CN113460189A - Electro-hydraulic hybrid four-foot walking robot - Google Patents
Electro-hydraulic hybrid four-foot walking robot Download PDFInfo
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- CN113460189A CN113460189A CN202110884053.4A CN202110884053A CN113460189A CN 113460189 A CN113460189 A CN 113460189A CN 202110884053 A CN202110884053 A CN 202110884053A CN 113460189 A CN113460189 A CN 113460189A
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- hydraulic
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- walking robot
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
Abstract
The invention discloses an electro-hydraulic hybrid four-legged walking robot which comprises a rack and four limbs connected to the rack, wherein a power module, a motor connected with the power module, a hydraulic system, a motion execution control system and an electromechanical control system are arranged on the rack, the motor is powered by the power module, a hydraulic pump is driven by the motor to operate, the hydraulic pump drives an oil cylinder to move, the oil cylinder drives joints of the limbs of the robot to move, a motion execution controller controls each oil cylinder to execute motion, a leg lifting oil cylinder pushes shanks to swing up and down, a longitudinal swing oil cylinder pushes thighs to swing back and forth, and a transverse swing oil cylinder pushes the thighs to swing left and right, so that the rack moves under the bearing of the four limbs. The invention relates to a four-legged walking robot which takes a power module as a power source, a motor as a driving force and a hydraulic system as an actuating mechanism, and has the advantages of large force of the hydraulic system and relatively low noise of the motor system, thereby realizing high-load and low-noise operation of the robot.
Description
Technical Field
The invention relates to an electro-hydraulic hybrid four-foot walking robot, and belongs to the technical field of robots.
Background
The traditional four-footed robot with the load capacity of more than 50KG adopts a small gasoline engine as a power source to drive a hydraulic system to execute leg movement to realize walking, and the mode has the defects of large volume and high noise of the whole robot, and the noise can reach 120 decibels; the traditional four-footed robot with the load capacity less than 50KG all adopts motors to drive joints to move one by one to realize walking, and the pure electric mode has the defects of overhigh peak power requirement of a circuit and weak load capacity, and the load capacity is generally only about 20 percent of the self weight.
Disclosure of Invention
The invention aims to provide an electro-hydraulic hybrid quadruped walking robot, which is used for solving the technical problems of high noise of an engine quadruped robot and low load of a pure electric quadruped robot in the prior art.
The invention adopts the following technical scheme: an electro-hydraulic hybrid four-foot walking robot comprises a rack and four limbs connected to the rack, wherein each limb comprises a thigh, a shank and a foot from top to bottom in sequence, the foot is fixed at the lower end of the shank, the shank is hinged with the thigh, and the thigh is connected with the rack through a cross shaft; the frame is provided with a power module, a motor connected with the power module, a hydraulic system, a motion execution control system and an electromechanical control system, wherein the hydraulic system comprises a hydraulic pump, an oil tank, an oil cylinder, a high-pressure oil filter, a low-pressure oil filter, an integrated valve block and an energy accumulator; the motion execution control system comprises a hydraulic servo controller fixed on the frame, an angle sensor arranged at each limb joint, a contact force sensor respectively arranged in each foot, and a servo valve and a liquid pressure sensor respectively arranged on each oil cylinder, wherein the data of the angle sensor, the liquid pressure sensor and the contact force sensor are all input into the hydraulic servo controller, and the hydraulic servo controller outputs control current to the servo valve; electromechanical control system is including fixing the control mainboard in the frame and the motor drive who is connected with the motor, install oil pressure sensor and temperature sensor on the integrated valve piece, oil pressure sensor and temperature sensor transmit the control mainboard with the pressure and the temperature real-time data who gathers, and the control mainboard passes through motor drive control hydraulic system's operation according to real-time data.
And a radiator is connected between the integrated valve block and the low-pressure oil filter, one end of the radiator is communicated with the low-pressure oil filter, and the other end of the radiator is communicated with the hydraulic pump.
The radiator is positioned at the rear part of the frame.
The power module adopts a high-discharge lithium ion battery pack.
The motor adopts a high-power density brushless direct current motor.
The motor driver and the control main board are respectively fixed at the front end and the rear end of the frame.
The power module is located at a position below a motor driver at the front end of the rack, the motor is located at the middle of the rack, and the hydraulic servo controller is located at the front of the rack between the motor and the motor driver.
The integrated valve block is positioned on a rack position at the rear part of the motor, the high-pressure oil filter and the low-pressure oil filter are respectively positioned at two sides of the integrated valve block, the hydraulic pump is positioned at the lower position of the motor, and the oil tank and the energy accumulator are positioned at the rear part of the low-pressure oil filter.
The machine frame is also provided with a gait generating system, the gait generating system comprises a gait algorithm computer, an instruction input module and a gyroscope attitude sensor, the gait algorithm computer, the instruction input module and the gyroscope attitude sensor are fixed on the machine frame, the gyroscope attitude sensor is installed in the center of the machine frame, the instruction input module is used for inputting received upper computer instructions to the gait algorithm computer, and the gait algorithm computer generates gait data according to real-time data of the gyroscope attitude sensor and the contact force sensor and sends the gait data to the hydraulic servo controller for execution.
The gait algorithm computer is positioned above the motor driver, and the instruction input module is positioned at the side position of the hydraulic servo controller.
The invention has the beneficial effects that: the robot leg lifting device is characterized in that a power module supplies power to a motor, the motor drives a hydraulic pump to operate to provide pressure and flow for hydraulic oil of a hydraulic system, the hydraulic system drives oil cylinders to move through the hydraulic pump, the oil cylinders drive joints of limbs of the robot to move, a motion execution controller controls the oil cylinders to execute actions, a leg lifting oil cylinder pushes shanks to swing up and down, a longitudinal swing oil cylinder pushes thighs to swing back and forth, and a transverse swing oil cylinder pushes thighs to swing left and right, so that a rack moves under the load of four limbs. The four-legged walking robot takes the power module as a power source, the motor as a driving force and the hydraulic system as an actuating mechanism, has the advantages of large force of the hydraulic system and relatively low noise of the motor system, realizes high-load and low-noise operation of the robot, and expands wider prospects for the practicability of the four-legged robot.
Preferably, all the components of the hydraulic system, the motion execution control system, the electromechanical control system and the gait generation system are highly integrated on the robot body, so that the overall layout is compact and reasonable.
Preferably, the gait generating system generates gait data according to the sensor parameters and sends the gait data to the motion execution controller, so that the gait operation of the robot can be controlled.
Drawings
Fig. 1 is a schematic view of the overall structure of an electro-hydraulic hybrid four-footed walking robot of an embodiment of the present invention;
FIG. 2 is a perspective view of the electro-hydraulic hybrid quadruped walking robot of FIG. 1 from another perspective;
FIG. 3 is a plan view of FIG. 1;
FIG. 4 is a schematic view of the housing and limb of FIG. 1;
FIG. 5 is a schematic diagram of the hydraulic system of FIG. 1;
FIG. 6 is a schematic diagram of the limb movements of FIG. 1;
FIG. 7 is a schematic diagram of the hydraulic system of FIG. 1;
FIG. 8 is a schematic diagram of the motion execution control system of FIG. 1;
FIG. 9 is a schematic diagram of the electromechanical control system of FIG. 1;
fig. 10 is a schematic diagram of the gait generation system in fig. 1.
In the figure: 1-limb, 2-hydraulic system, 3-motor, 4-power module, 5-motion execution control system, 6-electromechanical control system, 7-gait generation system, 9-frame, 10-foot, 11-calf, 12-thigh, 13-hydraulic pump, 14-high pressure oil filter, 15-integrated valve block, 16-accumulator, 17-leg raising cylinder, 18-pitch cylinder, 19-yaw cylinder, 20-oil tank, 21-radiator, 22-low pressure oil filter, 23-hydraulic servo controller, 24-angle sensor, 25-servo valve, 26-hydraulic pressure sensor, 27-contact force sensor, 28-control mainboard, 29-motor driver, 30-oil pressure sensor, 31-temperature sensor, 32-gait algorithm computer, 33-gyroscope attitude sensor, 34-instruction input module.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 1 to 5, the electro-hydraulic hybrid quadruped walking robot of one embodiment of the invention comprises a frame 9 and four limbs 1 connected to the frame 9, wherein each limb 1 comprises a thigh 12, a shank 11 and a foot 10 from top to bottom, the foot 10 is fixed at the lower end of the shank 11, the shank 11 is hinged with the thigh 12, and the thigh 12 is connected with the frame 9 through a cross axle. The lower leg 11 and the upper leg 12 are hinged to each other to form one degree of freedom, and the upper leg 12 and the cross shaft of the frame 9 are connected to each other to form two degrees of freedom, and the four limbs 1 have twelve degrees of freedom in total.
The frame 9 is provided with a power module 4, a motor 3 connected with the power module 4, a hydraulic system 2, a motion execution control system 5, an electromechanical control system 6 and a gait generation system 7.
As shown in fig. 5, the hydraulic system 2 includes a hydraulic pump 13, an oil tank 20, oil cylinders, a high-pressure oil filter 14, a low-pressure oil filter 22, an integrated valve block 15 and an accumulator 16, the hydraulic pump 13 is driven by the motor 3 to operate, the low-pressure oil filter 22 and the high-pressure oil filter 14 are respectively connected to an inlet and an outlet of the hydraulic pump 13, the high-pressure oil filter 14 and the accumulator 16 are both connected to the integrated valve block 15, the oil cylinders include a leg raising oil cylinder 17 connected between each thigh 12 and each shank 11, a longitudinal swing oil cylinder 18 connected between each thigh 12 and the frame 9, and a yaw oil cylinder 19 connected between each thigh 12 and the frame 9, each oil cylinder is communicated with the integrated valve block 15, and the oil tank 20 is connected between the oil cylinder and the low-pressure oil filter 22; a radiator 21 is connected between the integration valve block 15 and the low-pressure oil filter 22, and one end of the radiator 21 communicates with the low-pressure oil filter 11 and the other end communicates with the hydraulic pump 13. As shown in fig. 7, a hydraulic pump 13 outputs oil to a high-pressure oil filter 14, the oil is output to an integration valve block 15 through the high-pressure oil filter and enters an accumulator 16, the oil is output to each leg lifting oil cylinder 17, a pitch oil cylinder 18 and a yaw oil cylinder 19 through the integration valve block 15 after passing through the accumulator 16, the oil returns from each oil cylinder, passes through an oil tank 20 and then flows into a radiator 21, and the oil is output from the radiator 21, passes through a low-pressure oil filter 22 and then returns to the hydraulic pump 13. As shown in figure 6, the leg lifting oil cylinder 17 pushes the lower leg 11 to swing up and down, the pitch oil cylinder 18 pushes the upper leg 12 to swing back and forth, and the yaw oil cylinder 19 pushes the upper leg to swing left and right, so that the frame moves under the load of four limbs.
As shown in fig. 2, the motion execution control system 5 includes a hydraulic servo controller 23 fixed on the frame 9, an angle sensor 24 installed at the joint of each limb 1, a contact force sensor 27 installed inside each foot, respectively, and a servo valve 25 and a hydraulic pressure sensor 26 installed on each cylinder, respectively, data of the angle sensor 24, the hydraulic pressure sensor 26, and the contact force sensor 27 are all inputted to the hydraulic servo controller 23, and the hydraulic servo controller 23 outputs a control current to the servo valve 25; the hydraulic servo controller 23 and the angle sensor 24 are controlled in a closed loop mode, the hydraulic servo controller 23 and the hydraulic pressure controller 26 are controlled in a closed loop mode, and the bionic mechanical characteristics of the robot limb movement are achieved through double closed loop control of the angle and the force.
As shown in fig. 3, the electromechanical control system 6 includes a control main board 28 fixed on the frame 9 and a motor driver 29 connected to the motor 3, the hydraulic pump is provided with an oil pressure sensor 30 and a temperature sensor 31 on the integrated valve block 15, the oil pressure sensor 30 and the temperature sensor 31 transmit the acquired pressure and temperature real-time data to the control main board 28, and the control main board 28 controls the operation of the hydraulic system through the motor driver 29 according to the real-time data.
The gait generating system 7 comprises a gait algorithm computer 32, a command input module 34 and a gyroscope attitude sensor 33 which are fixed on the frame, the gyroscope attitude sensor 33 is installed at the central part of the frame 9, the command input module 34 is used for inputting the received upper computer command to the gait algorithm computer 32, and the gait algorithm computer 32 generates gait data according to the real-time data of the gyroscope attitude sensor 33 and the contact force sensor 27 and sends the gait data to the hydraulic servo controller 23 for execution.
The power module 4 adopts a high-discharge lithium ion battery pack, and the motor 3 adopts a high-power-density brushless direct current motor. Radiator 21 is located frame 9 rear portion position, both ends around frame 9 are fixed respectively to motor driver 29 and control mainboard 28, power module 4 is located the position of frame 9 front end motor driver 29 below, motor 3 is located frame 9 middle part position, hydraulic servo controller 23 is located the frame 9 front portion position between motor 3 and the motor driver 29. The integration valve block 15 is located at a frame position at the rear of the motor 3, the integration valve block 15 is located between the motor 3 and the radiator 21, the high pressure oil filter 14 and the low pressure oil filter 22 are respectively located at both sides of the integration valve block 15, the hydraulic pump 13 is located at a position below the motor 3, and the tank 20 and the accumulator 16 are located at a position at the rear of the low pressure oil filter 22. The gait algorithm computer 32 is located above the motor driver 29 and the command input module 34 is located at a lateral position of the hydraulic servo controller 23.
The electro-hydraulic hybrid four-legged walking robot in the embodiment supplies power to the high-power-density brushless direct-current motor by using the high-discharge lithium ion battery pack, the high-power-density brushless direct-current motor provides pressure and flow for the hydraulic system, the hydraulic system drives the oil cylinder to act through the hydraulic pump, and the oil cylinder drives the joint of the robot limb to move; the gait generating system generates gait data according to the parameters of the sensors and sends the gait data to the motion execution controller, and the motion execution controller controls the cylinders of the hydraulic system to execute actions. In the embodiment, the hydraulic system, the motion execution control system, the electromechanical control system and the gait generation system are highly integrated on the robot body, and the overall layout is compact and reasonable.
The invention relates to a four-footed walking robot which takes a high-discharge lithium ion battery pack as a power source, a high-power-density brushless direct current motor as a driving force and a high-integration-level hydraulic system as an actuating mechanism. The invention has the advantages of large hydraulic system force and relatively smaller motor system noise, thereby realizing high-load and low-noise operation of the robot and expanding wider prospect for the practicability of the quadruped robot.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (10)
1. The utility model provides an electricity liquid mixed type four-footed walking robot, its includes the frame and connects four limbs in the frame, and every limb from the top down is thigh, shank and foot, its characterized in that in proper order: the feet are fixed at the lower ends of the shanks, the shanks are hinged with the thighs, and the thighs are connected with the rack through a cross shaft; the frame is provided with a power module, a motor connected with the power module, a hydraulic system, a motion execution control system and an electromechanical control system, wherein the hydraulic system comprises a hydraulic pump, an oil tank, an oil cylinder, a high-pressure oil filter, a low-pressure oil filter, an integrated valve block and an energy accumulator; the motion execution control system comprises a hydraulic servo controller fixed on the frame, an angle sensor arranged at each limb joint, a contact force sensor respectively arranged in each foot, and a servo valve and a liquid pressure sensor respectively arranged on each oil cylinder, wherein the data of the angle sensor, the liquid pressure sensor and the contact force sensor are all input into the hydraulic servo controller, and the hydraulic servo controller outputs control current to the servo valve; electromechanical control system is including fixing the control mainboard in the frame and the motor drive who is connected with the motor, install oil pressure sensor and temperature sensor on the integrated valve piece, oil pressure sensor and temperature sensor transmit the control mainboard with the pressure and the temperature real-time data who gathers, and the control mainboard passes through motor drive control hydraulic system's operation according to real-time data.
2. The electro-hydraulic hybrid four-footed walking robot of claim 1, characterized in that: and a radiator is connected between the integrated valve block and the low-pressure oil filter, one end of the radiator is communicated with the low-pressure oil filter, and the other end of the radiator is communicated with the hydraulic pump.
3. The electro-hydraulic hybrid four-footed walking robot of claim 1, characterized in that: the radiator is positioned at the rear part of the frame.
4. The electro-hydraulic hybrid four-footed walking robot of claim 1, characterized in that: the power module adopts a high-discharge lithium ion battery pack.
5. The electro-hydraulic hybrid four-footed walking robot of claim 1, characterized in that: the motor adopts a high-power density brushless direct current motor.
6. The electro-hydraulic hybrid four-footed walking robot of claim 1, characterized in that: the motor driver and the control main board are respectively fixed at the front end and the rear end of the frame.
7. The electro-hydraulic hybrid four-footed walking robot of claim 6, characterized in that: the power module is located at a position below a motor driver at the front end of the rack, the motor is located at the middle of the rack, and the hydraulic servo controller is located at the front of the rack between the motor and the motor driver.
8. The electro-hydraulic hybrid four-footed walking robot of claim 7, characterized in that: the integrated valve block is positioned on a rack position at the rear part of the motor, the high-pressure oil filter and the low-pressure oil filter are respectively positioned at two sides of the integrated valve block, the hydraulic pump is positioned at the lower position of the motor, and the oil tank and the energy accumulator are positioned at the rear part of the low-pressure oil filter.
9. The electro-hydraulic hybrid four-footed walking robot of claim 1, characterized in that: the machine frame is also provided with a gait generating system, the gait generating system comprises a gait algorithm computer, an instruction input module and a gyroscope attitude sensor, the gait algorithm computer, the instruction input module and the gyroscope attitude sensor are fixed on the machine frame, the gyroscope attitude sensor is installed in the center of the machine frame, the instruction input module is used for inputting received upper computer instructions to the gait algorithm computer, and the gait algorithm computer generates gait data according to real-time data of the gyroscope attitude sensor and the contact force sensor and sends the gait data to the hydraulic servo controller for execution.
10. The electro-hydraulic hybrid four-footed walking robot of claim 9, characterized in that: the gait algorithm computer is positioned above the motor driver, and the instruction input module is positioned at the side position of the hydraulic servo controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110884053.4A CN113460189A (en) | 2021-08-03 | 2021-08-03 | Electro-hydraulic hybrid four-foot walking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110884053.4A CN113460189A (en) | 2021-08-03 | 2021-08-03 | Electro-hydraulic hybrid four-foot walking robot |
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| CN113460189A true CN113460189A (en) | 2021-10-01 |
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| CN202110884053.4A Pending CN113460189A (en) | 2021-08-03 | 2021-08-03 | Electro-hydraulic hybrid four-foot walking robot |
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Cited By (1)
| 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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2021
- 2021-08-03 CN CN202110884053.4A patent/CN113460189A/en active Pending
Cited By (1)
| 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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