CN201179900Y - jumping robot power system - Google Patents

Abstract

The utility model discloses a jumping robot power system, which connects a brushless DC motor with a gear pump, an oil inlet of the gear pump is connected with an oil tank, an oil outlet of the gear pump is connected with an A port of a two-position four-way electromagnetic reversing valve Connected, the B port of the two-position four-way electromagnetic reversing valve is connected to the fuel tank, the P port of the two-position four-way electromagnetic reversing valve is connected to the upper chamber of the hydraulic cylinder, and the T port of the electromagnetic reversing valve is connected to the lower chamber of the hydraulic cylinder A spring is installed in the upper chamber of the hydraulic cylinder, and one end of the spring leans against the upper inner wall of the hydraulic cylinder, and the other end leans against the upper wall of the hydraulic cylinder piston. The utility model reduces the power of the system motor; reduces the number of components of the system; at the same time, the quality of the brushless DC motor is only one-third of that of the brush motor with the same power. Mass and volume, suitable for use on jumping robots.

Description

jumping robot power system

technical field

The utility model relates to a robot power system, in particular to a jumping robot power system.

Background technique

At present, the research on jumping robots is still in the research stage in the world, and only a few colleges and universities in China have carried out related research. In 1984, Professor M.H. Raibert of the Massachusetts Institute of Technology made pioneering contributions in the field of legged jumping robots. He designed the world's first single-legged robot that moves in a jumping manner, solved the problem of the jumping attitude control of the single-legged jumping robot and the foot positioning algorithm when landing, and carried out a series of simulation analysis and experiments under a simple model. The conditions for the stability and continuous motion of the single-leg bounce mechanism are obtained.

At present, people such as Professor Raibert of MIT's multi-legged robot laboratory have developed a variety of walking or crawling robots, one of which was published in a graduation thesis in May 1991 by MIT Garth. A robot called "Uniroo" can jump forward and is driven by a hydraulic power system. When jumping, the power system injects pressure oil into the driving hydraulic cylinder to control the system to bounce, and stretches the pull-down spring of the robot ankle hydraulic cylinder in the power system to supplement energy loss during each bounce and landing period.

However, the power system of the robot only considers the supplementary energy loss during the landing stage, and cannot accumulate and store jump energy during work, which increases the system power.

Contents of the invention

In order to overcome the shortage of existing technology that cannot accumulate and store jumping energy during work and increase the power of the system, the utility model provides a power system for a jumping robot, which can accumulate and store jumping energy, has a simple structure, and is suitable for continuous variable speed of robots Jumping powertrain.

The technical scheme adopted by the utility model to solve its technical problems is: comprising a brushless DC motor, a gear pump, an oil tank, a two-position four-way electromagnetic reversing valve and a hydraulic cylinder, the brushless DC motor 1 is connected with the gear pump 2, and the gear pump The oil inlet of gear pump 2 is connected with oil tank 3, the oil outlet of gear pump 2 is connected with port A of two-position four-way electromagnetic reversing valve 5, and port B of two-position four-way electromagnetic reversing valve 5 is connected with oil tank 3. The P port of the position four-way electromagnetic reversing valve 5 is connected with the upper chamber port 11 of the hydraulic cylinder 6 , and the T port of the electromagnetic reversing valve 5 is connected with the lower chamber port 10 of the hydraulic cylinder 6 . Wherein, a spring 7 is installed in the upper cavity of the hydraulic cylinder 6, and one end of the spring 7 leans against the upper inner wall 8 of the hydraulic cylinder, and the other end leans against the upper wall 14 of the hydraulic cylinder piston to accumulate and store the jumping energy of the robot. The two-position four-way electromagnetic reversing valve can be switched electromagnetically to connect port A to port P, port B to port T, or port A to port T and port B to port P.

A pressure sensor 4 is connected to the oil outlet of the gear pump 2 to measure the system pressure and send a warning signal when the pressure is abnormal.

Before the robot jumps, the electromagnetic reversing valve is switched to the lower position, the A port of the two-position four-way electromagnetic reversing valve is connected to the T port, the brushless DC motor is started, the hydraulic oil in the oil tank enters the lower chamber of the hydraulic cylinder, and the compression hydraulic cylinder is built-in spring;

When the spring is fully compressed, the electromagnetic reversing valve is switched to the upper position, the A port of the two-position four-way electromagnetic reversing valve is connected to the P port, the motor runs at high speed, the hydraulic oil in the oil tank enters the upper chamber of the hydraulic cylinder, and the hydraulic cylinder is activated. The dual action of the spring and the hydraulic oil driven by the motor stretches at high speed, and the robot takes off.

When the robot is vacated, the electromagnetic reversing valve is switched to the lower position, the A port of the two-position four-way electromagnetic reversing valve is connected to the T port, the motor runs at a low speed, and the internal spring of the hydraulic cylinder is compressed to achieve the energy storage function; the compression of the internal spring of the hydraulic cylinder The length is determined according to the characteristics of the robot to improve the energy storage function of the robot.

When the robot lands, due to the impact of the landing, the hydraulic cylinder shrinks rapidly, and the built-in spring is completely compressed to achieve the energy storage function;

At the end of the landing, the electromagnetic reversing valve is switched to the upper position, the motor runs at high speed, the spring releases energy at the same time, and the robot jumps up again.

The beneficial effects of the utility model are: the power system of the utility model reduces the power of the system motor due to the adoption of the energy storage hydraulic cylinder and the energy storage working mode; the use of controlling the brushless DC motor to change the hydraulic flow rate of the system reduces the components of the system Quantity; at the same time, the quality of the brushless DC motor is only one-third of the brushed motor with the same power. Due to the above points, the utility model accumulates and stores jumping energy, reduces the total mass and volume of the system, and is suitable for use in jumping robots. use on.

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Description of drawings

Fig. 1 is a schematic structural diagram of the power system of the present invention.

Fig. 2 is a structural schematic diagram of the energy storage hydraulic cylinder of the present invention.

Fig. 3 is a schematic diagram of the movement of the hydraulic cylinder during the jumping process of the robot described in the present invention,

Among them, the working state of the hydraulic cylinder before the robot takes off in Figure a, the working state of the hydraulic cylinder when the robot takes off in Figure b, the working state of the hydraulic cylinder when the robot is in the air in Figure c, the working state of the hydraulic cylinder when the robot lands in Figure d, and the hydraulic cylinder when the robot takes off again in Figure e working status.

Fig. 4 is a schematic diagram of the working state of the power system during the jumping process of the robot described in the present invention.

Detailed ways

Device embodiment: with reference to Fig. 1 and Fig. 2, the device of the present utility model comprises brushless DC motor, gear pump, fuel tank, pressure sensor, two-position four-way electromagnetic reversing valve and hydraulic cylinder, brushless DC motor 1 and gear pump 2 connected, the oil inlet of gear pump 2 is connected with oil tank 3, the oil outlet of gear pump 2 is connected with A port of 2-position 4-way electromagnetic reversing valve 5, and B port of 2-position 4-way electromagnetic reversing valve 5 is connected Into the oil tank 3, the P port of the two-position four-way electromagnetic reversing valve 5 is connected with the upper chamber port 11 of the hydraulic cylinder 6, and the T port of the electromagnetic reversing valve 5 is connected with the lower chamber port 10 of the hydraulic cylinder 6. Wherein, a spring 7 is installed in the upper cavity of the hydraulic cylinder 6, and one end of the spring 7 leans against the upper inner wall 8 of the hydraulic cylinder, and the other end leans against the upper wall 14 of the hydraulic cylinder piston to accumulate and store the jumping energy of the robot. The two-position four-way electromagnetic reversing valve can be switched electromagnetically to connect port A to port P, port B to port T, or port A to port T and port B to port P. The pressure sensor 4 is connected in the oil passage of the oil outlet of the gear pump 2 .

Combining Figure 3 and Figure 4, the working mode of the power system of the jumping robot is as follows:

As shown in Figure 3(a), before the robot jumps for the first time, the hydraulic cylinder is in a fully extended state. At this time, the electromagnet SDT of the reversing valve is energized, the reversing valve is switched to the lower position, and the brushless DC motor is started at the same time. Pour the pressure oil into the lower cavity of the hydraulic cylinder, the hydraulic cylinder shrinks, and the internal spring of the hydraulic cylinder is compressed;

As shown in Figure 3(b), when the spring is fully compressed, the reversing valve electromagnet SDT is de-energized, the reversing valve is switched to the upper position, the internal spring of the hydraulic cylinder rebounds, and the motor runs at high speed, pumping the pressure oil into the hydraulic pressure. The upper cavity of the cylinder, the joint action of the two provides the speed and force required for the robot to jump, and the robot takes off.

其中k为弹簧劲度系数，l为弹簧总伸长量，m为机器人总质量，h为弹跳高度，ζ为弹跳势能吸收效率，用以提高机器人的储能作用；As shown in Figure 3(c), when the robot is vacated, the electromagnet SDT is energized, the reversing valve is switched to the lower position, the motor runs at a low speed, the pressure oil is injected into the lower chamber of the hydraulic cylinder, and the spring contracts to achieve energy storage. Inner spring compressed length

Where k is the spring stiffness coefficient, l is the total elongation of the spring, m is the total mass of the robot, h is the bounce height, and ζ is the bounce potential energy absorption efficiency, which is used to improve the energy storage effect of the robot;

As shown in Figure 3(d), when the robot lands, due to the landing impact, the hydraulic cylinder contracts rapidly, and the inner spring is completely compressed, and the impact kinetic energy of the landing is stored in the inner spring of the hydraulic cylinder.

As shown in Figure 3(e), at the end of the landing, the electromagnet SDT is powered off, the reversing valve is switched to the upper position, the motor runs at high speed, the spring releases energy at the same time, and the robot jumps again.

Among them, in the robot take-off stage shown in Figure 3(c) and 3(e), the motor speed needs to meet $\mathrm{no}=\frac{V_m\×S}{V\×\mathrm{\η}}(V_m>V_T),$ Among them, n is the motor speed, V _m is the stretching speed of the hydraulic cylinder that makes the robot take off, V _T is the rebound speed of the built-in spring of the hydraulic cylinder, S is the cross-sectional area of the hydraulic cylinder, V is the displacement of the gear pump, and η is the system efficiency.

Claims (2)

1, power system of jump robot, comprise brshless DC motor, gear type pump, fuel tank, two-position four-way solenoid directional control valve and hydraulic actuating cylinder, it is characterized in that: brshless DC motor links to each other with gear type pump, the oil inlet of gear type pump links to each other with fuel tank, the oil outlet of gear type pump links to each other with the A mouth of two-position four-way solenoid directional control valve, the B mouth of two-position four-way solenoid directional control valve inserts fuel tank, the P mouth of two-position four-way solenoid directional control valve is connected with the last accent of hydraulic actuating cylinder, and the T mouth of solenoid directional control valve is connected with the following accent of hydraulic actuating cylinder; Wherein, in the epicoele of hydraulic actuating cylinder spring is installed, spring one end is resisted against inwall on the hydraulic actuating cylinder, and the other end is resisted against on the hydraulic cylinder piston upper wall; Described two-position four-way solenoid directional control valve can switch by electromagnetism makes that the A mouth is communicated with the P mouth, the B mouth is communicated with the T mouth, or makes that the A mouth is communicated with the T mouth, the B mouth is communicated with the P mouth.

2, according to utilizing the described power system of jump robot of claim 1, it is characterized in that: be connected with pressure sensor in the oil outlet oil circuit of described gear type pump.

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