Walking robot

Abstract

The invention provides a walking robot. The walking robot comprises a rack, a first parallel-serial leg group and a second parallel-serial leg group, wherein the first parallel-serial leg group and the second parallel-serial leg group respectively comprise a plurality of parallel-serial legs; the parallel-serial legs in the first parallel-serial leg group are respectively connected with one side end of the rack; the combined legs in the second combined leg group are respectively connected with the other side end of the rack. Each combined leg comprises a four-link linear mechanism, a driving portion and a leg portion, wherein the four-link linear mechanism is arranged on the rack and the lower end of the four-link linear mechanism is hinged to the upper end of the leg portion through the driving portion. Six combined legs in the walking robot provided by the invention are equally distributed on the two sides of the rack, and the walking robot can walk in any direction and adapt to various environments. By using three four-link linear mechanisms to replace sliding blocks which linearly move back and forth, on one hand, the weight of the combined legs can be reduced, and on the other hand, errors of sliding block guide rail mechanisms which are difficult to avoid during installation can be prevented from being caused.

Description

technical field [0001] The invention relates to a robot in mechanical engineering, in particular to a walking robot. Background technique [0002] Legged robots are widely used in complex and rugged terrain environments, imitating special robots of quadruped mammals and reptiles or hexapod insects. This type of robot can walk stably in a complex unstructured environment, has good mobility, and its discrete trajectory can adapt to most irregular and uneven terrain; its foot structure makes the movement of the robot body consistent with that of the foot. The locomotion is separated so that the robot can maintain smooth motion of the body while traversing obstacles. [0003] For a long time, footed robots have many potential application prospects in industries such as military preparations, mining, nuclear power rescue, earthquake rescue, trial education and entertainment, and have always been one of the research hotspots in the field of robotics at home and abroad. In terms ...

AI Technical Summary

Problems solved by technology

In terms of the leg structure design of legged robots, the structure of the series legs is simple and the control model is easy, but the drives are mostly installed on the legs and feet, so that the lower drive becomes the load of the upper drive, and the driving capacity is high; the stiffness of the series legs is small and difficult. Withstands repetitive, high-load tasks

The parallel leg structure has greater rigidity, which can increase the load-to-weight ratio of the robot, but the working space of the mechanism itself is small, and it is difficult to complete high-speed walking and obstacle-crossing operations

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