Leg joint for quadruped robot

Abstract

The invention discloses a leg joint for a quadruped robot, wherein third revolute pairs are arranged at four corners of the trunk in two groups and correspond to mounting holes of hip joints. A shaft line of a worm wheel shaft of each third revolute pair is parallel to the centre line of the trunk in the length direction. A third revolute pair motor and a third worm rod are both fixed in the trunk. A third worm wheel is fixedly arranged on the worm wheel shaft. The third revolute pair motor is connected with a third worm rod, and the third worm wheel is engaged with the third worm rod. Four hip joints are connected with four upper legs through respective first revolute pair. The upper legs are connected with second leg sections through second revolute pairs. The first revolute pairs, the second revolute pairs and the third revolute pairs are all driven by independent motors. According to the leg joint disclosed by the invention, a robot can realize more complicated gait, and has stronger adaptability and obstacle crossing capability under a complicated terrain environment; due to the use of self-locking performance of the worm wheel and the worm rod, the robot has larger loading capability and stable static standing capability. The leg joint for the quadruped robot, disclosed by the invention, has the characteristics of simple structure, strong loading capability, anti-impact damping function and static standing function.

Description

technical field [0001] The invention relates to the lifesaving field and the mechanical field, in particular to a rigid-flexible quadruped robot leg joint structure. Background technique [0002] Since the 1980s, scientific research institutions in the United States, Germany, Japan, Canada, Switzerland and other countries have begun to study walking quadruped robots imitating mammals. [0003] The utility model patent with the notification number CN201343082 discloses "a walking mechanism for a quadruped walking robot". Each leg has one degree of freedom for swinging in the horizontal plane and one degree of freedom for swinging in the vertical plane. The moving mechanism of the robot can only realize static walking, and the movement speed is slow; each leg has only two degrees of freedom, the movement space is small, and the ability to overcome obstacles is poor. [0004] In the publication number, CN1483554A discloses "an adjustable quadruped bionic robot motion structur...

AI Technical Summary

Problems solved by technology

[0008] In order to overcome the problems existing in the prior art, or only static walking can be realized, and the movement speed is slow; or each leg has only two degrees of freedom, the movement space is small, and the ability to overcome obstacles is poor; or it is impossible to stand still at the end of walking, and the load capacity is poor. Insufficient, the present invention proposes a kind of quadruped robot leg joint

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