The invention discloses a bionic reconfigurable quadruped robot capable of stably switching between a creeping type and a vertical type. The bionic reconfigurable quadruped robot comprises a spine, a first movable leg, a second movable leg, a third movable leg, a fourth movable leg and a control module. The spine comprises a first spine joint, a second spine joint and a spine motor; the first to fourth movable legs have the same structure, and each of the first to fourth movable legs comprises first to fifth leg motors, first to second connecting strips, first to third connecting frames, a foot fixing frame and a foot component; the foot component comprises a first foot motor, a second foot motor, a first toe, a second toe, a third toe, a fourth toe, a sleeve, an upper cover, a bottom plate, a sliding column, a driving block, a driving gear and a driven gear. According to the robot, the mass center of the body is adjusted by means of trunk movement, stable conversion between a crawling mode and an upright mode is achieved, and the conversion efficiency is improved; the foot structure and function conform to animal characteristics, and the stability of the robot during form conversion is improved.
本发明公开了一种匍匐式与直立式稳定转换的仿生可重构四足机器人,包括脊柱、第一至第四活动腿、以及控制模块;脊柱包含第一脊柱关节、第二脊柱关节、以及脊柱电机;第一至第四活动腿结构相同,均包含第一至第五腿部电机、第一至第二连接条、第一至第三连接架、足部固定架和足部构件;足部构件包含第一至第二足部电机、第一至第四足趾、套筒、上盖、底板、滑柱、驱动块、主动齿轮和被动齿轮。本发明机器人借助躯干运动调整身体质心,实现匍匐和直立两种模式的平稳转换,提高了转换效率;足部结构和功能符合动物特征提高了机器人形态转换时候的稳定性。
Bionic reconfigurable quadruped robot capable of stably switching between creeping type and vertical type
一种匍匐式与直立式稳定转换的仿生可重构四足机器人
2024-12-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |