A composite bionic quadruped robot for lunar surface hopping movement detection
By designing a composite bionic quadruped robot, the collaborative action of the spinal extension unit and the leg motion unit solves the problems of insufficient jumping ability and landing instability of existing quadruped robots in low gravity environments, achieving efficient jumping and stable landing.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HARBIN INST OF TECH
- Filing Date
- 2026-03-11
- Publication Date
- 2026-06-02
AI Technical Summary
Existing quadruped robots lack jumping ability in low-gravity environments, have insufficient explosive power for take-off, limited jump height, and high impact energy upon landing, which can easily cause the robot to overturn or damage components. They are also complex to control and heavy.
The design employs a composite bionic quadruped robot, which includes a body frame, a spinal extension unit, and leg motion units arranged opposite each other. The spinal extension unit stores elastic potential energy, and combined with active linear drive components and passive elastic guidance components, it achieves efficient buffering and synchronous burst, thereby improving jump height and landing stability.
It significantly improves jump height and distance, enhances landing stability and airframe reliability, and is suitable for exploration missions in complex terrain.
Smart Images
Figure CN122126364A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, specifically to a composite bionic quadruped robot designed for jumping and moving to explore the lunar surface, suitable for jumping and moving in low-gravity environments. Background Technology
[0002] Legged robots, especially quadruped robots, have become a cutting-edge focus of robotics research due to their superior performance on unstructured terrain. Existing quadruped robots mostly employ rigid torsos and multi-degree-of-freedom leg structures, and their gait control technology is relatively mature. However, significant shortcomings remain in high-dynamic motion performance, particularly in continuous jumping ability and stability during high-impact landings. In low-gravity environments (such as the lunar surface), jumping is an efficient mode of locomotion. However, existing robots lack specific optimizations for jumping: firstly, they lack sufficient explosive power at takeoff, limiting jump height; secondly, the enormous impact energy upon landing can easily lead to overturning or damage to critical components. Furthermore, while traditional multi-degree-of-freedom leg configurations enable flexible gait, they also introduce problems such as complex control, high joint loads, and system weight, hindering the optimal utilization of jumping performance. Summary of the Invention
[0003] To address the shortcomings of the existing technology, this invention provides a composite bionic quadruped robot for jumping and moving on the lunar surface, significantly improving the robot's jump height and landing stability.
[0004] The technical solution adopted by the present invention to solve the above problems is as follows: This invention proposes a composite biomimetic quadruped robot for hopping and moving to explore the lunar surface. It includes two opposing body frames, a spinal extension unit located between the two body frames, and leg movement units. The spinal extension unit includes a spinal connecting carbon plate, an active linear drive assembly, and multiple passive elastic guide assemblies. Each body frame 1 has a spinal connecting carbon plate connected to its inner side. The two ends of the active linear drive assembly are connected to the middle of the corresponding spinal connecting carbon plate. Multiple passive elastic guide assemblies are circumferentially distributed around the active linear drive assembly, with each passive elastic guide assembly having two ends connected to the corresponding spinal connecting carbon plate. There are four passive elastic guide assemblies arranged in a rectangle around the central constraint assembly. Each body frame has one leg movement unit connected to each side.
[0005] Furthermore, the active linear drive assembly includes: a hollow shaft motor, a motor nut connector, a nut, a ball screw, and a screw spine connecting carbon plate fixing component. The stator of the hollow shaft motor is fixedly connected to the spine connecting carbon plate on one side, and its rotor is fixedly connected to the nut through the motor nut connector. The nut is threaded to one end of the ball screw. The other end of the ball screw is fixed to the opposite side of the spine connecting carbon plate through the screw spine connecting carbon plate connector.
[0006] Furthermore, each of the passive elastic guide components includes an optical axis fixing seat, a spring guide limiting member, a compression spring, a linear bearing, and an optical axis. The optical axis fixing seat is fixedly connected to the inner wall of the spinal connection carbon plate on one side, and the optical axis fixing seat is fixedly connected to one end of the optical axis. The linear bearing is fixed to the spinal connection carbon plate on the opposite side and is fitted onto the other end of the optical axis. The spring guide limiting member is fitted onto and fixed to the optical axis. The compression spring is fitted onto the periphery of the spring guide limiting member, and its two ends are in contact with the shoulder of the spring guide limiting member and the linear bearing, respectively, and deforms as the spine stretches and contracts.
[0007] Furthermore, the leg movement unit includes two joint motors, a thigh positioning shaft, two thighs, a calf joint pivot shaft, two calves, and a foot. The two joint motors are fixed relative to each other on two cantilevered walls of the body frame. The output end of each joint motor is connected to the inner end of one thigh, and the two joint motors are connected through the thigh positioning shaft to ensure coaxial arrangement. The outer ends of the two thighs are respectively hinged to one end of the calf through the calf joint pivot shaft, and the other ends of the two calves are hinged together through the foot.
[0008] Furthermore, the thigh and the lower leg joint pivot, the lower leg and the lower leg joint pivot, and the lower leg and the foot are all hinged by a pair of flange bearings.
[0009] Furthermore, the foot end consists of two clamping components, which are fastened together by fasteners to connect the ends of the two lower legs. Each clamping component has a polyurethane coating on its outer contour to increase friction.
[0010] The beneficial effects of this invention are: 1. This invention stores elastic potential energy before takeoff through a spinal extension unit, which is released synchronously with the legs during takeoff, significantly improving jump height and distance. Under ground gravity, the maximum height of a single jump can reach 700mm, and the maximum distance can reach 1400mm.
[0011] 2. The present invention comprises a high-efficiency buffer system consisting of a passive elastic guiding component of the spine, an active linear drive component, and a leg motion unit. During landing, the spine and legs work together to absorb most of the impact energy, thereby improving landing stability and body reliability. 3. This invention is designed for low-gravity environments, possesses powerful jumping capabilities and reliable landing buffers, and is suitable for exploration missions on complex terrains such as the surface of extraterrestrial planets. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the leg movement unit of the present invention, showing the upper and lower leg structures.
[0013] In the diagram: 1-Fuse frame; 2-Spine connecting carbon plate; 3-Optical axis fixing seat; 7-Optical axis; 4-Spring guide limiter; 5-Compression spring; 6-Linear bearing; 8-Hollow shaft motor; 9-Motor nut connector; 10-Nut; 11-Ball screw; 12-Screw spine connecting carbon plate fixing component; 13-Joint motor; 14-Thigh positioning shaft; 15-Thigh; 16-Lower leg joint pivot; 17-Lower leg; 18-Foot. Detailed Implementation
[0014] This invention proposes a composite bionic quadruped robot for jumping and moving to explore the lunar surface, comprising two body frames 1, a spinal extension unit located between the two body frames 1, and leg movement units connected to both sides of each body frame 1.
[0015] Two fuselage frames 1 are arranged opposite to each other. The fuselage frame 1 is mainly made of aluminum square tubes, spinal connection carbon plates, and angle aluminum riveting. The spinal telescopic unit includes a spinal connection carbon plate 2, which is fixedly connected to the inner side of the fuselage frame 1 by rivets. An active linear drive assembly is provided between the two spinal connection carbon plates 2, and the two ends of the active linear drive assembly are respectively connected to the middle of the corresponding spinal connection carbon plate 2. The active linear drive assembly includes a hollow shaft motor 8 (the hollow shaft motor is a DM-G6020 motor), a threaded nut connector 9, and a threaded nut. 10. Ball screw 11 and screw-spine connecting carbon plate fixing part 12, the stator of hollow shaft motor 8 is fixedly connected to the spine connecting carbon plate 2 on one side, and its rotor is fixedly connected to the screw nut 10 through the motor screw nut connector 9. The screw nut 10 is connected to one end of the ball screw 11 by thread; the other end of the ball screw 9 is fixed to the spine connecting carbon plate 2 on the opposite side through the screw-spine connecting carbon plate connector (the ball screw 11 and the screw-spine connecting carbon plate fixing part 12 are fitted through a special-shaped hole and locked with an M4 screw).
[0016] Multiple passive elastic guide components are circumferentially distributed around the active linear drive component, and the two ends of each passive elastic guide component are respectively connected to the corresponding side of the spinal connection carbon plate 2; the number of passive elastic guide components is four, and the four elastic guide components are arranged in a rectangle around the central constraint component. Each of the passive elastic guide components includes: an optical axis fixing seat 3, a spring guide limiting member 4, a compression spring 5, a linear bearing 6, and an optical axis 7. The optical axis fixing seat 3 is fixedly connected to the inner wall of the spinal connection carbon plate 2 on one side. The optical axis fixing seat 3 is fixedly connected to one end of the optical axis 7. The linear bearing 6 is fixed to the spinal connection carbon plate 2 on the opposite side and is fitted onto the other end of the optical axis 7. The spring guide limiting member 4 is fitted onto and fixed to the optical axis 7 (the optical axis 7 and the spring guide limiting member 4 are fitted through a shaft hole, and after reaching the limit, glue is applied for bonding and fixing. The spring guide limiting member 4 is used to adjust the initial length of the compression spring 5). The compression spring 5 is fitted around the outer periphery of the spring guide limiting member 4, and both ends are in contact with the shoulder of the spring guide limiting member 4 and the linear bearing 6, respectively, and deform as the spine stretches and contracts.
[0017] The leg movement unit includes two joint motors 13, a thigh positioning shaft 14, two thighs 15, a calf joint pivot 16, two calves 17, and a foot end 18. The two joint motors 13 are fixed relative to each other on two cantilevered walls of the frame 1. The output end of each joint motor 13 is connected to the inner end of one thigh 15, and the two joint motors 13 are connected through the thigh positioning shaft 14 to ensure coaxial arrangement. The outer ends of the two thighs 15 are respectively hinged to one end of the calf 17 through the calf joint pivot 14, and the other ends of the two calves 17 are hinged together through the foot end 18. The thigh positioning shaft 14 and the pivot of the thigh 15 are fitted with shaft holes to ensure that the two joint motors 13 of the thigh 15 are coaxial.
[0018] To reduce the robot's leg inertia and make leg movements more flexible and precise, the two joint motors 13 of the thigh 15 are coaxially positioned on the inner end of the thigh, minimizing the axial dimension of the reduction joint. The joint motor 13 is the Yushu GO-M8010-6, which is used for the leg joint motors. Its dimensions are 98.5*92.5*42.3mm; maximum torque is 23.7Nm; speed ratio is 1:6.33; and weight is 530g.
[0019] The length and rotation angle of the thigh (15) and lower leg (17) affect the gait planning, while leg mass and moment of inertia affect its athletic performance. To reduce leg moment of inertia, a lightweight design is implemented. The thigh (15) is 200mm long, the lower leg (17) is 300mm long, and the limiting angles between the lower leg (17) and thigh (15) at their ends are 30° and 50°, respectively. Figure 2As shown, the metal parts for the large and small legs are mostly made of high-strength aluminum alloy (7075-T6), which is widely used in aviation, aerospace, military, automotive, chemical, electronics, and communications industries. This material has good mechanical properties, wear resistance, corrosion resistance, and oxidation resistance, making it suitable for manufacturing high-stress structural components.
[0020] Preferably, the thigh 15 is hinged to the calf joint pivot 16, the calf 17 is hinged to the calf joint pivot 16, and the calf 17 is hinged to the foot 18 via a pair of flange bearings.
[0021] Preferably, the foot end 18 is composed of two clamping components, which are axially locked together by fasteners, such as screws and lock nuts, to secure the ends of the two lower legs 17 together. The outer contour of each clamping component is provided with polyurethane to increase friction.
[0022] The process of movement, taking a complete jump as an example: Preparation: The rotors of the eight joint motors 13 inside the four leg motion units rotate, driving the thighs 15 to switch the robot's posture from standing to crouching; the rotors of the hollow shaft motor 8 inside the spinal extension unit rotate, driving the motor nut connector 9 and nut 10, causing the ball screw 11 to produce linear motion, thereby compressing the four passive elastic guide components to complete the energy storage preparation. Take-off: In the crouching position, the two leg units at the front of the robot body quickly extend downwards to lift the front of the robot body; the two leg units at the rear of the body maintain the crouching position and rotate with the body. When the robot body reaches the required angle of elevation, the two leg units at the rear of the body and the spinal extension unit quickly extend to complete the take-off action. Landing: In the airborne state, the robot's four leg motion units quickly move to the landing posture; in the landing posture, the two leg units at the front of the body touch the ground first and contract synchronously with the spinal extension unit to buffer and absorb energy, and then the two leg units at the rear of the body touch the ground to complete the landing action.
[0023] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.
Claims
1. A composite biomimetic quadruped robot for hopping and moving to explore the lunar surface, comprising two opposing fuselage frames (1), characterized in that... It also includes: a spinal telescopic unit and a leg movement unit located between the two fuselage frames (1). The spinal telescopic unit includes a spinal connecting carbon plate (2), an active linear drive assembly, and multiple passive elastic guide assemblies. The spinal connecting carbon plate (2) is connected to the inner side of each fuselage frame (1). The two ends of the active linear drive assembly are respectively connected to the middle of the corresponding side spinal connecting carbon plate (2). Multiple passive elastic guide assemblies are evenly distributed around the active linear drive assembly. The two ends of each passive elastic guide assembly are respectively connected to the corresponding side spinal connecting carbon plate (2). The number of passive elastic guide assemblies is four. Each side of each fuselage frame (1) is connected to one of the leg movement units.
2. The composite bionic quadruped robot for hopping and moving to explore the lunar surface according to claim 1, characterized in that... The active linear drive assembly includes a hollow shaft motor (8), a motor nut connector (9), a nut (10), a ball screw (11), and a screw spine connection carbon plate fixing component (12). The stator of the hollow shaft motor (8) is fixedly connected to the spine connection carbon plate (2) on one side, and its rotor is fixedly connected to the nut (10) through the motor nut connector (9). The nut (10) is connected to one end of the ball screw (11) by a thread. The other end of the ball screw (9) is fixed to the opposite side of the spine connection carbon plate (2) through the screw spine connection carbon plate connector.
3. A composite biomimetic quadruped robot for hopping and moving to explore the lunar surface according to claim 2, characterized in that... Each of the passive elastic guide components includes an optical axis fixing seat (3), a spring guide limiter (4), a compression spring (5), a linear bearing (6), and an optical axis (7). The optical axis fixing seat (3) is fixedly connected to the inner wall of the spinal connection carbon plate (2) on one side. The optical axis fixing seat (3) is fixedly connected to one end of the optical axis (7). The linear bearing (6) is fixed on the spinal connection carbon plate (2) on the opposite side and is fitted onto the other end of the optical axis (7). The spring guide limiter (4) is fitted onto and fixed to the optical axis (7). The compression spring (5) is fitted onto the periphery of the spring guide limiter (4), and both ends are in contact with the shoulder of the spring guide limiter (4) and the linear bearing (6), respectively.
4. A composite biomimetic quadruped robot for hopping and moving to explore the lunar surface according to claim 3, characterized in that... The leg movement unit includes two joint motors (13), a thigh positioning shaft (14), two thighs (15), a calf joint pivot (16), two calves (17), and a foot end (18). The two joint motors (13) are fixed relative to each other on two cantilever arms of the body frame (1). The output end of each joint motor (13) is connected to the inner end of one thigh (15), and the two joint motors (13) are connected through the thigh positioning shaft (14) to ensure coaxial setting. The outer ends of the two thighs (15) are respectively hinged to one end of the calf (17) through the calf joint pivot (14), and the other ends of the two calves (17) are hinged together through the foot end (18).
5. A composite biomimetic quadruped robot for hopping and moving to explore the lunar surface according to claim 4, characterized in that... The two joint motors (13) of the thigh (15) are coaxially arranged.
6. A composite biomimetic quadruped robot for hopping and moving to explore the lunar surface according to claim 5, characterized in that... The thigh (15) is hinged to the lower leg joint pivot (16), the lower leg (17) is hinged to the lower leg joint pivot (16), and the lower leg (17) is hinged to the foot (18) via a pair of flange bearings.
7. A composite biomimetic quadruped robot for hopping and moving to explore the lunar surface according to claim 6, characterized in that... The foot end (18) is composed of two clamping components, which lock the ends of the two lower legs (17) together by fasteners.
8. A composite biomimetic quadruped robot for hopping and moving to explore the lunar surface according to claim 7, characterized in that... The outer surface of each clamping component is provided with polyurethane.