The invention provides a four-joint hydraulically-driven robot leg, and aims at solving the problems that an existing hydraulically-driven robot is limited in motion ability and poor in terrain adaptability. The four-joint hydraulically-driven robot leg is structurally composed of a hip joint assembly, a coxa assembly, a thigh assembly, a shank assembly, a thigh hydraulic cylinder and a shank hydraulic cylinder. The hip joint assembly is composed of a horizontal swing hydraulic motor, a flange output shaft, a coupler, a flat key, a main shaft, a hip joint bearing, a bearing seat, a body rack, a thrust bearing and a rotating seat. The coxa assembly is composed of a vertical swing hydraulic motor, a staggered coxa, a coxa trunnion, a coxa bearing and a coxa hydraulic cylinder lug. The thigh assembly is composed of a thigh, a thigh hydraulic cylinder lug, a thigh trunnion and a thigh bearing. The shank assembly is composed of an upper shank shell, a lower shank shell, a linear bearing, a damping spring, a force sensor, a shank trunk and a foot end. The four-joint hydraulically-driven robot leg is flexible in motion and capable of completing complex motion, and has greatly enhanced terrain adaptability, meanwhile, the design of the novel and reliable high-heavy-load robot motion joint is provided, which has a certain application prospect.

    本发明提供了一种四关节液压驱动式机器人腿,目的在于解决现有的液压驱动式机器人运动能力受限、地形适应能力欠佳的问题。其结构由髋关节组件,基节组件,大腿组件,小腿组件,大腿液压缸,小腿液压缸组成;髋关节组件由水平摆动液压马达、法兰输出轴、联轴器、平键、主轴、髋关节轴承、轴承座、机身机架、推力轴承和旋转座组成;基节组件由垂直摆动液压马达、交错式基节、基节耳轴、基节轴承、基节液压缸耳座组成;大腿组件由大腿、大腿液压缸耳座、大腿耳轴、大腿轴承组成;小腿组件由小腿上壳体、小腿下壳体、直线轴承、减震弹簧、力传感器、小腿躯干和足端组成;本发明的优点具有灵活运动并且可以完成复杂的运动、其地形适应能力大大加强的优点,同时提供一种新型可靠的高重载的机器人运动关节的设计,具有一定的应用前景。


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    Title :

    Four-joint hydraulically-driven robot leg


    Additional title:

    一种四关节液压驱动式机器人腿


    Contributors:
    JIANG GANG (author) / HAO XING'AN (author) / ZHOU WEI (author) / ZOU HAIFENG (author) / HU YIRAN (author) / JI XIAO (author) / LI XIXUE (author) / PU HONGYUN (author)

    Publication date :

    2021-11-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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