The invention relates to a multi-legged walking robot, a hydraulic driving system for leg bending and stretching of the multi-legged walking robot and a control method, and belongs to the technical field of robots. The hydraulic driving system comprises a hydraulic cylinder, a hydraulic pump, an energy accumulator, an oil tank and a multifunctional joint control valve set. The hydraulic pump is provided with a high-pressure oil supply port and a low-pressure supply port; the multifunctional joint control valve set comprises an oil flux adjustable control valve connected between a rod oil cavity oil port and a rodless oil cavity oil port of the hydraulic cylinder, three conduction control valves that are used for independently controlling the communication states of load ports between the rod oil cavity oil port and the low-pressure oil supply port, between the rod oil cavity oil port and the high-pressure oil supply port and between the rod oil cavity oil port and the the oil tank; andthree conduction control valves used for independently controlling the communication states of load ports between the rodless oil cavity oil port and the low-pressure oil supply port, between the rodless oil cavity oil port and the high-pressure oil supply port and between the rodless oil cavity oil port and the oil tank. The hydraulic driving system with the improved structure can effectively reduce energy loss, improves the energy utilization rate, and can be widely applied to the technical field of robots.
本发明涉及一种多足步行机器人及其腿屈伸用液压驱动系统与控制方法,属于机器人技术领域。液压驱动系统包括液压缸、液压泵、蓄能器、油箱及多功能关节控制阀组;液压泵具有高压供油口与低压供给口;多功能关节控制阀组包括连接于液压缸的有杆油腔油口与无杆油腔油口之间的油通量可调控制阀,用于对有杆油腔油口与低压油供给口、高压油供给口及油箱之间的负载口连通状态进行独立控制的三个导通控制阀,及用于对无杆油腔油口与低压油供给口、高压油供给口及油箱之间的负载口连通状态进行独立控制的三个导通控制阀。经该结构改进后的液压驱动系统能有效地减少能量损失,而提高能源利用率,可广泛应用于机器人技术领域中。
Multi-legged walking robot and hydraulic driving system and control method for leg bending and stretching of multi-legged walking robot
多足步行机器人及其腿屈伸用液压驱动系统与控制方法
2020-10-30
Patent
Electronic Resource
Chinese
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