The invention provides an electrically driven bionic quadruped robot. The robot comprises a body assembly, two front leg assemblies, two rear leg assemblies, two front leg joint assemblies and two rear leg joint assemblies. Each of the front leg assembly and the rear leg assembly comprises a thigh part and a shank part; each of the front leg joint assembly and the rear leg joint assembly comprisesa hip joint swing motor, a swing connecting rod, a hip joint rotating motor and a knee joint motor; the hip joint swing motor is installed on the body assembly and drives the swing connecting rod toswing to drive the hip joint rotating motor to swing left and right. An output shaft of the hip joint rotating motor is connected with the thigh piece and drives the thigh piece to swing back and forth; the knee joint motor drives the shank part to swing back and forth through the knee joint connecting rod. The driving motors of the joints are arranged at the hip joints in a centralized mode, theload of the leg assemblies is reduced, the movement flexibility of the leg assemblies can be enhanced, the robot is light, and movement and balance control is facilitated.
本公开提供了一种电驱动仿生四足机器人。包括躯体组件、两个前腿组件、两个后腿组件、两个前腿关节组件和两个后腿关节组件;前腿组件和后腿组件均包括大腿件和小腿件;前腿关节组件和后腿关节组件均包括:髋关节摇摆电机、摇摆连杆、髋关节旋转电机和膝关节电机;髋关节摇摆电机安装于所述躯体组件上,髋关节摇摆电机通过驱动所述摇摆连杆摆动,带动髋关节旋转电机左右摆动;髋关节旋转电机的输出轴与大腿件相连并驱动大腿件前后摆动;膝关节电机通过膝关节连接杆驱动小腿件前后摆动。本公开将关节的驱动电机集中设置在髋关节位置,降低腿部组件的负重,能够增强腿部组件活动的灵活性,实现机器人的轻便化,有利于运动和平衡的控制。
Electrically driven bionic quadruped robot
一种电驱动仿生四足机器人
2020-10-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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European Patent Office | 2022
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