Hydraulic-driven biped robot lower limb mechanism

Abstract

The invention belongs to the field of robots, and particularly relate to a hydraulic-driven biped robot lower limb mechanism. The hydraulic-driven biped robot lower limb mechanism comprises a trunk, aleft leg and a right leg, the left leg comprises a foot part, an ankle joint assembly, a shank, a knee joint assembly, a thigh and a hip joint assembly; the thigh is connected with the truck and theshank, the shank is hinged to the foot part, the hip joint assembly comprises a cantilever, a hip joint pitching hydraulic driving unit and a hip joint side hydraulic driving unit, the hip joint sidehydraulic driving unit is connected with the cantilever and the trunk, and the hip joint pitching hydraulic driving unit is connected with the cantilever and the thigh; and a knee joint hydraulic driving unit in the knee joint assembly is connected with the thigh and the shank; and the ankle joint assembly comprises two ankle joint hydraulic driving units which are arranged side by side, one endsof the ankle joint hydraulic driving units are hinged to a main body of the shank, and the other ends of the ankle joint hydraulic driving units are hinged to the foot part. The hydraulic-driven bipedrobot lower limb mechanism solves the problems that in the prior art, a motor-driven robot is small in moving speed, lacking of explosive force and difficult to adapt to complicated terrains.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a lower limb mechanism of a hydraulically driven biped robot. Background technique [0002] Compared with crawler robots, biped robots are more flexible, can adapt to various terrains, and have higher joint freedom. [0003] At present, biped robots are mostly driven by servo motors, and harmonic reducers are used to reduce speed and increase torque. However, due to the characteristics of high-speed and small torque of servo motors, the movement speed of motor-driven biped robots is relatively slow, and the explosive force is insufficient. Limited, it is difficult to adapt to complex terrain, and cannot meet the design requirements of large load and fast movement of the robot. [0004] From the perspective of bionics, hydraulic drive is currently the best way to simulate human muscle drive. From the perspective of mechanical characteristics, hydraulic drive has large output for...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a hydraulically driven biped robot lower limb mechanism to solve the problems of slow moving speed, insufficient explosive force and difficulty in adapting to complex terrain in the prior art.

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