Four-joint hydraulically-driven robot leg
A robotic and driving technology, applied in the field of robotics, can solve problems such as poor terrain adaptability and inability to flexibly complete complex movements, and achieve the effect of enhancing terrain adaptability and improving carrying capacity
Pending Publication Date: 2021-11-09
CHENGDU UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
[0005] The purpose of the present invention is to solve the problems of lifting the human-carrying capacity of the robot, walking too mechanically in the hexapod robot, inability to flexibly complete complex movements, poor terrain adaptability, etc., and provides a four-joint hydraulically driven robot leg
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[0025] In conjunction with the accompanying drawings, the present invention will be described in further detail.
[0026] In this embodiment, the structure of a four-joint hydraulically driven robot leg is as follows figure 1 , 2 , as shown in 3, including a hip joint assembly, a base joint assembly, a thigh assembly, a calf assembly, a thigh hydraulic cylinder, and a calf hydraulic cylinder;
[0027] In this structure, the hip joint assembly is composed of horizontal swing hydraulic motor, flange output shaft, coupling, flat key, main shaft, hip joint bearing, bearing seat, fuselage frame, thrust bearing and swivel seat; horizontal hydraulic swing motor It is connected with the fuselage frame through threads; the flange output shaft is fixedly connected with the horizontal swing hydraulic motor; the hip joint bearing housing is installed in cooperation; the rotating seat is fixed on the main shaft through a lock nut; the flange output shaft, coupling, and main shaft sequent...
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The invention provides a four-joint hydraulically-driven robot leg, and aims at solving the problems that an existing hydraulically-driven robot is limited in motion ability and poor in terrain adaptability. The four-joint hydraulically-driven robot leg is structurally composed of a hip joint assembly, a coxa assembly, a thigh assembly, a shank assembly, a thigh hydraulic cylinder and a shank hydraulic cylinder. The hip joint assembly is composed of a horizontal swing hydraulic motor, a flange output shaft, a coupler, a flat key, a main shaft, a hip joint bearing, a bearing seat, a body rack, a thrust bearing and a rotating seat. The coxa assembly is composed of a vertical swing hydraulic motor, a staggered coxa, a coxa trunnion, a coxa bearing and a coxa hydraulic cylinder lug. The thigh assembly is composed of a thigh, a thigh hydraulic cylinder lug, a thigh trunnion and a thigh bearing. The shank assembly is composed of an upper shank shell, a lower shank shell, a linear bearing, a damping spring, a force sensor, a shank trunk and a foot end. The four-joint hydraulically-driven robot leg is flexible in motion and capable of completing complex motion, and has greatly enhanced terrain adaptability, meanwhile, the design of the novel and reliable high-heavy-load robot motion joint is provided, which has a certain application prospect.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a four-joint hydraulically driven robot leg and a robot. Background technique [0002] The hexapod mobile robot is a legged robot that imitates the movement of multi-legged animals. Its legs have more degrees of freedom, and the optimal foothold can be selected for support. The gait is rich, the stability is high, and the body is suspended in the air. , Strong ability to overcome obstacles and avoid obstacles. Compared with traditional wheeled and tracked mobile robots, although the hexapod robot moves at a lower speed, it can use discrete ground supports to achieve non-contact obstacle avoidance, obstacle crossing, up and down steps and uneven ground movement, and it is suitable for complex terrain. It has strong adaptability to unpredictable environmental changes. [0003] The ways to drive the robot include electric drive, pneumatic drive and hydraulic drive. Heavy-duty robo...
Claims
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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 蒋刚郝兴安周伟邹海峰胡逸然纪晓李昔学蒲虹云
Owner CHENGDU UNIVERSITY OF TECHNOLOGY