Quadruped robot and its locomotion method

Abstract

A quadruped robot and its movement method belong to the technical field of robots. The robot includes a frame, a drive system and a mechanical leg system. The frame includes a left frame and a right frame. The drive system includes a power supply, a motor, a gear, and a drive shaft. The mechanical leg system is composed of four sub-mechanical leg systems. The quadruped robot is driven by a single motor to realize the fast walking of the robot in a diagonal gait. The sub-mechanical leg system of the robot imitates the crawling of insects. Through special size restrictions, the contact trajectory between the end of the foot and the ground is an approximate straight line, and The duration of the straight line trajectory is half of the motor's turnover period, so the robot will not heave up and down when crawling, and can crawl efficiently and stably on the ground; the lightweight design and additive manufacturing technology reduce the size and weight of the robot, making it easy to carry , used in narrow space and environment detection tasks.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a miniature four-legged robot that drives efficiently and walks quickly and stably. Background technique [0002] With the continuous improvement of the level of robot technology, the application of bionic robot mechanisms is becoming more and more extensive. Among them, micro bionic robots that can be stable, fast, and easy to drive have unique advantages when performing special tasks in narrow spaces. At present, most robots have legs. Driven by multiple motors, the drive and control are complex and run slowly. A few robot legs are directly driven by the crank rocker mechanism. Although the drive is simple and fast, the operation is unstable and the center of gravity fluctuates greatly. Existing robots cannot At the same time, it meets the design requirements of stability, rapidity and lightweight miniaturization. [0003] Chinese patent CN20191016372 discloses a bionic quadruped r...

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Problems solved by technology

[0002] With the continuous improvement of the level of robot technology, the application of bionic robot mechanisms is becoming more and more extensive. Among them, micro bionic robots that can be stable, fast, and easy to drive have unique advantages when performing special tasks in narrow spaces. At present, most robots have legs. Driven by multiple motors, the drive and control are complex and run slowly. A few robot legs are directly driven by the crank rocker mechanism. Although the drive is simple and fast, the operation is unstable and the center of gravity fluctuates greatly. Existing robots cannot At the same time meet the design requirements of stability, rapidity and light weight miniaturization

[0003] Chinese patent CN20191016372 discloses a bionic quadruped robot. The robot has a large number of degrees of freedom and can adapt to complex road surfaces and has a variety of actions, but the drive is complex and the quality and size are large, so it cannot be used in narrow spaces to perform special tasks. China Patent ZL201610176243.X discloses a link mechanism bionic mechanical leg and its quadruped robot. The robot drives a simple terminal output flexible, so the stability is good, but in addition to the large number of rods, the center of gravity of the robot is high and the overall size bigger

Chinese patent CN201810149665 discloses an environmentally friendly quadruped robot for construction. The robot mentioned in this patent is simple to drive and can walk quickly, but the center of gravity will fluctuate up and down, and the stability is poor. At present, there is no simple drive, light weight, A quadruped bionic robot with small size, easy to carry, fast speed, stable crawling, and no ups and downs in the center of gravity

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