Hydraulic drive system of four-foot walking robot

Abstract

The invention relates to a hydraulic drive system of a four-foot walking robot. The hydraulic drive system comprises a servo cylinder assembly, wherein the servo cylinder assembly is respectively connected with a hydraulic power device and an oil return line by pipelines. The invention has the following advantages: 1. the power-mass ratio is large, thereby enhancing the weight loading capability of the robot; 2. the fuel can be conveniently filled, and the cruising power is high; 3. the robot has faster dynamic response capability, thereby being beneficial to the stability of the robot; 4. the robot has better speed rigidity, thereby reducing the effect of the load change on dynamic characteristics; 5. the allocation of the joint driving power is more convenient, thereby being capable of intensively supplying the system driving power to specified joints in a very short time to meet the driving requirements for special movement; and 6. the hydraulic cylinders can be easily arranged, thereby enabling the leg structure of the robot to be more simple and compact.

Description

technical field The invention relates to a quadruped robot drive system, more specifically a hydraulic drive system for a quadruped walking robot. Background technique At present, the commonly used mobile modes of ground mobile robots are mainly wheeled, crawler, peristaltic, crawling and walking. The wheeled mobile mechanism has the advantages of small frictional resistance and fast speed, but it is only suitable for a relatively flat ground environment, and its ability to overcome obstacles is poor. The crawler-type mobile mechanism has strong adaptability to the terrain environment, and can climb over obstacles, climb stairs, and cross trenches, etc., but the transmission efficiency is low. Creeping, crawling and walking are all bionic movement methods that imitate animals. They have strong adaptability to the terrain environment and can walk on most ground environments, and the walking method has the fastest movement speed. Walking quadruped robots have broad applicati...

AI Technical Summary

Problems solved by technology

Almost all existing quadruped walking robots use battery-motor drive systems, which have the following disadvantages or deficiencies: ① small power / mass ratio, poor load capacity; ② limited battery capacity, poor battery life, and long charging time; ③The dynamic response is slow, and the stability of the robot is poor during dynamic walking; the characteristics of the motor are soft, and its dynamic characteristics are greatly affected by the change of the load;

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