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Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot

A biped robot and robot technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of heavy weight, poor movement ability, complex mechanism and other problems of robots, and achieve strong walking ability, terrain adaptability, and high power/mass ratio , work smoothly

Inactive Publication Date: 2012-07-18
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Chinese patent document CN101121424A discloses "a multi-degree-of-freedom biped robot lower limb mechanism", which has a certain load-bearing capacity, but the mechanism is relatively complicated
Relatively poor athletic ability
[0005] The existing heavy-duty robot mechanism is relatively cumbersome, and its movement ability is relatively poor. Moreover, most of them use electric drive, and the weight of the robot itself is relatively large.

Method used

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  • Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot
  • Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot
  • Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] Such as figure 1 As shown, a hydraulically driven biped robot lower limb mechanism with load-bearing capacity includes: two robot legs 1, two robot steering mechanisms 2, a robot torso 3, two connecting devices 4 between robot torsos and legs, two Robot foot 5. The present invention has an active rotational degree of freedom rotating pair I21 taking the normal direction of the torso as the axis, a lateral active degree of freedom rotating pair II22, a lateral passive degree of freedom rotating pair VI37 and three forward active degrees of freedom are rotating pairs respectively. III26, revolving pair IV29 and revolving pair V32.

[0043] Such as figure 2 As shown, the steering mechanism 2 on each leg of the robot consists of a driving part and a driven part. The active part includes: a hydraulic motor 15, a spur gear 16, a stop washer I17, a...

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Abstract

The invention discloses a hydraulic-drive lower-limb mechanism with load bearing capability of a biped robot, which comprises two robot legs. The upper portion of each robot leg is connected with a robot steering mechanism, the robot steering mechanisms are arranged on the body of a robot, the lower portion of the each robot leg is connected with a robot foot, and each robot leg, each robot steering mechanism and each robot foot are driven hydraulically. A driving rotation freedom-degree rotation pair I utilizing the normal direction of the body of the robot as the axis, a lateral driving freedom-degree rotation pair II and a lateral driven freedom-degree rotation pair VI are arranged on one robot leg, one robot steering mechanism and one robot foot, and three front driving freedom degrees include the rotation pair II, the rotation pair IV and a rotation pair V. The hydraulic-drive lower-limb mechanism is simple in structure, capable of steering, easy to maintain and high in dynamic response capability and has obstacle detouring performance and the load bearing capability.

Description

technical field [0001] The invention relates to a biped robot, in particular to a hydraulically driven biped robot lower limb mechanism with load-bearing capacity. Background technique [0002] At present, the biped robot moves with low energy consumption and has good adaptability to unstructured environments, such as roadways and dangerous areas with small activity spaces, and has better mobility and stronger obstacle avoidance capabilities. Research on biped robots at home and abroad has achieved fruitful results. [0003] Boston Dynamics of the United States launched the first-generation hydraulically driven biped robot "petman" in 2009, and launched the second-generation "petman" in September 2011. Its function is to experiment with protective clothing for the US military. "ASIMO" launched by Japan's Honda is aimed at home services. Chinese patent document CN101856286A discloses "a biped walking robot device for performance testing of lower limb prostheses", which is u...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 李贻斌王海燕马昕樊会星
Owner SHANDONG UNIV
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