High-dynamic quadruped robot based on all-joint driving coaxial leg structure module

Abstract

The invention relates to a high-dynamic quadruped robot based on a full-joint driving coaxial leg structure module. The all-joint driving coaxial leg structure module comprises a side-sway joint driving unit, a hip joint driving unit, a knee joint driving unit, a power transmission unit, a single-leg frame and a leg limb unit. The side-sway joint driving output axis, the hip joint driving output axis, the knee joint driving output axis and the side-sway motion rotation axis are collinear in space in geometry. The hip joint driving unit and the knee joint driving unit are respectively connected with the power transmission unit through a group of bevel gears so as to respectively drive a thigh structure and a shank structure in the leg limb unit to independently move; and the two groups of bevel gears are coaxial pairwise. The single-leg frame plays a role in fixing the joint motors and serves as a mechanical interface of the full-joint driving coaxial leg structure module. The high-dynamic quadruped robot can be directly formed by connecting the single-leg frames of the four full-joint driving coaxial leg structure modules.

Description

technical field [0001] The invention relates to the technical field of bionic robots, and more specifically, provides a high dynamic quadruped robot based on a coaxial leg structure module driven by all joints. Background technique [0002] Footed bionic robot systems and technologies such as quadruped robots and biped robots are developing rapidly, which can realize dynamic walking, trotting, jumping in situ, crossing uneven terrain, and maintaining body balance under external disturbances such as side pushes. Such motion ability is the main functional characteristic of this type of robot at present. Naturally, making this type of robot have faster moving speed, higher load capacity, and stronger balance performance is the core goal and source of power for the continuous development of the technology in this field. [0003] For footed motion, stronger motion performance means that the system has higher dynamics. Designing a footed robot system body for high dynamic motion ...

AI Technical Summary

Problems solved by technology

Invention patent CN2017103502592 discloses a multi-link motor that reduces the moment of inertia of the legs by directly installing the side swing joint motor, hip joint motor, and knee joint motor on the robot body, and making the rotation axes of each motor located on the plane of the body. Although the rod-type leg mechanism scheme requires high processing and installation precision, compared with the traditional scheme, the rigidity and load-bearing capacity of the leg are enhanced

Invention patent CN202110622621 discloses a scheme in which side swing joint motors, hip joint motors, and knee joint motors are all installed on the fuselage and arranged in a T-shape. Coaxial to further reduce the moment of inertia of the legs, and realize the power transmission of the knee joint based on the universal joint structure. This solution improves the dynamics of the leg movement more significantly, but it needs to overcome the movement of the universal joint structure Range limitations, and their structural rotational resistance compensation and mechanical assembly issues

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