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Flexible quadruped robot

A quadruped robot, robot technology, applied in motor vehicles, transportation and packaging, etc., can solve problems such as difficulty in coordinating bending and leg movements, poor movement flexibility of bionic robots, and inability to turn bionic robots, and achieve stable running and steering. handy effect

Inactive Publication Date: 2017-02-22
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Although the patent solves the problem of flexible waist and elastic legs, it is difficult to coordinate the bending of the spine and the movement of the legs during the movement of the bionic robot, resulting in poor movement flexibility of the bionic robot, and the bionic robot cannot turn.

Method used

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Embodiment Construction

[0030] The present invention is described in detail below in conjunction with accompanying drawing:

[0031] Such as figure 1 , 2 , 3 and 4, a running quadruped robot with flexible spine and steering device. Including thigh 1, four spine pull-down ropes 2; four lower hollow tubes 3; four lower support frames 4; four upper spine pull ropes 5; four upper hollow tubes 6; four upper support frames 7; Spine 8; base 9; central hydraulic cylinder 10; support shaft 11; thrust bearing 12; driven gear 13; shift lever 14; stop lever 15; thrust bearing 16; hexagonal bolt 17; driving gear 18; stepping motor 19; front shoulder beam 20; rear shoulder beam 21.

[0032] The two ends of the spine are respectively fixed on the front shoulder beam 20 and the rear shoulder beam 21, and the four legs are respectively connected with the front and rear shoulder beams, and the middle position of the thigh of each leg is respectively connected with a spine pull-down rope 2. One end of the spine pul...

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Abstract

The invention discloses a flexible quadruped robot which comprises a flexible spine and a steering device. The flexible quadruped robot comprises four legs and a spine, wherein the two ends of the spine are respectively fixed on a front shoulder beam and a rear shoulder beam; the four legs are respectively connected with the front shoulder beam and the rear shoulder beam; a lower spine pull-down rope is connected on the middle position of the thigh part of each leg; one end of the lower spine pull-down rope is connected with the thigh part while the other end of the lower spine pull-down rope penetrates through a lower hollow tube to be connected with the middle part of the spine; an spine pull-up rope is connected with the end part of the thigh part of each leg, close to the spine; one end of the spine pull-up rope is connected with the end part of the thigh part while the other end of the spine pull-up rope penetrates through an upper hollow tube to be connected with the middle part of the spine; a support shaft which is vertical to the spine is arranged at the center of the spine; under the driving of a driving device, the whole robot is steered relative to the support shaft.

Description

technical field [0001] The invention discloses a flexible quadruped robot, which includes a flexible spine and a steering device. Background technique [0002] At present, most of the quadruped robots use a rigid body. When the robot moves, there are problems such as large body undulations and large impact force of the feet on the ground, which cannot achieve high-speed running, and steering adjustment is also troublesome. Dynamic performance, it is highly desirable to design a flexible quadruped robot with a flexible waist and a steering device. The swing of the legs of the quadruped robot drives the up and down bending of the torso. Able to turn around. [0003] For example, in the patent application number 201510690265.3, a bionic running quadruped robot is disclosed, including legs, front shoulder beam, back shoulder beam and spine, and the two ends of the spine are respectively fixed on the front shoulder beam and the rear shoulder beam In the middle part, the legs a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 马宗利吕荣基张培强马庆营王建明
Owner SHANDONG UNIV
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