The invention discloses a high-load leg-foot robot based on hydraulic static support and a control method, and belongs to the field of leg-foot robots. The robot comprises a shank rod, a thigh rod, a thigh parallel rod, a shank parallel rod, a shank steering rod, a thigh steering rod, a thigh sliding block connecting rod, a shank sliding block connecting rod, a thigh sliding block, a shank sliding block and a hydraulic driving unit. The structural form of the connecting rod and the hydraulic driving unit is adopted, the load of the supporting phase of the leg-foot robot can be transferred to the hydraulic driving unit, and static supporting is conducted through the hydraulic driving unit. Moreover, in the motion state, the hydraulic driving unit does not interfere with the motion of the swing phase of the legs. The leg-foot robot can be used for structural optimization of an existing leg-foot robot, and the load capacity of the leg-foot robot can be effectively improved.
本发明公开了一种基于液压静力支撑的高负载腿足机器人及控制方法,属于腿足机器人领域。机器人包括小腿杆、大腿杆、大腿平行杆、小腿平行杆、小腿转向杆、大腿转向杆、大腿滑块连杆、小腿滑块连杆、大腿滑块、小腿滑块和液压驱动单元。本发明采用连杆加液压驱动单元的结构形式,能够将腿足机器人支撑相的负载转移到液压驱动单元上,由液压驱动单元进行静力支撑。并且,在运动状态下,液压驱动单元不会对腿部摆动相的运动造成干扰。本发明可用于现有腿足机器人的结构优化,能够有效提高腿足机器人的负载能力。
High-load leg-foot robot based on hydraulic static support and control method
一种基于液压静力支撑的高负载腿足机器人及控制方法
2023-10-27
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen |
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