Lizard-shaped four-foot robot

Abstract

The invention discloses a lizard-shaped four-foot robot. The robot comprises a machine frame (1) and four two-freedom foot devices, wherein each foot device consists of a swinging mechanism and a slewing mechanism. A piston of the swinging mechanism retracts relative to a hydraulic cylinder and drives swinging legs swing back and forth relative to a swinging frame. A motor of the slewing mechanism is fixed on the machine frame to drive the swinging frame to drive the slewing mechanism to rotate 0 to 200 degrees relative to the machine frame. Through the composite motion of the swinging mechanism and the slewing mechanism of each foot device, the circulating motion of lizard feet, namely rotation through side foot raising, swinging by walking forwards, rotation by dropping feet and swinging by pedaling backwards, can be realized. The composite motion of the machine frame and four groups of swinging mechanisms and slewing mechanisms is equivalent to the motion of a lizard. In the lizard-shaped four-foot robot, flexible and complex motion ways, such as walking forwards or backwards, turning left and right, jumping, climbing, turning over the body and the like, can be realized. The lizard-shaped four-foot robot can walk on an irregular pavement, can cross over or jump over a barrier and has high adaptability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a lizard-type quadruped robot. Background technique [0002] Footed robot is a kind of mobile robot family, and it is a relatively active direction in the field of robot research in recent years. Compared with wheeled and tracked mobile robots, although the structure of the footed robot is more complex and the control is relatively cumbersome, it has unique advantages: the footed robot has many degrees of freedom and can realize complex and flexible movement modes, and because the footed robot walks The support points in the process are discrete. With the help of judgment and selection of footholds, you can walk on extremely irregular roads, cross or jump over obstacles, and have strong adaptability. Therefore, it has broad application prospects in military reconnaissance, post-disaster search and rescue, aerospace detection, internal detection of industrial pipelines, medical de...

AI Technical Summary

Problems solved by technology

These legged robots have their own characteristics, but so far, there is still a big gap between the walking ability of legged robots researched by countries around the world and the actual requirements

In addition, because each foot has multiple degrees of freedom and multiple drivers, the foot mechanism and structure are bound to be very complicated.

Images