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Foot-end adaptive hydraulic quadruped robot

A quadruped robot, self-adaptive technology, applied in the field of robots and hydraulic quadruped robots, can solve the problems of large impact force, easily damaged robot body and its control system, etc., to achieve improved adaptability, simple and compact structure, and strong bearing capacity Effect

Pending Publication Date: 2019-05-17
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] When the legged robot is in contact with the ground, there is a large impact force. During the movement, the foot end continuously impacts the ground, which is very easy to damage the robot body and its control system.

Method used

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  • Foot-end adaptive hydraulic quadruped robot
  • Foot-end adaptive hydraulic quadruped robot
  • Foot-end adaptive hydraulic quadruped robot

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Experimental program
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Embodiment Construction

[0021] The present invention will be further described below in conjunction with accompanying drawing.

[0022] A foot adaptive hydraulic quadruped robot, such as figure 1 As shown, it includes: fuselage 1 and four mechanical legs with the same structure, each leg is composed of yaw hydraulic cylinder 2, yaw connecting rod 3, thigh 8, thigh hydraulic cylinder 4, calf 7, calf hydraulic cylinder 5 and foot end 6 components, each hydraulic cylinder is controlled by a servo valve 14.

[0023] The power source of the robot is the hydraulic pump pumping the hydraulic oil out of the oil tank. The hydraulic oil is decompressed by the pressure reducing valve and flows through the oil inlet of the servo valve, and then flows into the hydraulic cylinder. The hydraulic oil overflows back to the oil tank through the overflow valve. .

[0024] There is a boss on the upper plane of the sole 17, which is used to fix the damping spring 16, and there are bolts 15 on the damping spring 16 to a...

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PUM

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Abstract

The invention discloses a foot-end adaptive hydraulic quadruped robot. The foot-end adaptive hydraulic quadruped robot comprises a machine body and four mechanical legs, wherein the machine body consists of end plates and connecting rods which have hollow structures; the self-weight of the robot can be effectively reduced; structures of the four legs are the same, and are uniformly and symmetrically distributed on the periphery of the machine body; each leg has three active degrees of freedom; and a servo actuator controls a hydraulic cylinder to realize movement of the robot. Each foot end consists of a bolt, a spring and hemispherical solid rubber, the pre-tightening bolt on each foot end can adjust the rigidity of the corresponding spring, and the circumstance that the stability of movement of the robot is affected due to over large force of contact between each foot end and the ground is avoided.

Description

technical field [0001] The present invention relates to the field of robots, more specifically, to the field of hydraulic quadruped robots. Background technique [0002] As an important part of the research field of bionic robots, quadruped robots have good environmental adaptability in complex and unknown unstructured operating environments due to their flexible, stable, and discontinuously supported motion characteristics. It has broad application prospects in many fields such as military operations. [0003] Compared with motor and pneumatic drive, hydraulic drive can make the robot have a greater load capacity, and can provide the robot with sufficient driving torque in a very short time to meet the needs of robot stability control and walking control. [0004] When the footed robot is in contact with the ground, there is a large impact force. During the movement, the foot end continuously impacts the ground, which is very easy to damage the robot body and its control s...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 邵俊鹏迟涵威孙桂涛
Owner HARBIN UNIV OF SCI & TECH
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