Bionic quadruped robot

A quadruped robot and bionic technology, applied in the field of robotics, can solve the problems of high production cost, multiple drives, and high energy consumption

Inactive Publication Date: 2015-01-28
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] Such as Figure 1-11 As shown, the bionic quadruped robot is mainly composed of four flexible legs, four hip joints 8, front shoulder beam 16, rear shoulder beam 11, front spine 19, and rear spine. The legs include two pairs of legs, front and back, and the four legs are connected to the front shoulder beam 16 and the rear shoulder beam 22 through four hip joints 8 respectively. Each hip joint 8 has two degrees of freedom (pitch and roll). The hip joint 8 is horizontally provided with two cross holes, and the hip joint 8 passes through the upper and lower holes respectively through the pin shaft and is hinged with the upper end of the leg and the front and rear shoulder beams 16 and 11. The back spine is fixed on the back shoulder beam 11.

[0036] Each of the four flexible legs is an integrated structure of thigh and calf. The thigh is a rigi...

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Abstract

The invention discloses a bionic quadruped robot which comprises leg parts, a front shoulder beam, a back shoulder beam, a front spine and a back spine, wherein the front spine and the back spine form a spine; the leg parts comprise front and back two pairs of legs; the two pairs of legs are respectively connected with the front shoulder beam and the back shoulder beam by hip joints which are provided with pitching and side-sway two freedom degrees; one end, in a shape of a cantilever beam, of the front spine is horizontally fixed at the middle part of the front shoulder beam; the other end of the front spine is movably connected with the back spine; the back spine is fixed on the back shoulder beam; each leg is of an integral structure of a thigh and a shank; each thigh is a rigid plate; each knee and shank are formed by elastic steel plates; the back end of the front spine is in a shape of relatively wide rectangle; a through hole is formed in the center of the rectangle; a rubber ring is arranged in the through hole; the back end of the front spine is connected with the back spine by a long pin roll passing through the though hole and a nut; a gap is formed between the long pin roll and the rubber ring; the back end of the front spine is respectively fixed with upper, lower, left and right pins which freely and outwardly penetrate out of the frame of the back spine; each spin is sleeved by a spring.

Description

technical field [0001] The invention relates to a robot, in particular to a bionic quadruped robot. Background technique [0002] At present, most quadruped robots adopt a rigid body structure, which has problems such as unstable body posture and large ground impact, which cannot meet high-speed movements such as jumping and running, and cannot walk stably on uneven ground. To improve the dynamic performance of robots, it is highly desirable to design a compliant quadruped robot with a flexible waist and elastic legs. The body of a quadruped robot needs to have pitch degrees of freedom, roll degrees of freedom, and yaw degrees of freedom. Legs should be elastic. [0003] Chinese patent application: 201110196221.7 discloses a compliant quadruped robot with a flexible waist and elastic legs. It is divided into front trunk, spine, waist, rear trunk and four legs with the same structure; the bearings in the front trunk or rear trunk and the flange shafts on each leg form a ro...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 马宗利刘永超朱彦防王建明
Owner SHANDONG UNIV
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