The invention relates to a robot capable of recycling supporting phase pressing action energy and a control method thereof, and belongs to the technical field of robots. The robot comprises mechanicallegs and a hydraulic source, wherein the hydraulic source comprises a high-pressure oil supply connector, a low-pressure oil supply connector, a control actuator and a low-pressure energy accumulatorcommunicating with the low-pressure oil supply connector. The control method comprises the steps that (1) when the mechanical legs are in a swing phase, low-pressure oil supplied by the low-pressureoil supply connector is used for driving a hydraulic actuator to extend and shorten; and (2) when the mechanical legs are in a supporting phase and are in an extending action, high-pressure oil supplied by the high-pressure oil supply connector is used for driving the hydraulic actuator to extend; and when the mechanical legs are in the supporting phase and are in a shortening action, the controlactuator is controlled to construct a three-way connection structure to communicate with a rodless oil cavity connector, a rod oil cavity connector and an 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 the robot and the control of the robot.
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。
Robot capable of recycling supporting phase pressing action energy and control method thereof
一种能回收支撑相下压动作能量的机器人及其控制方法
2020-09-01
Patent
Elektronische Ressource
Chinesisch
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