The invention discloses a multi-rigidity flexible spine structure and a quadruped robot, and belongs to the technical field of bionics, the multi-rigidity flexible spine structure comprises a front trunk and a rear trunk, a front driving rod and the rear trunk are hinged to form the flexible spine structure, and the hinged part is provided with at least one double-torsion-spring set; each double-torsion spring set comprises a low-rigidity double-torsion spring and a high-rigidity double-torsion spring, and the flexible spine structure compresses the double-torsion springs with different rigidities when bending downwards and bending upwards. The bending rigidity of the flexible spine structure is not equal to the pitching rigidity, so that the flexible spine structure has the characteristic of multiple rigidities, and the quadruped robot assembled with the multi-rigidity flexible spine structure has higher environmental adaptability.
本发明公开了一种多刚度柔性脊椎结构及四足机器人,属于仿生技术领域,该多刚度柔性脊椎结构包括前躯干和后躯干,前驱杆与后躯干通过铰接形成柔性脊椎结构,且铰接部设置有至少一个双扭簧组;每个双扭簧组包括一个低刚度双扭簧和一个高刚度双扭簧,柔性脊椎结构在俯弯曲时与仰弯曲时压缩不同刚度的双扭簧。该柔性脊椎结构的俯弯曲的刚度与仰弯曲的刚度不相等,使柔性脊椎结构具有多刚度的特性,进而使装配有该多刚度柔性脊椎结构的四足机器人具有更高的环境适应性。
Multi-rigidity flexible spine structure and quadruped robot
一种多刚度柔性脊椎结构及四足机器人
2023-09-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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