Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Biped robot lower limb mechanism driven hydraulically

A bipedal robot and lower limb technology, applied in the field of robotics, can solve the problems of small load capacity, low specific power, poor anti-interference, etc., and achieve the effects of strong walking ability, strong load-bearing capacity and good stability

Active Publication Date: 2015-05-20
HARBIN INST OF TECH
View PDF5 Cites 28 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of small load capacity, low specific power and poor anti-interference performance of existing electric-driven robots, the present invention further proposes a hydraulically driven biped robot lower limb mechanism

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Biped robot lower limb mechanism driven hydraulically
  • Biped robot lower limb mechanism driven hydraulically
  • Biped robot lower limb mechanism driven hydraulically

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0009] Specific implementation mode one: combine figure 1 , figure 2 , image 3 and Figure 5 Describe this embodiment, a hydraulically driven biped robot lower limb mechanism described in this embodiment includes a torso 6, an oil separator 7, a left leg and a right leg, and the oil separator 7 is installed on the upper surface of the torso 6. The left leg and the right leg are installed side by side on the lower surface of the torso 6. The left leg and the right leg have the same structure. Torsion hydraulic cylinder servo unit 5, hip joint, knee joint forward swing hydraulic cylinder servo unit 8, ankle joint, two ankle joint hydraulic cylinder servo units 9, hip joint side swing hydraulic cylinder servo unit 10 and trunk upper end swing connector 11, The upper end of the thigh 3 is connected to the trunk 6 through the hip joint, the lower end of the thigh 3 is connected to the upper end of the calf 2, the lower end of the calf 2 is connected to the foot 1, and the uppe...

specific Embodiment approach 2

[0011] Specific implementation mode two: combination Figure 7 Describe this embodiment, the foot 1 of a hydraulically driven biped robot lower limb mechanism in this embodiment is composed of the upper end 24 of the foot, the six-dimensional force sensor 25 of the foot, and the lower end 26 of the foot sequentially connected from top to bottom. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0012] Specific implementation mode three: combination Figure 4 Describe this embodiment, the hip joint of a hydraulically driven biped robot lower limb mechanism described in this embodiment includes a hip joint rotation connector 12, a side swing bearing cap 13, a hip joint three-axis connector 14, and a front swing upper end of the hip joint. The connecting piece 15 and the hip joint forward swing bearing cap 16, the hip joint rotating connecting piece 12 is installed on the lower surface of the trunk 6, the hip joint rotating connecting piece 12 is connected with the hip joint front swinging upper end connecting piece 15 through the hip joint triaxial connecting piece 14 Connection, the hip joint front swing upper end connecting piece 15 is connected with the upper end of the hip joint forward swing hydraulic servo unit 4, the hip joint front swing upper end connecting piece 15 is connected with the upper end of the thigh 3, and the side swing bearing cover 13 is buckled o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a biped robot lower limb mechanism, in particular to a biped robot lower limb mechanism driven hydraulically. The problems that an existing electrically-driven robot is small in loading capacity, low in specific power and poor in anti-interference performance are solved. The biped robot lower limb mechanism comprises a body, an oil distributor, a left leg and a right leg, the oil distributor is arranged on the upper surface of the body, the left leg and the right leg are arranged on the lower surface of the body side by side, and are of the same structure, and the left leg comprises a foot, a shank, a thigh, a hip joint forward swing hydraulic cylinder servo unit, a hip joint twisting hydraulic cylinder servo unit, a hip joint, a knee joint forward swing hydraulic cylinder servo unit, an ankle joint, two ankle joint hydraulic cylinder servo units, a hip joint side swing hydraulic cylinder servo unit and a body upper end swing connecting piece. The biped robot lower limb mechanism belongs to the field of robots.

Description

technical field [0001] The invention relates to a lower limb mechanism of a biped robot, in particular to a hydraulically driven lower limb mechanism of a biped robot, which belongs to the field of robots. Background technique [0002] At present, biped robot is an important subject of robot research. The biped robot has many joint degrees of freedom, complex motion forms, and very good flexibility. Compared with wheeled robots and tracked robots, it can adapt to various terrains and has a strong ability to adapt to the environment. Because the biped robot has a structure similar to the human body, it can replace people to complete many tasks and reduce the workload of humans, so it has a good prospect. Researchers at home and abroad have achieved remarkable results in this field. [0003] The driving method of biped robots has always been a research hotspot. At present, biped robots mostly use stepper motors, servo motors, etc. as the driving source of motion. The outpu...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 付宜利罗健文雷昱杨嘉伟
Owner HARBIN INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com