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Simple three-DOF (degree of freedom) small-inertia bionic leg driven by hydraulic motors and applied to armed robot

A hydraulic motor and robot technology, applied in the field of armed robots, can solve the problems of large moment of inertia, low power density, and unstable joint output torque, and achieve the effects of high power density, reducing the number of parts, and increasing strength

Active Publication Date: 2016-04-20
CHINA NORTH VEHICLE RES INST
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AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is: how to provide a footed armed robot walking device with simple structure, small moment of inertia, and stable output torque of joints, so as to overcome the large moment of inertia of bionic legs of existing footed armed robots and low joint output torque. Problems with stability and low power density

Method used

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  • Simple three-DOF (degree of freedom) small-inertia bionic leg driven by hydraulic motors and applied to armed robot

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Embodiment 1

[0031] This embodiment provides a simple three-degree-of-freedom small-inertia bionic leg driven by a hydraulic motor, which is characterized in that it includes three hydraulic motors, a bionic leg transmission mechanism, hips, thighs and calves, and two directions of rotation of the hip joint Movement is directly driven by two hydraulic motors, and the knee joint is driven by a third hydraulic motor through a linkage.

[0032] The three hydraulic motors respectively control the X-direction of the hip joint, the Y-direction of the hip joint and the knee joint, and are respectively called the X-direction hydraulic motor of the hip joint, the Y-direction hydraulic motor of the hip joint and the hydraulic motor of the knee joint.

[0033] The X-direction hydraulic motor of the hip joint is fixed on the fuselage and connected to the hip, and when the X-direction hydraulic motor of the hip joint moves, it drives the whole leg to rotate in the X direction.

[0034] The Y-direction ...

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Abstract

The invention belongs to the technical field of armed robots and particularly relates to a simple three-DOF (degree of freedom) small-inertia bionic leg driven by hydraulic motors and applied to armed robot. The bionic leg comprises a hip joint X-direction hydraulic motor, a buttock part, a knee joint hydraulic motor, a hip joint Y-direction hydraulic motor, a thigh, a shank and a knee joint drive rod. The simple three-DOF small-inertia bionic leg has the following benefits: the structure is simple, two of three joints are directly driven by the hydraulic motors, and flexible motion of the leg is realized; the rotation inertia is small, and the three hydraulic motors are concentrated around the buttock part; a joint angle can be measured by a coding disc on each hydraulic motor; the structure of the thigh and the shank is simple, parts can be reduced, and the strength is improved; the joint torque is not changed with change of the joint angle, and output torque is stable; the power density of the hydraulic motors is high; the rotation angle of each joint can be set flexibly.

Description

technical field [0001] The invention belongs to the technical field of armed robots, in particular to a three-degree-of-freedom simple bionic leg with small inertia driven by a hydraulic motor. Background technique [0002] Irregular and uneven complex terrain environments limit the application of wheeled robots and tracked armed robots, because the movement trajectories of wheeled and tracked armed robots are continuous ruts. Rough terrain often contains obstacles such as rocks, mud, sand, and even cliffs and steep slopes, and the continuous paths that can stably support armed robots are very limited. Compared with wheeled or tracked armed robots, footed armed robots only need to touch the ground at discrete points when moving, and they are more adaptable to complex terrain. In addition, the legs of the footed armed robot have multiple degrees of freedom, which greatly enhances the flexibility of movement. It can maintain body balance by adjusting the length of the support...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 慕林栋苏波江磊许威姚其昌蒋云峰党睿娜田源木许鹏杨天夫杨建雄
Owner CHINA NORTH VEHICLE RES INST
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