Telescopic four-link joint transmission mechanism based on parallelogram

Abstract

The invention discloses a telescopic four-link joint transmission mechanism based on parallelogram, belonging to the technical field of robots. The telescopic four-link joint transmission mechanism comprises a first rigid body (1), a second rigid body (2), a third link (3) and a fourth link (4), wherein one end of the first rigid body (1) is hinged with one end of the second rigid body (2); one end of the third link (3) is hinged with the middle of the first rigid body (1); the other end of the third link (3) is hinged with one end of the fourth link (4); the other end of the fourth link (4) is connected with the middle of the second rigid body (2) by a hinge; four hinge joints form the parallelogram; the first rigid body (1) is provided with a fifth hinge joint (9); and a linear sliding pair is hinged between a third hinge point (7) and the fifth hinge joint (9). Compared with the pure telescopic four links, the mechanism has more stable motion output, improves the motion performanceof foot-type robot joints and provides a mechanism innovation and optimization mode for designing the foot-type robot joints with lightweight mechanism and efficient movement.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a telescopic four-link joint transmission mechanism based on a parallelogram, which is mainly used in the design of rotary joints of legged robots driven by linear drives such as hydraulic pressure. Background technique [0002] Footed robot is one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, and reflects a country's intelligence and automation research level. At the same time, it is also an important symbol of a country's high-tech strength, and various developed countries have invested heavily in research in this field. [0003] The hydraulically driven legged robot with high load capacity has superior mobility and good load capacity, and will have a huge demand background in special and com...

AI Technical Summary

Problems solved by technology

When the traditional telescopic four-bar linkage mechanism is hydraulically driven with the same power, the joints of the legged robot highlight the unbalanced shortcomings of output torque and rotational speed, which makes it more difficult to control the joint motion, which is not conducive to the realization of the legged robot's movement, and also hinders the hydraulic pressure. Design Thoughts of Driven Legged Robot Joints

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