CN116838662A - Hydraulic drive system, control method thereof and hydraulic drive limb part - Google Patents
Hydraulic drive system, control method thereof and hydraulic drive limb part Download PDFInfo
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- CN116838662A CN116838662A CN202311107121.1A CN202311107121A CN116838662A CN 116838662 A CN116838662 A CN 116838662A CN 202311107121 A CN202311107121 A CN 202311107121A CN 116838662 A CN116838662 A CN 116838662A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims description 120
- 238000004891 communication Methods 0.000 claims description 9
- 238000013016 damping Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Robotics (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The application provides a hydraulic driving system, a control method thereof and a hydraulic driving limb part, wherein the hydraulic driving system comprises a hydraulic cylinder, a reversing valve, a first digital valve, a second digital valve, a first controller connected with the reversing valve, a second controller connected with the first digital valve and a third controller connected with the second digital valve. The working states of the reversing valve, the first digital valve and the second digital valve are controlled by the controllers, so that the hydraulic driving system can normally operate under different working conditions, the throttling loss of the hydraulic driving system is reduced, and the energy utilization efficiency is improved.
Description
Technical Field
The application relates to the technical field of hydraulic transmission, in particular to a hydraulic driving system, a control method thereof and a hydraulic driving limb part.
Background
The robot has high energy-saving requirement on a driving system, and meanwhile, the robot has flexible joint movement and can bear impact load frequently. In order to drive the joint to move through the hydraulic actuator, the current common mode is to respectively communicate two working oil ports of a servo valve with two containing cavities of a hydraulic cylinder, and control the movement direction and speed of the hydraulic actuator through the servo valve; the control mode has a large throttling effect, and the energy efficiency is not high generally; and the impact load can not be buffered under the closed state of the servo valve, so that the risk of structural damage is increased. The related art generally adopts a hydraulic driving process by matching a servo valve and a damping hole, however, the driving unit still has a throttling loss and has low energy efficiency. In the related art, a plurality of switch valve groups are adopted to independently control the oil inlet and the oil outlet of the hydraulic cylinder, but the number of the switch valve groups is usually large in the drive system, so that the volume and the weight of the drive unit can be increased, and the wide application of the drive system is not facilitated.
Disclosure of Invention
Aiming at the defects of the related art, the application provides a hydraulic driving system, a control method thereof and a hydraulic driving limb part, which are used for solving the problems of larger throttling loss, low energy utilization efficiency or complex component parts of the hydraulic driving system in the related art.
The application provides a hydraulic driving system which comprises a hydraulic cylinder, a reversing valve, a first digital valve, a second digital valve, a first controller connected with the reversing valve, a second controller connected with the first digital valve and a third controller connected with the second digital valve, wherein the first controller is connected with the reversing valve; the hydraulic cylinder comprises a hydraulic cavity, a piston rod and a piston, wherein one part of the piston rod is arranged in the hydraulic cavity and connected with the piston, and the other part of the piston rod is arranged outside the hydraulic cavity and connected with a load; the piston rod moves along the axial direction of the hydraulic cavity, and the piston is contacted with the wall surface of the hydraulic cavity and divides the hydraulic cavity into a first containing cavity and a second containing cavity; the first digital valve comprises a first digital valve first oil port and a first digital valve second oil port, and the second digital valve comprises a second digital valve first oil port and a second digital valve second oil port; the reversing valve comprises a reversing valve first oil port, a reversing valve second oil port, a reversing valve third oil port and a reversing valve fourth oil port; the first oil port of the reversing valve is communicated with a high-pressure oil source, and the third oil port of the reversing valve is communicated with a low-pressure oil source; the second oil port of the reversing valve is communicated with the first oil port of the first digital valve, and the second oil port of the first digital valve is communicated with the second oil port of the second digital valve and the second containing cavity respectively; the first oil port of the second digital valve is communicated with the fourth oil port of the reversing valve and the first containing cavity; the first controller is used for controlling the conduction state of the reversing valve among the reversing valve first oil port, the reversing valve second oil port, the reversing valve third oil port and the reversing valve fourth oil port; the second controller is used for controlling the valve port size and the opening and closing state of the first digital valve; the third controller is used for controlling the valve port size and the opening and closing state of the second digital valve.
According to the embodiment, the hydraulic driving system is formed by combining the hydraulic cylinder, the reversing valve, the first digital valve, the second digital valve, the first controller, the second controller and the third controller, wherein the reversing valve is used for switching the movement direction of oil, the first digital valve and the second digital valve can control the on-off of an oil way communicated with the digital valve and the oil flow, so that the movement direction and the movement speed of a piston rod in the hydraulic cylinder can be further controlled by controlling the first digital valve, the second digital valve and the reversing valve, different loads can be adapted, and whether the working oil way of a high-pressure oil source and a low-pressure oil source starts to operate can be flexibly controlled under different movement intentions of the piston rod, so that the throttling loss can be reduced, and the energy utilization efficiency can be further improved. And under different loads, damping between the first containing cavity and the second containing cavity in the hydraulic cylinder is controlled through the first digital valve and the second digital valve, so that impact load buffering capacity of a piston rod in the hydraulic driving system is improved.
In one embodiment, the reversing valve has a reversing valve first operating state in which the reversing valve first oil port is communicated with the reversing valve fourth oil port, the reversing valve second oil port is communicated with the reversing valve third oil port, and a reversing valve second operating state in which the reversing valve first oil port is communicated with the reversing valve second oil port, the reversing valve third oil port is communicated with the reversing valve fourth oil port, and the first controller is used for controlling the reversing valve to selectively switch between the reversing valve first operating state and the reversing valve second operating state.
The application also provides a control method of the hydraulic drive system, which is based on the hydraulic drive system and comprises the following steps:
acquiring a motion instruction and a load of a piston rod;
determining target operating states of the reversing valve, the first digital valve and the second digital valve based on the movement command of the piston rod and the load;
and controlling the reversing valve, the first digital valve and the second digital valve to switch to a target working state so as to enable the piston rod to execute the movement instruction.
In one embodiment, the movement instructions of the piston rod include a first movement instruction, a second movement instruction, and a third movement instruction;
the first movement instruction is to enable the piston rod to move along the direction of the first accommodating cavity pointing to the second accommodating cavity;
the second movement instruction is to enable the piston rod to move along the direction that the second containing cavity points to the first containing cavity;
the third movement command is to keep the piston rod stationary with respect to the hydraulic chamber.
In one embodiment, the load is a first load or a second load, the first load being less than the second load.
In one embodiment, the determining the target operating states of the reversing valve, the first digital valve, and the second digital valve based on the movement command of the piston rod and the load; the control of the reversing valve, the first digital valve and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction comprises the following steps:
when the motion instruction of the piston rod is the first motion instruction and the load is the first load or the second load, the reversing valve is controlled to be switched to a first working state of the reversing valve, the first digital valve is opened, and the second digital valve is closed, so that the piston rod executes the first motion instruction.
In one embodiment, the determining the target operating states of the reversing valve, the first digital valve, and the second digital valve based on the movement command of the piston rod and the load; controlling the reversing valve, the first digital valve, and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction further includes:
when the motion command of the piston rod is the second motion command and the load is the first load, the reversing valve is controlled to be switched to a first working state of the reversing valve, the first digital valve is closed, and the second digital valve is opened, so that the piston rod executes the second motion command.
In one embodiment, the determining the target operating states of the reversing valve, the first digital valve, and the second digital valve based on the movement command of the piston rod and the load; controlling the reversing valve, the first digital valve, and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction further includes:
when the motion command of the piston rod is the second motion command and the load is the second load, the reversing valve is controlled to be switched to a second working state of the reversing valve, the first digital valve is opened, the second digital valve is closed, and the piston rod executes the second motion command.
In one embodiment, the determining the target operating states of the reversing valve, the first digital valve, and the second digital valve based on the movement command of the piston rod and the load; controlling the reversing valve, the first digital valve, and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction further includes:
when the motion instruction of the piston rod is the third motion instruction and the load is the first load or the second load, the reversing valve is controlled to be switched to a second working state of the reversing valve, the first digital valve is closed, and the second digital valve is opened, so that the piston rod executes the third motion instruction.
The application also provides a hydraulic driving limb part, which comprises the hydraulic driving system, a first limb part, a second limb part and a joint, wherein one end of a piston rod, which is far away from a piston, is hinged with the first limb part, the outer wall of a cavity of the second accommodating cavity is hinged with the second limb part, and the first limb part and the second limb part are hinged through the joint.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of a hydraulic driving system according to the present application;
fig. 2 is a schematic flow chart of a control method of a hydraulic driving system according to the present application;
FIG. 3 is a schematic flow chart showing some steps of a control method of a hydraulic driving system according to the present application;
FIG. 4 is a schematic flow chart showing some steps of a control method of a hydraulic driving system according to the present application;
FIG. 5 is a schematic flow chart showing some steps of a control method of a hydraulic driving system according to the present application;
FIG. 6 is a schematic flow chart showing some steps of a control method of a hydraulic driving system according to the present application;
fig. 7 is a schematic structural view of a hydraulically driven limb member according to the present application.
Wherein: 10-a hydraulic cylinder; 11-a piston rod; 12-a hydraulic chamber; 121-a first cavity; 122-a second cavity; 13-a piston; 20-reversing valve; 21-a first oil port of the reversing valve; 22-a second oil port of the reversing valve; 23-a third oil port of the reversing valve; 24-a fourth oil port of the reversing valve; 30-a first digital valve; 31-a first oil port of a first digital valve; 32-a second oil port of the first digital valve; 40-a second digital valve; 41-a first oil port of a second digital valve; 42-a second oil port of the second digital valve; 50-a first controller; 60-a second controller; 70-a third controller; 80-high-pressure oil source; 90-a low pressure oil source; 100-load; 1-a first limb member; 2-a second limb member; 3-joint.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
The research shows that the robot has high energy-saving requirement on a driving system, and meanwhile, the robot has flexible joint movement and can bear impact load frequently. In order to drive the joint to move through the hydraulic actuator, the current common mode is to respectively communicate two working oil ports of a servo valve with two containing cavities of a hydraulic cylinder, and control the movement direction and speed of the hydraulic actuator through the servo valve; the control mode has a large throttling effect, and the energy efficiency is not high generally; and the impact load can not be buffered under the closed state of the servo valve, so that the risk of structural damage is increased. The related art generally adopts a hydraulic driving process by matching a servo valve and a damping hole, however, the driving unit still has a throttling loss and has low energy efficiency. In the related art, a plurality of switch valve groups are adopted to independently control the oil inlet and the oil outlet of the hydraulic cylinder, but the number of the switch valve groups is usually large in the drive system, so that the volume and the weight of the drive unit can be increased, and the wide application of the drive system is not facilitated.
The application provides a hydraulic driving system, a control method thereof and a hydraulic driving limb part, and aims to solve the technical problems in the related art.
The hydraulic drive system, the control method thereof and the hydraulically driven limb part according to the embodiment of the present application will be described in detail with reference to the accompanying drawings. The features of the embodiments described below can be supplemented or combined with one another without conflict.
The application provides a hydraulic drive system, as shown in fig. 1, which comprises a hydraulic cylinder 10, a reversing valve 20, a first digital valve 30, a second digital valve 40, a first controller 50 connected with the reversing valve 20, a second controller 60 connected with the first digital valve 30, and a third controller 70 connected with the second digital valve 40; the hydraulic cylinder 10 comprises a hydraulic cavity 12, a piston rod 11 and a piston 13, wherein one part of the piston rod 11 is arranged in the hydraulic cavity 12 and connected with the piston 13, and the other part of the piston rod 11 is arranged outside the hydraulic cavity 12 and connected with a load 100; the piston rod 11 moves in the axial direction of the hydraulic chamber 12, and the piston 13 contacts the wall surface of the hydraulic chamber 12 and partitions the hydraulic chamber 12 into a first chamber 121 and a second chamber 122; the first digital valve 30 includes a first digital valve first oil port 31 and a first digital valve second oil port 32, and the second digital valve 40 includes a second digital valve first oil port 41 and a second digital valve second oil port 42; the reversing valve 20 comprises a reversing valve first oil port 21, a reversing valve second oil port 22, a reversing valve third oil port 23 and a reversing valve fourth oil port 24; the first oil port 21 of the reversing valve is communicated with the high-pressure oil source 80, and the third oil port 23 of the reversing valve is communicated with the low-pressure oil source 90; the reversing valve second oil port 22 is communicated with the first digital valve first oil port 31, and the first digital valve second oil port 32 is respectively communicated with the second digital valve second oil port 42 and the second containing cavity 122; the second digital valve first oil port 41 is communicated with the reversing valve fourth oil port 24 and the first containing cavity 121; the first controller 50 is used for controlling the conduction state of the reversing valve 20 among the reversing valve first oil port 21, the reversing valve second oil port 22, the reversing valve third oil port 23 and the reversing valve fourth oil port 24; the second controller 60 is used for controlling the valve port size and the opening and closing state of the first digital valve 30; the third controller 70 is used for controlling the valve port size and the opening and closing state of the second digital valve 40.
According to the above embodiment, in the hydraulic driving system of the present application, the hydraulic cylinder 10, the reversing valve 20, the first digital valve 30, the second digital valve 40, the first controller 50, the second controller 60 and the third controller 70 are combined together, wherein the reversing valve 20 is used for switching the movement direction of the oil, the first digital valve 30 and the second digital valve 40 can control the on-off of the oil paths communicated with the digital valves and the oil flow, so that the movement direction and the movement speed of the piston rod 11 in the hydraulic cylinder 10 can be further controlled by controlling the first digital valve 30, the second digital valve 40 and the reversing valve 20, so that different loads 100 can be adapted, and whether the working oil paths of the high-pressure oil source 80 and the low-pressure oil source 90 start to operate can be flexibly controlled under different movement intentions of the piston rod 11, so that the throttling loss can be reduced, and the energy utilization efficiency can be further improved. And under different loads 100, damping between the first containing cavity 121 and the second containing cavity 122 in the hydraulic cylinder 10 is controlled through the first digital valve 30 and the second digital valve 40, so that impact load buffering capacity of the piston rod 11 in the hydraulic driving system is improved.
In some embodiments, as shown in fig. 1, the reversing valve 20 has a reversing valve first operating state in which the reversing valve first port 21 is in communication with the reversing valve fourth port 24, the reversing valve second port 22 is in communication with the reversing valve third port 23, and a reversing valve second operating state in which the reversing valve first port 21 is in communication with the reversing valve second port 22, the reversing valve third port 23 is in communication with the reversing valve fourth port 24, and the first controller 50 is configured to control the reversing valve 20 to selectively switch between the reversing valve first operating state and the reversing valve second operating state.
In this embodiment, when the first port 21 of the reversing valve and the fourth port 24 of the reversing valve are conducted, the second port 22 of the reversing valve and the third port 23 of the reversing valve are conducted, the high-pressure oil source 80 is mainly used for supplying to the first cavity 121, the second digital valve 40 is used for controlling whether the high-pressure oil source 80 can be selectively supplied to the second cavity 122, and the first digital valve 30 is used for controlling whether the low-pressure oil source 90 can be selectively supplied to the second cavity 122, so as to control the movement direction and movement speed of the piston rod 11. When the first port 21 and the second port 22 are conducted and the third port 23 and the fourth port 24 are conducted, the low pressure oil source 90 is mainly used for supplying to the first chamber 121, the second digital valve 40 is used for controlling whether the low pressure oil source 90 can be selectively supplied to the second chamber 122, and the first digital valve 30 is used for controlling whether the high pressure oil source 80 can be selectively supplied to the second chamber 122, so as to control the movement direction and movement speed of the piston rod 11. The passages of the high-pressure oil passage and the low-pressure oil passage can be flexibly adjusted to achieve flexible movement of the piston rod 11 under different loads 100.
In order to facilitate understanding, the present application also provides a control method of a hydraulic driving system, as shown in fig. 2, based on the hydraulic driving system provided in the foregoing embodiment, including the following steps:
step S100: acquiring a motion instruction of the piston rod 11 and a load 100;
step S200: determining target operating states of the reversing valve 20, the first digital valve 30, and the second digital valve 40 based on the movement command of the piston rod 11 and the load 100;
step S300: the control reversing valve 20, the first digital valve 30, and the second digital valve 40 are switched to the target operating state to cause the piston rod 11 to execute the movement command.
In this embodiment, firstly, the movement instruction of the piston rod 11 is obtained to determine the movement intention of the piston rod 11 and the condition of the load 100 connected to the piston rod 11, the target working states of the reversing valve 20, the first digital valve 30 and the second digital valve 40 for realizing the movement intention of the piston rod 11 are determined, and then the reversing valve 20, the first digital valve 30 and the second digital valve 40 are controlled by the first controller 50, the second controller 60 and the third controller 70 to be switched to the target working states so that the piston rod 11 executes the movement instruction, and finally the movement action of the piston rod 11 is completed.
In some embodiments, the movement instructions of the piston rod 11 in step S100 include a first movement instruction, a second movement instruction, and a third movement instruction;
the first movement instruction is to move the piston rod 11 in the direction in which the first chamber 121 points to the second chamber 122;
the second movement instruction is to move the piston rod 11 in the direction in which the second chamber 122 points to the first chamber 121;
the third movement command is to keep the piston rod 11 stationary with respect to the hydraulic chamber 12.
In this embodiment, the piston rod 11 in the hydraulic cylinder 10 can correspondingly make different movement actions after receiving different instructions in movement.
In some embodiments, the load 100 in step S100 is a first load or a second load, and the first load is smaller than the second load. The state of motion of the piston rod 11 also changes under the pressure of the different loads 100.
In some embodiments, as shown in fig. 3, the steps S200 to S300 specifically include step 001: when the motion command of the piston rod 11 is the first motion command and the load 100 is the first load or the second load, the reversing valve 20 is controlled to switch to the first working state of the reversing valve, the first digital valve 30 is opened, and the second digital valve 40 is closed, so that the piston rod 11 executes the first motion command.
In this embodiment, when the movement instruction of the piston rod 11 is a first movement instruction, that is, when the movement of the piston rod 11 is intended to move in the direction in which the first accommodating cavity 121 points to the second accommodating cavity 122 (the piston rod 11 is retracted), the control reversing valve 20 is switched to the reversing valve first working state, that is, the reversing valve first oil port 21 and the reversing valve fourth oil port 24 are conducted, the reversing valve second oil port 22 and the reversing valve third oil port 23 are conducted, the first digital valve 30 is opened, the second digital valve 40 is closed, and then, in the formed working oil path, the high-pressure oil path is formed: high pressure oil source 80-first oil port 21 of reversing valve-fourth oil port 24 of reversing valve- (first cavity 121)/(first oil port 41 of second digital valve-second digital valve 40 block), low pressure oil circuit: the low-pressure oil source 90, the third oil port 23 of the reversing valve, the second oil port 22 of the reversing valve, the first oil port 31 of the first digital valve, the first digital valve 30 in conduction, the second oil port 32 of the first digital valve and the second containing cavity 122; then the first volume 121 receives the high pressure source 80 and the second volume 122 receives the low pressure source 90. Since the first volume 121 is pressurized more than the second volume 122, the volume of the first volume 121 increases and the volume of the second volume 122 decreases, and the piston rod 11 is retracted inwardly.
In some embodiments, as shown in fig. 4, the steps S200 to S300 specifically include step 002: when the movement command of the piston rod 11 is the second movement command and the load 100 is the first load, the reversing valve 20 is controlled to switch to the reversing valve first working state, the first digital valve 30 is closed, and the second digital valve 40 is opened, so that the piston rod 11 executes the second movement command.
In this embodiment, when the movement instruction of the piston rod 11 is a second movement instruction, that is, when the movement of the piston rod 11 is intended to move along the direction in which the second cavity 122 points to the first cavity 121 (the piston rod 11 extends), and the load 100 pressure borne by the piston rod 11 is small, the control reversing valve 20 is switched to the first working state of the reversing valve, that is, the first oil port 21 of the reversing valve and the fourth oil port 24 of the reversing valve are conducted, the second oil port 22 of the reversing valve and the third oil port 23 of the reversing valve are conducted, the first digital valve 30 is closed, the second digital valve 40 is opened, and then the high-pressure oil path is formed in the working oil path: high pressure oil source 80-first oil port 21 of reversing valve-fourth oil port 24 of reversing valve- (first volume 121)/(first oil port 41 of second digital valve-second digital valve 40 conduction-first oil port 41 of second digital valve-second volume 122), low pressure oil circuit: the low-pressure oil source 90 is blocked by the reversing valve third oil port 23, the reversing valve second oil port 22, the first digital valve first oil port 31 and the first digital valve 30; at this time, since the pressure receiving area of the first chamber 121 (the area of the piston 13—the area of the piston rod 11) is smaller than the pressure receiving area of the second chamber 122 (the area of the piston 13), when both the first chamber 121 and the second chamber 122 receive the same high-pressure oil source 80, the pressure received by the second chamber 122 is greater, and thus at this time, the volume of the first chamber 121 is reduced, the volume of the second chamber 122 is increased, and the piston rod 11 is extended outward. In this case, the low pressure oil source 90 may not be enabled because the low pressure oil source 90 does not participate in the overall power driving process, reducing throttling losses, and improving energy utilization.
In some embodiments, as shown in fig. 5, steps S200 to S300 specifically include step 003: when the movement command of the piston rod 11 is the second movement command and the load 100 is the second load, the reversing valve 20 is controlled to switch to the reversing valve second working state, the first digital valve 30 is opened, and the second digital valve 40 is closed, so that the piston rod 11 executes the second movement command.
In this embodiment, when the movement instruction of the piston rod 11 is a second movement instruction, that is, when the movement of the piston rod 11 is intended to move along the direction in which the second cavity 122 points to the first cavity 121 (the piston rod 11 extends), and the load 100 borne by the piston rod 11 is large, the control reversing valve 20 is switched to the second working state of the reversing valve, that is, the first oil port 21 of the reversing valve is conducted with the second oil port 22 of the reversing valve, the third oil port 23 of the reversing valve and the fourth oil port 24 of the reversing valve are conducted, the first digital valve 30 is opened, the second digital valve 40 is closed, and then the high-pressure oil path is formed in the working oil path: the high-pressure oil source 80, the reversing valve first oil port 21, the reversing valve second oil port 22, the first digital valve first oil port 31, the first digital valve 30 conduction, the first digital valve second oil port 32 and the second containing cavity 122; low pressure oil circuit: the low pressure oil source 90-the third oil port 23-the fourth oil port 24- (the first containing cavity 121)/(the first oil port 41-the second digital valve 40) of the reversing valve are blocked. Then the first volume 121 receives the low pressure oil source 90 and the second volume 122 receives the high pressure oil source 80. Since the second volume 122 is pressurized more than the first volume 121, the volume of the second volume 122 increases and the volume of the first volume 121 decreases, and the piston rod 11 extends outward. Compared to when the load 100 is small, the extension of the piston rod 11 is achieved by the movement of the piston rod 11 of the hydraulic cylinder 10 itself with respect to the hydraulic chamber 12, when the load 100 is large, the oil pressure difference between the high-pressure oil source 80 and the low-pressure oil source 90 is larger, and thus a larger hydraulic driving force can be generated, and thus the driving of the hydraulic cylinder 10 when the load 100 is large can be achieved.
In some embodiments, as shown in fig. 6, the steps S200 to S300 specifically include step 004: when the movement command of the piston rod 11 is the third movement command and the load 100 is the first load or the second load, the reversing valve 20 is controlled to switch to the second working state of the reversing valve, the first digital valve 30 is closed, and the second digital valve 40 is opened, so that the piston rod 11 executes the third movement command.
In this embodiment, when the movement command of the piston rod 11 is a third movement command, that is, when the piston rod 11 needs to keep in a static state relative to the hydraulic chamber 12, the reversing valve 20 is controlled to switch to a second working state of the reversing valve, that is, the first oil port 21 of the reversing valve is conducted with the second oil port 22 of the reversing valve, the third oil port 23 of the reversing valve is conducted with the fourth oil port 24 of the reversing valve, the first digital valve 30 is closed, and the second digital valve 40 is opened, and in the working oil path formed, the high-pressure oil path is: the high-pressure oil source 80 is blocked by the reversing valve first oil port 21, the reversing valve second oil port 22, the first digital valve first oil port 31 and the first digital valve 30; low pressure oil circuit: the low pressure oil source 90-the third oil port 23-the fourth oil port 24- (the first accommodating cavity 121)/(the first second digital valve first oil port 41-the second digital valve 40 conduction-the second digital valve second oil port 42-the second accommodating cavity 122). The low pressure oil source 90 now controls the relative balance of oil pressure between the first and second pockets 121, 122 for dissipating the shock to achieve effective dampening of the shock load. In this case, since the high-pressure oil source 80 does not participate in the entire power driving process, the high-pressure oil source 80 may not be activated, the throttling loss may be reduced, and the energy utilization may be improved.
Based on the same inventive concept, as shown in fig. 7, the present application further provides a hydraulically driven limb part, which comprises the hydraulic driving system provided in the foregoing embodiment, and a first limb part 1, a second limb part 2 and a joint 3, wherein one end of a piston rod 11, which is far away from a piston 13, is hinged to the first limb part 1, the outer wall of the cavity of the second cavity 122 is hinged to the second limb part 2, and the first limb part 1 is hinged to the second limb part 2 through the joint 3. The present embodiment may further control the relative movement between the first limb member 1 and the second limb member 2 by controlling the hydraulic drive system.
The above embodiments of the present application may be complementary to each other without collision.
Those of skill in the art will appreciate that the various operations, methods, steps in the flow, acts, schemes, and alternatives discussed in the present application may be alternated, altered, combined, or eliminated. Further, other steps, means, or steps in a process having various operations, methods, or procedures discussed herein may be alternated, altered, rearranged, disassembled, combined, or eliminated. Further, steps, measures, schemes in the related art having various operations, methods, flows disclosed in the present application may also be alternated, altered, rearranged, decomposed, combined, or deleted.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In the description of the present specification, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.
Claims (10)
1. The hydraulic driving system is characterized by comprising a hydraulic cylinder, a reversing valve, a first digital valve, a second digital valve, a first controller connected with the reversing valve, a second controller connected with the first digital valve and a third controller connected with the second digital valve;
the hydraulic cylinder comprises a hydraulic cavity, a piston rod and a piston, wherein one part of the piston rod is arranged in the hydraulic cavity and connected with the piston, and the other part of the piston rod is arranged outside the hydraulic cavity and connected with a load; the piston rod moves along the axial direction of the hydraulic cavity, and the piston is contacted with the wall surface of the hydraulic cavity and divides the hydraulic cavity into a first containing cavity and a second containing cavity;
the first digital valve comprises a first digital valve first oil port and a first digital valve second oil port, and the second digital valve comprises a second digital valve first oil port and a second digital valve second oil port; the reversing valve comprises a reversing valve first oil port, a reversing valve second oil port, a reversing valve third oil port and a reversing valve fourth oil port; the first oil port of the reversing valve is communicated with a high-pressure oil source, and the third oil port of the reversing valve is communicated with a low-pressure oil source; the second oil port of the reversing valve is communicated with the first oil port of the first digital valve, and the second oil port of the first digital valve is communicated with the second oil port of the second digital valve and the second containing cavity respectively; the first oil port of the second digital valve is communicated with the fourth oil port of the reversing valve and the first containing cavity;
the first controller is used for controlling the conduction state of the reversing valve among the reversing valve first oil port, the reversing valve second oil port, the reversing valve third oil port and the reversing valve fourth oil port; the second controller is used for controlling the valve port size and the opening and closing state of the first digital valve; the third controller is used for controlling the valve port size and the opening and closing state of the second digital valve.
2. The hydraulic drive system of claim 1, wherein the diverter valve has a diverter valve first operating state in which the diverter valve first port is in communication with the diverter valve fourth port, the diverter valve second port is in communication with the diverter valve third port, and a diverter valve second operating state in which the diverter valve first port is in communication with the diverter valve second port, the diverter valve third port is in communication with the diverter valve fourth port, the first controller is configured to control the diverter valve to selectively switch between the diverter valve first operating state and the diverter valve second operating state.
3. A control method of a hydraulic drive system according to claim 2, characterized by comprising:
acquiring a motion instruction and a load of a piston rod;
determining target operating states of the reversing valve, the first digital valve and the second digital valve based on the movement command of the piston rod and the load;
and controlling the reversing valve, the first digital valve and the second digital valve to switch to a target working state so as to enable the piston rod to execute the movement instruction.
4. A control method of a hydraulic drive system according to claim 3, wherein the movement instructions of the piston rod include a first movement instruction, a second movement instruction, and a third movement instruction;
the first movement instruction is to enable the piston rod to move along the direction of the first accommodating cavity pointing to the second accommodating cavity;
the second movement instruction is to enable the piston rod to move along the direction that the second containing cavity points to the first containing cavity;
the third movement command is to keep the piston rod stationary with respect to the hydraulic chamber.
5. The method of controlling a hydraulic drive system according to claim 4, wherein the load is a first load or a second load, and the first load is smaller than the second load.
6. The control method of the hydraulic drive system according to claim 5, wherein the target operation states of the reversing valve, the first digital valve, and the second digital valve are determined based on the movement instruction of the piston rod and the load; the control of the reversing valve, the first digital valve and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction comprises the following steps:
when the motion instruction of the piston rod is the first motion instruction and the load is the first load or the second load, the reversing valve is controlled to be switched to a first working state of the reversing valve, the first digital valve is opened, and the second digital valve is closed, so that the piston rod executes the first motion instruction.
7. The control method of the hydraulic drive system according to claim 5, wherein the target operation states of the reversing valve, the first digital valve, and the second digital valve are determined based on the movement instruction of the piston rod and the load; controlling the reversing valve, the first digital valve, and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction further includes:
when the motion command of the piston rod is the second motion command and the load is the first load, the reversing valve is controlled to be switched to a first working state of the reversing valve, the first digital valve is closed, and the second digital valve is opened, so that the piston rod executes the second motion command.
8. The control method of the hydraulic drive system according to claim 5, wherein the target operation states of the reversing valve, the first digital valve, and the second digital valve are determined based on the movement instruction of the piston rod and the load; controlling the reversing valve, the first digital valve, and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction further includes:
when the motion command of the piston rod is the second motion command and the load is the second load, the reversing valve is controlled to be switched to a second working state of the reversing valve, the first digital valve is opened, the second digital valve is closed, and the piston rod executes the second motion command.
9. The control method of the hydraulic drive system according to claim 5, wherein the target operation states of the reversing valve, the first digital valve, and the second digital valve are determined based on the movement instruction of the piston rod and the load; controlling the reversing valve, the first digital valve, and the second digital valve to switch to a target working state so that the piston rod executes the movement instruction further includes:
when the motion instruction of the piston rod is the third motion instruction and the load is the first load or the second load, the reversing valve is controlled to be switched to a second working state of the reversing valve, the first digital valve is closed, and the second digital valve is opened, so that the piston rod executes the third motion instruction.
10. A hydraulically driven limb part, comprising the hydraulic driving system as claimed in claim 2, a first limb part, a second limb part and a joint, wherein one end of a piston rod, which is far away from a piston, is hinged with the first limb part, the outer wall of a cavity of a second cavity is hinged with the second limb part, and the first limb part and the second limb part are hinged through the joint.
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| CN202311107121.1A CN116838662A (en) | 2023-08-30 | 2023-08-30 | Hydraulic drive system, control method thereof and hydraulic drive limb part |
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| CN202311107121.1A CN116838662A (en) | 2023-08-30 | 2023-08-30 | Hydraulic drive system, control method thereof and hydraulic drive limb part |
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