A Two-stage Rollable Quadruped Robot
A quadruped robot and robot technology, applied in the field of robotics, can solve the problems of reduced motor use efficiency, poor practicability, and difficulty for robots to resist lateral interference, and achieve the effects of good terrain adaptability, simple structure, and increased moving speed.
Active Publication Date: 2021-01-19
BEIHANG UNIV
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Problems solved by technology
However, in order to achieve deformation, the robot adds unnecessary degrees of freedom in the crawling movement on the torso, which reduces the efficiency of the motor
Because the rotation axis of each joint of the robot is in one direction, it is difficult for the robot to resist lateral interference, and the practicability is poor
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[0020] see figure 1 , figure 2 , image 3 , The present invention is a two-stage rollable quadruped robot, which consists of a trunk 1, a steering gear 2, a thigh 3, and a lower leg 4; wherein, the thigh 3 and the lower leg 4 are connected, and the four legs have the same structure. The outer edge of the calf is rounded. The servos connecting the calf 4, the thigh 3 and the torso 1 can have a yaw motion.
[0021] In the state of four-legged crawling, the rotating motion of the servo between the calf 4 and the thigh 3 can make the calf lift or drop the foot, and the rotating motion of the servo at the thigh 3 and the torso 1 can make the calf move forward or downward. After sliding, the combination of the two can complete the crawling movement.
[0022] see Figure 4 , Figure 5 , Image 6 , when the present invention transitions from the four-legged crawling state to the rolling state, the two left thighs 3 and the calf 4 can be retracted to be parallel and perpendicul...
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A two-segment-type rolling quadruped robot comprises a trunk, four legs with the same structure, and an electric control part. The trunk is a rectangular box in the center of the body, and fixing holes are formed in the two sides of the trunk and used for being connected with the leg parts; the legs are divided into the large legs and the small legs; the large legs are the first segments of non-deformable parts connected with the trunk and are each constituted by two completely same U-shaped steering engine brackets which are crossed in a cross-shaped mode, and the two ends of the large legs are fixed to steering engines through screws, wherein the two U-shaped steering engine brackets are fixed through screws; the small legs are each constituted by two side plates which are approximate tosemicircles, wherein the two side plates are parallelly opposite and are fixed through supporting columns; the steering engines are mounted on the inner sides of the side plats; the electric controlpart comprises a single chip microcomputer, the steering engines, driving plates of the steering engines, and six-axis sensors; the steering engines serve as joints to connect the large legs with thesmall legs, and the steering engines on the trunk connect the large legs with the trunk; and the steering engines drive the large legs and the small legs to deflect, and thus the robot deforms to be in a cylindrical state. Movement of crawling and rolling can be completed, the terrain adaptation is good, and the structure is simple.
Description
technical field [0001] The invention designs a quadruped robot with a circular-arc leg structure, in particular to a quadruped robot capable of rolling and crawling through deformation, and belongs to the technical field of robots. Background technique [0002] Invention patent CN102728066A discloses a rollable quadruped robot. The robot has a multi-segment torso structure with a circular arc shape. After deforming into a circular structure, the servo motors are controlled to produce deflection motion between the components, so that the robot can move along the body. Scroll vertically. However, in order to achieve deformation, the robot adds unnecessary degrees of freedom in the crawling motion on the torso, which reduces the efficiency of the motor. Because the rotation axis of each joint of the robot is in one direction, it is difficult for the robot to resist lateral interference, and the practicability is poor. SUMMARY OF THE INVENTION [0003] The object of the pres...
Claims
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IPC IPC(8): B62D57/02B62D57/032
CPCB62D57/02B62D57/032
Inventor 仲维政左宗玉胡金涛叶耀邦
Owner BEIHANG UNIV