Single leg structure of electric quadruped robot

Abstract

The invention relates to a single leg structure of an electric quadruped robot. The single leg structure comprises a hip joint, a knee joint, a thigh connecting rod, a shank connecting rod and a foot,the hip joint comprises a first hip joint body and a second hip joint body, the second hip joint body is connected with the power output end of the first hip joint body, the knee joint is connected with the power output end of the first hip joint body through the thigh connecting rod, the knee joint is in rigid connection with the second hip joint body, the power output end of the second hip joint body is connected with power input end of the knee joint through the transmission mechanism, the shank is fixedly connected to the power output end of the knee joint, and the foot is connected to the shank. According to the structure, the low quality and low rotating inertia of the thigh and the shank is guaranteed, the good motion performance is achieved, the structure is simple and compact, itis guaranteed that the knee joint and the hip joint of the single leg have the good reverse drive characteristic, and the single leg structure can be used for assembling the electric quadruped robotwhich is capable of bouncing and high in load deadweight ratio.

Description

technical field [0001] The invention relates to a single-leg structure for an electric quadruped robot, belonging to the technical field of robots. Background technique [0002] In the natural environment with changing terrain, legged robots can better adapt to terrain changes and have high passability for complex terrain, which has certain advantages over wheeled or tracked robots. Legged robot is a highly attractive research field, and has broad application prospects in industry, terrain exploration, military defense and other fields. [0003] In order to improve the load-to-weight ratio of the robot, the current research on legged robots mostly uses hydraulic drive systems. For example, the SCalf quadruped robot developed by Shandong University, and the BigDog developed by Boston Dynamics in the United States all use hydraulic drive systems. Later, Boston Dynamics developed the electric quadruped robot SpotMini. However, due to the limitation of the torque capacity of t...

AI Technical Summary

Problems solved by technology

However, this device adopts multi-stage planetary gear reducer and bevel gear transmission, the transmission mechanism is relatively complicated, and the joint size and weight are relatively large.

Images