Four-foot walking robot

Abstract

A four-foot walking robot comprises a rack, four mechanical legs of the same structure and an electric appliance unit, wherein the four mechanical legs are connected to four corners of the rack through rotating shafts, and the electric appliance unit is fixedly connected to the upper face of the rack. Each mechanical leg mainly comprises a rectangular annular piece, a double-parallelogram mechanism, elastic toes and three driving branch chains of the same structure, wherein the three driving branch chains are connected between the rack and the double-parallelogram mechanism in parallel through servo motor bodies and ball pairs, one set of opposite edges of the rectangular annular piece are connected to one corner of the rack, the other set of opposite edges of the rectangular annular piece are connected to the upper middle portion of the double-parallelogram mechanism, and the elastic toes are fixedly connected with the lower end of the double-parallelogram mechanism through bolts; and every three driving branch chains of the same structure each comprise a servo motor, a crank and a connection rod. The four-foot walking robot is flexible in running, high in walking speed, large in work space, high in bearing capacity and good in protective characteristic.

Description

Technical field [0001] The invention belongs to the technical field of robots, in particular to a quadruped walking robot Background technique [0002] Multi-legged walking robots have the characteristics of discrete footing, flexible movement and strong adaptability to the ground. The development prospects of robot applications are becoming more and more extensive. Four-legged walking robots have stronger carrying capacity and better stability than bipedal walking robots, and are more flexible and simple to control than hexapod and eight-legged walking robots, so their applications are more extensive. The leg structure of the existing quadruped walking robot mainly has two forms: series and parallel. The main characteristics of the series structure leg are large working space, flexible movement, simple control, large swing inertia force of the leg, low rigidity, The weight / load ratio is large and the protection characteristics are poor. The main characteristics of the parallel ...

AI Technical Summary

Problems solved by technology

The leg structure of the existing quadruped walking robot mainly has two forms: series and parallel. Among them, the main characteristics of the series structure leg are large working space, flexible movement, simple control, large swing inertial force of the leg, low stiffness, Large self-weight / load ratio and poor protective properties. The main characteristics of parallel structure legs are compact structure, high rigidity, small self-weight / load ratio, small working space, complicated control and poor protective properties.

Therefore, in some applications that require both leg work space, large load-bearing capacity, and high protection level, it is difficult for a walking robot with the above-mentioned leg structure to perform its due functions.

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