Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device

A quadruped robot and adjustment device technology, applied in motor vehicles, transportation and packaging, etc., can solve problems such as limited obstacle surmounting ability, small dynamic range, poor dynamic response ability and load-bearing ability, and achieve large and stable working space The effect of good sex and large load-bearing capacity

Inactive Publication Date: 2010-08-25
SHANDONG UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Each leg of the robot has two joints, the dynamic range of the leg length is small, and the ability to adapt to complex terrai

Method used

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  • Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device
  • Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device
  • Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device

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[0039] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0040] As shown in FIG. 1 , the present invention includes a torso 3 , a moving frame 1 , a center of mass adjusting device 2 and four robot legs 4 . The lower part of the torso 3 is provided with four robot legs 4 , and the upper part of the torso 3 is connected with the moving frame 1 through the center of mass adjusting device 2 .

[0041]Each robot leg consists of three segments (leg segment I5, leg segment II8 and leg segment III10) and a lower leg 12 (see Figure 2). The lower leg 12 is arranged at the lower part of the three segments, and the leg segment I5 passes through the axis along the The longitudinal rotation pair IV14 of the trunk is connected with the trunk 3 (see Fig. 3), the leg section I5 and the leg section II8, the leg section II8 and the leg section III10, and the leg section III10 and the calf 12 are all connected by the axis of th...

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Abstract

The invention relates to a moving mechanism of a hydraulic drive four-leg robot with a barycenter adjusting device, which comprises a body, a moving bracket, a barycenter adjusting device and four robot legs, wherein the lower part of the body is provided with the four robot legs; and the upper part of the body is connected with the moving bracket with the barycenter adjusting device. The moving mechanism is characterized as follows: (1) the robot has larger loading capability due to hydraulic drive; (2) the robot has higher complex terrain environment adaptability and obstacle-climbing capability as each leg has four active joints and has redundant degree of freedom; (3) the robot has better stability due to the barycenter adjusting device and no additional counter weight; and (4) the robot has simpler structure and is easily machined as the 16 active joints thereof completely adopt the same hydraulic servo oil cylinder drive. The moving mechanism is suitable for the transportation of military and civil materials, anti-terrorist equipment, field prospection and exploration, planetary detection, agricultural production and the like under the complex terrain environment.

Description

[0001] technical field [0002] The invention relates to a quadruped robot moving mechanism, in particular to a hydraulically driven quadruped robot moving mechanism with a center of mass adjustment device. Background technique [0003] At present, the commonly used mobile modes of ground mobile robots are mainly wheeled, crawler, peristaltic, crawling and walking. The wheeled mobile mechanism has the advantages of small frictional resistance and fast speed, but it is only suitable for a relatively flat ground environment, and its ability to overcome obstacles is poor. The crawler-type mobile mechanism has strong adaptability to the terrain environment, and can climb over obstacles, climb stairs, and cross trenches, etc., but the transmission efficiency is low. Creeping, crawling and walking are all bionic movement methods that imitate animals. They have strong adaptability to the terrain environment and can walk on most ground environments, and the walking method has the f...

Claims

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Application Information

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IPC IPC(8): B62D57/02
Inventor 荣学文李贻斌阮久宏宋锐宋勇宋洪军徐勤江
Owner SHANDONG UNIV
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