Hydraulic foot type robot single-leg mechanism with passive flexible knee joint

Abstract

The invention discloses a hydraulic foot type robot single-leg mechanism with a passive flexible knee joint, and relates to the technical field of robot leg-foot structures. The arranged flexible knee joint assembly comprises an air cylinder and a connecting plate, and two first piston rods in the air cylinder are hinged to the end of a thigh joint and the end of a shank joint respectively; one end of a connecting plate and the first piston rods are hinged to the same position of the shank joint, the other end of the connecting plate is hinged to the end of the thigh joint, and the distance between two hinge points of the connecting plate is larger than that between hinge points of the two first piston rods. The connecting plate and the air cylinder are arranged to replace the direct connecting mode of thigh joints and shank joints in the original robot leg design, so that the knee joint part of the robot has certain passive compliance, and the contact impact between the sole and the ground in the movement process of the robot leg structure can be effectively reduced.

Description

technical field [0001] The invention relates to the technical field of robot leg and foot structures, in particular to a hydraulic foot robot single-leg mechanism with passive flexible knee joints. Background technique [0002] In the design and application of heavy-duty hydraulically driven legged robots, the problem of large impact between the feet and the ground is still difficult to effectively solve. The main reason is that the uncertainty of the environment in which the hydraulic footed robot operates has exacerbated the load changes of the joint actuators of the robot to a certain extent, resulting in the deterioration of the balance between the energy supply of the airborne hydraulic servo drive system and the demand of the robot. The instability of the driving system will further reduce the force control accuracy of the control system, which will further increase the interaction impact between the robot foot and the ground. [0003] Existing solutions to the above ...

AI Technical Summary

Problems solved by technology

[0002] In the design and application of heavy-duty hydraulically driven legged robots, the problem of large impact between the feet and the ground is still difficult to effectively solve

The main reason is that the uncertainty of the environment in which the hydraulic footed robot operates has exacerbated the load changes of the joint actuators of the robot to a certain extent, resulting in the deterioration of the balance between the energy supply of the airborne hydraulic servo drive system and the demand of the robot. The instability of the drive system will further reduce the force control accuracy of the control system, which in turn will increase the interactive impact between the robot foot and the ground.

[0003] Existing solutions to the above problems are mainly divided into two types: one is to wrap thick wear-resistant rubber on the bottom of the robot or use high-toughness composite materials such as carbon fiber to process robot limb parts. The improvement effect of the foot-ground interaction process is obvious, but the complex and changeable field environment will still increase the wear rate of non-metallic materials, requiring frequent replacement of foot components; another method is to connect metal springs in series with leg components or actuate Between the device and the driven rod, such as the application number "202010751681.0", the invention patent named "leg structure of wheel-legged robot and mobile robot", and the application number "201510021471.5", the name is "wheel-leg hybrid four However, the low spring rigidity will sacrifice the adaptability of the robot to the environment. At the same time, it is difficult to accurately design the required spring stiffness characteristics, which also makes it difficult for this method to be used in the hydraulically driven legged robot. Widely promoted on robots

Images