The invention provides a flexible trunk of a quadruped robot and the quadruped robot. The flexible trunk comprises a front trunk part, a rear trunk part, a rotating shaft, a first driving motor, a second driving motor, a first driving gear, a second driving gear and a driven gear; the front trunk part and the rear trunk part are rotatably connected through the rotating shaft, the axis of the rotating shaft extends in the left-right direction of the quadruped robot, and the left-right direction of the quadruped robot is defined as the direction perpendicular to the movement direction of the quadruped robot in the horizontal plane; the first driving motor is fixedly connected with the front trunk part, and the output end of the first driving motor is connected with the first driving gear; the second driving motor is fixedly connected with the rear trunk part, and the output end of the second driving motor is connected with the second driving gear; the first driving gear and the second driving gear both mesh with the driven gear, and the driven gear is connected with the rotating shaft; and the first driving motor drives the front trunk part and/or the second driving motor drives therear trunk part to relatively curl or stretch around the axis of the rotating shaft correspondingly.
本申请提供了一种四足机器人的柔性躯干和四足机器人。该柔性躯干包括:前躯干部、后躯干部、转动轴、第一驱动电机、第二驱动电机、第一主动齿轮、第二主动齿轮、从动齿轮;前躯干部、后躯干部通过转动轴转动连接,转动轴的轴线沿四足机器人的左右方向延伸,四足机器人的左右方向定义为水平面内与四足机器人的运动方向垂直的方向;第一驱动电机与前躯干部固定连接,第一驱动电机的输出端连接第一主动齿轮;第二驱动电机与后躯干部固定连接,第二驱动电机的输出端连接第二主动齿轮;第一主动齿轮、第二主动齿轮均与从动齿轮啮合;从动齿轮与转动轴连接;第一驱动电机带动前躯干部和/或第二驱动电机带动后躯干部分别绕转动轴的轴线相对蜷缩或伸展。
Flexible trunk of quadruped robot and quadruped robot
一种四足机器人的柔性躯干和四足机器人
2020-12-08
Patent
Electronic Resource
Chinese