Electro-hydraulic hybrid driven humanoid robot lower limb mechanism
A humanoid robot and electro-hydraulic hybrid technology, which is applied in the field of humanoid robots, can solve the problems of inability to achieve high mobility, low operating efficiency, complex hydraulic system, etc., and achieve light weight, large output torque, and high flexibility Effect
Active Publication Date: 2022-07-12
ZHEJIANG UNIV
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Problems solved by technology
At present, there are few lower limb platforms of humanoid robots that can achieve high maneuverability, large load and high efficiency operation. The most famous one is the Atlas robot of Boston Dynamics. After continuous iteration, it is now able to complete backflips, gymnastics, running and other actions. It has set a new benchmark in the field of humanoid robots in the world, but its overall weight has reached 80kg, the hydraulic system is complicated, and the operation efficiency is not high
Many other humanoid robot lower limb platforms are still insufficient in terms of response speed, flexibility, and load-bearing capacity, and cannot achieve high mobility, and there is still a lot of room for improvement
Method used
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Embodiment Construction
[0034] The technical solutions of the present invention will be further described below through examples and in conjunction with the accompanying drawings.
[0035] like Figure 1-Figure 12 As shown, an electro-hydraulic hybrid driven humanoid robot lower limb mechanism includes a pelvic mechanism 700 and two symmetrical leg structures, which are mirror-symmetrical along the sagittal plane and arranged below the pelvic mechanism 700, refer to figure 1 , figure 2 , the left leg and the right leg are symmetrically designed, each leg has 6 degrees of freedom, a total of 12 degrees of freedom, of which the ankle joint mechanism 200 has 2 degrees of freedom (the pitch motion of the ankle joint mechanism 200 is driven by the ankle joint hydraulic cylinder 13, The lateral movement of the ankle joint mechanism 200 is driven by the motor 4), the knee joint mechanism 400 has one degree of freedom (the pitching motion of the knee joint mechanism 400 is driven by the knee joint hydraul...
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The invention discloses an electro-hydraulic hybrid driven humanoid robot lower limb mechanism which comprises a pelvic bone mechanism and two symmetrical leg structures, each leg structure comprises a foot mechanism, an ankle joint mechanism, a shank part, a knee joint mechanism, a thigh part and a hip joint mechanism, and the upper end of each thigh part is connected with the pelvic bone mechanism through the corresponding hip joint mechanism. The lower end of the thigh part is connected with the upper end of the shank part through the knee joint mechanism, and the lower end of the shank part is connected with the foot mechanism through the ankle joint mechanism. The leg structure of the humanoid robot is light and flexible, the power density of the robot is improved, meanwhile, the operation efficiency of the robot is enhanced, and the working time of the robot is prolonged.
Description
technical field [0001] The invention relates to the field of humanoid robots, in particular to an electro-hydraulic hybrid drive lower limb mechanism of a humanoid robot. Background technique [0002] Common mobile robots can be divided into wheeled robots, crawler robots, footed robots and robots with special shapes. As a type of footed robots, humanoid robots are a member of the robot family with a long history of development. It has a human-like form and function. Compared with wheeled and crawler robots, humanoid robots can walk in more complex terrain, even in narrow jungles with potholes; compared with multi-legged robots, humanoid biped robots can better adapt to the development of human beings. society, such as climbing stairs, opening and closing doors, operating various tools and equipment, etc. Humanoid robots are widely studied in the fields of search and rescue, deep space exploration and social services due to their good environmental adaptability and excelle...
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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 欧阳小平李光辉李慧莱刘浩
Owner ZHEJIANG UNIV