械腿减少了一节腿部结构,在不降低障碍跨越能力的基础上,降低了机械腿的重量,即降低了机械腿的惯性,提高四足机器人的运动灵活性。
Four-wheel-foot robot based on planetary ball screws
一种基于行星滚珠丝杠的四轮足机器人
2024-11-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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