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Quadruped robot based on four-bar mechanism

A four-link mechanism and quadruped robot technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of high manufacturing cost and difficult electronic control design, achieve low manufacturing cost, reduce the difficulty of electronic control design, and reduce effect of weight

Inactive Publication Date: 2019-04-12
NANHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It solves the problem that a single leg of the existing bionic quadruped robot needs at least three motors to drive, its manufacturing cost is high and its electronic control design is difficult.

Method used

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  • Quadruped robot based on four-bar mechanism
  • Quadruped robot based on four-bar mechanism
  • Quadruped robot based on four-bar mechanism

Examples

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Embodiment 1

[0029] Such as Figure 1-7 As shown, the quadruped robot based on the four-bar linkage mechanism includes a base 1 , legs 2 and a steering drive mechanism arranged between the base 1 and the legs 2 .

[0030] The base 1 comprises two square frames 11 and a strip plate 12 arranged between the two square frames 11, one end of the strip plate 12 is hinged with a corner of a square frame 11, and the other end of the strip plate 12 is connected to the other end of the strip plate 12. The corners of a square frame 11 are affixed. The square frames 11 can rotate around their hinges with the strip plates 12 respectively. The base 1 based on this design can reduce the minimum turning radius of the quadruped robot.

[0031] Two pairs of four legs are symmetrically installed on both sides of the front end and both sides of the rear end of the base 1 . Among the four legs, two of them are installed at two adjacent corners on both sides of the hinge joint between a square frame 11 and t...

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PUM

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Abstract

The invention discloses a quadruped robot based on a four-bar mechanism. The quadruped robot comprises a base and legs, wherein every two of the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the base; the legs each comprise a pedestal, a four-bar mechanism, a motor B, a cross bar, a coupling, a vertical bar and a scissors fork telescopic frame;the four-bar mechanism is a planar pivot four-bar mechanism and comprises a crank, a rocker bar and connecting rods; the front ends of the crank and the rocker bar are respectively hinged onto the pedestal; the rear end of the crank is hinged with the front end of the hinged connecting rods; the rear end of the rocker bar is hinged with the middle of the connecting rods; the motor B drives the crank to rotate around the hinged joint at the front end of the crank; the scissors fork telescopic frame is provided with multiple hinge joints from the upper end to the lower end; the scissors fork telescopic frame is connected with the coupling at the hinged joint at the uppermost end, and connected with the lower end of the vertical bar by virtue of any hinged joint except the hinged joint at the lowest end. The quadruped robot based on the four-bar mechanism disclosed by the invention has the advantages that the legs of the quadruped robot are driven by the four-bar mechanism, the travelingfunction can be realized by virtue of drive of one motor only, the manufacturing cost is low, and the electric control design difficulty is low.

Description

technical field [0001] The invention relates to the technical field of legged robots, in particular to a quadruped robot based on a four-bar linkage mechanism. Background technique [0002] Legged robot is a comprehensive technology integrating many disciplines such as machinery, electronics, computer, sensor, control technology, etc. It reflects a country's intelligence and automation research level, and is also a comprehensive expression of a country's high-tech technology. Legged robots have excellent performance over wheeled, tracked and creeping robots, have a variety of gaits, and have a certain obstacle-breaking function, which greatly improves the application range of robots, especially in complex terrain conditions. Exploration, survey and other fields can be widely used. [0003] Quadruped robots are particularly common among legged robots. Existing quadruped robots are mostly bionic (dog or horse imitation), whose leg movement decoupling is complex, and one leg r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 马引航
Owner NANHUA UNIV
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