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Quadruped robot hydraulic power system with double pump sources connected in parallel for oil supply

A technology of hydraulic power system and quadruped robot, which is applied to fluid pressure actuation system components, motor vehicles, fluid pressure actuation devices, etc. It can solve the problem of mismatch between load demand and energy supply, and achieve strong load capacity and long battery life. Strong ability and high efficiency

Active Publication Date: 2019-08-30
CHINA NORTH VEHICLE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of mismatch between load demand and energy supply in the prior art, the present invention provides a quadruped robot hydraulic power system with dual pump sources in parallel supplying oil

Method used

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  • Quadruped robot hydraulic power system with double pump sources connected in parallel for oil supply

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Embodiment 1

[0048] The technical solution adopted in the present invention is: the present invention provides a quadruped robot hydraulic power system with dual pump sources in parallel supplying oil, which is characterized in that it includes: a high-pressure pump 1, an engine 2, a medium-pressure pump 3, a high-pressure oil circuit flow rate Meter 4, high pressure oil circuit check valve 5, high pressure oil circuit filter 6, high pressure oil circuit accumulator 7, medium pressure oil circuit flow meter 8, medium pressure oil circuit check valve 9, medium pressure oil circuit filter 10 , medium pressure oil circuit accumulator 11, medium pressure oil circuit direct drive servo valve 12, high pressure oil circuit direct drive servo valve 13, hydraulic cylinder 14, cooler 15, pressurized oil tank 16.

[0049] Further, the high-pressure pump 1 and the medium-pressure pump 3 are connected to the output shaft of the engine 2 through a gear synchronous belt transmission, and provide pressure ...

Embodiment 2

[0063] When the hydraulic power system of a quadruped robot with dual pump sources in parallel supplying oil in the present invention is working normally, the engine 2 drives the high-pressure pump 1 and the medium-pressure pump 3 to provide the hydraulic system with two pressure oil sources of high pressure and medium pressure, and the pressures of the oil sources are respectively 21MPa and 10.5MPa. During the walking process of a quadruped robot, the working conditions of each leg can be divided into two working conditions: support phase and swing phase. When the legs are in the support phase, each joint hydraulic cylinder 14 needs the system to provide a relatively large working pressure. At this time, the high-pressure oil circuit direct-drive servo valve 13 is in the working state, and the 21MPa pressure oil provided by the high-pressure pump 1 enters the joint hydraulic pressure. The cylinder 14 drives the joints to move, and at the same time, the direct-drive servo valv...

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Abstract

The invention provides a quadruped robot hydraulic power system with double pump sources connected in parallel for oil supply. The system comprises a high-pressure pump, an engine, a medium-pressure pump, a high-pressure oil path servo valve, a medium-pressure oil path servo valve and a hydraulic cylinder, wherein the engine is respectively connected with the high-pressure pump and the medium-pressure pump; the high-pressure oil path servo valve and the medium-pressure oil path servo valve are connected to the hydraulic cylinder in parallel; an oil outlet of the high-pressure pump is connectedwith an oil inlet of the high-pressure oil path servo valve to form a high-pressure oil path; an oil outlet of the medium-pressure pump is connected with an oil inlet of the medium-pressure oil pathservo valve to form a medium-pressure oil path; and the output pressure provided by the high-pressure pump is greater than the output pressure provided by the medium-pressure pump. According to the system, hydraulic oil sources with two pressures can be simultaneously provided for joint hydraulic cylinders of a quadruped robot to select, so that the joint load characteristics in the walking process of the quadruped robot are better matched, and the efficiency of the quadruped robot hydraulic power system is remarkably improved.

Description

technical field [0001] The invention relates to a hydraulic power system, in particular to a quadruped robot hydraulic power system with dual pump sources connected in parallel for oil supply. Background technique [0002] With the development of science and technology, people tend to use robots to complete some complicated and dangerous jobs. The application fields of robots are constantly expanding. At present, robots can be divided into flying robots, ground robots and underwater robots according to the scope of activities. Among them, ground robots can be divided into crawler robots, wheeled robots, and legged robots. Compared with tracked and wheeled robots, legged robots have lower environmental requirements and better adaptability. According to the number of feet, legged mobile robots can be divided into single-legged robots, bipedal robots, quadrupedal robots, hexapodal robots and eight-legged robots. At present, there are many researches on biped robots, quadrupe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F15B13/08F15B13/02F15B1/02F15B3/00F15B21/041F15B21/0423B62D57/032
CPCF15B13/0807F15B13/027F15B1/02F15B3/00F15B21/041F15B21/0423B62D57/032F15B2211/20592F15B2211/20546F15B2211/31547
Inventor 蒋云峰江磊党睿娜慕灵栋降晨星许鹏姚其昌邓秦丹郭亮梁振杰卢玉传
Owner CHINA NORTH VEHICLE RES INST
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