The invention relates to an active actuation type wheel-leg robot with suspension and vibration reduction functions, which comprises a body skeleton, a flexible spine and wheel-leg structures, the flexible spine is mounted in the body skeleton and on the wheel-leg structures, and the wheel-leg structures are mounted on two sides of the body skeleton; the flexible spine comprises a spring shock absorber, a synchronous transmission shaft and a hydraulic damping actuator, and the synchronous transmission shaft penetrates through leg supporting blocks at the front end and the rear end of the frame; the hydraulic damping actuator comprises a hydraulic driving part and a damping part; one ends of the spring shock absorbers are fixed on the synchronous transmission shaft, the other ends of the two spring shock absorbers are respectively connected with a hydraulic driving part of the hydraulic damping actuator, and a damping part of the hydraulic damping actuator is fixed on the supporting plate. Compared with the prior art, the capacity of the robot for adapting to various terrains is improved, the under-damping problem of a hydraulic valve control cylinder system is solved, the suspension damping function is achieved, machine body vibration is effectively reduced, and the system stability during rapid movement is improved.
本发明涉及一种具有悬挂减振功能的主动作动式轮足机器人,包括机身骨架、柔性脊柱和轮腿结构,柔性脊柱安装于机身骨架内和轮腿结构上,轮腿结构安装于机身骨架的两侧;柔性脊柱包括弹簧减震器、同步传动轴和液压阻尼作动器,同步传动轴穿过框架前端和后端的腿部承托块;液压阻尼作动器包括液压驱动部分和阻尼部分;弹簧减震器的一端固定于同步传动轴,两个弹簧减震器的另一端分别与液压阻尼作动器的液压驱动部分连接,液压阻尼作动器的阻尼部分固定于支撑板上。与现有技术相比,本发明提高了机器人适应各类地形的能力,解决了液压阀控缸系统的欠阻尼问题,且实现悬架减震功能,有效降低机身震动,提高快速移动时的系统稳定性。
Active actuation type wheel-foot robot with suspension vibration reduction function
一种具有悬挂减振功能的主动作动式轮足机器人
2024-05-03
Patent
Electronic Resource
Chinese
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