Four-foot robot walking mechanism comprising linear joints

A quadruped robot and walking mechanism technology, applied in the field of robotics, can solve problems such as energy consumption, achieve the effects of enhanced stability and integrity, extended use time, and less energy consumption

Active Publication Date: 2017-05-31
QILU UNIV OF TECH
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AI Technical Summary

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-b

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  • Four-foot robot walking mechanism comprising linear joints
  • Four-foot robot walking mechanism comprising linear joints

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Such as Figure 1-Figure 2 As shown, a walking mechanism of a quadruped walking robot includes a robot torso 1 , a leg mechanism 2 and a foot mechanism 3 .

[0029] The torso part 1 of the robot is used to connect the four leg mechanisms 2 of the robot, and is also equipped with a control system and a power system of the robot. Also can place heavy object on the platform of robot torso part 1 when needing load, realize the transportation function of quadruped robot.

[0030] The robot trunk part 1 comprises a first connection block 16 and a second connection block 17 connected by a first connecting rod 15, the first connection block 16 both sides are fixed with the hip joints 22 of the first pair of leg mechanisms 2, and the second connection Both sides of the block 17 are fixed with the hip joints 22 of the second pair of leg mechanisms 2 . A...

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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...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张慧李贻斌荣学文李彬
Owner QILU UNIV OF TECH
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