The invention provides an electro-hydraulic hybrid leg of a quadruped robot, and relates to the technical field of quadruped robots. The device comprises a main shaft, a mounting piece, a first servo micro hydraulic module, a thigh, a hip joint, a first motor module, a second motor module, a third motor module, a transmission mechanism, a shank shaft, a shank, a second servo micro hydraulic module and a flexible foot end module. The hip joint is driven to rotate through the first motor module, and the trunk containing space is increased. A motor module and a servo micro hydraulic module form a hybrid drive hip pitching joint and a knee pitching joint, an electro-hydraulic hybrid power technology is utilized, the output torque ratio of a motor and a hydraulic cylinder is optimized, the power performance of the hip pitching joint and the knee joint is improved, and the energy consumption of a machine body is reduced. The electro-hydraulic hybrid leg foot has sufficient power, strong explosive power, high power density ratio, excellent dynamic response capability and good special environment adaptability, and is a premise and guarantee for the quadruped robot to complete various complex actions.
本发明提供一种四足机器人电液混合腿足,涉及四足机器人技术领域。本装置包括主轴、安装件、第一伺服微型液压模组、大腿、髋关节、第一电机模组、第二电机模组、第三电机模组、传动机构、小腿轴、小腿、第二伺服微型液压模组和柔性足端模组。通过第一电机模组带动髋关节转动,增大了躯干容纳空间。通过电机模组和伺服微型液压模组组成的混合驱动髋俯仰关节、膝俯仰关节,利用电液混合动力技术,优化电机和液压缸输出力矩配比,提升髋俯仰关节和膝关节的动力性能,减小机体能量消耗。电液混动腿足拥有充足的动力,强大的爆发力,高功率密度比,优越的动态响应能力,良好的特殊环境适应能力,是四足机器人完成各种复杂动作的前提保障。
Electro-hydraulic mixed leg and foot of quadruped robot
四足机器人电液混合腿足
23.06.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Electro-hydraulic hybrid quadruped robot integrated with bionic trunk
Europäisches Patentamt | 2022
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