Hydraulic driving four-footed robot with space hybrid leg structure

Abstract

The invention provides a hydraulic driving four-footed robot with a space hybrid leg structure. The hydraulic drive space four-footed robot is composed of a rack and space hybrid legs which are symmetrical in structure; each hybrid leg comprises three hydraulic driving oil cylinders, a leg rack, a swing rod, a connection rod, thighs, shanks and feet; each hybrid leg is provided with three drivingdegrees of freedom; the hydraulic driving oil cylinder A drives the whole leg to carry out side swing movement; and the hydraulic driving oil cylinder B and the hydraulic driving oil cylinder C are capable of cooperatively driving the feet to carry out plane parallel movement output in the plane of a leg mechanism. The feet are connected through buffering so that vibration absorption, energy storage and reutilization can be finished in a striding period. Four legs are symmetrically distributed or equidirectionally distributed so that an omnibearing movement of the robot can be realized through a certain tread. The hydraulic driving four-footed robot with the space hybrid leg structure provided by the invention is simple in structure, easy to control and high in kinematic accuracy, has a high-speed response capability and a high bearing capability, and is applicable to high-speed and high-load transportation work and dangerous environment work under complicated non-structure topographic conditions in the wild.

Description

technical field [0001] The invention relates to the technical field of robots in mechanical engineering, and in particular to a quadruped robot with a hydraulically driven spatial hybrid leg structure used for high-speed, high-load transportation operations and hazardous environment operations in the field under complex non-structural terrain conditions. Background technique [0002] High-speed, high-load quadruped walking robot is a special robot that imitates the movement of quadruped animals. This type of robot can walk stably in complex unstructured environments and can replace humans to complete many dangerous operations. It is widely used in military, mining, and nuclear energy industries. There are many potential application prospects in industries such as planetary surface detection, fire protection and rescue, construction, agriculture and forestry logging, teaching and entertainment. For a long time, quadruped walking robot technology has been one of the research h...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to address the deficiencies in the prior art, and propose a novel hydraulic-driven spatial hybrid legged quadruped robot to solve the problem that in the prior art, four groups of walking robots cannot meet the requirements of high-speed operation under complex unstructured terrain conditions in the field. , high-load transportation operations and technical issues required for hazardous environment operations

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