A hydraulically driven flexible robot joint

Abstract

The invention belongs to the field of bio-robots, and discloses a hydraulic driving flexible robot joint which comprises a thigh structure, a thigh-crus connecting frame and a crus structure. The thigh structure comprises a thigh body frame, a cylinder seat, a hydraulic cylinder, a movable frame, a guide shaft and a compression spring. The crus structure comprises a crus body frame, a guide rail and a slide block. The crus body frame is hinged to the thigh body frame. The guide rail is installed on the crus body frame. The slide block is installed on the guide rail. One end of the thigh-crus connecting frame is hinged to the thigh body frame, and the other end of the thigh-crus connecting frame is hinged to the slide block. In addition, the thigh-crus connecting frame is hinged to the end, away from the hydraulic cylinder, of the guide shaft. The hydraulic driving flexible robot joint can adapt to changes of external loads, have the bionic flexible characteristic and force arm characteristics, meet motion requirements of a robot, and can effectively reduce the total weight, achieve lightweight and improve the motion efficiency.

Description

technical field [0001] The invention belongs to the field of bionic robots, and more specifically relates to a hydraulically driven flexible robot joint. Background technique [0002] With the development of robotics technology, there are more and more types of robots, and the scope of application is wider and wider. The current robots mainly have bipedal, quadrupedal, multi-legged and other forms, but no matter what kind of robot, one of its design cannot The problem to be avoided is the design and manufacture of the joint part. The design of the joint part is directly related to the dynamic performance and walking efficiency of the whole robot, so the joint bionic drive technology has become an important research direction in the field of robotics. In terms of joint servo drives, in the past, more robots used motors as power sources, but the reducer increased the output impedance of the motor while increasing the force and energy density of the motor drive, and at the sam...

AI Technical Summary

Problems solved by technology

In terms of joint servo drives, in the past, more robots used motors as power sources, but the reducer increased the output impedance of the motor while increasing the force and energy density of the motor drive, and at the same time increased the complexity of motor dynamics modeling. Non-linearity and nonlinearity make it difficult to control the precise force of the motor driver, and also make the entire system too heavy, which is not conducive to robot walking

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