The hydraulic wheel-leg robot comprises a head trunk part, mechanical arms are symmetrically and rotatably connected to the two sides of the head trunk part, and a hip pelvis is rotatably connected to the lower end of the head trunk part; thighs are symmetrically and rotatably connected to the two sides of the hip pelvis; the thighs are rotatably connected with the shanks; the shanks are connected with the driving wheels; the hip pelvis comprises two parallel waist joint hydraulic cylinder assemblies, namely hydraulic cylinders in the two waist joint hydraulic cylinder assemblies are parallel; when the two parallel hydraulic cylinders generate the same position track, the waist part realizes pitching motion; when opposite position tracks are generated, the waist part realizes superposition of pitching motion and side-sway motion; and a hydraulic oil path between the hydraulic cylinder and the servo valve is integrated into the oil passing pelvic skeleton and the thigh skeleton. A double-parallel hydraulic oil cylinder driving mode is adopted, and an oil way is embedded in a mechanical structure, so that the robot is simple in structure and relatively convenient to mount and dismount.
本发明公开了一种液压轮腿机器人及其液压驱动系统,包括头躯干部,所述头躯干部两侧对称且可转动连接有机械臂,下端可转动连接有髋部盆骨;所述髋部盆骨两侧对称且可转动连接有大腿;所述大腿可转动连接小腿;所述小腿连接驱动轮;所述髋部盆骨包括两个平行的腰关节液压缸组件,即两个腰关节液压缸组件中的液压缸平行;当两个平行的液压缸产生相同的位置轨迹时,腰部实现俯仰运动;产生相反的位置轨迹时,腰部实现俯仰运动和侧摆运动的叠加;并且将液压缸与伺服阀之间的液压油路集成到走油盆骨骨架和大腿骨架中。本发明采用双平行液压油缸驱动方式以及在机械结构中嵌入油路,使机器人结构简单,安装和拆卸相对方便。
Hydraulic wheel leg robot and hydraulic driving system thereof
一种液压轮腿机器人及其液压驱动系统
2024-03-29
Patent
Electronic Resource
Chinese
Electro-hydraulic four-wheel-drive transportation robot hydraulic system and working method thereof
European Patent Office | 2023
|Integrated hydraulic driving module and hydraulic foot type robot
European Patent Office | 2022
|4 HYDRAULIC CONTROL APPARATUS OF FOUR WHEEL DRIVING SYSTEM AND METHOD THEREOF
European Patent Office | 2019
|