The embodiment of the invention relates to a quadruped robot. The quadruped robot comprises a robot body, a head, leg mechanisms and foot joint mechanisms. The head is arranged in the front of the fuselage. The leg mechanism at least comprises a front leg mechanism close to the head and a rear leg mechanism away from the head, and the front leg mechanism and the rear leg mechanism are rotationally connected with the robot body. The foot joint mechanism is rotationally connected with the leg mechanism, a limiting structure is formed between the foot joint mechanism and the leg mechanism and used for limiting rotation of the foot joint mechanism, and under the condition, upward supporting force applied to the foot joint mechanism by the ground can be transmitted to the leg mechanism, so that the leg mechanism can share the upward supporting force; therefore, the foot joint mechanism does not need to bear all supporting force applied by the ground, contact between the leg mechanism and the ground can be achieved without providing large rotating torque, namely normal landing of the leg mechanism is achieved, and the requirement for the rotating torque of the foot joint mechanism can be lowered to a certain degree.

    本发明实施例涉及四足机器人,包括机身、头部、腿部机构、足节机构。头部设置在机身的前部。腿部机构至少包括靠近头部的前腿机构和远离头部的后腿机构,前腿机构、后腿机构分别与机身转动连接。足节机构与腿部机构转动连接,在足节机构与腿部机构之间形成有限位结构,限位结构用于限制足节机构的转动,在此情况下,地面施加给足节机构的向上的支撑力则可以传递至腿部机构,使得腿部机构可以分担该向上的支撑力,从而使得足节机构无需承担地面施加的全部支撑力,继而无需提供较大的旋转力矩即可实现腿部机构与地面的接触,即实现腿部机构的正常着地,因此可以在一定程度上降低对足节机构的旋转力矩的要求。


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    Titel :

    Quadruped robot


    Weitere Titelangaben:

    四足机器人


    Beteiligte:
    HUANG PENGHUI (Autor:in) / CHAI JINPENG (Autor:in) / CHEN LEI (Autor:in)

    Erscheinungsdatum :

    2024-01-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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