CN108749952A - A kind of robot leg - Google Patents
A kind of robot leg Download PDFInfo
- Publication number
- CN108749952A CN108749952A CN201810931871.3A CN201810931871A CN108749952A CN 108749952 A CN108749952 A CN 108749952A CN 201810931871 A CN201810931871 A CN 201810931871A CN 108749952 A CN108749952 A CN 108749952A
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- Prior art keywords
- robot
- rotary actuator
- vane type
- type rotary
- thigh
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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 discloses a kind of robot legs, it is therefore intended that and it solves the existing large-scale Hexapod Robot of heavy duty and is generally driven using hydraulic cylinder, the problem that the obstacle climbing ability of Hexapod Robot is limited.It includes vane type rotary actuator, robot shank, robot thigh, robot base pitch, and vane type rotary actuator includes motor shell, the first hydraulic oil entrance, the second hydraulic oil entrance, flange mounting hole, two output shafts.The present invention efficiently solves heavily loaded large-scale Hexapod Robot carrying and obstacle detouring requirement by the brand-new design to leg structure.It in the present invention, based on the improvement of robot leg structure, and introduces vane type rotary actuator and carries out leg joint drive, effectively overcome conventional cylinder and drive lower heavy duty large-scale Hexapod Robot leg rotational angle range small, the not strong disadvantage of obstacle climbing ability.Present inventive concept is ingenious, reasonable design, simple in structure, easy to use, has higher application value and preferable application prospect.
Description
Technical field
The present invention relates to robot field, specially a kind of robot leg.Further, the present invention provides a kind of vane type pendulum
The robot leg of hydrodynamic pressure motor driving, can effectively meet the obstacle detouring and rate request of robot, have higher using valence
Value.
Background technology
Currently, heavy duty large size Hexapod Robot has been applied to fire-fighting, earthquake relief work, battlefield as mobile carrying platform
Transport, fire support etc. is military or civil field.Bearing capacity and obstacle climbing ability of the aforementioned applications scene for Hexapod Robot
High requirement is proposed, therefore, the selection of leg driving and leg structure design the movement for improving Hexapod Robot
Ability just seems particularly significant.
Existing robot generally use hydraulic cylinder or motor are driven accordingly, but there is certain limitation.It adopts
When driving the leg exercise of Hexapod Robot with motor, the leg joint driven torque of Hexapod Robot is small, cannot absorb impact
Opposing torque when load and foot termination tread surface.Using Driven by Hydraulic Cylinder Hexapod Robot leg exercise when, six sufficient machines
The leg articulation angle range of people is small, causes to use the Hexapod Robot obstacle climbing ability of Driven by Hydraulic Cylinder not strong, and hydraulic pressure
Cylinder can occupy excessive leg room.
And the existing large-scale Hexapod Robot of heavy duty is generally driven using hydraulic cylinder, is limited by hydraulic cylinder travel,
The joint angles slewing area of Hexapod Robot leg is small, causes Hexapod Robot cannot be by some severe non-structural roads
Face limits the obstacle climbing ability of Hexapod Robot.
For this purpose, there is an urgent need to a kind of construction or design that is new, disclosure satisfy that heavily loaded large-scale Hexapod Robot obstacle detouring demand,
To solve the above problems.
Invention content
The goal of the invention of the present invention is：It is generally driven using hydraulic cylinder for the large-scale Hexapod Robot of existing heavy duty
Dynamic, the limited problem of the obstacle climbing ability of Hexapod Robot provides a kind of robot leg.The present invention passes through to the completely new of leg structure
Design efficiently solves heavily loaded large-scale Hexapod Robot carrying and obstacle detouring requirement.In the present invention, based on changing for robot leg structure
Into, and introduce vane type rotary actuator and carry out leg joint drive, it is big effectively to overcome the lower heavy duty of conventional cylinder driving
Type Hexapod Robot leg rotational angle range is small, the not strong disadvantage of obstacle climbing ability.Present inventive concept is ingenious, reasonable design, knot
Structure is simple, easy to use, has higher application value and preferable application prospect.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of robot leg, including vane type rotary actuator, robot shank, robot thigh, robot base pitch, it is described
Vane type rotary actuator includes motor shell, the first hydraulic oil entrance, the second hydraulic oil entrance, is arranged in motor shell
Flange mounting hole, two output shafts being arranged at vane type rotary actuator both ends on body, first hydraulic oil come in and go out
Mouth, the second hydraulic oil entrance are separately positioned on motor shell and by controlling the first hydraulic oil entrance, the second hydraulic oil
The hydraulic oil of entrance outputs and inputs the power output that can control two output shafts；
The robot shank is hinged with robot thigh, and the junction of the robot shank and robot thigh is provided with leaf
Chip rotary actuator and vane type rotary actuator can drive the joint between robot shank and robot thigh to turn
It is dynamic；
The robot thigh is hinged with robot base pitch, and the junction of the robot thigh and robot base pitch is provided with leaf
Chip rotary actuator and vane type rotary actuator can drive the joint between machine National People's Congress leg and robot base pitch to turn
It is dynamic；
The robot base pitch is connected with vane type rotary actuator and robot base pitch can swing hydraulic pressure horse by vane type
Up to being connected with robot body and drive robot body's relative motion.
Robot shank end is provided with bolster.
The bolster is damping flexural pivot.
The bolster end is additionally provided with Rubber shock-absorbing pad.
The robot shank, robot thigh are respectively arranged with several holes.
The angle formed between the robot shank and robot thigh is 2 ~ 120 °.
Between the robot thigh and robot base pitch have the axial direction of vane type rotary actuator with individually and machine
The axial antarafacial of the vane type rotary actuator of device people's base pitch.
For foregoing problems, the present invention provides a kind of robot leg.It includes that vane type rotary actuator, robot are small
Leg, robot thigh, robot base pitch.
Wherein, vane type rotary actuator includes motor shell, the first hydraulic oil entrance, the discrepancy of the second hydraulic oil
Mouth, flange mounting hole, two output shafts being arranged on motor shell, the first hydraulic oil entrance, the second hydraulic oil entrance
It is separately positioned on motor shell.In the structure, two output shafts are separately positioned on the both ends of vane type rotary actuator, lead to
Cross the first hydraulic oil entrance of control, the hydraulic oil of the second hydraulic oil entrance outputs and inputs and then controls two output shafts
Power output.
Wherein, robot shank is hinged with robot thigh, and robot shank and the junction of robot thigh are provided with
Vane type rotary actuator；Robot thigh is hinged with robot base pitch, the junction of robot thigh and robot base pitch
It is provided with vane type rotary actuator；Robot base pitch is connected with vane type rotary actuator.
Based on aforementioned structure, vane type rotary actuator can respectively drive between robot shank and robot thigh
Joint, the rotation of robot body's opposed robots' base pitch between joint, robot thigh and robot base pitch.The six of the present invention
For biped robot leg tool there are three joint, each joint is a rotational freedom, each degree of freedom uses a blade
Formula rotary actuator drives.
Structure-based improvement so that vane type rotary actuator of the invention can use hydraulic pressure in the space of very little
Power is provided, has gathered very high torque, and its output shaft directly drives load rotary oscillation, has been not required to any variable-speed motor therebetween
Structure, output torque is big, and rotational angle is big.Vane type rotary actuator is mounted on three joints of Hexapod Robot leg,
Articulation is directly driven using hydraulic motor output shaft, motor provides the bearing capacity that big rotating torque ensures Hexapod Robot
And movement velocity, while use hydraulic device can absorb the opposing torque of joint when sufficient end is landed.
Further, the present invention is also provided with bolster in robot shank end, and bolster is preferably damping flexural pivot.Pass through
It installs damping flexural pivot additional and ensures sufficient end stress vertically upward, while damping device can absorb sufficient end the shock of a fall load.
To sum up, structure-based improvement so that robot leg of the invention has the following advantages that：1）It is capable of providing big rotation
Torque meets the bearing requirements and rate request of Hexapod Robot；2）The rotational angle range in leg joint can be increased, met
The obstacle detouring requirement of Hexapod Robot；3）Opposite force when foot termination tread surface can be absorbed using vane type rotary actuator
Square, and absorb shock loading by the way that damping device is added.It is calculated analytically, the present invention can fully meet six sufficient machines
The obstacle detouring of people requires and rate request, effectively overcomes the problems of prior art.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1）The structure design of the present invention is conducive to the hydraulic motor installation of robot shank, robot thigh, robot base pitch,
It can effectively ensure that obstacle detouring requirement and rate request；
2）Compared with the Hexapod Robot of existing Driven by Hydraulic Cylinder, invention increases Hexapod Robot leg articulation angles
Range, so that the obstacle climbing ability of Hexapod Robot is improved；
3）The present invention is based on the mutual cooperations between component, can improve six while ensureing Hexapod Robot obstacle climbing ability
The speed of biped robot；
4）The present invention has both the advantages of large joint driving moment and large joint rotational angle range, and performance is significantly better than existing six foot
Robot leg；
5）Present inventive concept is ingenious, reasonable design, simple in structure, easy to use, easy to maintain, and production and application cost is low, tool
There are high application value and preferable application prospect, is worth large-scale promotion and application.
Description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of vane type rotary actuator in the present invention.
It is marked in figure：1, vane type rotary actuator, 2, robot base pitch, 3, robot thigh, 4, robot shank,
5, damping flexural pivot, 21, output shaft, 22, flange mounting hole, the 23, first hydraulic oil entrance, the 24, second hydraulic oil entrance.
Specific implementation mode
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification unless specifically stated can be equivalent or with similar purpose by other
Alternative features are replaced.That is, unless specifically stated, each feature is an example in a series of equivalent or similar characteristics
?.
Embodiment 1
As shown, the Hexapod Robot leg of the present embodiment, including vane type rotary actuator, robot shank, robot
Thigh, robot base pitch.In the present embodiment, robot shank end is provided with damping flexural pivot.
In the present embodiment, vane type rotary actuator includes motor shell, the first hydraulic oil entrance, the second hydraulic oil
Entrance, the flange mounting hole being arranged on motor shell, two output shafts being arranged at vane type rotary actuator both ends,
First hydraulic oil entrance, the second hydraulic oil entrance are separately positioned on motor shell.Based on the structure, pass through control first
Hydraulic oil entrance, the second hydraulic oil entrance hydraulic oil output and input, the power output of two output shafts can be controlled.
Meanwhile robot shank is respectively articulated with robot thigh, robot thigh and robot base pitch, vane type is swung
Hydraulic motor is separately positioned on the connection of the junction of robot shank and robot thigh, robot thigh and robot base pitch
Place.Meanwhile robot base pitch is connected with another vane type rotary actuator.
Based on the structure, vane type rotary actuator can drive joint between robot shank and robot thigh,
Joint between robot thigh and robot base pitch, and realize swing of the robot base pitch relative to robot body.
Preferably, robot shank, robot thigh are respectively arranged with several holes.Using the design, can protect
Under the premise of demonstrate,proving integral strength, mitigate the overall weight of robot leg, improves and bear a heavy burden.
Further, the angle formed between robot shank and robot thigh is 2 ~ 120 °, preferably 5 ~ 90 °.
Further, between robot thigh and robot base pitch have the axial direction of vane type rotary actuator with individually with
The axial antarafacial of the vane type rotary actuator of robot base pitch, this is to realize that Hexapod Robot opposed robots' main body is swung
Necessary factor.
In the present embodiment, there are three joints for Hexapod Robot leg tool, and each joint is a rotational freedom；It is each
A degree of freedom is driven using a vane type rotary actuator, and hydraulic motor use pair goes out axle construction.In the present embodiment, leaf
Chip rotary actuator is mounted on three joints of Hexapod Robot leg, and pass is directly driven using hydraulic motor output shaft
Section rotation, motor provides the bearing capacity and movement velocity that big rotating torque ensures Hexapod Robot, while using hydraulic device
The opposing torque of joint when can absorb sufficient end landing.Ensure sufficient end stress vertically upward by installing damping flexural pivot additional, simultaneously
Damping device can absorb sufficient end the shock of a fall load.Further, the vane type of the robot of the present embodiment swings hydraulic pressure horse
In reaching, it is not required to any gear, output torque is big, and rotational angle is big.Meanwhile it based on the mutual cooperation between component, completing
It can realize large torque, big power output, meet the needs of large-scale Hexapod Robot load-carrying.
The invention is not limited in specific implementation modes above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (7)
1. a kind of robot leg, which is characterized in that including vane type rotary actuator, robot shank, robot thigh, machine
Device people's base pitch, the vane type rotary actuator include motor shell, the first hydraulic oil entrance, the discrepancy of the second hydraulic oil
Mouth, flange mounting hole, two output shafts being arranged at vane type rotary actuator both ends being arranged on motor shell, it is described
First hydraulic oil entrance, the second hydraulic oil entrance are separately positioned on motor shell and are come in and gone out by controlling the first hydraulic oil
Mouthful, the hydraulic oil of the second hydraulic oil entrance output and input the power output that can control two output shafts；
The robot shank is hinged with robot thigh, and the junction of the robot shank and robot thigh is provided with leaf
Chip rotary actuator and vane type rotary actuator can drive the joint between robot shank and robot thigh to turn
It is dynamic；
The robot thigh is hinged with robot base pitch, and the junction of the robot thigh and robot base pitch is provided with leaf
Chip rotary actuator and vane type rotary actuator can drive the joint between machine National People's Congress leg and robot base pitch to turn
It is dynamic；
The robot base pitch is connected with vane type rotary actuator and robot base pitch can swing hydraulic pressure horse by vane type
Up to being connected with robot body and drive robot body's relative motion.
2. robot leg according to claim 1, which is characterized in that robot shank end is provided with bolster.
3. robot leg according to claim 2, which is characterized in that the bolster is damping flexural pivot.
4. robot leg according to claim 2 or 3, which is characterized in that the bolster end is additionally provided with rubber and subtracts
Shake pad.
5. robot leg according to claim 1, which is characterized in that the robot shank, robot thigh are set respectively
It is equipped with several holes.
6. robot leg according to claim 1, which is characterized in that shape between the robot shank and robot thigh
At angle be 2 ~ 120 °.
7. according to claim 1 ~ 6 any one of them robot leg, which is characterized in that the robot thigh and robot base
There are the axial direction of vane type rotary actuator and the axis individually with the vane type rotary actuator of robot base pitch between section
To antarafacial.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931871.3A CN108749952A (en) | 2018-08-16 | 2018-08-16 | A kind of robot leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931871.3A CN108749952A (en) | 2018-08-16 | 2018-08-16 | A kind of robot leg |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108749952A true CN108749952A (en) | 2018-11-06 |
Family
ID=63966174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810931871.3A Withdrawn CN108749952A (en) | 2018-08-16 | 2018-08-16 | A kind of robot leg |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108749952A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104564892A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Double-blade swing hydraulic motor for driving stabilizing rod |
| CN104747365A (en) * | 2015-04-03 | 2015-07-01 | 合肥工业大学 | Hydraulic swing motor |
| CN106428484A (en) * | 2016-11-28 | 2017-02-22 | 东北石油大学 | Self-adaption multi-legged ROV (Remote Operated Vehicle) for marine petroleum exploitation |
| CN107672690A (en) * | 2016-04-05 | 2018-02-09 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN207345974U (en) * | 2017-10-31 | 2018-05-11 | 中科新松有限公司 | A kind of quadruped robot |
| CN208715329U (en) * | 2018-08-16 | 2019-04-09 | 西南科技大学 | A kind of robot leg |
-
2018
- 2018-08-16 CN CN201810931871.3A patent/CN108749952A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104564892A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Double-blade swing hydraulic motor for driving stabilizing rod |
| CN104747365A (en) * | 2015-04-03 | 2015-07-01 | 合肥工业大学 | Hydraulic swing motor |
| CN107672690A (en) * | 2016-04-05 | 2018-02-09 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN106428484A (en) * | 2016-11-28 | 2017-02-22 | 东北石油大学 | Self-adaption multi-legged ROV (Remote Operated Vehicle) for marine petroleum exploitation |
| CN207345974U (en) * | 2017-10-31 | 2018-05-11 | 中科新松有限公司 | A kind of quadruped robot |
| CN208715329U (en) * | 2018-08-16 | 2019-04-09 | 西南科技大学 | A kind of robot leg |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181106 |
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| WW01 | Invention patent application withdrawn after publication |