CN111409729A - Servo hydraulic drive robot - Google Patents
Servo hydraulic drive robot Download PDFInfo
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- CN111409729A CN111409729A CN202010179503.5A CN202010179503A CN111409729A CN 111409729 A CN111409729 A CN 111409729A CN 202010179503 A CN202010179503 A CN 202010179503A CN 111409729 A CN111409729 A CN 111409729A
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- connecting rod
- servo
- hip joint
- hydraulic
- thigh
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 62
- 210000004394 hip joint Anatomy 0.000 claims abstract description 61
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 210000001624 hip Anatomy 0.000 claims description 5
- 244000309466 calf Species 0.000 claims description 3
- 239000007779 soft material Substances 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 abstract description 26
- 230000004044 response Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000000149 penetrating effect Effects 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 15
- 238000009434 installation Methods 0.000 description 12
- 238000005303 weighing Methods 0.000 description 9
- 210000001503 joint Anatomy 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a servo hydraulic drive robot, which comprises a platform, a hip joint connecting rod, a thigh connecting rod, a shank and a first servo driver, wherein the platform is provided with a mounting groove penetrating through the platform, the mounting groove is provided with a joint mounting seat, one side of the mounting groove is provided with a driver mounting seat, the middle part of the hip joint connecting rod is rotatably mounted on the joint mounting seat, the first servo driver is mounted on the platform to provide a driving source for the robot and pulls the hip joint connecting rod to rotate through a driving rod, the hip joint connecting rod drives the shank to extend or contract through the thigh connecting rod and the thigh, so that the robot walks, the first servo driver is mounted on the platform, the leg mass and the leg rotation inertia are reduced, the inertia impact in the leg swinging process is reduced, the default of leg inertia force compensation reduces the real-time control difficulty of the robot, the positioning accuracy and the response speed of the lower end of the leg are improved, and the impact resistance of the robot is improved.
Description
Technical Field
The invention relates to the field of foot type robots, in particular to a servo hydraulic drive robot.
Background
The existing leg type robot based on a hydraulic driving mode is provided with a hydraulic servo driver near each joint of a leg of the robot, and has the main defects that the mass of the leg is greatly improved due to the addition of the hydraulic servo driver, the inertia of the leg is increased, the inertia impact is easily brought to the leg joint in the walking process, the loss of mechanical connecting parts is accelerated, the walking speed of the robot is forced to be reduced, and the working efficiency is reduced. In addition, after the hydraulic servo driver is installed on the leg, in order to improve the leg swing precision and the foot end positioning precision, additional compensation functions such as inertia force, gravity, Coriolis force and the like need to be added in a control algorithm, so that the control difficulty of the whole robot is increased, the real-time response speed of a control system is reduced, and the robot is not favorable for making quick response decisions on external interference.
Based on the limitations of the above hydraulic robot structure, it is necessary to provide a hydraulic robot leg structure with fast response speed, high control precision and low control difficulty.
Disclosure of Invention
In order to solve the technical problem, a servo hydraulic drive robot with a servo driver installed on a platform is provided.
A servo hydraulic drive robot comprises a platform, a hip joint connecting rod, a thigh connecting rod, a shank and a first servo driver, wherein a mounting groove penetrating through the platform is formed in the platform, a joint mounting seat is arranged on the mounting groove, the middle of the hip joint connecting rod is rotatably mounted on the joint mounting seat, a first driver mounting seat is arranged on the left side of the mounting groove, the outer end of a driving rod of the first servo driver is hinged to the upper side of the hip joint connecting rod, and the rear end of the first servo driver is hinged to the first driver mounting seat; one end of the thigh connecting rod is rotatably connected with the middle part of the hip joint connecting rod, the other end of the thigh connecting rod is rotatably connected with the left side of the shank, the upper side of the thigh is rotatably connected with the right side of the hip joint connecting rod, and the lower end of the thigh is rotatably connected with the middle part of the shank.
Preferably, the invention further comprises a second servo driver, a second driver mounting seat is arranged on the right side of the mounting groove, the outer end of a driving rod of the second servo driver is rotatably connected with the upper end or the middle part of the thigh, and the rear end of the second servo driver is rotatably mounted on the second driver mounting seat.
Preferably, the first servo driver further comprises an integrated hydraulic driver and a cylinder barrel, the integrated hydraulic driver comprises a hydraulic servo valve and a driving controller, the hydraulic servo valve and the driving controller are installed on the outer side wall of the cylinder barrel, the driving rod is movably embedded in the cylinder barrel, the hydraulic servo valve is communicated with the inside of the cylinder barrel, and the driving controller is electrically connected with the hydraulic servo valve.
Preferably, the hydraulic servo valve further comprises an energy accumulator and a hydraulic valve block, wherein the energy accumulator and the hydraulic valve block are mounted on the platform, and the hydraulic valve block is connected with the hydraulic servo valve and the energy accumulator respectively.
Preferably, the invention also comprises a weighing sensor, wherein one end of the weighing sensor is connected with the outer end of the driving rod, and the other end of the weighing sensor is rotatably connected with the hip joint connecting rod.
Preferably, a displacement sensor is mounted in the cylinder or on the driving rod.
Preferably, the invention further comprises a control system, and the driving controller of the integrated hydraulic driver is respectively connected with the weighing sensor, the displacement sensor and the control system.
Preferably, the hip joint bearing and the connecting rod pin shaft are further included, a bearing mounting seat is arranged on the joint mounting seat, the hip joint bearing is mounted on the bearing mounting seat, the hip joint connecting rod is mounted on an inner ring of the hip joint bearing, a pin shaft mounting groove is formed in the lower end of the hip joint connecting rod, the connecting rod pin shaft is arranged in the pin shaft mounting groove, one end of the thigh connecting rod is rotatably mounted on the connecting rod pin shaft, and the connecting rod pin shaft and the hip joint bearing are coaxially arranged.
Preferably, the hip links, thighs, thigh links and calves form a parallelogram or parallelogram-like structure.
Preferably, the lower end of the lower leg is provided with a foot end, and the foot end is made of soft materials.
Compared with the prior art, the invention has the beneficial effects that: 1. the first servo driver is arranged on the platform to provide a driving source for the robot, the driving rod pulls the hip joint connecting rod to rotate, the hip joint connecting rod drives the shank to stretch out or contract through the thigh connecting rod and the thigh, so that the robot walks or bounces are realized, the first servo driver is arranged on the platform to reduce the leg mass and the leg rotational inertia, the inertial impact in the leg swinging process is reduced, the default of leg inertial force compensation reduces the real-time control difficulty of the robot, improves the positioning precision and the response speed of the lower end of the leg, and improves the impact resistance of the robot; 2. the driving controller is used for controlling the hydraulic servo valve and controlling the extending, stopping and contracting movement of the driving rod through the hydraulic servo valve; 3. the energy accumulator provides instantaneous flow for the integrated hydraulic driver to improve the actuation response speed, and the hydraulic valve block provides a hydraulic oil passage for the integrated hydraulic driver; 4. after acquiring output signals of the weighing sensor and the displacement sensor, the driving controller gives an input signal of the hydraulic servo valve by combining a control system instruction and a microcontroller high dynamic response algorithm, so that the driving rod can accurately and quickly respond, and the accurate and quick motion of the leg of the robot can be realized; 5. the hip joint connecting rod, the thigh connecting rod and the shank can form a parallelogram structure or a parallelogram-like structure, and a kinematics control algorithm is simplified.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a partially exploded view of the hip link;
fig. 4 is a control schematic of the hydraulic system of the present invention.
In the drawings, the reference numbers: platform 101, hip joint link 102, hip joint bearing 103, thigh 104, thigh link 105, knee joint bearing 106, shank 107, foot end 108, integrated hydraulic driver 109, accumulator 111, hydraulic valve block 112, hydraulic servo valve 201, drive controller 202, cylinder 203, front end cover 204, drive rod 205, weighing sensor 206, earring joint 207, rear end cover 208, first joint ball joint 209, second joint ball joint 210, thigh joint bearing 213, shank joint bearing 214, link pin 215, hip joint bearing outer ring 301, hip joint bearing inner ring 302, displacement sensor 401, control system 402, external oil source 403, first servo driver 501, second servo driver 502, joint mount 503, first driver mount 504, mounting groove 505, second driver mount 506, bearing mount 507, pin mounting groove 508.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
A servo hydraulic drive robot, as shown in figures 1 to 4, comprises a platform 101, a hip joint connecting rod 102, a thigh 104, the hip joint comprises a thigh connecting rod 105, a shank 107 and a first servo driver 501, wherein an installation groove 505 penetrating through the platform is arranged on the platform 101, a joint installation seat 503 is arranged on the installation groove 505, the middle part of the hip joint connecting rod 102 is rotatably installed on the joint installation seat 503, a first driver installation seat 504 is arranged on the left side of the installation groove 505, the outer end of a driving rod 205 of the first servo driver 501 is hinged to the upper side of the hip joint connecting rod 102, the rear end of the first servo driver 501 is hinged to the first driver installation seat 504, one end of the thigh connecting rod 105 is rotatably connected with the middle part of the hip joint connecting rod 102, the other end of the thigh connecting rod 105 is rotatably connected with the left side of the shank 107, the upper side of the thigh 104 is rotatably connected. The first servo driver is arranged on a first driver mounting seat on the platform to provide a driving source for the robot, the hip joint connecting rod 102 is pulled to rotate through the driving rod, the hip joint connecting rod 102 drives the shank to extend or contract through the thigh connecting rod and the thigh, so that the robot walks or bounces.
The present invention may further include a second servo driver 502, as shown in fig. 1 and 2, a second driver mounting seat 506 is provided at the right side of the mounting groove 505, an outer end of a driving rod of the second servo driver 502 is rotatably connected with the thigh 104, a rear end of the second servo driver 502 is rotatably mounted on the second driver mounting seat 506, and the second servo driver mounting seat 506 may be mounted at an upper side or a lower side of the mounting groove 505. The thigh is pulled to move through the second servo driver, and the mobility and the adaptability of the leg of the robot are improved. The second servo driver and the first servo driver may adopt the same structure. The outer end of the driving rod of the second servo driver is arranged at the upper end of the thigh or at the middle part of the thigh, and the thigh can be driven to move.
The first servo driver 501 may include an integrated hydraulic driver 109, a driving rod 205 and a cylinder 203, the integrated hydraulic driver 109 includes a hydraulic servo valve 201 and a driving controller 202, the hydraulic servo valve 201 and the driving controller 202 are mounted on an outer side wall of the cylinder 203, the driving rod 205 of the first servo driver 501 is movably embedded in the cylinder 203, the driving controller 202 is electrically connected with the hydraulic servo valve 201, and the hydraulic servo valve is communicated with the inside of the cylinder. The drive controller 202 is used to control the hydraulic servo valve 201, and controls the extension, stop, and retraction movements of the drive rod 205 through the hydraulic servo valve 201. In a specific embodiment, the first servo driver and the second servo driver may be hydraulic cylinders, such as oil cylinders.
The invention can also comprise an accumulator 111 and a hydraulic valve block 112, wherein the accumulator 111 and the hydraulic valve block 112 are arranged on the platform 101, and different interfaces of the hydraulic valve block 112 are respectively connected with the hydraulic servo valve 201 and the accumulator 111. The accumulator 111 provides an instantaneous flow to the integrated hydraulic drive 109 to increase the actuation response speed, and the hydraulic valve block 201 provides a hydraulic oil passage to the integrated hydraulic drive 109.
In one embodiment, as shown in FIG. 4, the hydraulic valve block 112 has seven hydraulic ports P, T, Pa、P1、T1、P2、T2P and T are connected to the oil supply port and the oil return port of the external oil source 403, respectively, PaConnected to an accumulator 111, P1And T1Respectively connected to the oil inlet and the oil return of the hydraulic servo valve 201 of the first servo actuator, P2And T2The oil inlet and the oil return port of a hydraulic servo valve of the second servo driver are respectively connected; the high-pressure oil output from the external oil source 403 flows through P and then flows to P in the hydraulic valve block 1121And P2Accumulator 111 through PaIs in communication with P, P1Or P2High-pressure oil of the port enters the integrated hydraulic driver; the oil return port and the T of the integrated hydraulic driver1Or T2The return oil joins in the hydraulic valve block 112 and then flows through T into the tank of the external oil source 403. The hydraulic servo valve 201 may be provided with three operating positions for effecting the extension, stop and retraction movements of the drive rod 205.
The hip joint bearing assembly can further comprise a hip joint bearing 103 and a connecting rod pin shaft 215, as shown in fig. 2 and 3, a bearing installation seat 507 is arranged on a joint installation seat 503, the hip joint bearing 103 is installed on the bearing installation seat 507, the middle part of a hip joint connecting rod 102 is installed on an inner ring 302 of the hip joint bearing, a pin shaft installation groove 508 is arranged at the lower end of the hip joint connecting rod 102, the connecting rod pin shaft 215 is arranged in the pin shaft installation groove 508, one end of a thigh connecting rod 105 is rotatably installed on the connecting rod pin shaft 215, and the connecting rod pin shaft 215 and the hip joint. Specifically, the hip joint bearing outer ring 301 is arranged on the bearing mounting seat 507, the connecting rod pin shaft 215 is fixed on the hip joint bearing inner ring 302, so that the hip joint connecting rod can be rotatably arranged on the joint mounting seat 503, the thigh connecting rod 105 can be rotatably arranged in the middle of the hip joint connecting rod 102, and the connecting rod pin shaft 215 and the hip joint bearing 103 are coaxially arranged to facilitate the reduction of movement. In the invention, the upper side of the thigh is connected with the hip joint connecting rod, and the lower end of the thigh is rotatably connected with the middle part of the shank in a connecting rod shaft pin mode. The upper side of the thigh can be provided with a thigh joint bearing 213, the inner ring of the thigh joint bearing is fixedly connected with the lower side of the hip joint connecting rod 102, so that the upper side of the thigh 104 can be rotatably connected with the lower side of the hip joint connecting rod 102, the middle part of the shank 107 is provided with a shank joint bearing 214, the lower end of the thigh 104 is arranged on the inner ring of the shank joint bearing 214, so that the lower end of the thigh can be rotatably connected with the middle part of the shank; the upper end of the shank 107 is provided with a knee bearing 106, and the lower end of the thigh link 105 is arranged on the inner ring of the knee bearing 106, so that the lower end of the thigh link is rotatably connected with the upper end of the shank 107.
The present invention may further comprise a load cell 206, wherein one end of the load cell 206 is connected to the outer end of the driving rod 205 and the other end is rotatably connected to the hip joint link 102. The load cell 206 is used to monitor the force of the driving rod 205 in both directions in real time. A displacement sensor 401 may be further installed in the cylinder or on the driving rod, and the type of the displacement sensor may be contact type or non-contact type, such as magnetostrictive form, and the like, and is used for detecting the displacement of the driving rod.
The present invention may also include a control system 402, as shown in fig. 4, with the drive controller 202 of the integrated hydraulic drive being connected to the load cell 206, the displacement sensor 401 and the control system 402, respectively. The drive controller 202 integrates the hydraulic servo valve drive amplifying circuit, the filter circuit, the microcontroller-based control circuit, the open type communication interface and the data acquisition interface, after the drive controller 202 acquires output signals of the weighing sensor 206 and the displacement sensor 401, the drive controller combines a control system 402 instruction and a microcontroller high dynamic response algorithm to give an input signal of the hydraulic servo valve 201, so that the drive rod 205 can accurately and quickly respond, and the accurate and quick motion of the leg of the robot can be realized.
As shown in fig. 2, the connecting rod pin 215 is centeredO 0The right end rotation center of the first servo driverO 1Center of thigh joint bearing 213O 2Connected to a wireO 0 O 1And a connecting lineO 0 O 2The length and the included angle of the two line segments can be properly adjusted according to the design space requirement of the whole machine; the left end rotation center of the second servo driverO 3Center of the shank joint bearing 214O 4Connecting the wires according to the design space requirementO 2 O 3And a connecting lineO 2 O 4The length and the included angle of the two line segments can be properly adjusted,O 3can be located atO 2AndO 4between, and also atO 2And (4) upward.
The lower end of the lower leg 107 can be provided with a foot end 108, the foot end 108 is made of soft materials such as rubber, silica gel and the like, so that the bouncing process of the leg of the robot can be buffered, and the upper leg 104 and the lower leg 107 are made of high-strength light materials such as titanium alloy, aluminum alloy and carbon fiber nylon materials, so that the weight of the leg below the platform can be reduced, and the dynamic response speed of the robot can be improved.
The left end of the first servo driver 501 may be provided with a rear end cap 208, and the rear end cap 208 is rotatably connected with the first driver mounting seat 504 through a first joint spherical hinge 209; the right end of the driving rod or the right end of the mass sensor may be provided with an earring joint 207, which is rotatably mounted on the left side of the hip joint link 102 via a second joint ball joint 210. The second servo driver 502 may be rotatably connected by the same or similar structure.
In a specific embodiment, the driving rod 205 and the load cell 206 and the ear ring joint 207 are fixedly connected through threads respectively, the driving rod 205 moves telescopically along the inner wall of the cylinder 203, the hydraulic servo valve 201, the driving controller 202, the front end cover 204 and the rear end cover 208 are fixed on the cylinder 203 through bolts respectively, and the accumulator 111 and the hydraulic valve block 112 are connected through a through hydraulic joint.
The integrated hydraulic driver 109 is used as a driving source of the servo hydraulic robot, the control system sends an instruction to the driving controller 202, the driving controller 202 inputs a signal to the hydraulic servo valve 201 to control the extension and contraction of the driving rod 205, and therefore the hip joint connecting rod 102, the thigh 104, the thigh connecting rod 105 and the shank 107 are driven to be linked, and the lower end of the leg of the robot moves according to a preset track. When the two driving rods contract simultaneously, the hip joint connecting rod 102 rotates anticlockwise around the hip joint bearing 103; the thigh 104 rotates clockwise around the thigh joint bearing 213, the robot leg is wholly contracted under the constraint of the parallelogram structure, and the foot end 108 is lifted upwards; similarly, when the two driving rods contract or extend according to other motion rules, motion trajectories such as an elliptical trajectory, an arc estimation, a linear trajectory and the like of the robot foot end 108 can be realized within a limited working range. In the motion process, after signals of the displacement sensor are transmitted to the driving controller, the driving controller can measure the leg postures of the robot and the spatial positions of all components through kinematic calculation; after the signals of the weighing sensors are transmitted to the driving controller, the driving controller can measure the acting force applied to the foot end of the robot through dynamic calculation, and finally high-precision and high-dynamic response control of the single-foot servo hydraulic robot is achieved under the combined action of the weighing sensors and the displacement sensor.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A servo hydraulic drive robot is characterized by comprising a platform, a hip joint connecting rod, thighs, thigh connecting rods, shanks and a first servo driver,
the platform is provided with a mounting groove which penetrates through the platform, the mounting groove is provided with a joint mounting seat, the middle part of the hip joint connecting rod is rotatably arranged on the joint mounting seat, the left side of the mounting groove is provided with a first driver mounting seat,
the outer end of a driving rod of the first servo driver is hinged to the upper side of the hip joint connecting rod, and the rear end of the first servo driver is hinged to the first driver mounting seat;
one end of the thigh connecting rod is rotatably connected with the middle part of the hip joint connecting rod, the other end of the thigh connecting rod is rotatably connected with the left side of the shank, the upper side of the thigh is rotatably connected with the right side of the hip joint connecting rod, and the lower end of the thigh is rotatably connected with the middle part of the shank.
2. The servo hydraulic drive robot as claimed in claim 1, further comprising a second servo driver, wherein a second driver mounting seat is arranged on the right side of the mounting groove, the outer end of a driving rod of the second servo driver is rotatably connected with the upper end or the middle part of the thigh, and the rear end of the second servo driver is rotatably mounted on the second driver mounting seat.
3. The servo hydraulically driven robot of claim 1, wherein the first servo drive further comprises an integrated hydraulic drive and cylinder, the integrated hydraulic drive comprising a hydraulic servo valve and a drive controller,
the hydraulic servo valve and the driving controller are installed on the outer side wall of the cylinder barrel, the driving rod is movably embedded in the cylinder barrel, the hydraulic servo valve is communicated with the inside of the cylinder barrel, and the driving controller is electrically connected with the hydraulic servo valve.
4. The servo hydraulic drive robot of claim 3, further comprising an accumulator and a hydraulic valve block, the accumulator and the hydraulic valve block being mounted on the platform, the hydraulic valve block being connected to the hydraulic servo valve and the accumulator, respectively.
5. The servo hydraulic drive robot of claim 3, further comprising a load cell, wherein one end of the load cell is connected to the outer end of the drive rod, and the other end of the load cell is rotatably connected to the hip link.
6. The servo hydraulic drive robot of claim 5, wherein a displacement sensor is mounted in the cylinder or on the drive rod.
7. The servo hydraulic drive robot of claim 6, further comprising a control system, wherein the drive controller of the integrated hydraulic drive is connected to the load cell, the displacement sensor and the control system, respectively.
8. The servo hydraulic drive robot as recited in claim 1, further comprising a hip joint bearing and a connecting rod pin, wherein the joint mounting seat is provided with a bearing mounting seat, the hip joint bearing is mounted on the bearing mounting seat, the hip joint connecting rod is mounted on the hip joint bearing inner ring, a pin mounting groove is provided at the lower end of the hip joint connecting rod, the connecting rod pin is provided in the pin mounting groove, one end of the thigh connecting rod is rotatably mounted on the connecting rod pin, and the connecting rod pin and the hip joint bearing are coaxially arranged.
9. The servo hydraulically driven robot of claim 1, wherein the hip links, thighs, thigh links, and calves comprise a parallelogram or parallelogram-like structure.
10. The servo hydraulic drive robot of claim 1, wherein the lower end of the lower leg is provided with a foot end, and the foot end is made of soft material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010179503.5A CN111409729A (en) | 2020-03-16 | 2020-03-16 | Servo hydraulic drive robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010179503.5A CN111409729A (en) | 2020-03-16 | 2020-03-16 | Servo hydraulic drive robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111409729A true CN111409729A (en) | 2020-07-14 |
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Family Applications (1)
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| CN202010179503.5A Pending CN111409729A (en) | 2020-03-16 | 2020-03-16 | Servo hydraulic drive robot |
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| CN112109819A (en) * | 2020-09-24 | 2020-12-22 | 燕山大学 | Hydraulic control cheetah bionic quadruped robot |
| CN114620160A (en) * | 2022-03-23 | 2022-06-14 | 北京理工大学 | Electric four-foot robot based on multi-stage electric cylinder parallel type leg-foot structure |
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