The invention relates to a high-low pressure switching type hydraulic mechanical leg with a robot and a load port independently controlled, and belongs to the technical field of robots. The mechanicalleg comprises two adjacent leg rods, a control actuator and a hydraulic cylinder used for driving the two leg rods to swing relatively, the control actuator comprises a high-pressure end valve, a first low-pressure end valve and a second low-pressure end valve which are three-position three-way valves, one of double pipe joints of the high-pressure end valve communicates with an inlet of an oil tank, and the other one of the double pipe joints communicates with a high-pressure hydraulic source; one of double pipe joints of the first low-pressure end valve communicates with a low-pressure hydraulic source, the other one of the double pipe joints communicates with the oil tank and a single pipe joint of the first low-pressure end valve and a single pipe joint of the high-pressure end valveare communicated with a rodless oil cavity connector through a three-way pipe structure; and one of double pipe joints of the second low-pressure end valve communicates with the low-pressure hydraulicsource, the other one of double pipe joints communicates with the oil tank, and a single pipe joint of the second low-pressure end valve communicates with a rod oil cavity connector. The structure can effectively improve the energy utilization rate of a robot system and can be widely applied to the technical field of multi-legged robots and the like.

    本发明涉及一种机器人及负载口独立控制的高低压切换型液压机械腿,属于机器人技术领域。该机械腿包括相邻接的两腿杆、控制执行器及用于驱使该两腿杆相对摆动的液压缸;控制执行器包括均为三位三通阀的高压端阀、第一低压端阀及第二低压端阀;高压端阀的双管接头中的一者与油箱的进口连通,另一者与高压液压源连通;第一低压端阀的双管接头中的一者与低压液压源连通,另一者与油箱连通,其单管接头与高压端阀的单管接头通过三通管结构而与无杆油腔接口连通;第二低压端阀的双管接头的一者与低压液压源连通,另一者与油箱连通,其单管接头与有杆油腔接口连通。该结构能有效地提高机器人系统的能量利用率,可广泛应用于多足机器人等技术领域中。


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    Titel :

    High-low pressure switching type hydraulic mechanical leg with robot and load port independently controlled


    Weitere Titelangaben:

    一种机器人及负载口独立控制的高低压切换型液压机械腿


    Beteiligte:
    JIN BO (Autor:in) / DONG JUNKUI (Autor:in) / LIU ZIQI (Autor:in) / ZHAI SHUO (Autor:in)

    Erscheinungsdatum :

    2020-09-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein / B62D MOTOR VEHICLES , Motorfahrzeuge



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