CN-115875327-B - Airborne hydraulic station suitable for four-legged robot

CN115875327BCN 115875327 BCN115875327 BCN 115875327BCN-115875327-B

Abstract

The invention discloses an onboard hydraulic station suitable for a four-foot robot, which belongs to the technical field of bionic robots and comprises a main oil supply device and an auxiliary oil supply device which are arranged on the four-foot robot, wherein the main oil supply device and the auxiliary oil supply device are fixedly connected, the main oil supply device is used for being communicated with a low-pressure oil return path of the four-foot robot and a high-pressure oil supply path of the four-foot robot through a hydraulic pump, the low-pressure oil return path of the four-foot robot and the high-pressure oil supply path of the four-foot robot supply oil and return oil to a hip pitch joint hydraulic actuator, a hip side swing joint hydraulic actuator and a rodless cavity of the knee joint actuator of the four-foot robot respectively through a three-position four-way valve I, a three-position four-way valve II and a three-position three-way valve, and a high-pressure oil inlet and outlet joint for supplying oil and returning oil to a rod cavity of the knee joint actuator is arranged on the auxiliary oil supply device. By adopting the design of double oil tanks, the hydraulic four-legged robot has good integration and high energy utilization rate, and effectively solves the problem of low motion energy efficiency of the existing hydraulic four-legged robot.

Inventors

HUA ZISEN
CHEN CHI
SUN YARU
LI XIANHUA

Assignees

安徽理工大学

Dates

Publication Date: 20260512
Application Date: 20221202

Claims (8)

1. The machine-mounted hydraulic station suitable for the four-foot robot is characterized by comprising a main oil supply device and an auxiliary oil supply device which are arranged on the four-foot robot, wherein the main oil supply device and the auxiliary oil supply device are fixedly connected, the main oil supply device is used for being communicated with a low-pressure oil return path of the four-foot robot and a high-pressure oil supply path of the four-foot robot through a hydraulic pump, the low-pressure oil return path of the four-foot robot and the high-pressure oil supply path of the four-foot robot supply oil and return oil to a hip pitch joint hydraulic actuator, a hip side swing joint hydraulic actuator and a rodless cavity of the pitch joint actuator respectively through a three-position four-way valve I, a three-position four-way valve II and a three-position three-way valve, and a high-pressure oil inlet and outlet joint for supplying oil and returning to a rod cavity of the pitch joint actuator is arranged on the auxiliary oil supply device; The main oil supply device is provided with a low-pressure oil outlet connector, a high-pressure oil return connector and a high-pressure oil supply connector, wherein the liquid inlet end of the low-pressure oil outlet connector is communicated with the main oil supply device, the liquid outlet end of the low-pressure oil outlet connector is respectively connected with a low-pressure oil return path of the four-legged robot and an oil suction port of a hydraulic pump through a tee joint, the oil supply port of the hydraulic pump is communicated with the liquid inlet end of the high-pressure oil return connector, the liquid outlet end of the high-pressure oil return connector is connected with the liquid inlet end of the high-pressure oil supply connector, and the liquid outlet end of the high-pressure oil inlet connector is used for communicating with the high-pressure oil supply path of the four-legged robot; The auxiliary oil supply device comprises an air chamber with an auxiliary air chamber cavity, an auxiliary sealed oil tank with an auxiliary oil chamber and a volume adjusting hydraulic cylinder arranged on the air chamber cavity, wherein the auxiliary air chamber cavity is in sealing connection with the auxiliary air chamber cavity through an auxiliary piston sealing assembly, the auxiliary piston sealing assembly comprises an auxiliary piston shaft sleeve which is fixed at one end of the auxiliary oil chamber close to the auxiliary air chamber cavity and is arranged in the auxiliary sealing limiting ring in a sealing manner, an auxiliary liquid level adjusting piston which is positioned in the auxiliary oil chamber is fixed at the end part of the auxiliary piston shaft sleeve, an auxiliary one-way inflation valve group which is communicated with the auxiliary air chamber cavity is arranged on the auxiliary sealed oil tank, the high-pressure oil inlet and outlet connector is communicated with the auxiliary sealed oil tank, a volume adjusting piston which stretches into the auxiliary air chamber cavity is arranged on an output shaft of the volume adjusting hydraulic cylinder, an oil inlet path of the volume adjusting hydraulic cylinder is connected with the high-pressure connector, an oil outlet path of the volume adjusting hydraulic cylinder is connected with a low-pressure oil return path of the quadruped robot, and a liquid level sensor is arranged in the auxiliary oil chamber.
2. The machine-mounted hydraulic station suitable for the four-legged robot according to claim 1, wherein the volume-setting hydraulic cylinder comprises a hydraulic cylinder body and an electrohydraulic servo valve, a pressure-adjusting piston capable of dividing the interior of the hydraulic cylinder body into a first liquid injection cavity and a second liquid injection cavity is arranged in the hydraulic cylinder body, an output shaft of the volume-setting hydraulic cylinder is fixed on the pressure-adjusting piston, the electrohydraulic servo valve is communicated with the first liquid injection cavity and the second liquid injection cavity, an oil inlet adjusting connector and an oil outlet adjusting connector which are communicated with the electrohydraulic servo valve are arranged on the hydraulic cylinder body, the oil inlet adjusting connector is communicated with the high-pressure oil supply connector, and the oil outlet adjusting connector is communicated with a low-pressure oil return path of the four-legged robot.
3. The machine-mounted hydraulic station suitable for the quadruped robot according to claim 2, wherein the auxiliary liquid level detector comprises an auxiliary sensor shaft sleeve and an auxiliary sensor friction shaft, the auxiliary sensor shaft sleeve is arranged in the auxiliary piston shaft sleeve and fixedly connected with the auxiliary liquid level adjusting piston, the auxiliary sensor friction shaft is fixed in the auxiliary oil liquid cavity, an auxiliary sealing guide hole for the auxiliary sensor friction shaft to extend into the auxiliary sensor shaft sleeve is arranged on the auxiliary liquid level adjusting piston, and the auxiliary sensor shaft sleeve is slidably connected with the auxiliary sensor friction shaft.
4. The airborne hydraulic station suitable for the quadruped robot is characterized in that the main oil supply device comprises an energy accumulator and a main closed oil tank, a spherical air bag used for forming a main air chamber cavity is arranged in the energy accumulator, a main oil cavity is arranged in the main closed oil tank and is in sealing connection with the main air chamber cavity through a main piston sealing assembly, the main piston sealing assembly comprises a main piston shaft sleeve which is fixed at one end of the main oil cavity close to the main air chamber cavity and is sealed in the main sealing limiting ring in a sealing manner, a main liquid level adjusting piston which is positioned in the main oil cavity is fixed at the end of the main piston shaft sleeve, a main one-way inflation valve group which is communicated with the main air chamber cavity is arranged on the main closed oil tank, a low-pressure oil outlet connector is communicated with the main oil cavity, and a main liquid level sensor is arranged in the main oil cavity.
5. The airborne hydraulic station suitable for the four-legged robot according to claim 4, wherein the main liquid level detector comprises a main sensor shaft sleeve and a main sensor friction shaft, the main sensor shaft sleeve is arranged in the main piston shaft sleeve and fixedly connected with the main liquid level adjusting piston, the main sensor friction shaft is fixed in the main oil cavity, a main sealing guide hole for the main sensor friction shaft to extend into the main sensor shaft sleeve is formed in the main liquid level adjusting piston, and the main sensor shaft sleeve is connected to the main sensor friction shaft in a sliding mode.
6. The airborne hydraulic station suitable for the four-legged robot is characterized in that a low-pressure quick-filling joint communicated with the main oil cavity is arranged on the main closed oil tank, a high-pressure oil filling port communicated with the auxiliary oil cavity is arranged on the auxiliary closed oil tank, the high-pressure oil filling port is communicated with the high-pressure oil supply joint through an oil filling valve block group, a low-pressure oil filter, a low-pressure oil line pressure limiting valve and a low-pressure oil line temperature sensor are sequentially connected in series between the low-pressure quick-filling joint and the main oil cavity, and a high-pressure oil line pressure limiting valve and a high-pressure oil filter are sequentially arranged between the high-pressure oil return joint and the high-pressure oil supply joint.
7. The machine-mounted hydraulic station suitable for the quadruped robot according to claim 6, wherein the oil charging valve block group comprises an oil path block and a two-position two-way reversing valve, a first pipeline, a second pipeline, a third pipeline, a fourth pipeline and a fifth pipeline are arranged in the oil path block, the high-pressure oil supply joint is arranged on the oil path block and is communicated with the liquid outlet end of the first pipeline, the liquid inlet end of the first pipeline is communicated with the high-pressure oil return joint, the liquid outlet end of the first pipeline is communicated with the high-pressure oil supply joint, the liquid inlet end of the second pipeline is communicated with the liquid outlet end of the first pipeline, the liquid outlet end of the second pipeline is communicated with the liquid inlet end of the third pipeline, the liquid outlet end of the third pipeline is communicated with the liquid inlet end of the two-position two-way reversing valve, the liquid outlet end of the four pipeline is communicated with the liquid inlet end of the fifth pipeline, and the liquid outlet end of the fourth pipeline is communicated with the liquid inlet end of the fifth pipeline, and the liquid outlet end of the fifth pipeline is communicated with the high-pressure oil.
8. The machine-mounted hydraulic station suitable for the quadruped robot according to claim 5, wherein an electromagnetic unloading valve is connected between an oil supply way and an oil return way of the main oil supply device.

Description

Airborne hydraulic station suitable for four-legged robot Technical Field The invention relates to the technical field of bionic robots, in particular to an onboard hydraulic station suitable for a quadruped robot. Background Land animals have numerous forms of earth surface movement response under different environments, such as leg foot type and peristaltic type, but natural evolution in billions years shows that leg foot movement is still the moving mode with best comprehensiveness of terrain adaptability, movement efficiency and the like. Therefore, the motion potential of the robot is excavated from the bionics angle, the legged robot with stronger flexibility and terrain adaptation capability is developed towards the field unstructured environment, and the legged robot is particularly suitable for the hydraulic quadruped robot with heavy long-distance load, and has very important practical significance and wide application prospect. The main factors limiting the popularization of the hydraulic quadruped robot at present are energy consumption problems, and the energy consumption problems are mainly caused by the fact that firstly, the hydraulic drive is used as a medium transmission form through self attribute analysis of a hydraulic transmission system, reactive power consumption of energy can be generated at any position of high-pressure fluid in a closed pipeline, the hydraulic transmission is directly determined to be lower than that of a motor drive system, the energy conversion and utilization efficiency is also directly lower, secondly, the construction level analysis of the driving system is carried out, the construction method of most of the hydraulic quadruped robots is single in accuracy and high dynamic response, and aims at guaranteeing ideal displacement and force output response at all times through stable high-pressure oil supply in front of a valve, so that the actual motion requirement of the robot in an unsynchronized state phase sequence is considered. The four-foot robot limb structure is characterized in that for the traditional four-foot robot limb structure with two-section three-initiative degree-of-freedom joints, all joint actuators of the four-foot robot limb supply oil through stable valve front high pressure, but only all joint actuators in a support phase are actually loaded more, and the load force born by the joint actuators in a swing phase is smaller, so that the energy consumption is certainly wasted when the traditional driving mode is adopted for the joint actuators in the swing phase. 3. From the design angle analysis of the quadruped robot, the hydraulic power ratio is one of important indexes for measuring the hydraulic quadruped robot as a high-dynamic floating base coordinate heavy-load moving carrier, and in a limited installation space, the design of a centralized airborne station with high integration, small impact and outstanding energy efficiency is also a difficult point of engineering realization, which indirectly makes the construction scheme of most hydraulic transmission systems which are mature in engineering difficult to adopt. Therefore, how to face the application requirements of the four-legged robot, an onboard high-energy-efficiency hydraulic station with good integration and dynamic performance, high energy conversion rate and good popularization and application value is designed, is a common problem faced by the research field of the current hydraulic drive four-legged robot, and has higher theoretical research significance and practical application value. Disclosure of Invention The invention aims to solve the technical problems, and provides an onboard hydraulic station suitable for a quadruped robot, which adopts a double-oil-tank design, has good integration and high energy utilization rate, ensures the reliability of the position and force servo of each hydraulic cylinder in a support phase, can also aim at the motion function of a hydraulic cylinder retraction phase of a knee joint pitching actuator in a swing phase, reduces the piston motion backpressure, and effectively solves the problem of low motion energy efficiency of the existing hydraulic quadruped robot. The invention provides a scheme that the onboard hydraulic station suitable for the four-legged robot comprises a main oil supply device and an auxiliary oil supply device which are arranged on the four-legged robot, wherein the main oil supply device and the auxiliary oil supply device are fixedly connected, the main oil supply device is used for being communicated with a low-pressure oil return path of the four-legged robot and a high-pressure oil supply path of the four-legged robot through a hydraulic pump, the low-pressure oil return path of the four-legged robot and the high-pressure oil supply path of the four-legged robot supply oil and return oil to a rodless cavity of a hip pitch joint hydraulic actuator, a hip side swing joint hydraulic actuator and a knee joint a