CN110185671B - Hydraulic power system of four-legged robot with double pump sources for parallel oil supply - Google Patents
Hydraulic power system of four-legged robot with double pump sources for parallel oil supply Download PDFInfo
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- CN110185671B CN110185671B CN201910338370.9A CN201910338370A CN110185671B CN 110185671 B CN110185671 B CN 110185671B CN 201910338370 A CN201910338370 A CN 201910338370A CN 110185671 B CN110185671 B CN 110185671B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0807—Manifolds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/042—Controlling the temperature of the fluid
- F15B21/0423—Cooling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B3/00—Intensifiers or fluid-pressure converters, e.g. pressure exchangers; Conveying pressure from one fluid system to another, without contact between the fluids
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
- F15B2211/20592—Combinations of pumps for supplying high and low pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31547—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having multiple pressure sources and multiple output members
Abstract
The invention provides a hydraulic power system of a quadruped robot with double pump sources connected in parallel for supplying oil, which comprises: the system comprises a high-pressure pump, an engine, a medium-pressure pump, a high-pressure oil way servo valve, a medium-pressure oil way servo valve and a hydraulic cylinder; the engine is respectively connected with the high-pressure pump and the medium-pressure pump; the high-pressure oil circuit servo valve and the medium-pressure oil circuit servo valve are connected to the hydraulic cylinder in parallel; an oil outlet of the high-pressure pump is connected with an oil inlet of the high-pressure oil way servo valve to form a high-pressure oil way; an oil outlet of the medium-pressure pump is connected with an oil inlet of the medium-pressure oil way servo valve to form a medium-pressure oil way; wherein the high pressure pump provides an output pressure that is greater than an output pressure provided by the intermediate pressure pump. The invention can provide two hydraulic oil sources with two pressures for the selection of the four-foot robot joint hydraulic cylinder, better match the joint load characteristics of the four-foot robot in the walking process and obviously improve the efficiency of the hydraulic power system of the four-foot robot.
Description
Technical Field
The invention relates to a hydraulic power system, in particular to a hydraulic power system of a quadruped robot with double pump sources connected in parallel for supplying oil.
Background
With the development of science and technology, for some complex and dangerous works, people often use robots to complete the work. The application field of robots is continuously expanding, and at present, robots can be divided into flying robots, ground robots and underwater robots according to the moving range. The ground robot can be a crawler-type robot, a wheel-type robot and a foot-type robot. Compared with a crawler-type robot and a wheel-type robot, the foot-type robot has low environmental requirement and better adaptability. The foot type mobile robot can be classified into a one-foot robot, a two-foot robot, a four-foot robot, a six-foot robot and an eight-foot robot according to the difference of the number of feet. At present, biped robots, quadruped robots and hexapod robots are researched more. Compared with a biped robot, the quadruped robot is more stable and better in bearing performance. Quadruped robots are easier to control than hexapod robots. At present, the quadruped robot is mostly driven by hydraulic pressure. The hydraulic drive has the following advantages: the hydraulic transmission device has the advantages of small volume, light weight, small motion inertia and good dynamic performance, can realize zero-clearance transmission by adopting hydraulic transmission, is stable in motion, is convenient to realize automatic working circulation and automatic overload protection, has self-lubricating function and longer service life because oil is generally adopted as a transmission medium, is a standardized and serialized product, and is convenient to design, manufacture, popularize and apply.
The walking characteristic of the quadruped robot is that each leg can be divided into a supporting phase and a swinging phase in the walking process, the working condition of the supporting phase requires that each joint of the leg can provide a larger supporting force, namely, the hydraulic cylinder requires that the system can provide a larger pressure; and each joint only needs to finish the swing phase process at a higher speed under the swing phase working condition, namely, the hydraulic cylinder only needs a hydraulic system to provide enough flow to realize quick movement (the requirement on pressure is lower at the moment).
At present, the hydraulic system structure of the hydraulically driven quadruped robot basically adopts a single pump source-multiple actuators mode. Hydraulic systems employing a single pump source-multiple actuator configuration have the following disadvantages or shortcomings: the power output must be designed and provided at the maximum operating pressure and maximum flow required by each actuator, thereby creating a mismatch between load demand and energy supply, resulting in inefficiencies.
Disclosure of Invention
In order to solve the problem of mismatching between load demand and energy supply in the prior art, the invention provides a hydraulic power system of a quadruped robot with double pump sources connected in parallel for supplying oil.
The technical scheme provided by the invention is as follows:
a quadruped robotic hydraulic power system with dual pump sources supplying oil in parallel, the system comprising: the system comprises a high-pressure pump (1), an engine (2), a medium-pressure pump (3), a high-pressure oil way servo valve (13), a medium-pressure oil way servo valve (12) and a hydraulic cylinder (14);
the engine (2) is respectively connected with the high-pressure pump (1) and the medium-pressure pump (3);
the high-pressure oil circuit servo valve (13) and the medium-pressure oil circuit servo valve (12) are connected to the hydraulic cylinder (14) in parallel;
an oil outlet of the high-pressure pump (1) is connected with an oil inlet of the high-pressure oil way servo valve (13) to form a high-pressure oil way;
an oil outlet of the medium-pressure pump (3) is connected with an oil inlet of the medium-pressure oil way servo valve (12) to form a medium-pressure oil way;
wherein the output pressure provided by the high pressure pump (1) is greater than the output pressure provided by the medium pressure pump (3).
Preferably, the first and second servo valves comprise control ports a and B, respectively;
the control port A of the high-pressure oil circuit servo valve (13) is communicated with the control port A of the medium-pressure oil circuit servo valve (12) and is simultaneously connected to the hydraulic cylinder (14); and a control port B of the high-pressure oil way servo valve (13) is communicated with a control port B of the medium-pressure oil way servo valve (12) and is simultaneously connected to a hydraulic cylinder (14).
Preferably, the device also comprises two one-way valves;
one check valve is positioned on the high-pressure oil way, one end of the check valve is connected with the high-pressure pump (1), and the other end of the check valve is connected with the high-pressure oil way servo valve (13);
and the other one-way valve is positioned on a medium-pressure oil path, one end of the one-way valve is connected with the medium-pressure pump (3), and the other end of the one-way valve is connected with the medium-pressure oil path servo valve (12).
Preferably, two flow meters are further included;
a flow meter is arranged between the check valve in the high-pressure oil line and the high-pressure pump (1);
and the other flow meter is arranged between the check valve in the medium-pressure oil circuit and the medium-pressure pump (3).
Preferably, two filters are also included;
one end of the filter is connected with the one-way valve in the high-pressure oil way, and the other end of the filter is connected with an oil inlet of the high-pressure oil way servo valve (13);
one end of the other filter is connected with the one-way valve in the medium-pressure oil way, and the other end of the other filter is connected with an oil inlet of the medium-pressure oil way servo valve (12).
Preferably, two accumulators are further included;
an accumulator is arranged between the filter in the high-pressure oil circuit and the high-pressure oil circuit servo valve (13);
another accumulator is arranged between the filter in the medium-pressure oil circuit and the medium-pressure oil circuit servo valve (12).
Preferably, the device also comprises a pressurization oil tank (16);
the pressurizing oil tank (16) is respectively connected with oil suction ports of the high-pressure pump (1) and the medium-pressure pump (3);
and the pressurized oil tank (16) is respectively connected with the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12).
Preferably, the device also comprises a cooler (15);
one end of the cooler (15) is connected with the pressurized oil tank (16);
the other end of the cooler (15) is respectively connected with the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12).
Preferably, the system further comprises: a servo valve controller;
the servo valve controller controls at least one of the first servo valve and the second servo valve to be in a neutral position operation at any time.
Preferably, the output pressure of the high-pressure pump (1) is 21MPa of hydraulic oil;
the output pressure of the medium-pressure pump (3) is 10.5MPa of hydraulic oil;
preferably, the high-pressure pump (1) and the medium-pressure pump (3) are both plunger pumps;
preferably, the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12) are both direct-drive servo valves;
preferably, the high-pressure oil circuit servo valve (13) and the medium-pressure oil circuit servo valve (12) are servo valves with 10% positive covers.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a hydraulic power system of a quadruped robot with double pump sources connected in parallel for supplying oil, which comprises: the system comprises a high-pressure pump (1), an engine (2), a medium-pressure pump (3), a high-pressure oil way servo valve (13), a medium-pressure oil way servo valve (12) and a hydraulic cylinder (14); the engine (2) is respectively connected with the high-pressure pump (1) and the medium-pressure pump (3); the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12) are connected to the hydraulic cylinder (14) in parallel; an oil outlet of the high-pressure pump (1) is connected with an oil inlet of the high-pressure oil way servo valve (13) to form a high-pressure oil way; an oil outlet of the medium-pressure pump (3) is connected with an oil inlet of the medium-pressure oil way servo valve (12) to form a medium-pressure oil way; wherein the output pressure provided by the high pressure pump (1) is greater than the output pressure provided by the medium pressure pump (3). The invention can provide two hydraulic oil sources with two pressures for the selection of the four-foot robot joint hydraulic cylinder, better match the joint load characteristics of the four-foot robot in the walking process and obviously improve the efficiency of the hydraulic power system of the four-foot robot.
The scheme provided by the invention is as follows: the power/mass ratio is large, so that the load bearing capacity of the robot is stronger; in the walking process of the robot, the legs in the supporting phase working condition can be supplied with pressure oil by a high-pressure pump, and the legs in the swinging phase working condition can be supplied with pressure oil by a medium-pressure pump, so that the load requirement of the robot is well matched with the energy supply, and the efficiency of a hydraulic system is high; the cruising ability of the robot is stronger.
Drawings
FIG. 1 is a hydraulic schematic of the present invention;
in the figure: 1 is a high-pressure pump, 2 is an engine, 3 is a medium-pressure pump, 4 is a high-pressure oil way flowmeter, 5 is a high-pressure oil way check valve, 6 is a high-pressure oil way filter, 7 is a high-pressure oil way accumulator, 8 is a medium-pressure oil way flowmeter, 9 is a medium-pressure oil way check valve, 10 is a medium-pressure oil way filter, 11 is a medium-pressure oil way accumulator, 12 is a medium-pressure oil way direct-drive servo valve, 13 is a high-pressure oil way direct-drive servo valve, 14 is a hydraulic cylinder, 15 is a cooler, and 16 is a pressurizing oil tank.
Detailed Description
For a better understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings and examples.
The invention aims to overcome the defects of the prior art and provide the hydraulic power system of the quadruped robot, which has the advantages of simple structure, large power/mass ratio, high efficiency, long endurance and good matching between load demand and energy supply.
Example 1:
the technical scheme adopted by the invention is as follows: the invention provides a hydraulic power system of a quadruped robot with double pump sources connected in parallel for supplying oil, which is characterized by comprising the following components: the system comprises a high-pressure pump 1, an engine 2, a medium-pressure pump 3, a high-pressure oil way flowmeter 4, a high-pressure oil way one-way valve 5, a high-pressure oil way filter 6, a high-pressure oil way accumulator 7, a medium-pressure oil way flowmeter 8, a medium-pressure oil way one-way valve 9, a medium-pressure oil way filter 10, a medium-pressure oil way accumulator 11, a medium-pressure oil way direct-drive servo valve 12, a high-pressure oil way direct-drive servo valve 13, a hydraulic cylinder 14, a cooler 15 and a pressurizing oil tank 16.
Further, the high-pressure pump 1 and the medium-pressure pump 3 are connected with an output shaft of the engine 2 through a gear synchronous belt transmission device to provide pressure oil for a high-pressure oil path and a medium-pressure oil path. The oil outlets of the high-pressure pump 1 and the medium-pressure pump 3 are sequentially connected in series with a flowmeter, a one-way valve and a filter. The filter outlets of the high-pressure oil way and the medium-pressure oil way are respectively connected with a high-pressure oil way energy accumulator 7 and a medium-pressure oil way energy accumulator 11 in parallel, and the oil outlets of the energy accumulators are respectively connected to the oil inlets of a high-pressure oil way direct-drive servo valve 13 and a medium-pressure oil way direct-drive servo valve 12.
Further, the high-pressure oil-way direct-drive servo valve 13 and the medium-pressure oil-way direct-drive servo valve 12 are connected to the same hydraulic cylinder 14 in parallel: that is, the control port a of the high-pressure oil-path direct-drive servo valve 13 is communicated with the control port a of the medium-pressure oil-path direct-drive servo valve 12 and is connected to the rod cavity of the hydraulic cylinder 14; a control port B of the high-pressure oil path direct-drive servo valve 13 is communicated with a control port B of the medium-pressure oil path direct-drive servo valve 12 and is connected to a rodless cavity of the hydraulic cylinder 14;
further, the high-pressure oil way direct-drive servo valve 13 is communicated with an oil return port of the medium-pressure oil way direct-drive servo valve 12, and return oil respectively enters oil suction ports of the high-pressure pump 1 and the medium-pressure pump 3 through the cooler 12 and the pressurized oil tank 11 to form a closed hydraulic power system loop;
further, the high-pressure pump 1 is a plunger type variable displacement pump, and hydraulic oil with the output pressure of 21MPa passes through a high-pressure oil path flowmeter 4, a high-pressure oil path check valve 5 and a high-pressure oil path filter 6 and then is connected to an oil inlet of a high-pressure oil path direct drive type servo valve 13. The medium-pressure pump 3 is a plunger type variable displacement pump, and hydraulic oil with the output pressure of 10.5MPa is connected to an oil inlet of a medium-pressure oil way direct-drive servo valve 12 after passing through a medium-pressure oil way flowmeter 8, a medium-pressure oil way flowmeter 9 and a medium-pressure oil way filter 10;
furthermore, the high-pressure oil path direct-drive servo valve 13 and the medium-pressure oil path direct-drive servo valve 12 are servo valves with 10% positive coverage, and when the servo valves are in the middle position, the oil supply at the front ends of the servo valves can be effectively cut off.
Furthermore, at any time in the walking process of the four-legged robot, at least one of the high-pressure oil path direct-drive servo valve 13 and the medium-pressure oil path direct-drive servo valve 12 is in middle position operation, so that the oil mixing phenomenon of the high-pressure oil path and the medium-pressure oil path is prevented;
further, in order to improve the self-priming performance of the robot hydraulic pump and reduce oil suction noise, a pressurized oil tank 11 is installed at the oil suction ports of the high-pressure pump 1 and the medium-pressure pump 3 for maintaining the pressure of the oil suction port of the hydraulic pump constant.
Compared with the prior art, the invention has the following beneficial effects: the power/mass ratio is large, so that the load bearing capacity of the robot is stronger; in the walking process of the robot, the legs in the working condition of the supporting phase can be supplied with pressure oil by a high-pressure pump, and the legs in the working condition of the swinging phase can be supplied with pressure oil by a medium-pressure pump, so that the load requirement of the robot is well matched with the energy supply, and the efficiency of a hydraulic system is high; and the cruising ability of the robot is stronger.
As shown in fig. 1, the high-pressure pump 1 and the medium-pressure pump 3 are connected to an output shaft of the engine 2 through a gear synchronous belt transmission device to supply pressure oil to a high-pressure oil path and a medium-pressure oil path. The oil outlets of the high-pressure pump 1 and the medium-pressure pump 3 are sequentially connected in series with a flowmeter, a one-way valve and a filter. The outlets of the filters are respectively connected in parallel with an energy accumulator, and the oil outlets of the energy accumulators are respectively connected to the oil inlets of the high-pressure oil path direct-drive servo valve 13 and the medium-pressure oil path direct-drive servo valve 12.
The high-pressure oil path direct-drive servo valve 13 and the medium-pressure oil path direct-drive servo valve 12 are connected to the same hydraulic cylinder 14 in parallel: that is, the control port a of the high-pressure oil-way direct-drive servo valve 13 is communicated with the control port a of the medium-pressure oil-way direct-drive servo valve 12 and is connected to the rod cavity of the hydraulic cylinder 14; a control port B of the high-pressure oil path direct-drive servo valve 13 is communicated with a control port B of the medium-pressure oil path direct-drive servo valve 12 and is connected to a rodless cavity of the hydraulic cylinder 14;
the high-pressure oil path direct-drive servo valve 13 is communicated with an oil return port of the medium-pressure oil path direct-drive servo valve 12, and return oil respectively enters oil suction ports of the high-pressure pump 1 and the medium-pressure pump 3 through a cooler 12 and a pressurizing oil tank 11 to form a closed hydraulic power system loop;
the high-pressure pump 1 is a plunger type variable displacement pump and outputs hydraulic oil with the pressure of 21 MPa. The medium-pressure pump 3 is a plunger type variable pump and outputs hydraulic oil with the pressure of 10.5 MPa;
the high-pressure oil path direct-drive servo valve 13 and the medium-pressure oil path direct-drive servo valve 12 are servo valves which are 10% covered, and when the servo valves are in the middle position, oil source supply at the front ends of the servo valves can be effectively cut off.
Example 2:
when the hydraulic power system of the four-legged robot with the double pump sources for parallel oil supply works normally, the engine 2 drives the high-pressure pump 1 and the medium-pressure pump 3 to provide two paths of high-pressure and medium-pressure oil sources for the hydraulic system, and the pressure of the oil sources is 21MPa and 10.5MPa respectively. In the walking process of the four-legged robot, the working condition of each leg can be divided into two working conditions of a supporting phase and a swinging phase. When the legs are in a supporting phase working condition, each joint hydraulic cylinder 14 needs a system capable of providing larger working pressure, at the moment, the high-pressure oil path direct-drive type servo valve 13 is in a working state, 21MPa pressure oil provided by the high-pressure pump 1 enters the joint hydraulic cylinders 14 to drive joints to move, meanwhile, the medium-pressure oil path direct-drive type servo valve 12 is in a closed state (an input signal of the servo valve is 0), and a medium-pressure oil source is cut off; when the legs are in the working condition of the swing phase, each joint hydraulic cylinder 14 only needs to complete the process of the swing phase at a higher speed, at the moment, the middle-pressure oil path direct-drive servo valve 12 is in the working state, 10.5MPa pressure oil provided by the middle-pressure pump 3 enters the joint hydraulic cylinder 14 to drive the joint to move quickly, meanwhile, the high-pressure oil path direct-drive servo valve 12 is in the closing state, and 21MPa pressure oil provided by the high-pressure pump 1 is cut off. In order to avoid oil mixing of the high-pressure oil path and the medium-pressure oil path, at any time in the walking process of the four-legged robot, at least one of the high-pressure oil path direct-drive servo valve 13 and the medium-pressure oil path direct-drive servo valve 12 is in middle position operation.
The hydraulic cylinders mentioned in the above two examples are 12, and each leg of the quadruped robot uses 3 hydraulic cylinders, and the 12 hydraulic cylinders share the high-pressure pump 1 and the medium-pressure pump 3 to provide pressure oil sources.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (1)
1. A hydraulic power system of a quadruped robot with double parallel pump sources for oil supply, which is characterized by comprising: the system comprises a high-pressure pump (1), an engine (2), a medium-pressure pump (3), a high-pressure oil way servo valve (13), a medium-pressure oil way servo valve (12) and a hydraulic cylinder (14);
the engine (2) is respectively connected with the high-pressure pump (1) and the medium-pressure pump (3);
the high-pressure oil circuit servo valve (13) and the medium-pressure oil circuit servo valve (12) are connected to the hydraulic cylinder (14) in parallel;
an oil outlet of the high-pressure pump (1) is connected with an oil inlet of the high-pressure oil way servo valve (13) to form a high-pressure oil way;
an oil outlet of the medium-pressure pump (3) is connected with an oil inlet of the medium-pressure oil way servo valve (12) to form a medium-pressure oil way;
wherein the high pressure pump (1) provides an output pressure that is greater than the output pressure provided by the medium pressure pump (3);
the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12) respectively comprise control ports A and B;
a control port A of the high-pressure oil way servo valve (13) is communicated with a control port A of the medium-pressure oil way servo valve (12) and is simultaneously connected to the hydraulic cylinder (14); the control port B of the high-pressure oil circuit servo valve (13) is communicated with the control port B of the medium-pressure oil circuit servo valve (12) and is simultaneously connected to a hydraulic cylinder (14);
the hydraulic power system of the quadruped robot further comprises two one-way valves;
one check valve is positioned on the high-pressure oil way, one end of the check valve is connected with the high-pressure pump (1), and the other end of the check valve is connected with the high-pressure oil way servo valve (13);
the other one-way valve is positioned on a medium-pressure oil path, one end of the one-way valve is connected with the medium-pressure pump (3), and the other end of the one-way valve is connected with the medium-pressure oil path servo valve (12);
the hydraulic power system of the quadruped robot further comprises two flow meters;
a flow meter is arranged between the check valve in the high-pressure oil line and the high-pressure pump (1);
another flowmeter is arranged between the check valve in the medium-pressure oil circuit and the medium-pressure pump (3);
the hydraulic power system of the quadruped robot further comprises two filters;
one end of the filter is connected with the one-way valve in the high-pressure oil way, and the other end of the filter is connected with an oil inlet of the high-pressure oil way servo valve (13);
one end of the other filter is connected with the one-way valve in the medium-pressure oil way, and the other end of the other filter is connected with an oil inlet of the medium-pressure oil way servo valve (12);
the hydraulic power system of the quadruped robot further comprises two energy accumulators;
an accumulator is arranged between the filter in the high-pressure oil circuit and the high-pressure oil circuit servo valve (13);
another accumulator is arranged between the filter in the medium-pressure oil circuit and the medium-pressure oil circuit servo valve (12);
the hydraulic power system of the quadruped robot further comprises a pressurizing oil tank (16);
the pressurizing oil tank (16) is respectively connected with oil suction ports of the high-pressure pump (1) and the medium-pressure pump (3);
the pressurized oil tank (16) is respectively connected with the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12);
the hydraulic power system of the quadruped robot further comprises a cooler (15);
one end of the cooler (15) is connected with the pressurized oil tank (16);
the other end of the cooler (15) is respectively connected with the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12);
the hydraulic power system of the quadruped robot further comprises: a servo valve controller;
the servo valve controller controls at least one of the high-pressure oil circuit servo valve (13) and the medium-pressure oil circuit servo valve (12) to work in a middle position at any time;
the high-pressure pump (1) outputs hydraulic oil with the pressure of 21 MPa;
the output pressure of the medium pressure pump (3) is 10.5MPa of hydraulic oil;
the high-pressure pump (1) and the medium-pressure pump (3) are plunger pumps;
the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12) are both direct-drive servo valves;
the high-pressure oil way servo valve (13) is communicated with an oil return port of the medium-pressure oil way servo valve (12), and return oil respectively enters oil suction ports of the high-pressure pump (1) and the medium-pressure pump (3) through a cooler (15) and a pressurizing oil tank (16) to form a closed hydraulic power system loop;
the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12) are servo valves which are 10% positively covered, and when the servo valves are positioned at the middle position, the oil source supply at the front ends of the servo valves can be effectively cut off;
at any time in the walking process of the four-legged robot, at least one of the high-pressure oil way servo valve (13) and the medium-pressure oil way servo valve (12) is in the middle position to work, so that the oil leakage phenomenon of the high-pressure oil way and the medium-pressure oil way is prevented.
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| CN111608975B (en) * | 2020-04-15 | 2021-04-06 | 浙江大学 | Multi-foot walking robot and walking control method thereof |
| CN111608972B (en) * | 2020-04-16 | 2021-07-13 | 浙江大学 | High-low pressure switching type hydraulic mechanical leg with robot and load port independently controlled |
| CN111846003B (en) * | 2020-06-19 | 2021-11-19 | 浙江大学 | Multi-foot walking robot and hydraulic drive system for leg flexion and extension and control method thereof |
| CN111810461A (en) * | 2020-07-24 | 2020-10-23 | 中国人民解放军陆军装甲兵学院 | Hydraulic two-stage oil source for supplying energy by using two-stage energy accumulator |
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