CN108909874A - A kind of hydraulic drive type heavy duty hexapod robot leg - Google Patents
A kind of hydraulic drive type heavy duty hexapod robot leg Download PDFInfo
- Publication number
- CN108909874A CN108909874A CN201810931876.6A CN201810931876A CN108909874A CN 108909874 A CN108909874 A CN 108909874A CN 201810931876 A CN201810931876 A CN 201810931876A CN 108909874 A CN108909874 A CN 108909874A
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- robot
- thigh
- oil cylinder
- shank
- joint shaft
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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 discloses a kind of hydraulic drive type heavy duty hexapod robot legs, it is therefore intended that and it solves existing hexapod robot and needs under the premise of meeting bionic walking, adaptation to the ground, and increase heavy duty, and the problem of domestic presently relevant research is in blank stage.The robot leg includes fuselage connecting plate, buttocks connector, robot thigh, robot shank, ground support, root joint shaft, cross cylinder, hip joint shaft, thigh oil cylinder, knee joint shaft, shank oil cylinder.The present invention provides a kind of completely new leg structure models, and compared with other existing driving structures, in identical space, robot of the present invention moves back the more powerful of output, and quality is smaller, has the advantages that specific power is high, light, load-carrying is big.Based on the present invention for the optimization design of structure, the landform adaptability of hexapod robot, and the power matching based on hydraulic system are significantly improved, so that robot of the present invention moves back the breakthrough for having reached carrying 500kg, there is remarkable progress.
Description
Technical field
The present invention relates to robot field, specially a kind of hydraulic drive type heavy duty hexapod robot leg.
Background technique
The country starts late for the research of heavily loaded hexapod robot, and technology starting point is low.By the technological accumulation of more than ten years,
China achieves certain achievement in hexapod robot research field.Wherein, domestic hexapod robot mainly include：Central China section
Big " 4+2 " multi-foot robot, BJ University of Aeronautics & Astronautics NOROS series hexapod robot etc..And external hexapod robot
Mainly include：The hydraulic-driven hexapod robot COMET-4 of Chiba, Japan university, is Deutschen Zentrums fur Luft- und Raumfahrt e.V. " DLR-
Crawler ", " Attila " of Massachusetts Institute Technology etc..Compared with external hexapod robot, domestic hexapod robot are overall
Technology is barely satisfactory, does not reach external advanced level temporarily.
Currently, the structure design and control system of existing hexapod robot have had reached preliminary bionic walking, but
Hexapod robot are more applied in the Special complexes terrain environment such as field work, Post disaster relief, this is to hexapod robot
More stringent requirements are proposed for load.And at home in research at this stage, the research in terms of heavily loaded hexapod robot is also in sky
The white stage.How under the mode for meeting hexapod robot bionic walking, adaptation to the ground increases heavy duty, for hexapod robot
More stringent requirements are proposed for leg structure and dynamical system.
For this purpose, there is an urgent need to a kind of new devices, to solve the above problems.
Summary of the invention
Goal of the invention of the invention is：It is needed under the premise of meeting bionic walking for existing hexapod robot,
Adaptation to the ground, and increase heavy duty, and the problem of domestic presently relevant research is in blank stage, a kind of hydraulic drive type is provided
Heavily loaded hexapod robot leg.The present invention provides a kind of completely new leg structure models, compared with other existing driving structures,
In identical space, robot of the present invention moves back the more powerful of output, and quality is smaller, with specific power is high, light, load-carrying is big
The advantages of.Based on the present invention for the optimization design of structure, the landform adaptability of hexapod robot is significantly improved, and is based on
The power matching of hydraulic system has significant progress meaning so that robot of the present invention moves back the breakthrough for having reached carrying 500kg
Justice.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of hydraulic drive type heavy duty hexapod robot leg, including fuselage connecting plate, the buttocks for being connected with robot body
Connector, robot thigh, robot shank, ground support, root joint shaft, cross cylinder, hip joint shaft, thigh oil
Cylinder, knee joint shaft, shank oil cylinder, described joint shaft is arranged on buttocks connector and root joint shaft can opposite buttocks
Connector rotation, the both ends of the cross cylinder are connected respectively with fuselage connecting plate with buttocks connector and cross cylinder can drive
Buttocks connector is rotated relative to fuselage connecting plate；
It is flexibly connected between the buttocks connector and robot thigh by hip joint shaft and robot thigh is closed by hip
Save shaft can opposite buttocks connector rotation, the both ends of the thigh oil cylinder are connected with robot thigh, buttocks connector respectively
And thigh oil cylinder energy band mobile robot thigh is rotated relative to buttocks connector；
It is flexibly connected between the robot thigh and robot shank by knee joint shaft and robot shank is closed by knee
The rotation of shaft energy opposed robots' thigh is saved, the both ends of the shank oil cylinder are connected with robot shank, robot thigh respectively
And shank oil cylinder energy band mobile robot shank is rotated relative to robot thigh.
The ground support is universal lower margin.
It further include the resilient cushion being arranged on universal lower margin.
Several fabrication holes are respectively arranged on the robot thigh, robot shank.
It further include the intermediate support being arranged on robot thigh, during the thigh oil cylinder, shank oil cylinder pass through respectively
Between supporter be connected with robot thigh.
The hip joint shaft and knee joint shaft are parallel to each other, the axis direction and machine of the hip joint shaft
Plane where the rotation of people's shank is vertical.
Further include control piece, the control piece be one of solenoid-operated proportional reversal valve, electro-hydraulic reversing valve or a variety of, it is described
Control piece is connected with cross cylinder, thigh oil cylinder, shank oil cylinder respectively.
The control piece and cross cylinder, thigh oil cylinder, between shank oil cylinder using whole driving.
Control piece is three, using seperated driving between control piece and cross cylinder, thigh oil cylinder, shank oil cylinder.
For foregoing problems, the present invention provides a kind of hydraulic drive type heavy duty hexapod robot leg.It includes being used for and machine
Fuselage connecting plate that device human agent is connected, buttocks connector, robot thigh, robot shank, ground support, root joint turn
Axis, cross cylinder, hip joint shaft, thigh oil cylinder, knee joint shaft, shank oil cylinder.Wherein, root joint shaft is arranged in buttocks
On connector, and root joint shaft can opposite buttocks connector rotation, the both ends of cross cylinder respectively with fuselage connecting plate and stern
Portion's connector is connected and provides corresponding power support, so that cross cylinder can drive buttocks connector to connect with respect to fuselage
Plate rotation.
Meanwhile it being flexibly connected between buttocks connector and robot thigh by hip joint shaft, and robot thigh is logical
Crossing hip joint shaft can rotate relative to buttocks connector.The both ends of thigh oil cylinder respectively with robot thigh, buttocks connector phase
Connect and provide corresponding power support, so that thigh oil cylinder energy band mobile robot thigh is rotated relative to buttocks connector.
In addition, being flexibly connected between robot thigh and robot shank by knee joint shaft, and robot shank is logical
Cross the rotation of knee joint shaft energy opposed robots' thigh, the both ends of shank oil cylinder respectively with robot shank, robot thigh phase
Connect and provide corresponding power support, so that shank oil cylinder energy band mobile robot shank is rotated relative to robot thigh.
In the present invention, the hydraulic-driven heavy duty hexapod robot leg is small by buttocks connector, robot thigh and robot
Leg composition, there are three cradle heads for tool（Root joint shaft, hip joint shaft and knee joint shaft）And three oil cylinders（Horizontal oil
Cylinder, thigh oil cylinder and shank oil cylinder）；Wherein, root joint shaft is vertical with body plane, hip joint shaft and knee joint shaft phase
It is mutually parallel, perpendicular to robot thigh and robot shank plane.Based on the structure, there are three certainly for robot leg tool of the invention
By spending, buttocks connector can be swung around body, and robot thigh can be swung around buttocks connector, and robot shank can
To swing around robot thigh, allow the robot to realize the movements such as straight trip, turning, climbing.
In the structure, which is driven by cross cylinder, thigh oil cylinder and shank oil cylinder, is controlled by solenoid-operated proportional reversal valve
Oil cylinder displacement, realizes the walking of robot.Cross cylinder connects fuselage and buttocks connector connects, and passes through stretching for horizontal hydraulic cylinder
The swing of root joint shaft is realized in contracting；Thigh oil cylinder connects buttocks connector and robot thigh, passes through stretching for thigh oil cylinder
The swing in buttocks connector joint is realized in contracting；Shank oil cylinder connects robot thigh and robot shank, passes through thigh and calf oil cylinder
It is flexible, realize the swing of knee joint shaft.
Further, in the present invention, ground support is universal lower margin.The universal lower margin at sufficient end makes robot foot using flexural pivot
The flexibility at end greatly enhances, and is suitable for unstructuredness environment, and then further promotes corresponding adaptability and scene.
Meanwhile the present invention has biggish superiority in bearing capacity, efficiently solves foregoing problems.With traditional steering engine
Driving robot compares, and robot leg impact resistance ability of the invention is strong, has stronger unstructuredness adaptive capacity to environment.Through
Practical measurement, leg structure reaction speed of the invention is fast, can be realized the bearing capacity of 500kg, realizes the sufficient machine of heavy duty six
The breakthrough of device people, while optimizing the landform adaptability of robot.
In conclusion the present invention provides a kind of hydraulic drive type heavy duty hexapod robot leg, with impact resistance, driving force
The big advantage of square can drive the load of big inertia, efficiently solve the problems, such as hexapod robot heavy duty, and safety and stability, make an uproar
Sound is small.Verified, the present invention can not only realize that obstacle detouring of the hexapod robot on non-structural road surface is walked, and can be realized machine
The heavy duty of device people can be applied to earthquake rescue, military materials transport etc..Present inventive concept is ingenious, and rationally, structure is simple for design
Single, adaptable, stability is good, application value with higher and preferable application prospect.
Detailed description of the invention
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.
It is marked in figure：1, fuselage connecting plate, 2, buttocks connector, 3, robot thigh, 4, robot shank, 5, universal
Foot, 6, cross cylinder, 7, thigh oil cylinder, 8, shank oil cylinder, 9, root joint shaft 10, hip joint, 11, knee joint shaft.
Specific embodiment
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 hydraulic drive type heavy duty hexapod robot leg of the present embodiment includes fuselage connecting plate, buttocks connector, machine
Device National People's Congress leg, robot shank, ground support, root joint shaft, cross cylinder, hip joint shaft, thigh oil cylinder, knee joint
Shaft, shank oil cylinder, wherein fuselage connecting plate with robot body for being connected.
In the structure, root joint shaft is arranged on buttocks connector and root joint shaft can opposite buttocks connector turn
Dynamic, the both ends of cross cylinder are connected with fuselage connecting plate with buttocks connector respectively.Between buttocks connector and robot thigh
It is flexibly connected by hip joint shaft and robot thigh can be rotated by hip joint shaft relative to buttocks connector, thigh oil cylinder
Both ends be connected respectively with robot thigh, buttocks connector.Turned between robot thigh and robot shank by knee joint
Axis be flexibly connected and robot shank by knee joint shaft energy opposed robots' thigh rotation, the both ends of shank oil cylinder respectively with
Robot shank, robot thigh are connected.In the present embodiment, ground support uses universal lower margin.In the structure, cross cylinder
For driving buttocks connector to rotate relative to fuselage connecting plate, thigh oil cylinder is used for band mobile robot thigh and connects relative to buttocks
Part rotation, shank oil cylinder are used for band mobile robot shank and rotate relative to robot thigh.Meanwhile hip joint shaft and knee joint
Shaft is parallel to each other, and plane where the axis direction of hip joint shaft is rotated with robot shank is vertical.
In the present embodiment, which is made of buttocks connector, robot thigh, robot shank three parts there are three tools
Freedom degree, buttocks connector can be swung around body, and robot thigh can be swung around buttocks connector, robot shank
It can be swung around robot thigh, allow the robot to realize straight trip, turning, climbing etc..The universal lower margin at sufficient end uses ball
Hinge greatly enhances the flexibility at robot foot end, is suitable for unstructuredness environment.Meanwhile structure-based improvement, so that its
Have the advantages that impact resistance ability is strong, with stronger unstructuredness adaptive capacity to environment.
It further include solenoid valve in the present embodiment, solenoid valve is connected with cross cylinder, thigh oil cylinder, shank oil cylinder respectively.It should
Leg is driven by cross cylinder, thigh oil cylinder and shank oil cylinder, is controlled oil cylinder displacement by solenoid-operated proportional reversal valve, is realized robot
Walking.
Further, as shown, further including the intermediate support being arranged on robot thigh, thigh oil cylinder, shank oil
Cylinder passes through intermediate support respectively and is connected with robot thigh.Preferably, being respectively set on robot thigh, robot shank
There are several fabrication holes, to reduce the weight of robot thigh, robot shank, to improve under the premise of proof strength
The load of robot leg.
The invention is not limited to specific embodiments 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 (9)
1. a kind of hydraulic drive type heavy duty hexapod robot leg, which is characterized in that including the machine for being connected with robot body
Body connecting plate, buttocks connector, robot thigh, robot shank, ground support, root joint shaft, cross cylinder, hip close
Shaft, thigh oil cylinder, knee joint shaft, shank oil cylinder are saved, described joint shaft is arranged on buttocks connector and root joint
Shaft can opposite buttocks connector rotation, the both ends of the cross cylinder be connected respectively with fuselage connecting plate with buttocks connector and
Cross cylinder can drive buttocks connector to rotate relative to fuselage connecting plate；
It is flexibly connected between the buttocks connector and robot thigh by hip joint shaft and robot thigh is closed by hip
Save shaft can opposite buttocks connector rotation, the both ends of the thigh oil cylinder are connected with robot thigh, buttocks connector respectively
And thigh oil cylinder energy band mobile robot thigh is rotated relative to buttocks connector；
It is flexibly connected between the robot thigh and robot shank by knee joint shaft and robot shank is closed by knee
The rotation of shaft energy opposed robots' thigh is saved, the both ends of the shank oil cylinder are connected with robot shank, robot thigh respectively
And shank oil cylinder energy band mobile robot shank is rotated relative to robot thigh.
2. hydraulic drive type heavy duty hexapod robot leg according to claim 1, which is characterized in that the ground support
For universal lower margin.
3. hydraulic drive type heavy duty hexapod robot leg according to claim 2, which is characterized in that further include being arranged ten thousand
Resilient cushion on lower margin.
4. hydraulic drive type heavy duty hexapod robot leg according to claim 1, which is characterized in that the machine National People's Congress
Several fabrication holes are respectively arranged on leg, robot shank.
5. hydraulic drive type heavy duty hexapod robot leg according to claim 1, which is characterized in that further include being arranged in machine
Intermediate support on device National People's Congress leg, the thigh oil cylinder, shank oil cylinder pass through intermediate support and robot thigh phase respectively
Even.
6. described in any item hydraulic drive type heavy duty hexapod robot legs according to claim 1 ~ 5, which is characterized in that the hip
Joint shaft and knee joint shaft are parallel to each other, where axis direction and robot the shank rotation of the hip joint shaft
Plane is vertical.
7. described in any item hydraulic drive type heavy duty hexapod robot legs according to claim 1 ~ 6, which is characterized in that further include
Control piece, the control piece be one of solenoid-operated proportional reversal valve, electro-hydraulic reversing valve or a variety of, the control piece respectively with water
Flat oil cylinder, thigh oil cylinder, shank oil cylinder are connected.
8. hydraulic drive type heavy duty hexapod robot leg according to claim 7, which is characterized in that the control piece and water
Flat oil cylinder, thigh oil cylinder, between shank oil cylinder using whole driving.
9. hydraulic drive type heavy duty hexapod robot leg according to claim 7, which is characterized in that control piece is three,
Using seperated driving between control piece and cross cylinder, thigh oil cylinder, shank oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931876.6A CN108909874A (en) | 2018-08-16 | 2018-08-16 | A kind of hydraulic drive type heavy duty hexapod robot leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931876.6A CN108909874A (en) | 2018-08-16 | 2018-08-16 | A kind of hydraulic drive type heavy duty hexapod robot leg |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108909874A true CN108909874A (en) | 2018-11-30 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810931876.6A Withdrawn CN108909874A (en) | 2018-08-16 | 2018-08-16 | A kind of hydraulic drive type heavy duty hexapod robot leg |
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| Country | Link |
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| CN (1) | CN108909874A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294044A (en) * | 2019-08-12 | 2019-10-01 | 吉林大学 | A kind of large-scale heavy duty hexapod robot |
| CN110377042A (en) * | 2019-08-12 | 2019-10-25 | 吉林大学 | A kind of hexapod robot control system of hydraulic-driven |
| CN114348136A (en) * | 2022-01-18 | 2022-04-15 | 上海交通大学 | Multi-foot robot for curling |
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| CN106272337A (en) * | 2016-08-25 | 2017-01-04 | 西南交通大学 | A kind of wearable lower limb exoskeleton power-assisting robot |
| 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 |
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
| CN208715327U (en) * | 2018-08-16 | 2019-04-09 | 西南科技大学 | A kind of hydraulic drive type heavy duty hexapod robot leg |
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2018
- 2018-08-16 CN CN201810931876.6A patent/CN108909874A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104386157A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Quadruped robot with flexible joints |
| CN104627265A (en) * | 2015-01-13 | 2015-05-20 | 哈尔滨工业大学 | Biped robot lower limb mechanism driven hydraulically |
| 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 |
| CN105501324A (en) * | 2015-12-15 | 2016-04-20 | 中国北方车辆研究所 | Simple three-DOF (degree of freedom) small-inertia bionic leg driven by hydraulic motors and applied to armed robot |
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| 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 |
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
| CN208715327U (en) * | 2018-08-16 | 2019-04-09 | 西南科技大学 | A kind of hydraulic drive type heavy duty hexapod robot leg |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294044A (en) * | 2019-08-12 | 2019-10-01 | 吉林大学 | A kind of large-scale heavy duty hexapod robot |
| CN110377042A (en) * | 2019-08-12 | 2019-10-25 | 吉林大学 | A kind of hexapod robot control system of hydraulic-driven |
| CN114348136A (en) * | 2022-01-18 | 2022-04-15 | 上海交通大学 | Multi-foot robot for curling |
| CN114348136B (en) * | 2022-01-18 | 2023-08-22 | 上海交通大学 | Curling multi-legged robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181130 |