Hydraulic system of quadruped robot based on two-stage energy supply and independent valve control of load port

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 load port independent valve control, including a hydraulic two-stage oil source unit, and a first hydraulic system based on load port independent valve control. The hydraulic drive unit and the second hydraulic drive unit, the first hydraulic drive unit and the second hydraulic drive unit are connected to the hydraulic two-stage oil source unit through a high pressure bus, a low pressure bus and an oil return bus. Through the design of the hydraulic two-stage oil source unit and the first hydraulic drive unit and the second hydraulic drive unit based on the independent valve control of the load port located at the two stages, two kinds of pressure are used for energy supply, and the pressure switching is realized through the pressure switching valve, so that the hydraulic drive During the working process of the unit, the outlet throttling is ensured while the inlet throttle valve is in a state of large opening, so that the efficiency of the hydraulic drive unit can be improved, thereby reducing the energy consumption of the hydraulic drive unit and improving the efficiency.

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-...

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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 hydraulic system is mainly the throttling loss of the valve port of the servo valve, resulting in low efficiency of the hydraulic system of the quadruped robot, which has seriously limited the development and application of the quadruped robot technology. For this reason, provide Hydraulic system of quadruped robot based on two-stage energy supply and independent valve control of load port

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