Multi-rod quadruped robot

Abstract

The invention provides a multi-rod quadruped robot. The multi-rod quadruped robot comprises a robot body support and mechanical legs. Each mechanical leg comprises a shock absorption device, a connecting assembly and a supporting device. The connecting assembly is connected with the supporting device; the shock absorption device is arranged between the connecting assembly and the supporting deviceand connected with the connecting assembly and the supporting device. When the mechanical legs are in contact with the ground, a part of reaction force of the ground to the mechanical legs is offsetby the shock-proof device; the other part of reaction force is transmitted to the upper bracket through the lower bracket; the other part of the reaction force is transmitted to the shock-proof deviceby the upper bracket to be counteracted; therefore, the reaction force of the ground on the mechanical legs can be fully counteracted; the acting force is prevented from being transmitted to a fuselage bracket; the damping effect is good; when the fuselage bracket bears a load, the mechanical legs need to bear large pressure; by arranging the shock absorption device for buffering, the pressure needing to be borne by the mechanical leg is reduced, and then the situation that swinging is unstable during movement is avoided.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-rod quadruped robot. Background technique [0002] Quadruped robot has always been a research hotspot in the field of robotics. Among them, quadruped robots can better adapt to various complex terrains because of their strong carrying capacity, high stability, simple structure and high reliability. Based on the basic idea of ​​bionics, in-depth study of the body shape and motion shape of quadruped creatures (mammals), researches can realize the basic performance of quadruped robots, for example, realize smooth gait walking, maintain walking stability, and have a certain bearing capacity Ability, etc., and low-cost characteristics of bionic robots. The rapid development of bionic technology is having an increasing impact on all aspects of human life, requiring robots to have higher flexibility and adaptability to various complex environments. [0003] A quadruped bionic robot is d...

AI Technical Summary

Problems solved by technology

[0004] The buffer mechanism of the bionic robot is arranged at the end of the third connecting rod; the third connecting rod is in contact with the ground through the buffer mechanism; the impact force is offset by the deformation of the buffer mechanism, when the third buffer mechanism deforms, the buffer mechanism and the ground are not stable Contact, the support strength of the buffer mechanism will be reduced, resulting in poor stability of the third link; and then the third link has a poor support effect on the robot; there is a risk of rollover when the robot is moving; there is a safety hazard; at the same time, when the robot's When the leg structure swings continuously and moves quickly; the risk of rollover will be magnified; at the same time, when the robot has a load, there will be a certain pressure when the leg structure is lifted; the buffer mechanism of the bionic robot is only connected to the third link ; The buffer mechanism can only play a buffer role in the process of the robot landing; its buffer mechanism cannot buffer the pressure generated by the lifting of the leg structure, and the service life of the bionic robot is short

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