Integral type light rack of large-wheelbase high-dynamic quadruped robot and machining process of integral light rack

Abstract

The invention discloses an integral type light rack of a large-wheelbase high-dynamic quadruped robot and a machining process of the integral type light rack. The integral type light rack comprises ahead, a trunk and a tail, the head comprises a head rod piece frame and a limb connecting structure, the head rod piece frame comprises a left side bearing seat fixing rod group, a right side bearingseat fixing rod group, a side swing plate upper fixing rod and a side swing plate lower fixing rod, the left side bearing seat fixing rod group comprises a left front bearing seat fixing rod and a left rear bearing seat fixing rod, the right side bearing seat fixing rod group comprises a right front bearing seat fixing rod and a right rear bearing seat fixing rod, the limb connecting structure comprises a bearing seat and a leg and foot mounting rod, the integral type light rack is composed of a plurality of hollow rod pieces, the wall thicknesses of the left side bearing seat fixing rod groupand the right side bearing seat fixing rod group are greater than the wall thicknesses of other rod pieces, and all the rod pieces are fixedly connected with an L-shaped angle seat through a weldingprocess. According to the integral type light rack of the large-wheelbase high-dynamic quadruped robot and the machining process of the integral type light rack, the contradiction between the large wheelbase size span between main shafts of all leg sets of the integral type light rack and the requirement for high positioning precision is effectively solved.

Description

technical field [0001] The invention belongs to the technical field of robot body frames, and more specifically relates to an integral lightweight frame of a large-axisbase high-dynamic quadruped robot and a processing technology thereof. Background technique [0002] Footed robots have always been a research hotspot in the field of robotics because of their potential flexible locomotion and terrain adaptability. Since the birth of Boston Dynamics' Big Dog robot, prototypes of high-performance quadruped robots with different specifications have been continuously introduced. Although the dynamic motion capability of quadruped robots continues to improve, there are still many technical difficulties in the development of large-scale heavy-duty quadruped robots. [0003] The robot fuselage is the main structure that connects and positions the leg-foot limb mechanism. The overall frame structure with welding technology is used as the fuselage scheme, which is one of the methods...

AI Technical Summary

Problems solved by technology

However, for the large-scale integral lightweight frame, how to solve the contradiction between the large wheelbase size span between the main shafts of each leg group and the precision requirements of collinear and coplanar with each other, and how to effectively resist the impact of high dynamic movement on the fuselage structure The strong alternating load becomes a new technical challenge

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