Four-feet walker

Abstract

The invention relates to a four-feet walker which mainly comprises a rack and four mechanical legs connected on four corners of the rack with same structure, wherein each mechanical leg mainly comprises a rectangular annular piece, a first driving branch chain, a second driving branch chain, a third driving branch chain and a semispherical elastic toe; and the first driving branch chain mainly consists of a first motor, a ball screw, a nut, a sleeve, a strip plate, a sliding block, a guide rail and upper and lower sleeve connecting pieces. The second driving branch chain has a structure the same as that of the first driving branch chain, the upper sleeve connecting pieces of the first driving branch chain and the second driving branch chain are respectively arranged in the rectangular annular piece by a first revolute pair and a second revolute pair, the rectangular annular piece is arranged on the rack by a third revolute pair, and the front ends of the strip plates of the first driving branch chain and the second driving branch chain are connected by a fourth revolute pair. The third driving branch chain mainly comprises a second motor, a crank and a connecting rod. The four-feet walker is flexible in operation, quick in walking speed, large in movement space, strong in bearing capability and small in movement inertia.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a walker. Background technique [0002] The walking function of the robot has opened up infinite and broad prospects for expanding the application field of the robot. Compared with bipedal walking robots, quadruped walking robots have the advantages of stronger carrying capacity and better stability. Compared with hexapods and eight-legged walking robots, they are simpler in structure and easier to control. They can walk on complex roads by crawling, walking, trotting, etc. It has better adaptability to the environment, so its application is more extensive. At present, most of the leg structures of quadruped walkers are in series, which has the advantages of large working space, flexible movement, and easy control, but there are also some shortcomings: 1. The dynamics of the swing inertial force of the leg mechanism on the body posture. Performance has a great impact and becomes...

AI Technical Summary

Problems solved by technology

At present, most of the leg structures of quadruped walkers are in series, which has the advantages of large working space, flexible movement, and easy control, but there are also some shortcomings: 1. The dynamics of the swing inertial force of the leg mechanism on the body posture Performance has a great impact and becomes a dynamic factor that cannot be ignored in the system

2. Since the leg mechanism is a multi-joint series mechanism, the overall quadruped robot is a series-parallel hybrid mechanism. During the movement, the joint angles of each joint are constantly changing, and the average value of force or torque transmission efficiency is low.

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