Caster mixed type hydraulic mechanical leg and control method

Abstract

The invention relates to a caster mixed type hydraulic mechanical leg and a control method. The caster mixed type hydraulic mechanical leg comprises a control system, a hydraulic cylinder, a standingleg, a rolling wheel, a supporting wheel axle and rolling wheel supporting spokes. The rolling wheel is connected with the rolling wheel axle in a matched mode. The rolling wheel axle is fixedly connected with the rolling wheel supporting spokes. The rolling wheel supporting spokes are welded to the front end of a piston rod of the hydraulic cylinder. The standing leg is in threaded connection with the inner wall, located at the output end of the piston rod, of the hydraulic cylinder. The caster mixed type hydraulic mechanical leg can slide by controlling stretching of the piston rod of the hydraulic cylinder and guaranteeing that the rolling wheel stretches out of the standing leg structure. The caster mixed type hydraulic mechanical leg can stand by controlling retraction of the piston rod of the hydraulic cylinder and guaranteeing that the rolling wheel is withdrawn into the standing leg structure. The caster mixed type hydraulic mechanical leg is concise in structure. The hydrauliccylinder is controlled conveniently. A caster mixed structure can guarantee fast switching of the sliding and standing states. The caster mixed type hydraulic mechanical leg can be used for wheel type mobile mechanical devices or robots.

Description

technical field [0001] The invention relates to a hydraulic mechanical leg, in particular to a caster hybrid hydraulic mechanical leg and a control method. Background technique [0002] With the rapid development of industrial machinery automation, more and more mechanical devices or robots have become highly automated, but most of the mechanical devices can only achieve sliding by installing traditional mechanical pulleys, and cannot achieve automatic braking. The pulley can be braked by manually operating the brake. Such a braking situation is poor in stability and has potential safety hazards. At present, most robots are sliding robots, and it is difficult to control the stable braking of the robot. Multi-legged walking robots do not use pulleys. Although the stability of its standing can be controlled, the current control method is difficult to achieve when it needs to move quickly, which is also the bottleneck that limits the rapid movement of the robot; in order to ach...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of industrial machinery automation, more and more mechanical devices or robots have become highly automated, but most of the mechanical devices can only achieve sliding by installing traditional mechanical pulleys, and cannot achieve automatic braking. The pulley can be braked by manually operating the brake. Such a braking situation is poor in stability and has potential safety hazards. At present, most robots are sliding robots, and it is difficult to control the stable braking of the robot. Multi-legged walking robots do not use pulleys. Although the stability of its standing can be controlled, the current control method is difficult to achieve when it needs to move quickly, which is also the bottleneck that limits the rapid movement of the robot; in order to achieve the rapid mobility of the mechanical device, automatic braking and its standing when braking The stability of the robot can realize the rapidity of the robot's movement, the stability of its standing and the simplicity of the control. The caster hybrid hydraulic mechanical legs can be installed on the relevant mechanical devices or robots, and the mechanical devices or robots can be realized through the expansion and contraction of the hydraulic mechanical legs. Standing steadily and moving quickly

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