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Bionic running four-leg robot

A quadruped robot and spine technology, applied in the field of robotics, can solve the problems of inconvenient control and improvement of motion stability, and achieve the effects of easy adjustment, increased motion stability, and good motion flexibility

Inactive Publication Date: 2016-02-03
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The spine and legs of this patent are flexible, inconvenient to control, and the stability of movement needs to be improved

Method used

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the drawings and embodiments.

[0035] Such as figure 1 , figure 2 As shown, the bionic running quadruped robot mainly includes a leg, a front shoulder beam 21, a back shoulder beam 23, a spine 22, a waist slider 13 and a cylindrical guide rail 12. The spine 22 is a thin plate, one end of which is fixed to the middle of the front shoulder beam 21 by the eleventh bolt 19, and the other end is fixed to the back shoulder beam 23 by the twelfth bolt 24. A square groove is opened in the middle of the spine 22, and the waist slider 13 is fixed to the spine 22 by the thirteenth bolt 25, two circular through holes are opened in the middle of the waist slider for the two cylindrical guide rails 12 to pass through, and the circular protrusion at the lower part of the waist slider has a circular hole, The lumbar sliding block and the first connecting rod 26 are hinged through the eighth bolt 14. The two cylin...

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Abstract

The invention discloses a bionic running four-leg robot, comprising legs, a front shoulder beam, a rear shoulder beam and a spine, wherein two ends of the spine are respectively fixed in the middles of the front shoulder beam and the rear shoulder beam, and the legs are respectively connected with the front shoulder beam and the rear shoulder beam; the lower part of the front shoulder part is fixedly connected with one end of a support plate located at the lower part of the spine, the other end of the support plate is suspended and is in cantilever beam shape, an electric motor is fixedly arranged on the support plate, the output shaft of the electric motor is fixedly connected with one end of a second connecting rod, the other end of the second connecting rod is hinged with one end of a first connecting rod, the other end of the first connecting rod is hinged with a waist sliding block fixed on the spine, and the waist sliding block passes through a vertically-arranged cylindrical guide rail with lower end fixed on the support plate; the electric motor drives the second connecting rod to rotate so as to drive the first connecting rod to rotate and further pull the waist sliding block to vertically slide along the cylindrical guide rail; and since the waist sliding block is fixedly connected with the spine, and the middle of the spine is in a lamina form and has flexibility, the vertical sliding of the waist sliding block drives the spine to vertically and synchronously bend along the vertical direction.

Description

Technical field [0001] The invention relates to a robot, in particular to a bionic running quadruped robot. Background technique [0002] At present, most quadruped robots adopt rigid body structure. When the robot moves, there are problems such as unstable body posture and large impact on the ground, which cannot meet high-speed movements such as jumping and running, and cannot walk stably on uneven ground. In order to overcome the above shortcomings To improve the dynamic performance of the quadruped robot, it is very necessary to design a compliant quadruped robot with flexible waist and elastic legs. The torso of the quadruped robot needs to have the freedom of pitching. The legs should be elastic. [0003] Chinese Patent Application: 201110196221.7 discloses a compliant quadruped robot with flexible waist and elastic legs. It is divided into the front trunk, spine, waist, rear trunk, and four legs with the same structure; the bearings in the front trunk or the rear trunk an...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 马宗利吕荣基张培强刘永超王建明
Owner SHANDONG UNIV
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