CN115320744B - Four-joint hydraulic foot type robot leg - Google Patents
Four-joint hydraulic foot type robot leg Download PDFInfo
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- CN115320744B CN115320744B CN202211266058.1A CN202211266058A CN115320744B CN 115320744 B CN115320744 B CN 115320744B CN 202211266058 A CN202211266058 A CN 202211266058A CN 115320744 B CN115320744 B CN 115320744B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention relates to the technical field of robots, in particular to a four-joint hydraulic foot type robot leg. The four-joint hydraulic foot type robot leg comprises a fixed support, a movable support, a rotating joint, a leg support, a supporting leg and a plurality of hydraulic linear cylinders; the movable support, the rotating joint, the leg support and the supporting leg can rotate under the driving action of the corresponding hydraulic linear cylinders, the rotating axis of the movable support relative to the fixed support, the rotating axis of the rotating joint relative to the movable support and the rotating axis of the leg support relative to the movable support are perpendicular to each other, and the rotating axis of the leg support relative to the movable support and the rotating axis of the supporting leg relative to the leg support are parallel; the four-joint hydraulic foot type robot leg can flexibly move in space, the moving postures of the four-joint hydraulic foot type robot leg in space are enriched, and then the four-joint hydraulic foot type robot leg can flexibly move and complete complex movement, and the terrain adaptability of the four-joint hydraulic foot type robot leg is greatly enhanced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-joint hydraulic foot type robot leg.
Background
The hexapod robot is a foot type robot simulating a multi-foot animal motion mode, has multiple degrees of freedom on legs, can optimally select foot falling points, has rich gait, lower gravity center, high stability, large vertical motion range of a machine body and strong obstacle crossing and avoiding capability. Compared with the traditional wheeled and tracked robot, the six-legged robot can realize non-contact obstacle avoidance or obstacle crossing by using a discrete foot-falling point supporting mode, and has stronger adaptability under the non-structural terrain and the changing environment. The current robot driving modes mainly comprise electric driving, pneumatic driving and hydraulic driving. The power of electric drive and pneumatic drive is low, the power density is low, and the power requirement and the bearing capacity requirement of the heavy-duty robot are difficult to meet, so the heavy-duty robot is driven by hydraulic pressure.
Most of the existing hexapod robots have the following problems:
1. all have single-leg three-joint structures, and from the perspective of bionics, the bionic degree of a single leg of the three joints is low, and the overall motion capability is weak. When the three-joint hexapod robot climbs a large slope, the robot slides down easily. And the four joints have one more foot end to rotate, so that the contact between the foot ends and the ground is increased, and the performance on the terrain with large gradient is better.
2. The fault tolerance of three joints of a single leg is poor, and when a robot executes a task in the field, one joint of the leg breaks down, so that the task is difficult to continue to be completed.
3. The reachable postures of the three joints of the single leg are few, and special operation modes are lacked for some special operation occasions. One rotation of the foot end is reduced by the three joints of the single leg, and the single leg is dwarfed in the hilly terrain where the height obstacle needs to be crossed. And the six-legged robot with four joints can flexibly and accurately work on hilly terrain by linkage of 24 joints of the whole body.
Disclosure of Invention
The invention aims to provide a four-joint hydraulic foot type robot leg, which is used for solving the problems.
The embodiment of the invention is realized by the following steps:
the invention provides a four-joint hydraulic foot type robot leg, which comprises a fixed support, a movable support, a rotating joint, a leg support, a supporting leg and a plurality of hydraulic linear cylinders, wherein the movable support is arranged on the fixed support;
the movable support is hinged with the fixed support, the rotating joint is hinged with the movable support, the leg support is hinged with the rotating joint, and the support leg is hinged with the leg support; the axis of the movable bracket rotating relative to the fixed bracket, the axis of the rotating joint rotating relative to the movable bracket and the axis of the leg bracket rotating relative to the movable bracket are vertical to each other, and the axis of the leg bracket rotating relative to the movable bracket and the axis of the leg bracket rotating relative to the leg bracket are parallel;
the movable support, the rotating joint, the leg support and the supporting leg are in transmission connection with at least one hydraulic linear cylinder.
In an alternative embodiment, the plurality of hydraulic linear cylinders includes a first hydraulic linear cylinder, a second hydraulic linear cylinder, a third hydraulic linear cylinder, and a fourth hydraulic linear cylinder;
the fixed end of the first hydraulic linear cylinder is hinged with the fixed support, the movable end of the first hydraulic linear cylinder is hinged with the movable support, and the first hydraulic linear cylinder is used for driving the movable support to rotate relative to the fixed support;
the fixed end of the second hydraulic linear cylinder is hinged with the movable support, the movable end of the second hydraulic linear cylinder is hinged with the rotating joint, and the second hydraulic linear cylinder is used for driving the rotating joint to rotate relative to the movable support;
the fixed end of the third hydraulic linear cylinder is hinged with the rotating joint, the movable end of the third hydraulic linear cylinder is hinged with the leg support, and the third hydraulic linear cylinder is used for driving the leg support to rotate relative to the rotating joint;
the fixed end of the fourth hydraulic linear cylinder is hinged with the leg support, the movable end of the fourth hydraulic linear cylinder is hinged with the supporting leg, and the fourth hydraulic linear cylinder is used for driving the supporting leg to rotate relative to the leg support.
In an alternative embodiment, the fixed bracket comprises a first section and a second section, the first section is vertically connected with the second section, and the length of the first section is smaller than that of the second section;
the first sub-part is used for being connected with an external machine body; the first branch part is provided with a first connecting part hinged with the fixed end of the first hydraulic linear cylinder;
one end of the second sub portion, which is far away from the first sub portion, is provided with a first rotating shaft hole for installing a first rotating shaft, and the first rotating shaft is connected with the movable support.
In an alternative embodiment, the first spindle hole is a strip-shaped hole; the four-joint hydraulic foot type robot leg also comprises a lifting hydraulic linear cylinder; the fixed end of the hydraulic linear cylinder is connected with the first branch part, and the movable end of the lifting hydraulic linear cylinder is connected with the first rotating shaft;
the lifting hydraulic linear cylinder is used for synchronously moving with the first hydraulic linear cylinder so as to drive the first rotating shaft and the movable support connected with the first rotating shaft to slide along the extending direction of the first rotating shaft hole.
In an alternative embodiment, the movable bracket comprises a first main body, a first connecting plate and a second connecting plate;
a second connecting part hinged with the movable end of the first hydraulic linear cylinder is arranged on one side of the first main body, the first rotating shaft is connected with the first main body and is positioned on the same side of the first main body as the second connecting part, and the joint of the first rotating shaft and the first main body is spaced from the second connecting part;
the other side of the first main body is provided with a third connecting part hinged with the fixed end of the second hydraulic linear cylinder; the first connecting plate and the second connecting plate are connected to the other side of the first main body, the first connecting plate and the second connecting plate are arranged at intervals, the first connecting plate and the second connecting plate are both provided with second rotating shaft holes for mounting a second rotating shaft, and the second rotating shaft is connected with the rotating joint.
In an alternative embodiment, the rotary joint includes a second body, a first boss, a second boss, a third connecting plate, and a fourth connecting plate;
the first boss, the second boss, the third connecting plate and the fourth connecting plate are all connected with the second main body; the first boss and the second boss are positioned on one side of the second main body, and both the first boss and the second boss are provided with third rotating shaft holes for mounting a second rotating shaft;
the third connecting plate and the fourth connecting plate are positioned on the other side of the second main body, the third connecting plate and the fourth connecting plate are spaced, the third connecting plate and the fourth connecting plate are both provided with fourth rotating shaft holes for mounting a third rotating shaft, and the third rotating shaft is connected with the leg support;
the third connecting plate or the fourth connecting plate is provided with a fourth connecting part hinged with the movable end of the second hydraulic linear cylinder; one or two of the third connecting plate and the fourth connecting plate are provided with fifth connecting parts hinged with the fixed end of the third hydraulic linear cylinder.
In an optional embodiment, the fourth rotating shaft hole, the fourth connecting portion and the fifth connecting portion on the third connecting plate or the fourth connecting plate are spaced two by two.
In an alternative embodiment, the leg support comprises a third body, and the third body is provided with a mounting cavity for the leg and a fourth hydraulic linear cylinder to move;
one end of the third main body is provided with a fifth rotating shaft hole matched with the third rotating shaft, and the other end of the third main body is provided with a sixth connecting part hinged with the movable end of the third hydraulic linear cylinder;
a seventh connecting part and a sixth rotating shaft hole are formed in the side wall of the mounting cavity, and the seventh connecting part is hinged to the fixed end of the fourth hydraulic linear cylinder; and a fourth rotating shaft is arranged in the sixth rotating shaft hole and is connected with the supporting leg.
In an optional embodiment, the landing leg is provided with an eighth connecting portion and a seventh rotating shaft hole, the eighth connecting portion is hinged to the movable end of the fourth hydraulic linear cylinder, the seventh rotating shaft hole is located at the ground-off end of the landing leg, the seventh rotating shaft hole is spaced from the eighth connecting portion, and the seventh rotating shaft hole is matched with the fourth rotating shaft.
In an alternative embodiment, the ground end of the leg is provided with a force sensor.
The embodiment of the invention has the beneficial effects that:
the four-joint hydraulic foot type robot leg comprises a fixed support, a movable support, a rotating joint, a leg support, a supporting leg and a plurality of hydraulic linear cylinders; wherein, the movable support is hinged with the fixed support, the rotating joint is hinged with the movable support, the leg support is hinged with the rotating joint, and the supporting leg is hinged with the leg support; the movable support, the rotating joint, the leg support and the supporting leg are in transmission connection with at least one hydraulic linear cylinder, so that the movable support, the rotating joint, the leg support and the supporting leg can rotate under the driving action of the corresponding hydraulic linear cylinders, the rotating axis of the movable support relative to the fixed support, the rotating axis of the rotating joint relative to the movable support and the rotating axis of the leg support relative to the movable support are vertical in pairs, and the rotating axis of the leg support relative to the movable support and the rotating axis of the supporting leg relative to the leg support are parallel;
therefore, more movement postures can be realized through the displacement and the rotary motion of the movable support relative to the rotation of the fixed support, the rotary joint relative to the movable support and the leg support relative to the rotation of the movable support in three directions of the foot end of the robot, so that the four-joint hydraulic foot type robot leg can flexibly move in the space, the movement postures of the four-joint hydraulic foot type robot leg in the space are enriched, compared with a three-joint robot, the four-joint hydraulic foot type robot can flexibly move and complete complex movement, and the terrain adaptability of the four-joint hydraulic foot type robot leg is greatly enhanced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a four-joint hydraulic legged robot leg according to an embodiment of the invention;
FIG. 2 is a schematic structural view of a fixing bracket according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a movable support according to an embodiment of the present invention;
FIG. 4 is a schematic view of a rotary joint according to an embodiment of the present invention;
FIG. 5 is a schematic view of a leg support according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a leg according to an embodiment of the present invention.
The figure is 200-four-joint hydraulic foot type robot leg; 210-a fixed support; 220-a movable support; 230-a rotational joint; 240-leg support; 250-a support leg; 260-hydraulic linear cylinder; 261-a first hydraulic linear cylinder; 262-a second hydraulic linear cylinder; 263-third hydraulic linear cylinder; 264-a fourth hydraulic linear cylinder; 211-first subsection; 212-a second subsection; 213-first connection; 214-a first spindle hole; 215-a first shaft; 221-a first body; 222-a first connection plate; 223-a second connecting plate; 224-a second connection; 225-third connecting portion; 226-a second spindle bore; 231-a second body; 232-a first boss; 233-a second boss; 234-a third connecting plate; 235-a fourth connecting plate; 236-third shaft hole; 237-fourth spindle hole; 238-a fourth connection; 239-a fifth connecting part; 241-a third body; 242-a mounting cavity; 243-fifth rotating shaft hole; 244-sixth connecting portion; 245-a seventh connecting portion; 246-sixth spindle hole; 251-an eighth connecting portion; 252-seventh spindle hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 6, the present embodiment provides a four-joint hydraulic legged robot leg 200, where the four-joint hydraulic legged robot leg 200 includes a fixed support 210, a movable support 220, a rotating joint 230, a leg support 240, a leg 250, and a plurality of hydraulic linear cylinders 260;
the movable bracket 220 is hinged with the fixed bracket 210, the rotating joint 230 is hinged with the movable bracket 220, the leg bracket 240 is hinged with the rotating joint 230, and the leg 250 is hinged with the leg bracket 240; the axis of rotation of the movable bracket 220 with respect to the fixed bracket 210, the axis of rotation of the rotating joint 230 with respect to the movable bracket 220, and the axis of rotation of the leg bracket 240 with respect to the movable bracket 220 are perpendicular to each other, and the axis of rotation of the leg bracket 240 with respect to the movable bracket 220 and the axis of rotation of the leg bracket 250 with respect to the leg bracket 240 are parallel;
the movable support 220, the rotary joint 230, the leg support 240 and the leg 250 are all in transmission connection with at least one hydraulic linear cylinder 260.
Referring to fig. 1 to 6, the four-joint hydraulic legged robot leg 200 works according to the following principle:
the four-joint hydraulic legged robot leg 200 includes a fixed bracket 210, a movable bracket 220, a rotary joint 230, a leg bracket 240, a leg 250, and a plurality of hydraulic linear cylinders 260; wherein, the movable bracket 220 is hinged with the fixed bracket 210, the rotating joint 230 is hinged with the movable bracket 220, the leg bracket 240 is hinged with the rotating joint 230, and the leg 250 is hinged with the leg bracket 240; the movable support 220, the rotary joint 230, the leg support 240 and the leg 250 are in transmission connection with at least one hydraulic linear cylinder 260, so that the movable support 220, the rotary joint 230, the leg support 240 and the leg 250 can rotate under the driving action of the corresponding hydraulic linear cylinder 260, the rotating axis of the movable support 220 relative to the fixed support 210, the rotating axis of the rotary joint 230 relative to the movable support 220 and the rotating axis of the leg support 240 relative to the movable support 220 are perpendicular to each other, and the rotating axis of the leg support 240 relative to the movable support 220 and the rotating axis of the leg support 250 relative to the leg support 240 are parallel;
therefore, position change in three directions in a space can be realized through rotation of the movable support 220 relative to the fixed support 210, rotation of the rotating joint 230 relative to the movable support 220 and rotation of the leg support 240 relative to the movable support 220, so that the four-joint hydraulic foot type robot leg 200 can flexibly move in the space, the moving postures of the four-joint hydraulic foot type robot leg 200 in the space are enriched, further flexible movement can be realized, complex movement can be completed, and the terrain adaptability is greatly enhanced.
Further, referring to fig. 1-6, based on the above, in the present embodiment, the plurality of hydraulic linear cylinders 260 includes a first hydraulic linear cylinder 261, a second hydraulic linear cylinder 262, a third hydraulic linear cylinder 263 and a fourth hydraulic linear cylinder 264;
the fixed end of the first hydraulic linear cylinder 261 is hinged with the fixed bracket 210, the movable end of the first hydraulic linear cylinder 261 is hinged with the movable bracket 220, and the first hydraulic linear cylinder 261 is used for driving the movable bracket 220 to rotate relative to the fixed bracket 210; therefore, when the first hydraulic linear cylinder 261 drives the movable support 220 to rotate relative to the fixed support 210, the rotating joint 230 is hinged to the movable support 220, the leg support 240 is hinged to the rotating joint 230, and the leg support 250 is hinged to the leg support 240, so that the rotating joint 230, the leg support 240, and the leg support 250 can be driven to rotate by the rotation of the movable support 220 relative to the fixed support 210, and in this embodiment, the direction in which the movable support 220 rotates relative to the fixed support 210 is taken as an example of a first direction;
the fixed end of the second hydraulic linear cylinder 262 is hinged with the movable support 220, the movable end of the second hydraulic linear cylinder 262 is hinged with the rotating joint 230, and the second hydraulic linear cylinder 262 is used for driving the rotating joint 230 to rotate relative to the movable support 220; therefore, when the second hydraulic linear cylinder 262 drives the rotating joint 230 to rotate relative to the movable bracket 220, since the leg support 240 is hinged to the rotating joint 230 and the leg support 250 is hinged to the leg support 240, the rotation of the rotating joint 230 relative to the movable bracket 220 can drive the leg support 240 and the leg support 250 to rotate, and in this embodiment, the direction of the rotation of the rotating joint 230 relative to the movable bracket 220 is taken as a second direction for example;
the fixed end of the third hydraulic linear cylinder 263 is hinged with the rotary joint 230, the movable end of the third hydraulic linear cylinder 263 is hinged with the leg support 240, and the third hydraulic linear cylinder 263 is used for driving the leg support 240 to rotate relative to the rotary joint 230; therefore, when the third hydraulic linear cylinder 263 drives the leg support 240 to rotate relative to the rotary joint 230, the leg support 250 is hinged to the leg support 240, so that the leg support 250 can be driven to rotate by the rotation of the leg support 240 relative to the rotary joint 230, and in this embodiment, the rotation direction of the leg support 240 relative to the rotary joint 230 is taken as the third direction as an example;
in addition, a fixed end of the fourth hydraulic linear cylinder 264 is hinged with the leg support 240, a movable end of the fourth hydraulic linear cylinder 264 is hinged with the leg support 250, and the fourth hydraulic linear cylinder 264 is used for driving the leg support 250 to rotate relative to the leg support 240. The working principle of the fourth hydraulic linear cylinder 264 is the same as that of the hydraulic linear cylinder 260 described above, and therefore, the description thereof is omitted.
In summary, referring to fig. 1 to 6, since the first direction, the second direction and the third direction in the above description are perpendicular to each other, the relative position of the supporting leg 250 in the space can be adjusted by the movement of one or more of the first hydraulic linear cylinder 261, the second hydraulic linear cylinder 262 and the third hydraulic linear cylinder 263 in the above description. It should be noted that, during the movement of the first hydraulic linear cylinder 261 and the second hydraulic linear cylinder 262, the position of the leg 250 is adjusted by adjusting the relative position of the leg support 240 in the space, and thus, the positions of the movable support 220, the rotating joint 230, and the leg support 240 in the space are also adjusted while the position of the leg 250 in the space is adjusted by the movement of one or more of the first hydraulic linear cylinder 261, the second hydraulic linear cylinder 262, and the third hydraulic linear cylinder 263.
Further, in the present embodiment, when the fixing bracket 210 is disposed, the fixing bracket 210 includes a first section 211 and a second section 212, the first section 211 is vertically connected to the second section 212, and the length of the first section 211 is smaller than that of the second section 212; by such an arrangement, the fixing bracket 210 is made L-shaped as a whole, and by such a way, the first section 211 is connected to the external body conveniently, and the first section 211 is provided with a first connection portion 213 hinged to the fixed end of the first hydraulic linear cylinder 261; since the whole fixed bracket 210 is L-shaped, when the first hydraulic linear cylinder 261 is disposed, the first hydraulic linear cylinder 261 can be disposed along the extending direction of the second section 212, and the first section 211 and the first hydraulic linear cylinder 261 are located on the same side of the second section 212, that is, by disposing the first hydraulic linear cylinder 261 at the notch of the whole L-shaped fixed bracket 210, the structures of the fixed bracket 210 and the first hydraulic linear cylinder 261 can be simplified, so as to simplify the whole structure of the four-joint hydraulic foot type robot leg 200 and reduce the volume of the four-joint hydraulic foot type robot leg 200.
Furthermore, in order to facilitate the connection of the movable bracket 220 and the fixed bracket 210, the end of the second section 212 facing away from the first section 211 is provided with a first rotating shaft hole 214 for mounting the first rotating shaft, and the first rotating shaft 215 is connected to the movable bracket 220. That is, in this way, the first rotating shaft 215 is provided such that the movable bracket 220 is hinged to the fixed bracket 210.
On the basis of the structure of the first rotating shaft hole 214, in other embodiments of the present invention, the first rotating shaft hole 214 may be a strip-shaped hole, and the extending direction of the strip-shaped hole is the height direction, so that the first rotating shaft 215 slides along the extending direction of the strip-shaped hole, and the installation height of the first rotating shaft 215 can be adjusted, thereby adjusting the installation height of the movable bracket 220;
on the basis that the first rotating shaft hole 214 is a strip-shaped hole, in order to facilitate the adjustment of the height of the movable bracket 220, the four-joint hydraulic legged robot leg 200 further comprises a lifting hydraulic linear cylinder 260; the fixed end of the hydraulic linear cylinder 260 is connected with the first sub-section 211, and the movable end of the lifting hydraulic linear cylinder 260 is connected with the first rotating shaft 215; the lifting hydraulic linear cylinder 260 is configured to move in synchronization with the first hydraulic linear cylinder 261 to drive the first rotating shaft 215 and the movable bracket 220 connected to the first rotating shaft 215 to slide in the extending direction of the first rotating shaft hole 214.
In summary, since the movable end of the first hydraulic linear cylinder 261 is connected to the movable bracket 220 and the first hydraulic linear cylinder 261 is used for driving the movable bracket 220 to rotate relative to the fixed bracket 210, when the movable bracket 220 needs to be driven to move up and down relative to the fixed bracket 210, the first hydraulic linear cylinder 261 and the lifting hydraulic linear cylinder 260 need to move synchronously to drive the first rotating shaft 215 and the movable bracket 220 connected to the first rotating shaft 215 to slide along the extending direction of the first rotating shaft hole 214. When it is required to drive the movable bracket 220 to rotate relative to the fixed bracket 210, the lifting hydraulic linear cylinder 260 needs to be made stationary and the first hydraulic linear cylinder 261 needs to be moved. It should be noted that, the arrangement mode is the same as the rotation of the movable bracket 220 described above, that is, the lifting movement of the movable bracket 220 in the space can drive the rotating joint 230 connected with the movable bracket, the leg bracket 240 connected with the rotating joint 230, and the leg 250 connected with the leg bracket 240 to move synchronously in the space.
Further, referring to fig. 1-6, in the present embodiment, when the movable bracket 220 is disposed, the movable bracket 220 includes a first main body 221, a first connecting plate 222 and a second connecting plate 223;
in order to facilitate the butt joint with the movable end of the first hydraulic linear cylinder 261, a second connection portion 224 hinged to the movable end of the first hydraulic linear cylinder 261 is disposed on one side of the first body 221; as can be seen from the above description, the present embodiment adopts a manner of providing the first rotating shaft 215 to realize the hinge connection between the movable bracket 220 and the fixed bracket 210, so that the first rotating shaft 215 installed in the first rotating shaft hole 214 is connected to the first main body 221, and is located on the same side of the first main body 221 as the second connecting portion 224, and thus when the movable end of the first hydraulic linear cylinder 261 moves relative to the fixed end, the movable bracket 220 can be driven to rotate relative to the first rotating shaft 215. It should be noted that, in order to enable the movement of the first hydraulic linear cylinder 261 to drive the movable bracket 220 to rotate relative to the first rotating shaft 215, the connection point between the first rotating shaft 215 and the first main body 221 needs to be spaced from the second connecting portion 224;
in addition, since the rotating joint 230 is hinged to the movable bracket 220 and the fixed end of the second hydraulic linear cylinder 262 is hinged to the movable bracket 220, the other side of the first body 221 is provided with a third connecting portion 225 hinged to the fixed end of the second hydraulic linear cylinder 262; the first connecting plate 222 and the second connecting plate 223 are connected to the other side of the first body 221, the first connecting plate 222 and the second connecting plate 223 are disposed at an interval, the first connecting plate 222 and the second connecting plate 223 are both provided with a second rotating shaft hole 226 for mounting a second rotating shaft, and the second rotating shaft is connected to the rotating joint 230.
Through the arrangement mode, the structure of the movable bracket 220 connected with the fixed bracket 210 and the structure of the movable bracket 230 connected with the rotating joint are distributed on two sides of the first main body 221, so that the first hydraulic linear cylinder 261 and the second hydraulic linear cylinder 262 can be prevented from generating motion interference, and the whole structure of the four-joint hydraulic foot type robot leg 200 can be simplified.
Further, referring to fig. 1 to 6, when the rotation joint 230 is disposed, the rotation joint 230 includes a second main body 231, a first boss 232, a second boss 233, a third connecting plate 234 and a fourth connecting plate 235;
the first boss 232, the second boss 233, the third connecting plate 234 and the fourth connecting plate 235 are connected to the second body 231; the first boss 232 and the second boss 233 are located at one side of the second body 231, and the first boss 232 and the second boss 233 are both provided with a third rotating shaft hole 236 for mounting a second rotating shaft; therefore, when the rotating joint 230 is butted with the movable bracket 220, the first boss 232 and the second boss 233 can be positioned on the first connecting plate 222 and the second connecting plate 223, and the second rotating shaft is matched with the second rotating shaft hole 226 on the first connecting plate 222 and the second connecting plate 223 and the third rotating shaft hole 236 on the first boss 232 and the second boss 233, so that the installation mode of the rotating joint 230 and the movable bracket 220 can be simplified and the rotating stability can be improved.
In addition, a third connecting plate 234 and a fourth connecting plate 235 are located on the other side of the second main body 231, the third connecting plate 234 and the fourth connecting plate 235 are spaced, the third connecting plate 234 and the fourth connecting plate 235 are both provided with a fourth rotating shaft hole 237 for mounting a third rotating shaft, and the third rotating shaft is connected with the leg support 240;
the third connecting plate 234 or the fourth connecting plate 235 is provided with a fourth connecting part 238 hinged with the movable end of the second hydraulic linear cylinder 262; one or both of the third and fourth connecting plates 234 and 235 is provided with a fifth connecting portion 239 hinged to a fixed end of the third hydraulic linear cylinder 263.
Thus, by such an arrangement, the structure connected to the movable bracket 220 and the structure connected to the leg bracket 240 can be provided on both sides of the second body 231, thereby preventing interference of movement and improving stability of movement. When the third connecting plate 234 and the fourth connecting plate 235 are provided, the fifth connecting portion 239 to which the fixed end of the third hydraulic linear cylinder 263 is hinged, the fourth connecting portion 238 to which the movable end of the second hydraulic linear cylinder 262 is hinged, and the fourth pivot hole 237, the fourth connecting portion 238, and the fifth connecting portion 239 provided in the third connecting plate 234 or the fourth connecting plate 235 are spaced from each other by the third connecting plate 234 and the fourth connecting plate 235;
therefore, the overall structure of the four-joint hydraulic foot type robot leg 200 can be simplified through the arrangement mode, the situation of motion interference is avoided, and meanwhile, the motion flexibility of the four-joint hydraulic foot type robot leg 200 can be improved.
Further, referring to fig. 1 to 6, in the present embodiment, when the leg support 240 is disposed, the leg support 240 includes a third main body 241, and the third main body 241 is provided with a mounting cavity 242 for the leg 250 and the fourth hydraulic linear cylinder 264 to move; one end of the third body 241 is provided with a fifth rotating shaft hole 243 matched with the third rotating shaft, and the other end of the third body 241 is provided with a sixth connecting part 244 hinged with the movable end of the third hydraulic linear cylinder 263; a seventh connecting portion 245 and a sixth rotating shaft hole 246 are arranged on the side wall of the mounting cavity 242, and the seventh connecting portion 245 is hinged to the fixed end of the fourth hydraulic linear cylinder 264; the sixth shaft hole 246 is installed with a fourth shaft, and the fourth shaft is connected with the leg 250.
The supporting leg 250 is provided with an eighth connecting portion 251 and a seventh rotating shaft hole 252, the eighth connecting portion 251 is hinged to the movable end of the fourth hydraulic linear cylinder 264, the seventh rotating shaft hole 252 is located at the ground-away end of the supporting leg 250, the seventh rotating shaft hole 252 is spaced from the eighth connecting portion 251, and the seventh rotating shaft hole 252 is matched with the fourth rotating shaft.
In the working process of the supporting leg 250, in order to facilitate monitoring of the working stress condition of the supporting leg 250, a force sensor is arranged at the grounding end of the supporting leg 250.
In summary, according to the workpiece characteristics of the hydraulic linear cylinder 260, the relative position of the leg 250 in the space can be adjusted by the movement of one or more of the first hydraulic linear cylinder 261, the second hydraulic linear cylinder 262 and the third hydraulic linear cylinder 263 in the above description, that is, the position change in three directions in the space can be realized by the rotation of the movable bracket 220 relative to the fixed bracket 210, the rotation of the rotating joint 230 relative to the movable bracket 220 and the rotation of the leg bracket 240 relative to the movable bracket 220, so that the four-joint hydraulic foot type robot leg 200 can flexibly move in the space, the moving postures of the four-joint hydraulic foot type robot leg 200 in the space are enriched, the flexible movement can be further performed, the complex movement can be further completed, and the terrain adaptability is greatly enhanced.
Therefore, the requirement of flexible joint multi-angle extension is met, the whole leg part meets the requirement of joint motion path planning under the control of a hydraulic system, and meanwhile, the first hydraulic linear cylinder 261 enriches the motion posture of the whole robot; the movement synthesized by the four hydraulic cylinders can realize the movement of the foot end of the robot, and the multi-angle and multi-posture space movement design of the robot is realized. The bearing capacity of the four-joint hydraulic foot type robot leg 200 can be greatly improved by adopting a hydraulic driving mode; the four-degree-of-freedom structure can enable the four-joint hydraulic foot type robot leg 200 to flexibly move and complete complex movement, and the terrain adaptability is greatly enhanced; the mechanical property of the swivel and the motion property of the whole leg are optimized, and the invention and the design basis are provided for the subsequent research of the robot with high flexibility and high load ratio.
The present invention has been described in terms of the preferred embodiment, and it is not intended to be limited to the embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a four joint hydraulic pressure foot formula robot leg which characterized in that:
the four-joint hydraulic foot type robot leg comprises a fixed support, a movable support, a rotating joint, a leg support, a supporting leg and a plurality of hydraulic linear cylinders;
the movable support is hinged with the fixed support, the rotating joint is hinged with the movable support, the leg support is hinged with the rotating joint, and the support leg is hinged with the leg support; the axis of the movable bracket rotating relative to the fixed bracket, the axis of the rotating joint rotating relative to the movable bracket and the axis of the leg bracket rotating relative to the movable bracket are perpendicular to each other, and the axis of the leg bracket rotating relative to the movable bracket and the axis of the leg bracket rotating relative to the leg bracket are parallel;
the movable support, the rotating joint, the leg support and the supporting leg are in transmission connection with at least one hydraulic linear cylinder;
the plurality of hydraulic linear cylinders include a first hydraulic linear cylinder, a second hydraulic linear cylinder, a third hydraulic linear cylinder, and a fourth hydraulic linear cylinder;
the fixed end of the first hydraulic linear cylinder is hinged with the fixed support, the movable end of the first hydraulic linear cylinder is hinged with the movable support, and the first hydraulic linear cylinder is used for driving the movable support to rotate relative to the fixed support;
the fixed end of the second hydraulic linear cylinder is hinged with the movable support, the movable end of the second hydraulic linear cylinder is hinged with the rotating joint, and the second hydraulic linear cylinder is used for driving the rotating joint to rotate relative to the movable support;
the fixed end of the third hydraulic linear cylinder is hinged with the rotating joint, the movable end of the third hydraulic linear cylinder is hinged with the leg support, and the third hydraulic linear cylinder is used for driving the leg support to rotate relative to the rotating joint;
the fixed end of the fourth hydraulic linear cylinder is hinged with the leg support, the movable end of the fourth hydraulic linear cylinder is hinged with the supporting leg, and the fourth hydraulic linear cylinder is used for driving the supporting leg to rotate relative to the leg support;
the fixed support comprises a first subsection and a second subsection, the first subsection is vertically connected with the second subsection, and the length of the first subsection is smaller than that of the second subsection;
the first sub-part is used for being connected with an external machine body; the first branch part is provided with a first connecting part hinged with the fixed end of the first hydraulic linear cylinder;
one end of the second sub part, which is far away from the first sub part, is provided with a first rotating shaft hole for mounting a first rotating shaft, and the first rotating shaft is connected with the movable bracket;
the first rotating shaft hole is a strip-shaped hole; the four-joint hydraulic foot type robot leg further comprises a lifting hydraulic linear cylinder; the fixed end of the hydraulic linear cylinder is connected with the first branch part, and the movable end of the lifting hydraulic linear cylinder is connected with the first rotating shaft;
the lifting hydraulic linear cylinder is used for synchronously moving with the first hydraulic linear cylinder so as to drive the first rotating shaft and the movable support connected with the first rotating shaft to slide along the extending direction of the first rotating shaft hole.
2. The four-joint hydraulic legged robot leg according to claim 1, characterized in that:
the movable support comprises a first main body, a first connecting plate and a second connecting plate;
a second connecting part hinged with the movable end of the first hydraulic linear cylinder is arranged on one side of the first main body, the first rotating shaft is connected with the first main body and is positioned on the same side of the first main body as the second connecting part, and the joint of the first rotating shaft and the first main body is spaced from the second connecting part;
the other side of the first main body is provided with a third connecting part hinged with the fixed end of the second hydraulic linear cylinder; the first connecting plate and the second connecting plate are connected to the other side of the first main body, the first connecting plate and the second connecting plate are arranged at intervals, the first connecting plate and the second connecting plate are provided with second rotating shaft holes for mounting a second rotating shaft, and the second rotating shaft is connected with the rotating joint.
3. The four-joint hydraulic legged robot leg according to claim 2, characterized in that:
the rotating joint comprises a second main body, a first boss, a second boss, a third connecting plate and a fourth connecting plate;
the first boss, the second boss, the third connecting plate and the fourth connecting plate are all connected with the second main body; the first boss and the second boss are positioned on one side of the second main body, and both the first boss and the second boss are provided with third rotating shaft holes for mounting the second rotating shaft;
the third connecting plate and the fourth connecting plate are positioned on the other side of the second main body, the third connecting plate and the fourth connecting plate are spaced, fourth rotating shaft holes for mounting a third rotating shaft are formed in the third connecting plate and the fourth connecting plate, and the third rotating shaft is connected with the leg support;
the third connecting plate or the fourth connecting plate is provided with a fourth connecting part hinged with the movable end of the second hydraulic linear cylinder; one or two of the third connecting plate and the fourth connecting plate are provided with a fifth connecting part hinged with the fixed end of the third hydraulic linear cylinder.
4. The four-joint hydraulic legged robot leg according to claim 3, characterized in that:
the fourth rotating shaft hole, the fourth connecting part and the fifth connecting part which are positioned on the third connecting plate or the fourth connecting plate are spaced in pairs.
5. The four-joint hydraulic legged robot leg according to claim 3, characterized in that:
the leg support comprises a third main body, and the third main body is provided with an installation cavity for the leg support and the fourth hydraulic linear cylinder to move;
one end of the third main body is provided with a fifth rotating shaft hole matched with the third rotating shaft, and the other end of the third main body is provided with a sixth connecting part hinged with the movable end of the third hydraulic linear cylinder;
a seventh connecting part and a sixth rotating shaft hole are formed in the side wall of the mounting cavity, and the seventh connecting part is hinged to the fixed end of the fourth hydraulic linear cylinder; and a fourth rotating shaft is arranged in the sixth rotating shaft hole and is connected with the supporting leg.
6. The four-joint hydraulic legged robot leg according to claim 5, characterized in that:
the landing leg is provided with eighth connecting portion and seventh pivot hole, the eighth connecting portion with the expansion end of fourth hydraulic pressure straight line cylinder is articulated, just seventh pivot hole is located the liftoff end of landing leg, seventh pivot hole with the eighth connecting portion interval, seventh pivot hole with the cooperation of fourth pivot.
7. The four-joint hydraulic legged robot leg according to claim 6, characterized in that:
and the grounding end of the supporting leg is provided with a force sensor.
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| CN202211266058.1A CN115320744B (en) | 2022-10-17 | 2022-10-17 | Four-joint hydraulic foot type robot leg |
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| CN202211266058.1A CN115320744B (en) | 2022-10-17 | 2022-10-17 | Four-joint hydraulic foot type robot leg |
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