Hydraulic drive robot hip joint cantilever structure

Abstract

The invention discloses a hydraulic drive robot hip joint cantilever structure, and belongs to the technical field of robots. The structure comprises servo hydraulic cylinders, a robot waist, hydraulic rods, hip joints, thigh shells, shank shells and foot shells, the upper ends of the servo hydraulic cylinders are fixed to the robot waist, and the lower ends of the servo hydraulic cylinders are connected with the hydraulic rods; the hydraulic rods are connected with the hip joints, the hip joints are connected with the thigh shells, the thigh shells are connected with the shank shells, and theshank shells are connected with the foot shells. By means of the cantilever structure, linear driving of the hydraulic servo cylinders is converted into rotation of the hip joints, and the flexibility of the hip joints is improved. Meanwhile, the cantilever structure also greatly improves the lateral swing range of legs, and the lateral stepping capability and external disturbance resistance of the robots are improved.

Description

technical field [0001] The invention relates to a hip joint cantilever structure, in particular to a hydraulically driven robot hip joint cantilever structure, which belongs to the technical field of robots. Background technique [0002] The swing of the biped robot's hip joint is the key to ensure its stable walking. The degree of freedom of the hip joint plays a decisive role in the anti-disturbance ability and steering ability of the biped robot. Most of the existing biped robots use stepping motors, servo motors, etc. Drive, as an active rotating joint, the motor relies on the output torque to drive the rotation of the leg, but the motor has the disadvantages of small output torque and limited load capacity, especially for the swing of the hip joint, the motor cannot load the entire leg by a large margin. The use of hydraulic technology can well make up for the shortcomings of insufficient motor load. [0003] The hydraulic drive is a linear drive device. To realize the...

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Problems solved by technology

[0002] The swing of the biped robot's hip joint is the key to ensure its stable walking. The degree of freedom of the hip joint plays a decisive role in the anti-disturbance ability and steering ability of the biped robot. Most of the existing biped robots use stepping motors, servo motors, etc. Drive, as an active rotating joint, the motor relies on the output torque to drive the rotation of the leg, but the motor has the disadvantages of small output torque and limited load capacity, especially for the swing of the hip joint, the motor cannot load the entire leg by a large margin. The use of hydraulic technology can well make up for the shortcomings of insufficient motor load

[0003] The hydraulic drive is a linear drive device. To realize the swing of the hip joint, the traditional method is to fix the end of the hydraulic cylinder on the waist, and the end of the hydraulic rod on the thigh, and push the swing of the leg of the robot through the expansion and contraction of the hydraulic rod. Due to the travel limitation of the driving device, the traditional method can only achieve a small swing of the legs of the biped robot, which cannot meet the needs of the robot's biped to move sideways, and cannot resist large disturbances from the outside world.

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