The invention discloses a low-power-consumption reversing valve for a legged robot and a control and feedback adjustment method of the low-power-consumption reversing valve, and relates to the field of reversing valve design. The valve mainly comprises a valve body, a second valve sleeve, a second valve element, a first valve sleeve, a first valve element, a transmission shaft assembly, a T1 oil port groove set, a P1 oil port groove set, an A oil port groove set, a B oil port groove set, a P2 oil port groove set and a T2 oil port groove set. According to the reversing valve, the switching-on, switching-off and reversing functions of an oil way are achieved by controlling the rotary motion of the valve element relative to the valve body, large oil liquid circulation amount is achieved in the small-size valve body, the needed driving torque and power are very small, and buckling and stretching of legs and feet of a robot can be completed only through one small motor; and the target pressure difference in a certain range is tracked in real time. The invention has the advantages of small volume, light weight, low energy consumption, fast response, large flux, small flow resistance and the like, and can replace the same type of domestic products.
本发明公开了一种用于腿足机器人的低功耗换向阀及其控制和反馈调节方法,涉及换向阀设计领域。该阀主要包括:阀体、第二阀套、第二阀芯、第一阀套、第一阀芯、传动轴组件,以及T1油口槽组、P1油口槽组、A油口槽组、B油口槽组、P2油口槽组和T2油口槽组。该换向阀通过控制阀芯相对阀体的旋转运动实现油路的接通、切断、换向功能,在小体积的阀体内实现较大的油液流通量,并且所需的驱动扭矩及功率很小,仅需一个小电机即可完成对机器人腿足的屈曲和伸展,并实时跟踪一定范围内的目标压差。本发明具有体积小、重量轻、低能耗、响应快、通量大、流阻小等优良特性,可代替国内同类型产品。
Low-power-consumption reversing valve for legged robot and control and feedback regulation method of low-power-consumption reversing valve
用于腿足机器人的低功耗换向阀及其控制和反馈调节方法
2023-03-28
Patent
Electronic Resource
Chinese
Electromagnetic regulating valve with reversing function
European Patent Office | 2021
|