The invention aims at providing a non-linear rigidity spinal module of a quadruped robot. The module comprises a front spinal mechanism, a rear spinal mechanism and a power transmission device, wherein the front spinal mechanism comprises a front spinal block and a first steering engine; the rear spinal mechanism comprises a rear spinal block; a bearing is mounted at the end part of the front spinal block in an interference manner; a pin shaft is mounted at the end part of the rear spinal block in an interference manner; the pin shaft is mounted in the bearing and is in interference fit with the bearing; a first internal groove is formed in the front spinal block; the first steering engine is fixed in the first internal groove; a rudder angle is mounted on an output shaft of the first steering engine; a pin and a pulley are mounted on the rear spinal mechanism; the power transmission device comprises a tension spring and a pull wire; one end of the tension spring is connected with the rudder angle; the other end of the tension spring is connected with the pull wire; and the pull wire rounds the pin and is wound on the pulley. According to the module, the steering engine rotates back and forth to achieve bending motion of the spinal module, and different preloads are applied on the tension spring to achieve non-linear rigidity of the spinal module.
Non-linear rigidity spinal module of quadruped robot
2015-09-16
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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