The invention belongs to the technical field of foot type robots, and particularly relates to a six-degree-of-freedom series-parallel hydraulic drive foot type robot hip structure which is characterized in that a hip frame body comprises a plurality of annularly-distributed curved columns, the two ends of each curved column are connected with the same upper base and the same lower base correspondingly, and the upper portions of the curved columns are sleeved with the same first platform; the curved columns are divided into two sets, the lower portions of the same set of curved columns are sleeved with the same second platform, a subspace A is formed between the upper base and the first platforms, a subspace B is formed between the first platforms and the lower base, and subspaces C are formed between the first platforms and the second platforms. According to the technical scheme, structural distribution is reasonable and compact, space is saved, the size occupied by the hip structure is reduced, the application range of the foot type robot is enlarged, and the problem that in the prior art, a hydraulic drive system is large in overall size, and consequently a hydraulic drive foot type robot is difficult to deploy and use in some application scenes with limited space is solved.
本发明属于足式机器人技术领域,尤其涉及一种六自由度串并联式液压驱动的足式机器人髋部结构,髋部架体包括多根环形分布的曲柱,曲柱的两端部分别连接有同一个上基座和同一个下基座,曲柱上部套设有同一个平台一,曲柱分为两组,同一组曲柱下部套设有同一个平台二,上基座和平台一之间形成子空间A,平台一和下基座之间形成子空间B,两个平台一和平台二之间均形成子空间C。本技术方案中,结构分布合理、紧凑,节约空间,减少髋部结构所占用的体积,增大了足式机器人的适用范围,解决了现有技术中液压驱动系统整体体积较大,使得液压驱动足式机器人在某些空间受限的应用场景中难以部署和使用的问题。
Six-degree-of-freedom series-parallel connection type hydraulically-driven foot type robot hip structure
一种六自由度串并联式液压驱动的足式机器人髋部结构
2024-08-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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