CN109383660A - A kind of hydraulic-driven machine people hip joint cantilever design - Google Patents
A kind of hydraulic-driven machine people hip joint cantilever design Download PDFInfo
- Publication number
- CN109383660A CN109383660A CN201710692614.4A CN201710692614A CN109383660A CN 109383660 A CN109383660 A CN 109383660A CN 201710692614 A CN201710692614 A CN 201710692614A CN 109383660 A CN109383660 A CN 109383660A
- Authority
- CN
- China
- Prior art keywords
- shell
- hip joint
- hydraulic
- thigh
- shank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000004394 hip joint Anatomy 0.000 title claims abstract description 69
- 210000000689 upper leg Anatomy 0.000 claims abstract description 46
- 210000001624 hip Anatomy 0.000 claims abstract description 19
- 210000002414 leg Anatomy 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of hydraulic-driven machine people hip joint cantilever designs, belong to robotic technology field, including servo hydraulic cylinder, robot waist, hydraulic stem, hip joint, thigh shell, shank shell and foot's shell, the upper end of servo hydraulic cylinder is fixed on robot waist, the lower end of servo hydraulic cylinder is connect with hydraulic stem, and hydraulic stem is connect with hip joint, hip joint and thigh cage connection, thigh shell and shank cage connection, shank shell and foot's cage connection.The present invention converts the linear drives of hydraulic servo cylinder to by cantilever design the rotation of hip joint, improve the flexibility ratio of hip joint, the cantilever design also significantly improves the lateral hunting range in leg simultaneously, improves laterally stride ability and the anti-external disturbance ability of robot.
Description
Technical field
The present invention relates to a kind of hip joint cantilever designs, more particularly to a kind of hydraulic-driven machine people hip joint cantilever knot
Structure belongs to robotic technology field.
Background technique
The swing of biped robot's hip joint is the key that guarantee its stabilized walking, and hip joint freedom degree is for biped machine
The Ability of Resisting Disturbance and steering capability of people plays conclusive effect, and existing biped robot mostly uses greatly stepper motor, servo
The driving such as motor, motor drives the rotation of leg by output torque as a kind of active cradle head, but motor exists
The disadvantages of output torque is small, and load capacity is limited, especially for the swing of hip joint, motor can not load whole leg significantly
Leap, can be good at making up the disadvantage of motor load deficiency using hydraulic technique.
Hydraulic-driven is a kind of linear actuating device, and the swing of Yao Shixian hip joint, conventional method is to consolidate cylinder ends
It is scheduled on waist, hydraulic rod end is fixed on thigh, by the swing of the flexible promotion robot leg of hydraulic stem, due to hydraulic drive
The travel limit of dynamic device, conventional method are only able to achieve the swing of biped robot leg by a small margin, and it is double to be unable to satisfy robot
The demand that foot is significantly laterally taken a step also can not just resist extraneous large disturbances.
Summary of the invention
The main object of the present invention is to provide for a kind of hydraulic-driven machine people hip joint cantilever design, realizes biped machine
Device people leg significantly laterally strides.
The purpose of the present invention can reach by using following technical solution:
A kind of hydraulic-driven machine people hip joint cantilever design, including servo hydraulic cylinder, robot waist, hydraulic stem, hip
Joint, thigh shell, shank shell and foot's shell, the upper end of the servo hydraulic cylinder is fixed on robot waist, described
The lower end of servo hydraulic cylinder is connect with the hydraulic stem, and the servo hydraulic cylinder is for driving the hydraulic stem, the hydraulic stem
It is connect with the hip joint, the hydraulic stem is for pushing the hip joint, the hip joint and the thigh cage connection, institute
Hip joint is stated to be used to drive the thigh shell that lateral deflection, the thigh shell and the shank cage connection occurs, it is described
The lateral deflection of thigh shell drives the shank shell that lateral deflection occurs, and the shank shell and foot's shell connect
It connects, the lateral deflection of the shank shell drives foot's shell that lateral deflection occurs.
Preferable scheme is that being equipped with connection driving in the thigh shell, the shank shell and foot's shell
Mechanism.
In any of the above-described scheme preferably, the robot waist, institute are fixed in the upper end of the servo hydraulic cylinder
The upper end for stating servo hydraulic cylinder is rotated around the robot waist.
In any of the above-described scheme preferably, pass through the first axis connection, institute between the hydraulic stem and the hip joint
Stating hydraulic stem pushes the hip joint to rotate around the first axle.
In any of the above-described scheme preferably, the hip joint and the thigh shell are described by the second axis connection
Hip joint rotates and drives the thigh shell lateral deflection by second axis.
In any of the above-described scheme preferably, the hip joint passes through the institute in second axis and the thigh shell
Connection driving mechanism connection is stated, the hip joint drives the connection driving machine in the thigh shell by second axis
Structure lateral deflection.
In any of the above-described scheme preferably, connected between the thigh shell and the shank shell by third axis
It connects, the thigh shell lateral deflection simultaneously drives the shank shell that lateral deflection occurs by the third axis.
It is preferably in any of the above-described scheme, outside the connection driving mechanism and the shank in the thigh shell
By the third axis connection, the connection driving mechanism in the thigh shell passes through for the connection driving mechanism in shell
The third axis drives the connection driving mechanism in the shank shell that lateral deflection occurs.
In any of the above-described scheme preferably, connected between the shank shell and foot's shell by the 4th axis
It connects, the shank shell lateral deflection simultaneously drives foot's shell that lateral deflection occurs by the 4th axis.
In any of the above-described scheme preferably, in the connection driving mechanism in the shank shell and foot's shell
Connection driving mechanism by the 4th axis connection, the connection driving mechanism in the shank shell passes through the 4th axis band
Lateral deflection occurs for the connection driving mechanism moved in foot's shell.
Advantageous effects of the invention: hydraulic-driven machine people hip joint cantilever design according to the invention, the present invention
Hydraulic-driven machine people's hip joint cantilever design of offer, converts hip for the linear drives of hydraulic servo cylinder by cantilever design
The rotation in joint improves the flexibility ratio of hip joint, while the cantilever design also significantly improves the lateral hunting range in leg,
Improve laterally stride ability and the anti-external disturbance ability of robot.
Detailed description of the invention
Fig. 1 is the perspective view of a preferred embodiment of hydraulic-driven machine people hip joint cantilever design according to the invention；
Fig. 2 is the left view of a preferred embodiment of hydraulic-driven machine people hip joint cantilever design according to the invention,
The embodiment can be embodiment identical with Fig. 1, be also possible to the embodiment different from Fig. 1；
Fig. 3 is the rearview of a preferred embodiment of hydraulic-driven machine people hip joint cantilever design according to the invention,
The embodiment can be embodiment identical with Fig. 1 or Fig. 2, be also possible to the embodiment different from Fig. 1 or Fig. 2.
In figure: 1- servo hydraulic cylinder, 2- robot waist, 3- hydraulic stem, 4- hip joint, 5- first axle, the second axis of 6-, 7-
Thigh shell, 8- third axis, 9- shank shell, the 4th axis of 10-, 11- foot shell.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As shown in Figure 1, Figure 2 and Figure 3, a kind of hydraulic-driven machine people hip joint cantilever design provided in this embodiment, packet
Include servo hydraulic cylinder 1, robot waist 2, hydraulic stem 3, hip joint 4, thigh shell 7, shank shell 9 and foot's shell 11, institute
The upper end for stating servo hydraulic cylinder 1 is fixed on robot waist 2, and the lower end of the servo hydraulic cylinder 1 and the hydraulic stem 3 connect
It connects, the servo hydraulic cylinder 1 is for driving the hydraulic stem 3, and the hydraulic stem 3 is connect with the hip joint 4, the hydraulic stem
3 for pushing the hip joint 4, and the hip joint 4 is connect with the thigh shell 7, and the hip joint 4 is described big for driving
Lateral deflection occurs for leg shell 7, and the thigh shell 7 is connect with the shank shell 9, the lateral deflection of the thigh shell 7
Drive the shank shell 9 that lateral deflection occurs, the shank shell 9 is connect with foot's shell 11, the shank shell 9
Lateral deflection drive foot's shell 11 that lateral deflection occurs.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the thigh shell 7, the shank shell 9
With connection driving mechanism is equipped in foot's shell 11, the robot waist is fixed in the upper end of the servo hydraulic cylinder 1
The upper end in portion 2, the servo hydraulic cylinder 1 is rotated around the robot waist 2, is led between the hydraulic stem 3 and the hip joint 4
The connection of first axle 5 is crossed, the hydraulic stem 3 pushes the hip joint 4 to rotate around the first axle 5.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the hip joint 4 and the thigh shell 7 are logical
The connection of the second axis 6 is crossed, the hip joint 4 rotates and drives 7 lateral deflection of thigh shell by second axis 6, described
Hip joint 4 is connect by second axis 6 with the connection driving mechanism in the thigh shell 7, and the hip joint 4 passes through
Second axis 6 drives the connection driving mechanism in the thigh shell 7 laterally to deflect.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the thigh shell 7 and the shank shell 9
Between connected by third axis 8,7 lateral deflection of thigh shell simultaneously drives the shank shell 9 hair by the third axis 8
Lateral deflection is given birth to, the connection driving machine in the connection driving mechanism and the shank shell 9 in the thigh shell 7
Structure is connected by the third axis 8, and the connection driving mechanism in the thigh shell 7 drives institute by the third axis 8
Lateral deflection occurs for the connection driving mechanism stated in shank shell 9.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the shank shell 9 and foot's shell
It is connected between 11 by the 4th axis 10,9 lateral deflection of shank shell is simultaneously driven outside the foot by the 4th axis 10
Lateral deflection occurs for shell 11, the connection driving machine in connection driving mechanism and foot's shell 11 in the shank shell 9
Structure is connected by the 4th axis 10, and the connection driving mechanism in the shank shell 9 is driven described by the 4th axis 10
Lateral deflection occurs for the connection driving mechanism in foot's shell 11.
In conclusion in the present embodiment, according to hydraulic-driven machine people's hip joint cantilever design of the present embodiment, this reality
The hydraulic-driven machine people's hip joint cantilever design for applying example offer is converted the linear drives of hydraulic servo cylinder by cantilever design
For the rotation of hip joint, the flexibility ratio of hip joint is improved, while the cantilever design also significantly improves leg sideshake
Range improves laterally stride ability and the anti-external disturbance ability of robot.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. a kind of hydraulic-driven machine people hip joint cantilever design, it is characterised in that: including servo hydraulic cylinder (1), robot waist
Portion (2), hydraulic stem (3), hip joint (4), thigh shell (7), shank shell (9) and foot's shell (11), the servo-hydraulic
The upper end of cylinder (1) is fixed on robot waist (2), and the lower end of the servo hydraulic cylinder (1) is connect with the hydraulic stem (3),
For driving the hydraulic stem (3), the hydraulic stem (3) connect the servo hydraulic cylinder (1) with the hip joint (4), described
Hydraulic stem (3) is for pushing the hip joint (4), and the hip joint (4) connect with the thigh shell (7), the hip joint
(4) for driving the thigh shell (7) that lateral deflection occurs, the thigh shell (7) connect with the shank shell (9),
The lateral deflection of the thigh shell (7) drives the shank shell (9) that lateral deflection, the shank shell (9) and institute occurs
Foot's shell (11) connection is stated, the lateral deflection of the shank shell (9) drives foot's shell (11) that lateral deflection occurs.
2. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 1, it is characterised in that: the thigh
Connection driving mechanism is equipped in shell (7), the shank shell (9) and foot's shell (11).
3. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 1, it is characterised in that: the servo
The robot waist (2) is fixed in the upper end of hydraulic cylinder (1), and the upper end of the servo hydraulic cylinder (1) is around the robot waist
Portion (2) rotation.
4. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 1, it is characterised in that: described hydraulic
It is connect between bar (3) and the hip joint (4) by first axle (5), the hydraulic stem (3) pushes the hip joint (4) around institute
First axle (5) is stated to rotate.
5. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 2, it is characterised in that: the hip closes
Section (4) is connect with the thigh shell (7) by the second axis (6), and the hip joint (4) rotates and passes through second axis (6)
Drive thigh shell (7) lateral deflection.
6. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 5, it is characterised in that: the hip closes
Section (4) is connect by second axis (6) with the connection driving mechanism in the thigh shell (7), the hip joint (4)
The connection driving mechanism in the thigh shell (7) is driven laterally to deflect by second axis (6).
7. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 2, it is characterised in that: the thigh
It is connect between shell (7) and the shank shell (9) by third axis (8), thigh shell (7) lateral deflection simultaneously passes through institute
Stating third axis (8) drives the shank shell (9) that lateral deflection occurs.
8. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 7, it is characterised in that: the thigh
The connection driving mechanism in the connection driving mechanism and the shank shell (9) in shell (7) passes through the third
Axis (8) connects, and the connection driving mechanism in the thigh shell (7) is driven outside the shank by the third axis (8)
Lateral deflection occurs for the connection driving mechanism in shell (9).
9. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 2, it is characterised in that: the shank
It is connect between shell (9) and foot's shell (11) by the 4th axis (10), shank shell (9) lateral deflection simultaneously passes through
4th axis (10) drives foot's shell (11) that lateral deflection occurs.
10. a kind of hydraulic-driven machine people hip joint cantilever design according to claim 9, it is characterised in that: described small
The connection driving mechanism in connection driving mechanism and foot's shell (11) in leg shell (9) passes through the 4th axis (10)
It connects, the connection driving mechanism in the shank shell (9) is driven in foot's shell (11) by the 4th axis (10)
Connection driving mechanism occur lateral deflection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710692614.4A CN109383660A (en) | 2017-08-14 | 2017-08-14 | A kind of hydraulic-driven machine people hip joint cantilever design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710692614.4A CN109383660A (en) | 2017-08-14 | 2017-08-14 | A kind of hydraulic-driven machine people hip joint cantilever design |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109383660A true CN109383660A (en) | 2019-02-26 |
Family
ID=65415644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710692614.4A Pending CN109383660A (en) | 2017-08-14 | 2017-08-14 | A kind of hydraulic-driven machine people hip joint cantilever design |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109383660A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986579A (en) * | 2019-04-28 | 2019-07-09 | 山东大学 | Multi-mode moves imitative primate robot |
| WO2021004179A1 (en) * | 2019-07-11 | 2021-01-14 | 北京理工大学 | Composite lower leg structure, and humanoid robot comprising same |
| CN113022734A (en) * | 2021-03-08 | 2021-06-25 | 常州龙源智能机器人科技有限公司 | Running gear and bionic elephant robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582714A (en) * | 2012-01-31 | 2012-07-18 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| CN103860358A (en) * | 2014-02-25 | 2014-06-18 | 北京航空航天大学 | Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot |
| CN104627265A (en) * | 2015-01-13 | 2015-05-20 | 哈尔滨工业大学 | Biped robot lower limb mechanism driven hydraulically |
| CN105644650A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Pneumatic-electric combined driving flexible biped robot |
-
2017
- 2017-08-14 CN CN201710692614.4A patent/CN109383660A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582714A (en) * | 2012-01-31 | 2012-07-18 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| CN103860358A (en) * | 2014-02-25 | 2014-06-18 | 北京航空航天大学 | Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot |
| CN104627265A (en) * | 2015-01-13 | 2015-05-20 | 哈尔滨工业大学 | Biped robot lower limb mechanism driven hydraulically |
| CN105644650A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Pneumatic-electric combined driving flexible biped robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986579A (en) * | 2019-04-28 | 2019-07-09 | 山东大学 | Multi-mode moves imitative primate robot |
| CN109986579B (en) * | 2019-04-28 | 2021-06-15 | 山东大学 | Multi-mode motion primate-imitating robot |
| WO2021004179A1 (en) * | 2019-07-11 | 2021-01-14 | 北京理工大学 | Composite lower leg structure, and humanoid robot comprising same |
| CN113022734A (en) * | 2021-03-08 | 2021-06-25 | 常州龙源智能机器人科技有限公司 | Running gear and bionic elephant robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104349871B (en) | The lower limb structure and legged mobile robot of legged mobile robot | |
| CN109383660A (en) | A kind of hydraulic-driven machine people hip joint cantilever design | |
| EP2343162B1 (en) | Robot hand and robot having the same | |
| CN105480321B (en) | The small inertia bionic leg of arms robot Three Degree Of Freedom being driven based on silk | |
| CN105965514B (en) | Bionical hydraulic pressure four-footed machine dinosaur structure | |
| CN108725612A (en) | A kind of multiple degrees of freedom multi-function robot | |
| CN105480322B (en) | One kind is used for legged type robot parallel leg structure of running at a high speed | |
| CN102107688B (en) | Dual-leg travelling mechanism with adjustable joint length | |
| CN105667630A (en) | Robot leg walking mechanism and four-leg robot of robot leg walking mechanism | |
| CN106725855B (en) | A kind of mixed connection six degree of freedom minimally invasive surgical operation robot | |
| CN102284959A (en) | Wrist for two-degree-of-freedom industrial robot | |
| CN105216901B (en) | A kind of four-degree-of-freedom leg mechanism in parallel of walking robot | |
| CN209064225U (en) | A kind of sufficient integral type robot leg structure of wheel | |
| CN206913146U (en) | A kind of silk traction variation rigidity mechanism based on mechanical caging | |
| CN103831839A (en) | Robot bionic wrist joint and structure optimization method of robot bionic wrist joint | |
| CN105380749B (en) | A kind of wire rope gearing omnidirectional mechanism for surgical drill | |
| CN105774939A (en) | Novel semi-passive quadruped robot turning structure and control method thereof | |
| CN109278885A (en) | A kind of two-part rolls quadruped robot | |
| CN105856218B (en) | A kind of apery type planar multiple-articulation robot based on belt transmission | |
| JP2009056567A5 (en) | ||
| EP1334807A1 (en) | A double spherical robot joint | |
| CN107049498A (en) | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot | |
| CN101811302A (en) | Five-finger independently-driven mechanical artificial hand | |
| CN207257818U (en) | A kind of robot multi-link lever suspension fork wheel and single hop crawler type walking mechanism | |
| CN108312127A (en) | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190226 |