Four-footed robot

Abstract

The invention discloses a four-footed robot, which is characterized by mainly comprising a rack, a dust shield and four mechanical legs with identical structures; the rack is internally provided with twelve servo motors, which comprise four lifting motors, four propelling motors and four swinging motors and are used for driving the four mechanical legs, and every three motors control one mechanical leg to realize rising, lowering, advancing, retreating and side swinging movements of the mechanical leg; the rack comprises connecting plates, a square mounting plate and a rod; the connecting plates are located on two sides of the square mounting plate and are used for fixing the square mounting plate, and all the components are mutually fixedly connected by screws; the dust shield and the rack are mutually fixedly connected by screws; each leg part structure mainly comprises one swinging motor, one lifting motor, one propelling motor, a support plate, a lifting rod, a tail end rod, a long propelling rod, a short propelling rod, a No. 1 short shaft, a No. 2 short shaft and a support shaft; all mechanisms of each leg part are divided into a lifting system, a propelling system and a swinging system according to the functions in the moving process.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a quadruped robot. Background technique [0002] There are many kinds of legged robots, which can be used in many fields such as military affairs, life services, emergency rescue and disaster relief, and entertainment. According to the way the robot walks, robots can be divided into wheeled robots, tracked robots and legged robots. Wheeled robots and crawler robots have high requirements on the surrounding environment when moving, so their application range is limited to a certain extent. Due to its non-continuous contact with the ground during walking, legged robots have shown strong adaptability, especially on passages with obstacles or hard-to-access work sites, which have broader development prospects. Most legged robots have an even number of legs. According to the number of legs, legged robots can be divided into bipedal, quadruped, hexapod, and eight-legged, and even more...

AI Technical Summary

Problems solved by technology

Studies have shown that the former uses a crank-link mechanism and a rod structure, so it has the disadvantages of complex foot movement trajectory and low control accuracy; the latter uses a steering gear as a driving mechanism, so it has the disadvantages of single speed and unstable output force

Neither quadruped robot has the function of anti-overturning when receiving an external impact

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