Four-foot robot walking mechanism comprising linear joints

Abstract

The invention discloses a four-foot robot walking mechanism comprising linear joints. The four-foot robot walking mechanism comprises a robot trunk part, two pairs of leg mechanisms are arranged at the two sides of the robot trunk part, each pair of leg mechanisms are symmetrically arranged on the robot trunk part, and the leg mechanisms are connected with the robot trunk part through hip joints and connected with foot mechanisms; the leg mechanism comprises a leg body, and one linear joint is arranged in the leg body in a matched mode; each linear joint comprises a driving part and a driven part, wherein the driven part is connected with a transverse rotation power device through a connecting part, the driving part acts to drive the driven part to linearly move up and down so that the corresponding leg body can move up and down to achieve leg lifting, the transverse rotation power device drives the corresponding leg body to swing in the front and back direction, the transverse rotation power devices of each pair of leg mechanisms operate alternately, and the transverse rotation power devices of the two leg mechanisms at the same side operate alternately to drive the leg bodies to achieve four-foot gait walking.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a quadruped robot walking mechanism with linear joints. Background technique [0002] Many animals in nature, especially quadruped mammals, not only can walk quickly in these complex terrain environments, but also have a large load-bearing capacity. Therefore, human beings have been working hard to develop various quadruped bionic robots. [0003] At present, the well-known four-legged robots include "BigDog", "LS3", and "WildCat" of Boston Dynamics, "HyQ" of the Italian Institute of Technology, and "Cheetah" of the Massachusetts Institute of Technology. Chinese patent document CN 103465991A discloses a simple quadruped robot, which is characterized in that each leg of the robot is provided with a driving motor, and the manufacturing cost is reduced by simplifying the structure. Chinese patent document CN103407514A discloses a quadruped bionic robot leg, which contains two rotat...

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Problems solved by technology

[0004] The quadruped robots designed by the above-mentioned products and inventions basically simulate the leg structure of quadruped breastfeeding. Nowadays, the legs of quadruped robots often adopt "elbow" and "knee" structures, which have certain structural advantages. Biomimicry, the result of this structure is that the supporting legs of the quadruped robot have a certain knee-bending action when walking, as if the quadruped walks in a crawling manner. This walking method will cause the robot to walk or stand. Joint actuators need to continuously output large torque to maintain the posture of the body, so it consumes more energy than the straight-leg walking method in which the supporting legs mainly rely on the leg bones to provide support when animals walk

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