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Multi-joint spine and spine-type quadruped robot

A quadruped robot, multi-joint technology, applied in the field of robotics, can solve the problems of inability to bend the torso, limited movement speed and flexibility, and inconsistency with biological movement patterns, so as to increase operability and enrich the diversity of bending shapes. , the effect of increasing environmental adaptability

Active Publication Date: 2021-08-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing quadruped robots generally use a rigid body, the trunk cannot be bent, the speed and flexibility of movement are severely limited, and it does not conform to the shape of biological movement. The existing technology is still difficult to solve

Method used

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  • Multi-joint spine and spine-type quadruped robot
  • Multi-joint spine and spine-type quadruped robot
  • Multi-joint spine and spine-type quadruped robot

Examples

Experimental program
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Embodiment 1

[0032] Please refer to Figure 1~3 , the present embodiment discloses a multi-joint spine 1100, the multi-joint spine 1100 includes a first spine 1110, a second spine 1120 and a third spine 1130 which are sequentially articulated to form a three-section main body joint structure, thereby simulating four The spine bending motion of the legged creature can improve the speed and flexibility of the quadruped robot.

[0033] Based on the hinge relationship, the first spine 1110 and the third spine 1130 can respectively rotate around the hinge axes of themselves and the second spine 1120 to realize the bending motion of the multi-joint spine 1100 . Under the foregoing structure, the multi-joint spine 1100 has a three-section basic configuration. The three-section basic configuration has a wide bending angle, which can achieve a large body bending, so as to effectively increase the running distance. At the same time, the motion law of the spine in the three-stage basic configuratio...

Embodiment 2

[0046] see Figure 4 , this embodiment discloses a spine-type quadruped robot 1000, the spine-type quadruped robot 1000 includes the multi-joint spine 1100 and robot lower limbs 1200 introduced in Embodiment 1. As mentioned above, the lower limbs 1200 of the robot are installed on the first spine 1110 and the third spine 1130 respectively, so that the robot has four limbs (which can be divided into front and rear limbs).

[0047] Among them, the front and rear limbs of the robot can be formed by a linear array of robot lower limbs 1200 with the same orientation, forming such structural forms as ">" shaped legs. Alternatively, the front and rear limbs of the robot have a symmetrical distribution relationship. Exemplarily, in the latter form, the robot lower limb 1200 located at the first spine 1110 and the robot lower limb 1200 located at the third spine 1130 are symmetrical about the second spine 1120 . In a symmetrical form, the front and rear limbs of the robot can adopt d...

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Abstract

The invention discloses a multi-joint spine, which comprises a first spine, a second spine and a third spine hinged in sequence, and the first spine and the third spine are respectively used for installing the lower limbs of a robot. The first spine is connected with a first drive unit for driving it to rotate around the hinge axis, the third spine is connected with a second drive unit for driving it to rotate around the hinge axis, the first drive unit and the The second driving unit is respectively installed on the second spine; the invention also discloses a spine-type quadruped robot, which includes the multi-joint spine and robot lower limbs, and the robot lower limbs are respectively installed on the first spine bone with the third vertebra. The multi-joint spine and spine-type quadruped robot has a multi-joint spine structure and can simulate the spine bending action of a quadruped creature. The spine bending range is wide, and the movement independence and operability of the front and rear limbs are increased, and the movement of the quadruped robot is improved. Speed ​​and flexibility of movement.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a multi-joint spine and spine-type quadruped robot. Background technique [0002] Footed robot is one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence. It is multidisciplinary and highly complex, attracting many scientific research Institutions and technology companies have focused their attention, and countries have invested heavily in research. Existing quadruped robots generally use a rigid body, the trunk cannot be bent, the speed and flexibility of movement are severely limited, and it does not conform to the shape of biological movement. The existing technology is still difficult to solve. Contents of the invention [0003] In order to overcome the deficiencies in the prior art, the invention provides a multi-joi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J17/00
Inventor 郭伟王鹏飞蔡昌荣李满天李贺琦
Owner HARBIN INST OF TECH
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