A hydraulically driven legged bionic humanoid robot

Abstract

The invention discloses a hydraulic-driven footed bionic humanoid robot, which relates to the field of fluid transmission and control innovation, and includes a leg mechanical structure and a hydraulic system. The leg mechanical structure is used to be installed in pairs on the upper limb connecting frame of the robot, and the leg The mechanical structure includes hip joints, thigh plates, knee joints, calf plates, ankle joints and foot plates connected sequentially from top to bottom; under the control of the hydraulic system, the hip joints can achieve rotation, side swing and / or pitch movements, and the knee joints Capable of pitching motion, the ankle joint is capable of pitching back and forth and / or swinging side to side. The invention has higher motion flexibility, stronger obstacle avoidance ability, higher integrated power-to-weight ratio of the whole machine, stable operation, small reversing impact, fast response, large thrust, and stronger load capacity. The overall components of the pumping station system adopt vertical The integrated installation and arrangement effectively reduces the volume of the robot pump station, which is convenient for connecting the oil circuit with the lower limb mechanism, and has stronger practicability.

Description

technical field [0001] The invention relates to the innovative field of fluid transmission and control, in particular to a hydraulically driven foot-type bionic humanoid robot. Background technique [0002] With the rapid development of science and technology in the 21st century, informatization and mechanical automation have become the mainstream of today's world development. In this context, robot technology has developed rapidly. Robots can be divided into wheeled robots and footed bionic robots according to their movement modes. Among them, footed bionic robots are favored because of their ability to adapt to unstructured environments and high flexibility of their legs. Foot bionic robots can be divided into bipedal, quadrupedal, hexapodal and multipedal according to the number of feet. Entertainment and other fields have the widest application range, and have attracted social attention because of the highest practicality. There are three main ways to drive the leg str...

AI Technical Summary

Problems solved by technology

[0003] In addition, the current biped robot mainly adopts the motor drive mode, and the arrangement of the components of the leg mechanism is relatively scattered. The degree of freedom of the leg mechanism cannot meet the needs of high flexibility and high obstacle avoidance ability, which restricts the walking ability and Engineering application

Moreover, the biped machine is bulky in shape and cannot adapt to complex and changeable working environments. At the same time, it has low power-to-weight ratio, low working stability, small machine output, insufficient load capacity, poor dynamic characteristics, large leg joint mass, and limited range of motion. Defects such as small size, limited motion accuracy and response speed

Based on this, a hydraulic drive type with higher leg structure flexibility, stronger obstacle avoidance ability, higher integrated power-to-weight ratio, stable operation, small reversing impact, fast response, large thrust and strong load capacity was designed. Foot type bionic humanoid robot and its hydraulic control system are a problem to be solved urgently in the present invention

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