The invention discloses a walking robot which is driven in a servo hydraulic mode. The walking robot comprises a left foot, a right foot, a left leg and a right leg, wherein the left leg and the right leg are connected with the left foot and the right foot respectively, and the left leg and the right leg are installed on the two sides of the bottom end of an ischium support through a thigh rotating shaft correspondingly. A waist frame is installed on the ischium support, and a control module is arranged on the waist frame and used for controlling a servo driving part. A hydraulic mechanism comprises a hydraulic transmission mechanism and a hydraulic power mechanism, the servo driving part is arranged on the waist frame and used for being connected with the hydraulic power mechanism of the hydraulic mechanism and driving the hydraulic power mechanism of the hydraulic mechanism, and the hydraulic power mechanism is connected with the hydraulic transmission mechanism, drives the hydraulic transmission mechanism and is used for driving the left leg and the right leg to move. According to the walking robot which is characterized in that servo motors are connected with hydraulic transmission and controls the hydraulic transmission, the walking robot is small in appearance size, large in load, simple in structure and high in humanoid freedom degree, walking is closer to the human walking posture, power units of the walking robot are concentrated on the upper body, lower limbs are relatively light in weight, only action output is conducted, and a self-balancing algorithm based on an inverted pendulum principle can be adopted to keep balance more advantageously.
本发明公开了一种伺服液压驱动的行走机器人,包括左、右脚,与左、右脚分别连接的左、右腿,左、右腿分别通过大腿转轴安装在坐骨支架底端两侧;在坐骨支架上安装有腰部框架,在腰部框架上设有控制模块,用于控制伺服驱动部分;液压机构包括液压传动机构和液压动力机构,伺服驱动部分设置在腰部框架上,用于连接驱动液压机构的液压动力机构,液压动力机构连接并驱动液压传动机构,用于带动左右腿运动。本发明由伺服电机连接控制液压传动的行走机器人,外形体积小,负载大,结构简单,仿人自由度高,行走更接近人体行走姿态,本发明的动力单元都集中在上半身,下肢重量相对较轻,仅做动作输出,更利于采用基于倒立摆原理的自平衡算法保持平衡。
Walking robot
一种行走机器人
2021-09-14
Patent
Electronic Resource
Chinese
Walking robot, method for controlling walking robot, and walking robot system
European Patent Office | 2023
|Foot structure of walking robot, walking robot, and method for operating walking robot
European Patent Office | 2022
|