A multi-axis drive platform for robot walking

Abstract

The present invention discloses a multi-axis drive platform for robot walking, comprising a platform body, a hydraulic pump assembly mounted on the top of the platform body, a plurality of walking assemblies mounted on the bottom of the platform body, and a plurality of hydraulic drive shafts mounted in series on the walking assemblies. The hydraulic drive shaft comprises a housing, a liquid inlet is provided on each side of the housing, the two liquid inlets are connected to the two outlets of a two-position three-way solenoid valve, the inlet of the two-position three-way solenoid valve is connected to the outlet of the hydraulic pump assembly, a liquid outlet is provided on the housing, the liquid outlet is connected to the inlet of the hydraulic pump assembly, a connecting shaft is fixed in the housing, a driving impeller is connected to the connecting shaft via a bearing, and an output shaft is fixed to the driving impeller; a hydraulic buffer tank is provided between the outlet and the liquid inlet of the two-position three-way solenoid valve, and a flow regulating valve is installed on the liquid inlet. The present invention can improve the shortcomings of the existing technology, simplify the hydraulic rotation structure, and realize the use of the hydraulic rotation structure in a multi-freedom walking mechanism.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a multi-axis driving platform for robot walking. Background Art

[0002] Multi-DOF robot walking mechanisms require multiple rotating mechanisms. The most common type utilizes servo motors, but this requires multiple servo motors, which increases complexity. Existing technologies also utilize hydraulic mechanisms to achieve rotation, but these structures are still relatively complex and unsuitable for use in multi-DOF walking mechanisms. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a multi-axis drive platform for robot walking, which can solve the shortcomings of the existing technology, simplify the hydraulic rotation structure, and realize the use of the hydraulic rotation structure in a multi-freedom walking mechanism.

[0004] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows.

[0005] A multi-axis drive platform for robot walking includes a platform body, a hydraulic pump assembly is installed on the top of the platform body, a plurality of walking assemblies are installed on the bottom of the platform body, and a plurality of hydraulic drive shafts are installed in series on the walking assembly. The hydraulic drive shaft includes a shell, a liquid inlet is provided on both sides of the shell, and the two liquid inlets are respectively connected to the two outlets of a two-position three-way solenoid valve, the inlet of the two-position three-way solenoid valve is connected to the outlet of the hydraulic pump assembly, a liquid outlet is provided on the shell, and the liquid outlet is connected to the inlet of the hydraulic pump assembly, a connecting shaft is fixed in the shell, a driving impeller is connected to the connecting shaft through a bearing, and an output shaft is fixed on the driving impeller; a hydraulic buffer tank is provided between the outlet and the liquid inlet of the two-position three-way solenoid valve, and a flow regulating valve is installed on the liquid inlet.

[0006] Preferably, an arc-shaped guide shell is fixed to the inner wall of the outer shell, and a guide groove parallel to the rotation plane of the driving impeller is opened on the arc-shaped guide shell, two liquid inlets are respectively located on both sides of the arc-shaped guide shell, and the liquid outlet is located at the bottom of the arc-shaped guide shell.

[0007] Preferably, the driving impeller includes an annular portion connected to the bearing, the output shaft is fixed on the annular portion, and a plurality of blades are fixed on the side wall of the annular portion, and the width of the blades gradually increases from one end close to the annular portion to the end away from the annular portion.

[0008] Preferably, a plurality of grooves are provided on the surface of the annular portion, and the angle between the groove axis and the blade is 45°.

[0009] Preferably, a plurality of arc-shaped ridges are provided on both sides of the blade, and the arc-shaped ridges on both sides are staggered.

[0010] Preferably, a hydraulic cylinder is installed on the top of the hydraulic buffer tank, and the hydraulic cylinder is connected to a pressure plate, which is movably inserted into the hydraulic buffer tank and pressed on the hydraulic oil surface.

[0011] The beneficial effects brought about by adopting the above technical solution are: the hydraulic rotation structure of the present invention has a simple structure and high rotation linearity, which is convenient for accurately controlling the rotation angle of the robot joint and is suitable for use in a multi-degree-of-freedom robot walking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of a specific embodiment of the present invention.

[0013] Figure 2 It is a structural diagram of a hydraulic drive shaft in a specific embodiment of the present invention.

[0014] Figure 3 It is a structural diagram of a blade in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0015] Reference Figure 1-3A specific embodiment of the present invention includes a platform body 1, a hydraulic pump assembly 2 is installed on the top of the platform body 1, a plurality of walking assemblies 3 are installed on the bottom of the platform body 1, and a plurality of hydraulic drive shafts 4 are installed in series on the walking assembly 3, and the hydraulic drive shaft 4 includes a shell 5, a liquid inlet 6 is provided on both sides of the shell 5, and the two liquid inlets 6 are respectively connected to the two outlets of the two-position three-way solenoid valve 7, and the inlet of the two-position three-way solenoid valve 7 is connected to the outlet of the hydraulic pump assembly 2. A liquid outlet 8 is provided on the shell 5, and the liquid outlet 8 is connected to the inlet of the hydraulic pump assembly 2. A connecting shaft 9 is fixed in the shell 5, and a driving impeller 10 is connected to the connecting shaft 9 through a bearing 11, and an output shaft 11 is fixed to the driving impeller 10; a hydraulic buffer tank 12 is provided between the outlet of the two-position three-way solenoid valve 7 and the liquid inlet 6, and a flow regulating valve 13 is installed on the liquid inlet 6. An arc-shaped guide shell 14 is fixed to the inner wall of the outer shell 5. A guide groove 21 is provided on the arc-shaped guide shell 14, which is parallel to the rotation plane of the driving impeller 10. Two liquid inlets 6 are located on both sides of the arc-shaped guide shell 14, and the liquid outlet 8 is located at the bottom of the arc-shaped guide shell 14. The driving impeller 10 includes an annular portion 15 connected to the bearing 11. The output shaft 11 is fixed to the annular portion 15. A plurality of blades 16 are fixed to the side wall of the annular portion 15. The width of the blades 16 gradually increases from the end close to the annular portion 15 to the end away from the annular portion 15. A plurality of grooves 17 are provided on the surface of the annular portion 15. The angle between the axis of the groove 17 and the blade 16 is 45°. A plurality of arc-shaped ridges 18 are provided on both sides of the blade 16, and the arc-shaped ridges 18 on both sides are staggered. A hydraulic cylinder 19 is installed on the top of the hydraulic buffer tank 12, and the hydraulic cylinder 19 is connected to a pressure plate 20. The pressure plate 20 is movably inserted into the hydraulic buffer tank 12 and pressed on the hydraulic oil surface.

[0016] The operating principle of the present invention is as follows: the hydraulic pump assembly 2 provides hydraulic drive force for the entire hydraulic system. A two-position, three-way solenoid valve 7 controls the flow direction of the hydraulic oil. Different hydraulic oil flow directions cause the drive impeller 10 to rotate in different directions, thereby controlling the rotation direction of the hydraulic drive shaft 4. The hydraulic buffer tank 12 buffers pressure fluctuations in the hydraulic system, thereby improving the rotation control accuracy of the hydraulic drive shaft 4. The hydraulic oil flows through the curved guide housing 14 to the blades 16, driving the hydraulic drive shaft 4 to rotate. The curved guide housing 14 restricts the flow direction of the hydraulic oil, thereby improving the linearity between the hydraulic oil flow rate and the rotation speed of the hydraulic drive shaft 4. The shape of the blades 16 reduces the interference of hydraulic oil turbulence on the blades 16. The grooves 17 guide the hydraulic oil, allowing it to flow quickly through the outlet 8, further reducing turbulence within the housing 5. The curved ridges 18 on the blades 16 guide the hydraulic oil flowing across the surface of the blades 16, ensuring a straight flow and improving the uniformity of force applied to the blades 16.

[0017] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-axis driving platform for robot walking, comprising a platform body (1), a hydraulic pump assembly (2) mounted on the top of the platform body (1), a plurality of walking assemblies (3) mounted on the bottom surface of the platform body (1), and a plurality of hydraulic drive shafts (4) mounted in series on the walking assemblies (3), characterized in that: The hydraulic drive shaft (4) includes a housing (5), and a liquid inlet (6) is respectively provided on both sides of the housing (5). The two liquid inlets (6) are respectively connected to the two outlets of the two-position three-way solenoid valve (7), and the inlet of the two-position three-way solenoid valve (7) is connected to the outlet of the hydraulic pump assembly (2). A liquid outlet (8) is provided on the housing (5), and the liquid outlet (8) is connected to the inlet of the hydraulic pump assembly (2). A connecting shaft (9) is fixed in the housing (5), and a driving impeller (10) is connected to the connecting shaft (9) through a bearing (11). An output shaft (11) is fixed to the driving impeller (10); a hydraulic buffer tank (12) is provided between the outlet of the two-position three-way solenoid valve (7) and the liquid inlet (6), and a flow regulating valve (13) is installed on the liquid inlet (6); an arc-shaped guide shell (14) is fixed on the inner wall of the housing (5), and an arc-shaped guide shell (14) is fixed on the inner wall of the housing (5). A guide groove (21) parallel to the rotation plane of the driving impeller (10) is provided on the guide shell (14), two liquid inlets (6) are respectively located on both sides of the arc-shaped guide shell (14), and the liquid outlet (8) is located at the bottom of the arc-shaped guide shell (14); the driving impeller (10) includes an annular portion (15) connected to the bearing, the output shaft (11) is fixed on the annular portion (15), and a plurality of blades (16) are fixed on the side wall of the annular portion (15), and the width of the blade (16) gradually increases from the end close to the annular portion (15) to the end away from the annular portion (15); a plurality of grooves (17) are provided on the surface of the annular portion (15), and the angle between the axis of the groove (17) and the blade (16) is 45 degrees; a plurality of arc-shaped convex ridges (18) are respectively provided on both sides of the blade (16), and the arc-shaped convex ridges (18) on both sides are staggered.

2. The multi-axis driving platform for robot walking according to claim 1, characterized in that: A hydraulic cylinder (19) is installed on the top of the hydraulic buffer tank (12), and the hydraulic cylinder (19) is connected to a pressure plate (20). The pressure plate (20) is movably inserted into the hydraulic buffer tank (12) and pressed on the hydraulic oil surface.

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