The invention provides a servo hydraulic drive robot. The robot comprises a platform, hip joint connecting rods, thighs, thigh connecting rods, shanks and first servo drivers. A mounting groove penetrating through the platform is formed in the platform; a joint mounting seat is arranged on the mounting groove; a driver mounting base is arranged on one side of the mounting groove; the middle part of the hip joint connecting rod is rotatably mounted on the joint mounting base; the first servo driver is installed on the platform and provides a driving source for the robot; the hip joint connecting rod is pulled to rotate through the driving rod; the hip joint connecting rods drive shanks to stretch out or retract through thigh connecting rods and thighs; accordingly, robot walking is achieved, the first servo driver is installed on the platform, the leg mass and the rotational inertia of the legs are reduced, inertia impact in the leg swing process is reduced, the default of leg inertia force compensation reduces the real-time control difficulty of the robot, the positioning precision and the response speed of the lower ends of the legs are improved, and the impact resistance of the robot is improved.
本发明提供一种伺服液压驱动机器人,包括平台、髋关节连杆、大腿、大腿连杆、小腿和第一伺服驱动器,所述平台上设有贯穿所述平台的安装槽,所述安装槽上设有关节安装座,所述安装槽一侧设有驱动器安装座,所述髋关节连杆中部可旋转地安装在所述关节安装座上,第一伺服驱动器安装在平台上为机器人提供驱动源,并通过驱动杆拉动髋关节连杆旋转,髋关节连杆通过通过大腿连杆和大腿带动小腿作伸出或收缩运动,从而实现机器人行走,将第一伺服驱动器安装在平台上,减轻腿部质量以及腿的转动惯量,减小了腿部摆动过程中惯性冲击,腿部惯性力补偿的缺省降低了机器人实时控制难度,提高了腿部下端的定位精度和响应速度,提高机器人抗冲击能力。
Servo hydraulic drive robot
一种伺服液压驱动机器人
2020-07-14
Patent
Electronic Resource
Chinese
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