Joint driving device of wheel-legged robot, control method and wheel-legged robot

Abstract

The invention relates to the technical field of robots, in particular to a joint driving device of a wheel-legged robot, a control method and the wheel-legged robot, the joint driving device comprises a hip joint rotating actuator, a knee joint rotating actuator and a motor, the hip joint rotating actuator performs displacement closed-loop control extension / contraction through a hip joint electro-hydrostatic actuator, and the knee joint rotating actuator performs displacement closed-loop control extension / contraction through a knee joint electro-hydrostatic actuator. The knee joint rotation actuator performs displacement closed-loop control extension / contraction through the knee joint electro-hydrostatic actuator, the knee joint rotation actuator performs force closed-loop control vibration reduction through the knee joint electro-hydrostatic actuator, and the motor drives the wheels to rotate / stop through the controller. The wheel-legged robot aims to take wheel-type modal operation as a main mode and simple step-type modal movement as an auxiliary mode, and can well realize a vibration reduction function in a wheel-type mode and can well realize a leg stretching function in a step-type mode, so that the flexibility and functionality of the wheel-legged robot in an actual use process are considered.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a joint driving device, a control method and a wheel-leg robot of a wheel-leg robot. Background technique [0002] The wheel-legged robot refers to the addition of wheels at the end of the robot legs. This type of robot fully combines the advantages of wheels and legs. Passage in an unstructured environment. Compared with legged robots, it has faster traveling speed and energy efficiency in the road environment, so the research on wheel-legged robots has received more and more attention. [0003] At present, wheel-legged robots are generally developed on the basis of quadruped or bipedal robots. Driven by electric motors, its focus is to demonstrate wheel-legged robot control technology, rather than aiming at practical applications. Since the legged robot can only move in a step mode, in order to maintain balance during its movement, the legs generally have at least...

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Problems solved by technology

[0004] However, the heavy-duty legged robot uses a servo valve-controlled cylinder actuator. The above two points have the following problems: 1. The wheel-legged robot, especially the heavy-duty wheel-legged robot, has a large volume and mass. When it operates in a wheeled mode, Compared with the legged robot, it has a higher energy utilization rate. Therefore, in order to maximize the energy efficiency of the system, the heavy-duty wheel-legged robot mainly moves in the wheeled mode, and the actual road surface is mostly flat, which is suitable for the wheeled mode. state operating conditions; the gait mode of the heavy-duty wheel-legged robot is only used to cross obstacles

Therefore, the current joint configuration and control methods of legged robots cannot meet this performance requirement; 2. The leg joint configuration of existing wheel-legged robots is the same as that of legged robots. joints, each leg has four joint degrees of freedom that need to be controlled, which greatly increases the difficulty of control; 3. The joint actuators of heavy-duty legged robots are currently controlled by servo valves. Flow to achieve precise output force / speed control of the hydraulic cylinder, there is a large throttling power loss, the transmission efficiency of the hydraulic system is low, and the effective energy utilization rate of the robot is low

If the leg joint actuator of the heavy-duty wheel-legged robot adopts servo valve control cylinder, when its legs move, it will consume a lot of energy and reduce the energy utilization rate of the robot

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