The invention relates to a bionic mechanism of a hydraulic quadruped robot; the mechanism comprises a trunk mechanism, hip mechanisms and a walking mechanism, the hip mechanisms are arranged between the trunk mechanism and the walking mechanism, and the top ends of the hip mechanisms are arranged at the four corners of the bottom end of the trunk mechanism in a swing mode; the walking mechanism and the hip mechanism are connected through a front elbow and rear knee type topological structure, and the trunk mechanism and the walking mechanism are connected in parallel. The walking mechanism and the hip mechanism are connected through the front elbow and rear knee type topological structure, that is, joint shafts of the hip mechanism and the thigh mechanism are located at the front end, joint shafts of the thigh mechanism and the shank mechanism are located at the rear end, and at the moment, the thigh mechanism and the shank mechanism are in a front-elbow and rear-knee type symmetrical topological state; the ground contact area of the bottom ends of the shank mechanisms is larger, movement is smoother and more stable, and through parallel connection of the trunk mechanism and the walking mechanism and series connection of the thigh mechanisms and the shank mechanisms, the robot can be conveniently driven to walk more stably.

    本发明涉及一种液压四足机器人的仿生机构,包括躯干机构、髋部机构以及行走机构,所述髋部机构设置在躯干机构和行走机构之间,所述髋部机构顶端摆动式设置在躯干机构底端四角处,所述行走机构和髋部机构之间采用前肘后膝式拓扑结构连接,所述躯干机构和行走机构并联式连接。本发明通过行走机构和髋部机构之间采用前肘后膝式拓扑结构连接,即髋部机构与大腿机构关节轴位于前端,大腿机构与小腿机构关节轴位于后端,并且此时大腿机构和小腿机构的状态为为前肘后膝式的对称式拓扑状态,使小腿机构底端触地面积更大,运动更平滑稳定,并且通过躯干机构和行走机构的并联连接,大腿机构和小腿机构的串连连接,便于驱动机器人行走,更加平稳。


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    Title :

    Bionic mechanism of hydraulic quadruped robot


    Additional title:

    一种液压四足机器人的仿生机构


    Contributors:
    ZHANG ZIKANG (author) / LUO MINZHOU (author) / YUAN LIPENG (author)

    Publication date :

    2022-01-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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