A Cylinder-Based Quadruped Multidirectional Robot

Abstract

The invention discloses a four-foot multi-direction movement robot system based on an air cylinder. The air cylinder drives leg joints and waist joints of a four-foot robot to move, the robot has a function of moving in a transverse direction and a longitudinal direction, and has a function of moving in a direction at a certain angle with the transverse direction and the longitudinal direction. The four-foot multi-direction movement robot for the air cylinder is mainly composed of supporting legs, fixing plates, waist joint air cylinders, vertebrae, a supporting frame, a swinging air cylinder,supporting leg air cylinders, a rod end joint bearing and connecting pieces. The swinging air cylinder and the supporting leg air cylinders drive the four supporting legs of the four-foot robot to realize the free switching of transverse angle, longitudinal angle and other angles; and the waist joint air cylinder and the vertebrae are adjusted according to the actual movement requirement of the four-foot robot so as to meet the requirements of different movement directions of the four-foot robot to the posture of the waist joint. The four-foot robot driven by the air cylinder has the characteristics that flexibility is good, movement direction is multiple, the movement direction can be freely switched, and the robot can be applied to the fields of field work, obstacle-crossing and explosion-proof, military load-bearing transportation and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a cylinder-based four-legged multi-directional moving robot. Background technique [0002] Quadruped robots have the advantages of good load capacity, strong adaptability to complex terrain, and good dynamic balance performance. They have broad application prospects in fields such as field work, obstacle clearance, and military affairs. [0003] Chinese patents 201010235047.8, 201110303670.7, 201110196221.7, 201410653931.1, 201410211307.6, 201510550506.4, 201510330474.7, 201510021471.5 consider the disadvantages of quadruped robot drive in terms of the output of the motor and the longitudinal motion of the motor. Chinese patent 201611158787.X proposes for the first time a motor-driven quadruped robot that can move laterally and a waist joint that swings laterally. Chinese patents 201110314607.3, 201020167955.3, 201410145956.0, 201010554988.1, and 201310279393.X use hy...

AI Technical Summary

Problems solved by technology

The above-mentioned quadruped robot patent is only limited to a single horizontal or vertical movement, and cannot realize movement in a direction with a certain angle to the horizontal and vertical directions at the same time, and does not design a waist joint suitable for this kind of movement.

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