CN111795025A - Electro-hydraulic hybrid driving power system of four-footed bionic robot - Google Patents

Electro-hydraulic hybrid driving power system of four-footed bionic robot Download PDF

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Publication number
CN111795025A
CN111795025A CN202010826404.1A CN202010826404A CN111795025A CN 111795025 A CN111795025 A CN 111795025A CN 202010826404 A CN202010826404 A CN 202010826404A CN 111795025 A CN111795025 A CN 111795025A
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CN
China
Prior art keywords
hydraulic
electro
pneumatic cylinder
cylinder
push
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CN202010826404.1A
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Chinese (zh)
Inventor
董超
李显军
石超
张方双
吴帮普
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Guizhou Aerospace Tianma Electrical Technology Co Ltd
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Guizhou Aerospace Tianma Electrical Technology Co Ltd
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Priority to CN202010826404.1A priority Critical patent/CN111795025A/en
Publication of CN111795025A publication Critical patent/CN111795025A/en
Pending legal-status Critical Current

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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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • 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
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/04—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member with oscillating cylinder
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/18—Combined units comprising both motor and pump
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • 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
    • 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
    • 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/775—Combined control, e.g. control of speed and force for providing a high speed approach stroke with low force followed by a low speed working stroke with high force, e.g. for a hydraulic press

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention provides an electro-hydraulic hybrid driving power system of a four-footed bionic robot, which comprises a motor pump, an integrated hydraulic cylinder and a push rod type hydraulic cylinder; integration pneumatic cylinder output rotatable coupling is in push-down pneumatic cylinder side, and motor pump liquid circuit is connected and is driven integration pneumatic cylinder and push-down pneumatic cylinder, and on the equal rotatable mounting bracket that is connected to the motor pump of integration pneumatic cylinder and push-down pneumatic cylinder, push-down pneumatic cylinder output rotatable coupling landing leg. The invention combines the advantages of hydraulic drive and motor drive, and meets the practical requirements of large swing range and wide load capacity of the joint to the greatest extent.

Description

Electro-hydraulic hybrid driving power system of four-footed bionic robot
Technical Field
The invention relates to an electro-hydraulic hybrid driving power system of a four-footed bionic robot.
Background
The power and driving module is the heart of the four-footed bionic robot and determines the driving capability of the robot. At present, four-foot walking robot models with different configurations are developed at home and abroad. Common driving modes include hydraulic driving, pneumatic driving, motor driving and the like. The traditional bionic joint designed by depending on a hydraulic system has the characteristics of large output torque and strong load resistance, but has the characteristics of complex hydraulic system, small swing range of the designed joint and the like, and is difficult to adapt to the requirement of walking in a large swing joint range under the condition of large gradient. Meanwhile, although the traditional motor-based electric integrated joint can obtain a larger swing range, due to the limitation of the performance of the motor, the joint is difficult to explode in a short time to generate a large output torque, and the requirement of large load torque output in the actual walking process is difficult to meet.
The design of the motion joint with large swing range and high load capacity is difficult to meet by the traditional hydraulic or electric driving thought, so that the brand-new consideration is needed, the advantages of hydraulic driving and motor driving can be well combined by an electro-hydraulic hybrid driving joint mode, and the practical requirements of the joint with large swing range and wide load capacity are met to the greatest extent.
Disclosure of Invention
In order to solve the technical problems, the invention provides an electro-hydraulic hybrid driving power system of a four-footed bionic robot, which can well combine the advantages of hydraulic drive and motor drive by an electro-hydraulic hybrid driving joint mode, and can meet the practical requirements of large swing range and wide load capacity of the joint to the greatest extent.
The invention is realized by the following technical scheme.
The invention provides an electro-hydraulic hybrid driving power system of a four-footed bionic robot, which comprises a motor pump, an integrated hydraulic cylinder and a push rod type hydraulic cylinder; integration pneumatic cylinder output rotatable coupling is in push-down pneumatic cylinder side, and motor pump liquid circuit is connected and is driven integration pneumatic cylinder and push-down pneumatic cylinder, and on the equal rotatable mounting bracket that is connected to the motor pump of integration pneumatic cylinder and push-down pneumatic cylinder, push-down pneumatic cylinder output rotatable coupling landing leg.
The integrated hydraulic cylinder and the push rod type hydraulic cylinder are both provided with electro-hydraulic servo valves, a mounting rack of the motor pump is provided with a servo controller for controlling the electro-hydraulic servo valves, and a hydraulic circuit of the motor pump is connected with the electro-hydraulic servo valves.
The number of the motor pumps is two.
The integrated hydraulic cylinder and the push-down hydraulic cylinder are four in number and are in one-to-one correspondence.
The push rod type hydraulic cylinders are four in number.
The motor pump is connected through hydraulic motor fluid circuit and drives integration pneumatic cylinder and push-down pneumatic cylinder, is equipped with the tilt cylinder in the hydraulic motor, and the tilt cylinder quantity is four and with integration pneumatic cylinder one-to-one.
The swing cylinder is provided with an electro-hydraulic servo valve, the servo controller is connected with and controls the electro-hydraulic servo valve, and a motor pump hydraulic circuit is communicated with the electro-hydraulic servo valve.
And the support leg is also provided with a first pressure sensor.
The invention has the beneficial effects that: the advantages of hydraulic drive and motor drive are combined, and the practical requirements of large swing range and wide load capacity of the joint are met to the greatest extent; the hydraulic motor, the integrated hydraulic cylinder and the push rod type hydraulic cylinder are internally provided with electro-hydraulic servo valves, hydraulic energy generated by the motor pump is transmitted to the swing cylinder, the integrated hydraulic cylinder and the push rod type hydraulic cylinder in the hydraulic motor through the electro-hydraulic servo valves, and the electro-hydraulic servo valves can also recycle the returned hydraulic oil to the motor pump through an oil return pipeline. The displacement sensor, the force sensor and the first pressure sensor feed displacement data and pressure data back to the servo controller, the servo controller sends corresponding instructions to the electro-hydraulic servo valve, and the electro-hydraulic servo valve can adjust the pressure and flow of oil flowing into the hydraulic system, so that the telescopic motion of the integrated hydraulic cylinder and the push rod type hydraulic cylinder is realized, and the gait of the four-foot bionic robot is indirectly adjusted.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the fluid path connection of the present invention.
In the figure: 1-battery, 2-hydraulic oil source, 3-driver, 4-servo controller, 5-motor pump, 6-hydraulic motor, 7-integrated hydraulic cylinder, 8-displacement sensor, 9-force sensor, 10-push rod type hydraulic cylinder, 11-first pressure sensor, 12-built-in check valve, 13-high pressure filter, 14-second pressure sensor, 15-accumulator, 16-overflow valve, 17-radiator, 18-third pressure sensor, 19-positive pressure oil tank, 20-temperature sensor, 21-safety valve, 22-check valve, 23-electro-hydraulic servo valve, 24-tilt cylinder, 25-angle sensor, 26-torque sensor and 27-servo valve amplification plate.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in fig. 1 and 2, the electro-hydraulic hybrid driving power system of the four-footed bionic robot comprises a motor pump 5, an integrated hydraulic cylinder 7 and a push rod type hydraulic cylinder 10; 7 output rotatable coupling of integration pneumatic cylinder is in push-down pneumatic cylinder 10 side, and 5 liquid circuit connection of motor pump drive integration pneumatic cylinder 7 and push-down pneumatic cylinder 10, and on the equal rotatable mounting bracket that is connected to motor pump 5 of integration pneumatic cylinder 7 and push-down pneumatic cylinder 10, push-down pneumatic cylinder 10 output rotatable coupling landing leg.
The integrated hydraulic cylinder 7 and the push rod type hydraulic cylinder 10 are both provided with an electro-hydraulic servo valve 23, a mounting rack of the motor pump 5 is provided with a servo controller 4 for controlling the electro-hydraulic servo valve 23, and a hydraulic circuit of the motor pump 5 is connected with the electro-hydraulic servo valve 23.
The number of the motor pumps 5 is two.
The number of the integrated hydraulic cylinders 7 is four, and the number of the integrated hydraulic cylinders 10 is one-to-one corresponding to that of the push rod type hydraulic cylinders.
The number of the push rod type hydraulic cylinders 10 is four.
The motor pump 5 is connected with and drives the integrated hydraulic cylinder 7 and the push rod type hydraulic cylinder 10 through a hydraulic circuit of the hydraulic motor 6, the hydraulic motor 6 is internally provided with four swing cylinders 24, and the four swing cylinders 24 correspond to the integrated hydraulic cylinder 7 one by one.
The oscillating cylinder 24 is provided with an electro-hydraulic servo valve 23, the servo controller 4 is connected with and controls the electro-hydraulic servo valve 23, and the motor pump 5 is communicated with the electro-hydraulic servo valve 23 in a hydraulic circuit.
The leg is also provided with a first pressure sensor 11.
Example 1
By adopting the scheme, the battery 1 supplies power to the servo controller 4 and the motor pump 5, the driver 3 drives the motor pump 5, the hydraulic oil source 2 supplies oil to the motor pump 5, the pressure oil pushes the swing cylinder 24 and the integrated hydraulic cylinder 7 in the hydraulic motor 6 to move through the oil through hole in the shell of the motor pump 5, and the integrated hydraulic cylinder 8 drives the push rod type hydraulic cylinder 10 to move, so that the four-foot bionic robot can move.
The hydraulic motor 6, the integrated hydraulic cylinder 7 and the push rod type hydraulic cylinder 10 all comprise an electro-hydraulic servo valve 23, the motor pump 5 is connected with the electro-hydraulic servo valve 23 through an oil supply pipeline, hydraulic energy generated by the motor pump 5 is transmitted to a swing cylinder 24 in the hydraulic motor 6, the integrated hydraulic cylinder 7 and the push rod type hydraulic cylinder 10 through the electro-hydraulic servo valve 23, and the electro-hydraulic servo valve 23 can also recycle the returned hydraulic oil to the motor pump 5 through an oil return pipeline. The displacement sensor 8, the force sensor 9, the first pressure sensor 11, the angle sensor 25 and the torque sensor 26 feed displacement, pressure, angular displacement and torque data back to the servo controller 4, the servo controller 4 sends corresponding instructions to the electro-hydraulic servo valve 23, the electro-hydraulic servo valve 23 adjusts the pressure and flow of oil flowing into a hydraulic system, the swinging of the swing cylinder 24 and the telescopic motion of the integrated hydraulic cylinder 7 and the push rod type hydraulic cylinder 10 are achieved, and therefore the gait of the four-foot bionic robot is adjusted indirectly.
As shown in fig. 2, there are 2 motor pumps 5 to form an oil pump motor set, there are 12 electrohydraulic servo valves 23, 4 tilt cylinders 24, 4 integrated hydraulic cylinders 7, and 4 push rod type hydraulic cylinders 10, wherein each electrohydraulic servo valve 23 is respectively connected with the tilt cylinder 24, the integrated hydraulic cylinder 7, the push rod type hydraulic cylinder 10, and the motor pumps 5 are respectively connected with the 12 electrohydraulic servo valves 23 through oil supply pipelines.
The device also comprises a built-in check valve 12, a high-pressure filter 13, a second pressure sensor 14, an accumulator 15, an overflow valve 16, a radiator 17, a third pressure sensor 18, a positive pressure oil tank 19, a temperature sensor 20, a safety valve 21, a check valve 22, a tilt cylinder 24, an angle sensor 25, a torque sensor 26, a servo valve amplifying plate 27 and the like.
The high-pressure filter 13 is arranged on an outlet pipeline of the motor pump, filters solid particles or colloidal substances in pressure oil and has the function of protecting pollutants from entering a system;
the second pressure sensor 14 is used for monitoring the oil pressure of the outlet pipeline of the motor pump in real time;
the energy accumulator 15 is used as auxiliary energy, when the system moves at a low speed, redundant flow is stored in the energy accumulator, and when the system moves at a high speed, hydraulic oil is released from the energy accumulator 15 to supplement insufficient flow of the motor pump. The accumulator 15 may also be used to reduce vibration in the hydraulic power system;
the overflow valve 16 has a pressure maintaining function, the overflow pressure is the system design pressure, and when the pressure in the hydraulic power system is higher than the design pressure, the overflow valve is opened; when the system pressure is lower than the design pressure, the overflow valve is closed;
the radiator 17 is arranged on an oil return pipeline of the hydraulic system and plays a role in cooling hydraulic oil;
the third pressure sensor 18 is used for monitoring the oil pressure of the oil return pipeline in real time;
the positive pressure oil tank 19 can improve the oil suction pressure of an oil suction port of the high-speed pump, avoid air suction, and meanwhile, the oil tank is small in size and light in weight;
the temperature sensor 20 is arranged on an oil return pipeline of the hydraulic system and plays a role in monitoring the temperature of hydraulic oil;
the angle sensor 25 and the torque sensor 26 are used for monitoring the angular displacement and the torque of the tilt cylinder;
the servo valve amplifying plate 27 is used for controlling the valve core opening of the electro-hydraulic servo valve 23 and plays a role in amplitude limiting protection.
Therefore, the four-foot bionic robot is particularly suitable for driving the four-foot bionic robot to move, the four-foot bionic robot is provided with four legs, the movement of each leg is realized by the movement of a swing cylinder, an integrated hydraulic cylinder and a push rod type hydraulic cylinder in a hydraulic motor, a battery supplies power to a controller and a motor pump, a driver drives the motor pump, a hydraulic oil source supplies oil to the motor pump, pressure oil pushes the swing cylinder and the integrated hydraulic cylinder in the hydraulic motor to move through oil holes in a shell of a motor pump, and the integrated hydraulic cylinder drives the push rod type hydraulic cylinder to move, so that the movement of the four-foot bionic robot is realized.

Claims (8)

1. The utility model provides an electricity liquid hybrid drive driving system of four-footed bionic robot, includes motor pump (5), integration pneumatic cylinder (7), push-down pneumatic cylinder (10), its characterized in that: integration pneumatic cylinder (7) output rotatable coupling is in push-down pneumatic cylinder (10) side, and motor pump (5) liquid way is connected and is driven integration pneumatic cylinder (7) and push-down pneumatic cylinder (10), and on the equal rotatable coupling of integration pneumatic cylinder (7) and push-down pneumatic cylinder (10) was to the mounting bracket of motor pump (5), push-down pneumatic cylinder (10) output rotatable coupling landing leg.
2. The electro-hydraulic hybrid driving power system of the quadruped bionic robot as claimed in claim 1, characterized in that: electro-hydraulic servo valves (23) are installed on the integrated hydraulic cylinder (7) and the push rod type hydraulic cylinder (10), a servo controller (4) is installed on an installation frame of the motor pump (5) to control the electro-hydraulic servo valves (23), and a hydraulic circuit of the motor pump (5) is connected with the electro-hydraulic servo valves (23).
3. The electro-hydraulic hybrid driving power system of the quadruped bionic robot as claimed in claim 1, characterized in that: the number of the motor pumps (5) is two.
4. The electro-hydraulic hybrid driving power system of the quadruped bionic robot as claimed in claim 1, characterized in that: the integrated hydraulic cylinders (7) and the push rod type hydraulic cylinders (10) are four in number and are in one-to-one correspondence.
5. The electro-hydraulic hybrid driving power system of the quadruped bionic robot as claimed in claim 1, characterized in that: the number of the push rod type hydraulic cylinders (10) is four.
6. The electro-hydraulic hybrid driving power system of the quadruped bionic robot as claimed in claim 1, characterized in that: the motor pump (5) is connected through a hydraulic circuit of the hydraulic motor (6) to drive the integrated hydraulic cylinder (7) and the push rod type hydraulic cylinder (10), swing cylinders (24) are installed in the hydraulic motor (6), and the number of the swing cylinders (24) is four and corresponds to that of the integrated hydraulic cylinder (7) one by one.
7. The electro-hydraulic hybrid drive power system of the quadruped bionic robot as claimed in claim 6, characterized in that: an electro-hydraulic servo valve (23) is arranged on the tilt cylinder (24), the servo controller (4) is connected with and controls the electro-hydraulic servo valve (23), and a hydraulic circuit of the motor pump (5) is communicated to the electro-hydraulic servo valve (23).
8. The electro-hydraulic hybrid driving power system of the quadruped bionic robot as claimed in claim 1, characterized in that: the supporting leg is also provided with a first pressure sensor (11).
CN202010826404.1A 2020-08-17 2020-08-17 Electro-hydraulic hybrid driving power system of four-footed bionic robot Pending CN111795025A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115056881A (en) * 2022-04-26 2022-09-16 中国北方车辆研究所 Electro-hydraulic hybrid four-legged robot integrating bionic trunk

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Application publication date: 20201020