A quadruped robot capable of attitude adjustment in the air

Abstract

The invention designs a quadruped robot that can realize attitude adjustment in the air, which can be used in the attitude adjustment process of robots and spacecraft. The present invention mainly includes two parts, the trunk and the limbs. The trunk and the limbs are connected by hinges and the movement mode is controlled by the hinges. A flywheel with a large moment of inertia is respectively installed at the end of each limb of the robot, which has a relatively large moment of inertia. (Compared with the limbs, it cannot be ignored) and the emergency stop effect. The direction of the flywheel axis is the same as that of the centerline of the limbs. The overall posture of the robot can be fine-tuned by swinging the limbs of the robot and pointing to different rotation directions; the limbs can also point in the same direction. , to rotate the robot around a specific axis. This design reduces the quality of the flywheel required by the robot and spacecraft; it does not need to add too much space, reducing the size of the robot and spacecraft; it can also put all the flywheels into work and improve the utilization of the flywheel Rate.

Description

Technical field[0001]The present invention designs a quadruple robot that enables air attitude adjustment, which can be applied to robots and aerospactor's posture adjustment.Background technique[0002]In recent years, the application scope of bionic robots has been expanding, and there are more and more research on bionic robots. For the current walking, jump, climbing, gliding robots, the movement is mainly in contact with the ground, wall, etc., through friction, self-motivation, with the complexity of the bionic robot, robot The range of motion gradually expands from the two-dimensional plane, the robot does not adjust its own motion in the air, but by changing the body posture, reaching the role of adjusting the moment of inertia, and leads to changes in the overall position, which belongs to active adjustment The ability of positions is that most bionic robots do not have.[0003]By rotation of the inner flywheel in the mechanism, the transformation of the robot attitude can be a...

AI Technical Summary

Problems solved by technology

The above-mentioned patents use various methods to realize the attitude transformation of robots or aircraft in the air, but there are defects such as the direction of the flywheel cannot be adjusted, the mass of the flywheel is large, and the attitude adjustment speed is not fast enough.

The mass of the internal flywheel of the satellite is relatively large, and at least three flywheels in the X, Y, and Z directions are required to form a flywheel set, which occupies a large volume, which is not conducive to the operation and rapid attitude adjustment of the satellite, and the direction of the flywheel set cannot be moved. If the flywheel group rotates rapidly around a certain axis, the flywheel group cannot be fully put into work; if the mechanism is rotated by the swing of the limbs, there is a possibility of limb interference

A search of existing patented technologies has not found a robot that can completely overcome the above-mentioned problems

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