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A quadruped robot hydraulic power system with parallel oil supply from two pump sources

A technology of hydraulic power system and quadruped robot, which is applied in the direction of fluid pressure actuation system components, motor vehicles, fluid pressure actuation devices, etc., can solve the problem of mismatch between load demand and energy supply, and achieve strong load capacity and matching Good, high power/mass ratio effect

Active Publication Date: 2022-06-24
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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  • A quadruped robot hydraulic power system with parallel oil supply from two pump sources

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Experimental program
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Embodiment 1

[0048] The technical scheme adopted in the present invention is as follows: the present invention provides a quadruped robot hydraulic power system with dual pump sources for parallel oil supply, 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 Gauge 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 , booster fuel 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 device to pr...

Embodiment 2

[0063] When the hydraulic power system of the quadruped robot with dual pump sources and oil supply in parallel according to the present invention works 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 the quadruped robot, the working conditions of each leg can be divided into two working conditions: support phase and swing phase. When the leg is in the supporting phase condition, each joint hydraulic cylinder 14 needs the system to provide a 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 joint movement, and at the same time, the direct-drive ...

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Abstract

The present invention provides a quadruped robot hydraulic power system with dual pump sources in parallel supplying oil. The system includes: a high-pressure pump, an engine, a medium-pressure pump, a high-pressure oil circuit servo valve, a medium-pressure oil circuit servo valve, and a hydraulic cylinder; The engine is respectively connected to the high-pressure pump and the medium-pressure pump; the high-pressure oil circuit servo valve and the medium-pressure oil circuit servo valve are connected in parallel to the hydraulic cylinder; the oil outlet of the high-pressure pump It is connected with the oil inlet of the servo valve of the high-pressure oil circuit to form a high-pressure oil circuit; the oil outlet of the medium-pressure pump is connected with the oil inlet of the servo valve of the medium-pressure oil circuit to form a medium-pressure oil circuit; wherein the The output pressure provided by the high pressure pump is greater than the output pressure provided by the medium pressure pump. The present invention can simultaneously provide hydraulic oil sources of two kinds of pressures for selection of joint hydraulic cylinders of the quadruped robot, better match the joint load characteristics during the walking process of the quadruped robot, and significantly improve the efficiency of the hydraulic power system of the quadruped robot.

Description

technical field [0001] The invention relates to a hydraulic power system, in particular to a hydraulic power system of a quadruped robot with dual pump sources supplying oil in parallel. Background technique [0002] With the development of science and technology, people often use robots to complete some complex 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 their scope of activities. Among them, ground robots can be divided into crawler robots, wheeled robots, and footed robots. Compared with tracked and wheeled robots, footed robots have lower demands on the environment and have better adaptability. According to the number of feet, footed mobile robots can be divided into monopod robots, biped robots, quadruped robots, hexapod robots and octapod robots. At present, there are many researches on biped robots, quadruped robots and hexapod r...

Claims

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Application Information

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Patent Type & Authority Patents(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