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Hydraulically-driven four-foot robot

A four-legged robot, driven technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problem of the uneven output torque and rotation speed of the joints of the legged robot, which hinders the design idea of ​​the joints of the hydraulically driven legged robot, and the unfavorable leg type. Problems such as the realization of robot motion, to achieve the effect of clear motion principle, convenient motion realization, and simple structure

Inactive Publication Date: 2012-05-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

When the traditional telescopic four-bar linkage mechanism is hydraulically driven with the same power, the joints of the legged robot highlight the unbalanced shortcomings of output torque and rotational speed, which makes it more difficult to control the joint motion, which is not conducive to the realization of the legged robot's movement, and also hinders the hydraulic pressure. Design Thoughts of Driven Legged Robot Joints

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  • Hydraulically-driven four-foot robot

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Embodiment Construction

[0031] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0032] combine Figure 1 to Figure 14 , the present embodiment is a hydraulically driven quadruped robot structure design, including: a body 1 and four legs mounted on the body; wherein each leg has the same structure. Wherein each leg all comprises: the first hydraulic cylinder body 2, the first hydraulic cylinder telescopic rod 3, the first parallelogram I connecting rod 4, the first parallelogram II connecting rod 5, the hip 6, the second hydraulic cylinder Body 7, second hydraulic cylinder telescopic rod 8, second parallelogram I connecting rod 9, second parallelogram II connecting rod 10, thigh 11, third hydraulic cylinder body 12, third hydraulic cylinder telescopic rod 13, third Parallelogram I connecting rod 14, the third parallelogram II connecting rod 15, shank 16, spring 17, telescopic foot 18, sole 19.

[0033] Such as figure 2 a...

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Abstract

The invention relates to a hydraulically-driven four-foot robot which belongs to the field of robots. The robot comprises a machine body (1) and four legs arranged on the machine body, wherein each leg consists of a first hydraulic cylinder body (2), a first hydraulic cylinder telescopic rod (3), a first parallelogrammic I connecting rod (4), a first parallelogrammic II connecting rod (5), a pelvic part (6), a second hydraulic cylinder body (7), a second hydraulic cylinder telescopic rod (8), a second parallelogrammic I connecting rod (9), a second parallelogrammic II connecting rod (10), thighs (11), a third hydraulic cylinder body (12), a third hydraulic cylinder telescopic rod (13), a third parallelogrammic I connecting rod (14), a third parallelogrammic II connecting rod (15), a crus (16), a spring (17), telescopic feet (18) and a soles (19). A telescopic four-connecting-rod joint transmission mechanism based on a parallelogram is adopted by the joint design of the hydraulically-driven four-foot robot, the joint control is simplified, and the moving performance of the foot type robot joints is improved.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a hydraulically driven quadruped robot. Background technique [0002] The legged robot adapted to the mountain environment is one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, reflecting the intelligence of a country. It is also an important symbol of a country's high-tech strength, and various developed countries have invested heavily in research in this field. [0003] The footed robot can climb slopes on complex ground, and can adjust the combination of front and rear high and low body movements to meet the movement requirements of mountainous environments with larger slopes, enhance the adaptability of mountainous environment movements, and improve the mobility of footed robots. Different ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 俞志伟戴振东郭策张昊李宏凯于浩
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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