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A wheel-legged humanoid robot with internal gas flow

A humanoid, robot technology, applied in manipulators, motor vehicles, program-controlled manipulators, etc., can solve problems such as flexibility affecting robot movement, long hose routing, complexity, etc.

Active Publication Date: 2021-07-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the existing hydraulically driven robot uses a rubber hose to connect the hydraulic drive unit and the power unit, the hose is long and the layout is complicated, which affects the flexibility of the robot’s movement, and provides a wheel with internal oil. legged humanoid robot

Method used

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  • A wheel-legged humanoid robot with internal gas flow
  • A wheel-legged humanoid robot with internal gas flow
  • A wheel-legged humanoid robot with internal gas flow

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0050] Specific implementation mode one: combine Figure 1-Figure 6 To illustrate this embodiment, this embodiment includes a head 1, a shoulder 2, a body 3, a hip pelvis 4, a first hydraulic linkage assembly 5, a second hydraulic linkage assembly 6, and a third hydraulic linkage assembly 13. Hydraulic cylinder 7, two mechanical arms 9, two thighs 10, two shanks 11 and two drive wheels 12; each mechanical arm 9 includes a large arm 9-1, a small arm 9-2, a third hydraulic cylinder 9-3, the third connecting rod 9-4 and the third hydraulic servo valve 9-5; the shoulder 2 is provided with two rotating shafts 2-1 and two swing arm hydraulic cylinders 2-2,

[0051] The head 1, the shoulder 2 and the body 3 are fixed together from top to bottom in sequence, the body 3 is hinged with the hip and pelvis 4 and driven by the hydraulic cylinder 7, and each mechanical arm 9 is hinged on the shoulder 2 and passed through the first The hydraulic link assembly 5 can be driven to swing left a...

specific Embodiment approach 2

[0069] Specific implementation mode two: combination figure 1 with image 3 To illustrate this embodiment, the first hydraulic linkage assembly 5 of this embodiment includes a first hydraulic cylinder 5-1, a first connecting rod 5-2, and a first hydraulic servo valve 5-3;

[0070] Each mechanical arm 9 is provided with a first hydraulic cylinder 5-1, one end of the first connecting rod 5-2 is hinged to the rotating shaft 2-1, and the other end of the first connecting rod 5-2 is connected to the first hydraulic cylinder 5. -1 is hinged at the execution end, and the first hydraulic cylinder 5-1 on each mechanical arm 9 drives the first connecting rod 5-2 so that each mechanical arm 9 can swing left and right;

[0071] The oil inlet of the first hydraulic cylinder 5-1 communicates with the oil outlet of the first hydraulic servo valve 5-3 through a hydraulic pipe, and the oil inlet of the first hydraulic servo valve 5-3 communicates with the third oil outlet through a hydraulic pi...

specific Embodiment approach 3

[0073] Specific implementation mode three: combination figure 2 To illustrate this embodiment, the second hydraulic linkage assembly 6 and the third hydraulic linkage assembly 13 of this embodiment respectively include a second hydraulic cylinder 6131, a second connecting rod 6132, and a second hydraulic servo valve 6133;

[0074] Each thigh 10 is provided with a set of second hydraulic linkage assembly 6 and a set of third hydraulic linkage assembly 13, wherein the second hydraulic cylinder 6131 and the second hydraulic servo valve 6133 on the second hydraulic linkage assembly 6 and The second hydraulic cylinder 6131 and the second hydraulic servo valve 6133 on the third hydraulic linkage assembly 13 are fixed on each thigh 10,

[0075] One end of the second connecting rod 6132 on the second hydraulic connecting rod assembly 6 is hinged with the hip pelvis 4, and the other end of the second connecting rod 6132 on the second hydraulic connecting rod assembly 6 is connected to...

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Abstract

A wheel-legged humanoid robot with internal oil flow, which relates to the field of robot technology, to solve the problem that the existing hydraulically driven robot uses a rubber hose to connect the hydraulic drive unit and the power unit, the hose is long and the layout is complicated, which affects the The problem of the flexibility of robot movement. The present invention includes a head, a shoulder, a body, a hip pelvis, a first hydraulic link assembly, a second hydraulic link assembly, a third hydraulic link assembly, a hydraulic cylinder, two mechanical arms, two thighs, two One calf and two driving wheels; the head, shoulders and body are fixed together from top to bottom, the body is hinged with the hip and pelvis and driven by a hydraulic cylinder, and each mechanical arm is hinged at the shoulder and passed through the first The driving of the hydraulic link assembly can swing left and right, and each thigh is hinged with the hip and pelvis and driven by the second hydraulic link assembly so that each thigh can swing back and forth. Each joint of the present invention adopts a hoseless oil circuit, so that pipeline wear and tear failures are greatly reduced, and the safety and reliability of the whole machine are improved.

Description

technical field [0001] The invention relates to a humanoid robot, in particular to a wheel-legged humanoid robot with internal oil flow. Background technique [0002] For a long time, leg-footed robots have been used as a very effective solution for rugged and complex terrain and non-continuous ground such as step ridges. Traditional wheeled or tracked robots have strong mobility on flat and continuous ground. , but the ability to pass through complex discontinuous ground is weak. Although legged robots can flexibly adapt to various complex terrains, their stability control is difficult and their walking speed is slow on flat ground. The goal of the wheel-legged composite robot is to combine the respective advantages of the wheeled robot and the legged robot, that is, the high mobility of the wheeled movement and the strong adaptability of the leg-footed movement, so that the wheel-legged composite robot has both the ability to move quickly on flat ground and the ruggedness...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028B25J9/00
CPCB25J9/0006B62D57/028
Inventor 付宜利李旭封海波周海涛张松源
Owner HARBIN INST OF TECH
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