Double-oscillating bar flexible four-leg walking robot

Abstract

The invention relates to a double-oscillating bar flexible four-leg walking robot. The robot comprises a machine body, a power supply box, a double-oscillating bar mechanism and a four flexible leg mechanisms, wherein the double-oscillating bar mechanism comprises a machine body, a motor, a screw motor, a push frame and two oscillating bars; the flexible leg mechanisms comprise big legs, small legs, feet, springs, sliding sleeves, inner elastic plates and outer elastic plates; the machine body, the big legs, the small legs and the feet are mutually rotatably connected in series; the motor is used for driving the four flexible leg mechanisms to walk in a horse stance manner, when the big legs swing forwards, the big legs, the small legs and the feet are driven to mutually, flexibly reversely rotate by ground resistance, the two elastic plates pull the slide sleeves to compress the springs, and when the feet are lifted, the springs pull the big legs, the small legs and the feet to mutually rotate forwards through the sliding sleeves and the two elastic plates until the flexible leg mechanisms are straightened to be self-locked; when the big legs swing backwards, the mutual straightening and self-locking capacities of the big legs, the small legs and the feet are improved through the ground resistance, thereby realizing the pedaling walking of the flexible leg mechanisms; and the walking direction can be altered through changing the swing amplitude of the big legs by the screw motor. The double-oscillating bar flexible four-leg walking robot is easy to control, simple in structure and suitable for rapidly walking on irregular pavements, and driving axles are few.

Description

technical field [0001] The invention relates to a robot, in particular to a legged robot. Background technique [0002] Footed robot is a special kind of robot in the mobile robot family, and it has become a relatively active research field of robots in recent years. Compared with wheeled and tracked mobile robots, footed robots based on bionics principles have a complex structure and relatively cumbersome control, but they have unique advantages: footed robots have many degrees of freedom and can realize complex and flexible movement modes. And because the support points in the walking process of the legged robot are discrete, they can walk on extremely irregular roads, cross or jump over obstacles, and have strong adaptability. They are used in military reconnaissance, post-disaster search and rescue, aerospace, industrial pipelines, It has broad application prospects in medical testing, home entertainment, bionics and other fields. Among them, the structure and control ...

AI Technical Summary

Problems solved by technology

The above-mentioned legged robots have their own characteristics, but there are still many shortcomings: many drives, complex structure, high quality, difficult control, and high failure rate

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