The invention discloses a high-power density auxiliary boosting hydraulic cylinder for a foot-type robot. The high-power density auxiliary boosting hydraulic cylinder comprises a shell. A main hydraulic cylinder, two auxiliary hydraulic cylinders and a displacement sensor are fixedly installed in the shell. An energy accumulator, a one-way valve, a pressure reducing valve, a high-speed electromagnetic reversing valve and a servo valve are fixedly installed on the outer wall of the shell. A piston rod of the main hydraulic cylinder is connected with piston rods of the auxiliary hydraulic cylinders on the two sides in parallel through piston rod connecting pieces. Inner oil cavities of the two auxiliary hydraulic cylinders are communicated with a first control oil port of the high-speed electromagnetic reversing valve, and a second control oil port of the high-speed electromagnetic reversing valve is communicated with an external hydraulic oil tank. A third control oil port of the high-speed electromagnetic reversing valve is communicated with the energy accumulator and an oil outlet of the one-way valve. An upper inner oil cavity of the main hydraulic cylinder is connected with a first control port of the servo valve. A lower inner oil cavity of the main hydraulic cylinder is connected with a second control port of the servo valve. An external high-pressure oil way is communicated with a port P of the servo valve. According to the high-power density auxiliary boosting hydraulic cylinder for the foot-type robot, instantaneous output of the legs of a robot is greatly increased, and the energy utilization efficiency is improved.
本发明公开一种足式机器人用高功率密度辅助增力液压缸,包括外壳,外壳内部固定安装有主液压缸、两个辅助液压缸和位移传感器,外壳外壁固定安装有蓄能器、单向阀,减压阀,高速电磁换向阀和伺服阀,主液压缸的活塞杆通过活塞杆连接件和两侧辅助液压缸的活塞杆并联,两只辅助液压缸的内油腔与高速电磁换向阀的第1控制油口连通,高速电磁换向阀的第2控制油口与外部液压油箱连通,高速电磁换向阀的第3控制油口分别与蓄能器、单向阀的出油口连通,主液压缸的上内油腔与伺服阀的第一控制口连接,下内油腔与伺服阀的第二控制口连接,外部高压油路与伺服阀的P口连通。本发明使得机器人腿部瞬间出力大大增加,提升了能量利用效率。
High-power density auxiliary boosting hydraulic cylinder for foot-type robot
足式机器人用高功率密度辅助增力液压缸
29.01.2021
Patent
Elektronische Ressource
Chinesisch
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