CN113733157B - Hydraulic actuator for hydraulic foot type robot - Google Patents
Hydraulic actuator for hydraulic foot type robot Download PDFInfo
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- CN113733157B CN113733157B CN202111079919.0A CN202111079919A CN113733157B CN 113733157 B CN113733157 B CN 113733157B CN 202111079919 A CN202111079919 A CN 202111079919A CN 113733157 B CN113733157 B CN 113733157B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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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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Abstract
A hydraulic actuator for a hydraulic legged robot. The invention relates to a hydraulic actuator, and aims to solve the problems of uncontrollable variable rigidity, impact force buffering and low impact energy recovery and reutilization capability of the hydraulic actuator in a hydraulic foot type robot in the prior art. The pipe orifices of two upper end oil ways of the servo valve are respectively connected with an oil inlet and an oil outlet of the hydraulic actuator, one lower end oil way of the servo valve is provided with an upper end oil way of a second high-speed switch valve which is connected with an upper end oil way of a first high-speed switch valve in parallel, the lower end oil way of the first high-speed switch valve is provided with an upper end oil way of a high-pressure oil source which is connected with a lower end oil way of the electromagnetic pressure reducing valve in parallel, and the upper end oil way of the electromagnetic pressure reducing valve is connected with an oil way of the energy accumulator; the oil circuit at the lower end of the second high-speed switch valve is provided with an oil circuit of an energy accumulator connected with the oil circuit at the upper end of the electromagnetic pressure reducing valve in parallel and an oil circuit at the upper end of the third high-speed switch valve, and the oil circuits are used for realizing the direct movement or the swing of a hydraulic actuator under the action of a hydraulic unit.
Description
Technical Field
The invention relates to the technical field of industrial production, in particular to a hydraulic actuator for a hydraulic foot type robot.
Background
Foot robots, such as single-foot robots, double-foot robots, four-foot robots and more foot robots, contact the ground in a manner of foot end points during running or jumping motion and generate point-to-surface huge collision impact when the robot lands from flight to ground, if the impact force is not effectively buffered, the leg-foot mechanism of the foot robot is quickly damaged by the impact and greatly influences the running stability of the foot robot, so that elastic elements such as springs are usually installed at the legs of the foot robot to fully buffer the impact force. The leg motion mechanism of the legged animal has different overall stiffness from the bionic perspective under different jumping heights and running speeds, for example, the leg stiffness of the human is different when the human feet end the ground due to different tension degrees of thigh muscles under different running speeds, so that the leg stiffness matching motion speed is not really realized from the bionic perspective by only installing springs in the leg and foot mechanism system of the legged robot.
The hydraulic foot robot is a foot robot which uses hydraulic pressure as a driving mode, and is mainly characterized in that a hydraulic actuator is used for driving a leg joint. The hydraulic actuators applied in the hydraulic foot type robot system mainly comprise a linear hydraulic actuator and a swing hydraulic actuator, such as a linear hydraulic cylinder and a single-blade or double-blade type hydraulic swing cylinder, and the leg mechanism of the foot type robot needs to swing, so that the linear hydraulic actuator needs to convert the linear motion into the swing motion by means of a connecting rod and other mechanisms so as to drive the leg and foot of the foot type robot to swing, and the hydraulic swing cylinder directly outputs the swing motion without an intermediate conversion mechanism.
In conclusion, the hydraulic actuators in the hydraulic foot robots in the prior art have the problems of uncontrollable variable rigidity, impact force buffering and low impact energy recovery and reutilization capability.
Disclosure of Invention
The invention provides a hydraulic actuator for a hydraulic foot type robot, aiming at solving the problems of uncontrollable variable rigidity, impact force buffering and low impact energy recovery and reutilization capability of the hydraulic actuator in the hydraulic foot type robot in the prior art.
The technical scheme of the invention is as follows:
a hydraulic actuator for a hydraulic foot robot comprises a hydraulic actuator and a hydraulic unit;
the hydraulic actuator is positioned above the hydraulic unit;
the hydraulic unit comprises a servo valve, a first high-speed switch valve, an electromagnetic pressure reducing valve, other hydraulic system elements, an energy accumulator, a third high-speed switch valve, a second high-speed switch valve and a high-pressure oil source;
the pipe orifices of two upper end oil ways of the servo valve are respectively connected with an oil inlet and an oil outlet of the hydraulic actuator, one lower end oil way of the servo valve is provided with an upper end oil way of a second high-speed switch valve which is connected with an upper end oil way of a first high-speed switch valve in parallel, the lower end oil way of the first high-speed switch valve is provided with an upper end oil way of a high-pressure oil source which is connected with a lower end oil way of the electromagnetic pressure reducing valve in parallel, and the upper end oil way of the electromagnetic pressure reducing valve is connected with an oil way of the energy accumulator;
the lower end oil way of the second high-speed switch valve is provided with an oil way of an energy accumulator and an upper end oil way of the third high-speed switch valve which are connected with the upper end oil way of the electromagnetic pressure reducing valve in parallel, and the lower end oil way of the third high-speed switch valve is connected with other hydraulic system elements;
the hydraulic actuator realizes linear motion or swinging under the action of the hydraulic unit.
Compared with the prior art, the invention has the following effects:
1. according to the hydraulic actuator for the hydraulic foot type robot, disclosed by the invention, the recovery and the reutilization of impact energy can be realized through the energy accumulator, the first high-speed switch valve, the second high-speed switch valve and the third high-speed switch valve, the energy utilization rate is improved, the use of system energy is reduced, and the cruising ability of the foot type robot is favorably improved.
2. The hydraulic actuator for the hydraulic foot type robot can greatly absorb impact force through the equivalent air spring in the energy accumulator, reduces the impact action, greatly prolongs the service life of a leg mechanism of the foot type robot, and greatly improves the running stability of the foot type robot.
3. The hydraulic actuator for the hydraulic foot type robot can realize the adjustment of the variable rigidity of the foot end in the grounding mode through the electromagnetic pressure reducing valve, and greatly improves the adaptability of the foot type robot to different road surface environments.
4. According to the hydraulic actuator for the hydraulic foot type robot, disclosed by the invention, the hydraulic actuator is controlled by the hydraulic unit, so that the rigidity of the leg part is matched with the running speed direction, the speed loss of the foot type robot caused by impact of the foot end and the ground is reduced, the speed output is increased, and the stable running speed of the foot type robot is favorably improved. The invention solves the problems of uncontrollable variable rigidity, impact force buffering and low impact energy recovery and reutilization capability of a hydraulic actuator in the hydraulic foot type robot in the prior art.
Drawings
FIG. 1 is a schematic view of a swing hydraulic actuator of the present invention;
FIG. 2 is a schematic view of a linear hydraulic actuator of the present invention;
FIG. 3 is a schematic diagram of the foot end lift off process of the linear hydraulic actuator foot robot of the present invention;
FIG. 4 is a schematic illustration of a foot end touchdown procedure for the linear hydraulic actuator foot robot of the present invention;
fig. 5 is a schematic diagram of the process of the foot end of the linear hydraulic actuator foot robot leaving the ground.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5, and the hydraulic actuator for a hydraulic foot robot of the present embodiment includes a hydraulic actuator and a hydraulic unit;
the hydraulic actuator is positioned above the hydraulic unit;
the hydraulic unit comprises a servo valve 3, a first high-speed switch valve 4, an electromagnetic pressure reducing valve 5, other hydraulic system elements 6, an energy accumulator 7, a third high-speed switch valve 8, a second high-speed switch valve 11 and a high-pressure oil source P;
the pipe orifices of two upper end oil paths of the servo valve 3 are respectively connected with an oil inlet and an oil outlet of a hydraulic actuator, one lower end oil path of the servo valve 3 is provided with an upper end oil path of a second high-speed switch valve 11 which is connected with an upper end oil path of a first high-speed switch valve 4 in parallel, the lower end oil path of the first high-speed switch valve 4 is provided with an upper end oil path of a high-pressure oil source P which is connected with a lower end oil path of an electromagnetic pressure reducing valve 5 in parallel, and the upper end oil path of the electromagnetic pressure reducing valve 5 is connected with an oil path of an energy accumulator 7;
the lower end oil way of the second high-speed switch valve 11 is provided with an oil way of the energy accumulator 7 and an upper end oil way of the third high-speed switch valve 8 which are connected with the upper end oil way of the electromagnetic pressure reducing valve 5 in parallel, and the lower end oil way of the third high-speed switch valve 8 is connected with other hydraulic system elements 6;
the hydraulic actuator realizes linear motion or swinging under the action of the hydraulic unit.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5, which further includes a low pressure tank T,
the other lower end oil path of the servo valve 3 is provided with a low-pressure oil tank T which is connected with the upper end oil path of the high-pressure oil source P in parallel.
The rest is the same as the first embodiment.
The third concrete implementation mode: as described in connection with fig. 1 to 5, the present embodiment further includes a check valve 9,
and a one-way valve 9 is arranged on a connecting pipeline between an upper end oil way of the electromagnetic type pressure reducing valve 5 and an oil way of the energy accumulator 7.
The rest is the same as the first or second embodiment.
The fourth concrete implementation mode is as follows: the present embodiment is described with reference to fig. 1 to 5, and further includes a third pressure sensor 10,
and a third pressure sensor 10 is arranged on a connecting pipeline between the lower end oil way of the second high-speed switch valve 11 and the upper end oil way of the third high-speed switch valve 8.
The others are the same as the first, second or third embodiments.
The fifth concrete implementation mode is as follows: the present embodiment is described with reference to fig. 1 to 5, and the present embodiment further includes a first pressure sensor 2 and a second pressure sensor 12;
and a first pressure sensor 2 and a second pressure sensor 12 are respectively arranged on two upper end oil ways of the servo valve 3.
The others are the same as the first, second, third or fourth embodiments.
The sixth specific implementation mode is as follows: the present embodiment will be described with reference to fig. 1 to 5, and the high-pressure oil source P of the present embodiment supplies oil to the accumulator 7 through the electromagnetic pressure reducing valve 5.
The other embodiments are the same as the first, second, third, fourth or fifth embodiments.
The seventh concrete implementation mode: referring to fig. 1 to 5, the accumulator 7 of the present embodiment is provided with an equivalent air spring, wherein the equivalent air spring stiffness in the accumulator is represented by formula (1),
k g for equivalent spring stiffness of the accumulator, A is the cross-sectional area of the accumulator, p g0 Is the initial charge pressure of the accumulator, V g0 Is the initial volume of the accumulator gas part, V gt For the accumulator to reach a set pressure p R The partial volume of gas, k, is the gas constant.
The rest is the same as any one of the first to sixth embodiments.
The specific implementation mode eight: the present embodiment will be described with reference to fig. 1 to 5, and the hydraulic actuator of the present embodiment is a linear hydraulic actuator 1 or a swing hydraulic actuator 13.
The rest is the same as any one of the first to seventh embodiments.
The specific implementation method nine: the present embodiment will be described with reference to fig. 1 to 5, and the linear hydraulic actuator 1 of the present embodiment includes a first piston rod 1-3 and a first housing 1-4;
the inner part of the first shell 1-4 is a cavity, the first piston rod 1-3 is vertically inserted into the first shell 1-4 in a sliding manner, a first cavity 1-1 is formed by enclosing the lower end face of the first piston rod 1-3 and the bottom end face of the inner part of the first shell 1-4, a second cavity 1-2 is formed by enclosing the upper end face of the first piston rod 1-3 and the inner part of the first shell 1-4, the second cavity 1-2 is positioned right above the first cavity 1-1, one upper end oil way of the servo valve 3 is connected with the first cavity 1-1, and the other upper end oil way of the servo valve 3 is connected with the second cavity 1-2.
The others are the same as in any one of the first to eighth embodiments.
The detailed implementation mode is ten: the present embodiment is described with reference to fig. 1 to 5, and the swing hydraulic actuator 13 of the present embodiment includes a second piston rod 13-3 and a second housing 13-4;
the interior of the second shell 13-4 is a cavity, the second piston rod 13-3 swings up and down and is inserted into the second shell 13-4, a third cavity 13-2 is formed by the enclosure between the lower end face of the second piston rod 13-3 and the bottom end face of the interior of the second shell 13-4, a fourth cavity 13-1 is formed by the enclosure between the upper end face of the second piston rod 13-3 and the interior of the second shell 13-4, the fourth cavity 13-1 is positioned above the third cavity 13-2, and oil passages at two upper ends of the servo valve 3 are connected with the third cavity 13-2.
The rest is the same as any one of the first to ninth embodiments.
The working process is as follows:
taking the linear hydraulic actuator 1 as an example:
in the foot end lift-off process of the foot type robot: in the process, the foot end of the foot type robot is not contacted with the outside, a relatively precise position adjustment is needed to realize that the foot end forms a controlled expected cut-in angle with the ground when the foot end contacts the ground, the first high-speed switch valve 4 works at the right position, the second high-speed switch valve 11 works at the left position, the third high-speed switch valve 8 works at the left position, at the moment, a high-pressure oil source P is communicated with a pipe orifice of an oil path of the servo valve 3, and the servo valve 3 controls the linear hydraulic actuator 1 to output expected force or motion under the constant high-pressure oil source P; the high-pressure oil source P supplements oil to the energy accumulator 7 through the electromagnetic reducing valve 5, and finally the pressure of the energy accumulator 7 reaches the set pressure P R The third high-speed switch valve 8 limits the oil in the energy accumulator 7 to flow to other hydraulic system elements 6 to ensure that p R Control of (2);
in the foot end touchdown process of the foot type robot: at the moment when the foot end touches the ground, the first high-speed switch valve 4 is switched to the left position, the second high-speed switch valve 11 is switched to the right position, the third high-speed switch valve 8 works at the left position, at the moment, the oil passage port of the servo valve 3 is communicated with the energy accumulator 7, the impact force generated by the foot end pushes hydraulic oil to be squeezed into the energy accumulator 7 after passing through the servo valve 3 and the second high-speed switch valve 11, the impact force of the foot end is changed into the pressure energy of the hydraulic oil stored in the energy accumulator 7, the recovery process of the impact energy is realized, in the process, the pressure of the energy accumulator 7 is continuously increased due to the continuously squeezed oil, the equivalent stiffness air spring of the energy accumulator 7 is continuously increased until the equivalent force caused by the impact force of the foot end is equal to the pressure established in the energy accumulator 7, the energy accumulator 7 does not absorb the impact energy any more, and the counter force system reaches a balanced state at the moment;
the process that the foot end of the foot type robot leaves the ground is as follows: after the buffering is finished, the foot end needs to leave the ground again, the first high-speed switch valve 4 is switched to the left position, the second high-speed switch valve 11 is switched to the right position, and the third high-speed switch valve 8 is switched to the left position, because the pressure in the energy accumulator 7 is increased due to the absorption of impact energy in the process of the foot end touching the ground, and the pressure ratio set by the electromagnetic pressure reducing valve 5 is lower at the moment, the pressure oil in the energy accumulator 7 cannot flow to the electromagnetic pressure reducing valve 5 through the one-way valve 9, and the oil in the pressure accumulator 7 can only flow to other hydraulic system elements 6 through the third high-speed switch valve 8 until the pressure in the energy accumulator 7 is recovered to a desired low-pressure state; the servo valve 3 then controls the actuator to output the desired foot end lift movement or force at a constant high pressure oil supply P.
The present invention has been described in terms of the preferred embodiment, but it should be understood that the invention is not limited thereto, and that various modifications, equivalents and adaptations of the invention can be made by those skilled in the art without departing from the scope of the invention.
Claims (8)
1. A hydraulic actuator for a hydraulic foot-type robot, characterized by: the hydraulic actuator comprises a hydraulic actuator and a hydraulic unit;
the hydraulic actuator is positioned above the hydraulic unit;
the hydraulic unit comprises a servo valve (3), a first high-speed switch valve (4), an electromagnetic pressure reducing valve (5), other hydraulic system elements (6), an energy accumulator (7), a third high-speed switch valve (8), a second high-speed switch valve (11) and a high-pressure oil source (P);
the pipe orifices of two upper end oil ways of the servo valve (3) are respectively connected with an oil inlet and an oil outlet of a hydraulic actuator, one lower end oil way of the servo valve (3) is provided with an upper end oil way of a second high-speed switch valve (11) which is connected with an upper end oil way of a first high-speed switch valve (4) in parallel, the lower end oil way of the first high-speed switch valve (4) is provided with an upper end oil way of a high-pressure oil source (P) which is connected with a lower end oil way of an electromagnetic reducing valve (5) in parallel, and the upper end oil way of the electromagnetic reducing valve (5) is connected with an oil way of an energy accumulator (7);
the high-pressure oil source (P) supplies oil to the energy accumulator (7) through the electromagnetic reducing valve (5), an equivalent air spring is arranged in the energy accumulator (7), wherein the rigidity of the equivalent air spring in the energy accumulator (7) is represented by a formula (1),
in the formula: k is a radical of formula g For equivalent spring rate of the accumulator, A is the cross-sectional area of the accumulator, p g0 Is the initial charge pressure of the accumulator, V g0 Is the initial volume of the accumulator gas portion, V gt For the accumulator to reach a set pressure p R The gas partial volume of (i), k is the gas constant;
the lower end oil way of the second high-speed switch valve (11) is provided with an oil way of an energy accumulator (7) which is connected with the upper end oil way of the electromagnetic pressure reducing valve (5) in parallel and an upper end oil way of the third high-speed switch valve (8), and the lower end oil way of the third high-speed switch valve (8) is connected with other hydraulic system elements (6);
the hydraulic actuator realizes linear motion or swinging under the action of the hydraulic unit.
2. The hydraulic actuator for a hydraulic foot robot of claim 1, wherein: also comprises a low-pressure oil tank (T),
the other lower end oil way of the servo valve (3) is provided with a low-pressure oil tank (T) which is connected with the upper end oil way of the high-pressure oil source (P) in parallel.
3. A hydraulic actuator for a hydraulic foot robot according to claim 1, characterized in that: also comprises a one-way valve (9),
a one-way valve (9) is arranged on a connecting pipeline between an upper end oil way of the electromagnetic type reducing valve (5) and an oil way of the energy accumulator (7).
4. The hydraulic actuator for a hydraulic foot robot of claim 1, wherein: also comprises a third pressure sensor (10),
and a third pressure sensor (10) is arranged on a connecting pipeline between the lower end oil way of the second high-speed switch valve (11) and the upper end oil way of the third high-speed switch valve (8).
5. The hydraulic actuator for a hydraulic foot robot of claim 1, wherein: the pressure sensor comprises a first pressure sensor (2) and a second pressure sensor (12);
a first pressure sensor (2) and a second pressure sensor (12) are respectively arranged on two upper end oil ways of the servo valve (3).
6. The hydraulic actuator for a hydraulic foot robot of claim 1, wherein: the hydraulic actuator is a linear hydraulic actuator (1) or a swinging hydraulic actuator (13).
7. The hydraulic actuator for a hydraulic foot robot according to claim 1 or 6, characterized in that: the linear hydraulic actuator (1) comprises a first piston rod (1-3) and a first shell (1-4);
the cavity is formed in the first shell (1-4), the first piston rod (1-3) is vertically inserted into the first shell (1-4) in a sliding mode, a first cavity (1-1) is formed by enclosing between the lower end face of the first piston rod (1-3) and the bottom end face of the interior of the first shell (1-4), a second cavity (1-2) is formed by enclosing between the upper end face of the first piston rod (1-3) and the interior of the first shell (1-4), the second cavity (1-2) is located right above the first cavity (1-1), an upper end oil way of the servo valve (3) is connected with the first cavity (1-1), and another upper end oil way of the servo valve (3) is connected with the second cavity (1-2).
8. A hydraulic actuator for a hydraulic foot robot according to claim 1 or 6, characterized in that: the swing hydraulic actuator (13) comprises a second piston rod (13-3) and a second shell (13-4);
the interior of the second shell (13-4) is a cavity, the second piston rod (13-3) is inserted into the second shell (13-4) in a vertically swinging mode, a third cavity (13-2) is formed by enclosing between the lower end face of the second piston rod (13-3) and the bottom end face of the interior of the second shell (13-4), a fourth cavity (13-1) is formed by enclosing between the upper end face of the second piston rod (13-3) and the interior of the second shell (13-4), the fourth cavity (13-1) is located above the third cavity (13-2), and two upper end oil ways of the servo valve (3) are connected with the third cavity (13-2).
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| CN202111079919.0A CN113733157B (en) | 2021-09-15 | 2021-09-15 | Hydraulic actuator for hydraulic foot type robot |
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| CN202111079919.0A CN113733157B (en) | 2021-09-15 | 2021-09-15 | Hydraulic actuator for hydraulic foot type robot |
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| CN113733157B true CN113733157B (en) | 2023-02-17 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4065094A (en) * | 1976-08-19 | 1977-12-27 | Parker-Hannifin Corporation | Hydraulic actuator |
| CN110374942A (en) * | 2019-08-29 | 2019-10-25 | 山东科技大学 | A kind of bladder constant pressure accumulator of large capacity and its application |
| CN112283181A (en) * | 2020-09-25 | 2021-01-29 | 哈尔滨工业大学 | High-power-density auxiliary boosting hydraulic cylinder for foot type robot |
-
2021
- 2021-09-15 CN CN202111079919.0A patent/CN113733157B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4065094A (en) * | 1976-08-19 | 1977-12-27 | Parker-Hannifin Corporation | Hydraulic actuator |
| CN110374942A (en) * | 2019-08-29 | 2019-10-25 | 山东科技大学 | A kind of bladder constant pressure accumulator of large capacity and its application |
| CN112283181A (en) * | 2020-09-25 | 2021-01-29 | 哈尔滨工业大学 | High-power-density auxiliary boosting hydraulic cylinder for foot type robot |
Non-Patent Citations (1)
| Title |
|---|
| 工程机械动臂势能回收节能技术研究;林添良等;《流体传动与控制》;20140315;全文 * |
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