Multi-legged hydraulic robot

Abstract

The invention provides a multi-legged hydraulic robot, which comprises a mechanical frame, a driving bracket, a single-legged hydraulic driving module and a swinging assembly, wherein at least two mounting grooves are formed in the mechanical frame; the upper linear oil cylinder and the lower linear oil cylinder pull thighs to enable the driving assembly to perform composite motion, and the actions of extending, retracting, advancing and retreating are performed; a rotary swing oil cylinder can further drive the driving assembly, the upper linear oil cylinder and the lower linear oil cylinderto rotate through the driving support by driving an output shaft of the torque sensor to rotate, so that the mechanical frame makes turning motion relative to the driving assembly, and the compressibility of hydraulic oil is beneficial to resisting impact of the external environment. Different postures and motion modes are achieved by controlling the multiple sets of single-legged hydraulic driving modules, and based on the structural characteristics of high impact resistance and high response speed of the single-legged hydraulic driving modules, the whole machine can make accurate motion decisions and rapidly execute actions when disturbing the external environment.

Description

technical field [0001] The invention relates to the field of legged robots, in particular to a multi-legged hydraulic robot. Background technique [0002] At present, there are three main types of legged robots: motor drive, hydraulic drive and hybrid drive. The motor-driven joints of each leg use the motor as the driving source, but the motor has weak resistance to load impact and continuous work heat dissipation; the hydraulic drive mode uses hydraulic actuators to drive the joints, and the heavy actuators installed on the legs will increase the The inertia of the legs reduces the control response speed, which is not conducive to the fast walking of the robot; the hybrid drive method uses motors and hydraulics to drive the corresponding joints respectively, but increases the complexity of the software and hardware systems, as well as the overall control difficulty. Contents of the invention [0003] In order to solve the above technical problems, a multi-legged hydrauli...

AI Technical Summary

Problems solved by technology

The motor-driven joints of each leg use the motor as the driving source, but the motor has weak resistance to load impact and continuous work heat dissipation; the hydraulic drive mode uses hydraulic actuators to drive the joints, and the heavy actuators installed on the legs will increase the The inertia of the legs reduces the control response speed, which is not conducive to the fast walking of the robot; the hybrid drive method uses motors and hydraulics to drive the corresponding joints respectively, but increases the complexity of the software and hardware systems and the overall control difficulty

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