Electric quadruped robot with variable mechanism configuration

Abstract

The invention discloses an electric quadruped robot with variable mechanism configuration. The electric quadruped robot with the variable mechanism configuration comprises a trunk and four legs connected to the trunk; each leg comprises three transmission chains which are respectively a first transmission chain, a second transmission chain and a third transmission chain, the first transmission chain is connected with the trunk, the second transmission chain is connected with the first transmission chain, and the third transmission chain is connected with the second transmission chain. The first transmission chain drives a hip joint axis to rotate, the second transmission chain drives a thigh rod piece to rotate, and the third transmission chain drives a shank rod piece to move. The mechanism configuration of the electric quadruped robot can be transformed according to specific terrains, the electric quadruped robot has multiple motion modes of quadruped crawling, quadruped walking and partial crawling-partial walking, when the mechanism configuration of crawling is used, the electric quadruped robot is high in stability, and can better pass through rugged and complex terrains; when the mechanism configuration of walking is adopted, the electric quadruped robot is quick in action speed and high in efficiency and energy utilization rate; the electric quadruped robot with the variable mechanism configuration is driven by the motor, therefore, noises can be greatly reduced, and a mechanical main body is lighter and more flexible.

Description

technical field [0001] The invention relates to an electric quadruped robot with variable mechanism configuration, which belongs to the technical field of legged mobile robots. Background technique [0002] Wheeled and tracked mobile robots move quickly and smoothly in a structured environment, but it is difficult to walk through the complex mountain forest landform environment with trees and bushes; the balance of biped robots in complex environments is difficult to control, and the load-bearing capacity is weak; six Multi-legged robots, such as multi-legged and eight-legged robots, are large in size, inflexible and high in energy consumption; quadruped robots are the best form of multi-legged robots, which have great advantages in adapting to complex terrain, flexible movement and strong obstacle-surmounting ability. Reptile-like quadruped robots have high stability during travel and can better pass through complex and rugged environments; mammal-like quadruped robots move...

AI Technical Summary

Problems solved by technology

[0002] Wheeled and tracked mobile robots move quickly and smoothly in a structured environment, but it is difficult to walk through complex mountain forest landforms with dense trees and bushes; the balance of biped robots in complex environments is difficult to control, and the load-bearing capacity is weak; six Multi-legged robots such as legged and eight-legged robots are large in size, inflexible and high in energy consumption; quadruped robots are the best form of multi-legged robots, which have great advantages in adapting to complex terrain, flexible movement and strong obstacle surmounting ability.

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