A quadruped walking robot

Abstract

A quadruped walking robot, which includes a fuselage, four single-degree-of-freedom parallel mechanical legs with the same structure and an electric control module, wherein the four single-ring parallel mechanical legs are fixedly connected to the fuselage; the electric control module is fixed Installed on the fuselage; each of the single-ring parallel mechanical legs includes a three-degree-of-freedom drive system, a parallelogram mechanism and toes; the two drive links of the parallelogram mechanism and the two drive links of the three-degree-of-freedom drive system The output link is the same link; the toe is affixed to the end of the output link of the parallelogram mechanism. The three-degree-of-freedom drive system drives the parallelogram mechanism, so that the output link of the parallelogram mechanism has three degrees of freedom: two rotations and one movement. All the motors of the mechanical legs of the quadruped walking robot of the present invention are installed on the base, with flexible movement, fast movement speed, simple mechanism, large working space, strong bearing capacity and easy protection.

Description

technical field [0001] The patent of the present invention belongs to the technical field of robots, in particular to a quadruped walking robot. Background technique [0002] Due to the discrete footholds, walking robots can adapt to complex road surfaces, have strong adaptability, flexible movement and other advantages, and have broad application prospects in the fields of detection and inspection. The mechanical legs of existing walking robots include single-degree-of-freedom multi-link mechanism, two-degree-of-freedom planar mechanism, multi-degree-of-freedom series mechanism, parallel mechanism, and series-parallel hybrid mechanism. These mechanisms have been extensively studied, and some of them have been successfully for designing walking robots. However, these mechanical legs have their own advantages and their own shortcomings. Some mechanical legs are simple to control but poor in flexibility, good in flexibility but poor in carrying capacity, and good in carrying ...

AI Technical Summary

Problems solved by technology

However, these mechanical legs have their own advantages and their own shortcomings. Some mechanical legs are simple to control but poor in flexibility, good in flexibility but poor in carrying capacity, good in carrying capacity but small in working space and complex in structure, etc.

These problems have led to the limitations of walking robots in some engineering applications, which cannot meet the requirements such as simple and compact structure, good carrying capacity, and large working space.

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