Parallel leg structure and walking robot

Abstract

The invention relates to the technical field of robots, in particular to a parallel leg structure and a walking robot. The parallel leg structure comprises a static platform, a foot unit and at leasttwo first driving arms. Two ends of the first driving arm are respectively hinged to the static platform and the foot unit; the first driving arms are telescopic, so that the distance between the twoends of the first driving arms can be changed. The walking robot comprises the parallel leg structure. According to the parallel leg structure and the walking robot, the structural rigidity, the response speed and the walking speed are greatly improved, the complexity of the structure is simplified, and the manufacturing cost is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a parallel leg structure and a walking robot. Background technique [0002] High-speed, high-load quadruped robot is a special robot that imitates the movement of quadruped animals. This type of robot can walk stably in complex unstructured environments and can replace humans to complete many dangerous operations. It is used in military, mining, nuclear energy industry, There are many application prospects in fire protection and rescue, construction industry, agricultural logging, teaching entertainment and other industries. For a long time, quadruped robot technology has been one of the hot spots in the field of robotics research at home and abroad. [0003] At present, domestic legged robots, namely walking robots, have attracted widespread attention for their superior maneuverability and adaptability in complex environments. For walking robots, the structure and performance o...

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Problems solved by technology

[0004] Among them, the tandem robot has a tandem leg structure in which the hip, thigh, and calf are connected in sequence. First, due to the tandem structure, when the terminal foot wants to reach the target position, each joint needs to respond sequentially. Therefore, the response speed of the legs is relatively slow; secondly, the series structure requires the motor and the drive system to provide a faster driving speed to realize its fast walking, so the walking speed is slow; thirdly, due to the use of hips, thighs, The lower leg is a series-connected leg structure, so due to its longer transmission chain, its rigidity decreases with the increase of the transmission chain, and at the same time its load-carrying capacity decreases, and then it must be strengthened by enhancing the overall structural strength or increasing the motor and motor. The torque of the drive system is used to compensate for the above shortcomings, which will inevitably lead to an increase in overall weight and the need for a higher performance drive system, which will inevitably lead to an increase in its manufacturing cost

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