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Variable-structure quadruped robot structure interconverting creeping motion and vertical motion

A quadruped robot with variable structure technology, applied in the field of robotics, to achieve the effect of convenient movement, clear movement principle and simple structure

Inactive Publication Date: 2011-11-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] In the existing robots, there is no quadruped robot that can realize crawling motion and upright motion at the same time, so the present invention focuses on proposing a variable structure motion mode to reflect the advantages of variable structure motion

Method used

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  • Variable-structure quadruped robot structure interconverting creeping motion and vertical motion
  • Variable-structure quadruped robot structure interconverting creeping motion and vertical motion
  • Variable-structure quadruped robot structure interconverting creeping motion and vertical motion

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Embodiment Construction

[0033] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0034] combine figure 1 , 2 , 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, 3-7, the present embodiment is a kind of variable structure quadruped robot structure design and Its motion realization includes: body A, first steering gear, front main bracket, second steering gear frame, second steering gear, connecting rod, support frame, thigh bracket, third steering gear, calf bracket, ankle connecting plate , Two-way connectors, upright support ball head, prostrate support ball head.

[0035] like figure 2 Shown is the structural decomposition of the limbs. The body and the main bracket are fixedly connected by bolts (fixed connection for short), the first steering gear is fixed on the main bracket, and the output shaft of the first steering gear is fixedly connected to one end of the second steering gear frame. The other end of the second steering gear fra...

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Abstract

A variable-structure quadruped robot structure interconverting creeping motion and vertical motion belongs to the robot technology application field. The robot structure comprises a body (A) and four limbs installed on the body, wherein each limb has the same structure and comprises a first steering engine (1), a second steering engine frame (3), a second steering engine (4), a thigh support (7),a third steering engine (9), a shank support (10), an ankle connection plate (12), a bidirectional connecting piece (13), a vertical support ball head (14) and a creeping support ball head (15); the output axis of the first steering engine (1) is parallel with the central axis of the body (A); the output axis of the second steering engine (4) is vertical to the output axis of the first steering engine (1); and the output axis of the third steering engine (9) is parallel with the output axis of the second steering engine (4). The robot can realize interconversion between creeping motion and vertical motion, thus improving the obstacle negotiation capability under complex environment and providing multiple motion modes for efficient and stable motion.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a structure design and motion realization of a variable-structure quadruped robot with interchanging crawling and upright motions, and is mainly applied to legged robots with multifunctional walking motions on complex ground. Background technique [0002] The legged robot adapted to the mountain environment is one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, reflecting the intelligence of a country. It is also an important symbol of a country's high-tech strength, and various developed countries have invested heavily in research in this field. [0003] The variable-structure footed robot can realize complex ground climbing, and can adjust the combination of front and rear end high and low body...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 俞志伟戴振东李宏凯张昊宫俊于浩
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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