CN105480322B - One kind is used for legged type robot parallel leg structure of running at a high speed - Google Patents
One kind is used for legged type robot parallel leg structure of running at a high speed Download PDFInfo
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- CN105480322B CN105480322B CN201510960591.1A CN201510960591A CN105480322B CN 105480322 B CN105480322 B CN 105480322B CN 201510960591 A CN201510960591 A CN 201510960591A CN 105480322 B CN105480322 B CN 105480322B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
One kind is used for legged type robot parallel leg structure of running at a high speed, and it is related to a kind of parallel leg structure.The present invention solves the legged type robot of existing high-speed motion due to the characteristics of motion of periodic acceleration-deceleration being present, the problem of causing larger energy expenditure.Two joint legs bear a heavy burden symmetrically to be packed on the both sides outer wall of shoulder blade with lifting steel plate, the upper end of thigh and the lower hinge of shoulder blade, the lower end of thigh and the upper end of shank are hinged, vola is packed in the lower end of shank, the upper articulation of parallel short connecting rod and thigh, the other end of parallel short connecting rod is hinged with the upper end of parallel long connecting rod, horizontal valve control cylinder mode is arranged on shoulder blade and horizontally disposed, the hydraulic stem of horizontal valve control cylinder mode connects with the pin joint of parallel short connecting rod and parallel long connecting rod, vertical valve control cylinder mode is arranged on shoulder blade and is vertically arranged, the hydraulic stem of vertical valve control cylinder mode connects with the pin joint of parallel short connecting rod and parallel long connecting rod.The present invention is used for legged type robot.
Description
Technical field
The present invention relates to a kind of legged type robot parallel leg structure, and in particular to one kind is used for legged type robot of running at a high speed
Parallel leg structure.
Background technology
Most tops are the discontinuous landform such as sand dune, mountain region in nature, and sufficient formula animal can well adapt to
These complexity are rugged, discontinuous landform, and show good locomitivity, various motion gait, and higher
Energy utilization efficiency.Legged type robot with quick mobility has in the field such as Industrial Engineering, fire-fighting rescue, military operation
Extremely wide research space and application prospect.Legged type robot realizes Dynamic gait for the first time from last century the eighties
MIT single robot leg development can tackle the Big Dog robots of complicated landform by now, experienced from contour structures to fortune
The continuous development of motivation reason and rapid progress.Although many legged type robots studied at this stage have been able to realize stable row
The function such as walk, but its research is also far from reaching and realizes the sufficient flexibility of formula animal movement and the expection of rapidity.Even flat
On smooth road surface, also rarely robot can either be realized and quickly run, while and can enough keeps stability and higher energy
Efficiency.Therefore how to design movement velocity faster, the higher legged type robot of energy utilization efficiency, have become current
The emphasis and difficult point of robot field.
Initially limited due to understanding the essence of animal movement, researcher only starts with from running strides, devises all
The legged type robot of more structure types, the joint leg such as Big Dog is designed to from initial straight line leg, multiple movable joints draw
Enter to add the flexibility of robot, improve the steplength of robot again, but do not made a breakthrough yet in high speed.This is
Because complicated leg structure means more drivers, more complicated transmission mechanism.The sufficient formula machine of existing high-speed motion
Device people frequently can lead to larger energy expenditure due to the characteristics of motion of periodic acceleration-deceleration be present.
The content of the invention
The present invention is the legged type robot for solving existing high-speed motion due to the motion of periodic acceleration-deceleration be present
Rule, the problem of causing larger energy expenditure, and then provide and a kind of be used for legged type robot parallel leg structure of running at a high speed.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
The legged type robot parallel leg structure that is used to run at a high speed of the present invention includes shoulder blade, horizontal hydraulic cylinder, parallel short
Connecting rod, parallel long connecting rod, vola, vertical hydraulic cylinder, thigh, shank and two joint legs bear a heavy burden and lifting steel plate；
Shoulder blade is monosymmetric frame body, and two joint legs bear a heavy burden symmetrically is packed in the two of shoulder blade with lifting steel plate
On the outer wall of side, the upper end of thigh and the lower hinge of shoulder blade, the lower end of thigh and the upper end of shank are hinged, and vola is packed in small
The lower end of leg, the upper articulation of parallel short connecting rod and thigh, the other end of parallel short connecting rod are hinged with the upper end of parallel long connecting rod,
The lower end of parallel long connecting rod and the upper articulation of shank, parallel short connecting rod, parallel long connecting rod, thigh and shank form double leval jib machine
Structure, horizontal hydraulic cylinder are arranged on shoulder blade and horizontally disposed, the hydraulic stem of horizontal hydraulic cylinder and parallel short connecting rod and parallel long
Connecting rod pin joint connection, vertical hydraulic cylinder be arranged on shoulder blade on and be vertically arranged, the hydraulic stem of vertical hydraulic cylinder with it is parallel
Short connecting rod connects with the pin joint of parallel long connecting rod.
The present invention has the advantages that compared with prior art：
Each joint of legged type robot parallel leg structure that is used to run at a high speed of the present invention uses hinge connection, joint without
Damping or flexible member, joint leg have two frees degree of hip joint and knee joint, it is ensured that joint leg moves in sagittal plane, and hip closes
Section and kneed flexion and extension, ensure that joint leg has sufficiently large working space, realize larger step-length, joint leg
Four-bar linkage structure is formed by thigh, shank, parallel long connecting rod, parallel short connecting rod, two hydraulic cylinder near normals are in parallel to place, and leads to
Cross quadric chain driving robot hip joint and motion of knee joint, joint leg in parallel of running at a high speed pass through parallelogram connection-rod
Mechanism, sufficient end motion track can be mapped to hydraulic cylinder parallel connection pin joint according to structural parameters ratio, by vola power according to knot
Structure parameter logistic is mapped on the pin joint of hydraulic cylinder, compact-sized, leg mass concentration to body end and inertia is small, hydraulic cylinder
Approximate Decoupling, and control the locus of points and toe track to be scaled in constant ratio, avoid series connection leg trajectory planning operand greatly, energy consumption
The big and sensor excessively influence to control such as caused noise；
Each joint of the present invention and junction are mainly linked using bearing pin, and bearing pin installation needle bearing, needle bearing has
Bearing capacity is high, saves radial space, convenient the advantages that installing.
Brief description of the drawings
Fig. 1 is the overall structure stereogram of the legged type robot parallel leg structure that is used to run at a high speed of the present invention；
Fig. 2 is operation principle schematic diagram in the specific embodiment of the invention two；
Fig. 3 is the junction structural representation of thigh 8 in the specific embodiment of the invention three, four, five；
Fig. 4 is the structural representation of horizontal hydraulic cylinder 3 in the specific embodiment of the invention six, seven；
Fig. 5 is the structural representation of vertical hydraulic cylinder 7 in the specific embodiment of the invention six, seven；
Fig. 6 is the junction structural representation of parallel long connecting rod 5 in the specific embodiment of the invention eight.
Embodiment
Embodiment one：As shown in figs. 1 to 6, present embodiment is used to running at a high speed legged type robot parallel leg
Structure include shoulder blade 2, horizontal hydraulic cylinder 3, parallel short connecting rod 4, parallel long connecting rod 5, vola 6, vertical hydraulic cylinder 7, thigh 8,
Shank 9 and two joint legs bear a heavy burden and lifting steel plate 1；
Shoulder blade 2 is monosymmetric frame body, and two joint legs bear a heavy burden symmetrically is packed in shoulder blade 2 with lifting steel plate 1
Both sides outer wall on, the upper end of thigh 8 and the lower hinge of shoulder blade 2, the lower end and the upper end of shank 9 of thigh 8 are hinged, vola
6 are packed in the lower end of shank 9, the upper articulation of parallel short connecting rod 4 and thigh 8, and the other end and the parallel long of parallel short connecting rod 4 connect
The upper end of bar 5 is hinged, the lower end of parallel long connecting rod 5 and the upper articulation of shank 9, parallel short connecting rod 4, parallel long connecting rod 5, thigh
8 and shank 9 form quadric chain, horizontal hydraulic cylinder 3 is arranged on shoulder blade 2 and horizontally disposed, the hydraulic pressure of horizontal hydraulic cylinder 3
Bar connects with the pin joint of parallel short connecting rod 4 and parallel long connecting rod 5, and vertical hydraulic cylinder 7 is arranged on shoulder blade 2 and set vertically
Put, the hydraulic stem of vertical hydraulic cylinder 7 connects with the pin joint of parallel short connecting rod 4 and parallel long connecting rod 5.
Horizontal hydraulic cylinder 3 is arranged on shoulder blade and in the former long l of a length of setting of leg0, toe is when being in immediately below hip joint
Level of approximation is set, and the hydraulic stem of horizontal hydraulic cylinder 3 connects with the pin joint of parallel short connecting rod 4 and parallel long connecting rod 5, vertical liquid
Cylinder pressure 7 is arranged on shoulder blade 2 and in the former long l of a length of setting of leg0, toe when being in immediately below hip joint near vertical set.
Embodiment two：As shown in Fig. 2 pass through between the parallel short connecting rod 4 of present embodiment and parallel long connecting rod 5
One pin joint 10 connects, and is connected between parallel short connecting rod 4 and thigh 8 by the second pin joint 12, leads between thigh 8 and shank 9
Cross knee joint 13 to connect, thigh 8 and shoulder blade 2 are connected by hip joint 11, and the first pin joint 10, the second pin joint 12 and hip close
The triangle that the triangle that section 11 is formed is formed with hip joint 11, knee joint 13 and vola 6 is similar triangles；It is parallel short
Connecting rod 4 be arranged in parallel with shank 9, and parallel long connecting rod 5 be arranged in parallel with thigh 8, hip joint 11, the first pin joint 10 and vola 6
3 points of center is the same as point-blank.The structure of above-mentioned pantograph forms power, position and the speed of the first pin joint 10 and toe 6
Profiling mechanism.It is so designed that, sufficient end motion track can be mapped to hydraulic cylinder parallel connection pin joint according to structural parameters ratio,
Vola power is mapped on the pin joint of hydraulic cylinder according to structural parameters ratio.Other compositions and annexation and specific embodiment party
Formula one is identical.
Embodiment three：As shown in figure 3, present embodiment hip joint 11 includes the first bearing pin 14, the first hexagonal method
Blue face nut 15, the first thrust self-lubricating bearing 16 and the first needle bearing 17, thigh 8 and shoulder blade 2 are rotated by bearing pin 14
Connection, the first needle bearing 17 is sleeved on the first bearing pin 14, and the first bearing pin 14 passes through the first hexagon nut with flange 15 and the
One thrust self-lubricating bearing 16 is locked.It is arranged such, it is simple and compact for structure, it is easy for installation, and the activity of vertical hydraulic cylinder can be vacateed
Intermediate space.Other compositions and annexation are identical with embodiment two.
Embodiment four：As shown in figure 3, the second pin joint of present embodiment 12 includes short connecting rod connecting shaft 19, the
Two needle bearings 22, outer washer 20, the second thrust self-lubricating bearing 18 and hex nut 21, parallel short connecting rod 4 and thigh 8 it
Between be rotatablely connected by short connecting rod connecting shaft 19, the second needle bearing 22 is sleeved in short connecting rod connecting shaft 19, parallel short connecting rod 4
Locked by outer washer 20, the second thrust self-lubricating bearing 18 and hex nut 21.It is arranged such, simple and compact for structure, peace
Dress is convenient, and can vacate the intermediate space of vertical hydraulic cylinder activity.Other compositions and annexation and embodiment two-phase
Together.
Embodiment five：As shown in figure 3, present embodiment knee joint 13 includes the second pivot pin 23, the 3rd needle roller axle
The 26, the 3rd thrust self-lubricating bearing 25 and the second hexagon nut with flange 24 are held, passes through the second pivot pin between thigh 8 and shank 9
23 rotation connections, the 3rd needle bearing 26 are sleeved on the second pivot pin 23, and the second pivot pin 23 passes through the 3rd thrust self-lubricating bearing
25 and second hexagon nut with flange 24 lock.It is so designed that, simple in construction, easy for installation, knee joint large carrying capacity.It is other
Composition and annexation are identical with embodiment two.
Embodiment six：As shown in Figure 4 and Figure 5, present embodiment horizontal hydraulic cylinder 3 and vertical hydraulic cylinder 7 wrap
Include proportional flow control valve 39, valve seat 40, cylinder body 41, displacement transducer shell 42, mounting flange 43, pipe joint 44, hexagon socket head cap screw
45th, displacement transducer 46, piston rod 47, stop washer 48, force snesor 49, force snesor connecting plate 50 and connector, ratio
Flow valve 39 is arranged on by valve seat 40 on the upper surface of cylinder body 41, and pipe joint 44 is located on cylinder body 41, and the end cap of cylinder body 41 leads to
It is affixed to cross hexagon socket head cap screw 45, displacement transducer 46 is arranged on displacement transducer shell 42, and displacement transducer shell 42 passes through
Mounting flange 43 is packed in the side wall of cylinder body 41, and displacement transducer 46 is used for the displacement for measuring hydraulic cylinder piston rod, piston rod
47 one end is arranged in cylinder body 41, and force snesor 49 is arranged on piston rod by stop washer 48 and force snesor connecting plate 50
On 47 other end, force snesor 49 is used to measure the impulsive force on joint leg and ground in the leg motion process of joint, and connector is solid
On force snesor connecting plate 50.It is arranged such, displacement transducer 46 is used for the displacement for measuring hydraulic cylinder piston rod, power sensing
Device 49 is used to measure the impulsive force on joint leg and ground in the leg motion process of joint.Other compositions and annexation and specific implementation
Mode one~five is identical.
Embodiment seven：As shown in Figure 4 and Figure 5, present embodiment connector is oscillating bearing 29 or breeches joint
28, the connector of horizontal hydraulic cylinder 3 is oscillating bearing 29, and the connector of vertical hydraulic cylinder 7 is breeches joint 28, oscillating bearing 29
It is connected to breeches joint 28 by pivot pin at the first pin joint 10.Horizontal hydraulic cylinder 3 and the cylinder head of vertical hydraulic cylinder 7 are hinged to one
Play parallel drive leg link mechanism.Horizontal horizontal hydraulic cylinder 3 and vertical valve control cylinder mode 7 can also be changed to volume servo-type hydraulic pressure
The actuator parallel drive leg link structure of cylinder or other linear drives forms.It is arranged such, makes horizontally and vertically hydraulic pressure
Cylinder can be hinged together parallel drive leg member structure.Other compositions and annexation are identical with embodiment six.
Embodiment eight：As shown in fig. 6, the parallel long connecting rod 5 of present embodiment includes carbon fiber bar 34, upper bar connects
First 30 and bottom knock-off joint 38, top knock-off joint 30 is arranged on the upper end of carbon fiber bar 34, and it is fine that bottom knock-off joint 38 is arranged on carbon
The lower end of bar 34 is tieed up, the first pin joint 10 includes the 3rd bearing pin 27, the 4th thrust self-lubricating bearing 31, the 3rd hexagonal flange spiral shell
Mother 32 and two the 4th needle bearings 33, oscillating bearing 29, breeches joint 28, parallel short connecting rod 4 and top knock-off joint 30 pass through the
Three bearing pins 27 are rotatablely connected, and the 3rd bearing pin 27 is locked by the 4th thrust self-lubricating bearing 31 and the 3rd hexagon nut with flange 24
On top knock-off joint 30, the 4th needle bearing 33 is sleeved on the 3rd bearing pin 27.It is arranged such, makes horizontally and vertically hydraulic cylinder
Cylinder head hinge hole, parallel short connecting rod hinge hole and parallel long rod hinge connection hole can be in a manner of compact, symmetrical and consistent
It is added on pin joint 10.Other compositions and annexation are identical with embodiment seven.
Embodiment nine：As shown in fig. 6, the parallel long connecting rod 5 of present embodiment also includes spherical plain bearing rod end 35, bar
End oscillating bearing 35 is connected with carbon fiber bar 34 by bottom knock-off joint 38, and spherical plain bearing rod end 35 passes through the 4th pin with shank 9
Axle 36 is connected, and the outside of the 4th bearing pin 36 is locked with the 4th hexagon nut with flange 37.It is arranged such, easy to process, installation is simple
Quickly, parallel long connecting rod 5 can avoid articulated joint from crossing positioning phenomenon with pin joint 10 around 36 free activity and can of the 4th bearing pin
Occur, prolonged mechanical bulk lifetime.Other compositions and annexation are identical with embodiment eight.
Embodiment ten：As shown in Figure 4 and Figure 5, present embodiment horizontal hydraulic cylinder 3 and vertical hydraulic cylinder 7 are valve
Draining cylinder pressure or volume servo-type hydraulic cylinder.It is arranged such, it is easy to operate.Other compositions and annexation and embodiment
First, two, three, four, five, seven, eight or nine are identical.
Operation principle：
Due to thigh 8 distinguish with parallel long connecting rod 5, shank 9 with parallel short connecting rod 4 it is parallel.From algebraic approach：It is horizontal and
The first pin joint of vertical hydraulic cylinder 10, hip joint 11, parallel short connecting rod 4 and 12 3 points compositions of the second pin joint of thigh 8
Small triangle is similar to the big triangle of 13 3 points of vola 6, hip joint 11, knee joint compositions.
In motion process, joint leg in parallel of running at a high speed is moved the movement locus controlled algorithm and provide vola 6 by top layer first
Or power output, and use inverse kinematics/inverse dynamics algorithm to resolve, horizontal hydraulic cylinder 3 and vertical hydraulic cylinder 7 is produced corresponding force
Value, horizontal hydraulic cylinder 3 and vertical hydraulic cylinder 7 is driven to produce stretching motion.The movement locus of two hydraulic cylinder cylinder head pin joints passes through
The pantograph configuration that thigh 8, shank 9, parallel short connecting rod 4, parallel long connecting rod 5 are formed amplifies constant multiple, and equally, output is closed
Power is exaggerated chi configuration and reduces constant multiple, so as to reach the purpose of the displacement in control vola 6 and power output.
Claims (10)
1. one kind is used for legged type robot parallel leg structure of running at a high speed, it is characterised in that：The legged type robot parallel leg knot
Structure includes shoulder blade (2), horizontal hydraulic cylinder (3), parallel short connecting rod (4), parallel long connecting rod (5), vola (6), vertical hydraulic cylinder
(7), thigh (8), shank (9) and two joint legs bear a heavy burden and lifting steel plate (1)；
Shoulder blade (2) is monosymmetric frame body, and two joint legs bear a heavy burden symmetrically is packed in shoulder blade with lifting steel plate (1)
(2) on both sides outer wall, the upper end of thigh (8) and the lower hinge of shoulder blade (2), the lower end of thigh (8) is upper with shank (9)
End is be hinged, and vola (6) are packed in the lower end of shank (9), parallel short connecting rod (4) and the upper articulation of thigh (8), parallel short connecting rod
(4) the other end is hinged with the upper end of parallel long connecting rod (5), the lower end of parallel long connecting rod (5) and the upper articulation of shank (9),
Parallel short connecting rod (4), parallel long connecting rod (5), thigh (8) and shank (9) form quadric chain, horizontal hydraulic cylinder (3) installation
It is on shoulder blade (2) and horizontally disposed, the hydraulic stem of horizontal hydraulic cylinder (3) and parallel short connecting rod (4) and parallel long connecting rod (5)
Pin joint connects, and vertical hydraulic cylinder (7) is arranged on shoulder blade (2) and is vertically arranged, and the hydraulic stem of vertical hydraulic cylinder (7) is with putting down
Row short connecting rod (4) connects with the pin joint of parallel long connecting rod (5).
It is 2. according to claim 1 a kind of for legged type robot parallel leg structure of running at a high speed, it is characterised in that：It is parallel
Connected between short connecting rod (4) and parallel long connecting rod (5) by the first pin joint (10), between parallel short connecting rod (4) and thigh (8)
Connected by the second pin joint (12), connected between thigh (8) and shank (9) by knee joint (13), thigh (8) and shoulder blade
(2) connected by hip joint (11), the triangle that the first pin joint (10), the second pin joint (12) and hip joint (11) are formed
The triangle formed with hip joint (11), knee joint (13) and vola (6) is similar triangles；Parallel short connecting rod (4) with it is small
Leg (9) be arranged in parallel, and parallel long connecting rod (5) be arranged in parallel with thigh (8), hip joint (11), the first pin joint (10) and vola
(6) 3 points of center is the same as point-blank.
It is 3. according to claim 2 a kind of for legged type robot parallel leg structure of running at a high speed, it is characterised in that：Hip closes
Saving (11) includes the first bearing pin (14), the first hexagon nut with flange (15), the first thrust self-lubricating bearing (16) and the first rolling
Needle bearing (17), thigh (8) and shoulder blade (2) are rotatablely connected by bearing pin (14), and the first needle bearing (17) is sleeved on first
On bearing pin (14), the first bearing pin (14) is locked by the first hexagon nut with flange (15) and the first thrust self-lubricating bearing (16)
Tightly.
It is 4. according to claim 3 a kind of for legged type robot parallel leg structure of running at a high speed, it is characterised in that：Second
Pin joint (12) includes short connecting rod connecting shaft (19), the second needle bearing (22), the first outer washer (20), the second thrust profit certainly
Plain besring (18) and hex nut (21), rotated and connected by short connecting rod connecting shaft (19) between parallel short connecting rod (4) and thigh (8)
Connect, the second needle bearing (22) is sleeved in short connecting rod connecting shaft (19), and parallel short connecting rod (4) passes through the first outer washer
(20), the second thrust self-lubricating bearing (18) and hex nut (21) locking.
It is 5. according to claim 4 a kind of for legged type robot parallel leg structure of running at a high speed, it is characterised in that：Knee closes
Section (13) includes the second pivot pin (23), the 3rd needle bearing (26), the 3rd thrust self-lubricating bearing (25) and the second hexagonal flange
Face nut (24), it is rotatablely connected between thigh (8) and shank (9) by the second pivot pin (23), the 3rd needle bearing (26) suit
On the second pivot pin (23), the second pivot pin (23) passes through the 3rd thrust self-lubricating bearing (25) and the second hexagon nut with flange
(24) lock.
6. being used for legged type robot parallel leg structure of running at a high speed according to Claims 1 to 5 any claim, it is special
Sign is：Horizontal hydraulic cylinder (3) and vertical hydraulic cylinder (7) include proportional flow control valve (39), valve seat (40), cylinder body (41), position
Displacement sensor shell (42), mounting flange (43), pipe joint (44), hexagon socket head cap screw (45), displacement transducer (46), piston rod
(47), stop washer (48), force snesor (49), force snesor connecting plate (50) and connector, proportional flow control valve (39) pass through
Valve seat (40) is arranged on the upper surface of cylinder body (41), and pipe joint (44) is located on cylinder body (41), and the end cap of cylinder body (41) passes through
Hexagon socket head cap screw (45) is affixed, and displacement transducer (46) is arranged on displacement transducer shell (42), displacement transducer shell
(42) it is packed in by mounting flange (43) in the side wall of cylinder body (41), displacement transducer (46) is used to measure hydraulic cylinder piston rod
Displacement, one end of piston rod (47) is arranged in cylinder body (41), and force snesor (49) passes through stop washer (48) and power sensing
Device connecting plate (50) is arranged on the other end of piston rod (47), and force snesor (49) is used to measure to close in the leg motion process of joint
The impulsive force on leg and ground is saved, connector is packed on force snesor connecting plate (50).
It is 7. according to claim 6 a kind of for legged type robot parallel leg structure of running at a high speed, it is characterised in that：Connection
Head is oscillating bearing (29) or breeches joint (28), and the connector of horizontal hydraulic cylinder (3) is oscillating bearing (29), vertical hydraulic cylinder
(7) connector is breeches joint (28), and oscillating bearing (29) and breeches joint (28) are connected to the first pin joint by pivot pin
(10) place.
It is 8. according to claim 5 a kind of for legged type robot parallel leg structure of running at a high speed, it is characterised in that：It is parallel
Long connecting rod (5) includes carbon fiber bar (34), top knock-off joint (30) and bottom knock-off joint (38), and top knock-off joint (30) is arranged on
The upper end of carbon fiber bar (34), bottom knock-off joint (38) are arranged on the lower end of carbon fiber bar (34), and the first pin joint (10) includes
3rd bearing pin (27), the 4th thrust self-lubricating bearing (31), the 3rd hexagon nut with flange (32) and two the 4th needle bearings
(33), oscillating bearing (29), breeches joint (28), parallel short connecting rod (4) and top knock-off joint (30) are turned by the 3rd bearing pin (27)
Dynamic connection, the 3rd bearing pin (27) are locked at by the 4th thrust self-lubricating bearing (31) and the 3rd hexagon nut with flange (24)
On portion's knock-off joint (30), the 4th needle bearing (33) is sleeved on the 3rd bearing pin (27).
It is 9. according to claim 8 a kind of for legged type robot parallel leg structure of running at a high speed, it is characterised in that：It is parallel
Long connecting rod (5) also includes spherical plain bearing rod end (35), and spherical plain bearing rod end (35) passes through bottom knock-off joint with carbon fiber bar (34)
(38) connect, spherical plain bearing rod end (35) is connected with shank (9) by the 4th bearing pin (36), with the 4th on the outside of the 4th bearing pin (36)
Hexagon nut with flange (37) is locked.
10. one kind according to claim 1,2,3,4,5,7,8 or 9 is used for legged type robot parallel leg knot of running at a high speed
Structure, it is characterised in that：Horizontal hydraulic cylinder (3) and vertical hydraulic cylinder (7) are valve control cylinder mode or volume servo-type hydraulic cylinder.
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| CN201510960591.1A CN105480322B (en) | 2015-12-17 | 2015-12-17 | One kind is used for legged type robot parallel leg structure of running at a high speed |
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| CN201510960591.1A CN105480322B (en) | 2015-12-17 | 2015-12-17 | One kind is used for legged type robot parallel leg structure of running at a high speed |
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| CN105480322B true CN105480322B (en) | 2018-01-30 |
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| CN106882286B (en) * | 2017-03-14 | 2023-04-07 | 北京工业大学 | Hydraulic drive formula robot leg foot structure |
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| JP5976401B2 (en) * | 2012-05-31 | 2016-08-23 | Thk株式会社 | Lower leg structure of legged robot and legged robot |
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| CN101746431A (en) * | 2010-02-03 | 2010-06-23 | 常爱军 | Four-foot walking robot through rigidly transmitting driving power by internal-combustion engine |
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