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A Quadruped Robot Crawling on a Horizontal Grid

A quadruped robot and robot technology, applied in the field of crawling robots, can solve problems such as being unable to walk quickly, and achieve the effects of simple and reasonable structure, increased stability, and improved crawling speed

Active Publication Date: 2021-12-24
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing quadruped robots usually can only crawl on solid planes, but cannot walk fast on grid planes

Method used

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  • A Quadruped Robot Crawling on a Horizontal Grid
  • A Quadruped Robot Crawling on a Horizontal Grid
  • A Quadruped Robot Crawling on a Horizontal Grid

Examples

Experimental program
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Embodiment Construction

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] Such as image 3 As shown, a quadruped robot of the present invention that can crawl on a horizontal grid includes a robot body 2, power legs A21 and balance legs that are arranged on the robot body 2 evenly and sequentially at intervals clockwise along the same circumference. B24, power leg B22 and balance leg A23.

[0018] see figure 1 , the center rotation of robot body 2 is equipped with steering shaft 42, is fixedly equipped with steering gear 43 on the steering shaft 42, is equipped with steering motor 41 on the robot body 2, and the output shaft of steering motor 41 links to each other with the upper end of steering shaft 42.

[0019] Such as image 3 As shown, the power leg A21 has the same structure as the power leg B22 and is symmetrical about the steering axis 42 ; the balance leg A23 has the same structure as the...

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PUM

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Abstract

The invention discloses a quadruped robot capable of crawling on a horizontal grid, belonging to the field of crawling robots. It includes the robot body, the power leg A, the balance leg B, the power leg B and the balance leg A installed on the robot body at even intervals in the clockwise direction along the same circumference; The steering gear is fixedly installed on the upper part, and the steering motor is fixedly installed on the robot body, and its output shaft is connected to the upper end of the steering shaft; the structure of the power leg A and the power leg B is exactly the same, including the power thigh, driven wheel, piston cylinder A, Power foot plate, slide plate A, slide plate B, piston cylinder B, connecting rod A and connecting rod B; balance leg A includes balance thigh, balance foot plate, fixed plate A, fixed plate B and compression coil spring. The invention is a quadruped robot with simple and reasonable structure, which can change the total height of the legs of the robot so as to implement rapid grid crawling.

Description

technical field [0001] The invention mainly relates to the field of crawling robots, in particular to a quadruped robot that can crawl on a horizontal grid. Background technique [0002] For harsh and complex working roads, it is usually possible to lay a certain grid to change the level of the road surface, thereby changing the road conditions and improving the stability of the robot's walking. Existing quadruped robots usually can only crawl on solid planes, but cannot walk fast on grid planes. Therefore, it is of great value to design a robot that can crawl quickly on the grid. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the present invention provides a robot with simple and reasonable structure, which utilizes the reverse movement of two legs to generate forward power, and the other two legs assist balance, and can change the total height of robot legs. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 班书昊李晓艳席仁强
Owner CHANGZHOU UNIV
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