The invention discloses an explosive type jumping hydraulic wheel-legged biped robot, and relates to the technical field of robots. The problems that an existing humanoid robot is large in mass, miniaturization and integration of a hydraulic power system cannot be achieved, and the jumping ability of the robot is poor are solved. The bottom of a trunk skeleton is rotationally connected with the top of a pelvic skeleton through a waist joint shaft, pitching motion of a waist joint is achieved under driving of a waist joint hydraulic driving assembly installed on the trunk skeleton, and the left end and the right end of the pelvic skeleton are rotationally connected with the upper portions of thigh supporting skeletons of two thighs correspondingly; movement of hip joints is achieved under driving of two hip joint hydraulic driving assemblies installed on the front sides of the two thigh supporting frameworks, and the bottoms of the two thigh supporting frameworks are rotationally connected with the tops of the two shank tibia through two knee joint shafts correspondingly. Movement of knee joints is achieved under driving of two knee joint hydraulic driving assemblies installed on the rear sides of the two thigh supporting frameworks. The method is used for optimizing the jumping ability of the robot.
一种爆发式跳跃液压轮腿双足机器人,它涉及机器人技术领域。本发明解决了现有的人形机器人存在质量偏大,无法实现液压动力系统的微型化和集成化,导致机器人跳跃能力较弱的问题。本发明躯干骨架底部通过腰关节轴与盆骨骨架顶部可转动连接,在躯干骨架上安装的腰关节液压驱动组件驱动下实现腰关节的俯仰运动,盆骨骨架左右两端分别与两个大腿的大腿支撑骨架上部可转动连接,在两个大腿支撑骨架前侧安装的两个髋关节液压驱动组件驱动下实现髋关节的运动,两个大腿支撑骨架底部分别通过两个膝关节轴与两个小腿胫骨顶部可转动连接,在两个大腿支撑骨架后侧安装的两个膝关节液压驱动组件驱动下实现膝关节的运动。本发明用于优化机器人跳跃能力。
Burst type jumping hydraulic wheel-legged biped robot
一种爆发式跳跃液压轮腿双足机器人
2024-10-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |