The invention discloses a horizontal joint quadruped robot, and belongs to the technical field of industrial robots. The quadruped robot comprises a body frame and four legs with the same structure. Leg structures of the quadruped robot are fixedly connected to the body frame in a front-back symmetry and left-right symmetry mode relative to the body frame. Each leg comprises a leg telescopic mechanism, a hip joint structure and a leg swing mechanism. The leg telescopic mechanism provides the horizontal quadruped robot with the moving freedom degree used for linear movement. The hip joint mechanism provides the horizontal joint quadruped robot with rotational degrees of freedom for lifting and releasing legs. And the leg swinging mechanism provides a rotational degree of freedom of side swinging for the horizontal joint quadruped robot. According to the quadruped robot control system, a control mode of an upper computer and a CAN bus analyzer is adopted, motors at all joints are controlled in a coordinated mode, and therefore advancing and turning of the quadruped robot are achieved. By adopting the technical scheme, the quadruped robot has twelve degrees of freedom, and is simple in structure and flexible in movement.
本发明公开一种水平关节四足机器人,属于工业机器人技术领域。该四足机器人包括主体框架和四条结构相同的腿部。四足机器人的腿部结构相对主体框架呈前后对称,左右对称固连于主体框架。所述腿部包括腿部伸缩机构,髋关节结构以及腿部摆动机构。所述腿部伸缩机构为本水平四足机器人提供用于直线运动的移动自由度;所述髋关节机构为本水平关节四足机器人提供抬腿,放腿的旋转自由度;所述腿部摆动机构为本水平关节四足机器人提供侧摆的旋转自由度。该四足机器人控制系统采用上位机+CAN总线分析仪的控制方式,协调控制各关节处的电机,从而实现四足机器人的前进,转弯。通过采用本技术方案,该四足机器人拥有十二自由度,结构简单且运动灵活。
Horizontal joint quadruped robot
一种水平关节四足机器人
2020-06-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |