Flexible quadruped robot

Abstract

The invention provides a flexible quadruped robot. The flexible quadruped robot mainly solves the problem that an existing quadruped robot has low topographic adaptation capacity. The flexible quadruped robot is characterized in that a hydraulic drive mode is adopted in a drive part of a robot structure, internal knee and elbow type joints are adopted in a leg structure, and a hip, thighs, shanksand bones of feet are connected through three rotary joints; a flexible trunk is composed of front and rear supporting frames and a flexible spine, the front and rear supporting frames are connected with the hip so as to connect a four-leg part, the flexible spine is composed of two spring plates symmetrically mounted and four groups of hydraulic cylinders distributed up-down and left-right to enhance the stability of mechanisms; and a side-sway structure is arranged between the hip and the supporting frames, the freedom degree of an elevation angle direction is provided for the robot, and therobot realizes the motion of the mechanisms of all parts through a hydraulic drive mode. The flexible quadruped robot can improve the motion stability and harmony of the robot, and has the characteristic that driving force is large so as to walk at high speed under the condition of high load.

Description

technical field [0001] The invention relates to a quadruped robot structure. Background technique [0002] The existing mobile robots in the world are generally legged or wheeled robots. Wheeled robots have high movement speed, but poor obstacle avoidance ability and poor mobility in unstructured environments; legged robots have good flexibility. The obstacle avoidance ability is very strong, but the existing mechanism level leads to generally low movement speed. Footed robots can adapt to complex terrain, and can move in complex environments such as potholes, boulders, grasslands, and rugged mountains, helping people complete rescue and exploration tasks in dangerous environments. In the military, legged robots can not only assist in the handling of materials on the battlefield, but also carry military reconnaissance and combat equipment to assist soldiers in combat. As an important part of bionic robots, legged robots have shown good adaptability in complex and unknown e...

AI Technical Summary

Problems solved by technology

At present, my country's research in the field of quadruped mobile robots is in the early stages of development, it can be said that it is far behind other countries, and the research work is not very continuous

Existing robot torsos are mostly rigid, with rigid leg structures, and the joints are not elastic. When walking, the impact force of the ground on the body is very large, which not only affects the stability of walking, but also the stress conditions of the joints are poor, and it is easy to cause mechanical system damage. damage

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