Leg and wheel hybrid type hydraulic mechanical leg

Abstract

The invention discloses a leg and wheel hybrid type hydraulic mechanical leg. The leg and wheel hybrid type hydraulic mechanical leg comprises a thigh hydraulic cylinder, a shank hydraulic cylinder, thigh rod plates installed in parallel, shank rod plates installed in parallel, main body connecting plates installed in parallel and thigh hydraulic cylinder connecting plates installed in parallel. A main body cylinder connecting pillar is arranged between a square main body fixing block of the main body connecting plates and a square main body fixing block of the thigh hydraulic cylinder connecting plates. The two main body connecting plates are hinged to the two thigh rod plates respectively. The two thigh rod plates are hinged to the two shank rod plates respectively. A thigh tail end rod parallel to the shank rod plates is fixed between the two shank rod plates through a square shank fixing block. The two ends of the thigh hydraulic cylinder are hinged to the position between the upper portions of the two thigh rod plates and the position between the bottoms of the two thigh hydraulic cylinder connecting plates. The two ends of the shank hydraulic cylinder are hinged to the position between the middles of the two shank rod plates and a side arm plate extending from the two thigh rod plates. According to the leg and wheel hybrid type hydraulic mechanical leg, the structure is simple, control is convenient due to the two hydraulic cylinders, quick switching between two proceeding modes can be guaranteed due to a wheel installed at the knee joint position, and the leg and wheel hybrid type hydraulic mechanical leg can be applied to a four-foot or six-foot robot.

Description

technical field [0001] The invention relates to a hydraulic mechanical leg, in particular to a leg-wheel hybrid hydraulic mechanical leg. Background technique [0002] Wheeled robots have been developed very well in recent years. The world's major robot manufacturers have released their own service wheeled robots, and the travel control technology of wheeled robots has been relatively perfect. However, an obvious disadvantage of wheeled robots is that their walking space is limited to flat roads, and they cannot complete tasks such as walking on mountains and crossing obstacles. [0003] Because legged walking robots can overcome conditions such as rugged mountain roads and walk, they are favored by many robot researchers. Once the video of the American "Big Dog" robot was released on the Internet, it caused great repercussions. The advantages brought by quadruped robots that can overcome uneven ground conditions have attracted more and more attention from all parties. [...

AI Technical Summary

Problems solved by technology

[0005] However, although the footed mechanical legs have various advantages of being able to overcome complex road conditions, the control is more complicated and the energy consumption is also large. If the footed forward method is still used on a flat road, unnecessary energy consumption will be caused.

At the same time, the walking speed and efficiency of the footed forward method on flat ground are not as good as ordinary wheeled robots.

However, wheeled robots cannot walk on complex road environments such as rugged mountain roads.

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