The invention provides a quadruped robot and a control method thereof. The quadruped robot comprises an integrated base, a body part, a swing arm part and four supporting arm parts. The body part comprises a machine body and two swing arm seats arranged at the front end and the rear end of the machine body correspondingly. The swing arm component comprises four sets of swing arm assemblies. The swing arm assembly comprises a swing arm rotationally connected to the swing arm base. The supporting arm component comprises a first supporting arm rotationally connected to the swing arm, a second supporting arm rotationally connected to the first supporting arm, a second driving assembly driving the first supporting arm to rotate relative to the swing arm, and a third driving assembly driving the second supporting arm to rotate relative to the first supporting arm. The first driving assembly, the second driving assembly and the third driving assembly are arranged to drive the swing arm assembly, the first supporting arm and the second supporting arm correspondingly, and by means of supporting structures of the first driving assembly, the second driving assembly and the third driving assembly, it is avoided that an output shaft of a power motor plays a supporting role when swinging is stopped; therefore, the service life of the power motor is ensured.
本发明提供了一种四足机器人及其控制方法,包括集成基座、身体部件、摆臂部件和四个支臂部件:身体部件包括机体、分别设置在机体前后端的两个摆臂座;摆臂部件包括四组摆臂组件;摆臂组件包括转动连接在摆臂座上的摆动臂;支臂部件包括转动连接在摆动臂上的第一支臂、转动连接在第一支臂上的第二支臂、驱动第一支臂相对于摆动臂进行转动的第二驱动组件、驱动第二支臂相对于第一支臂进行转动的第三驱动组件。通过设置第一驱动组件、第二驱动组件、第三驱动组件分别对摆臂组件、第一支臂和第二支臂进行驱动,利用第一驱动组件、第二驱动组件、第三驱动组件自身的支撑结构,避免动力电机的输出轴在停摆时起到支撑作用,从而保证动力电机的使用寿命。
Quadruped robot and control method thereof
一种四足机器人及其控制方法
2024-05-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |