A hydraulic footed robot single-leg mechanism with passive flexible knee joint

Abstract

The invention discloses a hydraulic foot type robot single-leg mechanism with passive flexible knee joint, which relates to the technical field of robot leg and foot structure. At the end of the thigh section and the end of the calf section, one end of the connecting plate and the first piston rod are hinged at the same position on the calf section, and the other end is hinged at the end of the thigh section, and the two hinge points of the connecting plate The distance between the two first piston rod hinge points is greater than the distance between the hinge points of the two first piston rods; the present invention replaces the direct connection method between the thigh leg section and the calf leg section in the original robot leg design by setting the connecting plate and the cylinder, so that the robot knee joint has a certain The passive flexibility of the robot can effectively reduce the contact impact between the sole of the foot and the ground during the movement of the robot's leg structure.

Description

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

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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

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