Horizontal joint quadruped robot
A quadruped robot and horizontal joint technology, applied in the field of robotics, can solve the problems of complex programming language, cumbersome lines, unstable communication, etc., and achieve the effect of high precision control system, strong real-time performance, and simple leg structure
Inactive Publication Date: 2020-06-26
ANHUI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
However, these methods have inevitable disadvantages: cumbersome lines, complex programming languages, and unstable communication, etc.
Method used
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[0028] The present invention will be further described below in conjunction with the embodiments and accompanying drawings.
[0029] Such as figure 1 Shown: the horizontal joint quadruped robot proposed by the technical solution of the present invention includes a quadruped robot main frame, four leg mechanisms with the same structure, a control system and a power supply. The four leg mechanisms are fixedly connected to the main frame 1 in front-rear symmetry and left-right symmetry with respect to the main frame. The leg mechanism includes a leg stretch mechanism 2 , a hip joint mechanism 3 and a leg swing mechanism 4 . The power supply is fixed directly below the main frame 1 .
[0030] Such as figure 2 As shown, the main body frame 1 includes a bridge plate 5, a side plate 6, a first hexagonal through column 7, an upper plate 8 and an auxiliary fixing frame 9; the side plate 6 is fixedly connected with the bridge plate 5, and the The upper plate 8 is fixedly connected ...
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The invention discloses a horizontal joint quadruped robot, and belongs to the technical field of industrial robots. The quadruped robot comprises a body frame and four legs with the same structure. Leg structures of the quadruped robot are fixedly connected to the body frame in a front-back symmetry and left-right symmetry mode relative to the body frame. Each leg comprises a leg telescopic mechanism, a hip joint structure and a leg swing mechanism. The leg telescopic mechanism provides the horizontal quadruped robot with the moving freedom degree used for linear movement. The hip joint mechanism provides the horizontal joint quadruped robot with rotational degrees of freedom for lifting and releasing legs. And the leg swinging mechanism provides a rotational degree of freedom of side swinging for the horizontal joint quadruped robot. According to the quadruped robot control system, a control mode of an upper computer and a CAN bus analyzer is adopted, motors at all joints are controlled in a coordinated mode, and therefore advancing and turning of the quadruped robot are achieved. By adopting the technical scheme, the quadruped robot has twelve degrees of freedom, and is simple in structure and flexible in movement.
Description
Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a quadruped robot with horizontal joints. Background technique: [0002] The legs of traditional quadruped robots are mostly designed as elbows or knees. The main way of movement is to rely on the motor as the driving element to drive the legs. The disadvantage of this design is that the structure of the robot legs is complicated, and the center of gravity of the robot is difficult to balance. , when walking, the legs tend to cling to debris on the ground, causing the robot body to be unbalanced. In view of the above shortcomings, the present invention optimizes the structural design of the elbow or knee robot, and optimizes the structure of the traditional quadruped robot with three degrees of freedom on one leg to a leg with two degrees of freedom of rotation and one degree of freedom of movement. The linear slide module is creatively used in the hip joint structur...
Claims
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CPCB62D57/032
Inventor 张良安张成鑫余大壮陈洋王祥
Owner ANHUI UNIVERSITY OF TECHNOLOGY