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A miniature quadruped robot

A quadruped robot and miniature technology, applied in the field of robotics, can solve the problems of a large number of power devices, a large number of degrees of freedom of a crawling mechanism, and difficulty in miniaturizing a robot, and achieve the effect of a simple implementation method and few degrees of freedom.

Pending Publication Date: 2019-01-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. The crawling mechanism has many degrees of freedom, resulting in a large number of power devices, making it difficult to miniaturize the robot
[0005] 2. The implementation method of turning is complicated

Method used

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  • A miniature quadruped robot
  • A miniature quadruped robot
  • A miniature quadruped robot

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with accompanying drawing.

[0025] The invention provides a miniature quadruped robot, such as figure 1 , figure 2 shown. This quadruped robot comprises motor 1, frame 2, crank 3, connecting rod 4, rocking bar 5, steering gear 6, weight 7. The motor 1 is fixed on the frame 2. When the quadruped robot is stationary on the horizontal plane, the axis of the output shaft of the motor 1 is perpendicular to the longitudinal axis of the quadruped robot and parallel to the horizontal plane. Gears are fixed on the output shaft of the motor 1. motor 1 as image 3 As shown, rack 2 as Figure 4 shown.

[0026] The crank 3 is connected to the frame 2 through the first complete rotation pair, and the axis of the first complete rotation pair is parallel to the axis of the output shaft of the motor 1 . crank 3 as Figure 5 shown. Gears are fixed on the crank 3, and the fixed gears on the crank 3 mesh with th...

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Abstract

The invention provides a miniature quadruped robot, comprising an electric motor, a frame, a crank, a connecting rod, a rocker, a steering gear and a weight. The base of the steering gear is fixed onthe frame, the steering gear can drive the weight to move, and the weight can be articles such as batteries carried by a quadruped robot. Moving the weight can change the position of the center of gravity of the quadruped robot. When the center of gravity of the quadruped robot is on the left side of the longitudinal axis of the quadruped robot, the left side of the longitudinal axis of the quadruped robot slides less on the ground, and the quadruped robot can turn to the right. When the center of gravity is on the right side of the quadruped robot's longitudinal axis, the right part of the quadruped robot's longitudinal axis slides less on the ground, and the quadruped robot can turn to the left. The creeping mechanism of the invention has the advantages of low degree of freedom, easy miniaturization, slippery foot gait movement, difficult roll-over when only two feet touch the ground, stable movement and simple turning realization method.

Description

technical field [0001] The invention relates to the field of robots, in particular to a miniature quadruped robot. Background technique [0002] The development of robotics technology has promoted the application of robots in various fields, and in some cases, robots have become indispensable equipment. When encountering uneven terrain, the application of wheeled robots and tracked robots is limited. Some animals walk in a way that adapts to uneven terrain, and legged robots are robots that adopt the way animals walk. A variety of legged machines have been developed, such as the "Big Dog" robot developed by Boston Dynamics. [0003] In the prior art, there are following problems in legged robot: [0004] 1. The crawling mechanism has many degrees of freedom, resulting in a large number of power devices, making it difficult to miniaturize the robot. [0005] 2, the realization method of turning is complicated. Contents of the invention [0006] In order to solve the pr...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 冯卓群吉爱红沈欢王尤迪刘坤李人澍
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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