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Bionic climbing quadruped robot

A quadruped robot and robot technology, applied in the field of robots, can solve the problems of poor climbing ability, inconvenient control, easy slippage, etc., and achieve the effects of good motion stability and simple structure

Inactive Publication Date: 2017-06-16
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] Such as Figure 1-Figure 4 As shown, the bionic climbing quadruped robot includes leg foot end mechanism, auxiliary walking mechanism, front shoulder beam 28, rear shoulder beam 30 and spine 29. The spine 29 is a thin steel plate with flexibility and can move up and down along the vertical direction. bending. One end of the spine 29 is fixed on the middle part of the rear shoulder beam 30 by the fifteenth bolt 31 , and the other end is fixed on the front shoulder beam 28 by the sixteenth bolt 32 . Leg foot end mechanism includes calf 13, thigh 3 and foot end mechanism. The upper end of thigh 3 is connected to front shoulder beam 28 and rear shoulder beam 30 through the hip joint with pitch freedom respectively, and the lower end of thigh 3 is hinged with the upper end of calf 13. 13 is connected with a foot end mechanism, and the auxiliary walk...

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Abstract

The invention discloses a bionic climbing quadruped robot, which comprises a leg foot end mechanism, an auxiliary walking mechanism, a front shoulder beam, a rear shoulder beam and a spine. The foot-end mechanism includes the front leg and the rear leg. Both the front leg and the rear leg include the calf, thigh and foot-end mechanism. The upper end of the thigh is connected with the front shoulder beam and the rear shoulder beam through the hip joint. A foot-end mechanism is connected; the foot-end mechanism includes a four-bar linkage composed of three foot-end rods sequentially hinged at the end of the lower leg. The other end of the second hydraulic cylinder is hinged to the middle and upper part of the calf; the auxiliary walking mechanism includes a ground-grabbing rod, the upper end of which is hinged to the bottom of the front shoulder beam, and the bottom of the front shoulder beam is fixed with a cantilever-shaped support plate, which is suspended in the air A baffle is vertically arranged at the bottom of the end, and the baffle and the ground rod are connected through a first hydraulic cylinder.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032B62D57/024
Inventor 马宗利张培强刘永超吕荣基王建明
Owner SHANDONG UNIV