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Six-foot hydraulic system

A hydraulic system and hydraulic cylinder technology, applied in the field of bionic robots, can solve the problems of energy loss and low flow control accuracy, and achieve the effect of high efficiency and small volume

Pending Publication Date: 2019-10-15
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the structure provided in the prior art, since the orifice is a normally open structure, when the main valve in the system is in an open state, when the oil pressure is lower than the throttling pressure, the oil will directly flow back to the oil tank, which will cause energy loss, making the flow control accuracy lower

Method used

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Experimental program
Comparison scheme
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Embodiment 1

[0027] refer to Figure 1-4 , The hexapod hydraulic system provides an oil supply circuit for a thigh cylinder, a calf cylinder, and a swing cylinder. The circuit includes: a variable pump assembly, a load sensing control assembly, a main oil circuit 3, a load sensing feedback oil circuit 5, a pre-valve compensation system, a three-position four-way reversing valve and a hydraulic cylinder. Oil is supplied to the pump body 1 , and oil is supplied to each hydraulic cylinder through the main oil circuit 3 , passing through the load sensing component, the load sensing feedback circuit 5 , the pre-valve compensation system and the reversing valve 10 .

[0028] The hexapod robot has a variety of gaits, including two-gait, three-gait, and six-gait. It can also perform single-leg movements. Under different motion states, the amount of expansion and contraction of the servo hydraulic cylinder is different.

[0029] The embodiment of the present invention provides a load-sensing hydra...

Embodiment 2

[0038] refer to Figure 5 , the hexapod hydraulic system. Compared with Embodiment 1, this embodiment further includes a connecting pipe 14 , which is plugged on one side of the outer wall of the hydraulic oil tank 13 .

[0039] During use, the connecting pipe 14 facilitates the supply of raw materials inside the hydraulic oil tank 13 at any time.

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Abstract

The invention discloses a six-foot hydraulic system. The scheme of the six-foot hydraulic system aims to solve the problem that the flow control precision is low because the energy loss is caused. According to the scheme, the six-foot hydraulic system comprises an engine, a hydraulic pump, a reversing valve, a shuttle valve, a hydraulic cylinder, a radiator, a filter, a hydraulic oil tank and a main oil path; the six-foot hydraulic system adopts a load sensitive system, and a load sensitive variable pump and a load sensitive variable system are adopted. The six-foot hydraulic system further comprises a pump body and a variable adjusting mechanism. One end of the main oil path is connected with the pump body. The main oil path is further provided with a main valve. The main valve is used for controlling the conduction or disconnection of the main oil path. One end of a load sensitive feedback oil path is connected with the main oil path. A proportional servo valve and a servo hydrauliccylinder are adopted, so that the extension and contraction speed and extension and contraction amount of each cylinder can be accurately controlled, and various actions and stable gait walking can berealized by a six-foot robot; and because the load sensitive variable pump is adopted, liquid supply can be carried out according to the flow required by the system, energy is saved, and the environment is protected.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a hexapod hydraulic system. Background technique [0002] The development of the hexapod robot has lasted for more than half a century. It integrates many disciplines such as machinery, electronics, materials, sensors, and control technology. Science and technology research topics. As a legged robot, a hexapod robot has strong adaptability to terrain and good maneuverability because its footholds are discrete points and its legs have a high degree of freedom. It is widely used in military, mining, nuclear energy industries, etc. industry. Compared with quadruped and biped robots, hexapod robots have better stability, higher carrying capacity, and more gaits, so hexapod robots are ideal platforms for mobile operations under complex terrain. [0003] At present, the driving methods of robots mainly include electric drive, pneumatic drive and hydraulic drive. Electric driv...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F15B11/20F15B13/06F15B13/07F15B13/16F15B21/041F15B21/0423B62D57/032
CPCF15B11/20F15B13/06F15B13/07F15B13/16F15B21/041F15B21/0423B62D57/032F15B2211/20546F15B2211/71F15B2211/615F15B2211/62
Inventor 刘昕晖张昊昱陈伟金兆辉张菁伦白文秀潘雨龙田浩王洪洋
Owner JILIN UNIV