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A scalable robot torso and bionic quadruped robot

A quadruped robot and robot technology, applied in the field of robotics, can solve problems such as inability to produce scaling and deformation, and achieve the effect of improving obstacle surmounting ability and movement ability

Active Publication Date: 2021-08-24
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the inventor believes that most of the existing quadruped robots use rigid torsos, and a few flexible torsos can only produce bending / stretching motions, cannot produce scaling deformation, and cannot pass through gaps or holes whose width exceeds the body

Method used

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  • A scalable robot torso and bionic quadruped robot
  • A scalable robot torso and bionic quadruped robot
  • A scalable robot torso and bionic quadruped robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] This embodiment provides a scalable robot torso, including: a trunk link and an annular metamorphic mechanism; the trunk link connects two structurally symmetrical annular metamorphic mechanisms;

[0027] Such as figure 1 As shown, the ring metamorphic mechanism is composed of several first connecting rods that are movably connected head-to-tail through the first connecting piece, and the second connecting rod is connected at the joint of every two first connecting rods, and each first connecting rod Only one end is connected with the second connecting rod, and the second connecting rods are flexibly connected through the second connecting piece; the telescopic rod is connected between the two second connecting rods of the annular metamorphic mechanism at the center symmetrical position.

[0028] Specifically, the principle of metamorphic mechanism is to use a specific method to change the topological structure of the mechanism so as to realize the change of the degree ...

Embodiment 2

[0049] This embodiment provides a bionic quadruped robot, comprising: the scalable robot torso and leg mechanism described in Embodiment 1; the leg mechanism is connected to the first link.

[0050] This embodiment proposes a quadruped robot, the leg mechanism includes a left front leg 4, a left rear leg 6, a right front leg 5 and a right rear leg 7, and the leg structures are consistent.

[0051] Such as Figure 4 As shown, taking a leg as an example, the leg mechanism includes a leg base 8, a hip joint base 9, a calf 10, a thigh 11 and a rubber ball 12; wherein, the leg base 8 is connected to the ring metamorphic mechanism, Connected to the first connecting rod, respectively connected to the hinge base 3 and the hinge base 7, the two leg bases are symmetrically arranged; the hip joint base 9 is movably connected to the leg base 8, and the thigh 11 is connected to the hip joint base 9 The shank 10 is movably connected to the thigh 11, and the lower end of the shank 10 is conne...

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Abstract

The invention discloses a scalable robot trunk and a bionic quadruped robot, comprising: a trunk link and an annular metamorphic mechanism; the trunk link connects two structurally symmetrical annular metamorphic mechanisms; the annular metamorphic mechanism consists of A plurality of first connecting rods are movably connected head-to-tail by the first connecting piece, and the second connecting rod is connected at the junction of every two first connecting rods, and only one end of each first connecting rod is connected with the second connecting rod, so The second connecting rods are movably connected through the second connecting piece; the telescopic rod is connected between the two second connecting rods in the center symmetrical position of the annular metamorphic mechanism. The present invention adopts a structurally symmetrical foldable metamorphic mechanism, two metamorphic mechanisms are connected through a trunk link to form a robot trunk, and each metamorphic mechanism adjusts the radial dimension of the robot trunk through a telescopic rod; the leg mechanism and the trunk Telescopic motion coupling, through the scaling and deformation of the torso, the distance between the legs of the robot, the height of the torso from the ground, etc. can be adjusted.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a scalable robot torso and a bionic quadruped robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Compared with mobile robots such as wheeled and tracked robots, quadruped robots have better adaptability in rough terrain, and compared with biped, hexapod and other legged robots, they take into account the stability of motion and the complexity of structure / control , suitable for mobile platforms in complex environments. Quadruped robots usually use typical quadrupeds such as dogs, cats, and cheetahs as bionic objects. is a purely rigid member. [0004] For quadrupeds, the function of the trunk is not only load-bearing, but also plays a very important role in sports, including improving the flexibility and stability of sports and adaptabili...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B62D57/032
CPCB25J11/00B62D57/032
Inventor 刘义祥柴汇张国腾宋锐李贻斌
Owner SHANDONG UNIV
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