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Steering device and four-legged robot comprising same

A quadruped robot and steering device technology, which is applied in the field of quadruped robots with variable leg length, can solve problems such as inconvenient steering, easy robot overturning, robot overturning, etc., and achieves reduced manufacturing and steering control costs, simple steering method, The effect of steering stability

Inactive Publication Date: 2018-11-13
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control of these two steering methods is complicated, and it takes multiple steps to turn. The steering is very inconvenient. Sometimes the robot is easy to turn and overturn, which greatly reduces the stability of the robot's steering.
The calf part of the current quadruped robot is incapable of stretching relative to most of the thigh
When the quadruped robot moves on uneven ground, such as pitted ground, steps, etc., stability control is more difficult than on flat ground, mainly because the robot is prone to overturning

Method used

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  • Steering device and four-legged robot comprising same
  • Steering device and four-legged robot comprising same
  • Steering device and four-legged robot comprising same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037]The length-changing quadruped robot described in the present invention includes front legs and rear legs, and the expansion and contraction of the front legs and / or rear legs is realized by pneumatic muscles. The front legs and rear legs each include two, two The front legs are connected by a connecting rod, and the two rear legs are connected by a connecting rod; the front legs and the rear legs each include a thigh installed on the body, and a support plate is fixed on the lower part of the thigh, and the support plate is provided with 4 holes, the upper ends of the 4 anti-bending rods pass through the 4 holes on the support plate, and the upper ends of the four anti-bending rods can slide up and down in the four holes, and the four anti-bending rods are surrounded by Pneumatic muscles are provided in the space, and the bottom of the aerodynamic muscles and the lower ends of the four anti-bending rods are connected to the feet, and the length of the legs can be adjusted...

Embodiment 2

[0041] Further, the leg length-changing quadruped robot includes front legs and rear legs, and the expansion and contraction of the front legs and / or rear legs is realized by hydraulic cylinder expansion and contraction. The front legs and the rear legs each include two, the two front legs are connected by a connecting rod, and the two rear legs are connected by a connecting rod; the front legs and the rear legs each include a thigh installed on the body, and the The thigh is a telescopic hydraulic cylinder, and the length of the leg can be adjusted through the expansion and contraction of the hydraulic cylinder.

[0042] Specifically, as attached Figure 7 and figure 2 As shown, the structural diagram of the front leg part, which includes the front leg foot end 11, the front leg foot end 11 is connected to the driving end of the front leg thigh hydraulic cylinder 10, and the adjustment of the leg length is realized through the expansion and contraction of the hydraulic cyli...

Embodiment 3

[0045] Further, the leg length-changing quadruped robot includes front legs and rear legs, and the expansion and contraction of the front legs is achieved by hydraulic cylinders or cylinders, and the expansion and contraction of the rear legs is achieved by pneumatic muscles, such as figure 1 shown;

[0046] The rear leg is a structural configuration of one leg joint, one degree of freedom in pitching of the thigh, and one thigh with variable leg length. The left and right hind legs pass through the connecting rod between the 4 hind legs Figure 4 The shown bolt group is connected, and one end of the rear leg swing hydraulic cylinder 6 is hinged on the body, and one end is hinged at the center of the connecting rod 4 between the rear legs (as Figure 4 ). The expansion and contraction of the rear leg swing hydraulic cylinder 6 can simultaneously drive the left and right rear legs to move synchronously to realize the bound gait of the robot. The expansion and contraction of ...

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PUM

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Abstract

The invention discloses a steering device and a four-legged robot comprising the same. The steering device includes a supporting base, a hydraulic telescopic device is vertically arranged on the supporting base, a disc-shaped supporting shaft is installed at the top of the hydraulic telescopic device, and a stator core is arranged on the upper portion of the supporting shaft. A coil winding is arranged on the stator core, a rotor permanent magnet is arranged in the center of the stator core, and the rotor permanent magnet is fixed to the bottom of a machine body of the robot. The coil windingis controlled to be energized or cut off, a rotating magnetic field is formed, the rotor permanent magnet rotates under the action of the magnetic field, the permanent magnet is fixed together with the machine body of the robot, so that the machine body of the robot rotates at an angle when four feet are off the ground.

Description

technical field [0001] The invention belongs to the field of quadruped robots, and in particular relates to a steering device used for steering a quadruped robot and a quadruped robot with variable leg length of the steering device. Background technique [0002] To realize the steering of the existing quadruped robot, it is necessary to turn by controlling the stepping gait of the four legs, or to realize the steering by using the step difference between the same side leg and the other side leg. The control of these two steering methods is complicated, and it takes multiple steps to turn. The steering is very inconvenient, and sometimes the robot is prone to turning over, which greatly reduces the stability of the robot's steering. The calf part of the current quadruped robot is incapable of stretching relative to the majority of the thigh. When the quadruped robot moves on uneven ground, such as pitted ground, steps, etc., stability control is more difficult than on flat g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 马宗利马庆营吕荣基王建明
Owner SHANDONG UNIV
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