CN113619706A - Four-joint hydraulic drive type robot leg - Google Patents
Four-joint hydraulic drive type robot leg Download PDFInfo
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- CN113619706A CN113619706A CN202111106833.2A CN202111106833A CN113619706A CN 113619706 A CN113619706 A CN 113619706A CN 202111106833 A CN202111106833 A CN 202111106833A CN 113619706 A CN113619706 A CN 113619706A
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- thigh
- joint
- shank
- bearing
- hydraulic cylinder
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 73
- 210000001699 lower leg Anatomy 0.000 claims abstract description 65
- 210000004394 hip joint Anatomy 0.000 claims abstract description 27
- 210000002414 leg Anatomy 0.000 claims abstract description 26
- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims abstract description 7
- 230000035939 shock Effects 0.000 claims description 2
- 241000238631 Hexapoda Species 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
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Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a four-joint hydraulic drive type robot leg, and aims to solve the problems that an existing hydraulic drive type robot is limited in movement capacity and poor in terrain adaptability. The structure of the hip joint component comprises a hip joint component, a base joint component, a thigh component, a shank component, a thigh hydraulic cylinder and a shank hydraulic cylinder; the hip joint assembly consists of a horizontal swinging hydraulic motor, a flange output shaft, a coupling, a flat key, a main shaft, a hip joint bearing, a bearing seat, a machine body frame, a thrust bearing and a rotating seat; the base joint component consists of a vertical swing hydraulic motor, a staggered base joint, a base joint trunnion, a base joint bearing and a base joint hydraulic cylinder lug seat; the thigh assembly consists of a thigh, a thigh hydraulic cylinder ear seat, a thigh trunnion and a thigh bearing; the shank component consists of a shank upper shell, a shank lower shell, a linear bearing, a damping spring, a force sensor, a shank trunk and a foot end; the invention has the advantages of flexible movement, capability of completing complex movement and greatly enhanced terrain adaptability, and simultaneously provides a novel reliable high-heavy-load robot movement joint design, thereby having certain application prospect.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-joint hydraulic drive type robot leg and a robot.
Background
The six-legged mobile robot is a legged mobile robot simulating the motion mode of a multi-legged animal, the legs of the six-legged mobile robot have more degrees of freedom, an optimal foot drop point can be selected for supporting, the gait is rich, the stability is high, the robot body is suspended in the air, and the obstacle crossing and avoiding capability is high. Compared with the traditional wheeled and tracked mobile robot, the hexapod robot has lower moving speed, can realize non-contact obstacle avoidance, obstacle crossing, movement on steps and uneven ground by utilizing discrete ground support, and has extremely strong adaptability to complex terrains and unpredictable environmental changes.
The robot is driven by electric drive, pneumatic drive or hydraulic drive. Heavy load robot power demand is big, and power density is high, mostly is hydraulic drive liquid, adopts hydraulic drive as the drive mode of six-legged robot to enable the robot to have better bearing capacity. With the development of the basic theory and the related technology of the hexapod robot, the hexapod robot can be applied more and more in various fields of national economy and national defense construction.
At present, most of hexapod robots are mainly of a three-joint structure, have the problems of too mechanical walking, incapability of flexibly finishing complex motion, poor terrain adaptability and the like, have relatively primary bionic degree, and do not excavate the motion potential of the legged robot. Therefore, a four-joint hydraulically-driven robot leg structure is proposed to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems that the robot bearing capacity is improved, walking in a hexapod robot is too mechanical, complex movement cannot be flexibly completed, the terrain adaptability is poor and the like, and provides a four-joint hydraulic drive type robot leg. Compared with the existing common driving structure style, the structure style is based on the power source of the hydraulic system, the terrain adaptability of the robot and the flexibility of the robot movement can be greatly improved while the bearing capacity is improved, and the leg structure model has obvious improvement significance.
The technical scheme of the invention is as follows:
the invention discloses a four-joint hydraulic drive type robot leg, which is characterized in that: the hip joint assembly comprises a hip joint assembly, a base joint assembly, a thigh assembly, a shank assembly, a thigh hydraulic cylinder and a shank hydraulic cylinder;
the hip joint assembly consists of a horizontal swinging hydraulic motor, a flange output shaft, a coupling, a flat key, a main shaft, a hip joint bearing, a bearing seat, a machine body frame, a thrust bearing and a rotating seat; the horizontal hydraulic swing motor is connected with the machine body frame through threads; the flange output shaft is fixedly connected with the horizontal swinging hydraulic motor; the hip joint bearing block is installed in a matching way; the rotating seat is fixed on the main shaft through a locking nut; the flange output shaft, the coupling and the main shaft are connected in sequence; the base section can be driven to rotate by a horizontal hydraulic swing motor through a flange output shaft, a coupling, a main shaft and a rotating seat;
the base joint assembly consists of a vertical swing hydraulic motor, a staggered base joint, a base joint trunnion, a base joint bearing and a base joint hydraulic cylinder lug seat; the vertical swing hydraulic motor is connected with the rotating seat through threads; the staggered base joint is locked with the vertical swing hydraulic motor through a threaded pull rod; the base joint bearing and the base joint hydraulic cylinder lug seat are connected with the staggered base joint through threads, and the base joint trunnion is matched with the base joint bearing; the thigh hydraulic cylinder is fixed on the lug seat of the base section hydraulic cylinder so as to drive the thigh to rotate around the base section trunnion on the base section;
the thigh assembly consists of a thigh, a thigh hydraulic cylinder ear seat, a thigh trunnion and a thigh bearing; the thigh hydraulic cylinder lug seat and the thigh bearing are matched and installed with a thigh through threads, and the thigh trunnion is connected with the thigh bearing; the shank hydraulic cylinder is fixed above the thigh support pin shaft, so that a shank rotates around a thigh trunnion on a thigh;
the shank component consists of a shank upper shell, a shank lower shell, a linear bearing, a damping spring, a force sensor, a shank trunk and a foot end; the upper crus shell is connected with the lower crus shell through threads; the linear bearing is connected with the lower shank shell; the damping spring and the force sensor are arranged in the lower shell of the shank; the shank trunk is arranged inside the linear bearing; the foot end is matched with the shank body;
in the above scheme, the coupling on the hip joint assembly is an elastic connector; the force sensor on the shank component adopts a six-dimensional force sensor; the foot end of the shank component is provided with a rubber shock pad;
in the scheme, the swing amplitude of the horizontal swing hydraulic motor mechanism and the vertical swing hydraulic motor can reach plus or minus 90 degrees;
in the scheme, the hip joint bearing, the base joint bearing and the thigh bearing are all crossed roller bearings;
in the scheme, the robot also comprises a support pin shaft arranged on a thigh, and the thigh hydraulic cylinder and the shank hydraulic cylinder are respectively connected with a big leg of the robot through the support pin shaft;
in the scheme, the rotation direction of the hip joint component is vertical to the placement direction of the base joint, and the rotation direction of the thigh component is parallel to the rotation direction of the shank component;
in the scheme, the device also comprises a control part, wherein the control part is one or more of an electromagnetic proportional reversing valve and a servo valve, and is respectively connected with a horizontal swing hydraulic motor, a vertical hydraulic swing motor, a thigh hydraulic cylinder and a shank hydraulic cylinder;
in the scheme, the control part and the horizontal swing hydraulic motor, the vertical swing hydraulic motor, the thigh hydraulic cylinder and the shank hydraulic cylinder are driven integrally;
in the scheme, the number of the control parts is four, and the control parts and the horizontal swing hydraulic motor, the vertical hydraulic swing motor, the thigh hydraulic cylinder and the shank hydraulic cylinder are driven in a split mode.
The working principle of the invention is as follows: according to the workpiece characteristics of the hydraulic motor, the torque output by the hydraulic motor arranged on the frame of the machine body is connected through the flange output shaft, the coupler, the main shaft and the rotating seat, so that the base joint assembly is driven to rotate; the torque output by the hydraulic motor arranged on the base joint component drives the staggered base joint to swing, so that the whole thigh and the shank swing left and right, the hydraulic cylinder arranged on the base joint drives the thigh to move, and the hydraulic cylinder arranged on the thigh drives the shank to move, thereby meeting the requirement of flexible extension of the joint at multiple angles; the whole leg part meets the planning requirement of the joint movement path under the control of a hydraulic system, and meanwhile, the movement posture of the whole robot is enriched by the rotation movement of a hydraulic motor; the motion synthesized by the two hydraulic motors and the two hydraulic cylinders can realize the motion of the foot end of the robot, and the multi-angle and multi-posture space motion design of the robot is realized.
The invention has the beneficial effects that: the legs of the hydraulic hexapod robot are driven by hydraulic pressure, so that the bearing capacity of the robot can be greatly improved, meanwhile, the structure with four degrees of freedom can enable the hexapod robot to flexibly move and complete complex movement, the terrain adaptability of the hexapod robot is greatly enhanced, a novel and reliable high-heavy-load robot movement joint design is provided, and the invention and the design basis are provided for the subsequent multi-joint flexibility of the robot.
Drawings
FIG. 1 is an overall outline view of a four-joint hydraulically driven robot leg;
FIG. 2 is an alignment cross-sectional view of a four-joint hydraulically driven robot leg hip joint assembly;
fig. 3 is an aligned cross-sectional view of a leg of a four-joint hydraulically driven robot leg.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In this embodiment, a four-joint hydraulic drive type robot leg is shown in fig. 1, 2 and 3, and includes a hip joint assembly, a base joint assembly, a thigh assembly, a shank assembly, a thigh hydraulic cylinder and a shank hydraulic cylinder;
in the structure, the hip joint component consists of a horizontal swinging hydraulic motor, a flange output shaft, a coupler, a flat key, a main shaft, a hip joint bearing, a bearing seat, a machine body frame, a thrust bearing and a rotating seat; the horizontal hydraulic swing motor is connected with the machine body frame through threads; the flange output shaft is fixedly connected with the horizontal swinging hydraulic motor; the hip joint bearing block is installed in a matching way; the rotating seat is fixed on the main shaft through a locking nut; the flange output shaft, the coupling and the main shaft are connected in sequence;
in the structure, the base joint component consists of a vertical swing hydraulic motor, a staggered base joint, a base joint trunnion, a base joint bearing and a base joint hydraulic cylinder trunnion seat; the vertical swing hydraulic motor is connected with the rotating seat through threads; the staggered base joint is locked with the vertical swing hydraulic motor through a pull rod; the base joint bearing and the base joint hydraulic cylinder lug seat are connected with the staggered base joint through threads, and the base joint trunnion is connected with the base joint bearing;
in the structure, a thigh component consists of a thigh, a thigh hydraulic cylinder ear seat, a thigh trunnion and a thigh bearing; the thigh hydraulic cylinder lug seat and the thigh bearing are matched and installed with a thigh through threads, and the thigh trunnion is connected with the thigh bearing;
in the structure, the shank component consists of a shank upper shell, a shank lower shell, a linear bearing, a damping spring, a force sensor, a shank trunk and a foot end; the upper crus shell is connected with the lower crus shell through threads; the linear bearing is connected with the lower shank shell; the damping spring and the force sensor are arranged in the lower shell of the shank; the shank trunk is arranged inside the linear bearing; the foot end is matched with the shank body;
in the embodiment, the structure is composed of four parts, namely a hip joint component, a base joint component, a thigh component and a shank component, and has four degrees of freedom, wherein the hip joint component can rotate around the axis of a horizontal swinging hydraulic motor, the base joint component can rotate around the axis of a vertical swinging hydraulic motor, the thigh component can swing around a base joint trunnion, and the shank component can swing around a thigh trunnion, so that the robot can realize functions of straight running, turning, obstacle crossing and the like;
in this embodiment, the hydraulic swing device further includes a servo valve, and the servo valve is respectively connected to the horizontal swing hydraulic motor, the vertical hydraulic swing motor, the thigh hydraulic cylinder, and the shank hydraulic cylinder. The leg is driven by a horizontal swing hydraulic motor, a vertical hydraulic swing motor, a thigh hydraulic cylinder and a shank hydraulic cylinder, and the rotation of the swing hydraulic motor and the displacement of the hydraulic cylinders are controlled by a servo valve to realize the gait of the robot;
in the embodiment, the robot also comprises a support pin shaft arranged on the thigh, and the thigh hydraulic cylinder and the shank hydraulic cylinder are respectively connected with the big leg of the robot through the support pin shaft;
the invention is not the best known technology.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. The utility model provides a four joint hydraulic drive formula robot legs which characterized in that: the hip joint assembly comprises a hip joint assembly, a base joint assembly, a thigh assembly, a shank assembly, a thigh hydraulic cylinder and a shank hydraulic cylinder;
the hip joint assembly consists of a horizontal swinging hydraulic motor (1), a flange output shaft (2), a coupler (3), a flat key (4), a main shaft (5), a hip joint bearing (6), a bearing seat (7), a machine body frame (8), a thrust bearing (9) and a rotating seat (10); the horizontal hydraulic swing motor (1) is connected with the machine body frame (8) through threads; the flange output shaft (2) is fixedly connected with the horizontal swinging hydraulic motor (1); a hip joint bearing (6) and a bearing seat (7) are installed in a matching way; the rotating seat (10) is fixed on the main shaft (5) through a locking nut; the flange output shaft (2), the coupling (3) and the main shaft (5) are sequentially arranged;
the base joint component consists of a vertical swing hydraulic motor (11), a staggered base joint (12), a base joint trunnion (13), a base joint bearing (14) and a base joint hydraulic cylinder lug seat (15); the vertical swing hydraulic motor (11) is connected with the rotating seat (10) through threads; the staggered base joint (12) is locked with the vertical swing hydraulic motor (11) through a pull rod; the base joint bearing (14) and the hydraulic cylinder lug seat (15) are connected with the staggered base joint (12) through threads, and the base joint trunnion (13) is matched with the base joint bearing (14);
the thigh assembly consists of a thigh (16), a thigh hydraulic cylinder ear seat (17), a thigh trunnion (18) and a thigh bearing (19); the thigh hydraulic cylinder ear seat (17) and the thigh bearing (18) are installed in a matching way with the thigh (16) through threads, and the thigh trunnion (18) is installed in a matching way with the thigh bearing (19);
the shank component consists of a shank upper shell (20), a shank lower shell (21), a linear bearing (22), a damping spring (23), a force sensor (24), a shank trunk (25) and a foot end (26); the upper crus shell (20) is connected with the lower crus shell (21) through threads; the linear bearing (22) is connected with the lower shell (21) of the shank; the damping spring (23) and the force sensor (24) are arranged in the lower shell (21) of the lower leg; the shank trunk (25) is arranged inside the linear bearing (22); the foot end (26) is in interference fit with the shank.
2. The four-joint hydraulically driven robot leg of claim 1, wherein: the coupler (3) on the hip joint assembly is an elastic coupler; a force sensor (24) on the shank component adopts a six-dimensional force sensor; the foot end (26) of the lower leg assembly is provided with a rubber shock pad.
3. The four-joint hydraulically driven robot leg of claim 1, wherein: the swing amplitude of the horizontal swing hydraulic motor (1) and the vertical swing hydraulic motor (11) can reach plus or minus 90 degrees.
4. The four-joint hydraulically driven robot leg of claim 1, wherein: the hip joint bearing, the base joint bearing and the thigh bearing are crossed roller bearings.
5. The four-joint hydraulically driven robot leg of claim 1, wherein: the robot is characterized by further comprising a supporting body pin shaft arranged on the thigh, and the thigh hydraulic cylinder and the shank hydraulic cylinder are connected with the robot thigh through the supporting body pin shaft respectively.
6. The four-joint hydraulically driven robot leg according to any one of claims 1 to 7, wherein: the rotation direction of the hip joint component is perpendicular to the placement direction of the base joint, and the rotation direction of the thigh component is parallel to that of the shank component.
7. The four-joint hydraulically driven robot leg according to any one of claims 1 to 7, wherein: the control part is one or more of an electromagnetic proportional reversing valve and a servo valve, and is respectively connected with the horizontal swing hydraulic motor (1), the vertical hydraulic swing motor (11), the thigh hydraulic cylinder and the shank hydraulic cylinder.
8. The four-joint hydraulically driven robot leg according to any one of claims 1 to 7, wherein: the control part and the horizontal swing hydraulic motor (1), the vertical swing hydraulic motor (11), the thigh hydraulic cylinder and the shank hydraulic cylinder are driven integrally.
9. The four-joint hydraulically driven robot leg according to any one of claims 1 to 7, wherein: the number of the control parts is four, and the control parts and the horizontal swing hydraulic motor, the vertical hydraulic swing motor, the thigh hydraulic cylinder and the shank hydraulic cylinder are driven in a split mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106833.2A CN113619706A (en) | 2021-09-22 | 2021-09-22 | Four-joint hydraulic drive type robot leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106833.2A CN113619706A (en) | 2021-09-22 | 2021-09-22 | Four-joint hydraulic drive type robot leg |
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| Publication Number | Publication Date |
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| CN113619706A true CN113619706A (en) | 2021-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111106833.2A Pending CN113619706A (en) | 2021-09-22 | 2021-09-22 | Four-joint hydraulic drive type robot leg |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844656A (en) * | 2021-11-10 | 2021-12-28 | 成都理工大学 | Three-groove steering engine driving gear rack type unmanned aerial vehicle-mounted continuous dispenser |
| CN113998028A (en) * | 2021-12-22 | 2022-02-01 | 成都理工大学 | Two-degree-of-freedom base joint structure of foot type robot |
| CN115320744A (en) * | 2022-10-17 | 2022-11-11 | 成都理工大学 | Four-joint hydraulic foot type robot leg |
| CN116118903A (en) * | 2023-04-14 | 2023-05-16 | 成都理工大学 | Multi-degree-of-freedom base joint structure of foot robot |
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| CN204110201U (en) * | 2014-10-15 | 2015-01-21 | 吉林大学 | A kind of multiple degree of freedom running gear for six biped robots |
| CN104386157A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Quadruped robot with flexible joints |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
| WO2016119068A1 (en) * | 2015-02-01 | 2016-08-04 | Genesis Advanced Technology Inc. | Mobile platform |
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
-
2021
- 2021-09-22 CN CN202111106833.2A patent/CN113619706A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204110201U (en) * | 2014-10-15 | 2015-01-21 | 吉林大学 | A kind of multiple degree of freedom running gear for six biped robots |
| CN104386157A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Quadruped robot with flexible joints |
| WO2016119068A1 (en) * | 2015-02-01 | 2016-08-04 | Genesis Advanced Technology Inc. | Mobile platform |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844656A (en) * | 2021-11-10 | 2021-12-28 | 成都理工大学 | Three-groove steering engine driving gear rack type unmanned aerial vehicle-mounted continuous dispenser |
| CN113998028A (en) * | 2021-12-22 | 2022-02-01 | 成都理工大学 | Two-degree-of-freedom base joint structure of foot type robot |
| CN115320744A (en) * | 2022-10-17 | 2022-11-11 | 成都理工大学 | Four-joint hydraulic foot type robot leg |
| CN115320744B (en) * | 2022-10-17 | 2023-01-10 | 成都理工大学 | Four-joint hydraulic foot type robot leg |
| CN116118903A (en) * | 2023-04-14 | 2023-05-16 | 成都理工大学 | Multi-degree-of-freedom base joint structure of foot robot |
| CN116118903B (en) * | 2023-04-14 | 2023-06-20 | 成都理工大学 | Multi-degree-of-freedom base joint structure of foot robot |
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Application publication date: 20211109 |