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Multi-legged walking robot and hydraulic driving system and control method for leg bending and stretching of multi-legged walking robot

The technology of a walking robot and control method, which is applied in the field of robots, can solve the problems of reduced throttling loss and low energy utilization rate, etc.

Active Publication Date: 2020-10-30
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, during its walking process, when it is in the support phase, due to the weight of the robot itself and its load weight, the pressure of the output oil from the pump source is limited; while in the swing phase, the pressure required by the mechanical leg hydraulic cylinder 5 is low. The pressure drop at the valve port is large, and a large amount of hydraulic energy is converted into heat energy due to throttling loss, which makes the energy utilization rate low. Especially in the swing phase, the hydraulic cylinder requires more hydraulic oil when it is extended, resulting in greater throttling loss. reduce its energy efficiency

Method used

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  • Multi-legged walking robot and hydraulic driving system and control method for leg bending and stretching of multi-legged walking robot
  • Multi-legged walking robot and hydraulic driving system and control method for leg bending and stretching of multi-legged walking robot
  • Multi-legged walking robot and hydraulic driving system and control method for leg bending and stretching of multi-legged walking robot

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Experimental program
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Embodiment 1

[0028] The multi-leg walking robot of the present invention adopts a plurality of such as figure 1 The hydraulic mechanical legs 3 shown constitute a mobile drive mechanism; as figure 1 and figure 2 As shown, the multi-legged walking robot specifically includes a body, a hydraulic mechanical leg 3, a control unit and a hydraulic source 2 arranged on the body, and the hydraulic source 2 includes a hydraulic pump 3, an accumulator 4 and a fuel tank 200; wherein, as figure 1 and figure 2 As shown, the hydromechanical leg 3 includes a root joint 30, a hip joint 31, a knee joint 32, a thigh bar 33, a calf bar 34, and a hydraulic drive system 39 for controlling the flexion and extension of the leg bar; the control unit includes a processor and a memory. A computer program is stored in the memory. When the computer program is executed by the processor, it can control the hydraulic pump and the hydraulic drive system based on the received control instructions and the detection dat...

Embodiment 2

[0042] As a description of Embodiment 2 of the present invention, only the differences from Embodiment 1 above will be described below.

[0043] like Figure 5 As shown, the hydraulic oil source 2 of the present invention is constructed using a parallel structure, including a high-pressure pump 25 and its driving motor 26, a low-pressure pump 21 and its driving motor 22, a high-pressure accumulator 27, a low-pressure accumulator 23, and a pressure sensor 24. The pressure sensor 28, the high pressure oil supply port 111 and the low pressure oil supply port 112; the output end of the low pressure pump 21 of the oil circuit is connected to the low pressure accumulator 23, the pressure sensor 24 and the low pressure oil supply port 112; the output end of the high pressure pump 25 Connect high-pressure accumulator 27, pressure sensor 28 and high-pressure oil supply port 111; high-pressure relief valve 30 connects high-pressure oil supply port 111 and fuel tank 200; low-pressure rel...

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Abstract

The invention relates to a multi-legged walking robot, a hydraulic driving system for leg bending and stretching of the multi-legged walking robot and a control method, and belongs to the technical field of robots. The hydraulic driving system comprises a hydraulic cylinder, a hydraulic pump, an energy accumulator, an oil tank and a multifunctional joint control valve set. The hydraulic pump is provided with a high-pressure oil supply port and a low-pressure supply port; the multifunctional joint control valve set comprises an oil flux adjustable control valve connected between a rod oil cavity oil port and a rodless oil cavity oil port of the hydraulic cylinder, three conduction control valves that are used for independently controlling the communication states of load ports between the rod oil cavity oil port and the low-pressure oil supply port, between the rod oil cavity oil port and the high-pressure oil supply port and between the rod oil cavity oil port and the the oil tank; andthree conduction control valves used for independently controlling the communication states of load ports between the rodless oil cavity oil port and the low-pressure oil supply port, between the rodless oil cavity oil port and the high-pressure oil supply port and between the rodless oil cavity oil port and the oil tank. The hydraulic driving system with the improved structure can effectively reduce energy loss, improves the energy utilization rate, and can be widely applied to the technical field of robots.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-legged walking robot, a hydraulic drive system for leg flexion and extension used to construct the robot, and a control method for the multi-legged walking robot. Background technique [0002] As a relatively mature robot, mobile robots are widely used in dangerous and labor-intensive military industry, emergency rescue and disaster relief and other fields. According to the content introduced in the literature "Research Status and Development Trends of Hydraulic Control System of Multi-legged Walking Robots", compared with other mobile methods such as wheeled and crawler-type, multi-legged walking robots can only need discrete footholds during walking. , and can walk on rough roads with obstacles like a multi-legged walking animal, and has been developed rapidly and widely used. [0003] The structure of a mobile robot usually includes a body and a plurality of hydraulic ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032F15B1/02F15B11/08
CPCB62D57/032F15B1/02F15B11/08
Inventor 金波刘子祺翟硕董峻魁
Owner ZHEJIANG UNIV
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