Quadruped robot capable of achieving gait control through front-rear traction and up-down rolling

A quadruped robot and gait control technology, applied in the field of robotics, can solve the problems of high cost, complex gait control and structure, and difficulty in mass production of quadruped bionic robots, achieving clear structure, simple structure, and low cost. low effect

Active Publication Date: 2019-08-13
XIAMEN UNIV
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Problems solved by technology

Compared with civilian needs, military quadruped bionic robots are more expensive, difficult to mass-produce and put into daily use, and require professional operat

Method used

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  • Quadruped robot capable of achieving gait control through front-rear traction and up-down rolling
  • Quadruped robot capable of achieving gait control through front-rear traction and up-down rolling
  • Quadruped robot capable of achieving gait control through front-rear traction and up-down rolling

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[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0035] Such as figure 1 As shown, the present invention includes a power source, a main body frame, a calf support tube 108, a leg support frame 101, a longitudinal drive unit, a longitudinal movement slider 104, a foot structure 110, a lateral drive unit, a lateral movement slider 117, and a self-balancing module .

[0036] Such as figure 2 As shown, the main frame has a rectangular structure and is made of aluminum tubes. The main frame is provided with five crossbars, including a symmetrically arranged outer crossbar 114, a symmetrically disposed second crossbar 115, and a middle crossbar 133. The main frame Side bars 116 are respectively provided at both ends of the cross bar, and the cross bars are arran...

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Abstract

The invention provides a quadruped robot capable of achieving gait control through front-rear traction and up-down rolling, and belongs to the field of robots. The quadruped robot includes a body frame, a shank support tube, a leg support frame, a longitudinal driving unit, a longitudinal moving sliding block, a foot structure, a transverse driving unit and a transverse moving sliding block, and the foot structure is connected with a rotating shaft of the lower end of the shank support tube, the longitudinal moving sliding block is slidably connected with the leg support frame, and the longitudinal moving sliding block is fixedly connected with the shank support tube and the longitudinal driving unit to make the longitudinal driving unit drives the shank support tube move up and down alongthe leg support frame; and the sliding block end of the transverse moving sliding block is slidably connected with an outside crossbar of the body frame, and the transverse moving sliding block is fixedly connected with the leg support frame and the transverse drive unit to make the transverse driving unit drive the leg support frame to move transversely along the outside crossbar of the body frame. The quadruped robot has the advantages of simple gait, low cost, simple structure, and high feasibility and generalizability.

Description

technical field [0001] The invention relates to the field of robots, in particular to a quadruped robot whose gait is controlled by front and rear traction and up and down rolling. Background technique [0002] Nowadays, all countries are developing quadruped robots, and many universities in my country have professional teams conducting this research. Quadruped robots use hydraulic systems and other mechanisms to realize quadruped functions. At first, this type of robot was used in the military. It has a high speed, a large load capacity and super maneuverability. Even in a complex unstructured environment, it can still keep moving freely. It is expected It may appear in actual combat in the future. With the development of science and technology, robots have entered our lives. Compared with civilian needs, military quadruped bionic robots are more expensive, difficult to mass-produce and put into daily use, and require professional operation, which is quite different from ...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 胡天林李浩男高思佳闫锐卓泽键黄號欧阳童洁
Owner XIAMEN UNIV
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