The invention discloses a quadruped robot with a flexible movement operation capability and a mechanical arm, and belongs to the technical field of robots. The quadruped robot comprises mechanical arms and leg mechanisms, the four leg mechanisms are evenly distributed below a robot body, the left leg mechanism and the right leg mechanism are symmetrically arranged, and the front leg mechanism and the rear leg mechanism are asymmetrically arranged; the leg mechanism is of a series leg structure and comprises an outward swinging motor, a leg rod assembly and inner and outer side leg rod motors, the outward swinging motor is connected with the machine body, the outward swinging motor is fixed to the end face of the U-shaped frame, the inner and outer side leg rod motors are fixed to the two side walls, the leg rod assembly is of a four-connecting-rod structure and fixedly connected with the inner and outer side leg rod motors, and the leg rod assembly can rotate by 360 degrees around the machine body; the mechanical arm is a five-degree-of-freedom mechanical arm formed by connecting a joint, a supporting arm and a connecting frame in series, and the mechanical clamping jaw is fixed to the tail end of the mechanical arm and can achieve continuous twisting movement. The quadruped robot can complete object grabbing and various operation tasks while walking on complex terrains.
本发明公开一种具有灵活运动作业能力的含机械臂四足机器人,属于机器人技术领域。该四足机器人包括机械臂和腿部机构,四个腿部机构均布在机身本体下方,且左右腿部机构对称设置、前后腿部机构非对称设置;腿部机构为串联腿结构,包括外摆电机、腿杆组件和内外侧腿杆电机,外摆电机与机身本体连接,U型架端面固定外摆电机、两侧壁固定内外侧腿杆电机,腿杆组件为四连杆结构,与内外侧腿杆电机固连,腿杆组件可围绕机身本体360°旋转;机械臂是由关节、支臂和连接架串联构成的五自由度机械臂,机械夹爪固定在机械臂末端,能够实现连续扭转运动。本发明的四足机器人可以在复杂地形行走的同时完成抓取物体和多种操作任务。
Quadruped robot with flexible movement operation capability and mechanical arms
一种具有灵活运动作业能力的含机械臂四足机器人
2023-07-04
Patent
Electronic Resource
Chinese
Electrically-driven quadruped robot with mechanical arms working cooperatively
European Patent Office | 2023
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