The invention relates to the technical field of robots, and discloses a quadruped robot obstacle jumping system which comprises a robot body, a single-foot mechanism is arranged at the bottom of the robot body, a jumping mechanism and a balance mechanism are arranged on the single-foot mechanism, and the single-foot mechanism comprises a first supporting leg, a second supporting leg and a third supporting leg. A sliding groove is formed in the bottom of the third supporting leg, the jumping mechanism comprises a sliding rod, a chuck is fixedly installed at the top of the sliding rod, and the chuck is slidably connected to the inner wall of the sliding groove. In the jumping process of the robot, the three supporting legs are in an unfolded posture, the clamping pins on the foot balls can pull the pull ropes, and therefore the fixed wind wings are driven to turn over by an angle, meanwhile, the rotating shafts are driven to rotate by a certain angle on the inner walls of the torsional springs, the fixed wind wings in the hovering state are in a posture approximately parallel to the ground, and hovering stability of the robot is kept; a gyroscope sensor is matched to maintain balance, so that deviation and turnover caused by jumping of the robot are avoided.
本发明涉及机器人技术领域,且公开了一种四足机器人跳跃障碍的系统,包括机器身体,所述机器身体的底部设置有单足机构,所述单足机构上设置有跳跃机构和平衡机构,所述单足机构包括支腿一、支腿二、支腿三,所述支腿三的底部开设有滑槽,所述跳跃机构包括滑杆,且滑杆的顶部固定安装有卡盘,所述卡盘滑动连接在滑槽的内壁。通过机器人跳跃过程中三个支腿呈现展开姿态,脚球上的卡销会拉动拉绳,从而带动定风翼翻转角度,同时带动转轴在扭簧内壁旋转一定角度,使得滞空状态下的定风翼与地面呈现接近平行的姿态,保持机器人的滞空稳定性,配合陀螺仪传感器维持平衡,避免机器人跳跃产生偏移翻倒。
Obstacle jumping system of quadruped robot
一种四足机器人跳跃障碍的系统
2023-11-07
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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