阅读说明：本技术 一种能回收支撑相下压动作能量的机器人及其控制方法 (Robot capable of recovering support phase pressing action energy and control method thereof ) 是由 金波 刘子祺 翟硕 董峻魁 于 2020-04-16 设计创作，主要内容包括：本发明涉及一种能回收支撑相下压动作能量的机器人及其控制方法,属于机器人技术领域。该机器人包括机械腿与液压源,液压源包括高压油供给接口、低压油供给接口、控制执行器及与低压油供给接口连通的低压蓄能器,该控制方法包括：(1)在机械腿处于摆动相时,利用低压油供给接口所供给的低压油液驱使液压执行器伸缩动作；(2)在机械腿处于支撑相且为伸长动作时,利用高压油供给接口所供给的高压油液驱使液压执行器伸长动作；而在机械腿处于支撑相且为缩短动作时,控制控制执行器构建出三通连接结构,而连通无杆油腔接口、有杆油腔接口及低压蓄能器的进油口。该方案能有效提高机器人的能量利用率,可广泛应用于机器人及其控制技术领域中。(The invention relates to a robot capable of recovering energy of pressing actions of a support phase and a control method thereof, belonging to the technical field of robots. The robot comprises mechanical legs and a hydraulic source, wherein the hydraulic source comprises a high-pressure oil supply interface, a low-pressure oil supply interface, a control actuator and a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and the control method comprises the following steps: (1) when the mechanical leg is in a swing phase, the low-pressure oil supplied by the low-pressure oil supply interface is utilized to drive the hydraulic actuator to perform telescopic action; (2) when the mechanical leg is in a supporting phase and is in an extension action, the high-pressure oil supplied by the high-pressure oil supply interface is used for driving the hydraulic actuator to extend to act; and when the mechanical leg is in a supporting phase and acts for shortening, the control actuator is controlled to construct a three-way connection structure to communicate the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator. The scheme can effectively improve the energy utilization rate of the robot, and can be widely applied to the technical field of robots and control thereof.)

1. A control method of a robot capable of recovering the pressing motion energy of a support phase is characterized in that the robot comprises a hydraulic source and a hydraulic actuator for driving a mechanical leg of the robot to switch between the support phase and a swing phase, a rodless oil cavity interface and a rod oil cavity interface are arranged on a cylinder body of the hydraulic actuator, and the robot is characterized in that the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface and a control actuator for controlling the state that the hydraulic source supplies oil to the hydraulic actuator; the control method comprises the following steps:

a swing phase action control step, when the mechanical leg is in a swing phase, controlling the control actuator to drive the hydraulic actuator to perform telescopic action by using low-pressure oil supplied by the low-pressure oil supply interface;

a support phase action control step, when the mechanical leg is in a support phase and is in an extension action, controlling the control actuator to drive the hydraulic actuator to extend by using high-pressure oil supplied by the high-pressure oil supply interface; and when the mechanical legs are in a supporting phase and do shortening movement, controlling the control actuator to construct a three-way connection structure so as to communicate the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator.

2. The control method according to claim 1, characterized in that:

the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve;

one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double pipe joint at one side of the low-pressure two-position four-way valve is communicated with the low-pressure oil supply interface through a three-way connecting structure, and a double pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.

3. The control method according to claim 2, characterized in that:

in the swing phase action control step, the high-pressure three-position four-way valve and the low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure three-position four-way valve is controlled to be communicated with one of the rodless oil cavity interface and the rod oil cavity interface and the low-pressure oil supply interface, and the other one of the rodless oil cavity interface and the rod oil cavity interface is communicated with the oil tank;

in the supporting phase action control step, when the hydraulic actuator performs an extension action, the low-pressure three-position four-way valve and the low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the high-pressure three-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the high-pressure oil supply interface and communicated with the rod oil cavity interface and the oil tank;

in the supporting phase action control step, when the hydraulic actuator acts for shortening, the low-pressure three-position four-way valve and the high-pressure three-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure two-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the rod oil cavity interface.

4. The control method according to claim 1, characterized in that:

the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve;

one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with the low-pressure oil supply interface, the other double pipe joint is communicated with the inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.

5. The control method according to claim 4, characterized in that:

in the swing phase action control step, the high-pressure three-position three-way valve is controlled to cut off the pipeline connection, the first low-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the low-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the oil tank; or the second low-pressure three-position three-way valve is controlled to only communicate the rod oil cavity interface and the low-pressure oil supply interface, and the first low-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the oil tank;

in the supporting phase action control step, when the hydraulic actuator performs an extension action, the first low-pressure three-position three-way valve is controlled to cut off a pipeline connection, the high-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the high-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to only communicate the rod oil cavity interface and the oil tank;

in the supporting phase action control step, when the hydraulic actuator performs shortening action, the high-pressure three-position three-way valve is controlled to cut off the pipeline connection, the first low-pressure three-position three-way valve is controlled to communicate the rodless oil cavity interface and the low-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to communicate the rodless oil cavity interface and the low-pressure oil supply interface.

6. The control method according to any one of claims 1 to 5, characterized in that:

the hydraulic source includes a high pressure accumulator in communication with the high pressure oil supply interface.

7. The utility model provides a can retrieve support looks pushing down the robot of action energy, includes hydraulic pressure source and is used for driving about the hydraulic actuator that its mechanical leg switched between support phase and swing phase, be equipped with no pole oil pocket interface and have pole oil pocket interface on hydraulic actuator's the cylinder body, its characterized in that:

the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and a control actuator for controlling the state of oil supply of the hydraulic source to the hydraulic actuator;

and when the mechanical legs are in a supporting phase and do shortening action, the control actuator can construct a three-way connection structure for communicating the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator.

8. The robot of claim 7, wherein:

the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve;

one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double pipe joint at one side of the low-pressure two-position four-way valve is communicated with the low-pressure oil supply interface through a three-way connecting structure, and a double pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.

9. The robot of claim 7, wherein:

the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve;

one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the high-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with the low-pressure oil supply interface, and the single pipe joint is communicated with the rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with the low-pressure oil supply interface, the other double pipe joint is communicated with the inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.

10. A robot as claimed in any of claims 7 to 9, wherein:

the hydraulic source includes a high pressure accumulator in communication with the high pressure oil supply interface.

Technical Field

The invention relates to the technical field of robots, in particular to a control method capable of recovering energy of a multi-legged walking robot in a pressing action of a support phase and the multi-legged walking robot.

Background

As the mobile robot can replace human beings to finish dangerous, complex and high-strength work, according to the content recorded in the thesis of the current research situation and development trend of the hydraulic control system of the multi-legged walking robot, the current moving modes of the mobile robot on the ground mainly comprise a wheel type, a crawler type, a foot type, a peristaltic type, a mixed type and the like; compared with other moving methods such as a wheel type moving method, the foot type walking robot adopts the mechanical legs to walk, only discrete foot falling points are needed in the walking process, and the foot type walking robot can walk on a rugged ground with obstacles like foot type animals, has better complex environment adaptability and flexibility, and is developed and widely used quickly.

In a hydraulic control system structure for a mechanical leg of a multi-legged walking robot, the applicant of the patent publication No. CN105545828A discloses a hydraulic drive unit for a multi-legged robot capable of absorbing a landing impact, in which a conduction mechanism formed by a damping valve can be fully utilized to relieve the landing impact during operation and a part of pressure energy exceeding the energy storage pressure of the accumulator can be fully utilized to recover the energy, based on an accumulator and a damping valve connected between a rodless oil chamber and a rodless oil chamber of a hydraulic cylinder, as compared with the prior art, in the hydraulic drive unit, the energy utilization rate of energy can be improved. However, the hydraulic drive unit has a considerable waste of energy during operation, and especially when the multi-legged walking robot is pressed down in a support state, the potential energy reduced by the lowering of the center of gravity of the body is converted into heat and wasted.

In addition, in the working process of the hydraulic driving unit, the supporting state and the pendulum dynamic state are both based on a hydraulic source with the same pressure, so that the valve port throttling loss exists, the energy utilization rate is reduced, and the coupling exists between the inlet valve port and the outlet valve port due to the fact that the action of the hydraulic cylinder is controlled based on a single electro-hydraulic proportional valve, so that the response of the system is limited, and the energy consumption of the whole system is improved.

Disclosure of Invention

The invention mainly aims to provide a control method of a robot, which can effectively improve the energy utilization rate of the robot by improving a hydraulic pipeline structure and the control method based on the control method;

another object of the present invention is to provide a robot with an improved structure, so that the energy utilization rate of the robot can be effectively improved based on the improvement of the structure.

In order to achieve the main purpose, the invention provides a control method of a robot, which can recover the energy of the pressing action of a support phase, wherein the robot comprises a hydraulic source and a hydraulic actuator for driving a mechanical leg of the robot to switch between the support phase and a swing phase, and a rodless oil cavity interface and a rod oil cavity interface are arranged on a cylinder body of the hydraulic actuator; the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and a control actuator for controlling the state of oil supply of the hydraulic source to the hydraulic actuator; the control method comprises the following steps:

a swing phase action control step, when the mechanical leg is in a swing phase, controlling the actuator to drive the hydraulic actuator to stretch and retract by using low-pressure oil supplied by a low-pressure oil supply interface;

a support phase action control step, when the mechanical leg is in a support phase and is in an extension action, controlling the actuator to drive the hydraulic actuator to extend by using high-pressure oil supplied by the high-pressure oil supply interface; and when the mechanical leg is in a supporting phase and acts for shortening, the control actuator is controlled to construct a three-way connection structure to communicate the rodless oil cavity interface, the rod oil cavity interface and the oil inlet of the low-pressure energy accumulator.

Based on the technical scheme, when the hydraulic actuator is in shortening action at the supporting phase, namely the gravity center position of the robot body descends, the rod-containing oil cavity is communicated with the rodless oil cavity and communicated with the low-pressure energy accumulator, the size of the occupied space of the piston rod is utilized, so that when the piston moves in the cylinder body at a certain distance, the volume of the rodless oil cavity is reduced to be larger than the volume change of the rod-containing oil cavity, namely the part of oil is pressurized by utilizing the reduction of the gravity center potential energy of the body, and is charged into the low-pressure energy accumulator to store energy, thereby effectively improving the utilization rate of the energy, and the elastic performance of the low-pressure energy accumulator can be utilized to absorb impact and the like. Further, by controlling the extension operation of the support phase based on the high-pressure oil supplied from the high-pressure oil supply port and controlling the oscillation phase based on the low-pressure oil supplied from the low-pressure oil supply port, it is possible to realize a two-stage high-and-low-pressure oil supply system in which high and low pressures required for the support phase and the oscillation phase can be supplied, thereby effectively reducing the throttling loss of the valve port and further improving the energy utilization efficiency.

The specific scheme is that the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve; one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double-pipe joint at one side of the low-pressure two-position four-way valve is communicated with a low-pressure oil supply interface through a three-way connecting structure, and a double-pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.

Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.

In the swing phase action control step, a high-pressure three-position four-way valve and a low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure three-position four-way valve is controlled to be communicated with one of a rodless oil cavity interface and a rod oil cavity interface and a low-pressure oil supply interface, and the other one of the rodless oil cavity interface and the rod oil cavity interface is communicated with an oil tank; in the supporting phase action control step, when the hydraulic actuator performs an extension action, the low-pressure three-position four-way valve and the low-pressure two-position four-way valve are controlled to be connected through a cut-off pipeline, and the high-pressure three-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the high-pressure oil supply interface and communicated with the rod oil cavity interface and the oil tank; in the supporting phase action control step, when the hydraulic actuator acts for shortening, the low-pressure three-position four-way valve and the high-pressure three-position four-way valve are controlled to be connected through a cut-off pipeline, and the low-pressure two-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the rod oil cavity interface.

The other concrete scheme is that the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve; one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with a low-pressure oil supply interface, the other double pipe joint is communicated with an inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.

Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.

In the swing phase action control step, controlling a high-pressure three-position three-way valve to cut off the pipeline connection, controlling a first low-pressure three-position three-way valve to only communicate a rodless oil cavity interface and a low-pressure oil supply interface, and controlling a second low-pressure three-position three-way valve to only communicate a rod oil cavity interface and an oil tank; or the second low-pressure three-position three-way valve is controlled to be only communicated with the rod oil cavity interface and the low-pressure oil supply interface, and the first low-pressure three-position three-way valve is controlled to be only communicated with the rodless oil cavity interface and the oil tank; in the supporting phase action control step, when the hydraulic actuator performs an extension action, the first low-pressure three-position three-way valve is controlled to cut off the pipeline connection, the high-pressure three-position three-way valve is controlled to only communicate the rodless oil cavity interface and the high-pressure oil supply interface, and the second low-pressure three-position three-way valve is controlled to only communicate the rod oil cavity interface and the oil tank; in the supporting phase action control step, when the hydraulic actuator acts for shortening, the high-pressure three-position three-way valve is controlled to cut off the pipeline connection, the first low-pressure two-position four-way valve is controlled to be communicated with the rodless oil cavity interface and the low-pressure oil supply interface, and the second low-pressure two-position four-way valve is controlled to be communicated with the rod oil cavity interface and the low-pressure oil supply interface.

The preferred solution is that the hydraulic source comprises a high pressure accumulator in communication with the high pressure oil supply port. The high-pressure energy accumulator is additionally arranged and matched with the low-pressure energy accumulator to play a role in reducing hydraulic impact and pressure pulsation.

In order to achieve the other purpose, the robot provided by the invention comprises a hydraulic source and a hydraulic actuator for driving the mechanical legs of the robot to switch between a support phase and a swing phase, wherein a rodless oil cavity interface and a rod oil cavity interface are arranged on a cylinder body of the hydraulic actuator; the hydraulic source comprises a high-pressure oil supply interface, a low-pressure energy accumulator communicated with the low-pressure oil supply interface, and a control actuator for controlling the oil supply state of the hydraulic source to the hydraulic actuator; when the mechanical legs are in a supporting phase and do shortening movement, the control actuator can construct a three-way connection structure for communicating the rodless oil cavity interface, the rod oil cavity interface and an oil inlet of the low-pressure energy accumulator.

Based on the improvement of the structure of the robot, the robot can be communicated with the rod-containing oil chamber and the rodless oil chamber and the low-pressure energy accumulator in the motion process, particularly when the hydraulic actuator is in a shortening action at a supporting phase, namely the gravity center position of a body of the robot is lowered, and based on the three-way connection structure constructed by controlling the actuator, the rod-containing oil chamber and the rodless oil chamber can be communicated, so that the size of the space occupied by the piston rod is utilized, when the piston moves in the cylinder body for a certain distance, the volume of the rodless oil chamber is reduced to be larger than the volume change of the rod-containing oil chamber, namely, the part of oil is pressurized by utilizing the reduction of the gravity center potential energy of the body, and is charged into the low-pressure energy accumulator to store energy, so that the utilization rate of the. In addition, during operation, the robot can control the extending action of the support phase based on the high-pressure oil supplied by the high-pressure oil supply interface and can control the swing phase based on the low-pressure oil supplied by the low-pressure oil supply interface, so that a high-pressure and low-pressure two-stage oil supply mode, namely, high and low pressure required by the supply of the support phase and the swing phase can be adopted, the throttling loss of a valve port can be effectively reduced, and the utilization efficiency of energy is further improved.

The specific scheme is that the control actuator comprises a high-pressure three-position four-way valve, a low-pressure three-position four-way valve and a low-pressure two-position four-way valve; one of the double pipe joints on one side of the high-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; one of the double pipe joints on one side of the low-pressure three-position four-way valve is communicated with an inlet of an oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the double pipe joint on the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface; and a double-pipe joint at one side of the low-pressure two-position four-way valve is communicated with a low-pressure oil supply interface through a three-way connecting structure, and a double-pipe joint at the other side is correspondingly communicated with the rodless oil cavity interface and the rod oil cavity interface.

Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.

The other concrete scheme is that the control actuator comprises a high-pressure three-position three-way valve, a first low-pressure three-position three-way valve and a second low-pressure three-position three-way valve; one of the double pipe joints of the high-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a high-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the first low-pressure three-position three-way valve is communicated with an inlet of the oil tank, the other double pipe joint is communicated with a low-pressure oil supply interface, and the single pipe joint is communicated with a rodless oil cavity interface; one of the double pipe joints of the second low-pressure three-position three-way valve is communicated with a low-pressure oil supply interface, the other double pipe joint is communicated with an inlet of the oil tank, and the single pipe joint is communicated with the rod oil cavity interface.

Based on the technical scheme, namely the control actuator under the structure, the independent control of the valve load port can be realized, namely the oil inlet and the oil return port are respectively subjected to throttling control by independently controlling the load port, so that the throttling loss can be effectively reduced, and the energy utilization rate of the robot is further improved.

The preferred solution is that the hydraulic source comprises a high pressure accumulator in communication with the high pressure oil supply port. The high-pressure energy accumulator is additionally arranged and matched with the low-pressure energy accumulator to play a role in reducing hydraulic impact and pressure pulsation.

Drawings

Fig. 1 is a schematic view of a pipeline connection structure of a hydraulic actuator, a hydraulic source and a control actuator of a robot in embodiment 1 of the present invention;

FIG. 2 is a flowchart showing the operation of the control method in embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of a control actuator in embodiment 2 of the present invention.

Detailed Description

The invention is further illustrated by the following examples and figures.