Toe-supporting type quadruped robot with climbing, grabbing and excavating functions

A quadruped robot, functional technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of high manufacturing cost of silk-footed robots, uncoordinated walking of quadruped robots, unusable quadruped robots, etc., and achieve excellent terrain passing performance, The effect of improving the running quality and improving the running reliability

Inactive Publication Date: 2014-12-03
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention solves the problem that human sea tactics are used in the work environment densely covered with forests and coal mines in the Northeast region, which is prone to danger when people perform production and maintenance, and the quadruped robot in the prior art walks in the walking environment It is uncoordinated and

Method used

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  • Toe-supporting type quadruped robot with climbing, grabbing and excavating functions
  • Toe-supporting type quadruped robot with climbing, grabbing and excavating functions
  • Toe-supporting type quadruped robot with climbing, grabbing and excavating functions

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specific Embodiment approach 1

[0008] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment, a finger-supported quadruped robot with climbing, grabbing and digging functions described in this embodiment, the robot includes a left front leg 1, a right front leg 2, a left rear leg 3, a right rear leg 4, The trunk body 5 and the controller 6, the trunk body 5 is a rectangular frame, the left front leg 1, the right front leg 2, the left rear leg 3 and the right rear leg 4 have the same structure, the trunk body 5 is horizontally arranged, the left front leg 1, the right front leg 2 , the left rear leg 3 and the right rear leg 4 are symmetrically arranged on both sides of the trunk body 5 respectively, the controller 6 is fixedly installed on the trunk body 5, and the controller 6 is connected with the left front leg 1, the right front leg 2, and the left rear leg 3 respectively. Controlled connection with the right rear leg 4, the left front leg 1 and the right front leg 2 a...

specific Embodiment approach 2

[0011] Specific implementation mode two: combination figure 1 and 2 Describe this embodiment, a finger-supported quadruped robot with climbing, grabbing and digging functions described in this embodiment, the torso body 5 includes two U-shaped frames 5-1 and a plurality of connecting plates 5-2 , the openings of the two U-shaped frames 5-1 are arranged oppositely, and the two U-shaped frames 5-1 arranged oppositely are fixedly connected by a plurality of connecting plates 5-2, and the controller 6 is arranged on the two U-shaped frames 5-1 Above, others are the same as the first embodiment.

specific Embodiment approach 3

[0012] Specific implementation mode three: combination figure 1 , Figure 2-Figure 12 Describe this embodiment, a finger-supported quadruped robot with climbing, grabbing and digging functions described in this embodiment, the left foreleg 1 includes a left foreleg hip joint 11, a left foreleg thigh joint 12, a left foreleg knee Joint 13, left foreleg calf joint 14 and left foreleg knuckle joint 15, left foreleg hip joint 11 includes left foreleg first steering gear support bracket 11A, left foreleg first steering gear U-shaped bracket 11B, left foreleg first steering gear 11C, the first metal steering plate 11D of the left front leg and the first cup bearing 11E of the left front leg, the left front leg thigh joint 12 includes the second steering gear support bracket 12A of the left front leg, the long U-shaped bracket 12B of the first steering gear of the left front leg, and the left front leg The second steering gear 12C, the second cup bearing 12E of the left front leg an...

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Abstract

The invention relates to a quadruped robot, in particular to a toe-supporting type quadruped robot with climbing, grabbing and excavating functions. The toe-supporting type quadruped robot aims at solving the problems that in the prior art, a huge-crowd strategy is used in working environments densely covered with forests and coal mines in northeast China, danger is likely to happen when people conduct production and maintenance, and a quadruped robot in the prior art is uncoordinated and cannot continuously move when walking in the walking environment, cannot be used for work of forest protection touring and mine accident rescue, and is high in cost. The toe-supporting type quadruped robot comprises a left front leg, a right front leg, a left rear leg, a right rear leg, a body and a controller. The left front leg, the right front leg, the left rear leg and the right rear leg are arranged on the two sides of the body respectively, the controller is fixedly installed on the body, and the toe-supporting type quadruped robot is used for the fields of search, rescue and exploration.

Description

technical field [0001] The invention relates to a quadruped robot, in particular to a finger-supported quadruped robot with functions of climbing, grabbing and digging. Background technique [0002] More than half of the land area on the earth is rugged and steep hills, and it is impossible to move flexibly in these natural environments by relying on wheeled machinery. It is for this reason that the research on bionic legged robots has gradually become one of the focuses in the field of robotics research. From the "Wooden Cow and Flowing Horse" invented by Zhuge Liang during the Three Kingdoms period of China to the LS3 nicknamed "Alpha Dog" quadruped robot developed by Boston Dynamics, quadruped robots have always demonstrated their ability to adapt to harsh environments. Quadruped robots will be used in military transportation and detection, mining, underwater construction, nuclear industry, search and rescue detection, etc. It has a good application prospect. [0003] ...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 王鹏陈杨张元李吉祥吴健
Owner HARBIN UNIV OF SCI & TECH
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