Four-legged bionic robot with knee-joint parallel leg structure

Abstract

The invention discloses a four-legged bionic robot with a knee-joint parallel leg structure, which is composed of a frame and four parallel legs, wherein the four parallel legs are same in structure; each parallel leg comprises a leg rack, three linear actuators, three O-shaped connectors, a thigh, a knee joint, a shank and a foot; each parallel leg has three driving degrees of freedom, the threelinear actuators can collaboratively drive the leg to carry out bionic movements such as an operation of swinging forward and backward, an operation of swinging leftward and rightward, and an operation that the leg is bent around the knee joint, and the like; the foot is connected in a buffering connection mode, and can complete operations of vibration reduction, energy storage and reuse in a striding cycle; and four legs are arranged symmetrically or equi-directionally, and can realize the all-round bionic movement of the robot through a certain gait. The parallel bionic leg structure adopted by the invention is simple in structure, easy to control, high in movement precision, high in high-speed response capacity and high in bearing capacity, therefore, the parallel bionic leg structure is suitable for being applied to high-speed and high-load transportation operations under field complicated unstructured terrain conditions and operations in dangerous environments.

Description

technical field [0001] The invention relates to the technical field of robots in mechanical engineering, in particular to a quadruped bionic robot with knee joint parallel leg structure used for high-speed, high-load transportation operations and dangerous environment operations under complex unstructured terrain conditions in the field. Background technique [0002] High-speed, high-load quadruped bionic robot is a special robot that imitates the movement of quadruped animals. This type of robot can walk stably in complex unstructured environments and can replace humans to complete many dangerous operations. It is widely used in military, mining, and nuclear energy industries. There are many potential application prospects in industries such as planetary surface detection, fire protection and rescue, construction, agriculture and forestry logging, teaching and entertainment. For a long time, quadruped bionic robot technology has been one of the research hotspots in the fiel...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to address the deficiencies of the prior art, and propose a quadruped bionic robot with a knee joint parallel leg structure, to solve the problem that the quadruped bionic robot in the prior art cannot walk stably with high speed and heavy load under the state of low energy consumption. technical problem

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