The invention provides a quadruped robot with a rigid-flexible coupling structure. The quadruped robot comprises a supporting plate, supporting legs used for walking are arranged at the four corners of the supporting plate correspondingly, the supporting legs comprise the lower supporting legs, the upper supporting legs and steering engines, the lower supporting legs are connected with the upper supporting legs, and the upper supporting legs are connected with the supporting plate through the steering engines; each lower supporting leg comprises a connecting part, a limiting plate and a thrust ring, the connecting part penetrates through the limiting plate and is connected with the thrust ring, a flexible part is arranged between the connecting part and the limiting plate, and the limiting plate is connected with the corresponding upper supporting leg. And when each limiting plate receives the pressure of the corresponding upper supporting leg, the limiting plate downwards extrudes the corresponding flexible part, the flexible part deforms, so that the impact force is buffered, the quadruped robot has good adaptive capacity, the connecting parts and the limiting plates match each other to simulate the buffering capacity of human muscles and fat, and the quadruped robot has the characteristics of high control precision and flexibility.
本发明公开了一种具备刚柔耦合结构的四足机器人,包括支撑板,所述支撑板的四角分别设有用于行走的支腿,所述支腿包括下支腿、上支腿和舵机,所述下支腿与上支腿连接,所述上支腿通过舵机与支撑板连接;所述下支腿包括连接部、限位板和止推环,连接部穿过限位板与止推环连接,且所述连接部与限位板之间设有柔性部,所述限位板与上支腿连接。当限位板收到上支腿的压力,限位板向下挤压柔性部,柔性部发生变形,从而缓冲冲击力,使四足机器人拥有很好的适应能力,连接部与限位板相互配合模仿人类的肌肉和脂肪的缓冲能力,具有控制精读高的灵活的特点。
Quadruped robot with rigid-flexible coupling structure
一种具备刚柔耦合结构的四足机器人
2021-11-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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