CN103481963B - A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot - Google Patents

Abstract

The present invention discloses a kind of foot device with two-stage buffering being applicable to barrier-surpassing robot, and this foot device includes AD steering wheel support (1A), AG steering wheel support (1B), AA transmission plate (1C), AB transmission plate (1D), AA web plate (1E), AB web plate (1F), AA swivel bearing (1G), AA linear bearings (1P), AA pressure transmitter (1M), AA spring (1I), AB spring (1H), the sliding bar (1J) of AA, AA rubber feet pad (1K), AA pad (1L), AA external (1N) and AA sleeve (1Q); Each foot is by realizing passive compliance at the bottom of spring shock absorption system and rubber feet, meanwhile pressure transmitter is integrated in two-stage spring buffer device and realizes active compliance, can effectively gather foot terminal pressure information, avoid external environmental interference simultaneously, reduce and consume and abrasion. Locate additionally by linear bearings and flange, it is achieved the straight line displacement of the sliding bar of foot end.

Description

A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot

Technical field

The present invention relates to a kind of walking robot, more particularly, refer to a kind of foot device with two-stage buffering being applicable to barrier-surpassing robot.

Background technology

Robot is divided into wheeled robot, caterpillar type robot and legged type robot etc. usually. Wherein, legged type robot is also exactly walking robot, it is possible to stride across bigger obstacle (Ru Gou, bank etc.), and a large amount of degree of freedom that the leg of robot has can make the motion of robot more flexible. Being compared to wheeled and caterpillar type robot, the landform of complexity is had stronger adaptive faculty by walking robot, therefore has a wide range of applications, such as deep space probing, supervision and scouting, mining, nuclear power industry, earthquake Post disaster relief etc.

As typical case's representative of polypody walking robot, the feature of Hexapod Walking Robot people has abundant gait and efficiently can walk on complex road surface, there is multiple gait, the requirement of asynchronous scanning frequency degree and load can be adapted to, the extremity body structures of redundancy, make it still can continue when losing some limbs to perform certain task, it is to increase the reliability of system. The advantage of Hexapod Walking Robot people make its be particularly adapted in complicated physical environment performing field investigation, under water search and deep space probing etc. to autonomy, task that reliability requirement is higher.

Six biped robots have a lot of sorting technique, such as series parallel structure, type of drive, leg number of degrees of freedom etc. Six biped robots need every bar leg at least to need three degree of freedom. Because the extremity body structures of this kind of structure and insect is the most close, it may be achieved stable gesture stability, take action also more flexible. So from after the RobotII of nineteen ninety-five, six biped robots become main flow with every bar leg 3 degree of freedom. The Hexapod Walking Robot people therefore with 18 degree of freedom becomes main flow. The robot architecture of this kind of configuration is simple, control is easy, motion precision height, but tackle the scarce capacity of irregular landform, especially when throwing over barrier or climbing, the foreleg of robot can not provide when well supporting, and stability and the landform of body are affected by ability.

Foot is the end of robot leg performer, is the contact part on robot and ground. The leg of current most of robot all adopts rigid structure, and during walking, robot contacts with outside atmosphere, and robot can be produced to impact by the anchorage force on ground, affects the stability of robot ambulation. Reviewing nature, animal walking process is highly stable, and elastic leg structure enables them to the surging force to ground and cushions, in addition obstacle is run into, their sole can make reflection, enables them adapt to accidental relief fast, the stability of health during to maintain walking. The compliant mechanism design of current robot leg has become the focus of research gradually, and various types of buffering mechanism and buffering components and parts are applied to the design of robot foot section, thus realize the submissive design of robot foot section.

The compliant mechanism of robot foot section comprises passive compliance and active compliance: 1) passive compliance mechanism, namely utilizes the mechanism that some can absorb or the mechanical devices of storage power is formed such as spring, damping etc. But being characterized in structure, simple, strongly professional not possess controlling functions, adaptive faculty poor; 2) active compliance mechanism, refers to possess the mechanism of contact force-sensing ability, and robot utilizes force feedback to adopt certain control strategy control action kou power to export. The device that active compliance is used usually has pressure transmitter, three-dimensional force sensor, moment sensing device etc., and the control strategy taked is not discussed here.

The common mode of current passive compliance is at the integrated spring assembly of leg and lays elasticity damping at foot end. The most commonly one-level spring buffer mechanism. Active compliance adopts SMD pressure transmitter usually, is directly contained in sufficient end, for obtaining the force information that toe contacts with ground. Although this design sensor can gather in real time, but easily weares and teares, and directly contact with external environment due to sensor, work-ing life and the acquisition precision of sensor can be affected.

Summary of the invention

It is an object of the invention to propose to be applicable to the foot device with two-stage buffering of barrier-surpassing robot, this foot device is by realizing passive compliance at the bottom of spring shock absorption system and rubber feet, meanwhile pressure transmitter is integrated in two-stage spring buffer device and realizes active compliance, can effectively gather foot terminal pressure information, avoid external environmental interference simultaneously, reduce and consume and abrasion. Locate additionally by linear bearings and flange, it is achieved the straight line displacement of the sliding bar of foot end. The robot foot section that the present invention proposes realization control simple and compact for structure, easy, improve the shock resistance of robot leg bilge construction, decrease the concussion in robot motion's process to impact, it can be savings energy of next time taking a step simultaneously, effectively improve energy efficiency, increase landform adaptive faculty, reduce internal force between leg, and prevent from causing disturbance of overall importance, there is high road surface adaptive faculty and high buffering energy storage capability. Foot device identical for the six of inventive design structures is arranged on a trunk body, then constitutes a kind of Hexapod Walking Robot people with obstacle detouring ability. Each foot device has three joints, is hip joint, big leg joint and calf joint respectively, and described hip joint is assemblied on trunk body; The coordination in three joints ensure that front and back swing, the up-and-down movement of each leg and bends and stretches motion. The combination in three joints and trunk joint ensure that Hexapod Walking Robot people is good when throwing over barrier and climbing and passes through ability. Each foot device adopts buffering to connect, and can complete damping energy storage recycling within a cycle of taking a step. The Hexapod Walking Robot people of inventive design moves flexibly, respond rapidly, motion space is big, movement inertia is little, the motion being applicable under the non-structural topographical condition of field complexity.

A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot of the present invention, this foot device includes AD steering wheel support 1A, AG steering wheel support 1B, AA transmission plate 1C, AB transmission plate 1D, sliding bar 1J, AA rubber feet external 1N and the AA sleeve 1Q of pad 1K, AA pad 1L, AA of AA web plate 1E, AB web plate 1F, AA swivel bearing 1G, AA linear bearings 1P, AA pressure transmitter 1M, AA spring 1I, AB spring 1H, AA. Wherein, sliding bar 1J, AA rubber feet pad 1K, AA linear bearings 1P, AA pressure transmitter 1M, AA spring 1I, AB spring 1H and AA pad 1L of AA external 1N, AA sleeve 1Q, AA belongs to calf joint.

One end of the sliding bar 1J of AA is arranged in AA rubber feet pad 1K, and the other end of the sliding bar 1J of AA contacts with AA pressure transmitter 1M; The sliding bar 1J of AA is socketed with AA spring 1I, AA linear bearings 1P and AA sleeve 1Q, and the end thereof contacts of the end of AA linear bearings 1P and AA spring 1I, the other end of AA spring 1I is stopped by the convex annulus 1J1 on the sliding bar 1J of AA;

The upper end of one end insertion AA sleeve 1Q of AA linear bearings 1P; The bottom of AA sleeve 1Q and AD steering wheel support 1A is fixed;

The external 1N of AA is fixed in the lateral plates of AD steering wheel support 1A, is placed with AB spring 1H, AA pad 1L and AA pressure transmitter 1M in the external 1N of AA; AA pad 1L it is provided with between AB spring 1H and AA pressure transmitter 1M.

AD steering wheel support 1A is for installing AD steering wheel 8D;

Bottom and the AA sleeve 1Q of AD steering wheel support 1A fix.

AG steering wheel support 1B is for installing AG steering wheel 8G; Top and the AA transmission plate 1C of AG steering wheel support 1B fix, and bottom and the AB transmission plate 1D of AG steering wheel support 1B fix.

One end of AA transmission plate 1C is connected to AA swivel bearing 1G(AA swivel bearing 1G and is arranged on the AA power rotor 8A1 of AA steering wheel 8A) on, the other end of AA transmission plate 1C is fixed on the top of AG steering wheel support 1B.

One end of AB transmission plate 1D is connected to the AA driven rotor of AA steering wheel 8A, and (AA driven rotor and AA power rotor 8A1 are oppositely arranged on the both sides of AA steering wheel 8A, the accompanying drawing number of AA driven rotor does not illustrate in the drawings) on, the other end of AB transmission plate 1D is fixed on the bottom of AG steering wheel support 1B.

One end of AA web plate 1E is connected with the AG driven rotor of AG steering wheel 8G, and the other end of AA web plate 1E is connected with the AD driven rotor of AD steering wheel 8D.

One end of AB web plate 1F is connected with the AG power rotor 8G1 of AG steering wheel 8G, and the other end of AA web plate 1E is connected with the AD power rotor 8D1 of AD steering wheel 8D.

Accompanying drawing explanation

Fig. 1 is the three-dimensional structure diagram that the present invention has the Hexapod Walking Robot people of obstacle detouring ability; Figure 1A is the vertical view that the present invention has the Hexapod Walking Robot people of obstacle detouring ability; Figure 1B is the left view that the present invention has the Hexapod Walking Robot people of obstacle detouring ability; Fig. 2 is the structure iron of trunk body of the present invention; Fig. 2 A is the exploded view of front end of the present invention body; Fig. 3 is the structure iron of rear end of the present invention body; Fig. 3 A is the three-dimensional structure diagram of obstacle detouring transmission assembly in the body of rear end of the present invention; Fig. 3 B is the structure iron of the bearing end cap in obstacle detouring transmission assembly of the present invention; Fig. 3 C is the exploded view of rear end of the present invention body; Fig. 4 is the three-dimensional structure diagram of left front leg of the present invention; Fig. 4 A is the three-dimensional structure diagram of lower leg portion in left front leg of the present invention; Fig. 4 B is the exploded view of left front leg of the present invention; Fig. 4 C is the exploded view of the left leg of the present invention; Fig. 4 D is the exploded view of the left back leg of the present invention; Fig. 5 is the three-dimensional structure diagram of the right front leg of the present invention; Fig. 5 A is the exploded view of the right front leg of the present invention; Fig. 5 B is the exploded view of the right leg of the present invention; Fig. 5 C is the exploded view of right rear leg of the present invention.

1. left front leg	1A.AD steering wheel support	1B.AG steering wheel support	1C.AA transmission plate
				1D.AB transmission plate	1E.AA web plate	1F.AB web plate	1G.AA swivel bearing
1H.AB spring	1I.AA spring	The sliding bar of 1J.AA	The convex annulus of 1J1.
				1K.AA rubber feet pad	1L.AA pad	1M.AA pressure transmitter	1N.AA is external
1P.AA linear bearings	1Q.AA sleeve	2. right front leg	2A.BD steering wheel support
				2B.BG steering wheel support	2C.BA transmission plate	2D.BB transmission plate	2E.BA web plate
2F.BB web plate	2G.BA swivel bearing	2H.BB spring	2I.BA spring
				The sliding bar of 2J.BA	The convex annulus of 2J1.	2K.BA rubber feet pad	2L.BA pad
2M.BA pressure transmitter	2N.BA is external	2P.BA linear bearings	2Q.BA sleeve
				3. left leg	3A.AE steering wheel support	3B.AH steering wheel support	3C.AC transmission plate
3D.AD transmission plate	3E.AC web plate	3F.AD web plate	3G.AB swivel bearing
				3H.AD spring	3I.AC spring	The sliding bar of 3J.AB	The convex annulus of 3J1.
3K.AB rubber feet pad	3L.AB pad	3M.AB pressure transmitter	3N.AB is external
				3P.AB linear bearings	3Q.AB sleeve	4. right leg	4A.BE steering wheel support
4B.BH steering wheel support	4C.BC transmission plate	4D.BD transmission plate	4E.BC web plate
				4F.BD web plate	4G.BB swivel bearing	4H.BD spring	4I.BC spring
The sliding bar of 4J.BB	The convex annulus of 4J1.	4K.BB rubber feet pad	4L.BB pad
				4M.BB pressure transmitter	4N.BB is external	4P.BB linear bearings	4Q.BB sleeve
5. left back leg	5A.AF steering wheel support	5B.AJ steering wheel support	5C.AE transmission plate
				5D.AF transmission plate	5E.AE web plate	5F.AF web plate	5G.AC swivel bearing
5H.AF spring	5I.AE spring	The sliding bar of 5J.AC	The convex annulus of 5J1.
				5K.AC rubber feet pad	5L.AC pad	5M.AC pressure transmitter	5N.AC is external
5P.AC linear bearings	5Q.AC sleeve	6. right rear leg	6A.BF steering wheel support
				6B.BJ steering wheel support	6C.BE transmission plate	6D.BF transmission plate	6E.BE web plate
6F.BF web plate	6G.BC swivel bearing	6H.BF spring	6I.BE spring

The sliding bar of 6J.BC	The convex annulus of 6J1.	6K.BC rubber feet pad	6L.BC pad
				6M.BC pressure transmitter	6N.BC is external	6P.BC linear bearings	6Q.BC sleeve
7. trunk body	7A. front end body	7A01.A back up pad	7A011.AA installation plate
				7A012.BA installation plate	7A013. middle block	7A02.A cover plate	The vertical plate in a 7A03.A left side
The vertical plate in the 7A04.A right side	7A05. front U-board	7A051. upper fitting	7A052. lower fitting
				7A053. middle fitting	7A06. rear U-board	7A061. left fitting	7A062. right fitting
7A063. middle fitting	7A07.AA steering wheel frame	7A071. transverse slat	7A072. perpendicular plate
				7A08.BA steering wheel frame	7A081. transverse slat	7A082. perpendicular plate	7B. rear end body
7B01.B back up pad	7B011.AB installation plate	7B012.BB installation plate	7B013.A subtract repeated hole
				7B014.AC installation plate	7B015.BC installation plate	7B016.B subtract repeated hole	7B017. convex plate
7B02.B cover plate	The vertical plate in a 7B03.B left side	The vertical plate in the 7B04.B right side	The vertical plate in a 7B13.C left side
				The vertical plate in the 7B14.C right side	7B05. front L shaped plate	7A06. back L-shaped slab	7B07.AB steering wheel frame
7B071. transverse slat	7B072. perpendicular plate	7B08.BB steering wheel frame	7B081. transverse slat
				7B082. perpendicular plate	7B17.AC steering wheel frame	7B171. transverse slat	7B172. perpendicular plate
7B18.BC steering wheel frame	7B181. transverse slat	7B182. perpendicular plate	7B09. obstacle detouring transmission assembly
				7B901. the left strongback of bearing	7B9011. bearing chamber	7B902. the right strongback of bearing	7B9021. bearing chamber
7B903. left bearing	7B904. right bearing	7B905. driving gear shaft	7B906. driving toothed gear
				7B907. bearing end cap	7B9071. keyway	7B908. passive gear	7B909. passive tooth wheel shaft
7B9091. groove	7B9092. keyway	7B910. back-up ring	7B911. rubber cradle
				7B912. metal washer	7B913. flat key	7B914. back-up ring	7B915. flat key
Machine plate before 7A09. steering wheel	The left strongback of 7A07. bearing	The right strongback of 7A08. bearing	7C. trunk steering wheel
				8A.AA steering wheel	8A1.AA power rotor	8B.AB steering wheel	8B1.AB power rotor
8C.AC steering wheel	8C1.AC power rotor	8D.AD steering wheel	8D1.AD power rotor
				8E.AE steering wheel	8E1.AE power rotor	8F.AF steering wheel	8F1.AF power rotor
8G.AG steering wheel	8G1.AG power rotor	8H.AH steering wheel	8H1.AH power rotor
				8J.AJ steering wheel	8J1.AJ power rotor
9A.BA steering wheel	9A1.BA power rotor	9B.BB steering wheel	9B1.BB power rotor
				9C.BC steering wheel	9C1.BC power rotor	9D.BD steering wheel	9D1.BD power rotor
9E.BE steering wheel	9E1.BE power rotor	9F.BF steering wheel	9F1.BF power rotor
				9G.BG steering wheel	9G1.BG power rotor	9H.BH steering wheel	9H1.BH power rotor
9J.BJ steering wheel	9J1.BJ power rotor

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, foot device identical for the six of inventive design structures is arranged on a trunk body, then constitutes a kind of Hexapod Walking Robot people with obstacle detouring ability. Left front leg 1, right front leg 2, left leg 3, right leg 4, left back leg 5, right rear leg 6 and trunk body 7 are included for the Hexapod Walking Robot people with obstacle detouring ability; Described trunk body 7 is made up of front end body 7A and rear end body 7B. Wherein, left front leg 1, right front leg 2, left leg 3, right leg 4, left back leg 5 are identical with the structure of right rear leg 6; Left front leg 1 and right front leg 2, left leg 3 are symmetrically arranged with the X-axis line of trunk body 7 with right leg 4, left back leg 5 and right rear leg 6.

Left front leg 1

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, Fig. 4 A, Fig. 4 B, left front leg 1 includes AD steering wheel support 1A, AG steering wheel support 1B, AA transmission plate 1C, AB transmission plate 1D, sliding bar 1J, AA rubber feet external 1N and the AA sleeve 1Q of pad 1K, AA pad 1L, AA of AA web plate 1E, AB web plate 1F, AA swivel bearing 1G, AA linear bearings 1P, AA pressure transmitter 1M, AA spring 1I, AB spring 1H, AA. Wherein, sliding bar 1J, AA rubber feet pad 1K, AA linear bearings 1P, AA pressure transmitter 1M, AA spring 1I, AB spring 1H and AA pad 1L of AA external 1N, AA sleeve 1Q, AA belongs to calf joint.

One end of the sliding bar 1J of AA is arranged in AA rubber feet pad 1K, and the other end of the sliding bar 1J of AA contacts with AA pressure transmitter 1M; The sliding bar 1J of AA is socketed with AA spring 1I, AA linear bearings 1P and AA sleeve 1Q, and the end thereof contacts of the end of AA linear bearings 1P and AA spring 1I, the other end of AA spring 1I is stopped by the convex annulus 1J1 on the sliding bar 1J of AA;

The upper end of one end insertion AA sleeve 1Q of AA linear bearings 1P; The bottom of AA sleeve 1Q and AD steering wheel support 1A is fixed;

The external 1N of AA is fixed in the lateral plates of AD steering wheel support 1A, is placed with AB spring 1H, AA pad 1L and AA pressure transmitter 1M in the external 1N of AA; AA pad 1L it is provided with between AB spring 1H and AA pressure transmitter 1M.

In the present invention; the AA rubber feet pad 1K of foot mechanism is when being subject to the anchorage force on ground; AA spring 1I shrinks; the sliding bar 1J of AA upwards moves along AA linear bearings 1P; driving AA pressure transmitter 1M also upwards to move, AB spring 1H is compressed then, while obtaining the real-time pressure information in AA rubber feet pad 1K end; effectively protect AA pressure transmitter 1M, avoid the abrasion contacting with ground and bringing.

AD steering wheel support 1A is for installing AD steering wheel 8D;

Bottom and the AA sleeve 1Q of AD steering wheel support 1A fix.

AG steering wheel support 1B is for installing AG steering wheel 8G; Top and the AA transmission plate 1C of AG steering wheel support 1B fix, and bottom and the AB transmission plate 1D of AG steering wheel support 1B fix.

One end of AA transmission plate 1C is connected to AA swivel bearing 1G(AA swivel bearing 1G and is arranged on the AA power rotor 8A1 of AA steering wheel 8A) on, the other end of AA transmission plate 1C is fixed on the top of AG steering wheel support 1B.

One end of AB transmission plate 1D is connected to the AA driven rotor of AA steering wheel 8A, and (AA driven rotor and AA power rotor 8A1 are oppositely arranged on the both sides of AA steering wheel 8A, the accompanying drawing number of AA driven rotor does not illustrate in the drawings) on, the other end of AB transmission plate 1D is fixed on the bottom of AG steering wheel support 1B.

One end of AA web plate 1E is connected with the AG driven rotor of AG steering wheel 8G, and the other end of AA web plate 1E is connected with the AD driven rotor of AD steering wheel 8D.

One end of AB web plate 1F is connected with the AG power rotor 8G1 of AG steering wheel 8G, and the other end of AA web plate 1E is connected with the AD power rotor 8D1 of AD steering wheel 8D.

In the present invention, the sufficient end rubber pad 1K in left front leg 1 is fixed by steady brace, prevents relatively rotating of rubber pad 1K and sliding bar 1J; AA spring 1I, between AA linear bearings 1P and sliding bar 1J, has shock absorption; With fixing bottom the AA lower end of linear bearings 1P of ring flange and AD steering wheel support 1A, AA sleeve 1Q is joined admittedly by the bottom of bolt and AA steering wheel support 1A so that AA cunning bar 1J can only move along AA linear bearings 1P; AB spring 1H is positioned at AA outer cover 1N, and the lower end of AB spring 1H is connected with pressure transmitter 1M by pad 1L.

Right front leg 2

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5, Fig. 5 A, right front leg 2 includes BD steering wheel support 2A, BG steering wheel support 2B, BA transmission plate 2C, BB transmission plate 2D, sliding bar 2J, BA rubber feet external 2N and the BA sleeve 2Q of pad 2K, BA pad 2L, BA of BA web plate 2E, BB web plate 2F, BA swivel bearing 2G, BA linear bearings 2P, BA pressure transmitter 2M, BA spring 2I, BB spring 2H, BA. Wherein, sliding bar 2J, BA rubber feet pad 2K, BA linear bearings 2P, BA pressure transmitter 2M, BA spring 2I, BB spring 2H and BA pad 2L of BA external 2N, BA sleeve 2Q, BA belongs to calf joint.

One end of the sliding bar 2J of BA is arranged in BA rubber feet pad 2K, and the other end of the sliding bar 2J of BA contacts with BA pressure transmitter 2M; The sliding bar 2J of BA is socketed with BA spring 2I, BA linear bearings 2P and BA sleeve 2Q, and the end thereof contacts of the end of BA linear bearings 2P and BA spring 2I, the other end of BA spring 2I is stopped by the convex annulus 2J1 on the sliding bar 2J of BA;

The upper end of one end insertion BA sleeve 2Q of BA linear bearings 2P; The bottom of BA sleeve 2Q and AD steering wheel support 2A is fixed;

The external 2N of BA is fixed in the lateral plates of BD steering wheel support 2A, is placed with BB spring 2H, BA pad 2L and BA pressure transmitter 2M in the external 2N of BA; BA pad 2L it is provided with between BB spring 2H and BA pressure transmitter 2M.

In the present invention; the BA rubber feet pad 2K of foot mechanism is when being subject to the anchorage force on ground; BA spring 2I shrinks; the sliding bar 2J of BA upwards moves along BA linear bearings 2P; driving BA pressure transmitter 2M also upwards to move, BB spring 2H is compressed then, while obtaining the real-time pressure information in BA rubber feet pad 2K end; effectively protect BA pressure transmitter 2M, avoid the abrasion contacting with ground and bringing.

BD steering wheel support 2A is for installing BD steering wheel 9D;

Bottom and the BA sleeve 2Q of BD steering wheel support 2A fix.

BG steering wheel support 2B is for installing BG steering wheel 9G; Top and the BA transmission plate 2C of BG steering wheel support 2B fix, and bottom and the BB transmission plate 2D of BG steering wheel support 2B fix.

One end of BA transmission plate 2C is connected to BA swivel bearing 2G(BA swivel bearing 2G and is arranged on the AA power rotor 9A1 of BA steering wheel 9A) on, the other end of BA transmission plate 2C is fixed on the top of BG steering wheel support 2B.

One end of BB transmission plate 2D is connected to the BA driven rotor of BA steering wheel 9A, and (BA driven rotor and BA power rotor 9A2 are oppositely arranged on the both sides of BA steering wheel 9A, the accompanying drawing number of BA driven rotor does not illustrate in the drawings) on, the other end of BB transmission plate 2D is fixed on the bottom of BG steering wheel support 2B.

One end of BA web plate 2E is connected with the AG driven rotor of BG steering wheel 9G, and the other end of BA web plate 2E is connected with the BD driven rotor of BD steering wheel 9D.

One end of BB web plate 2F is connected with the BG power rotor 9G1 of BG steering wheel 9G, and the other end of BA web plate 2E is connected with the BD power rotor 9D1 of BD steering wheel 9D.

Left leg 3

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4 C, left leg 3 includes AE steering wheel support 3A, AH steering wheel support 3B, AC transmission plate 3C, AD transmission plate 3D, sliding bar 3J, AB rubber feet external 3N and the AB sleeve 3Q of pad 3K, AB pad 3L, AB of AC web plate 3E, AD web plate 3F, AB swivel bearing 3G, AB linear bearings 3P, AB pressure transmitter 3M, AC spring 3I, AD spring 3H, AB. Wherein, sliding bar 3J, AB rubber feet pad 3K, AB linear bearings 3P, AB pressure transmitter 3M, AC spring 3I, AD spring 3H and AB pad 3L of AB external 3N, AB sleeve 3Q, AB belongs to calf joint.

One end of the sliding bar 3J of AB is arranged in AB rubber feet pad 3K, and the other end of the sliding bar 3J of AB contacts with AB pressure transmitter 3M; The sliding bar 3J of AB is socketed with AC spring 3I, AB linear bearings 3P and AB sleeve 3Q, and the end thereof contacts of the end of AB linear bearings 3P and AC spring 3I, the other end of AC spring 3I is stopped by the convex annulus 3J1 on the sliding bar 3J of AB;

The upper end of one end insertion AB sleeve 3Q of AB linear bearings 3P; The bottom of AB sleeve 3Q and AE steering wheel support 3A is fixed;

The external 3N of AB is fixed in the lateral plates of AE steering wheel support 3A, is placed with AD spring 3H, AB pad 3L and AB pressure transmitter 3M in the external 3N of AB; AB pad 3L it is provided with between AD spring 3H and AB pressure transmitter 3M.

In the present invention; the AB rubber feet pad 3K of foot mechanism is when being subject to the anchorage force on ground; AC spring 3I shrinks; the sliding bar 3J of AB upwards moves along AB linear bearings 3P; driving AB pressure transmitter 3M also upwards to move, AD spring 3H is compressed then, while obtaining the real-time pressure information in AB rubber feet pad 3K end; effectively protect AB pressure transmitter 3M, avoid the abrasion contacting with ground and bringing.

AE steering wheel support 3A is for installing AE steering wheel 8E;

Bottom and the AB sleeve 3Q of AE steering wheel support 3A fix.

AH steering wheel support 3B is for installing AH steering wheel 8H; Top and the AC transmission plate 3C of AH steering wheel support 3B fix, and bottom and the AD transmission plate 3D of AH steering wheel support 3B fix.

One end of AC transmission plate 3C is connected to AB swivel bearing 3G(AB swivel bearing 3G and is arranged on the AB power rotor 8B1 of AB steering wheel 8B) on, the other end of AC transmission plate 3C is fixed on the top of AH steering wheel support 3B.

One end of AD transmission plate 3D is connected to the AB driven rotor of AB steering wheel 8B, and (AB driven rotor and AB power rotor 8B1 are oppositely arranged on the both sides of AB steering wheel 8B, the accompanying drawing number of AB driven rotor does not illustrate in the drawings) on, the other end of AD transmission plate 3D is fixed on the bottom of AH steering wheel support 3B.

One end of AB web plate 3E is connected with the AH driven rotor of AH steering wheel 8H, and the other end of AC web plate 3E is connected with the AE driven rotor of AE steering wheel 8E.

One end of AB web plate 3F is connected with the AH power rotor 8H1 of AH steering wheel 8H, and the other end of AC web plate 3E is connected with the AE power rotor 8E1 of AE steering wheel 8E.

Right leg 4

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5 B, right leg 4 includes BE steering wheel support 4A, BH steering wheel support 4B, BC transmission plate 4C, BD transmission plate 4D, sliding bar 4J, BB rubber feet external 4N and the BB sleeve 4Q of pad 4K, BB pad 4L, BB of BC web plate 4E, BD web plate 4F, BB swivel bearing 4G, BB linear bearings 4P, BB pressure transmitter 4M, BC spring 4I, BD spring 4H, BB. Wherein, sliding bar 4J, BB rubber feet pad 4K, BB linear bearings 4P, BB pressure transmitter 4M, BC spring 4I, BD spring 4H and BB pad 4L of BB external 4N, BB sleeve 4Q, BB belongs to calf joint.

One end of the sliding bar 4J of BB is arranged in BB rubber feet pad 4K, and the other end of the sliding bar 4J of BB contacts with BB pressure transmitter 4M; The sliding bar 4J of BB is socketed with BC spring 4I, BB linear bearings 4P and BB sleeve 4Q, and the end thereof contacts of the end of BB linear bearings 4P and BC spring 4I, the other end of BC spring 4I is stopped by the convex annulus 4J1 on the sliding bar 4J of BB;

The upper end of one end insertion BB sleeve 4Q of BB linear bearings 4P; The bottom of BB sleeve 4Q and BE steering wheel support 4A is fixed;

The external 4N of BB is fixed in the lateral plates of BE steering wheel support 4A, is placed with BD spring 4H, BB pad 4L and BB pressure transmitter 4M in the external 4N of BB; BB pad 4L it is provided with between BD spring 4H and BB pressure transmitter 4M.

In the present invention; the BB rubber feet pad 4K of foot mechanism is when being subject to the anchorage force on ground; BC spring 4I shrinks; the sliding bar 4J of BB upwards moves along BB linear bearings 4P; driving BB pressure transmitter 4M also upwards to move, BD spring 4H is compressed then, while obtaining the real-time pressure information in BB rubber feet pad 4K end; effectively protect BB pressure transmitter 4M, avoid the abrasion contacting with ground and bringing.

BE steering wheel support 4A is for installing BD steering wheel 9D;

Bottom and the BB sleeve 4Q of BD steering wheel support 4A fix.

BH steering wheel support 4B is for installing BG steering wheel 9G; Top and the BC transmission plate 4C of BG steering wheel support 4B fix, and bottom and the BB transmission plate 4D of BG steering wheel support 4B fix.

One end of BC transmission plate 4C is connected to BB swivel bearing 4G(BB swivel bearing 4G and is arranged on the BB power rotor 9B1 of BB steering wheel 9B) on, the other end of BC transmission plate 4C is fixed on the top of BG steering wheel support 4B.

One end of BD transmission plate 4D is connected to the BB driven rotor of BB steering wheel 9B, and (BB driven rotor and BB power rotor 9B1 are oppositely arranged on the both sides of BB steering wheel 9B, the accompanying drawing number of BB driven rotor does not illustrate in the drawings) on, the other end of BD transmission plate 4D is fixed on the bottom of BH steering wheel support 4B.

One end of BC web plate 4E is connected with the AH driven rotor of BH steering wheel 9H, and the other end of BC web plate 4E is connected with the BE driven rotor of BE steering wheel 9E.

One end of BD web plate 4F is connected with the BH power rotor 9H1 of BH steering wheel 9H, and the other end of BC web plate 4E is connected with the BE power rotor 9E1 of BE steering wheel 9E.

Left back leg 5

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4 D, left back leg 5 includes AF steering wheel support 5A, AJ steering wheel support 5B, AE transmission plate 5C, AF transmission plate 5D, sliding bar 5J, AC rubber feet external 5N and the AC sleeve 5Q of pad 5K, AC pad 5L, AC of AE web plate 5E, AF web plate 5F, AC swivel bearing 5G, AC linear bearings 5P, AC pressure transmitter 5M, AE spring 5I, AF spring 5H, AC. Wherein, sliding bar 5J, AC rubber feet pad 5K, AC linear bearings 5P, AC pressure transmitter 5M, AE spring 5I, AF spring 5H and AC pad 5L of AC external 5N, AC sleeve 5Q, AC belongs to calf joint.

One end of the sliding bar 5J of AC is arranged in AC rubber feet pad 5K, and the other end of the sliding bar 5J of AC contacts with AC pressure transmitter 5M; The sliding bar 5J of AC is socketed with AE spring 5I, AC linear bearings 5P and AC sleeve 5Q, and the end thereof contacts of the end of AC linear bearings 5P and AC spring 5I, the other end of AE spring 5I is stopped by the convex annulus 5J1 on the sliding bar 5J of AC;

The upper end of one end insertion AC sleeve 5Q of AC linear bearings 5P; The bottom of AC sleeve 5Q and AF steering wheel support 5A is fixed;

The external 5N of AC is fixed in the lateral plates of AF steering wheel support 5A, is placed with AF spring 5H, AC pad 5L and AC pressure transmitter 5M in the external 5N of AC; AC pad 5L it is provided with between AF spring 5H and AC pressure transmitter 5M.

In the present invention; the AC rubber feet pad 5K of foot mechanism is when being subject to the anchorage force on ground; AE spring 5I shrinks; the sliding bar 5J of AC upwards moves along AC linear bearings 5P; driving AC pressure transmitter 5M also upwards to move, AF spring 5H is compressed then, while obtaining the real-time pressure information in AC rubber feet pad 5K end; effectively protect AC pressure transmitter 5M, avoid the abrasion contacting with ground and bringing.

AF steering wheel support 5A is for installing AF steering wheel 8F;

Bottom and the AC sleeve 5Q of AF steering wheel support 5A fix.

AJ steering wheel support 5B is for installing AJ steering wheel 8J; The top of AJ steering wheel support 5B and AE pass plate 5C and fix, and bottom and the AF transmission plate 5D of AJ steering wheel support 5B fix.

One end of AE transmission plate 5C is connected to AC swivel bearing 5G(AC swivel bearing 5G and is arranged on the AC power rotor 8C1 of AC steering wheel 8C) on, the other end of AE transmission plate 5C is fixed on the top of AJ steering wheel support 5B.

One end of AF transmission plate 5D is connected to the AF driven rotor of AF steering wheel 8F, and (AF driven rotor and AF power rotor 8F1 are oppositely arranged on the both sides of AF steering wheel 8F, the accompanying drawing number of AF driven rotor does not illustrate in the drawings) on, the other end of AF transmission plate 5D is fixed on the bottom of AJ steering wheel support 5B.

One end of AE web plate 5E is connected with the AJ driven rotor of AJ steering wheel 8G, and the other end of AE web plate 5E is connected with the AF driven rotor of AF steering wheel 8F.

One end of AF web plate 5F is connected with the AJ power rotor 8J1 of AJ steering wheel 8J, and the other end of AE web plate 5E is connected with the AF power rotor 8F1 of AF steering wheel 8F.

Right rear leg 6

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 5 C, right rear leg 6 includes BF steering wheel support 6A, BJ steering wheel support 6B, BE transmission plate 6C, BF transmission plate 6D, sliding bar 6J, BA rubber feet external 6N and the BA sleeve 6Q of pad 6K, BA pad 6L, BA of BE web plate 6E, BF web plate 6F, BA swivel bearing 6G, BA linear bearings 6P, BA pressure transmitter 6M, BE spring 6I, BF spring 6H, BA. Wherein, sliding bar 6J, BA rubber feet pad 6K, BA linear bearings 6P, BA pressure transmitter 6M, BE spring 6I, BF spring 6H and BA pad 6L of BA external 6N, BA sleeve 6Q, BA belongs to calf joint.

One end of the sliding bar 6J of BA is arranged in BA rubber feet pad 6K, and the other end of the sliding bar 6J of BA contacts with BA pressure transmitter 6M; The sliding bar 6J of BA is socketed with BE spring 6I, BA linear bearings 6P and BA sleeve 6Q, and the end thereof contacts of the end of BA linear bearings 6P and BE spring 6I, the other end of BE spring 6I is stopped by the convex annulus 6J1 on the sliding bar 6J of BA;

The upper end of one end insertion BA sleeve 6Q of BA linear bearings 6P; The bottom of BA sleeve 6Q and BF steering wheel support 6A is fixed;

The external 6N of BA is fixed in the lateral plates of BF steering wheel support 6A, is placed with BF spring 6H, BA pad 6L and BA pressure transmitter 6M in the external 6N of BA; BA pad 6L it is provided with between BF spring 6H and BA pressure transmitter 6M.

In the present invention; the BA rubber feet pad 6K of foot mechanism is when being subject to the anchorage force on ground; BE spring 6I shrinks; the sliding bar 6J of BA upwards moves along BA linear bearings 6P; driving BA pressure transmitter 6M also upwards to move, BF spring 6H is compressed then, while obtaining the real-time pressure information in BA rubber feet pad 6K end; effectively protect BA pressure transmitter 6M, avoid the abrasion contacting with ground and bringing.

BF steering wheel support 6A is for installing BF steering wheel 9F;

Bottom and the BA sleeve 6Q of BF steering wheel support 6A fix.

BJ steering wheel support 6B is for installing BJ steering wheel 9J; Top and the BE transmission plate 6C of BJ steering wheel support 6B fix, and bottom and the BF transmission plate 6D of BJ steering wheel support 6B fix.

One end of BE transmission plate 6C is connected to BA swivel bearing 6G(BA swivel bearing 6G and is arranged on the BC power rotor 9C1 of BC steering wheel 9C) on, the other end of BE transmission plate 6C is fixed on the top of BJ steering wheel support 6B.

One end of BF transmission plate 6D is connected to the BC driven rotor of BC steering wheel 9C, and (BC driven rotor and BC power rotor 9C1 are oppositely arranged on the both sides of BC steering wheel 9C, the accompanying drawing number of BC driven rotor does not illustrate in the drawings) on, the other end of BF transmission plate 6D is fixed on the bottom of BF steering wheel support 6B.

One end of BE web plate 6E is connected with the BJ driven rotor of BJ steering wheel 9J, and the other end of BE web plate 6E is connected with the BD driven rotor of BD steering wheel 9D.

One end of BF web plate 6F is connected with the BJ power rotor 9J1 of BJ steering wheel 9J, and the other end of BE web plate 6E is connected with the BF power rotor 9F1 of BF steering wheel 9F.

In the present invention, six leg mechanisms are designed to a kind of thigh being applicable to apply with the walking robot of trunk, the calf joint with two-stage buffering. Calf joint pads existing passive compliance by two-stage spring shock absorption and rubber feet, meanwhile pressure transmitter is integrated in two-stage spring buffer and realizes active compliance, can effectively gather foot terminal pressure information, avoid external environmental interference simultaneously, reduce and consume and abrasion. Linear bearings additionally by band ring flange positions, it is achieved the straight line displacement of sliding bar. The foot structure that the present invention proposes realization control simply compact, easy, improve the shock resistance of robot leg bilge construction, decrease the concussion in robot motion's process to impact, it can be savings energy of next time taking a step simultaneously, effectively improve energy efficiency, increase landform adaptive faculty, reduce internal force between leg, and prevent from causing disturbance of overall importance, there is high road surface adaptive faculty and high buffering energy storage capability.

In the present invention, steering wheel chooses the RX28 steering wheel of Dynamixel series, and HoneywellFSG-15N1A type pressure transmitter chosen by pressure transmitter.

In the present invention, driving toothed gear and the passive gear selected in six leg assemblies are spur bevel gear, modulus 1.5, the number of teeth 20, reference diameter 30mm, and transmitting ratio is 1:1.

Front end body 7A

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 2, Fig. 2 A, front end body 7A includes A back up pad 7A01, the vertical plate 7A04 in vertical plate 7A03, A right side, A cover plate 7A02, A left side, front U-board 7A05, rear U-board 7A06, AA steering wheel frame 7A07 and BA steering wheel frame 7A08;

The left end of A back up pad 7A01 is that AA installs plate 7A011, and the right-hand member of A back up pad 7A01 is that BA installs plate 7A012, is middle block 7A013 between AA mounting plate 7A011 and BA mounting plate 7A012; Described AA installs on plate 7A011 for fixing AA steering wheel 8A; Described BA installs on plate 7A012 for fixing BA steering wheel 9A; Described middle block 7A013 is fixed with the vertical plate 7A04 in vertical plate 7A03, A right side, an A left side, and is spaced in intervals between the vertical plate 7A04 in vertical plate 7A03 and the A right side, an A left side.

AA steering wheel frame 7A07 is provided with transverse slat 7A071 and perpendicular plate 7A072; Transverse slat 7A071 is used for fixing AA steering wheel 8A; Perpendicular plate 7A072 is fixed on the vertical plate 7A03 in an A left side; The assembling of the vertical plate 7A03 in an AA steering wheel frame 7A07 and A left side so that the AA of the transverse slat 7A071 and A back up pad 7A01 of AA steering wheel frame 7A07 installs and is spaced in intervals between plate 7A011, and this spacing is just for fixed placement AA steering wheel 8A.

BA steering wheel frame 7A08 is provided with transverse slat 7A081 and perpendicular plate 7A082; Transverse slat 7A081 is used for fixing BA steering wheel 9A; Perpendicular plate 7A082 is fixed on the vertical plate 7A04 in the A right side; The assembling of the vertical plate 7A04 in BA steering wheel frame 7A08 and the A right side so that the BA of the transverse slat 7A081 and A back up pad 7A01 of BA steering wheel frame 7A08 installs and is spaced in intervals between plate 7A012, and this spacing is just for fixed placement BA steering wheel 9A.

One end of front U-board 7A05 is upper fitting 7A051, and the other end of front U-board 7A05 is lower fitting 7A052, is middle fitting 7A053 between upper fitting 7A051 and lower fitting 7A052. Upper fitting 7A051 is connected with A cover plate 7A02. Lower fitting 7A052 is connected with the intermediate die plate 7A013 of A back up pad 7A01. Middle fitting 7A053 is connected with the middle fitting 7A063 of rear U-board 7A06.

One end of rear U-board 7A06 is left fitting 7A061, and the other end of rear U-board 7A06 is right fitting 7A062, is middle fitting 7A063 between left fitting 7A061 and right fitting 7A062. Left fitting 7A061 is connected with the bearing end cap 7B907 in the obstacle detouring transmission assembly 7B09 of rear end body 7B. Right fitting 7A062 is connected with the ring flange of the passive tooth wheel shaft 7B909 in the obstacle detouring transmission assembly 7B09 of rear end body 7B. Middle fitting 7A063 is connected with the middle fitting 7A053 of front U-board 7A05.

Front end body 7A is assembled into: the vertical plate 7A04 in vertical plate 7A03 and the A right side, an A left side keeps parallel and one end is fixed on A back up pad 7A01, and the other end is fixed on A cover plate 7A02; AA steering wheel frame 7A07 is fixed in the outer lateral plates of the vertical plate 7A03 in an A left side; BA steering wheel frame 7A08 is fixed in the outer lateral plates of the vertical plate 7A04 in the A right side; One end of front U-board 7A05 is fixed on A cover plate 7A02, and the other end is fixed on A back up pad 7A01; The middle part of front U-board 7A05 and the middle part of rear U-board 7A06 are fixed.

Rear end body 7B

Shown in Fig. 1, Figure 1A, Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, rear end body 7B includes B back up pad 7B01, vertical plate 7B13, C right side, vertical plate 7B04, C left side, vertical plate 7B03, B right side, B cover plate 7B02, B left side vertical plate 7B14, front L shaped plate 7B05, back L-shaped slab 7B06, AB steering wheel frame 7B07, AC steering wheel frame 7B17, BB steering wheel frame 7B08, BC steering wheel frame 7B18 and obstacle detouring transmission assembly 7B09;

B back up pad 7B01 is provided with AB installation plate 7B011, AC installation plate 7B014, BB installation plate 7B012 unit, BC installs plate 7B015, convex plate 7B017, it is that A subtracts repeated hole 7B013 that AB installs between plate 7B011 and BB installation plate 7B012, and it is that B subtracts repeated hole 7B016 that AC installs between plate 7B014 and BC installation plate 7B015; Described AB installs on plate 7B011 for fixing AB steering wheel 8B; Described BB installs on plate 7B012 for fixing BB steering wheel 9B; Described A subtracts the both sides of repeated hole 7B013 for the vertical plate 7B04 in vertical plate 7B03, B right side, a fixing B left side, and is spaced in intervals between the vertical plate 7B04 in vertical plate 7B03 and the B right side, a B left side; Described B subtracts the both sides of repeated hole 7B016 for the vertical plate 7B14 in vertical plate 7B13, C right side, a fixation of C left side, and is spaced in intervals between the vertical plate 7B14 in vertical plate 7B13 and the C right side, a C left side; Described convex plate 7B17 is fixed with obstacle detouring transmission assembly 7B09, front L shaped plate 7B05 and back L-shaped slab 7B06.

AB steering wheel frame 7B07 is provided with transverse slat 7B071 and perpendicular plate 7B072; Transverse slat 7B071 is used for fixing AB steering wheel 8B; Perpendicular plate 7B072 is fixed on the vertical plate 7B03 in a B left side; The assembling of the vertical plate 7B03 in an AB steering wheel frame 7B07 and B left side so that the AB of the transverse slat 7B071 and B back up pad 7B01 of AB steering wheel frame 7B07 installs and is spaced in intervals between plate 7B011, and this spacing is just for fixed placement AB steering wheel 8B.

AC steering wheel frame 7B17 is provided with transverse slat 7B171 and perpendicular plate 7B172; Transverse slat 7B171 is used for fixing AC steering wheel 8C; Perpendicular plate 7B172 is fixed on the vertical plate 7B13 in a C left side; The assembling of the vertical plate 7B13 in an AC steering wheel frame 7B17 and C left side so that the AC of the transverse slat 7B171 and B back up pad 7B01 of AC steering wheel frame 7B17 installs and is spaced in intervals between plate 7B014, and this spacing is just for fixed placement AC steering wheel 8C.

BB steering wheel frame 7B08 is provided with transverse slat 7B081 and perpendicular plate 7B082; Transverse slat 7B081 is used for fixing BB steering wheel 9B; Perpendicular plate 7B082 is fixed on the vertical plate 7B04 in the B right side; The assembling of the vertical plate 7B04 in BB steering wheel frame 7B08 and the B right side so that the BB of the transverse slat 7B081 and B back up pad 7B01 of BB steering wheel frame 7B08 installs and is spaced in intervals between plate 7B012, and this spacing is just for fixed placement BB steering wheel 9B.

BC steering wheel frame 7B18 is provided with transverse slat 7B181 and perpendicular plate 7B182; Transverse slat 7B181 is used for fixing BC steering wheel 9C; Perpendicular plate 7B182 is fixed on the vertical plate 7B14 in the C right side; The assembling of the vertical plate 7B14 in BC steering wheel frame 7B18 and the C right side so that the BC of the transverse slat 7B181 and B back up pad 7B01 of BC steering wheel frame 7B18 installs and is spaced in intervals between plate 7B015, and this spacing is just for fixed placement BC steering wheel 9C.

Front L shaped plate 7B05 and back L-shaped slab 7B06 is staggered relatively and is fixed on convex plate 7B17, fixedly mounts trunk steering wheel 7C between front L shaped plate 7B05 and back L-shaped slab 7B06.

Obstacle detouring transmission assembly 7B09 includes driving toothed gear 7B906, driving gear shaft 7B905, passive gear 7B908, passive tooth wheel shaft 7B909, left bearing 7B903, right bearing 7B904, bearing left strongback 7B901 and the right strongback 7B902 of bearing; Bearing left strongback 7B901 strongback 7B902 right with bearing keeps parallel and is fixedly mounted on the convex plate 7B017 of B back up pad 7B01; Driving toothed gear 7B906 is arranged on driving gear shaft 7B905 by flat key 7B915, and the end of driving toothed gear 7B906 is tight by back-up ring 7B914 card; Passive gear 7B908 is arranged on passive tooth wheel shaft 7B909 by flat key 7B913, and one end of passive gear 7B908 withstands on the inner ring of left bearing 7B903, the other end of passive gear 7B908 is fixed by the shaft shoulder 7B9092 on passive tooth wheel shaft 7B909, by metal washer 7B912, rubber cradle 7B911 compensated position gap; Left bearing 7B903 is arranged in the bearing chamber 7B9011 of the left strongback 7B901 of bearing, and the outer ring of left bearing 7B903 is fixed by described bearing chamber 7B9011, and the inner ring of left bearing 7B903 is fixed by passive gear 7B908; Right bearing 7B904 is arranged in the bearing chamber 7B9021 of the right strongback 7B902 of bearing, and the outer ring of right bearing 7B904 fixed by described bearing chamber 7B9021, the back-up ring 7B910 on the groove 7B9091 that the inner ring of right bearing 7B904 is provided with by being stuck in passive tooth wheel shaft 7B909 is fixed. Described passive tooth wheel shaft 7B909 is with ring flange.

In the present invention, one end of the passive tooth wheel shaft 7B909 of obstacle detouring transmission assembly 7B09 is arranged in the bearing chamber of bearing right strongback 7B902 through right bearing 7B904(right bearing 7B904 in turn), back-up ring 7B910, passive gear 7B908, rubber cradle 7B911, metal washer 7B912, left bearing 7B903(left bearing 7B903 be arranged in the bearing chamber of the left strongback 7B901 of bearing) after be connected on bearing end cap 7B907. Flat key 7B913 is separately fixed in the keyway 7B9071 of keyway 7B9092 and bearing end cap 7B907 of passive tooth wheel shaft 7B909, effectively ensure that being synchronized with the movement of bearing end cap 7B907 and passive tooth wheel shaft 7B909.

In the present invention, the power rotor of trunk steering wheel 7C is connected on driving gear shaft 7B905, and driving gear shaft 7B905 one end is through driving toothed gear 7B906 and back-up ring 7B914.

In the present invention, obstacle detouring transmission assembly 7B09 drives driving toothed gear 7B906 to move by the output of trunk steering wheel 7C, under the moving condition of driving toothed gear 7B906, driving passive gear 7B908 to move, the Movement transmit of passive gear 7B908 is to passive tooth wheel shaft 7B909; The motion of passive tooth wheel shaft 7B909 makes front end body 7A can realize luffing.

19 degree of freedom

Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 4, a kind of Hexapod Walking Robot people with obstacle detouring ability of inventive design, this robot includes hip joint, big leg joint and calf joint.

In the present invention, hip joint includes the first left hip joint, the 2nd left hip joint, the 3rd left hip joint, the first right hip joint, the 2nd right hip joint, the 3rd right hip joint; First left hip joint comprises AA steering wheel 8A, AA swivel bearing 1G, AA transmission plate 1C, AB transmission plate 1D; 2nd left hip joint comprises AB steering wheel 8B, AB swivel bearing 3G, AC transmission plate 3C, AD transmission plate 3D; 3rd left hip joint comprises AC steering wheel 8C, AC swivel bearing 5G, AE transmission plate 5C, AF transmission plate 5D; First right hip joint comprises BA steering wheel 9A, BA swivel bearing 2G, BA transmission plate 2C, BB transmission plate 2D; 2nd right hip joint comprises BB steering wheel 9B, BB swivel bearing 4G, BC transmission plate 4C, BD transmission plate 4D; 3rd right hip joint comprises BC steering wheel 9C, BC swivel bearing 6G, BE transmission plate 6C, BF transmission plate 6D.

In the present invention, big leg joint includes the first left big leg joint, the 2nd left big leg joint, the 3rd left big leg joint, the first right big leg joint, the 2nd right big leg joint, the 3rd right big leg joint; First left big leg joint comprises AG steering wheel 8G, AA web plate 1E, AB web plate 1F, AG steering wheel support 1B; 2nd left big leg joint comprises AH steering wheel 8H, AC web plate 3E, AD web plate 3F, AH steering wheel support 3B; 3rd left big leg joint comprises AJ steering wheel 8J, AE web plate 5E, AF web plate 5F, AJ steering wheel support 5B; First right big leg joint comprises BG steering wheel 9G, BA web plate 2E, BB web plate 2F, BG steering wheel support 2B; 2nd right big leg joint comprises BH steering wheel 9H, BC web plate 4E, BD web plate 4F, BH steering wheel support 4B; 3rd right big leg joint comprises BJ steering wheel 9J, BE web plate 6E, BF web plate 6F, BJ steering wheel support 6B.

In the present invention, calf joint includes the first left calf joint, the 2nd left calf joint, the 3rd left calf joint, the first right calf joint, the 2nd right calf joint, the 3rd right calf joint; First left calf joint comprises sliding bar 1J, AA rubber feet pad 1K, AA linear bearings 1P, AA pressure transmitter 1M, AA spring 1I, AB spring 1H and AA pad 1L of AD steering wheel 8D, AD steering wheel support 1A, AA external 1N, AA sleeve 1Q, AA; 2nd left calf joint comprises sliding bar 3J, AB rubber feet pad 3K, AB linear bearings 3P, AB pressure transmitter 3M, AC spring 3I, AD spring 3H and AB pad 3L of AE steering wheel 8E, AE steering wheel support 3A, AB external 3N, AB sleeve 3Q, AB; 3rd left calf joint comprises sliding bar 5J, AC rubber feet pad 5K, AC linear bearings 5P, AC pressure transmitter 5M, AE spring 5I, AF spring 5H and AC pad 5L of AF steering wheel 8F, AF steering wheel support 5A, AC external 5N, AC sleeve 5Q, AC; First right calf joint comprises sliding bar 2J, BA rubber feet pad 2K, BA linear bearings 2P, BA pressure transmitter 2M, BA spring 2I, BB spring 2H and BA pad 2L of BD steering wheel 9D, BD steering wheel support 2A, BA external 2N, BA sleeve 2Q, BA; 2nd right calf joint comprises sliding bar 4J, BB rubber feet pad 4K, BB linear bearings 4P, BB pressure transmitter 4M, BC spring 4I, BD spring 4H and BB pad 4L of BE steering wheel 9E, BE steering wheel support 4A, BB external 4N, BB sleeve 4Q, BB; 3rd right calf joint comprises sliding bar 6J, BC rubber feet pad 6K, BC linear bearings 6P, BC pressure transmitter 6M, BE spring 6I, BF spring 6H and BC pad 6L of BF steering wheel 9F, BF steering wheel support 6A, BC external 6N, BC sleeve 6Q, BC.

The called after of degree of freedom is carried out in the present invention taking the power rotor of steering wheel as rotating joint:

(1) first degree of freedom: referring to the rotation that the power rotor around AA steering wheel 8A carries out, the power rotor of described AA steering wheel 8A is parallel to Y-axis.

(2) two degrees of freedom: referring to the rotation that the power rotor around AB steering wheel 8B carries out, the power rotor of described AB steering wheel 8B is parallel to Y-axis.

(3) three degree of freedom: referring to the rotation that the power rotor around AC steering wheel 8C carries out, the power rotor of described AC steering wheel 8C is parallel to Y-axis.

(4) four-degree-of-freedoms: referring to the rotation that the power rotor around AD steering wheel 8D carries out, the power rotor of described AD steering wheel 8D is parallel to X-axis.

(5) five degree of freedom: referring to the rotation that the power rotor around AE steering wheel 8E carries out, the power rotor of described AE steering wheel 8E is parallel to X-axis.

(6) the 6th degree of freedom: referring to the rotation that the power rotor around AF steering wheel 8F carries out, the power rotor of described AF steering wheel 8F is parallel to X-axis.

(7) seven freedoms: referring to the rotation that the power rotor around AG steering wheel 8G carries out, the power rotor of described AG steering wheel 8G is parallel to X-axis.

(8) eight degrees of freedom: referring to the rotation that the power rotor around AH steering wheel 8H carries out, the power rotor of described AH steering wheel 8H is parallel to X-axis.

(9) nine-degree of freedom: referring to the rotation that the power rotor around AJ steering wheel 8J carries out, the power rotor of described AJ steering wheel 8J is parallel to X-axis.

(10) the tenth degree of freedom: referring to the rotation that the power rotor around BA steering wheel 9A carries out, the power rotor of described BA steering wheel 9A is parallel to Y-axis.

(11) the 11 degree of freedom: referring to the rotation that the power rotor around BB steering wheel 9B carries out, the power rotor of described BB steering wheel 9B is parallel to Y-axis.

(12) the tenth two degrees of freedom: referring to the rotation that the power rotor around BC steering wheel 9C carries out, the power rotor of described BC steering wheel 9C is parallel to Y-axis.

(13) thirteen-degree-of-freedoms: referring to the rotation that the power rotor around BD steering wheel 9D carries out, the power rotor of described BD steering wheel 9D is parallel to X-axis.

(14) the tenth four-degree-of-freedoms: referring to the rotation that the power rotor around BE steering wheel 9E carries out, the power rotor of described BE steering wheel 9E is parallel to X-axis.

(15) the tenth five degree of freedom: referring to the rotation that the power rotor around BF steering wheel 9F carries out, the power rotor of described BF steering wheel 9F is parallel to X-axis.

(16) the 16 degree of freedom: referring to the rotation that the power rotor around BG steering wheel 9G carries out, the power rotor of described BG steering wheel 9G is parallel to X-axis.

(17) the tenth seven freedoms: referring to the rotation that the power rotor around BH steering wheel 9H carries out, the power rotor of described BH steering wheel 9H is parallel to X-axis.

(18) the tenth eight degrees of freedom: referring to the rotation that the power rotor around BJ steering wheel 9J carries out, the power rotor of described BJ steering wheel 9J is parallel to X-axis.

(19) the tenth nine-degree of freedom: refer to the rotation carried out around passive tooth wheel shaft 7B909, the axis being parallel of described passive tooth wheel shaft 7B909 is in Z axle.

A kind of Hexapod Walking Robot people with obstacle detouring ability of inventive design, this robot has 19 degree of freedom and 3 joints, solves common six biped robot obstacle detouring scarce capacities and defect that torso portion can not be moved.

The advantage of the foot device with two-stage buffering of the present invention is:

(1) foot has the passive compliance mechanism such as spring, rubber damping and pressure transmitter as active compliance mechanism, and the vibration decreasing robot foot section is impacted, and is conducive to realizing steady walking.

(2) snubber assembly that foot is made up of two-stage spring, it is possible to by regulating the rigidity of two springs, effectively realize the passive compliance of robot foot end.

(3) high-resolution pressure transmitter is integrated in the inside of leg, and protection sleeve is equipped with in outside, while obtaining foot end and ground contact force, effectively protects pressure transmitter, reduces the collision with ground and abrasion.

(4) rubber damping of foot end adopts dome-type design, decreases the frictional force on foot end and ground, enhances the adaptability of leg on irregular ground.

(5) adopt the linear bearings connected legs sleeve of band ring flange and sliding bar, ensure that sliding bar does translational motion along the direction of sleeve all the time.

(6) steady brace of foot end prevents sliding bar and foot the relatively rotating of end rubber damping so that rubber damping is fixed more firm, and then realizes its shock-absorbing function.

Claims (3)

1. one kind is applicable to the foot device with two-stage buffering of barrier-surpassing robot, it is characterised in that:

This foot device includes AD steering wheel support (1A), AG steering wheel support (1B), AA transmission plate (1C), AB transmission plate (1D), AA web plate (1E), AB web plate (1F), AA swivel bearing (1G), AA linear bearings (1P), AA pressure transmitter (1M), AA spring (1I), AB spring (1H), the sliding bar (1J) of AA, AA rubber feet pad (1K), AA pad (1L), AA external (1N) and AA sleeve (1Q),

One end of the sliding bar (1J) of AA is arranged in AA rubber feet pad (1K), and the other end of the sliding bar (1J) of AA contacts with AA pressure transmitter (1M); The sliding bar (1J) of AA is socketed with AA spring (1I), AA linear bearings (1P) and AA sleeve (1Q), and the end thereof contacts of the end of AA linear bearings (1P) and AA spring (1I), the other end of AA spring (1I) is stopped by the convex annulus (1J1) on the sliding bar (1J) of AA;

The upper end of one end insertion AA sleeve (1Q) of AA linear bearings (1P); The bottom of AA sleeve (1Q) and AD steering wheel support (1A) is fixed;

AA external (1N) is fixed in the lateral plates of AD steering wheel support (1A), is placed with AB spring (1H), AA pad (1L) and AA pressure transmitter (1M) in AA external (1N); AA pad (1L) it is provided with between AB spring (1H) and AA pressure transmitter (1M);

AD steering wheel support (1A) is for installing AD steering wheel (8D);

The bottom of AD steering wheel support (1A) and AA sleeve (1Q) are fixed;

AG steering wheel support (1B) is for installing AG steering wheel (8G); The top of AG steering wheel support (1B) and AA transmission plate (1C) are fixed, and the bottom of AG steering wheel support (1B) and AB transmission plate (1D) are fixed;

One end of AA transmission plate (1C) is connected on AA swivel bearing (1G), and the other end of AA transmission plate (1C) is fixed on the top of AG steering wheel support (1B);

One end of AB transmission plate (1D) is connected on the AA driven rotor of AA steering wheel (8A), and the other end of AB transmission plate (1D) is fixed on the bottom of AG steering wheel support (1B);

One end of AA web plate (1E) is connected with the AG driven rotor of AG steering wheel (8G), and the other end of AA web plate (1E) is connected with the AD driven rotor of AD steering wheel (8D);

One end of AB web plate (1F) is connected with the AG power rotor (8G1) of AG steering wheel (8G), and the other end of AA web plate (1E) is connected with the AD power rotor (8D1) of AD steering wheel (8D).

2. a kind of foot device with two-stage buffering being applicable to barrier-surpassing robot according to claim 1, it is characterised in that: this foot device includes big leg joint and calf joint;

Big leg joint comprises AG steering wheel (8G), AA web plate (1E), AB web plate (1F), AG steering wheel support (1B);

Calf joint comprises AD steering wheel (8D), AD steering wheel support (1A), AA external (1N), AA sleeve (1Q), the sliding bar (1J) of AA, AA rubber feet pad (1K), AA linear bearings (1P), AA pressure transmitter (1M), AA spring (1I), AB spring (1H) and AA pad (1L).

3. a kind of foot device with two-stage buffering being applicable to barrier-surpassing robot according to claim 1, it is characterised in that: this foot device has two degree of freedom taking the power rotor of steering wheel as rotating joint;

First degree of freedom: referring to the rotation that the power rotor around AD steering wheel (8D) carries out, the power rotor of described AD steering wheel (8D) is parallel to X-axis;

Two degrees of freedom: referring to the rotation that the power rotor around AG steering wheel (8G) carries out, the power rotor of described AG steering wheel (8G) is parallel to X-axis.