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A single-drive multi-joint body of a quadruped robot

A quadruped robot and multi-joint technology, applied in the field of robotics, can solve problems such as poor flexibility of movement and lack of bionics, and achieve the effect of improving mobility

Inactive Publication Date: 2016-01-13
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to aim at the defects of the prior art, to provide a single-drive multi-joint body of a quadruped robot, which embodies the higher structural bionics of the quadruped robot, and overcomes the poor flexibility of the traditional quadruped robot and the lack of bionics of the body. question

Method used

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  • A single-drive multi-joint body of a quadruped robot
  • A single-drive multi-joint body of a quadruped robot
  • A single-drive multi-joint body of a quadruped robot

Examples

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Embodiment 1

[0022] Such as figure 1 As shown, the single-drive multi-joint body of the quadruped robot of the present invention includes a multi-joint body (II), and the front and rear ends of the multi-joint body (II) are respectively connected with the front body (I) and the rear body (III). The four legs are symmetrically arranged at the four ends of the front body (I) and the rear body (III), and it is characterized in that the multi-joint body (II) is composed of several joints, including a single motor drive mechanism at the front end ( A), multiple synchronous toothed belt transmission mechanisms (B), multiple linkage mechanisms (C) and multiple annular support mechanisms (D); the single motor drive mechanism (A) and the synchronous toothed belt mechanism ( B) The transmission is connected through the link mechanism (C) and flexibly connected by the ring support mechanism (D).

Embodiment 2

[0024] see figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , this embodiment is basically the same as Embodiment 1, and the special features are:

[0025] The multi-joint body of the single-drive quadruped bionic robot is characterized in that the single-motor drive mechanism (A) includes: motor (1), motor support (21), bolt 1 (2), bolt 2 ( 31), support ring 1 (22), support frame 1 (23), coupling (3), shaft 1 (6), shaft 2 (12), connecting rod 1 (8) and connecting rod 2 (10). The motor (1) body is connected to the motor support (21) through bolt 1 (2), and the motor support (21) and support ring 1 (22) are connected through bolt 2 (31). The support ring 1 (22) is connected with the connecting rod 1 (8) through the support frame 1 (23). The coupling (3) connects the shaft of the motor (1) to the shaft 1 (6). Shaft 1 (6) is threaded to shaft 2 (12). Shaft 1 (6) and connecting rod 1 (8) are connected through deep groove ball bearing 1 (7), so that shaf...

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Abstract

The invention relates to a single-driving multi-joint machine body for a four-foot robot and belongs to the technical field of bio-robots. The single-driving multi-joint machine body comprises a front machine body, a flexible machine body and a rear machine body; the flexible machine body is formed by a single-motor driving mechanism positioned at the most front end, a synchronous tooth-shaped belt transmission mechanism, a connection rod rotary mechanism and an annular support mechanism. The machine body of the four-foot robot can have a certain bionic performance due to the mechanisms. The single-driving multi-joint machine body can assist leg mechanisms in realizing the flexible in-situ steering function of the four-foot robot, so the mobility of the robot for adapting to the complex environment can be improved, and the single-driving multi-joint machine body has the characteristics such as high flexibility and good bionic effect.

Description

technical field [0001] The invention relates to a single-drive multi-joint body of a quadruped robot, which belongs to the technical field of robots. Background technique [0002] With the rapid development of robot technology, there is an increasing demand for special robots that can walk in complex environments. Due to the mobility of quadrupeds in unstructured environments, quadruped robots can replace humans to perform tasks such as mine clearance and deep space exploration in unstructured environments, which has become a research hotspot in robotics circles in various countries. [0003] Most quadruped robots have a rigid overall structure. Although they can achieve flexible movements through the multi-degree-of-freedom of the leg mechanism and complex motion planning, they cannot meet the mobility requirements in unstructured environments. The flexibility of the quadruped robot body is an inevitable requirement to improve the mobility and stability of the quadruped ro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 俞煌颖雷静桃邵为爽王峰
Owner SHANGHAI UNIV
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