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Dog-like quadruped robot

A quadruped robot and spine technology, applied in the field of robotics, can solve problems such as inconvenient control and improvement of motion stability, and achieve the effects of easy adjustment, increased motion stability, and reduced impact

Inactive Publication Date: 2015-12-02
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The spine and legs of this patent are flexible, inconvenient to control, and the stability of movement needs to be improved

Method used

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  • Dog-like quadruped robot
  • Dog-like quadruped robot
  • Dog-like quadruped robot

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] Such as Figure 1-Figure 7 Shown, imitation dog quadruped robot, comprises leg, front shoulder beam 18, back shoulder beam 23, front spine 19, waist 20 and back spine 22, and front spine 19, waist 20 and back spine 22 form spine jointly, and front spine 19. One end is in the shape of a cantilever beam and fixed horizontally to the middle of the front shoulder beam 18 through the ninth bolt 16, the other end is connected to the front end of the waist 20 through the twelfth bolt 26, and the rear end of the waist 20 is connected to the rear spine 22 through the seventh bolt 12 and nut 13. Connected, the rear spine 22 is fixed on the rear shoulder beam 23 by the tenth bolt 24 .

[0030] The legs include a thigh 3, a calf 2 and a foot end 1. The upper end of the thigh 3 is connected to the front shoulder beam 18 and the rear shoulder beam 23 respecti...

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Abstract

The invention discloses a dog-like quadruped robot. The dog-like quadruped robot comprises leg parts, a front shoulder beam, a back shoulder beam, a front vertebral column, a waist part and a back vertebral column, wherein the front vertebral column, the waist part and the back vertebral column mutually form a vertebral column; one end of the front vertebral column is horizontally fixed at the middle part of the front shoulder beam in the form of a cantilever beam; the other end of the front vertebral column is connected with the front end of the waist part; the back end of the waist part is connected with the back vertebral column; the back vertebral column is fixed on the back shoulder beam; the waist part comprises two inflating rubber rods arranged in parallel; the two ends of the two rubber rods extend to form an integrated sheet-like rubber sheet fixedly connected with the front vertebral column and the back vertebral column; the deformation of the rubber rods at the waist part can provide bending freedom degree of the vertebral column in a vertical direction; one inflating rubber rod is connected with a first hydraulic cylinder which is vertically arranged; the first hydraulic cylinder is used for controlling transverse rolling freedom degree of the vertebral column in real time; the other inflating rubber rod is connected with a second hydraulic cylinder which is horizontally arranged; and the second hydraulic cylinder is used for controlling deflection freedom degree of the vertebral column in a horizontal direction in real time. The dog-like quadruped robot disclosed by the invention is advantaged in that the balance of the robot body is easy to adjust; the motion stability of the robot is good and the impact of the robot is reduced.

Description

technical field [0001] The invention relates to a robot, in particular to a dog-like 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 several parts such as the 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 s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 马宗利张培强刘永超李青阳冯爽王建明
Owner SHANDONG UNIV
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