Smart quadruped robot with flexible waist

Abstract

The invention discloses a smart quadruped robot with a flexible waist. The smart quadruped robot with the flexible waist comprises a front body, a rear body, a waist mechanism, crotch mechanisms and leg mechanisms. The front body and the rear body are connected through a split Hooke joint, so that relative deflection and pitching of the front body and the rear body are realized. The front body and the rear body are respectively provided with two crotch mechanisms, wherein output shafts of the crotch mechanisms are made to face the outer side of the bodies so that the leg mechanisms can be installed; the output shafts are meshed with bevel gears between transmission shafts for transmission, so that the output shafts are driven through rotation. A fixed shaft is fixed to each crotch mechanism, and the fixed shafts are driven to rotate to rotate a gearbox; in this way, the leg mechanisms can swing front and back as well as up and down. Each leg mechanism comprises a thigh part and a calf part, wherein each thigh part and each calf part are connected through a knee joint; transmission of the knee joints is realized through two bevel gears, so that the calf part made to swing front and back relative to the thigh part. The smart quadruped robot with the flexible waist has the advantages that the capability of passing through a mountain environment of the robot can be improved, the turning radius in the advancing process is reduced, rotational inertia of legs of the robot is reduced, and the energy utilization rate is increased.

Description

technical field [0001] The invention belongs to the field of detection robots, and relates to a quadruped detection robot, in particular to a dexterous quadruped robot with a flexible waist. Background technique [0002] In nature, mammals have a high ability to adapt to terrain. The speed of the cheetah can reach 110km / h, and the goat can run freely in the mountains. The flexible spine of quadruped mammals can increase the striding distance and reduce the turning radius during running, so as to realize cushioning, shock absorption and terrain adaptability, which play an important role in stabilizing high-speed walking. At the same time, the parts of the legs of quadruped mammals near the feet are light in weight and have small muscles, while the parts near the body are heavy and have large muscles, which is compatible with the main driving force generated by the thighs driving the calves during running. The flexible body and efficient energy configuration of quadrupeds pl...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem of low energy utilization rate caused by the dispersed arrangement of the rigid body and leg motors of the quadruped robot in the prior art, the present invention proposes a dexterous quadruped robot with a flexible waist. The traffic capacity of the environment, reducing the turning radius of travel, reducing the moment of inertia of the robot's legs, and increasing energy utilization

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