LU101443B1 - Running quadruped robot - Google Patents
Running quadruped robot Download PDFInfo
- Publication number
- LU101443B1 LU101443B1 LU101443A LU101443A LU101443B1 LU 101443 B1 LU101443 B1 LU 101443B1 LU 101443 A LU101443 A LU 101443A LU 101443 A LU101443 A LU 101443A LU 101443 B1 LU101443 B1 LU 101443B1
- Authority
- LU
- Luxembourg
- Prior art keywords
- machine body
- legs
- robot
- quadruped robot
- running
- Prior art date
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Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a running quadruped robot, including a machine body, wherein a blower is disposed on the machine body, an air outlet of the blower is located at a central position of the machine body, and the direction of the air outlet is opposite to the forward direction of the robot; and two front legs and two rear legs are disposed at the bottom of the machine body, hemispherical covers are installed at the bottoms of the front legs and the rear legs, and a bounce device with certain hardness and elasticity is clamped at the bottom of each hemispherical cover.
Description
RUNNING QUADRUPED ROBOT LU101443 Field of the Invention The present invention discloses a running quadruped robot.
Background of the Invention At present, a quadruped robot runs at a relatively low speed, has generally high energy consumption and hardly can pass through obstacles. In order to improve the running speed of the quadruped robot, innovation in the leg structure, energy saving and other aspects is necessary to improve the running performance. Summary of the Invention In order to solve the technical problems in the prior art, the present invention discloses a running quadruped robot. The technical solution adopted by the present invention is as follows: A running quadruped robot includes a machine body, a blower is disposed on the machine body, an air outlet of the blower is located at a central position of the machine body, and the direction of the air outlet is opposite to the forward direction of the robot; and two front legs and two rear legs are disposed at the bottom of the machine body, hemispherical covers are installed at the bottoms of the front legs and the rear legs, and a bounce device with certain hardness and elasticity is clamped at the bottom of each hemispherical cover. Further, the front legs and the rear legs are installed on the machine body through bearings, and can swing front and back relative to the machine body. Further, the swing of the front legs and the rear legs is driven by a cylinder. Further, the bounce device adopts a structure similar to an inflatable ball. Further, the inflatable ball adopts a spherical structure similar to a basketball, and the size thereof can be set according to actual needs. Further, the hemispherical covers are directly welded at the bottoms of the front legs and the rear legs.
In the present invention, the blower is fixed to the machine body by bolts, the air LU101443 outlet is located at a horizontal middle position of the machine body, and the direction of the air outlet is backward. The four legs of the robot have the same structure and all are cylinder-driven swing legs, and taking the left front leg as an example, a left front leg plate is installed on a left front side face of the machine body through a bearing. An upper end of the cylinder is hinged to the side face of the machine body, and a lower end thereof is hinged to the left front leg plate. The swing of the leg is achieved by the expansion and contraction of the cylinder. The four hemispherical covers are respectively welded on the lower ends of the four leg plates, and the lower ends of the hemispherical covers clamp the inflatable balls.
The working principle of the present invention is as follows: In a running process of the quadruped robot designed in the present invention, the inflatable balls filled with sufficient air are installed at the foot ends, and when the foot ends touch the ground, the inflatable balls can be bounced due to the elasticity, so that the robot is vacated, and then the robot saves labor and energy in the running process; meanwhile, in order to improve the running speed of the robot, the blower is installed at the middle position of the machine body, the airflow blown by the blower causes the robot to advance in a labor saving way when the robot advances, and the advance speed of the robot can be conveniently improved by a method using the reactive force of the airflow.
The beneficial effects of the present invention are as follows: The quadruped robot of the present invention realizes bouncing after squatting through the hard bounce devices at the foot ends, so that the robot saves labor and energy in the running process; and the airflow blown backward by the blower at the middle position of the machine body causes the robot to advance in a labor saving way and can also improve the advance speed of the robot.
Brief Description of the Drawings The specification drawings constituting a part of the present application are used for providing a further understanding of the present application, and illustrativeembodiments of the present application and the explanations thereof are used for LU101443 interpreting the present application, but do not constitute undue limitations to the present application.
Fig. 1 is a structural diagram of the present invention; Reference signs: 1-left front leg plate; 2-cylinder; 3-machine body; 4-blower; 5-hemispherical cover; and 6-bounce device.
Detailed Description of the Embodiments It should be noted that the following detailed descriptions are illustrative and are intended to provide a further description of the present application. All technical and scientific terms used herein have the same meanings as commonly understood by those of ordinary skill in the art to which the present application belongs, unless otherwise indicated.
It should be noted that the terms used herein are merely for the purpose of describing particular embodiments, and are not intended to limit the exemplary embodiments of the present application. As used herein, a singular form is also intended to include a plural form, unless the context clearly indicates otherwise. In addition, it should also be understood that, when the terms "comprise" and/or "include" is used in the specification, it indicates the presence of features, steps, operations, devices, components, and/or combinations thereof; and for description, if the words "upper", "lower", "left" and "right" appear in the present invention, they only indicate consistency with the upper, lower, left and right directions of the drawings themselves, but do not limit the structure, are only for the purpose of conveniently describing the present invention and simplifying the description, rather than indicating or implying that the devices or components referred to must have specific orientations or constructed and operated in particular orientations, and thus cannot be construed as limitations to the present invention.
As described in the background art, the quadruped robot in the prior art runs at a relatively low speed, has generally high energy consumption and hardly can pass through obstacles. In order to improve the running speed of the quadruped robot,
innovation in the leg structure, energy saving and other aspects is necessary to LU101443 improve the running performance. In order to solve the above technical problems, the present application proposes a running quadruped robot, the robot includes a machine body, a blower is disposed on the machine body, the blower is located at a central position of the machine body, and the direction of an air outlet thereof is consistent with the forward direction of the robot; and two front legs and two rear legs are disposed at the bottom of the machine body, hemispherical covers are installed at the bottoms of the front legs and the rear legs, and a bounce device with certain hardness and elasticity is clamped at the bottom of each hemispherical cover.
In a typical embodiment of the present application, a running quadruped robot structure is as shown in Fig. 1, and the blower 4 is fixed to the machine body 3 by bolts. In order to ensure the coordination and stability of the entire device, the air outlet of the blower 4 is located at a horizontal middie position of the machine body, and the direction of the air outlet is backward.
The four legs of the robot have the same structure and all are cylinder-driven swing legs; and taking the left front leg as an example, a left front leg plate is installed on a left front side face of the machine body 3 through a bearing. A cylinder portion of the cylinder 2 is hinged to the side face of the machine body 3, and a piston rod portion is hinged to the left front leg plate 1. The swing of the legs is achieved by the extension and retraction of the cylinder 2.
A hemispherical cover 5 is disposed at each of the bottoms of the two left legs and the two right legs, the four hemispherical covers 5 are respectively welded on the lower ends of the four leg plates, and an inflatable ball 6 is clamped at the lower end of each hemispherical cover 5.
Further preferably, the inflatable ball 6 adopts a spherical structure similar to a basketball, which is a hollow spherical structure, and the size thereof can be set according to the actual robot size and the size of the required elastic force.
Further preferably, the bounce device can also select a solid spherical structure, such as a pinball in the prior art.
Further preferably, the hemispherical covers 5 are directly welded at the bottoms ofthe front legs and the rear legs.
LU101443 In a running process of the quadruped robot, the inflatable balls 6 filled with sufficient air are installed at the foot ends, and when the foot ends touch the ground, the inflatable balls 6 can be bounced due to the elasticity, so that the robot is vacated, 5 and then the robot saves labor and energy in the running process; meanwhile, in order to improve the running speed of the robot, the blower is installed at the middle position of the machine body, the airflow blown by the blower causes the robot to advance in a labor saving way when the robot advances, and the advance speed of the robot can be conveniently improved by a method using the reactive force of the airflow.
The quadruped robot of the present invention realizes bouncing after squatting through the hard bounce devices at the foot ends, so that the robot saves labor and energy in the running process; and the airflow blown backward by the blower at the middle position of the machine body causes the robot to advance in a labor saving way and can also improve the advance speed of the robot.
The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application, and various changes and modifications may be made to the present application for those skilled in the art.
Any modifications, equivalent substitutions, improvements and the like, made within the spirit and principles of the present application, shall all fall within the protection scope of the present application.
Claims (7)
1. A running quadruped robot, comprising a machine body, wherein a blower is disposed on the machine body, an air outlet of the blower is located at a central position of the machine body, and the direction of the air outlet is opposite to the forward direction of the robot; and two front legs and two rear legs are disposed at the bottom of the machine body, hemispherical covers are installed at the bottoms of the front legs and the rear legs, and a bounce device with certain hardness and elasticity is clamped at the bottom of each hemispherical cover.
2. The running quadruped robot according to claim 1, wherein the front legs and the rear legs are installed on the machine body through bearings, and can swing front and back relative to the machine body.
3. The running quadruped robot according to claim 1, wherein the swing of the front legs and the rear legs is driven by a cylinder.
4. The running quadruped robot according to claim 1, wherein the bounce device adopts a hollow inflatable ball structure.
5. The running quadruped robot according to claim 4, wherein inflatable ball adopts a basketball structure.
6. The running quadruped robot according to claim 1, wherein the bounce device adopts a solid spherical structure.
7. The running quadruped robot according to claim 1, wherein the hemispherical covers are directly welded at the bottoms of the front legs and the rear legs.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268573.7A CN109050711B (en) | 2018-10-29 | 2018-10-29 | Running quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| LU101443B1 true LU101443B1 (en) | 2020-02-24 |
Family
ID=64767645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU101443A LU101443B1 (en) | 2018-10-29 | 2019-10-22 | Running quadruped robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109050711B (en) |
| LU (1) | LU101443B1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
| JP2024094900A (en) * | 2022-12-28 | 2024-07-10 | 川崎重工業株式会社 | Robot leg |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130014286A (en) * | 2011-07-30 | 2013-02-07 | 박순기 | A method for implemenlation of quadruped robot with low power walking |
| CN102756766B (en) * | 2012-07-11 | 2014-04-02 | 安徽工业大学 | Driving leg mechanism for footed robot |
| CN103625572B (en) * | 2013-12-17 | 2015-12-02 | 哈尔滨工程大学 | With the quadruped robot leg of elastic four-rod mechanism |
| CN204399319U (en) * | 2015-01-14 | 2015-06-17 | 中国计量学院 | The bionical quadruped robot that a kind of pneumatic muscles drives |
| CN105292296B (en) * | 2015-10-21 | 2017-05-03 | 山东大学 | Bionic running four-leg robot |
| CN205273092U (en) * | 2015-12-28 | 2016-06-01 | 库卡智能机械江苏有限公司 | From mobile robot |
| CN107235090B (en) * | 2017-07-12 | 2023-07-21 | 南京工程学院 | Zero vector jet-propelled bouncing robot motion structure and application method thereof |
| CN108248717A (en) * | 2017-12-28 | 2018-07-06 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
| CN108394485B (en) * | 2018-02-11 | 2019-12-06 | 嘉兴学院 | Multifunctional multi-foot bionic robot system based on pneumatic system |
-
2018
- 2018-10-29 CN CN201811268573.7A patent/CN109050711B/en not_active Expired - Fee Related
-
2019
- 2019-10-22 LU LU101443A patent/LU101443B1/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| CN109050711A (en) | 2018-12-21 |
| CN109050711B (en) | 2021-06-25 |
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| Date | Code | Title | Description |
|---|---|---|---|
| FG | Patent granted |
Effective date: 20200224 |