Leg of hydraulic-drive heavy-load six-legged robot

Abstract

The invention discloses a leg of a hydraulic-drive heavy-load six-legged robot, and aims to solve the problems that an existing six-legged robot needs to adapt to terrain and increase the heavy load on the premise of satisfying bionic walking, and that the related research in China is in a blank stage at present. The leg of the hydraulic-drive heavy-load six-legged robot comprises a body connecting plate, a buttock connecting piece, a robot thigh, a robotic shin, a ground supporting piece, a root joint rotating shaft, a horizontal cylinder, a hip joint rotating shaft, a thigh cylinder, a kneejoint rotating shaft and a shin cylinder. The invention provides a completely novel leg structure model. Compared with other existing driving structures, the leg of the hydraulic-drive heavy-load six-legged robot has higher output power and smaller weight in the same space, and has the advantages of higher specific power, lighter weight and higher carrying capacity. Based on the optimized design of the structure of the leg of the hydraulic-drive heavy-load six-legged robot, the terrain adaptability of the six-legged robot is significantly improved. Based on the power matching of a hydraulic system, the leg of the hydraulic-drive heavy-load six-legged robot achieves a breakthrough of 500 kg bearing capacity, and has significant progressive significance.

Description

technical field [0001] The invention relates to the field of robots, in particular to a hydraulically driven heavy-duty hexapod robot leg. Background technique [0002] Domestic research on heavy-duty hexapod robots started late, and the technical starting point is low. After more than ten years of technological accumulation, China has achieved certain results in the field of hexapod robot research. Among them, domestic hexapod robots mainly include: Huazhong University of Science and Technology's "4+2" multi-legged robot, Beihang University NOROS series hexapod robot, etc. Foreign hexapod robots mainly include: the hydraulically driven hexapod robot COMET-4 of Chiba University in Japan, the "DLR-Crawler" of the German Aerospace Center, and the "Attila" of the Massachusetts Institute of Technology. Compared with foreign hexapod robots, the overall technology of domestic hexapod robots is not satisfactory, and has not yet reached the advanced level of foreign countries. ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a hydraulically driven heavy-duty robot for the existing hexapod robot that needs to adapt to the terrain and increase the heavy load under the premise of satisfying the bionic walking, while the current domestic related research is in a blank stage. Loaded hexapod robot legs

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