CN111608975A - Multi-foot walking robot and walking control method thereof - Google Patents
Multi-foot walking robot and walking control method thereof Download PDFInfo
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- CN111608975A CN111608975A CN202010296327.3A CN202010296327A CN111608975A CN 111608975 A CN111608975 A CN 111608975A CN 202010296327 A CN202010296327 A CN 202010296327A CN 111608975 A CN111608975 A CN 111608975A
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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
- F15B11/12—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action
- F15B11/127—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action with step-by-step action
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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
- 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
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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
- F15B2013/002—Modular valves, i.e. consisting of an assembly of interchangeable components
- F15B2013/004—Cartridge 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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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
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
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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
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40576—Assemblies of multiple valves
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- Physics & Mathematics (AREA)
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- General Engineering & Computer Science (AREA)
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Abstract
The invention relates to a multi-foot walking robot and a walking control method thereof, belonging to the technical field of robots. The walking control method comprises the following steps: (1) controlling the high-pressure pump to output oil pressure higher than the overflow oil pressure of a high-pressure overflow valve connected to an oil outlet of the high-pressure pump, and controlling the low-pressure pump to output oil pressure higher than the overflow oil pressure of a low-pressure overflow valve connected to the oil outlet of the low-pressure pump, wherein the output flow of the high-pressure pump and the output flow of the low-pressure overflow valve are both larger than the average flow required by the robot; (2) based on the oil pressure detection data, changing the rotating speed of a pump driving motor until the output oil pressure meets the control requirement, wherein the output oil pressure is lower than the overflow oil pressure of an overflow valve; in the two steps, high-pressure oil is supplied to the hydraulic actuator by using the high-pressure pump in a supporting state; and when the pendulum is in a dynamic state, low-pressure oil is supplied to the hydraulic actuator by using the low-pressure pump. The control method can effectively improve the energy utilization rate and can be widely applied to the technical field of robots.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-legged walking robot with an improved structure and a walking control method thereof.
Background
The mobile robot is the most widely used robot at present, and can replace the human beings to finish dangerous, complex and high-strength work, and 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 include wheel type, crawler type, foot type, creeping type, mixed type and the like; compared with other moving methods such as a wheel type moving robot, the legged walking robot adopts the hydraulic mechanical legs disclosed in patent documents such as the publication number CN104029745A to walk, so that only discrete foot falling points are needed in the walking process, and the legged walking robot can walk on a rugged ground with obstacles like legged animals, has better adaptability and flexibility to complex environments, and is developed and widely used.
The main driving methods of the multi-legged walking robot include electric driving and hydraulic driving, and for example, a small electric hexapod robot disclosed in patent document No. CN 209535276U; compared with electric driving, the multi-legged walking robot adopting hydraulic pressure as a driving mode has the advantages of high power density, high load, high bandwidth, fast response, strong disturbance resistance and the like, so that the multi-legged walking robot is suitable for constructing heavy robots.
At present, a multi-legged robot generally adopts a valve control hydraulic system of a single constant-rotating-speed pump source, but the energy conversion efficiency is low in the moving process of the robot; moreover, in the walking process of the robot, the hydraulic mechanical legs need to bear the self weight and the load weight of the robot in the supporting stage and need a pump source to output oil with larger pressure, and in the swinging stage, the hydraulic mechanical legs need oil with lower pressure instead, at the moment, the pressure drop of a valve port is larger, a large amount of hydraulic energy is converted into heat energy due to throttling loss, and the energy utilization rate is lower.
In addition, because the required flow has the characteristic of non-uniformity in the moving process of the multi-legged walking robot, the output flow of the constant-speed pump source is larger than the required average flow, and the overflow energy loss of a hydraulic system is larger.
Disclosure of Invention
The invention mainly aims to provide a walking control method for controlling a multi-legged walking robot, which can better adapt to the pressure requirements of hydraulic mechanical legs of the robot in a supporting state and a swinging state, and can supply hydraulic oil according to the actual requirements and the required flow rate, thereby reducing the valve port throttling loss and the system overflow loss and improving the energy utilization rate of the robot;
another objective of the present invention is to provide a multi-legged walking robot with an improved structure, which not only can better meet the pressure requirements of the hydraulic mechanical legs in the supporting state and the swinging state, but also can supply hydraulic oil according to the actual requirements and the required flow rate, thereby reducing the valve port throttling loss and the system overflow loss, and improving the energy utilization rate of the robot.
In order to achieve the above main object, the present invention provides a walking control method for controlling a multi-legged walking robot, the multi-legged walking robot including a body, a hydraulic mechanical leg and a hydraulic system, the hydraulic mechanical leg including a leg lever assembly and a hydraulic actuator for controlling the leg lever assembly to flex, the hydraulic system including a hydraulic pump, a pump driving motor, and a control valve assembly; the hydraulic pump comprises a high-pressure pump and a low-pressure pump, and the pump driving motor comprises a high-pressure pump driving motor and a low-pressure pump driving motor, and the method comprises the following steps:
controlling a high-pressure pump driving motor to rotate constantly according to a preset high-pressure rotating speed until the oil pressure of a pump is higher than the overflow oil pressure of a high-pressure overflow valve connected to an oil outlet of the high-pressure pump; controlling a low-pressure pump driving motor to rotate constantly according to the low-pressure rotating speed until the oil pressure of a pump is higher than the overflow oil pressure of a low-pressure overflow valve connected to an oil outlet of the low-pressure pump; the output flow rates of the high-pressure pump and the low-pressure pump are both larger than the average flow rate required by the multi-legged walking robot;
a variable flow control step of changing the rotation speed of a pump driving motor to output oil pressure according with a control requirement based on oil pressure detection data output by a pressure sensor connected at an oil outlet of the pump, wherein the output oil pressure is lower than the overflow oil pressure of an overflow valve at the oil outlet of the pump;
in the two control steps, when the hydraulic mechanical leg is in a supporting state, the control valve assembly and the high-pressure pump driving motor are controlled to work, and high-pressure oil is supplied to the hydraulic actuator by the high-pressure pump; when the hydraulic mechanical leg is in a pendulum dynamic state, the control valve component and the low-pressure pump drive motor are controlled to work, and low-pressure oil is supplied to the hydraulic actuator by the low-pressure pump.
The oil outlet of the low-pressure pump is communicated with the oil inlet of the high-pressure pump; an oil path interface of the high-pressure overflow valve is communicated with an oil outlet of the high-pressure pump, and an overflow port is communicated with an oil outlet of the low-pressure pump; the oil path interface of the low-pressure overflow valve is communicated with the oil outlet of the low-pressure pump, and the overflow port is communicated with the oil inlet of the oil tank.
The preferred solution is that the control valve assembly comprises a first proportional valve and a second proportional valve arranged in series; the first proportional valve is a three-position three-way proportional valve, one of double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, and the other double pipe joint of the first proportional valve is communicated with an oil outlet of the low-pressure pump; the second proportional valve is a three-position four-way proportional valve, one of the first side double pipe joints is communicated with the single pipe joint of the first proportional valve, and the other one of the first side double pipe joints is communicated with the oil inlet of the oil tank; a second side double pipe joint of the second proportional valve is correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator extends to act, the position of a valve core of the first proportional valve and the position of a valve core of the second proportional valve are controlled to be switched to a position where an oil outlet of the high-pressure pump is communicated with the rodless oil cavity and a position where the rod oil cavity is communicated with the oil tank; when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator shortens to act, the position of the valve cores of the first proportional valve and the second proportional valve is controlled to be switched to a position where an oil outlet of the high-pressure pump is communicated with the rod oil cavity and a position where a rodless oil cavity is communicated with the oil tank; when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator extends to act, the position of a valve core of the first proportional valve and the position of a valve core of the second proportional valve are controlled to be switched to a position where an oil outlet of the low-pressure pump is communicated with the rodless oil cavity and a position where the rod oil cavity is communicated with the oil tank; when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator shortens to act, the position of the valve cores of the first proportional valve and the second proportional valve is controlled to be switched to a position where an oil outlet of the low-pressure pump is communicated with the rod oil cavity, and a position where the rodless oil cavity is communicated with the oil tank.
The control valve assembly comprises a first proportional valve and a second proportional valve which are arranged in parallel and are three-position four-way proportional valves; one of the first side double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of the oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; one of the first side double pipe joints of the second proportional valve is communicated with an oil outlet of the low-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of the oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator extends to act, the position of a valve core of the first proportional valve is controlled to be switched to a position where an oil outlet of the high-pressure pump is communicated with the rodless oil cavity, and a position where the rod oil cavity is communicated with the oil tank; when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator shortens to act, the position of a valve core of the first proportional valve is controlled to be switched to a position where an oil outlet of the high-pressure pump is communicated with the rod oil cavity, and a position where the rodless oil cavity is communicated with the oil tank; when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator extends to act, the position of a valve core of the second proportional valve is controlled to be switched to a position where an oil outlet of the low-pressure pump is communicated with the rodless oil cavity, and a position where the rod oil cavity is communicated with the oil tank; when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator shortens to act, the position of the valve core of the second proportional valve is controlled to be switched to a position where the oil outlet of the low-pressure pump is communicated with the rod oil cavity, and the rodless oil cavity is communicated with the oil tank.
In order to achieve the above another object, the present invention provides a multi-legged walking robot, including a control unit, a body, a hydromechanical leg and a hydraulic system, wherein the hydromechanical leg includes a leg arm assembly and a hydraulic actuator for controlling the extension and flexion of the leg arm assembly, the hydraulic system includes a hydraulic pump, a pump driving motor and a control valve assembly, the control unit includes a processor and a memory, and the memory stores a computer program; the hydraulic pump comprises a high-pressure pump and a low-pressure pump, and the pump driving motor comprises a high-pressure pump driving motor and a low-pressure pump driving motor; the computer program, when executed by a processor, is capable of implementing the steps of the walking control method described in any of the above-mentioned embodiments.
In order to achieve the other object, the multi-legged walking robot provided by the invention comprises a control unit, a body, a hydraulic mechanical leg and a hydraulic system, wherein the hydraulic mechanical leg comprises a leg arm assembly and a hydraulic actuator for controlling the bending and extension of the leg arm assembly, and the hydraulic system comprises a hydraulic pump, a pump driving motor and a control valve assembly; the hydraulic pump comprises a high-pressure pump and a low-pressure pump, the pump driving motor comprises a high-pressure pump driving motor and a low-pressure pump driving motor, a high-pressure overflow valve and a pressure sensor are connected to an oil outlet of the high-pressure pump, a low-pressure overflow valve and a pressure sensor are connected to an oil outlet of the low-pressure pump, and the pressure sensor outputs pressure detection data to the control unit; the control unit is used for controlling the high-pressure pump to work until the output oil pressure is higher than the overflow oil pressure of the high-pressure overflow valve when the hydraulic mechanical leg is in a supporting state, and controlling the control valve assembly to work to supply high-pressure oil liquid for the hydraulic actuator; when the hydraulic mechanical leg is in a pendulum dynamic state, the low-pressure pump is controlled to work until the output oil pressure is higher than the overflow oil pressure of the low-pressure overflow valve, and the control valve assembly is controlled to work to supply low-pressure oil liquid for the hydraulic actuator; and a control unit for changing the rotation speed of the pump driving motor based on the pressure detection data when the required oil pressure is lower than the relief oil pressure of the relief valve.
The specific scheme is that an oil outlet of the low-pressure pump is communicated with an oil inlet of the high-pressure pump.
The oil way interface of the high-pressure overflow valve is communicated with the oil outlet of the high-pressure pump, and the overflow port is communicated with the oil outlet of the low-pressure pump; the oil path interface of the low-pressure overflow valve is communicated with the oil outlet of the low-pressure pump, and the overflow port is communicated with the oil inlet of the oil tank.
The preferred solution is that the control valve assembly comprises a first proportional valve and a second proportional valve arranged in series; the first proportional valve is a three-position three-way proportional valve, one of double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, and the other double pipe joint of the first proportional valve is communicated with an oil outlet of the low-pressure pump; the first proportional valve is used for selecting a high-low liquid oil source; the second proportional valve is a three-position four-way proportional valve, one of the first side double pipe joints is communicated with the single pipe joint of the first proportional valve, and the other one of the first side double pipe joints is communicated with the oil inlet of the oil tank; a second side double pipe joint of the second proportional valve is correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; the second proportional valve is used for controlling the working state of the hydraulic actuator.
The control valve assembly comprises a first proportional valve and a second proportional valve which are arranged in parallel and are three-position four-way proportional valves; one of the first side double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of the oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; the first proportional valve is used for controlling the working state of the hydraulic actuator by using high-pressure liquid oil provided by the high-pressure pump; one of the first side double pipe joints of the second proportional valve is communicated with an oil outlet of the low-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of the oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; the second proportional valve is used for controlling the working state of the hydraulic actuator by using low-pressure liquid oil provided by the low-pressure pump.
Drawings
Fig. 1 is a flowchart of a walking control method according to an embodiment 1 of the present invention;
fig. 2 is a schematic view of a connection structure of a hydraulic mechanical leg and a hydraulic system of the walking robot in embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of a hydraulic pump and a connecting line according to embodiment 1 of the present invention;
FIG. 4 is a schematic structural view of a control valve assembly in embodiment 1 of the present invention;
fig. 5 is a schematic structural view of a control valve assembly in embodiment 2 of the present invention.
Detailed Description
The invention is further illustrated by the following examples and figures.
The main idea of the present invention is to improve the pipeline structure of the hydraulic system of the multi-legged walking robot and the walking control method to improve the working efficiency thereof.
Example 1
Referring to fig. 2 to 4, the multi-legged walking robot of the present invention includes a control unit, a trunk, hydromechanical legs, and a hydraulic system 1. The hydraulic mechanical leg is constructed by adopting a structure in the prior art and specifically comprises a leg rod assembly and a hydraulic actuator 2 for controlling the bending and the extension of the leg rod assembly; the hydraulic system 1 comprises an oil supply unit 3 and a control valve assembly 4; 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 system 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 hydraulic mechanical legs, so that the leg rod assembly is controlled to switch the pose between the supporting state and the swinging state.
As shown in fig. 3, the oil supply unit 3 includes a hydraulic pump and a hydraulic pump driving motor for driving the hydraulic pump to operate; in the embodiment, the oil supply unit 3 can at least increase oil of high and low two-stage oil pressure; specifically, the hydraulic pump is configured to include the high-pressure pump 31 and the low-pressure pump 32, and the pump drive motor is configured to include the high-pressure pump drive motor 33 and the low-pressure pump drive motor 34; in addition, the high-pressure pump drive motor 33 and the low-pressure pump drive motor 34 are both configured as motors with adjustable rotation speeds so that the output oil amount and the output oil pressure can be changed as needed. A high-pressure relief valve 35 and a pressure sensor 36 are connected to the outlet of the high-pressure pump 31, and a low-pressure relief valve 37 and a pressure sensor 38 are connected to the outlet of the low-pressure pump 32, and the pressure sensors output pressure detection data to the control unit.
The oil outlet of the low-pressure pump 32 is communicated with the oil inlet of the high-pressure pump 31, so that a series oil supply structure is formed, and the output oil pressure at the oil outlet of the high-pressure pump 31 is effectively increased; an oil path interface of the high-pressure overflow valve 35 is communicated with an oil outlet of the high-pressure pump 31, and an overflow port is communicated with an oil outlet of the low-pressure pump 32; the oil path interface of the low-pressure overflow valve 37 communicates with the oil outlet of the low-pressure pump 32, and the overflow port communicates with the oil inlet of the oil tank 100, so that a high-pressure oil supply interface 301 and a low-pressure oil supply interface 302 for providing high and low two-stage pressures are constructed.
As shown in fig. 4, the control valve assembly 4 comprises a first proportional valve 40 and a second proportional valve 41 arranged in series, and in the present embodiment, the first proportional valve 41 is a three-position three-way proportional valve, and one pipe joint 412 of the two pipe joints is communicated with the high-pressure oil supply interface 301, i.e. with the oil outlet of the high-pressure pump 31, and the other pipe joint 411 is communicated with the low-pressure oil supply interface 302, i.e. with the oil outlet of the low-pressure pump 32. The second proportional valve 42 is a three-position four-way proportional valve, one pipe joint 421 of a first side double pipe joint of the second proportional valve is communicated with the single pipe joint 413 of the first proportional valve 41, and the other pipe joint 422 is communicated with an oil inlet of the oil tank 100.
As shown in fig. 2 and 4, the second side double pipe joint of the second proportional valve 42 is communicated with the oil port 201 of the rod-containing oil chamber 20 and the oil port 210 of the rodless oil chamber 21 of the hydraulic actuator 2, that is, the pipe joint 423 is communicated with the oil port 201, and the pipe joint 424 is communicated with the oil port 210.
In the connection description, the interfaces of the components are connected through oil pipes, so that a communication oil way is constructed between the interfaces.
As shown in fig. 1, based on the above-mentioned improved structure of the hydraulic system, the method for controlling the walking of the multi-legged walking robot includes a constant flow rate control step S1 and a variable flow rate control step S2, i.e., a processor executes a computer program stored in a memory, and the two steps can be implemented as follows:
a constant flow control step S1, controlling the high-pressure pump driving motor 33 to rotate constantly according to a preset high-pressure rotation speed, and controlling the oil pressure of the oil pumped out by the high-pressure pump 31 to be higher than the overflow oil pressure of the high-pressure overflow valve 35, so that the oil pressure of the high-pressure oil supply interface 301 is kept constant at the overflow oil pressure value; controlling the low-pressure pump driving motor 34 to rotate constantly according to the low-pressure rotating speed until the oil pressure of the oil pumped by the low-pressure pump 32 is higher than the overflow oil pressure of the low-pressure overflow valve 37, so that the oil pressure of the oil supplied by the low-pressure oil supply interface 302 is kept constant at the overflow oil pressure value; and the output flows of the high-pressure pump 31 and the low-pressure pump 32 are driven to be larger than the average flow required by the multi-legged walking robot.
Based on the control steps, the maximum oil pressure can be provided for the work of the hydraulic actuator 2, so that the oil amount and the oil 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 constant flow rate control step S1, the rotation speeds of the high-pressure pump drive motor 33 and the low-pressure pump drive motor 34 are constant, and the output flow rates of the high-pressure pump 31 and the low-pressure pump 32 are constant and greater than the average flow rate required by the robot; the high-pressure relief valve 35 and the low-pressure relief valve 37 are used for setting two-stage high-pressure and low-pressure pressures by passing flow.
In the variable flow rate control step S2, based on the oil pressure detection data output by the pressure sensor 36 and the pressure sensor 38, the rotation speeds of the high-pressure pump drive motor 33 and the low-pressure pump drive motor 34 are changed, the output oil pressures of the high-pressure pump 31 and the low-pressure pump 32 meet the control requirement, and the output oil pressures are lower than the relief oil pressures of the high-pressure relief valve 35 and the low-pressure relief valve 36 at the oil outlet of the pump.
That is, in this step, energy can be effectively saved while a proper oil pressure is supplied, based on the operating state when the operating conditions such as no load, a constantly changing traveling environment, etc. are matched with the oil pressure and the oil amount required for the current operation by changing the rotation speed of the pump driving motor.
In this variable flow rate control step S2, the output pressure is made constant by adjusting the rotation speeds of the high-pressure pump drive motor 33 and the low-pressure pump drive motor 34, and the output flow rates of the high-pressure pump 31 and the low-pressure pump 32 are made to match the flow rate required by the robot, while the high-pressure relief valve 35 and the low-pressure relief valve 37 are used as relief valves without flow rate passing therethrough.
In the constant flow rate control step S1 and the variable flow rate control step S2, when the hydraulic leg is in the support state, the control valve assembly 4 and the high-pressure pump drive motor 33 are operated to supply high-pressure oil to the hydraulic actuator 2 by the high-pressure pump 31; when the hydraulic mechanical leg is in a pendulum state, the control valve assembly 4 and the low-pressure pump driving motor 34 are controlled to work, and the low-pressure pump 32 is used for supplying low-pressure oil for the work of the hydraulic actuator 2, and the specific working process is as follows:
(1) when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator 2 is in an extending action, the position switching of the valve cores of the first proportional valve 41 and the second proportional valve 42 is controlled to communicate the oil outlet of the high-pressure pump 31 with the rodless oil chamber 21 and communicate with the rod oil chamber 20 and the oil tank 100; specifically in this embodiment, the control valve actuator drives the spool of the first proportional valve 41 to step to the right with respect to the current position, and the control valve actuator drives the spool of the second proportional valve 42 to step to the left with respect to the current position.
(2) When the hydraulic mechanical leg is in a supporting state and the hydraulic actuator shortens to act, the position switching of the valve cores of the first proportional valve 41 and the second proportional valve 42 is controlled to communicate the oil outlet of the high-pressure pump 31 with the rod-containing oil chamber 20 and communicate the rodless oil chamber 21 with the oil tank 100. Specifically in this embodiment, the control valve actuator drives the spool of the first proportional valve 41 to step to the right from the current position, and the control valve actuator drives the spool of the second proportional valve 42 to step to the right from the current position.
(3) When the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator performs an extension action, the position switching of the valve cores of the first proportional valve 41 and the second proportional valve 42 is controlled to communicate the oil outlet of the low-pressure pump 32 with the rodless oil chamber 21 and communicate with the rod oil chamber 20 and the oil tank 100; in the present embodiment, specifically, the control valve actuator drives the spool of the first proportional valve 41 to step to the left with respect to the current position, and the control valve actuator drives the spool of the second proportional valve 42 to step to the left with respect to the current position.
(4) When the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator performs a shortening action, the position switching of the valve cores of the first proportional valve 41 and the second proportional valve 42 is controlled to communicate the oil outlet of the low-pressure pump 32 with the rod-containing oil chamber 20 and communicate the rodless oil chamber 21 with the oil tank 100; in the present embodiment, specifically, the control valve actuator drives the spool of the first proportional valve 41 to step to the left with respect to the current position, and the control valve actuator drives the spool of the second proportional valve 42 to step to the right with respect to the current position.
As can be seen from the above four steps of adjustment, the first proportional valve 41 is used for selecting a high-low oil source, specifically, the high-pressure pump 31 is selected to supply high-pressure oil in the support state, and the low-pressure pump 32 is selected to supply low-pressure oil in the swing state; and the second proportional valve 42 is used for controlling the working state of the hydraulic actuator, namely, the oil supply interface is connected into the rodless oil cavity to drive the hydraulic actuator 2 to perform an extension action, and the rod oil cavity is connected to drive the hydraulic actuator 2 to perform a shortening action.
As can be seen from the above description, in the walking control process, the control unit is configured to control the high-pressure pump 31 to operate until the output oil pressure is higher than the relief oil pressure of the high-pressure relief valve 35 when the hydraulic mechanical leg is in the support state, and to control the control valve assembly 4 to operate to supply the hydraulic actuator 2 with high-pressure oil; when the hydraulic mechanical leg is in a pendulum state, the low-pressure pump 32 is controlled to work until the output oil pressure is higher than the overflow oil pressure of the low-pressure overflow valve 37, and the control valve assembly 4 is controlled to work to supply low-pressure oil for the hydraulic actuator 2; and a control unit for changing the rotation speed of the pump drive motor based on pressure detection data output from the pressure sensor 36 and the pressure sensor 38 when the required oil pressure is lower than the relief oil pressures of the high-pressure relief valve 35 and the low-pressure relief valve 37.
Example 2
As a description of embodiment 2 of the present invention, only the differences from embodiment 1 above, that is, the structure of the control valve assembly, will be described below.
As shown in fig. 5, in the present embodiment, the control valve assembly 3 will be constructed using two proportional building valves arranged in parallel, and the first and second proportional valves 41 and 42 are each three-position, four-way proportional valves.
With reference to the structures shown in fig. 2 and 3, one pipe joint 411 of the first side double pipe joints of the first proportional valve 41 is communicated with the high-pressure oil supply interface 301, namely, the oil outlet of the high-pressure pump, and the other pipe joint 412 is communicated with the oil inlet of the oil tank 100; and the two pipe joints 413 and 414 of the second side double pipe joint are correspondingly communicated with the oil ports of the rod oil chamber 20 and the rodless oil chamber 21 of the hydraulic actuator 2; specifically, in the present embodiment, the pipe joint 413 communicates with the oil port 210, and the pipe joint 414 communicates with the oil port 201.
While one pipe joint 421 in the first side double pipe joint of the second proportional valve 42 is communicated with the low-pressure oil supply interface 302, i.e. with the oil outlet of the low-pressure pump 32, the other pipe joint is communicated with the oil inlet of the oil tank 100, and the two pipe joints 423 and 424 on the second side double pipe joint are correspondingly communicated with the oil outlets of the rod-containing oil chamber 20 and the rod-free oil chamber 21 of the hydraulic actuator 2; specifically, in the present embodiment, the pipe joint 423 communicates with the oil port 210, and the pipe joint 424 communicates with the oil port 201.
As shown in fig. 5, the pipe joints 413 and 423 communicate with the external joint 308 through a three-way connection structure, thereby communicating with the oil port 210; and the pipe joints 414 and 424 are communicated with the external joint 309 through a three-way connection structure, thereby being communicated with the oil port 201.
The control valve assembly based on the structure has the following specific working process:
(1) when the hydromechanical leg is in the support state and the hydraulic actuator 2 performs the extension action, the spool position of the first proportional valve 41 is controlled to be switched to communicate the oil outlet of the high-pressure pump 31 with the rodless oil chamber 21 and to communicate the rod oil chamber 20 with the oil tank 100. in this embodiment, specifically, the control valve actuator drives the spool of the first proportional valve 41 to step to the left with respect to the current position, while the spool of the second proportional valve 42 maintains the current position.
(2) When the hydraulic mechanical leg is in a supporting state and the hydraulic actuator 2 performs shortening action, the position of a valve core of the first proportional valve 41 is controlled to be switched to a position where an oil outlet of the high-pressure pump 31 is communicated with the rod-containing oil chamber 20 and a position where a rodless oil chamber 21 is communicated with the oil tank 100; specifically in this embodiment, the control valve actuator drives the spool of the first proportional valve 41 to step to the right with respect to the current position, while the spool of the second proportional valve 42 maintains the current position.
(3) When the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator performs an extension action, the position of a valve core of the second proportional valve 42 is controlled to be switched to a position where an oil outlet of the low-pressure pump 32 is communicated with the rodless oil chamber 21 and a position where the rod oil chamber 20 is communicated with the oil tank 100; specifically in this embodiment, the control valve actuator forces the spool of the second proportional valve 42 to step to the right relative to the current position, while the spool of the first proportional valve 41 remains in the current position.
(4) When the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator performs shortening action, the position of a valve core of the second proportional valve 42 is controlled to be switched to a position for communicating an oil outlet of the low-pressure pump 31 with the rod oil cavity 20 and communicating the rodless oil cavity 21 with the oil tank 100; specifically in this embodiment, the control valve actuator forces the spool of the second proportional valve 42 to step to the left relative to the current position, while the spool of the first proportional valve 41 remains in the current position.
As is apparent from the above description of the operation process, in the present embodiment, the first proportional valve 41 independently controls the operation state of the hydraulic actuator 2 using the high-pressure hydraulic oil supplied from the high-pressure pump 31; and the second proportional valve 42 independently controls the operating state of the hydraulic actuator 2 using the low-pressure hydraulic oil supplied from the low-pressure pump 32.
Based on the improvement of the structure and the control method, the invention adopts a high-pressure and low-pressure two-stage oil supply mode to reduce the throttling loss of the valve port; the hydraulic pump is controlled by constant pressure and variable rotating speed, so that the overflow loss of a hydraulic system is reduced; therefore, the energy consumption can be effectively reduced, and the robot can be more suitable for the requirements of the multi-legged walking robot.
Claims (10)
1. A walking control method of a multi-foot walking robot comprises a body, a hydraulic mechanical leg and a hydraulic system, wherein the hydraulic mechanical leg comprises a leg rod component and a hydraulic actuator for controlling the bending and the extension of the leg rod component, and the hydraulic system comprises a hydraulic pump, a pump driving motor and a control valve component; the method is characterized in that the hydraulic pump comprises a high-pressure pump and a low-pressure pump, the pump driving motor comprises a high-pressure pump driving motor and a low-pressure pump driving motor, and the method comprises the following steps:
controlling the high-pressure pump driving motor to rotate constantly according to a preset high-pressure rotating speed until the oil pressure of a pump is higher than the overflow oil pressure of a high-pressure overflow valve connected to an oil outlet of the high-pressure pump; controlling the low-pressure pump driving motor to rotate constantly according to the low-pressure rotating speed until the oil pressure of a pump is higher than the overflow oil pressure of a low-pressure overflow valve connected to an oil outlet of the low-pressure pump; the output flow rates of the high-pressure pump and the low-pressure pump are both larger than the average flow rate required by the multi-foot walking robot;
a variable flow control step of changing the rotation speed of a pump driving motor to output oil pressure according with a control requirement based on oil pressure detection data output by a pressure sensor connected at an oil outlet of the pump, wherein the output oil pressure is lower than the overflow oil pressure of an overflow valve at the oil outlet of the pump;
in the two control steps, when the hydraulic mechanical leg is in a supporting state, the control valve assembly and the high-pressure pump driving motor are controlled to work, and the high-pressure pump is used for supplying high-pressure oil to the hydraulic actuator; when the hydraulic mechanical leg is in a pendulum dynamic state, the control valve assembly and the low-pressure pump driving motor are controlled to work, and low-pressure oil is supplied to the hydraulic actuator by the low-pressure pump.
2. The walking control method according to claim 1, wherein:
an oil outlet of the low-pressure pump is communicated with an oil inlet of the high-pressure pump; an oil path interface of the high-pressure overflow valve is communicated with an oil outlet of the high-pressure pump, and an overflow port is communicated with an oil outlet of the low-pressure pump; and an oil path interface of the low-pressure overflow valve is communicated with an oil outlet of the low-pressure pump, and an overflow port is communicated with an oil inlet of an oil tank.
3. The walking control method according to claim 1 or 2, characterized in that:
the control valve assembly comprises a first proportional valve and a second proportional valve arranged in series; the first proportional valve is a three-position three-way proportional valve, one of double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, and the other double pipe joint of the first proportional valve is communicated with an oil outlet of the low-pressure pump; the second proportional valve is a three-position four-way proportional valve, one of the first side double pipe joints is communicated with the single pipe joint of the first proportional valve, and the other one of the first side double pipe joints is communicated with an oil inlet of the oil tank; a second side double pipe joint of the second proportional valve is correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator;
when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator extends to act, controlling the position switching of the valve cores of the first proportional valve and the second proportional valve to communicate the oil outlet of the high-pressure pump with the rodless oil cavity and communicate the rod oil cavity with the oil tank;
when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator shortens to act, the position of the valve cores of the first proportional valve and the second proportional valve is controlled to be switched to a position for communicating an oil outlet of the high-pressure pump with the rod oil cavity and a position for communicating the rodless oil cavity with the oil tank;
when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator extends to act, controlling the position switching of the valve cores of the first proportional valve and the second proportional valve to communicate the oil outlet of the low-pressure pump with the rodless oil cavity and communicate the rod oil cavity with the oil tank;
when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator shortens to act, the position of the valve cores of the first proportional valve and the second proportional valve is controlled to be switched to communicate the oil outlet of the low-pressure pump with the rod oil cavity and communicate the rodless oil cavity with the oil tank.
4. The walking control method according to claim 1 or 2, characterized in that:
the control valve assembly comprises a first proportional valve and a second proportional valve which are arranged in parallel and are three-position four-way proportional valves; one of the first side double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of an oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; one of the first side double pipe joints of the second proportional valve is communicated with an oil outlet of the low-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of an oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator;
when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator extends to act, controlling the valve core position of the first proportional valve to be switched to a position where an oil outlet of the high-pressure pump is communicated with the rodless oil cavity and a position where the rod oil cavity is communicated with the oil tank;
when the hydraulic mechanical leg is in a supporting state and the hydraulic actuator shortens to act, the position of a valve core of the first proportional valve is controlled to be switched to a position where an oil outlet of the high-pressure pump is communicated with the rod-containing oil cavity and a position where the rodless oil cavity is communicated with the oil tank;
when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator extends to act, the position of a valve core of the second proportional valve is controlled to be switched to a position where an oil outlet of the low-pressure pump is communicated with the rodless oil cavity and a position where the rod oil cavity is communicated with the oil tank;
when the hydraulic mechanical leg is in a pendulum state and the hydraulic actuator shortens to act, the position of the valve core of the second proportional valve is controlled to be switched to a position where the oil outlet of the low-pressure pump is communicated with the rod oil cavity and a position where the rodless oil cavity is communicated with the oil tank.
5. A multi-foot walking robot comprises a control unit, a body, a hydraulic mechanical leg and a hydraulic system, wherein the hydraulic mechanical leg comprises a leg arm assembly and a hydraulic actuator used for controlling the bending and stretching of the leg arm assembly; the method is characterized in that:
the hydraulic pump comprises a high-pressure pump and a low-pressure pump, and the pump driving motor comprises a high-pressure pump driving motor and a low-pressure pump driving motor;
the computer program, when executed by the processor, is capable of implementing the steps of the walking control method of any of claims 1 to 4.
6. A multi-foot walking robot with an improved structure comprises a control unit, a body, a hydraulic mechanical leg and a hydraulic system, wherein the hydraulic mechanical leg comprises a leg arm component and a hydraulic actuator for controlling the bending and the extension of the leg arm component;
the method is characterized in that:
the hydraulic pump comprises a high-pressure pump and a low-pressure pump, and the pump driving motor comprises a high-pressure pump driving motor and a low-pressure pump driving motor; a high-pressure overflow valve and a pressure sensor are connected to an oil outlet of the high-pressure pump, a low-pressure overflow valve and a pressure sensor are connected to an oil outlet of the low-pressure pump, and the pressure sensor outputs pressure detection data to the control unit;
the control unit is used for controlling the high-pressure pump to work until the output oil pressure is higher than the overflow oil pressure of the high-pressure overflow valve when the hydraulic mechanical leg is in a supporting state, and controlling the control valve assembly to work to supply high-pressure oil liquid to the hydraulic actuator; when the hydraulic mechanical leg is in a pendulum state, the low-pressure pump is controlled to work until the output oil pressure is higher than the overflow oil pressure of the low-pressure overflow valve, and the control valve assembly is controlled to work to supply low-pressure oil to the hydraulic actuator; and a control unit for changing the rotation speed of the pump drive motor based on the pressure detection data when the required oil pressure is lower than the relief oil pressure of the relief valve.
7. The multi-legged walking robot according to claim 6, characterized in that:
and an oil outlet of the low-pressure pump is communicated with an oil inlet of the high-pressure pump.
8. The multi-legged walking robot according to claim 7, characterized in that:
an oil path interface of the high-pressure overflow valve is communicated with an oil outlet of the high-pressure pump, and an overflow port is communicated with an oil outlet of the low-pressure pump; and an oil path interface of the low-pressure overflow valve is communicated with an oil outlet of the low-pressure pump, and an overflow port is communicated with an oil inlet of an oil tank.
9. A multi-legged walking robot according to any one of claims 6 to 8, characterized in that:
the control valve assembly comprises a first proportional valve and a second proportional valve arranged in series; the first proportional valve is a three-position three-way proportional valve, one of double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, and the other double pipe joint of the first proportional valve is communicated with an oil outlet of the low-pressure pump; the first proportional valve is used for selecting a high-low liquid oil source;
the second proportional valve is a three-position four-way proportional valve, one of the first side double pipe joints is communicated with the single pipe joint of the first proportional valve, and the other one of the first side double pipe joints is communicated with an oil inlet of the oil tank; a second side double pipe joint of the second proportional valve is correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; the second proportional valve is used for controlling the working state of the hydraulic actuator.
10. A multi-legged walking robot according to any one of claims 6 to 8, characterized in that:
the control valve assembly comprises a first proportional valve and a second proportional valve which are arranged in parallel and are three-position four-way proportional valves; one of the first side double pipe joints of the first proportional valve is communicated with an oil outlet of the high-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of an oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; the first proportional valve is used for controlling the working state of the hydraulic actuator by using high-pressure liquid oil provided by the high-pressure pump;
one of the first side double pipe joints of the second proportional valve is communicated with an oil outlet of the low-pressure pump, the other one of the first side double pipe joints is communicated with an oil inlet of an oil tank, and the second side double pipe joints are correspondingly communicated with oil ports of a rod oil cavity and a rodless oil cavity of the hydraulic actuator; the second proportional valve is used for controlling the working state of the hydraulic actuator by using low-pressure liquid oil provided by the low-pressure pump.
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