The electro-hydraulic hybrid quadruped robot is characterized in that the electro-hydraulic hybrid quadruped robot comprises hydraulic legs, front-back swing motors, hydraulic pumps, side unfolding hydraulic cylinders, hydraulic valves, batteries, machine body hydraulic cylinders, node boxes, a whole machine master controller, a gyroscope, a radiator, a machine frame and machine body hinge mechanisms; a power source of the robot is supplied with energy through a battery, a joint actuator comprises a hydraulic actuator and a motor actuator, two joint freedom degrees of the waist of the robot are added on the bionic design, and the robot is configured with 14 freedom degrees in total. The four-degree-of-freedom electric drive robot inherits the advantages of hydraulic drive and has the advantages of low noise, high reliability and convenience in maintenance and repair of an electric drive system, and high-speed maneuvering motion control of the robot is facilitated due to the arrangement of 14 degrees of freedom of the whole robot.
本发明涉及一种集成仿生躯干的电液混动四足机器人,其特征在于,包括:液压腿足、前后摆电机、液压泵、侧展液压缸、液压阀、电池、机身液压缸、节点盒、整机主控、陀螺仪、散热器、机架和机身铰链机构;该机器人动力源采用电池进行能源供给,关节执行器既包含了液压执行器又包含了电机执行器,在仿生设计上,增加机器人腰部两个关节自由度,共14自由度配置。本发明既继承了液压驱动的优点,同时兼具了电驱系统噪音低、可靠性高、维护维修方便的优点,整机14自由度的配置有利于机器人高速机动运动控制。
Electro-hydraulic hybrid quadruped robot integrated with bionic trunk
一种集成仿生躯干的电液混动四足机器人
2022-09-16
Patent
Elektronische Ressource
Chinesisch
Electro-hydraulic hybrid-driven power system for bionic quadruped robot
Europäisches Patentamt | 2020
|