An electro-hydraulic hybrid quadruped robot with integrated bionic trunk

Abstract

The present invention relates to an electro-hydraulic hybrid quadruped robot with an integrated bionic trunk, characterized in that it includes: hydraulic legs, front and rear swing motors, hydraulic pumps, side expansion hydraulic cylinders, hydraulic valves, batteries, body hydraulic cylinders, node boxes, whole machine main control, gyroscopes, radiators, frames and body hinge mechanisms; the robot power source uses batteries for energy supply, and the joint actuators include both hydraulic actuators and motor actuators. In terms of bionic design, two joint degrees of freedom are added to the robot waist, with a total of 14 degrees of freedom. The present invention inherits the advantages of hydraulic drive, while also having the advantages of low noise, high reliability, and convenient maintenance of the electric drive system. The 14-degree-of-freedom configuration of the whole machine is conducive to the high-speed maneuvering motion control of the robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of quadruped robots, and in particular relates to an electro-hydraulic hybrid quadruped robot with an integrated bionic trunk. Background Art

[0002] Leg-type bionic robots can be divided into the following two categories based on the type of actuator and power source: hydraulic actuator + engine (oil drive) and motor actuator + battery (electric drive). Compared with electric drive robots, oil drive robots have obvious advantages in power density, explosive power and endurance, but they also have prominent problems such as high noise, complex system and poor maintainability. In the field of quadruped bionic robot whole machine design technology, in order to simplify the control difficulty, the trunk of the bionic object is often simplified to a rigid trunk, and the whole machine is designed according to 12 degrees of freedom or even less. The reduction of robot's degrees of freedom will inevitably lead to the limitation of the whole machine's maneuverability. In terms of kinematics, the robot's movement space is limited. In terms of dynamics, the lack of freedom of the robot will seriously affect the robot's stability. Taking the 8-degree-of-freedom quadruped robot as an example, the single leg lacks lateral freedom, and the robot cannot achieve free steering, resulting in a significant reduction in movement efficiency. Summary of the invention

[0003] The present invention provides an electro-hydraulic hybrid quadruped robot with an integrated bionic trunk. The technical problems to be solved are: (1) Traditional rigid trunk robots cannot realize the engineering implementation of bionic prototype trunks, resulting in the robot being unable to further expand its stride by using trunk pitching motion when the robot moves at high speed. (2) Traditional fuel-powered robots have high noise, complex systems, and low reliability; traditional electric-driven robots have limited power density, and heavy quadruped robots lack explosive power.

[0004] In order to solve the above technical problems, the present invention provides an electro-hydraulic hybrid quadruped robot with an integrated bionic trunk, characterized in that it includes hydraulic legs and feet 1, front and rear swing motors 2, side expansion hydraulic cylinders 4, body hydraulic cylinders 7, hinge mechanisms 12, and a frame 13; the frame 13 is divided into three parts: front, middle, and rear, which are connected by a body hinge 12, and a body hydraulic cylinder 7 is connected to the front and rear of the crossbeam in the middle of the frame 13, and the other ends of the two body hydraulic cylinders 7 are respectively hinged to the front and rear parts of the frame 13; a front and rear swing motor is symmetrically provided on both sides of the front and rear of the frame 13, and a hydraulic leg 1 is fixed on the outer side of each front and rear swing motor; two side expansion hydraulic cylinders 4 are symmetrically provided on the crossbeams at the front and rear of the frame 13, and the outer ends of the side expansion hydraulic cylinders 4 are hinged to the front and rear swing motors 2 on the corresponding sides; the battery 6 provides power for the control of the entire quadruped robot.

[0005] Beneficial effects: The present invention uses the cheetah as a bionic object to complete the design of a quadruped robot. The robot power source uses batteries for energy supply. The joint actuator includes both hydraulic actuators and motor actuators. In the bionic design, two joint degrees of freedom are added to the robot waist, with a total of 14 degrees of freedom. It inherits the advantages of hydraulic drive and has the advantages of low noise, high reliability, and convenient maintenance of the electric drive system. The 14-degree-of-freedom configuration of the whole machine is conducive to the high-speed maneuvering motion control of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a stereogram of the present invention.

[0007] Figure 2 It is an exploded perspective view of the present invention.

[0008] Figure 3 It is a three-dimensional diagram of the fuselage of the present invention.

[0009] Figure 4 It is a three-dimensional diagram of the hydraulic leg foot of the present invention.

[0010] Description of the markings in the figure:

[0011] 1-hydraulic leg foot, 2-front and rear swing motor, 3-hydraulic pump, 4-side extension hydraulic cylinder, 5-hydraulic valve, 6-battery, 7-body hydraulic cylinder, 8-node box, 9-machine main control, 10-gyroscope, 11-radiator, 12-body hinge mechanism, 13-frame, 101-thigh, 102-calf hydraulic cylinder, 103-calf, 104-sole, 201-motor fixing seat, 202-motor fixing seat hinge mechanism. DETAILED DESCRIPTION

[0012] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below.

[0013] The present invention proposes an electro-hydraulic hybrid quadruped robot with an integrated bionic trunk, which is characterized by comprising hydraulic legs and feet 1, front and rear swing motors 2, hydraulic pumps 3, side extension hydraulic cylinders 4, hydraulic valves 5, batteries 6, body hydraulic cylinders 7, node boxes 8, whole machine main control 9, gyroscopes 10, radiators 11, hinge mechanisms 12, and frames 13;

[0014] Furthermore, the hydraulic leg foot 1 includes a leg thigh 101, a leg shank 103, a hydraulic cylinder 102 and a foot sole 104. The leg thigh 101, the leg shank 103 and the foot sole 104 together form a parallelogram connecting rod design configuration, and the hydraulic cylinder 102 provides power to the leg shank 103 under the action of the hydraulic pump. When the piston rod of the hydraulic cylinder 102 is extended and retracted, the leg shank 103 can swing accordingly, thereby improving the load capacity of the quadruped robot. A degree of freedom joint module is formed for the hydraulic leg foot 1.

[0015] Furthermore, the front and rear swing motor 2 is fixedly connected to the hydraulic leg foot 1 by screws. When the front and rear swing motor 2 rotates, the hydraulic leg foot 1 can also swing accordingly, providing power for the hydraulic leg foot 1 in the front and rear swing direction. When the front and rear swing motor rotates, the hydraulic leg foot also swings accordingly. The robot can move forward and backward. A degree of freedom joint module is formed for the hydraulic leg foot 1.

[0016] Furthermore, the hydraulic pump 3, the side extension hydraulic cylinder 4 and the hydraulic valve 5 together constitute a hydraulic system, which provides power for the hydraulic leg 1 of the quadruped robot in the side extension direction. The piston rod of the side extension hydraulic cylinder 4 is connected to the motor fixing seat 201 on the front and rear swing motor 2. When the piston rod of the side extension hydraulic cylinder 4 is extended or retracted, the motor fixing seat 201 can rotate along the motor fixing seat hinge mechanism 202, thereby forming a one-degree-of-freedom joint module for the hydraulic leg 1. As a result, a single leg of the quadruped robot forms a three-degree-of-freedom joint module.

[0017] Furthermore, the battery 6 provides power for the entire quadruped robot control. The quadruped robot is equipped with three batteries.

[0018] Furthermore, the body hydraulic cylinder 7, the hydraulic pump 3 and the hydraulic valve 5 together constitute a hydraulic system, which provides power for the movement of the quadruped robot body. The body can swing up and down under the hydraulic system.

[0019] Furthermore, the node box 4 is configured with a distributed bus system, which reduces the CAN communication load and is the communication relay between the main control and each leg joint, thereby improving the real-time control. A single node box 4 controls one leg of the quadruped robot.

[0020] Furthermore, the whole machine main control 9 is a whole machine motion control calculation unit, which controls the pace and posture of the robot during movement.

[0021] Furthermore, the gyroscope 10 monitors and feeds back the body posture, and provides real-time feedback of the body posture of the quadruped robot during walking.

[0022] Furthermore, the radiator 11 dissipates heat for the whole machine main control 9 and electrical equipment.

[0023] Furthermore, the frame 13 provides mounting support for related components. The frame 13 is divided into three parts: front, middle and rear, which are connected by a fuselage hinge 12. Under the action of the fuselage hydraulic cylinder 7, the front and rear parts can swing up and down to form waist freedom.

[0024] Further, the fuselage hinge mechanism connects the front, middle and rear parts of the fuselage 12 to form a waist joint. Under the action of the fuselage hydraulic cylinder 7, the front and rear parts can swing up and down.

[0025] This electro-hydraulic hybrid quadruped robot with an integrated bionic torso combines the advantages of both hydraulics and motors.

[0026] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An electro-hydraulic hybrid quadruped robot with an integrated bionic trunk, characterized in that: The machine comprises a hydraulic leg (1), a front and rear swing motor (2), a side extension hydraulic cylinder (4), a fuselage hydraulic cylinder (7), a fuselage hinge mechanism (12), and a frame (13); the frame (13) is divided into three parts: front, middle, and rear, which are connected by the fuselage hinge mechanism (12); a front and rear fuselage hydraulic cylinder (7) is connected to the crossbeam in the middle of the frame (13); the other ends of the two fuselage hydraulic cylinders (7) are respectively hinged to the front and rear parts of the frame (13); a front and rear swing motor is symmetrically arranged on both sides of the front and rear of the frame (13); a hydraulic Legs and feet (1); two side hydraulic cylinders (4) are symmetrically arranged on the front and rear crossbeams of the frame (13), and the outer ends of the side hydraulic cylinders (4) are hinged to the front and rear swing motors (2) on the corresponding sides; the battery (6) provides power for the control of the entire quadruped robot; the piston rod of the side hydraulic cylinder (4) is connected to the motor fixing seat (201) on the front and rear swing motors (2); the quadruped robot body is equipped with 3 batteries; it also includes a whole machine main control (9) for controlling the pace and posture of the robot during movement; it also includes a node box (8), and a single node box (8) controls a leg and foot of the quadruped robot; The front and rear swing motor (2) is fixedly connected to the hydraulic leg foot (1) by screws, and when the front and rear swing motor (2) rotates, the hydraulic leg foot (1) can also swing accordingly; When the piston rod of the side extension hydraulic cylinder (4) is extended or retracted, the motor fixing seat (201) rotates along the motor fixing seat hinge mechanism (202), thereby forming a one-degree-of-freedom joint module for the hydraulic leg (1).

2. The electro-hydraulic hybrid quadruped robot with integrated bionic trunk according to claim 1, characterized in that: The hydraulic leg foot (1) comprises a thigh foot (101), a shank foot (103), a hydraulic cylinder (102) and a sole foot (104); the thigh foot (101), the shank foot (103) and the sole foot (104) together form a parallelogram connecting rod design configuration, and the hydraulic cylinder (102) is arranged in the thigh foot to provide power for the shank foot (103).

3. The electro-hydraulic hybrid quadruped robot with integrated bionic trunk according to claim 1, characterized in that: The front and rear swing motors (2) are fixedly connected to the hydraulic leg feet (1) by screws.

4. The electro-hydraulic hybrid quadruped robot with integrated bionic trunk according to claim 1, characterized in that: The side expansion hydraulic cylinder (4), the hydraulic pump (3) and the hydraulic valve (5) together constitute a hydraulic system.

5. The electro-hydraulic hybrid quadruped robot with integrated bionic trunk according to claim 1, characterized in that: It also includes a gyroscope (10) for monitoring and feeding back the posture of the fuselage, and providing real-time feedback of the posture of the fuselage for the quadruped robot when it is walking.

6. The electro-hydraulic hybrid quadruped robot with integrated bionic trunk according to claim 1, characterized in that: A radiator (11) is also provided in the middle of the frame to dissipate heat for the whole machine main control (9) and electrical equipment.

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