Multi-legged robot hydraulic drive unit capable of absorbing landing impact
A multi-legged robot and drive unit technology, applied in the field of hydraulic pressure, can solve the problems of unsolved instantaneous hydraulic shock, limited scalability of mechanical assembly, etc., and achieve the effect of reducing difficulty
Inactive Publication Date: 2016-05-04
ZHEJIANG UNIV
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Problems solved by technology
Although this airbag-type robot leg buffer mechanism can reduce the impact force of the ground through the end limbs of the robot leg, it still does not solve the instantaneous hydraulic impact caused by the instantaneous ground impulse on the hydraulically driven robot joint actuator, and the buffer mechanism has been designed As the stub of a multi-legged robot leg, the mechanical assembly scalability is limited
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[0019] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0020] When a multi-legged robot touches the ground with a large load and a high-speed gait, the ground passes through the robot's foot to form a large moment on the robot joint, which makes the joint servo cylinder shrink rapidly, and the servo cylinder piston has a large speed change, forming a large torque in the rodless cavity of the servo cylinder. Large hydraulic shock, the hydraulic shock not only brings harm to the hydraulic system, but also has a great impact on the stability control of the robot system. In order to alleviate the impact of the multi-legged robot on the robot due to the large load and the impact of the momentary ground impulse on the ground under the high-speed gait, reduce the instantaneous hydraulic impact caused by the ground impact on the hydraulically driven robot, and improve the stability of the robot's dynamic gai...
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The invention discloses a multi-legged robot hydraulic drive unit capable of absorbing landing impact. The multi-legged robot hydraulic drive unit comprises a proportional servo valve, a servo cylinder, an energy accumulator, a valve plate, a damping part and a fuel tank. The proportional servo valve is installed on the valve plate, four work oil ports of the proportional servo valve are connected to other components through fuel pipes respectively, the main oil inlet is connected to the energy accumulator, and the two work oil ports are connected to two cavities of the servo cylinder. A damping hole is formed between a rod-less cavity of the servo cylinder and a rod cavity of the servo cylinder. The damping part installed in the valve plate is installed in a threaded hole and can be detached and replaced, and the diameter and the length of the damping part can be adjusted according to needs. Various oil ways for hydraulic oil to flow are formed in the valve plate. The hydraulic drive unit can lower the influence of the ground impulse at the landing moment of a multi-legged robot on the high-load and high-speed gait condition on the robot, can lower the influence of instant hydraulic impact of ground impact on the hydraulic drive robot, can improve the dynamic-gait walking stability of the robot and can be applied to any joint of the multi-legged robot.
Description
technical field [0001] The invention belongs to the technical field of hydraulic pressure, and relates to a multi-leg robot hydraulic drive unit capable of absorbing the impact generated at the moment of landing when the multi-leg robot walks in a dynamic gait. Background technique [0002] Hydraulic drive has the advantages of high power-to-weight ratio, large carrying capacity, fast response, high reliability, and strong scalability. Advantages that other driving methods do not have. The "Big Dog" series of hydraulically driven multi-legged robots developed by Boston Dynamics of the United States can not only walk in various gaits, but also walk on various grounds. It has strong anti-interference ability, and there are great interferences on the ice It can also respond quickly and stabilize its own posture. Relevant domestic units have also achieved certain results in the research on hydraulically driven multi-legged robots, but related key technologies such as dynamic g...
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IPC IPC(8): F15B1/02F15B13/04B62D57/032
CPCB62D57/032F15B1/021F15B13/0401F15B2211/212F15B2211/761F15B2211/8606
Inventor 金波陈志伟庞云天黄翰林
Owner ZHEJIANG UNIV