Bionic climbing quadruped robot

Abstract

The invention discloses a bionic climbing quadruped robot comprising a leg part foot end mechanism, an auxiliary walking mechanism, front shoulder beams, rear shoulder beams, and a vertebral column, wherein two ends of the vertebral column are fixed in the middles of the front shoulder beams and the rear shoulder beams; the leg part foot end mechanism comprises front legs and rear legs; each of the front legs and the rear legs comprises a shank, a thigh and a foot end mechanism; the upper ends of the thighs are connected with the front shoulder beams and the rear shoulder beams by hip joints; the lower ends of the thighs and the upper ends of the corresponding shanks are hinged; the shanks are connected with the corresponding foot end mechanisms; each foot end mechanism comprises a four-connection-rod mechanism together formed by that three foot end rods are hinged on the tail end of the corresponding shank in sequence; upper end hinged points of the four-connection-rod mechanisms and the corresponding ends of the shanks are hinged with the corresponding ends of second hydraulic cylinders; the other ends of the second hydraulic cylinders are hinged with the middle-up parts of the shanks; the auxiliary walking mechanism comprises ground touching rods; the upper ends of the ground touching rods are hinged with the bottoms of the front shoulder beams; the bottoms of the front shoulder beams are fixedly provided with supporting plates which are in cantilever shapes; suspended end bottoms of the supporting plates are vertically provided with baffles; and the baffles and the ground touching rods are connected by first hydraulic cylinders.

Description

technical field [0001] The invention relates to a robot, in particular to a bionic climbing quadruped robot. Background technique [0002] Quadruped robots mostly adopt rigid body structure. At present, the quadruped robots in the world have small climbing slopes and are prone to slipping. In order to prevent slipping and realize climbing slopes with greater slopes, it is very necessary to design a bionic climbing quadruped robot. [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 bearing in the front trunk or the rear trunk forms a rotation with the flange shaft on each leg, and the front trunk and the spine are connected by a rotating pair. Driven by a motor and a gear set, the robot body has a degree of freedom in pitching. The spine and the waist are connected by a rot...

AI Technical Summary

Problems solved by technology

[0002] Quadruped robots mostly adopt rigid body structure. At present, the quadruped robots in the world have small climbing slopes and are easy to slip. In order to prevent slipping and realize slopes with greater slopes, it is very necessary to design a bionic climbing quadruped robot.

The spine and legs of this patent are flexible, inconvenient to control, motion stability needs to be improved, and poor climbing ability

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