Active-softening mechanism of hydraulic robot

Abstract

The invention belongs to the field of hydraulic foot type robots and relates to an active-softening foot mechanism of a hydraulic robot in order to solve the problem that an upper platform is not stable due to large contact force and shock between a foot end and the ground. According to the active-softening foot mechanism of the hydraulic robot, a foot sleeve in the foot mechanism is a hollow sleeve with the bottom end open; the top of the foot sleeve is provided with a boss, and the boss is provided with a plug pin hole used for being connected with a leg joint of the robot; the sleeve wall of the foot sleeve is provided with an opening which corresponds to a hydraulic cylinder; the hydraulic cylinder is arranged in the foot sleeve, and a cylinder barrel of the hydraulic cylinder is fixedly connected with the foot sleeve; a displacement sensor is located in the hydraulic cylinder; a servo valve is fixedly connected with the hydraulic cylinder through the opening of the foot sleeve; a cylinder rod of the hydraulic cylinder is connected with a force sensor, a sliding block, a spring, a foot end rod and a foot end hemisphere in sequence; and a pretightening screw is used for fixing the foot end rod and adjusting the pretightening force of the spring. The damping and rigidity of the active-softening foot mechanism can be also be adjusted under variable loads.

Description

technical field [0001] The invention relates to an active and compliant foot mechanism of a hydraulic robot, which belongs to the field of hydraulic foot robots. Background technique [0002] Compared with wheeled and tracked robots, legged robots have stronger terrain adaptability. For a humanoid biped robot or an animal-like quadruped or multi-legged robot, the feet are important mechanisms for the robot to contact with the environment. When contacting the environment, it is hoped that the interaction force between the robot and the environment is small, and the number of vibrations is small, that is, to achieve a compliant contact between the robot and the environment. Therefore, designing a reasonable robot foot mechanism is the key to reducing the interaction force and the number of shocks. [0003] Legged robots have a variety of drive methods, including motors, pneumatics, and hydraulics. Electric motors and pneumatic drives are limited in the field of heavy-duty, ...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problem of large contact force between the foot end and the ground and the instability of the upper platform due to vibration, and provide an active and compliant foot mechanism of a hydraulic robot, which can also realize damping and adjustable stiffness under variable load conditions

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