CN201179900Y - Power system of jump robot - Google Patents
Power system of jump robot Download PDFInfo
- Publication number
- CN201179900Y CN201179900Y CNU2008200286494U CN200820028649U CN201179900Y CN 201179900 Y CN201179900 Y CN 201179900Y CN U2008200286494 U CNU2008200286494 U CN U2008200286494U CN 200820028649 U CN200820028649 U CN 200820028649U CN 201179900 Y CN201179900 Y CN 201179900Y
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- mouth
- actuating cylinder
- robot
- hydraulic actuating
- control valve
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Abstract
The utility model discloses a power system for a jumping robot. A brushless direct current motor is connected with a gear pump. An oil inlet of the gear pump is connected with an oil tank, an oil output of the gear pump is connected with an A port of a two-position four-way electromagnetic directional valve, a B port of the two-position four-way electromagnetic directional valve is connected with the oil tank, a P port of the two-position four-way electromagnetic directional valve is connected with an upper cavity opening of a hydraulic cylinder, a T port of the two-position four-way electromagnetic directional valve is connected with a lower cavity opening, wherein an upper cavity of the hydraulic cylinder is provided with a spring, one end of the spring is pressed against the inner wall of the hydraulic cylinder, and the other end of the spring is pressed against the upper wall of a piston of the hydraulic cylinder. The power system reduces the power of the system motor and reduces the number of elements of the system; at the same time, the mass of the brushless direct current motor is one third of that of a brush motor with the same power as the brushless direct current motor; and the power system accumulates and storages jumping energy, reduces the total mass and volume of the system, and is applicable to jumping robots.
Description
Technical field
The utility model relates to a kind of robot power system, a kind of specifically power system of jump robot.
Background technology
At present, still be in the research sexual stage in the world for the research of jumping type robot, domestic also only have indivedual universities and colleges to carry out correlative study.1984 Massachusetts Institute Technology (Massachusetts Institute of Technology) M.H.Raibert professor made initiative contribution in leg type hopping robot field.He has designed first single robot leg that moves with jumping mode in the world, solved monopodia hopping robot's take-off attitude control and foot location algorithm problem when landing, and under naive model, carried out a series of simulation analysis and experiment, drawn the condition of monopodia bouncing mechanism stability continuous movement.
At present, people such as breadboard professor Raibert of Massachusetts Institute of Technology's multi-foot robot have developed multiple walking or climbing robot, wherein the robot that is published in a kind of " Uniroo " by name described in the thesis in May, 1991 at the Garth.J.Zeglin of Massachusetts Polytechnics can bound forward, and has adopted the hydraulic power system driving.During jump, power system is squeezed into pressure oil and is driven the spring of hydraulic actuating cylinder control system, and the drop-down spring of robot anklebone hydraulic actuating cylinder in the period stretching power system that each spring is landed, the makeup energy loss.
But the power system of this robot has only considered to land stage makeup energy loss, can not accumulate at work and stores the jump energy, has increased system power.
Summary of the invention
Can not accumulate and store the jump energy at work in order to overcome prior art, increased the deficiency of system power, the utility model provides a kind of power system of jump robot, can accumulate and store the jump energy, simple in structure, be applicable to the power system that the robot stepless change jumps.
The technical scheme that its technical matters that solves the utility model adopts is: comprise brshless DC motor, gear type pump, fuel tank, two-position four-way solenoid directional control valve and hydraulic actuating cylinder, brshless DC motor 1 links to each other with gear type pump 2, the oil inlet of gear type pump 2 links to each other with fuel tank 3, the oil outlet of gear type pump 2 links to each other with the A mouth of two-position four-way solenoid directional control valve 5, the B mouth of two-position four-way solenoid directional control valve 5 inserts fuel tank 3, the P mouth of two-position four-way solenoid directional control valve 5 is connected with the last accent 11 of hydraulic actuating cylinder 6, and the T mouth of solenoid directional control valve 5 is connected with the following accent 10 of hydraulic actuating cylinder 6.Wherein, spring 7 is installed in the epicoele of hydraulic actuating cylinder 6, spring 7 one ends are resisted against inwall 8 on the hydraulic actuating cylinder, and the other end is resisted against on the hydraulic cylinder piston upper wall 14, in order to accumulate the jump energy with the store machine people.Described two-position four-way solenoid directional control valve can switch by electromagnetism makes that the A mouth is communicated with the P mouth, the B mouth is communicated with the T mouth, or makes that the A mouth is communicated with the T mouth, the B mouth is communicated with the P mouth.
In the oil outlet oil circuit of gear type pump 2, be connected with pressure sensor 4, be used for measuring system pressure, and when pressure anomaly, send warning signal.
Before robot jumped, solenoid directional control valve switched to the next, and the A mouth of two-position four-way solenoid directional control valve is communicated with the T mouth, and brshless DC motor starts, and the hydraulic oil in the fuel tank enters the cavity of resorption of hydraulic actuating cylinder, the built-in spring of compression hydraulic cylinder;
When spring was compressed fully, solenoid directional control valve switched to upper, and the A mouth of two-position four-way solenoid directional control valve is communicated with the P mouth, the motor high-speed operation, hydraulic oil in the fuel tank enters the epicoele of hydraulic actuating cylinder, and hydraulic actuating cylinder is subjected to the double action high-speed stretch of spring and motor-driven hydraulic oil, robot take-off.
When robot soared, solenoid directional control valve switched to the next, and the A mouth of two-position four-way solenoid directional control valve is communicated with the T mouth, the motor low-speed running, and the built-in spring of compression hydraulic cylinder reaches the accumulation of energy effect; Wherein the built-in compression of spring length of hydraulic actuating cylinder is determined according to the characteristic of robot, in order to improve the energy storage effect of robot.
When robot lands, owing to be subjected to landing impact, the hydraulic actuating cylinder fast contraction, built-in spring is compressed fully, reaches the energy storage effect;
Land when finishing, solenoid directional control valve switches to upper, the motor high-speed operation, and spring releases energy simultaneously, and robot takeoffs once more.
The beneficial effects of the utility model are: power system of the present utility model has reduced system motor power owing to adopted energy storage hydraulic actuating cylinder and accumulation of energy mode of operation; Owing to adopt the control brshless DC motor to change system's hydraulic flow rates, reduced the number of elements of system; Simultaneously the quality of brshless DC motor has only with 1/3rd of power brush motor since above some, the utility model is accumulated and has been stored the jump energy, has reduced the total mass and the volume of system, is suitable for using on the hopping robot.
Below in conjunction with drawings and Examples the utility model is further specified.
Description of drawings
Fig. 1 is the structural representation of power system described in the utility model.
Fig. 2 is the structural representation of energy storage hydraulic actuating cylinder described in the utility model.
Fig. 3 is a hydraulic actuating cylinder motion conditions scheme drawing in the robot jump process described in the utility model,
Wherein, hydraulic cylinder works state before the take-off of figure a robot, hydraulic cylinder works state during the take-off of figure b robot, hydraulic cylinder works state when figure c robot soars, hydraulic cylinder works state when figure d robot lands, figure e robot be hydraulic cylinder works state during take-off once more.
Fig. 4 is a robot jump process medium power working state of system scheme drawing described in the utility model.
The specific embodiment
Device embodiment: see figures.1.and.2, device of the present utility model comprises brshless DC motor, gear type pump, fuel tank, pressure sensor, two-position four-way solenoid directional control valve and hydraulic actuating cylinder, brshless DC motor 1 links to each other with gear type pump 2, the oil inlet of gear type pump 2 links to each other with fuel tank 3, the oil outlet of gear type pump 2 links to each other with the A mouth of two-position four-way solenoid directional control valve 5, the B mouth of two-position four-way solenoid directional control valve 5 inserts fuel tank 3, the P mouth of two-position four-way solenoid directional control valve 5 is connected with the last accent 11 of hydraulic actuating cylinder 6, and the T mouth of solenoid directional control valve 5 is connected with the following accent 10 of hydraulic actuating cylinder 6.Wherein, spring 7 is installed in the epicoele of hydraulic actuating cylinder 6, spring 7 one ends are resisted against inwall 8 on the hydraulic actuating cylinder, and the other end is resisted against on the hydraulic cylinder piston upper wall 14, in order to accumulate the jump energy with the store machine people.Described two-position four-way solenoid directional control valve can switch by electromagnetism makes that the A mouth is communicated with the P mouth, the B mouth is communicated with the T mouth, or makes that the A mouth is communicated with the T mouth, the B mouth is communicated with the P mouth.Pressure sensor 4 is connected in the oil outlet oil circuit of gear type pump 2.
In conjunction with Fig. 3 and Fig. 4, the mode of operation of power system of jump robot is as follows:
Shown in Fig. 3 (a), before robot jumped for the first time, hydraulic actuating cylinder was in full extended configuration, this moment, change-over valve was switched to the next, starts brshless DC motor simultaneously to the electromagnet SDT energising of change-over valve, pressure oil is squeezed into the hydraulic actuating cylinder cavity of resorption, and hydraulic actuating cylinder shrinks, and the built-in spring of hydraulic actuating cylinder is compressed;
Shown in Fig. 3 (b), when spring is compressed fully, change-over valve electromagnet SDT outage, change-over valve is switched to upper, the built-in springback of hydraulic actuating cylinder, the motor high-speed operation is squeezed into the hydraulic actuating cylinder epicoele with pressure oil simultaneously, both combineds action provide jump required speed and power for robot, the robot take-off.
Shown in Fig. 3 (c), when robot soars, electromagnet SDT energising, change-over valve switches to the next, and motor low-speed running, pressure oil are driven into the hydraulic actuating cylinder cavity of resorption, and spring shrinks, and reaches the accumulation of energy effect, wherein the built-in length of spring compressed length of hydraulic actuating cylinder
Wherein k is the spring stiffness factor, and l is the spring total elongation, and m is the robot total mass, and h is a jumping height, and ζ is for spring potential energy absorption efficiency, in order to improve the energy storage effect of robot;
Shown in Fig. 3 (d), when robot lands, owing to be subjected to landing impact, and the hydraulic actuating cylinder fast contraction, built-in spring is compressed fully, and the shock of a fall kinetic energy is stored in the built-in spring of hydraulic actuating cylinder.
Shown in Fig. 3 (e), land when finishing, electromagnet SDT outage, change-over valve switches to upper, the motor high-speed operation, spring releases energy simultaneously, and robot is take-off once more.
Wherein in the robot Take-off Stage shown in Fig. 3 (c) and 3 (e), motor speed need satisfy
Wherein n is a motor speed, V
mFor making the hydraulic actuating cylinder draw speed of robot take-off, V
TBe the built-in springback speed of hydraulic actuating cylinder, S is the hydraulic actuating cylinder cross-sectional area, and V is the gear type pump discharge capacity, and η is a system effectiveness.
Claims (2)
1, power system of jump robot, comprise brshless DC motor, gear type pump, fuel tank, two-position four-way solenoid directional control valve and hydraulic actuating cylinder, it is characterized in that: brshless DC motor links to each other with gear type pump, the oil inlet of gear type pump links to each other with fuel tank, the oil outlet of gear type pump links to each other with the A mouth of two-position four-way solenoid directional control valve, the B mouth of two-position four-way solenoid directional control valve inserts fuel tank, the P mouth of two-position four-way solenoid directional control valve is connected with the last accent of hydraulic actuating cylinder, and the T mouth of solenoid directional control valve is connected with the following accent of hydraulic actuating cylinder; Wherein, in the epicoele of hydraulic actuating cylinder spring is installed, spring one end is resisted against inwall on the hydraulic actuating cylinder, and the other end is resisted against on the hydraulic cylinder piston upper wall; Described two-position four-way solenoid directional control valve can switch by electromagnetism makes that the A mouth is communicated with the P mouth, the B mouth is communicated with the T mouth, or makes that the A mouth is communicated with the T mouth, the B mouth is communicated with the P mouth.
2, according to utilizing the described power system of jump robot of claim 1, it is characterized in that: be connected with pressure sensor in the oil outlet oil circuit of described gear type pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200286494U CN201179900Y (en) | 2008-03-26 | 2008-03-26 | Power system of jump robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200286494U CN201179900Y (en) | 2008-03-26 | 2008-03-26 | Power system of jump robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201179900Y true CN201179900Y (en) | 2009-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200286494U Expired - Fee Related CN201179900Y (en) | 2008-03-26 | 2008-03-26 | Power system of jump robot |
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| Country | Link |
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| CN (1) | CN201179900Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244730B (en) * | 2008-03-26 | 2010-06-09 | 西北工业大学 | Power system of jump robot |
| CN102282976A (en) * | 2011-06-09 | 2011-12-21 | 刘晓刚 | Barrier removing mechanism of sugarcane harvesting machine |
| CN103836012A (en) * | 2014-03-27 | 2014-06-04 | 昆山市工业技术研究院有限责任公司 | Robot moving joint drive device and drive method |
| CN105691485A (en) * | 2016-03-16 | 2016-06-22 | 北京理工大学 | Active-softening mechanism of hydraulic robot |
| CN105966489A (en) * | 2016-06-03 | 2016-09-28 | 中国计量大学 | Robot leg capable of bouncing and with adsorbable foot end |
| CN106671091A (en) * | 2016-11-22 | 2017-05-17 | 北京航空航天大学 | Robot hydraulic drive rotating joint closed-loop control system and control method |
-
2008
- 2008-03-26 CN CNU2008200286494U patent/CN201179900Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244730B (en) * | 2008-03-26 | 2010-06-09 | 西北工业大学 | Power system of jump robot |
| CN102282976A (en) * | 2011-06-09 | 2011-12-21 | 刘晓刚 | Barrier removing mechanism of sugarcane harvesting machine |
| CN103836012A (en) * | 2014-03-27 | 2014-06-04 | 昆山市工业技术研究院有限责任公司 | Robot moving joint drive device and drive method |
| CN103836012B (en) * | 2014-03-27 | 2017-01-11 | 昆山市工业技术研究院有限责任公司 | Robot moving joint drive device and drive method |
| CN105691485A (en) * | 2016-03-16 | 2016-06-22 | 北京理工大学 | Active-softening mechanism of hydraulic robot |
| CN105966489A (en) * | 2016-06-03 | 2016-09-28 | 中国计量大学 | Robot leg capable of bouncing and with adsorbable foot end |
| CN105966489B (en) * | 2016-06-03 | 2018-09-11 | 中国计量大学 | The robot leg that energy bounces and sufficient end is adsorbable |
| CN106671091A (en) * | 2016-11-22 | 2017-05-17 | 北京航空航天大学 | Robot hydraulic drive rotating joint closed-loop control system and control method |
| CN106671091B (en) * | 2016-11-22 | 2019-04-26 | 北京航空航天大学 | A kind of robot hydraulic-driven cradle head closed-loop control system |
| CN109944843A (en) * | 2016-11-22 | 2019-06-28 | 北京航空航天大学 | A kind of robot hydraulic-driven cradle head closed-loop control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090114 Termination date: 20110326 |