CN111608964B - Robot capable of recovering support phase pressing action energy and control method thereof - Google Patents
Robot capable of recovering support phase pressing action energy and control method thereof Download PDFInfo
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- CN111608964B CN111608964B CN202010302356.6A CN202010302356A CN111608964B CN 111608964 B CN111608964 B CN 111608964B CN 202010302356 A CN202010302356 A CN 202010302356A CN 111608964 B CN111608964 B CN 111608964B
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
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Abstract
The invention relates to a robot capable of recovering energy of pressing actions of a support phase and a control method thereof, belonging to the technical field of robots. The robot comprises mechanical legs and a hydraulic source, wherein the hydraulic source comprises a high-pressure oil supply interface, a low-pressure oil supply interface, a control actuator and a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and the control method comprises the following steps: (1) when the mechanical leg is in a swing phase, the low-pressure oil supplied by the low-pressure oil supply interface is utilized to drive the hydraulic actuator to perform telescopic action; (2) when the mechanical leg is in a supporting phase and is in an extension action, the high-pressure oil supplied by the high-pressure oil supply interface is used for driving the hydraulic actuator to extend to act; and when the mechanical leg is in a supporting phase and acts for shortening, the control actuator is controlled to construct a three-way connection structure to communicate the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator. The scheme can effectively improve the energy utilization rate of the robot, and can be widely applied to the technical field of robots and control thereof.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a control method capable of recovering energy of a multi-legged walking robot in a pressing action of a support phase and the multi-legged walking robot.
Background
As the mobile robot can replace human beings to finish dangerous, complex and high-strength work, according to the content recorded in the thesis of the current research situation and development trend of the hydraulic control system of the multi-legged walking robot, the current moving modes of the mobile robot on the ground mainly comprise a wheel type, a crawler type, a foot type, a peristaltic type, a mixed type and the like; compared with other moving methods such as a wheel type moving method, the foot type walking robot adopts the mechanical legs to walk, only discrete foot falling points are needed in the walking process, and the foot type walking robot can walk on a rugged ground with obstacles like foot type animals, has better complex environment adaptability and flexibility, and is developed and widely used quickly.
In a hydraulic control system structure for a mechanical leg of a multi-legged walking robot, the applicant of the patent publication No. CN105545828A discloses a hydraulic drive unit for a multi-legged robot capable of absorbing a landing impact, in which a conduction mechanism formed by a damping valve can be fully utilized to relieve the landing impact during operation and a part of pressure energy exceeding the energy storage pressure of the accumulator can be fully utilized to recover the energy, based on an accumulator and a damping valve connected between a rodless oil chamber and a rodless oil chamber of a hydraulic cylinder, as compared with the prior art, in the hydraulic drive unit, the energy utilization rate of energy can be improved. However, the hydraulic drive unit has a considerable waste of energy during operation, and especially when the multi-legged walking robot is pressed down in a support state, the potential energy reduced by the lowering of the center of gravity of the body is converted into heat and wasted.
In addition, in the working process of the hydraulic driving unit, the supporting state and the pendulum dynamic state are both based on a hydraulic source with the same pressure, so that the valve port throttling loss exists, the energy utilization rate is reduced, and the coupling exists between the inlet valve port and the outlet valve port due to the fact that the action of the hydraulic cylinder is controlled based on a single electro-hydraulic proportional valve, so that the response of the system is limited, and the energy consumption of the whole system is improved.
Disclosure of Invention
The invention mainly aims to provide a control method of a robot, which can effectively improve the energy utilization rate of the robot by improving a hydraulic pipeline structure and the control method based on the control method;
another object of the present invention is to provide a robot with an improved structure, so that the energy utilization rate of the robot can be effectively improved based on the improvement of the structure.
In order to achieve the main purpose, the invention provides a control method of a robot, which can recover the energy of the pressing action of a support phase, wherein the robot comprises a hydraulic source and a hydraulic actuator for driving a mechanical leg of the robot to switch between the support phase and a swing phase, and a rodless oil cavity interface and a rod oil cavity interface are arranged on a cylinder body of the hydraulic actuator; the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and a control actuator for controlling the state of oil supply of the hydraulic source to the hydraulic actuator; the control method comprises the following steps:
a swing phase action control step, when the mechanical leg is in a swing phase, controlling the actuator to drive the hydraulic actuator to stretch and retract by using low-pressure oil supplied by a low-pressure oil supply interface;
a support phase action control step, when the mechanical leg is in a support phase and is in an extension action, controlling the actuator to drive the hydraulic actuator to extend by using high-pressure oil supplied by the high-pressure oil supply interface; and when the mechanical leg is in a supporting phase and acts for shortening, the control actuator is controlled to construct a three-way connection structure to communicate the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator.
Based on the technical scheme, when the hydraulic actuator is in shortening action at the supporting phase, namely the gravity center position of the robot body descends, the rod-containing oil cavity is communicated with the rodless oil cavity and communicated with the low-pressure energy accumulator, the size of the occupied space of the piston rod is utilized, so that when the piston moves in the cylinder body at a certain distance, the volume of the rodless oil cavity is reduced to be larger than the volume change of the rod-containing oil cavity, namely the part of oil is pressurized by utilizing the reduction of the gravity center potential energy of the body, and is charged into the low-pressure energy accumulator to store energy, thereby effectively improving the utilization rate of the energy, and the elastic performance of the low-pressure energy accumulator can be utilized to absorb impact and the like. Further, by controlling the extension operation of the support phase based on the high-pressure oil supplied from the high-pressure oil supply port and controlling the oscillation phase based on the low-pressure oil supplied from the low-pressure oil supply port, it is possible to realize a two-stage high-and-low-pressure oil supply system in which high and low pressures required for the support phase and the oscillation phase can be supplied, thereby effectively reducing the throttling loss of the valve port and further improving the energy utilization efficiency.
The specific scheme is that the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve; one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double-pipe joint at one side of the low-pressure two-position four-way valve is communicated with a low-pressure oil supply interface through a three-way connecting structure, and a double-pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.
Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.
In the swing phase action control step, a high-pressure three-position four-way valve and a low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure three-position four-way valve is controlled to be communicated with one of a rodless oil cavity interface and a rod oil cavity interface and a low-pressure oil supply interface, and the other one of the rodless oil cavity interface and the rod oil cavity interface is communicated with an oil tank; in the supporting phase action control step, when the hydraulic actuator performs an extension action, the low-pressure three-position four-way valve and the low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the high-pressure three-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the high-pressure oil supply interface and communicated with the rod oil cavity interface and the oil tank; in the supporting phase action control step, when the hydraulic actuator acts for shortening, the low-pressure three-position four-way valve and the high-pressure three-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure two-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the rod oil cavity interface.
The other concrete scheme is that the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve; one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with a low-pressure oil supply interface, the other double pipe joint is communicated with an inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.
Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.
In the swing phase action control step, controlling a high-pressure three-position three-way valve to cut off the pipeline connection, controlling a first low-pressure three-position three-way valve to only communicate a rodless oil cavity interface and a low-pressure oil supply interface, and controlling a second low-pressure three-position three-way valve to only communicate a rod oil cavity interface and an oil tank; or the second low-pressure three-position three-way valve is controlled to be only communicated with the rod oil cavity interface and the low-pressure oil supply interface, and the first low-pressure three-position three-way valve is controlled to be only communicated with the rodless oil cavity interface and the oil tank; in the supporting phase action control step, when the hydraulic actuator performs an extension action, the first low-pressure three-position three-way valve is controlled to cut off the pipeline connection, the high-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the high-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to only communicate the rod oil cavity interface and the oil tank; in the supporting phase action control step, when the hydraulic actuator acts for shortening, the high-pressure three-position three-way valve is controlled to cut off the pipeline connection, the first low-pressure two-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the low-pressure oil supply interface, and the second low-pressure two-position four-way valve is controlled to be communicated with the rod oil cavity interface and the low-pressure oil supply interface.
The preferred solution is that the hydraulic source comprises a high pressure accumulator in communication with the high pressure oil supply port. The high-pressure energy accumulator is additionally arranged and matched with the low-pressure energy accumulator to play a role in reducing hydraulic impact and pressure pulsation.
In order to achieve the other purpose, the robot provided by the invention comprises a hydraulic source and a hydraulic actuator for driving the mechanical legs of the robot to switch between a support phase and a swing phase, wherein a rodless oil cavity interface and a rod oil cavity interface are arranged on a cylinder body of the hydraulic actuator; the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and a control actuator for controlling the oil supply state of the hydraulic source to the hydraulic actuator; when the mechanical legs are in a supporting phase and do shortening movement, the control actuator can construct a three-way connection structure for communicating the rodless oil cavity interface, the rod oil cavity interface and an oil inlet of the low-pressure energy accumulator.
Based on the improvement of the structure of the robot, the robot can be communicated with the rod-containing oil chamber and the rodless oil chamber and the low-pressure energy accumulator in the motion process, particularly when the hydraulic actuator is in a shortening action at a supporting phase, namely the gravity center position of a body of the robot is lowered, and based on the three-way connection structure constructed by controlling the actuator, the rod-containing oil chamber and the rodless oil chamber can be communicated, so that the size of the space occupied by the piston rod is utilized, when the piston moves in the cylinder body for a certain distance, the volume of the rodless oil chamber is reduced to be larger than the volume change of the rod-containing oil chamber, namely, the part of oil is pressurized by utilizing the reduction of the gravity center potential energy of the body, and is charged into the low-pressure energy accumulator to store energy, so that the utilization rate of the. In addition, during operation, the robot can control the extending action of the support phase based on the high-pressure oil supplied by the high-pressure oil supply interface and can control the swing phase based on the low-pressure oil supplied by the low-pressure oil supply interface, so that a high-pressure and low-pressure two-stage oil supply mode, namely, high and low pressure required by the supply of the support phase and the swing phase can be adopted, the throttling loss of a valve port can be effectively reduced, and the utilization efficiency of energy is further improved.
The specific scheme is that the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve; one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double-pipe joint at one side of the low-pressure two-position four-way valve is communicated with a low-pressure oil supply interface through a three-way connecting structure, and a double-pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.
Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.
The other concrete scheme is that the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve; one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with a low-pressure oil supply interface, the other double pipe joint is communicated with an inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.
Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.
The preferred solution is that the hydraulic source comprises a high pressure accumulator in communication with the high pressure oil supply port. The high-pressure energy accumulator is additionally arranged and matched with the low-pressure energy accumulator to play a role in reducing hydraulic impact and pressure pulsation.
Drawings
Fig. 1 is a schematic view of a pipeline connection structure of a hydraulic actuator, a hydraulic source and a control actuator of a robot in embodiment 1 of the present invention;
FIG. 2 is a flowchart showing the operation of the control method in embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a control actuator in embodiment 2 of the present invention.
Detailed Description
The invention is further illustrated by the following examples and figures.
Examples
Referring to fig. 1, the robot of the present invention is a multi-legged walking robot, and the specific structure thereof is disclosed in patent document CN109501881A, etc., which is filed by the applicant and published by the applicant, and mainly includes a trunk, and mechanical legs and a hydraulic pressure source 1 attached to the trunk. The mechanical leg is constructed by a structure of the prior art, for example, a mechanical leg structure disclosed in patent document No. CN104029745A, and the like, specifically includes a thigh lever, a shank lever, and a hydraulic actuator 2 for controlling the two leg levers to swing around a hinge joint.
The control unit comprises a processor and a memory, a computer program is stored in the memory, and when the computer program is executed by the processor, the computer program can control the hydraulic pressure source 1 to work and drive the hydraulic actuator 2 to perform telescopic action based on received control instructions and detection data sent by sensors arranged on the body and the mechanical legs, so that the whole mechanical legs are controlled to be switched between a supporting phase and a swinging phase.
As shown in fig. 1, the hydraulic pressure source 1 includes a high-pressure pump 11, a low-pressure pump 12, a high-pressure pump drive motor 13, a low-pressure pump drive motor 14, a high-pressure relief valve 15, a low-pressure relief valve 16, a pressure detection sensor 17, a pressure detection sensor 18, a high-pressure oil supply port 101, a low-pressure oil supply port 102, a low-pressure accumulator 104 communicating with the low-pressure oil supply port 102, a high-pressure accumulator 103 communicating with the high-pressure oil supply port 101, and a control actuator for controlling a state in which the hydraulic pressure source 1 supplies oil to the hydraulic actuator 2.
The high-pressure oil supply port 101, the detection end of the pressure detection sensor 17 and the pipeline port of the high-pressure relief valve 15 are all communicated with the pump oil port of the high-pressure pump 11, and the low-pressure oil supply port 102, the detection end of the pressure detection sensor 18 and the pipeline port of the low-pressure relief valve 16 are all communicated with the pump oil port of the low-pressure pump 12. Oil outlets of the high-pressure overflow valve 15 and the low-pressure overflow valve 16 are both communicated with an oil inlet of the oil tank 100.
As shown in fig. 1, in the present embodiment, the hydraulic source 1 supplies oil at two high and low oil pressures based on the oil supply pressure difference between the high pressure pump 11 and the low pressure pump 12; in addition, in order to change the output oil amount and the output oil pressure as needed, both the high-pressure pump drive motor 13 and the low-pressure pump drive motor 14 are configured as motors with adjustable rotation speeds. Therefore, the rotating speeds of the two pump driving motors can be controlled according to the pressure detection data output by the pressure sensor to the control unit, so that the output pressure is constant, the oil liquid with the flow required by the current driving can be obtained, the overflow loss is effectively reduced, the energy utilization rate of the whole system is improved, and the rotating speed of the pump motor is obtained by the rotating speed sensor arranged on the pump driving motor. That is, in this embodiment, two control modes, namely, a constant flow control mode and a variable flow control mode, can be implemented as required, so as to select one of the control modes according to actual needs, thereby effectively improving the energy utilization rate of the whole system, specifically, (1), in the constant flow control scheme, the high-pressure pump driving motor 13 is controlled to constantly rotate according to a preset high-pressure rotating speed, the oil pressure of the oil pumped out by the high-pressure pump 11 is higher than the overflow oil pressure of the high-pressure overflow valve 15, so that the oil pressure of the high-pressure oil supply interface 101 is constantly at the overflow oil pressure value; controlling the low-pressure pump driving motor 14 to rotate constantly according to the low-pressure rotating speed until the oil pressure of the oil pumped by the low-pressure pump 12 is higher than the overflow oil pressure of the low-pressure overflow valve 16, so that the oil pressure of the oil supplied by the low-pressure oil supply interface 102 is kept constant at the overflow oil pressure value; and the output flows of the high-pressure pump 11 and the low-pressure pump 12 are driven to be larger than the average flow required by the multi-legged walking robot; (2) in the variable flow control scheme, the rotation speeds of the high-pressure pump driving motor 13 and the low-pressure pump driving motor 14 are changed based on the oil pressure detection data output by the pressure detection sensor 17 and the pressure detection sensor 18, the output oil pressures of the high-pressure pump 11 and the low-pressure pump 12 meet the control requirement, and the output oil pressures are lower than the overflow oil pressures of the high-pressure overflow valve 15 and the low-pressure overflow valve 16 at the oil outlet of the pump.
In the above scheme, the high pressure pump driving motor 13 and the low pressure pump driving motor 14 have constant rotation speed, and the output flows of the high pressure pump 11 and the low pressure pump 12 are constant and larger than the average flow required by the robot; and the high-pressure relief valve 15 and the low-pressure relief valve 16 are used for setting two-stage pressure of high pressure and low pressure by passing through the flow. Therefore, the maximum oil pressure can be provided for the work of the hydraulic actuator 2, and the oil amount and the pressure required by the hydraulic actuator under the working conditions of load work, climbing, quick start and the like can be effectively provided.
In the variable flow control scheme, the output pressure is constant by adjusting the rotation speed of the high-pressure pump driving motor 13 and the low-pressure pump driving motor 14, the output flow of the high-pressure pump 11 and the output flow of the low-pressure pump 12 are matched with the flow required by the robot, and the high-pressure overflow valve 15 and the low-pressure overflow valve 16 are used as safety valves without flow passing. The oil pressure and the oil amount required by the current work are matched by changing the rotating speed of the pump driving motor, for example, the working state under the working conditions of no load, constantly changing walking environment and the like, so that the energy can be effectively saved while appropriate oil pressure is provided.
Further, the oil outlet of the low pressure pump 12 communicates with the oil inlet of the high pressure pump 11, thereby constituting a series oil supply structure, effectively increasing the output oil pressure at the oil outlet of the high pressure pump 11. High-pressure oil supply port 101 and low-pressure oil supply port 102 for providing high and low two-stage pressures are constructed based on the relief effects of high-pressure relief valve 15 and low-pressure relief valve 16.
As shown in fig. 1, the hydraulic actuator 2 includes a cylinder 20, and a piston 21 and a piston rod 22 disposed in the cylinder 20 in a reciprocating manner in an axial direction, the piston 21 divides an inner cavity of the cylinder 20 into a rod oil chamber 200 and a rodless oil chamber 201, the rod oil chamber 200 is provided with a rod oil chamber interface 203 for external connection, and the rodless oil chamber 201 is correspondingly provided with a rodless oil chamber interface 204. During operation, since the piston rod 22 has a certain volume, when the piston 21 moves in the axial direction of the cylinder 20 by a predetermined distance, the change in volume of the rodless oil chamber 201 is larger than the change in volume of the rod-containing oil chamber 200.
As shown in fig. 1, the control actuators include a high pressure three-position four-way valve 41, a low pressure three-position four-way valve 42, and a low pressure two-position four-way valve 43.
One of the lower double pipe joints of the high-pressure three-position four-way valve 41 is communicated with an inlet of the oil tank 100, and the other is communicated with the high-pressure oil supply interface 101; one of the upper double-barreled joints communicates with the rodless oil chamber interface 204, and the other communicates with the rod oil chamber interface 203. One of the lower two-pipe joints of the low-pressure three-position four-way valve 42 is communicated with the inlet of the oil tank 100, and the other is communicated with the low-pressure oil supply interface 102; one of the upper double-barreled joints communicates with the rodless oil chamber interface 204, and the other communicates with the rod oil chamber interface 203. The lower double-pipe joint of the low-pressure two-position four-way valve 43 is communicated with a low-pressure oil supply interface 102 through a three-way connecting structure 49; one of the upper double-barreled joints is in communication with the rodless oil chamber interface 204 and the other is in communication with the rod oil chamber interface 203. In the connection description of the section, all the parts are connected through oil pipes, so that a communication oil way is constructed between the parts.
As shown in fig. 2, based on the above improved structure of the hydraulic system, the method for controlling the robot includes a swing phase motion control step S1 and a support phase motion control step S2, i.e. the processor executes the computer program stored in the memory, and the two steps can be implemented as follows:
in the swing phase operation control step S1, when the mechanical leg is in the swing phase, the actuator is controlled to extend or contract the hydraulic actuator 2 by the low-pressure oil supplied from the low-pressure oil supply port 102.
The specific process of the step is as follows: in the swing phase motion control step, the high-pressure three-position four-way valve 41 and the low-pressure two-position four-way valve 43 are controlled to be located at the positions shown in the current drawing, the pipeline connection is cut off, the valve core of the low-pressure three-position four-way valve 42 is controlled to step towards the right relative to the current position in the drawing, the rodless oil cavity interface 204 and the oil tank 100 are communicated, and the rod oil cavity interface 203 and the low-pressure oil supply interface 102 are communicated, so that the hydraulic actuator 2 is driven to perform shortening motion; alternatively, the spool of the low-pressure three-position four-way valve 42 is controlled to step leftward with respect to the current position in the drawing, so as to communicate the rodless oil chamber port 204 with the low-pressure oil supply port 102, and to communicate the rod oil chamber port 203 with the oil tank 100, thereby driving the hydraulic actuator 2 to extend.
A support phase motion control step S2 of controlling the actuator to drive the hydraulic actuator 2 to perform an extension motion by using the high-pressure oil supplied from the high-pressure oil supply port 101 when the mechanical leg is in the support phase and the hydraulic actuator 2 performs an extension motion; and when the mechanical leg is in a supporting phase and does shortening action, the control actuator is controlled to construct a three-way connection structure to communicate the rodless oil cavity interface 204, the rod oil cavity interface 203 and the oil inlet of the low-pressure accumulator 104.
The specific process of the step is as follows:
(1) in the support phase motion control step, when the hydraulic actuator 2 is in the extension motion, the spools of the low-pressure three-position four-way valve 42 and the low-pressure two-position four-way valve 43 are controlled to be positioned at the positions shown in the current drawing, the pipeline connection is cut off, and the spool of the high-pressure three-position four-way valve 41 is controlled to be stepped towards the right relative to the position shown in the current drawing, so that the rodless oil chamber interface 204 and the high-pressure oil supply interface 101 are communicated, and the rod oil chamber interface 203 and the oil tank 100.
(2) In the supporting phase action control step, when the hydraulic actuator 2 performs shortening action, the valve cores of the low-pressure three-position four-way valve 42 and the high-pressure three-position four-way valve 41 are controlled to be positioned at the positions shown in the current drawing, the pipeline connection is cut off, the valve core of the low-pressure two-position four-way valve 43 is controlled to step towards the left relative to the position shown in the current drawing, the rodless oil cavity interface 204 and the rod oil cavity interface 203 are communicated, and therefore redundant oil can be squeezed into the low-pressure energy accumulator 104 by utilizing the volume change difference of the two sides to perform energy accumulation, and the accumulated energy can be used for driving the subsequent hydraulic actuator 2, so that the energy.
From the above description of the working process, the robot of the embodiment can match the pressures required by the support phase and the swing phase based on the two-stage functions of high pressure and low pressure, so as to effectively reduce the throttling loss, and fully utilize the energy of the pressing action of the support phase based on the structure of the control actuator and the low-pressure accumulator, so as to effectively improve the energy utilization rate of the whole system. Further, it is possible to play a role of reducing hydraulic shock and pressure pulsation based on the low pressure accumulator 104 and the high pressure accumulator 103.
Example 2
As an explanation of embodiment 2 of the present invention, only the differences from embodiment 1 above, that is, the structure of the control actuator will be explained.
As shown in fig. 3, in the present embodiment, the control actuator 4 includes a high-pressure three-position three-way valve 41, a first low-pressure three-position three-way valve 42, and a second low-pressure three-position three-way valve 43.
One of the double pipe joints of the high-pressure three-position three-way valve 41 is communicated with the inlet of the oil tank 100, the other is communicated with the high-pressure oil supply interface 101, and the single pipe joint is communicated with the rodless oil chamber interface 204, specifically, is connected through a three-way connection structure 46. One of the double pipe joints of the first low-pressure three-position three-way valve 42 is communicated with the inlet of the oil tank 100, and the other is communicated with the low-pressure oil supply interface 102, specifically, is connected through a three-way connecting structure 45; the single-tube joint is in communication with the rodless oil cavity interface 204, specifically through the three-way connection structure 46. One of the double pipe joints of the second low-pressure three-position three-way valve 43 is communicated with the low-pressure oil supply interface 102, specifically, is connected through a three-way connecting structure 45, the other is communicated with the inlet of the oil tank 100, and the single pipe joint is communicated with the rod oil chamber interface 203.
Based on the improvement of the structure, the specific control method in the working process comprises the following steps:
(1) in the swing phase motion control step, the spool of the high-pressure three-position three-way valve 41 is controlled to be positioned at the position shown in the current drawing to cut off the pipe connection, and the spool of the first low-pressure three-position three-way valve 42 is controlled to step to the right with respect to the position shown in the current drawing to communicate only the rodless oil chamber port 204 with the low-pressure oil supply port 102, and the spool of the second low-pressure three-position three-way valve 43 is controlled to step to the left with respect to the position shown in the current drawing to communicate only the rod oil chamber port 203 with the oil tank 10, so as to control the extension; or, the spool of the high-pressure three-position three-way valve 41 is controlled to be positioned at the position shown in the current drawing to cut off the pipeline connection, and the spool of the second low-pressure three-position three-way valve 43 is controlled to step towards the right relative to the position shown in the current drawing, only the rod oil chamber interface 203 and the low-pressure oil supply interface 102 are communicated, and the spool of the first low-pressure three-position three-way valve 42 is controlled to step towards the left relative to the position shown in the current drawing, only the rodless oil chamber interface 204 and the oil tank 100 are communicated, so that the hydraulic actuator.
(2) In the support phase motion control step, when the hydraulic actuator 2 is in the extension motion, the spool of the first low-pressure three-position three-way valve 42 is controlled to be positioned at the position shown in the present drawing to cut off the pipe connection, and the spool of the high-pressure three-position three-way valve 41 is controlled to be stepped rightward with respect to the position shown in the present drawing to communicate only the rodless oil chamber port 204 with the high-pressure oil supply port 101, and the spool of the second low-pressure three-position three-way valve 43 is controlled to be stepped leftward with respect to the position shown in the present drawing to communicate only the rod oil chamber port 203 with the oil tank 100.
(3) In the support phase operation control step, when the hydraulic actuator 2 is operated to shorten, the spool of the high-pressure three-position three-way valve 41 is controlled to be positioned at the position shown in the current drawing to cut off the pipe connection, and the spool of the first low-pressure two-position four-way valve 42 is controlled to step to the right with respect to the position shown in the current drawing to communicate the rodless oil chamber port 204 with the low-pressure oil supply port 102, and the spool of the second low-pressure two-position four-way valve 43 is controlled to step to the right with respect to the position shown in the current drawing to communicate the rod oil chamber port 203 with the low-pressure oil supply.
Claims (10)
1. A control method of a robot capable of recovering the pressing motion energy of a support phase is characterized in that the robot comprises a hydraulic source and a hydraulic actuator for driving a mechanical leg of the robot to switch between the support phase and a swing phase, a rodless oil cavity interface and a rod oil cavity interface are arranged on a cylinder body of the hydraulic actuator, and the robot is characterized in that the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface and a control actuator for controlling the state that the hydraulic source supplies oil to the hydraulic actuator; the control method comprises the following steps:
a swing phase action control step, when the mechanical leg is in a swing phase, controlling the control actuator to drive the hydraulic actuator to perform telescopic action by using low-pressure oil supplied by the low-pressure oil supply interface;
a support phase action control step, when the mechanical leg is in a support phase and is in an extension action, controlling the control actuator to drive the hydraulic actuator to extend by using high-pressure oil supplied by the high-pressure oil supply interface; and when the mechanical legs are in a supporting phase and do shortening movement, controlling the control actuator to construct a three-way connection structure so as to communicate the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator.
2. The control method according to claim 1, characterized in that:
the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve;
one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double pipe joint at one side of the low-pressure two-position four-way valve is communicated with the low-pressure oil supply interface through a three-way connecting structure, and a double pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.
3. The control method according to claim 2, characterized in that:
in the swing phase action control step, the high-pressure three-position four-way valve and the low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure three-position four-way valve is controlled to be communicated with one of the rodless oil cavity interface and the rod oil cavity interface and the low-pressure oil supply interface, and the other one of the rodless oil cavity interface and the rod oil cavity interface is communicated with the oil tank;
in the supporting phase action control step, when the hydraulic actuator performs an extension action, the low-pressure three-position four-way valve and the low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the high-pressure three-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the high-pressure oil supply interface and communicated with the rod oil cavity interface and the oil tank;
in the supporting phase action control step, when the hydraulic actuator acts for shortening, the low-pressure three-position four-way valve and the high-pressure three-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure two-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the rod oil cavity interface.
4. The control method according to claim 1, characterized in that:
the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve;
one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with the low-pressure oil supply interface, the other double pipe joint is communicated with the inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.
5. The control method according to claim 4, characterized in that:
in the swing phase action control step, the high-pressure three-position three-way valve is controlled to cut off the pipeline connection, the first low-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the low-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the oil tank; or the second low-pressure three-position three-way valve is controlled to only communicate the rod oil cavity interface and the low-pressure oil supply interface, and the first low-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the oil tank;
in the supporting phase action control step, when the hydraulic actuator performs an extension action, the first low-pressure three-position three-way valve is controlled to cut off a pipeline connection, the high-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the high-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to only communicate the rod oil cavity interface and the oil tank;
in the supporting phase action control step, when the hydraulic actuator performs shortening action, the high-pressure three-position three-way valve is controlled to cut off the pipeline connection, the first low-pressure three-position three-way valve is controlled to communicate the rodless oil cavity interface and the low-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to communicate the rodless oil cavity interface and the low-pressure oil supply interface.
6. The control method according to any one of claims 1 to 5, characterized in that:
the hydraulic source includes a high pressure accumulator in communication with the high pressure oil supply interface.
7. The utility model provides a can retrieve support looks pushing down the robot of action energy, includes hydraulic pressure source and is used for driving about the hydraulic actuator that its mechanical leg switched between support phase and swing phase, be equipped with no pole oil pocket interface and have pole oil pocket interface on hydraulic actuator's the cylinder body, its characterized in that:
the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and a control actuator for controlling the state of oil supply of the hydraulic source to the hydraulic actuator;
and when the mechanical legs are in a supporting phase and do shortening action, the control actuator can construct a three-way connection structure for communicating the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator.
8. The robot of claim 7, wherein:
the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve;
one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double pipe joint at one side of the low-pressure two-position four-way valve is communicated with the low-pressure oil supply interface through a three-way connecting structure, and a double pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.
9. The robot of claim 7, wherein:
the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve;
one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with the low-pressure oil supply interface, the other double pipe joint is communicated with the inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.
10. A robot as claimed in any of claims 7 to 9, wherein:
the hydraulic source includes a high pressure accumulator in communication with the high pressure oil supply interface.
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| CN202010302356.6A CN111608964B (en) | 2020-04-16 | 2020-04-16 | Robot capable of recovering support phase pressing action energy and control method thereof |
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| CN202010302356.6A CN111608964B (en) | 2020-04-16 | 2020-04-16 | Robot capable of recovering support phase pressing action energy and control method thereof |
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| CN202875740U (en) * | 2012-09-20 | 2013-04-17 | 张家港市永发机器人科技有限公司 | Arm recovery training robot with force control function |
| US9360023B2 (en) * | 2013-03-14 | 2016-06-07 | The Raymond Corporation | Hydraulic regeneration system and method for a material handling vehicle |
| CN105545829B (en) * | 2016-01-14 | 2017-11-14 | 浙江大学 | It can absorb the multi-foot robot hydraulic drive unit of Ground shock waves |
| CN108657305B (en) * | 2018-06-12 | 2020-01-17 | 中国地质大学（武汉） | Liquid metal pressure driven robot joint self-generating device |
| CN109501881B (en) * | 2019-01-14 | 2024-01-12 | 浙江大学 | Four-foot robot walking mechanism |
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