Four-leg robot

Abstract

The invention discloses a four-leg robot. The four-leg robot comprises a robot body and four leg part mechanisms arranged by being connected with the robot body. Each leg part mechanism comprises a quadrilateral driving mechanism and a self-adaptive foot bottom mechanism fixed at the tail end of the corresponding quadrilateral driving mechanism. Each quadrilateral driving mechanism comprises a parallelogram mechanism, a second double-shaft digital steering engine with horizontally-arranged output shafts and a first double-shaft digital steering engine with vertically-arranged output shafts. Each self-adaptive foot bottom mechanism comprises an upper foot plate and a foot bottom plate from top to bottom, wherein the upper foot plates and the foot bottom plates are connected with the parallelogram mechanisms. The upper foot plates 7 and the foot bottom plates are connected through a plurality of first hexagon socket screws distributed evenly. Each first hexagon socket screw is provided with a damping spring in a sleeved mode, wherein the damping springs are located between the upper foot plates and the foot bottom plates. Each first hexagon socket screw is movably connected with the corresponding upper bottom plate through a radial spherical plain bearing. According to the four-leg robot, the problems that an existing four-leg robot is complicated in structure, the self-adaptive ability of leg part mechanisms is low, the stability is low, and the quality is high are solved.

Description

technical field [0001] The invention relates to a robot, in particular to a quadruped robot. Background technique [0002] The number of feet of existing walking robots is respectively one foot, two feet, three feet, four feet, six feet, eight feet or even more. Among them, even numbers are in the majority, because in terms of linear motion, even numbers are sufficient to produce effective gaits. When the number of legs is large, it is suitable for heavy load and slow movement, while the structure of biped or quadruped is simpler and more flexible. Compared with bipeds, quadruped walking robots have stronger bearing capacity and better stability. They can not only walk on uneven ground and complex terrain in static walking mode, but also walk in dynamic walking mode with less than three legs at any time. The walking mode in the supporting state realizes high-speed walking, and has good application prospects in many aspects such as emergency rescue, mine clearance, explorat...

AI Technical Summary

Problems solved by technology

[0003] The quadruped robot of the present invention overcomes the deficiencies in the prior art, takes the gecko as the bionic prototype, reduces the degree of freedom of the legs, increases the degree of freedom of the waist, and has a total of 9 joints. Compared with the quadruped robot with 12 joints, the structure is simplified and the machine The body weight is reduced to make the robot movement more bionic, and the parallelogram mechanism and adaptive foot mechanism are used to solve the problems of the existing quadruped robot's complex structure and poor adaptability of the leg mechanism, poor stability and high quality

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