CN211144945U - A hydraulic power system of a quadruped robot with variable oil supply pressure from a single pump source - Google Patents

Abstract

The utility model discloses a four-legged robot hydraulic power system with a single pump source changing the oil supply pressure. The system comprises: an oil tank, a two-position two-way electromagnetic reversing valve, a pilot relief valve, a hydraulic pump, a prime mover, a two-position Three-way electromagnetic reversing valve, pilot-operated pressure reducing valve, shuttle valve, accumulator, three-position four-way electromagnetic reversing valve, hydraulic cylinder, oil pipe, force sensor. The hydraulic cylinder is connected with a three-position four-way valve and a force sensor; the three-position four-way valve is connected with an accumulator, a shuttle valve and an oil tank; the shuttle valve is connected with a two-position three-way valve and a pilot-operated pressure reducing valve; the The two-position three-way valve is connected to the hydraulic pump and the pilot-operated pressure reducing valve; the hydraulic pump is connected to the prime mover, the oil tank and the pilot-operated relief valve; the pilot-operated relief valve is connected to the two-position two-way valve and the oil tank; The two-way valve is connected to the fuel tank. The beneficial effect is that the low-pressure and high-pressure oil supply of the quadruped robot in the swing phase and the support phase is realized by a single hydraulic pump without relying on the servo valve, and the control difficulty and the manufacturing cost are reduced.

Description

A hydraulic power system of a quadruped robot with variable oil supply pressure from a single pump source

technical field

The utility model relates to a hydraulic power system, in particular to a four-legged robot hydraulic power system with a single pump source changing the oil supply pressure.

Background technique

Mobile robots can be divided into wheeled robots, crawler robots and footed robots. Previous studies have shown that wheeled vehicles have the characteristics of simple control and smooth and fast movement when driving on relatively flat terrain, but when driving on soft ground or rough terrain, the moving efficiency of the wheels is greatly reduced or even unable to move. While footed robots can work in unstructured and harsh environments. Generally speaking, the driving methods of quadruped robots are mainly divided into three categories: hydraulic actuators, pneumatic actuators and electric actuators. Electric actuators have high control accuracy, but can bear a small load; pneumatic actuators are difficult to control due to their nonlinear characteristics; hydraulic actuators are widely used due to their strong power. Since the advent of the Bigdog quadruped robot developed by Boston Dynamics, it has attracted the attention of scholars from all walks of life.

However, during the alternating switching between the swing phase and the support phase, the oil supply pressure of the system is determined by the maximum load force of the support phase, which leads to the problem that the load demand does not match the oil pressure supply, and the servo valve control it uses Complex and expensive.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a hydraulic power system of a quadruped robot with a single pump source changing the oil supply pressure in order to solve the mismatch between the load demand and the oil pressure and reduce the control difficulty and the manufacturing cost.

The utility model adopts the following technical solutions:

A four-legged robot hydraulic power system with a single pump source changing the oil supply pressure, the system includes: a fuel tank, a two-position two-way electromagnetic reversing valve, a pilot-operated relief valve, a hydraulic pump, a prime mover, and a two-position three-way electromagnetic reversing valve Valve, pilot-operated pressure reducing valve, shuttle valve, accumulator, three-position four-way solenoid valve, hydraulic cylinder, oil pipe, force sensor. The hydraulic cylinder is connected to a three-position four-way electromagnetic reversing valve and a force sensor; the three-position four-way electromagnetic reversing valve is respectively connected to an accumulator, a shuttle valve and an oil tank; the shuttle valve is respectively connected to a two-position three-way electromagnetic switch. A direction valve and a pilot-operated pressure reducing valve; the two-position three-way electromagnetic reversing valve is respectively connected to a hydraulic pump and a pilot-operated pressure-reducing valve; the hydraulic pump is respectively connected to a prime mover, a fuel tank and a pilot-operated relief valve; the pilot The two-position, two-way electromagnetic reversing valve is connected with the oil tank; the two-position, two-way electromagnetic reversing valve is connected with the oil tank.

In the above structure, the hydraulic quadruped robot joint realizes movement through the expansion and contraction of the hydraulic cylinder. At this time, during the expansion and contraction of the hydraulic cylinder, the prime mover drives the hydraulic pump to work, and the two-position three-way electromagnetic reversing valve is in the left position or When the shuttle valve is in the right position, the left or right end valve port of the shuttle valve is opened, and at this time, the three-position four-way servo valve is in the left position or the right position, thereby pushing the hydraulic cylinder to expand and contract.

During the supporting process of the hydraulic cylinder, the prime mover drives the hydraulic pump to work, and the two-position three-way electromagnetic reversing valve is in the left position, thereby opening the valve port at the left end of the shuttle valve and pushing the hydraulic cylinder to expand and contract. At this time, the high-pressure oil circuit works and the low-pressure oil circuit does not work.

During the swinging process of the hydraulic cylinder, the prime mover drives the hydraulic pump to work, and the two-position three-way electromagnetic reversing valve is in the right position. Hydraulic cylinder telescopic. At this time, the low-pressure oil circuit works and the high-pressure oil circuit does not work.

In order to further improve its working performance, the force sensor is installed on the piston rod of the hydraulic cylinder through threaded connection. When the hydraulic cylinder is in the support phase or the swing phase, the hydraulic cylinder force signal is collected, so as to realize the real-time tracking of the joint force. .

In order to further improve its working performance, the accumulator and the two-position two-way electromagnetic reversing valve are used to maintain the oil pressure entering the hydraulic cylinder and reduce the oil pressure loss.

In order to further improve its working performance, a shuttle valve is used to prevent high pressure oil from entering the low pressure oil circuit part and low pressure oil entering the high pressure oil circuit part.

In order to further improve its working performance, a two-position three-way electromagnetic reversing valve is used to switch the hydraulic oil into the high-pressure oil circuit or the low-pressure oil circuit according to the signal of the force sensor.

In order to further improve its working performance, a pressure reducing valve is used to decompress the high-pressure oil, so that the load of the joint matches the oil pressure when the joint is in the support phase.

In order to further improve its working performance, a relief valve is used to protect the high-pressure oil pump.

The beneficial effect is that the low-pressure and high-pressure oil supply of the quadruped robot in the swing phase and the support phase is realized by a single hydraulic pump without relying on the servo valve, and the control difficulty and the manufacturing cost are reduced.

Description of drawings

FIG. 1 is a structural diagram of the hydraulic power system of a quadruped robot with variable oil supply pressure from a single pump source according to the present invention.

As shown in Figure 1: Fuel tank 1, 2/2-way solenoid directional valve 2, pilot-operated relief valve 3, hydraulic pump 4, prime mover 5, 2-position 3-way solenoid directional valve 6, pilot-operated pressure reducing valve 7, shuttle Valve 8 , accumulator 9 , three-position four-way electromagnetic reversing valve 10 , hydraulic cylinder 11 , force sensor 12 .

Detailed ways

The utility model will be described in detail below with reference to the accompanying drawings and embodiments:

As shown in Figure 1, a hydraulic power system of a quadruped robot with a single pump source changing the oil supply pressure includes a fuel tank 1, a two-position two-way electromagnetic reversing valve 2, a pilot-operated relief valve 3, a hydraulic pump 4, a prime mover 5, Two-position three-way electromagnetic reversing valve 6 , pilot-operated pressure reducing valve 7 , shuttle valve 8 , accumulator 9 , three-position four-way electromagnetic reversing valve 10 , hydraulic cylinder 11 , force sensor 12 .

Further, the hydraulic pump 4 is connected with the prime mover 5 through a transmission device to provide pressure oil for the system. The pilot-operated relief valve 1 is connected to the outlet of the hydraulic pump 4 and plays a protective role.

Further, the joints of the quadruped robot move through the expansion and contraction of the hydraulic cylinder 11 , and the signal from the force sensor 12 determines whether the joint is in the support phase or the swing phase. When the hydraulic cylinder is in the support phase, the two-position three-way electromagnetic reversing valve 6 is in the left position, and the hydraulic pump provides high-pressure oil through the high-pressure oil circuit; when the hydraulic cylinder is in the swing phase, the two-position three-way The electromagnetic reversing valve 6 is in the right position, and the hydraulic pump provides low pressure oil through the low pressure oil circuit.

Further, the pilot-operated pressure reducing valve 7 can decompress the high-pressure oil provided by the hydraulic pump 4 into low-pressure oil, so as to provide pressure oil for the swing phase. The shuttle valve 8 can prevent high-pressure oil from entering the low-pressure oil circuit, and low-pressure oil entering the high-pressure oil circuit.

Further, when all the four legs of the quadruped robot are in the swing phase, the load of the dilution hydraulic cylinder is zero, and the two-position two-way electromagnetic reversing valve 2 can be energized through the signal of the force sensor 12, so that the hydraulic pressure is energized. When the pump is unloaded, the accumulator 9 can maintain the pressure of the hydraulic cylinder 11 at this time, which reduces the impact on the system when the hydraulic cylinder is suddenly loaded.

Further, the force sensor is installed on the piston rod of the hydraulic cylinder 11 through a screw connection, and collects the force signal to determine whether the joint is in the support phase or the swing phase.

There are a total of 16 hydraulic cylinders mentioned above. Each leg of the quadruped robot uses four hydraulic cylinders. At the same time, these 16 hydraulic cylinders use a hydraulic pump to provide pressure oil.

As mentioned above, according to the present invention, since the system is divided into a high-pressure oil circuit and a low-pressure oil circuit and no servo valve is used, a single hydraulic pump is used to realize the low-pressure and high-pressure oil supply of the quadruped robot in the swing phase and the support phase, reducing the Control difficulty and manufacturing cost.

Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be completely applied to various fields suitable for the present invention. Additional modifications can readily be implemented by those skilled in the art. Therefore, the invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the claims and the scope of equivalents.

Claims (6)

1. A hydraulic power system of a quadruped robot with a single pump source and variable oil supply pressure comprises: the hydraulic control system comprises an oil tank (1), a two-position two-way electromagnetic directional valve (2), a pilot operated overflow valve (3), a hydraulic pump (4), a prime motor (5), a two-position three-way electromagnetic directional valve (6), a pilot operated reducing valve (7), a shuttle valve (8), an energy accumulator (9), a three-position four-way electromagnetic directional valve (10), a hydraulic cylinder (11), an oil pipe and a force sensor (12); the method is characterized in that: the hydraulic cylinder (11) is respectively connected with a three-position four-way electromagnetic directional valve (10) and a force sensor (12); the three-position four-way electromagnetic directional valve (10) is respectively connected with the energy accumulator (9), the shuttle valve (8) and the oil tank (1); the shuttle valve (8) is respectively connected with a two-position three-way electromagnetic directional valve (6) and a pilot type pressure reducing valve (7); the two-position three-way electromagnetic directional valve (6) is respectively connected with the hydraulic pump (4) and the pilot type reducing valve (7); the hydraulic pump (4) is respectively connected with a prime motor (5), an oil tank (1) and a pilot operated overflow valve (3); the pilot overflow valve (3) is connected with the two-position two-way electromagnetic directional valve (2) and the oil tank (1); the two-position two-way electromagnetic directional valve (2) is connected with the oil tank (1).

2. The hydraulic power system of the quadruped robot with the single pump source changing the oil supply pressure according to the claim 1, characterized in that: the two-position three-way electromagnetic directional valve (6) and the pilot type reducing valve (7) are respectively connected to two oil inlets of the shuttle valve (8), an oil outlet of the shuttle valve (8) is connected with an oil inlet of a three-position four-way electromagnetic directional valve (10), and the three-position four-way electromagnetic directional valve (10) is connected to the oil tank (1) through an oil pipe.

3. The hydraulic power system of the quadruped robot with the single pump source changing the oil supply pressure according to the claim 1, characterized in that: the force sensor (12) is connected to a piston rod of the hydraulic cylinder (11) through threads, and whether the joint is in a supporting phase or a loading phase is judged by acquiring a force sensor signal.

4. The hydraulic power system of the quadruped robot with the single pump source changing the oil supply pressure according to the claim 1, characterized in that: the energy accumulator (9) is connected with an oil inlet of the three-position four-way electromagnetic directional valve (10), the two-position two-way electromagnetic directional valve (2) is connected with a hydraulic control port of the pilot overflow valve (3), and the pressure in the hydraulic cylinder can be kept when the four feet of the four-foot robot are in a swinging phase.

5. The hydraulic power system of the quadruped robot with the single pump source changing the oil supply pressure according to the claim 1, characterized in that: the pilot type pressure reducing valve (7) can reduce the pressure of high-pressure oil into low-pressure oil to supply oil for the swing phase.

6. The hydraulic power system of the quadruped robot with the single pump source changing the oil supply pressure according to the claim 1, characterized in that: the pilot overflow valve (3) can play a role in protecting the oil supply of the hydraulic pump.

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