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A walking robot driven by hydraulic-electric hybrid

A walking robot and hybrid drive technology, applied in the field of robotics, can solve the problems of large energy loss, low energy utilization rate, and large kinetic energy loss, and achieve the effect of simple working device, simple structure, and increased power-to-weight ratio

Active Publication Date: 2020-01-07
TAIYUAN UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problems of large loss of driving kinetic energy and low energy utilization rate of the above-mentioned walking robot, the present invention aims to provide a walking robot driven by a hydraulic-electric hybrid, which uses an electro-hydraulic mechanical cylinder or a hydraulic mechanical cylinder to replace the traditional piston cylinder, and uses a hydraulic-electric hybrid drive. Drive mode drive can effectively solve the problem of large energy loss in the drive system of traditional walking robots, reduce system heat generation, and improve energy utilization

Method used

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  • A walking robot driven by hydraulic-electric hybrid
  • A walking robot driven by hydraulic-electric hybrid
  • A walking robot driven by hydraulic-electric hybrid

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Embodiment 1

[0032] Such as figure 1 As shown, a walking robot driven by a hydraulic-electric hybrid comprises: a body 39 and a right front leg (not shown), a right rear leg (not shown), a left front leg (not shown) and Left hind leg 38, wherein each leg all comprises: thigh assembly 35, shank assembly 36, longitudinal hip joint 33, transverse hip joint 34 and knee joint 32, the body and thigh assembly are connected by longitudinal hip joint and transverse hip joint, The thigh assembly and the calf assembly are connected through the knee joint; it also includes a second hydraulic-electric hybrid drive circuit 41, wherein:

[0033] Such as image 3 As shown, the second hydraulic-electric hybrid drive circuit includes: power source 1, constant pressure variable pump 2, first filter 3, second filter 31, oil tank 4, first relief valve 5, second relief valve 7 , the first one-way valve 6, the second one-way valve 29, the third one-way valve 30, the first accumulator 8, the pressure sensor 9, ...

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Abstract

The invention relates to a hydraulic-electric hybrid-driven walking robot. Electro-hydraulic mechanical cylinders or hydraulic mechanical cylinders are adopted to replace traditional piston cylinders,and a hydraulic-electric hybrid-driven mode is adopted for driving. High pressure oil is provided by a constant pressure variable pump, and the high pressure oil flows into the electro-hydraulic mechanical cylinders or hydraulic mechanical cylinders to drive all joints to rotate. Each electro-hydraulic mechanical cylinder and each hydraulic mechanical cylinder are both provided with a variable pump / motor, and the motion state of each leg is controlled by adjusting the swash plate angle of the variable pump / motors. According to the hydraulic-electric hybrid-driven walking robot, the problem ofdeficiency of large energy loss in a driving system of a traditional walking robot can be solved effectively, heating of a system is reduced, and the energy utilization rate is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a walking robot driven by a hydraulic-electric hybrid drive. Background technique [0002] With the development of science and technology, people often turn to robots to complete some complex and dangerous special tasks, and they are playing an increasingly important role in human life. Among them, walking robots have lower requirements on the working environment, can cross obstacles, ravines, and up and down steps, and can adapt to rough ground environments. They have strong adaptability, so they have broad application prospects. The walking robot has a simple and flexible mechanism, strong carrying capacity, and good stability. It can not only achieve slow walking in a static walking mode, but also achieve high-speed walking in a dynamic walking mode, so it has received extensive attention from researchers at home and abroad. At present, the driving methods of the legs of walki...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F15B1/02F15B11/20B62D57/032
CPCB62D57/032F15B1/024F15B11/20F15B11/205
Inventor 权龙葛磊李会妨王波李泽鹏夏连鹏
Owner TAIYUAN UNIV OF TECH
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