CN212423329U

CN212423329U - Electro-hydraulic hybrid-driven motion mode reconfigurable foot type robot

Info

Publication number: CN212423329U
Application number: CN202020312609.3U
Authority: CN
Inventors: 成利波; 谢安桓; 张丹; 朱世强
Original assignee: Zhejiang Lab
Current assignee: Zhejiang Lab
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2021-01-29
Anticipated expiration: 2030-03-13

Abstract

The utility model discloses an electricity liquid hybrid drive's motion mode restructural sufficient formula robot, including head, big arm, forearm, truck, crotch, thigh, shank, foot, ankle joint, knee joint, hip joint, waist joint, elbow joint, shoulder joint, action wheel, from driving wheel, battery, hydraulic pump, pneumatic cylinder and motor. The efficient driving of the foot robot under different scenes and different functional requirements is realized through two motion modes of motor and hydraulic hybrid driving and walking and wheel driving. The utility model discloses a can full play motor and the advantage of two kinds of drive methods of hydraulic pressure, can show the motion ability, the load capacity that improve sufficient robot, degrade motion ability virtual value.

Description

Electro-hydraulic hybrid-driven motion mode reconfigurable foot type robot

Technical Field

The utility model relates to a sufficient robot field especially relates to an electricity liquid hybrid drive's sufficient robot of motion mode restructural.

Background

Compared with the traditional wheel-track type robot, the foot type robot has remarkable advantages in the aspects of motion flexibility, environment adaptability and the like, and can pass through environments such as stairs, gullies, rugged ground, obstacles and the like. Therefore, the foot type robot has great application prospect in the scenes of field exploration, post-disaster rescue, material transportation and the like. But before the practical value is fully exerted, a plurality of technical bottlenecks to be overcome still remain. Among them, the power driving system of the foot robot is always one of the most critical technologies.

At present, the drive modes of the foot type robot mainly comprise motor drive and hydraulic drive. The motor driving technology is mature, the structure is simple, the miniaturization, the light weight and the high-precision driving control are convenient to realize, and the defects are that the power density is low and the load capacity interference resistance is poor; the hydraulic drive has high power density, large load capacity, strong anti-interference performance, is convenient for realizing the drive with high maneuverability, and has the defects of complex system and low energy efficiency. Aiming at different requirements of the foot type robot in different scenes and different requirements of different joints on the robot on performance, two driving modes are reasonably utilized, and the method makes good for deficiencies, and has important significance for optimizing a driving system of the robot and improving the maneuvering performance of the robot.

Disclosure of Invention

To the invariable problem of single drive mode and motion mode of current sufficient robot only adoption, the utility model provides an electricity liquid hybrid drive's motion mode restructural sufficient robot.

The purpose of the utility model is realized through the following technical scheme: a motion mode reconfigurable foot type robot driven by electro-hydraulic hybrid comprises a head, a big arm, a small arm, a trunk, a crotch, a thigh, a shank, a foot, an ankle joint, a knee joint, a hip joint, a waist joint, an elbow joint, a shoulder joint, a driving wheel, a driven wheel, a battery, a hydraulic pump, a hydraulic cylinder and a motor; the head is rigidly connected with the trunk; the big arm is hinged with the trunk through a shoulder joint; the small arm is hinged with the big arm through an elbow joint; the trunk is hinged with the crotch; the thigh is hinged with the hip through a hip joint; the shank is hinged with the thigh through the knee joint; the foot is hinged with the lower leg through an ankle joint. The battery and the hydraulic pump are arranged on the back of the trunk and are rigidly connected with the trunk, the battery is fixedly connected with the hydraulic pump and the motor respectively, and the hydraulic pump is connected with the hydraulic cylinder through an oil way. The hydraulic cylinders are arranged on the waist joint, the hip joint, the knee joint and the ankle joint and are respectively hinged with two ends of the waist joint, the hip joint, the knee joint and the ankle joint; the driven wheel is arranged on the knee joint and connected with a rotating shaft of the knee joint, and the driving wheel is arranged on the elbow joint and connected with the rotating shaft of the elbow joint.

Further, the motor on the elbow joint comprises a motor rotor and a motor stator, the motor stator is rigidly connected with the large arm, and the motor rotor is rigidly connected with the driving wheel.

Further, the motor rotor is rigidly connected with the small arm in the walking mode; and is hinged with the small arm in the wheel drive mode.

The utility model has the advantages as follows: the utility model discloses a motion mode restructural foot formula robot of electricity liquid hybrid drive, its waist joint, hip joint, knee joint, ankle joint adopt hydraulic drive for the robot has higher mobility, flexibility and stronger load capacity and motion ability, and shoulder joint, elbow joint adopt motor drive, make the robot structure simplify greatly, have reduced weight, are convenient for realize the dexterous action of upper limbs. The foot robot has two motion modes of a walking mode and a wheel driving mode, selects strong trafficability or fast moving speed according to different scenes, and fully exerts the advantages of the two modes according to environmental requirements.

Drawings

FIG. 1 is a schematic structural diagram of a motion mode reconfigurable foot type robot driven by electro-hydraulic hybrid: FIG. 1(a) is a walking mode and (b) is a wheel drive mode;

fig. 2 is a block diagram of a motion mode reconfigurable foot type robot driving system of an electro-hydraulic hybrid drive of the present invention;

fig. 3 is a schematic structural diagram of an elbow joint with reconfigurable motion mode according to the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the invention will become more apparent. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, the electro-hydraulic hybrid driven foot robot with reconfigurable motion mode of the present invention has a simplified structure, including a head 1, a big arm 2, a small arm 3, a trunk 4, a crotch 5, a thigh 6, a shank 7, a foot 8, an ankle joint 9, a knee joint 10, a hip joint 11, a waist joint 12, an elbow joint 13, a shoulder joint 14, a driving wheel, a driven wheel, a battery, a hydraulic pump, a hydraulic cylinder and a motor; the head 1 is rigidly connected with the trunk 4; the big arm 2 is hinged with the trunk 4 through a shoulder joint 14 and has rotational freedom degrees in the x direction, the y direction and the z direction; the small arm 3 is hinged with the large arm 2 through an elbow joint 13 and has a rotational degree of freedom in the y direction; said trunk 4 is hinged to the crotch 5, with a rotational degree of freedom in the z-direction; the thigh 6 is hinged with the crotch 5 through a hip joint 11 and has rotational freedom in three directions of x, y and z; the lower leg 7 is hinged with the upper leg 6 through a knee joint 10 and has a rotational degree of freedom in the y direction; the foot 8 is hinged with the lower leg 7 through an ankle joint 9 and has rotational freedom in the x direction and the y direction.

The driving system block diagram of the robot is shown in fig. 2, and the battery is the energy source of the driving system and provides electric energy for the hydraulic pump and the motor. The battery sets up in 4 backs of truck, the battery with pass through cable fixed connection with hydraulic pump, motor respectively, the type of motor is the synchronous servo motor of permanent magnetism, sets up on shoulder joint 14, elbow joint 13's rotation axis, respectively with shoulder joint 14, elbow joint 13's rotation axis connection, because shoulder joint 14, elbow joint 13 load are less and structure space is compact, through motor drive, can realize the demand of the dexterous motion of hand, also can reduce joint weight simultaneously. The motor of the elbow joint 13 comprises a motor rotor 16 and a motor stator 18, the motor stator 18 is rigidly connected with the large arm 2, and the motor rotor 16 is rigidly connected with the driving wheel. The hydraulic pump provides hydraulic energy for the whole hydraulic system, the hydraulic pump is connected with the hydraulic cylinder through an oil way, the type of the hydraulic pump is a servo valve control hydraulic cylinder, the hydraulic pump is arranged at two ends of the waist joint 12, the hip joint 11, the knee joint 10 and the ankle joint 9, and the hydraulic pump is hinged with two ends of the waist joint 12, the hip joint 11, the knee joint 10 and the ankle joint 9 and connected with the hydraulic pump; the waist joint 12, the hip joint 11, the knee joint 10 and the ankle joint 9 have larger loads and are driven by hydraulic pressure, so that the requirements of the joints on large moment can be met, and the robot has stronger movement capacity and load capacity. The driven wheel is arranged on the knee joint 10, is arranged on a rotating shaft of the knee joint 10 and can freely rotate; the action wheel sets up on elbow joint 13, with the rotor fixed connection of the motor on elbow joint 13, when the robot becomes wheel drive mode, the motor becomes the drive action wheel from driving forearm 3 to drive whole robot motion. Wherein, the driving waist joint 12 is a hydraulic swing cylinder, and the driving hip joint 11, the knee joint 10 and the ankle joint 9 are hydraulic straight cylinders.

As shown in figure 3, the elbow joint 13 is structured, when the robot is in rugged and obstructed environments and requires the upper limbs of the robot to complete a specified task, the robot moves in a walking mode, as shown in figure 1(a), the motor rotor 16 is rigidly connected with the small arm 3, the motor rotor 16 drives the small arm 3 to rotate through the pin 17, the motion control of the small arm 3 is realized, and the walking mode motion has higher flexibility and stronger passing capability. In simple environments such as flat ground, paved roads and the like, the robot moves in a wheel drive mode, as shown in fig. 1(b), a pin 17 on the forearm 3 exits a pin hole on the motor rotor, the motor rotor 16 does not drive the forearm 3 to move any more, but only drives a driving wheel to rotate, the elbow joint 13 serves as the driving wheel, the knee joint 10 serves as a driven wheel, the robot drives the driving wheel to deflect through the rotation of the shoulder joint 14 along the z direction to realize turning action, forward and backward actions are realized through the forward and backward rotation of the driving wheel, the robot moves in the wheel drive mode, the capability of fast moving is realized, and the effective value of the robot can be greatly reduced.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the invention and is not intended to limit the invention, and that various modifications, equivalents and the like can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a motion mode restructural sufficient robot of electricity liquid hybrid drive which characterized in that: comprises a head (1), a big arm (2), a small arm (3), a trunk (4), a crotch (5), a thigh (6), a shank (7), a foot (8), an ankle joint (9), a knee joint (10), a hip joint (11), a waist joint (12), an elbow joint (13), a shoulder joint (14), a driving wheel, a driven wheel, a battery, a hydraulic pump, a hydraulic cylinder and a motor; the head (1) is rigidly connected with the trunk (4); the big arm (2) is hinged with the trunk (4) through a shoulder joint (14); the small arm (3) is hinged with the big arm (2) through an elbow joint (13); the trunk (4) is hinged with the crotch (5); the thigh (6) is hinged with the crotch (5) through a hip joint (11); the lower leg (7) is hinged with the thigh (6) through a knee joint (10); the foot (8) is hinged with the lower leg (7) through an ankle joint (9); the battery and the hydraulic pump are arranged on the back of the trunk (4) and are rigidly connected with the trunk (4), the battery is fixedly connected with the hydraulic pump and the motor respectively, and the hydraulic pump is connected with the hydraulic cylinder through an oil way; the hydraulic cylinder is arranged on the waist joint (12), the hip joint (11), the knee joint (10) and the ankle joint (9) and is hinged with two ends of the waist joint (12), the hip joint (11), the knee joint (10) and the ankle joint (9) respectively; the driven wheel is arranged on the knee joint (10) and connected with a rotating shaft of the knee joint (10), and the driving wheel is arranged on the elbow joint (13) and connected with the rotating shaft of the elbow joint (13).

2. The motion mode reconfigurable legged robot of claim 1, further characterized by: the motor on the elbow joint (13) comprises a motor rotor (16) and a motor stator (18), the motor stator (18) is rigidly connected with the large arm (2), and the motor rotor (16) is rigidly connected with the driving wheel.

3. The motion mode reconfigurable legged robot of claim 2, further characterized by: the motor rotor (16) is rigidly connected with the small arm (3) in a walking mode; is hinged with the small arm (3) in a wheel driving mode.