CN111846011A - Electrically-driven bionic quadruped robot - Google Patents
Electrically-driven bionic quadruped robot Download PDFInfo
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- CN111846011A CN111846011A CN202010857662.6A CN202010857662A CN111846011A CN 111846011 A CN111846011 A CN 111846011A CN 202010857662 A CN202010857662 A CN 202010857662A CN 111846011 A CN111846011 A CN 111846011A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present disclosure provides an electrically driven bionic quadruped robot. Comprises a body component, two front leg components, two rear leg components, two front leg joint components and two rear leg joint components; the front leg assembly and the rear leg assembly respectively comprise a thigh piece and a shank piece; the front leg joint assembly and the rear leg joint assembly each include: a hip joint swing motor, a swing connecting rod, a hip joint rotating motor and a knee joint motor; the hip joint swing motor is arranged on the body component and drives the hip joint rotating motor to swing left and right by driving the swing connecting rod to swing; 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 joint positions in a centralized manner, the load of the leg components is reduced, the flexibility of the movement of the leg components can be enhanced, the portability of the robot is realized, and the control of the movement and the balance is facilitated.
Description
Technical Field
The present disclosure relates to a bionic quadruped robot, and more particularly, to an electrically driven bionic quadruped robot.
Background
The research of the four-footed bionic robot has been one of the hot spots of the research in the field of domestic and foreign robots for a long time. The robot can stably walk in a complex non-structural environment, can replace people to finish many dangerous operations, and has many potential application prospects in industries such as military affairs, mining, nuclear energy industry, celestial surface detection, fire control and rescue, building industry, agriculture and forestry felling, teaching and entertainment and the like. The research of the four-footed bionic robot started in the 60's of the 20 th century, and a plurality of representative robot prototypes are generated. In recent years, the design of a robot with high speed, high bearing capacity, low energy consumption and a power source becomes the research focus of a quadruped robot. At present, the famous research results at home and abroad comprise a BigDog, AlphaDog, LittleDog and Cheetah Cheetah which are researched and developed by the Boston dynamic company in America, a Hyperion 4 robot which is researched and developed by professor of Japan Qianye Faugua industry and Rice field, a hydraulically-driven four-footed bionic robot which is researched and developed by Shandong university, and the like. The leg mechanical structure of the existing quadruped robot is almost composed of serial mechanisms. The series structure is simple, control modeling is easy, and drivers are mostly arranged on legs, so that the lower-level drivers become loads of the upper-level drivers, and the requirement on driving capability is high. The parallel legged robot is mainly researched in the direction of a single-foot or double-foot walking robot at home and abroad. For example, the WL series walkers at early rice university in japan, the Para-Walker design at gargle research. The conception of the four-foot/two-foot reconfigurable walker proposed by Wanghoubo of Yanshan university is provided in China. The parallel leg structure has higher rigidity, can improve the load-weight ratio of the robot, but is limited in the working space of the mechanism, and is difficult to finish high-speed walking obstacle crossing operation.
The publication No. CN 101927793A discloses a variable structure quadruped robot structure interconverting creeping motion and vertical motion, which comprises a quadruped robot organism and four limbs fixed on the quadruped robot organism, wherein each limb is controlled by three steering engines, and the steering engines are in a series structure. Meanwhile, the machine body in the structure is a whole, so that the flexibility of movement is limited.
Publication No. CN 101811525 a discloses a "hydraulically driven four-legged robot moving mechanism with a centroid adjusting device", in which four legs are arranged under a trunk, all hydraulically driven, and each leg has redundant degrees of freedom, which increases the complexity of mechanism control. In addition, the hydraulic drive improves the volume and the weight of the whole mechanism, and the whole mechanism is inconvenient to carry, transport, disassemble and assemble.
Publication No. CN 101791994 a discloses "a walking mechanism of a cam-driven controlled quadruped robot", which is divided into a front and rear leg unit and a universal connection unit connecting the front and rear leg units. The gimbal assembly merely provides a passive form of motion that is not controlled manually, which is detrimental to the motion and balance control of the mechanism.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present disclosure provides an electrically driven biomimetic quadruped robot.
The technical scheme of the disclosure is realized as follows:
an electrically driven biomimetic quadruped robot comprising: the device comprises a body component, two front leg components, two rear leg components, two front leg joint components and two rear leg joint components;
the front leg assembly and the rear leg assembly both comprise a thigh piece and a shank piece; the lower leg part is rotatably connected with the upper leg part;
the front leg joint assembly and the rear leg joint assembly each include: a hip joint swing motor, a swing connecting rod, a hip joint rotating motor and a knee joint motor;
the hip joint swing motor is arranged on the body component, one end of the swing connecting rod is connected with an output shaft of the hip joint swing motor, the other end of the swing connecting rod is connected with a shell of the hip joint rotating motor, and the hip joint swing motor drives the hip joint rotating motor to swing left and right by driving the swing connecting rod to swing;
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 lower leg part to swing back and forth through a knee joint connecting rod.
Further, a foot part is connected to the bottom end of the lower leg part.
Furthermore, the front leg joint assembly and the rear leg joint assembly respectively comprise a thigh connecting piece, an output shaft of the hip joint rotating motor is in transmission connection with the thigh connecting piece, and the thigh connecting piece is fixedly connected with the thigh piece.
Further, a shell of the knee joint motor is fixedly connected with the thigh connecting piece; the output shaft of the hip joint rotating motor and the output shaft of the knee joint motor are arranged in opposite directions, a cavity for accommodating the output shaft of the knee joint motor is arranged in the thigh connecting piece, one end of the knee joint connecting rod extends into the cavity and is in transmission connection with the output shaft of the knee joint motor, and the other end of the knee joint connecting rod is connected with the shank piece.
Furthermore, the front leg joint assembly and the rear leg joint assembly respectively comprise a transition flange, the hip joint swing motor is fixedly connected with the transition flange, the swing connecting rod is connected with the transition flange through a rotating shaft, and the rotating shaft is in transmission connection with an output shaft of the hip joint swing motor.
Further, the front leg assembly and the rear leg assembly each further include: the other end of the knee joint connecting rod is connected with the rotating block, the rotating block is connected with the shank piece, and the rotating block is connected to the rotating shaft; the thigh piece is connected with the rotating shaft through a bearing.
Furthermore, an included angle is formed between the axis of the output shaft of the hip joint swing motor and the axis of the output shaft of the hip joint rotating motor;
and/or the axis of the output shaft of the hip joint rotating motor is coincident with or parallel to the axis of the output shaft of the knee joint motor.
Further, the included angle is 90 °.
Furthermore, the front leg joint assembly and the rear leg joint assembly both comprise motor fixing seats, the motor fixing seats are fixedly connected with the hip joint rotating motor, and the swinging connecting rod is connected with the motor fixing seats.
Further, the thigh part is provided with a channel or a groove for passing through the knee joint connecting rod; the knee joint connecting rod can move along the length direction of the thigh part.
Further, the body assembly comprises a front baffle, a rear baffle and a control box; the front baffle is connected with the front end of the control box through a front supporting strut, and the rear baffle is connected with the rear end of the control box through a rear supporting strut.
Further, a front baffle fixing seat is fixedly connected to the front baffle, and the front baffle is connected with the front support strut through the front baffle fixing seat; the rear baffle is fixedly connected with a rear baffle fixing seat, and the rear baffle is connected with the rear supporting strut through the rear baffle fixing seat.
Further, the hip joint swing motor is in transmission connection with the swing connecting rod through a first gearbox; and/or the hip joint rotating motor is in transmission connection with the thigh piece through a second gearbox; and/or the knee joint motor is in transmission connection with the knee joint connecting rod through a third gearbox.
Further, the system also comprises an upper computer; the three encoders are respectively used for monitoring the swing angle of the swing connecting rod, the swing angle of the thigh piece and the swing angle of the shank piece; the hip joint swing motor, the hip joint rotating motor and the knee joint motor are all in communication connection with the upper computer.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of an electrically driven bionic quadruped robot of the present disclosure;
FIG. 2 is a schematic structural view of an anterior leg joint assembly and a posterior leg joint assembly of the present disclosure;
FIG. 3 is a schematic structural view of a front leg assembly and a rear leg assembly of the present disclosure;
FIG. 4 is a schematic illustration of a body component structure according to the present disclosure;
the front leg joint assembly 101, the front leg assembly 102, the body assembly 103, the rear leg joint assembly 104, the rear leg assembly 105, the hip joint swing motor 201, the transition flange 202, the swing link 203, the motor holder 204, the hip joint rotating motor 205, the thigh link 206, the knee joint motor 207, the knee joint connecting rod 301, the thigh piece 302, the rotating block 303, the rotating shaft 304, the shank piece 305, the foot 306, the front baffle 401, the front baffle holder 402, the front support strut 403, the control box 404, the rear support strut 405, the rear baffle holder 406 and the rear baffle 407.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1 and 3, an electrically driven biomimetic quadruped robot comprising: a body component 103, two front leg components 102, two rear leg components 105, two front leg joint components 101, and two rear leg joint components 104; the front leg assembly 102 and the rear leg assembly 105 each include a thigh piece 302 and a shank piece 305; the lower leg part 305 is rotatably connected with the upper leg part 302, and the lower end of the lower leg part 305 is connected with a foot part 306; the two front leg assemblies 102 are symmetrically arranged on two sides of the front end of the front leg assembly 103, and the two rear leg assemblies 105 are symmetrically arranged on two sides of the rear end of the front leg assembly 103. The front leg assembly 102 and the rear leg assembly 105 are leg assemblies of a robot; the hip swing motor 201, the hip rotation motor 206, and the knee motor 207 are all joint drive motors.
Referring to fig. 1, 2 and 3, the front leg joint assembly 101 and the rear leg joint assembly 104 each include: a hip joint swing motor 201, a swing link 203, a hip joint rotation motor 205, and a knee joint motor 207; the hip joint swing motor 201 is mounted on the front leg assembly 103, one end of the swing connecting rod 203 is connected with an output shaft of the hip joint swing motor 201, the other end of the swing connecting rod 203 is connected with a shell of the hip joint rotating motor 205, and the hip joint swing motor 201 drives the hip joint rotating motor 205 to swing left and right by driving the swing connecting rod 203 to swing; an output shaft of the hip joint rotating motor 205 is connected with the thigh piece 302 and drives the thigh piece 302 to swing back and forth; the knee joint motor 207 drives the lower leg part 305 to swing back and forth through the knee joint connecting rod 301.
Referring to fig. 1, 2 and 3, in this embodiment, the hip swing motor 201 is connected to the hip rotation motor 205 through a swing link 203, the hip rotation motor 205 is connected to the thigh link 206, and the hip swing motor 201 drives the hip rotation motor 205 to swing through the swing link 203, so as to drive the whole front leg assembly 102 to swing, thereby implementing the lateral displacement and steering functions of the robot during walking. The hip joint swing motor 201 is connected with the hip joint rotating motor 205 for driving, so that swinging is realized, parts for controlling transverse movement and steering of the robot can be greatly reduced, driving parts for realizing steering and front and back movement of the robot are intensively arranged at the hip joint position, loads of joints and thigh assemblies are reduced, the flexibility of movement of the front leg assembly 102 and the rear leg assembly 105 is enhanced, lightening of the robot is realized, the movement inertia of the front leg assembly 102 and the rear leg assembly 105 is reduced, and control of movement and balance is facilitated. In this embodiment, the hip joint rotating motor 205 is used to drive the thigh part 302 to swing back and forth, and the knee joint motor 207 drives the shank part 305 to swing back and forth, so as to realize the front and back walking and supporting of the robot.
Referring to fig. 1 and 2, as a preferred embodiment of the present invention, in order to facilitate connection of the swing link 203 and the hip joint rotating motor 205, each of the front leg joint assembly 101 and the rear leg joint assembly 104 further includes a motor fixing base 204, the motor fixing base 204 is fixedly connected to the hip joint rotating motor 205, and the swing link 203 is connected to the motor fixing base 204.
Referring to fig. 1, 2 and 3, each of the front leg joint assembly 101 and the rear leg joint assembly 104 further includes a thigh link 206, an output shaft of the hip joint rotating motor 205 is in transmission connection with the thigh link 206, and the thigh link 206 is fixedly connected with the thigh member 302. The shell of the knee joint motor 207 is fixedly connected with the thigh connecting piece 206; an output shaft of the hip joint rotating motor 205 and an output shaft of the knee joint motor 207 are arranged in opposite directions, a cavity for accommodating the output shaft of the knee joint motor 207 is arranged in the thigh connecting piece 206, one end of the knee joint connecting rod 301 extends into the cavity and is in transmission connection with the output shaft of the knee joint motor 207, and the other end of the knee joint connecting rod 301 is connected with the shank 305.
Referring to fig. 1 and 2, in this embodiment, the hip swing motor 201 is connected to the hip rotation motor 205 through the swing link 203, the hip rotation motor 205 is connected to the thigh link 206, and the casing of the knee joint motor 207 is fixedly connected to the thigh link 206, so that structurally, three motors of the joint assembly are closely and collectively arranged at the same position and connected to the front leg assembly 103, and the knee joint motor 207 is not directly mounted on the knee joint portion, thereby further reducing the number of parts loaded on the front leg assembly 102 and the rear leg assembly 105, improving the overall loading capacity of the robot, lifting the mounting position of the motor driving the knee joint portion to the position of the body assembly 103, reducing the load on the knee joint portion, and further enhancing the flexibility of the front leg assembly 102 and the rear leg assembly 105, the size and the variety of the front leg assembly 102, the rear leg assembly 105, joints and the like are further reduced, the size and the weight of the whole mechanism are further reduced, and the control of the movement and the balance is facilitated.
Referring to fig. 2 and fig. 3, as a preferred solution of this embodiment, an angle is formed between an axis of an output shaft of the hip joint swing motor 201 and an axis of an output shaft of the hip joint rotation motor 205, so that a swing direction of the hip joint rotation motor 205 is different from a swing direction of the thigh piece 302; the axis of the output shaft of the hip joint rotation motor 205 coincides with or is parallel to the axis of the output shaft of the knee joint motor 207, so that the swing directions of the thigh piece 302 and the shank piece 305 are the same. The included angle is 90 degrees or about 90 degrees.
Referring to fig. 1 and 2, in order to adapt to different motor models, in this embodiment, each of the front leg joint assembly 101 and the rear leg joint assembly 104 further includes a transition flange 202, the hip joint swing motor 201 is fixedly connected to the transition flange 202, the swing link 203 is connected to the transition flange 202 through a rotating shaft, and the rotating shaft is in transmission connection with an output shaft of the hip joint swing motor 201.
Referring to fig. 1, 2 and 3, as a preferred solution of this embodiment, each of the front leg assembly 102 and the rear leg assembly 105 further includes: a rotating block 303 and a rotating shaft 304, wherein the other end of the knee joint connecting rod 301 is connected with the rotating block 303, the rotating block 303 is connected with the lower leg part 305, and the rotating block 303 is connected with the rotating shaft 304; the thigh member 302 is connected to the rotary shaft 304 via a bearing. In this embodiment, when the knee joint motor 207 drives the knee joint connecting rod 301 to move, the knee joint connecting rod 301 drives the lower leg part 305 to rotate around the rotating shaft 304 as an axis through the rotating block 303, so as to swing the lower leg part 305, the motor rotation motion is converted into the movement of the knee joint connecting rod 301, the automatic limiting of the moving distance is realized, and the physical limiting of the swing distance of the lower leg part 305 is realized.
Referring to fig. 3, as a preferred solution of the present embodiment, the thigh piece 302 is provided with a passage or a groove for passing through the knee joint connecting rod 301; the knee joint connecting rod 301 is movable in the longitudinal direction of the thigh part 302.
Referring to fig. 1, 2 and 4, the front leg assembly 103 includes a front fender 401, a rear fender 407 and a control box 404; the front baffle 401 is connected to the front end of the control box 404 by front support struts 403, and the rear baffle 407 is connected to the rear end of the control box 404 by rear support struts 405. The hip joint swing motor 201 is fixed on the wall of the control box 404. The hip joint rotating motor 205 is located in a gap between the front baffle 401 or the rear baffle 407 and the control box 404, and the front baffle 401 and the rear baffle 407 can protect the control box 404, the hip joint swing motor 201 and the hip joint rotating motor 205.
Referring to fig. 4, in order to facilitate the installation of the front baffle 401 and the rear baffle 407, in this embodiment, a front baffle fixing seat 402 is fixedly connected to the front baffle 401, and the front baffle 401 is connected to the front support strut 403 through the front baffle fixing seat 402; the rear baffle 407 is fixedly connected with a rear baffle fixing seat 406, and the rear baffle 407 is connected with the rear support strut 405 through the rear baffle fixing seat 406.
Referring to fig. 1, 2 and 3, as a preferred solution of this embodiment, in order to make the movement of the front leg assembly 102 and the rear leg assembly 105 more accurate and further reduce the swing error, the hip joint swing motor 201 is in transmission connection with the swing link 203 through a first gearbox; and/or the hip joint rotating motor 205 is in transmission connection with the thigh piece 302 through a second gearbox; and/or the knee joint motor 207 is in transmission connection with the knee joint connecting rod 301 through a third gearbox, preferably a planetary gearbox. According to the hip joint swing motor 201, the hip joint rotating motor 205 and the knee joint motor 207, direct-current brushless motors are preferably used, and are matched with a planetary gear transmission case, and the structural design is combined, so that the hip joint structure is compact, the matching degree of motor driving with the hip joint and the knee joint is high, and the rotation error is small.
In this embodiment, the bionic quadruped robot further comprises an upper computer; and three encoders for monitoring the swing angle of swing link 203, the swing angle of thigh piece 302, and the swing angle of shank piece 305, respectively; the hip joint swing motor 201, the hip joint rotating motor 205 and the knee joint motor 207 are all in communication connection with the upper computer, and can be in communication with the upper computer by adopting buses and serial ports. The upper computer sends a preset motion posture track to the motor driver, specific joints are driven in real time, meanwhile, the encoder can collect the rotating angle of the specific joints and send the rotating angle to the upper computer for comparison and analysis with the expected posture track, the upper computer sets motion joint limit, and soft limit of the swing amplitude of the swing connecting rod 203, the thigh piece 302 and the shank piece 305 is achieved. Through the technology, the combination of the soft motion limit and the mechanical limit of the hip joint and the knee joint is realized, the motion range of the joint freedom degree of the four-legged robot is met, the constraint can be effectively carried out, and the reliability and the safety of the robot are greatly improved.
The disclosure "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present disclosure, "front" and "rear" are directions of forward and backward travel of the robot, and "left" and "right" are directions of width of the robot.
In the disclosure, the 'joint' comprises a 'hip joint' and a 'knee joint', wherein the 'hip joint' mainly comprises a hip joint swing motor and a hip joint rotating motor and is positioned at the connecting part of a thigh part and a body component; "Knee joint" refers to the connection between a thigh member and a calf member.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (10)
1. An electrically driven biomimetic quadruped robot comprising: the device comprises a body component, two front leg components, two rear leg components, two front leg joint components and two rear leg joint components; the front leg assembly and the rear leg assembly both comprise a thigh piece and a shank piece; the lower leg part is rotatably connected with the upper leg part; the method is characterized in that:
the front leg joint assembly and the rear leg joint assembly each include: a hip joint swing motor, a swing connecting rod, a hip joint rotating motor and a knee joint motor;
the hip joint swing motor is arranged on the body component, one end of the swing connecting rod is connected with an output shaft of the hip joint swing motor, the other end of the swing connecting rod is connected with a shell of the hip joint rotating motor, and the hip joint swing motor drives the hip joint rotating motor to swing left and right by driving the swing connecting rod to swing; 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 lower leg part to swing back and forth through a knee joint connecting rod.
2. The electrically driven biomimetic quadruped robot as recited in claim 1, wherein: the front leg joint assembly and the rear leg joint assembly respectively comprise a thigh connecting piece, an output shaft of the hip joint rotating motor is in transmission connection with the thigh connecting piece, and the thigh connecting piece is fixedly connected with the thigh piece.
3. The electrically driven biomimetic quadruped robot as recited in claim 2, wherein: the shell of the knee joint motor is fixedly connected with the thigh connecting piece; the output shaft of the hip joint rotating motor and the output shaft of the knee joint motor are arranged in opposite directions, a cavity for accommodating the output shaft of the knee joint motor is arranged in the thigh connecting piece, one end of the knee joint connecting rod extends into the cavity and is in transmission connection with the output shaft of the knee joint motor, and the other end of the knee joint connecting rod is connected with the shank piece.
4. The electrically driven biomimetic quadruped robot as recited in claim 3, wherein: the front leg assembly and the rear leg assembly each further comprise: the other end of the knee joint connecting rod is connected with the rotating block, the rotating block is connected with the shank piece, and the rotating block is connected to the rotating shaft; the thigh piece is connected with the rotating shaft through a bearing.
5. An electrically driven biomimetic quadruped robot as claimed in any of claims 1-4, wherein: the axis of the output shaft of the hip joint swing motor and the axis of the output shaft of the hip joint rotating motor form an included angle;
and/or the axis of the output shaft of the hip joint rotating motor is coincident with or parallel to the axis of the output shaft of the knee joint motor.
6. An electrically driven biomimetic quadruped robot as claimed in any of claims 1-4, wherein: the front leg joint assembly and the rear leg joint assembly both comprise motor fixing seats, the motor fixing seats are fixedly connected with the hip joint rotating motor, and the swinging connecting rod is connected with the motor fixing seats.
7. An electrically driven biomimetic quadruped robot as claimed in any of claims 1-4, wherein: the thigh part is provided with a channel or a groove for passing through the knee joint connecting rod; the knee joint connecting rod can move along the length direction of the thigh part.
8. An electrically driven biomimetic quadruped robot as claimed in any of claims 1-4, wherein: the body assembly comprises a front baffle, a rear baffle and a control box; the front baffle is connected with the front end of the control box through a front supporting strut, and the rear baffle is connected with the rear end of the control box through a rear supporting strut.
9. An electrically driven biomimetic quadruped robot as claimed in any of claims 1-4, wherein: the hip joint swing motor is in transmission connection with the swing connecting rod through a first gearbox; and/or the hip joint rotating motor is in transmission connection with the thigh piece through a second gearbox; and/or the knee joint motor is in transmission connection with the knee joint connecting rod through a third gearbox.
10. An electrically driven biomimetic quadruped robot as claimed in any of claims 1-4, wherein: the device also comprises an upper computer; the three encoders are respectively used for monitoring the swing angle of the swing connecting rod, the swing angle of the thigh piece and the swing angle of the shank piece; the hip joint swing motor, the hip joint rotating motor and the knee joint motor are all in communication connection with the upper computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010857662.6A CN111846011A (en) | 2020-08-24 | 2020-08-24 | Electrically-driven bionic quadruped robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010857662.6A CN111846011A (en) | 2020-08-24 | 2020-08-24 | Electrically-driven bionic quadruped robot |
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| CN111846011A true CN111846011A (en) | 2020-10-30 |
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| CN202010857662.6A Pending CN111846011A (en) | 2020-08-24 | 2020-08-24 | Electrically-driven bionic quadruped robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623063A (en) * | 2021-01-15 | 2021-04-09 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Lightweight microminiature quadruped robot |
| CN113002657A (en) * | 2021-02-04 | 2021-06-22 | 南方科技大学 | Modular robot |
| CN114620160A (en) * | 2022-03-23 | 2022-06-14 | 北京理工大学 | Electric four-foot robot based on multi-stage electric cylinder parallel type leg-foot structure |
| CN114771688A (en) * | 2022-05-10 | 2022-07-22 | 中国北方车辆研究所 | Cable-free three-degree-of-freedom joint module and bionic leg and foot structure |
| CN115195902A (en) * | 2021-04-12 | 2022-10-18 | 广东博智林机器人有限公司 | Movement device and walking robot |
-
2020
- 2020-08-24 CN CN202010857662.6A patent/CN111846011A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623063A (en) * | 2021-01-15 | 2021-04-09 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Lightweight microminiature quadruped robot |
| CN113002657A (en) * | 2021-02-04 | 2021-06-22 | 南方科技大学 | Modular robot |
| CN115195902A (en) * | 2021-04-12 | 2022-10-18 | 广东博智林机器人有限公司 | Movement device and walking robot |
| CN115195902B (en) * | 2021-04-12 | 2023-09-12 | 广东博智林机器人有限公司 | Motion device and walking robot |
| CN114620160A (en) * | 2022-03-23 | 2022-06-14 | 北京理工大学 | Electric four-foot robot based on multi-stage electric cylinder parallel type leg-foot structure |
| CN114620160B (en) * | 2022-03-23 | 2024-04-05 | 北京理工大学 | Electric quadruped robot based on multistage electric cylinder parallel leg-foot structure |
| CN114771688A (en) * | 2022-05-10 | 2022-07-22 | 中国北方车辆研究所 | Cable-free three-degree-of-freedom joint module and bionic leg and foot structure |
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