The quadruped robot comprises a robot body and four leg assemblies, each leg assembly has three degrees of freedom and comprises a thigh, a shank, a first motor, a second motor and a third motor, and the first motor is arranged on the robot body; the axis of the second motor is perpendicular to the axis direction of the first motor, the second motor is connected with an output shaft of the first motor through a first connecting structure, and the output shaft of the second motor is connected with the third motor through a second connecting structure; the axis directions of the third motor and the second motor are parallel; one end of the thigh is respectively connected with the second connecting structure and the third motor; and one end of the shank is connected with the output end of the third motor through a transmission structure, and is also connected with the other end of the thigh. The device is simple in structure, low in manufacturing cost and easy to implement.
本发明公开了一种大负载巡检用四足机器人,包括机器人主体和四个腿部组件,各腿部组件均具备三个自由度,包括大腿、小腿、第一电机、第二电机和第三电机,所述第一电机设于所述机器人主体上;所述第二电机的轴线与第一电机的轴线方向相垂直,其通过第一连接结构与第一电机的输出轴相连,其输出轴通过第二连接结构与所述第三电机相连;所述第三电机与第二电机的轴线方向平行;所述大腿的一端分别与所述第二连接结构和第三电机相连;所述小腿的一端与第三电机的输出端通过传动结构相连,还与所述大腿的另一端相连。本发明结构简单,制作成本低,容易实现。
Quadruped robot for heavy-load inspection
一种大负载巡检用四足机器人
2024-01-09
Patent
Electronic Resource
Chinese
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