The invention discloses an electro-hydraulic hybrid four-foot walking robot which comprises a rack and four limbs connected to the rack, the rack is provided with a power module, a motor connected with the power module, a hydraulic system, a motion execution control system and an electromechanical control system, the motor is powered through the power module, the motor drives a hydraulic pump to operate, and the motor drives the hydraulic pump to operate. The hydraulic pump drives the oil cylinders to act, the oil cylinders drive joints of the robot limbs to move, the motion execution controller controls the oil cylinders to execute actions, the leg lifting oil cylinder pushes the shanks to swing up and down, the longitudinal swing oil cylinder pushes the thighs to swing front and back, the transverse swing oil cylinder pushes the thighs to swing left and right, and therefore the rack moves under bearing of the four limbs. According to the four-foot walking robot, the power module serves as a power source, the motor serves as driving force, the hydraulic system serves as an executing mechanism, the four-foot walking robot has the advantages of being large in power of the hydraulic system and relatively small in noise of a motor system, and therefore high-load and low-noise operation of the robot is achieved.

    本发明公开了一种电液混合型四足行走机器人,其包括机架和连接在机架上的四个肢体,机架上设有电源模块、与电源模块连接的电机、液压系统、运动执行控制系统和机电控制系统,通过电源模块给电机供电,电机驱动液压泵运行,液压泵驱动油缸动作,油缸带动机器人肢体的关节运动,运动执行控制器控制各油缸执行动作,抬腿油缸推动小腿上下摆动,纵摆油缸推动大腿前后摆动,横摆油缸推动大腿左右摆动,从而机架在四个肢体的承载下移动。本发明是一种以电源模块为动力源、以电机为驱动力、以液压系统为执行机构的四足行走机器人,兼具液压系统力量大和电机系统噪声相对更小的优点,从而实现了机器人的高负载和低噪音运行。


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    Title :

    Electro-hydraulic hybrid four-foot walking robot


    Additional title:

    一种电液混合型四足行走机器人


    Contributors:
    WANG PENGBO (author) / GAN XIANJUN (author) / GAO SHENGJIE (author)

    Publication date :

    2021-10-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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