Quadruped robot hydraulic system based on two-stage energy supply and loading opening independent valve control

Abstract

The invention relates to the field of quadruped robot hydraulic systems, and discloses a quadruped robot hydraulic system based on two-stage energy supply and loading opening independent valve control. The quadruped robot hydraulic system comprises a hydraulic two-stage oil source unit as well as a first hydraulic driving unit and a second hydraulic driving unit based on loading opening independent valve control; and the first hydraulic driving unit and the second hydraulic driving unit are connected with the hydraulic two-stage oil source unit through a high-pressure bus, a low-pressure bus and an oil return bus. Through design of the hydraulic two-stage oil source unit as well as the first hydraulic driving unit and the second hydraulic driving unit which are located on the two stages and based on loading opening independent valve control, two kinds of pressure are adopted for energy supply, pressure switching is realized through a pressure switching valve, an outlet of the hydraulicdriving unit in the working process is throttled, and meanwhile, an inlet throttling valve is ensured to be in the large-opening state, so that the efficiency of the hydraulic driving unit can be improved, the energy consumption of the hydraulic driving unit can be reduced, and the efficiency is improved.

Description

technical field [0001] The invention relates to the field of quadruped robot hydraulic systems, in particular to a quadruped robot hydraulic system based on two-stage energy supply and independent valve control of a load port. Background technique [0002] Compared with wheeled and peristaltic robots, quadruped robots have the advantages of stable body structure, flexible movement, and less terrain restrictions. They have realized complex functions such as autonomous path detection, walking, and instability adjustment in the wild environment. Aerospace, emergency rescue and disaster relief and other fields have broad application prospects. As an important research direction of bionic robots, quadruped robots are designed after the limb structure of mammals such as dogs and horses. Through scattered points of contact between legs and feet, they can adapt to Terrain with large ground unevenness. [0003] Existing quadruped robot hydraulic systems mostly use single-pump multi-...

AI Technical Summary

Problems solved by technology

[0004] However, the existing single-pump multi-actuator hydraulic system belongs to the throttling speed regulation system. In order to take into account the movement requirements of multi-actuator and multi-working conditions, the flow and pressure matching can only be realized through throttling, so more savings are generated. The power loss in the single-pump multi-actuator hydrau

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