An electrically-driven quadruped robot with mechanical arms working cooperatively comprises a quadruped platform, front legs and rear legs are installed on the lower portion of the quadruped platform, and a front mechanical arm and a rear mechanical arm are installed on the upper portion of the quadruped platform. A rack is arranged in the four-foot platform, and a radiator, a hydraulic station and a battery are fixedly mounted on the rack; the mechanical arm comprises a base fixedly connected with the four-foot platform, the base is connected to the four-foot platform through a waist rotating joint, one end of a large arm is connected to the base through a shoulder pitching joint, one end of a small arm is connected with the other end of the large arm through an elbow pitching joint, and the other end of the small arm is connected with a wrist through a wrist rotating joint. The paw is connected with the wrist through the paw rotating joint; and the positions of the front mechanical arm and the rear mechanical arm are strictly synchronized in real time in collaborative operation. A power system is used, the rotating speed is convenient to regulate and control, the structure is more compact, balance of the robot can be kept without a balance weight, and the movement stability of the robot is improved.
一种机械臂协同工作的电驱动四足机器人,包括四足平台,四足平台的下部安装有前腿和后腿,四足平台的上部安装有前机械臂和后机械臂;所述四足平台的内部设置有机架,机架上固定安装有散热器、液压站和电池;所述机械臂包括与所述四足平台固定连接的基座,基座通过腰部回转关节连接在四足平台上,大臂的一端通过肩部俯仰关节连接在基座上,小臂的一端通过肘部俯仰关节与大臂另一端连接,小臂的另一端通过腕部回旋关节连接手腕,手爪通过手爪旋转关节与手腕连接;前机械臂和后机械臂在协同作业中位置实时严格同步。本发明使用电力系统,方便调控转速,结构更加紧凑,不需要配重就可以保持机器人的平衡,增加了机器人的运动稳定性。
Electrically-driven quadruped robot with mechanical arms working cooperatively
一种机械臂协同工作的电驱动四足机器人
2023-04-18
Patent
Electronic Resource
Chinese
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