Quadruped robot with flexible joints

A quadruped robot and flexible joint technology, applied in the field of robotics, can solve problems such as practical application limitations of joints, affect the performance of quadruped robots, complex structure, etc., and achieve the effects of large joint range of motion, improved service life, and low energy consumption.

Active Publication Date: 2015-03-04
HEBEI UNIV OF TECH
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  • Abstract
  • Description
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Problems solved by technology

[0005] Chinese patent CN103538079A discloses a robot joint based on a rotary elastic drive, which uses a combination of a rotary oil cylinder and a scroll spring. Although the tightening and loosening of the scroll spring can make the driving force of the oil cylinder flexible, but The energy absorption and release of the vortex spring can only be realized by tightening and loosening, respectively, which limits the

Method used

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  • Quadruped robot with flexible joints
  • Quadruped robot with flexible joints
  • Quadruped robot with flexible joints

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Embodiment 1

[0031] A kind of quadruped robot with flexible joints designed by the present invention (referred to as robot, see figure 1 ), it is characterized in that the robot includes a frame 1 and four mechanical legs 38; the mechanical legs 38 are connected to both sides of the frame by outward swing joints. Wherein, the four mechanical legs 38 adopt an inner knee-elbow symmetrical structure; each mechanical leg 38 is composed of a swing joint, a hip joint frame 9, a hip joint 2, a thigh 28, a knee joint 29, a calf 30 and a foot 31 in sequence. . The hip joint 2 and the knee joint 29 have active flexibility (see the schematic diagram of the transmission principle image 3 , see the structure Figure 4 , Figure 5 , Figure 6 ), the hip joint 2 and the knee joint 29 both include a flexible joint body with active flexibility of the same structure, and the knee joint 2 and the hip joint 29 are driven by the hip joint motor 5 and the knee joint motor respectively.

[0032] The side o...

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Abstract

The invention discloses a quadruped robot with flexible joints. The robot is characterized by comprising a rack and four mechanical legs, wherein the mechanical legs are connected to the two sides of the rack through outward swaying joints; an internal knee and elbow type symmetric structure is adopted for the four mechanical legs; each mechanical leg sequentially consists of an outward swaying joint, a hip joint frame, a hip joint, a thigh, an knee joint, a calf and a foot; each of the hip joints and the knee joints comprises a flexible joint main body which is of the same structure and has driving flexibility; the hip joints and the knee joints are driven by hip joint motors and knee joint motors respectively; the hip joint frames are L-shaped.

Description

technical field [0001] The invention relates to robot technology, in particular to a quadruped robot with flexible joints. Background technique [0002] With its discrete contact characteristics during walking, quadruped robots have shown strong adaptability in exploring and working in complex environments, especially in passages with obstacles (such as pipes, steps, stairs, slopes). Or inaccessible workplaces have broader prospects for development. At present, the research on quadruped robots is mostly in the experimental stage, especially in the aspects of reliability, stability, speed and flexibility in contact with the ground of the robot in the walking process, there are still many problems. For example, during the actual walking process of a quadruped robot, a huge momentum will be generated when the foot hits the ground. Vibration reduces sensing accuracy, damages some sensitive parts, and affects the stability of robot motion. Especially in the process of fast wal...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张小俊张建华孙凌宇张明路
Owner HEBEI UNIV OF TECH
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