CN206360950U - A kind of robot motor drives hydraulic power system - Google Patents
A kind of robot motor drives hydraulic power system Download PDFInfo
- Publication number
- CN206360950U CN206360950U CN201621304906.3U CN201621304906U CN206360950U CN 206360950 U CN206360950 U CN 206360950U CN 201621304906 U CN201621304906 U CN 201621304906U CN 206360950 U CN206360950 U CN 206360950U
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- feed line
- oil feed
- gear pump
- electrohydraulic servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to a kind of robot motor's driving hydraulic power system.The system includes：Each servomotor connects and drives a quantitative gear pump, quantitative gear pump is produced hydraulic energy；Quantitative gear pump connects electrohydraulic servo valve by oil feed line, and the hydraulic energy that quantitative gear pump is produced is transmitted to hydraulic cylinder by electrohydraulic servo valve；Each electrohydraulic servo valve is connected and controls a hydraulic cylinder, and power is provided for robot by controlling hydraulic oil to pass in and out hydraulic cylinder；Each electrohydraulic servo valve connects a quantitative gear pump, and the hydraulic oil of backflow is recycled to quantitative gear pump by electrohydraulic servo valve by return line.The hydraulic power system has low noise and the big advantage of high power/density ratio two concurrently, vibrates small, fuselage Mass Distribution uniformly, practicality is stronger.
Description
Technical field
The utility model is related to robot power systems art, and liquid is driven more specifically to a kind of robot motor
Press Force system.
Background technology
Mobile robot as robot important component, in Industrial Engineering, Mine haul, fire-fighting rescue, military
The field such as action and service for life has extremely wide application prospect, and generally requires machine for the application scenario of wild environment
Device people is provided simultaneously with stronger load capacity, complicated landform quickly through ability and good endurance.And sufficient formula machine
Device people especially quadruped robot has high speed, high dynamic stability, many excellent to the high adaptability of unstructured landform etc.
Gesture, the application potential for possessing environmental work in the wild.
To meet high dynamic response, the heavy load Capability Requirement of quadruped robot, disclosed dynamical system is many both at home and abroad
The single drive form of hydraulic pump is driven using fuel engines.Because the noise of fuel engines is big, vibration is big, dirty to environment
The shortcomings of contaminating serious, it is impossible to meet the practical application request of quadruped robot.
Found through retrieval, Chinese patent literature CN101811304A, CN101746431A individually discloses a kind of hydraulic pressure and moved
Power unit, is used as power source using fuel engines；Chinese patent literature CN105156382A, CN101758867A is public respectively
Open a kind of combined power system, although servomotor can provide a part of power source, but still without removing fuel engines,
And power system architecture redundancy, complicated huge, its reliability and practicality are relatively low.
Utility model content
The technical problems to be solved in the utility model is, provides dynamic for the above-mentioned use fuel engines of prior art
Power causes system architecture complex redundancy, and reliability is moved with the relatively low defect of practicality there is provided a kind of robot motor driving hydraulic pressure
Force system.
The utility model solves the technical scheme that its technical problem used：Construct a kind of robot motor's driving hydraulic pressure
Dynamical system, including：Multiple servomotors, multiple quantitative gear pumps, multiple electrohydraulic servo valves, multiple hydraulic cylinders, wherein,
Each servomotor connects and drives a quantitative gear pump, the quantitative gear pump is produced hydraulic pressure
Energy；
The quantitative gear pump connects the electrohydraulic servo valve by oil feed line, the liquid that the quantitative gear pump is produced
Pressure energy is transmitted to the hydraulic cylinder by the electrohydraulic servo valve；
Each electrohydraulic servo valve connects and controls a hydraulic cylinder, by controlling hydraulic oil to pass in and out the hydraulic pressure
Cylinder provides power for the robot；
Each electrohydraulic servo valve connects a quantitative gear pump, and the electrohydraulic servo valve is by the hydraulic oil of backflow
The quantitative gear pump is recycled to by return line.
Preferably, robot motor's driving hydraulic power system described in the utility model, the oil feed line only has one
Root oil feed line, then
All quantitative gear pumps all connect and by the oil feed line output hydraulic pressure oil, the oil feed line it is defeated
Go out end and connect each electrohydraulic servo valve respectively.
Preferably, fuel feeding in robot motor's driving hydraulic power system described in the utility model, the oil feed line
The quantity of pipeline is less than the quantity of the quantitative gear pump, then at least two quantitative gear pumps share a fuel feeding
Pipeline.
Preferably, robot motor's driving hydraulic power system described in the utility model, the servomotor is 4,
The quantitative gear pump is 4, and the electrohydraulic servo valve is 12, the hydraulic cylinder is 12, wherein, each servo electricity
Machine connects a quantitative gear pump respectively, and each electrohydraulic servo valve connects a hydraulic cylinder；
Quantitative gear pump described in two of which connects electrohydraulic servo valve described in six of which by an oil feed line；
Two other described quantitative gear pump connects other six electrohydraulic servo valves by another oil feed line；
Stop valve is connected between the oil feed line.
Preferably, fuel feeding in robot motor's driving hydraulic power system described in the utility model, the oil feed line
The quantity of pipeline is equal to the quantity of the quantitative gear pump, then each quantitative gear pump connects a fuel feed pump
Road.
Preferably, robot motor's driving hydraulic power system described in the utility model, the servomotor is 3,
The quantitative gear pump is 3, and the electrohydraulic servo valve is 12, the hydraulic cylinder is 12, wherein, each servo electricity
Machine connects a quantitative gear pump respectively, and each electrohydraulic servo valve connects a hydraulic cylinder；
Each quantitative gear pump connects wherein four electrohydraulic servo valves by an oil feed line；
Stop valve is connected between the oil feed line.
Further, robot motor's driving hydraulic power system described in the utility model, each electrohydraulic servo valve
A actuator ports connect the rodless cavity of a hydraulic cylinder, the B actuator ports of each electrohydraulic servo valve connect an institute
State the rod chamber of hydraulic cylinder；
The length of pipe of the oil feed line and return line to each electrohydraulic servo valve is equal, the hydraulic power
The hydraulic unit of system is symmetrical；
The electrohydraulic servo valve and hydraulic cylinder become one, and are integrated with linear displacement transducer and one dimension force sensing
Device.
Further, robot motor's driving hydraulic power system described in the utility model, in addition to：Proportional throttle valve,
Accumulator, the accumulator is connected to the oil feed line, the proportional throttle valve and accumulator by the proportional throttle valve
For the energy hole in the oil feed line.
Further, robot motor's driving hydraulic power system described in the utility model, in addition to：Check valve, filtering
Device, snap joint, spill valve, fuel tank, wherein,
The check valve is arranged on the oil feed line that the output end of the quantitative gear pump is connected.
The filter is arranged on the oil feed line and/or return line, for filtering the impurity in hydraulic oil；
The snap joint is connected on the oil feed line and/or return line, for being carried out to airborne hydraulic loop
Repairing and exhaust；
The spill valve is connected between the oil feed line and return line；
The fuel tank is arranged on return line, for reclaiming the hydraulic oil in hydraulic circuit.
Further, robot motor's driving hydraulic power system described in the utility model, in addition to：Pressure sensor,
Temperature sensor, radiator, wherein,
The pressure sensor is connected on the oil feed line and/or return line, the pressure for monitoring hydraulic oil
Value；
The temperature sensor is connected on the oil feed line and/or return line, the temperature for monitoring hydraulic oil；
The radiator is connected on the oil feed line and/or return line, for cooling for hydraulic oil.
The control method that a kind of robot motor drives hydraulic power system, including following steps is also disclosed in the utility model
Suddenly：
Corresponding relation needed for default robot between power and servomotor power output；
Power needed for the robot is monitored, is watched described in power and corresponding relation adjustment according to needed for the robot
Take output power of motor；
Whether the electric current of equipment, rotating speed, pressure, temperature parameter are in default span in detecting system；
If it is not, the equipment for abnormal parameters occur then is closed, while increase is with there is the functions of the equipments identical of abnormal parameters
Do not worked in the power output or open system of equipment with there is the functions of the equipments identical equipment of abnormal parameters；
The working time of servomotor is monitored, the working time of the servomotor exceedes after preset time, switched to not
The servomotor of work.
Implement robot motor's driving hydraulic power system of the present utility model.Have the advantages that：The system bag
Include：Multiple servomotors, multiple quantitative gear pumps, multiple electrohydraulic servo valves, multiple hydraulic cylinders, wherein, each servo electricity
Machine connects and drives a quantitative gear pump, the quantitative gear pump is produced hydraulic energy；The quantitative gear pump passes through
Oil feed line connects the electrohydraulic servo valve, and the hydraulic energy that the quantitative gear pump is produced is transmitted by the electrohydraulic servo valve
To the hydraulic cylinder；Each electrohydraulic servo valve connects and controls a hydraulic cylinder, by controlling hydraulic oil to pass in and out institute
State hydraulic cylinder and provide power for the robot；Each electrohydraulic servo valve connects a quantitative gear pump, the electricity
The hydraulic oil of backflow is recycled to the quantitative gear pump by hydraulic servo by return line.The hydraulic power system has low noise concurrently
Sound and the big advantage of high power/density ratio two, vibrate small, fuselage Mass Distribution uniformly, practicality is stronger.
Brief description of the drawings
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing：
Fig. 1 is the structural representation of the first embodiment of the utility model robot motor driving hydraulic power system；
Fig. 2 is the structural representation of the second embodiment of the utility model robot motor driving hydraulic power system；
Fig. 3 is the structural representation of the 3rd embodiment of the utility model robot motor driving hydraulic power system；
Fig. 4 is the structure of the integrated servo hydraulic cylinder of the utility model robot motor driving hydraulic power system
Schematic diagram.
Embodiment
In order to be more clearly understood to technical characteristic of the present utility model, purpose and effect, accompanying drawing is now compareed detailed
Illustrate embodiment of the present utility model.
The utility model constructs a kind of robot motor's driving hydraulic power system, and the system uses motor as dynamic completely
Power source, power is provided for robot.The system includes：Multiple servomotors 1, multiple quantitative gear pumps 2, multiple electrohydraulic servo valves
12nd, multiple hydraulic cylinders 11, wherein, the quantity of servomotor 1 is identical with the quantity of quantitative gear pump 2, electrohydraulic servo valve 12 and liquid
The quantity of cylinder pressure 11 is identical, it will be understood that servomotor 1, quantitative gear pump 2, electrohydraulic servo valve 12, liquid in the utility model
The quantity of cylinder pressure 11 can need to be selected according to the setting of actual robot, for example, four groups of robots can be using 3 servos
Motor 1,3 quantitative gear pumps 2,12 electrohydraulic servo valves 12, the technical scheme of 12 hydraulic cylinders 11；Or using 4 servo electricity
Machine 1,4 quantitative gear pumps 2,12 electrohydraulic servo valves 12, the technical scheme of 12 hydraulic cylinders 11, while referring to robot
Own wt, load, translational speed, the quantity using each equipment of the factor reasonable selection such as place, the utility model to this not
Limit.
Each servomotor 1 connects and drives a quantitative gear pump 2, quantitative gear pump 2 is produced hydraulic energy；
Quantitative gear pump 2 connects electrohydraulic servo valve 12 by oil feed line 5, and the hydraulic energy that quantitative gear pump 2 is produced leads to
Electrohydraulic servo valve 12 is crossed to transmit to hydraulic cylinder 11；Oil feed line 5 described in the utility model is made up of one or more fuel feed pump,
The fuel feed pump of varying number constitutes different connected modes, will hereafter be illustrated by embodiment.
Each electrohydraulic servo valve 12 connects and controls a hydraulic cylinder 11, is machine by controlling hydraulic oil to pass in and out hydraulic cylinder 11
Device people provides power；
Each electrohydraulic servo valve 12 connects a quantitative gear pump 2, and electrohydraulic servo valve 12 is by the hydraulic oil of backflow by returning
Oil pipe line 14 is recycled to quantitative gear pump 2.
Further, robot motor's driving hydraulic power system of the present utility model, the A work of each electrohydraulic servo valve 12
Hydraulic fluid port connects the rodless cavity of a hydraulic cylinder 11, and the B actuator ports of each electrohydraulic servo valve 12 connect having for hydraulic cylinder 11
Rod cavity；It should be appreciated that hydraulic cylinder 11 is made up of rodless cavity and rod chamber.
Oil feed line 5 is equal with the length of pipe of return line 14 to each electrohydraulic servo valve 12, hydraulic power system
Hydraulic unit is symmetrical.It should be noted that " length of pipe is equal " described in the utility model is not the He of oil feed line 5
The length of pipe of return line 14 to each electrohydraulic servo valve 12 is essentially equal, but as far as possible equal.In Robot Design mistake
Cheng Zhong, to ensure the balance of robot, should try one's best and ensure that the hydraulic unit of hydraulic power system is symmetrical, while in accordance with pipeline
Most short principle.
Further, robot motor's driving hydraulic power system of the present utility model, in addition to：Proportional throttle valve 8, accumulation of energy
Device 9, the passing ratio choke valve 8 of accumulator 9 is connected to oil feed line 5, and proportional throttle valve 8 and accumulator 9 are used in oil feed line 5
Energy hole.
Further, robot motor's driving hydraulic power system of the present utility model, in addition to：Check valve 3, filter 7,
Snap joint 6, spill valve 13, fuel tank 18, wherein,
Check valve 3 is arranged on the oil feed line 5 that the output end of quantitative gear pump 2 is connected.
Filter 7 is arranged on oil feed line 5 and/or return line 14, for filtering the impurity in hydraulic oil；
Snap joint is connected on oil feed line 5 and/or return line 14, for airborne hydraulic loop carry out repairing and
Exhaust；
Spill valve 13 is connected between oil feed line 5 and return line 14；
Fuel tank 18 is arranged on return line 14, for reclaiming the hydraulic oil in hydraulic circuit.
Further, robot motor's driving hydraulic power system of the present utility model, in addition to：Pressure sensor 4, temperature
Sensor 16, radiator 15, wherein,
Pressure sensor 4 is connected on oil feed line 5 and/or return line 14, the pressure value for monitoring hydraulic oil；
Temperature sensor 16 is connected on oil feed line 5 and/or return line 14, the temperature for monitoring hydraulic oil；
Radiator 15 is connected on oil feed line 5 and/or return line 14, for cooling for hydraulic oil.
Above-mentioned robot motor driving hydraulic power system is described in detail 1-3 by the following examples.
Fig. 1 is the structural representation of the first embodiment of the utility model robot motor driving hydraulic power system.
In the present embodiment, the artificial quadruped robot of machine.Oil feed line 5 only has an oil feed line, then all quantitative
Gear pump 2 is all connected and by the output hydraulic pressure of oil feed line 5 oil, and the output end of oil feed line 5 connects each electro-hydraulic servo respectively
Valve 12.
Specifically, the dynamical system of the present embodiment includes：3 servomotors 1,3 quantitative gear pumps 2,12 electro-hydraulic watch
Valve 12,12 hydraulic cylinders 11 are taken, wherein,
Each servomotor 1 is connected and drives a quantitative gear pump 2, and mechanical energy is converted into hydraulic energy.It is each quantitative
The hydraulic oil that gear pump 2 is exported is imported into oil feed line 5 respectively by check valve 3, is jointly whole quadruped robot together
Power is provided.Filter 7 is installed on main oil feed line 5, for filtering the impurity in fluid.The oil-out of oil feed line 5 point
P actuator ports not with 12 electrohydraulic servo valves 12 of quadruped robot are connected, and are that hydraulic cylinder 11 provides energy.Wherein, each
Rodless cavity of the A actuator ports of electrohydraulic servo valve 12 respectively with a hydraulic cylinder 11 is connected, the B working oils of the electrohydraulic servo valve 12
Rod chamber of the mouth respectively with the hydraulic cylinder 11 is connected；The T drain taps of all electrohydraulic servo valves 12 converge with the oil-out of overflow valve 13
Stream is linked back fuel tank 18 by return line 14, it is preferable that fuel tank 18 uses pressurized reservoir, because pressurized reservoir has small volume, matter
Amount is light, cavitation-preventive, the advantages of volume is big, contamination resistance is strong.
In addition, being provided with radiator 15 on system oil return pipeline 14, feed back and calculate by the signal of temperature sensor 16
System heat generation power, is cooled down to fluid, and is provided with return line 14 snap joint 17.
3 servomotors 1 require cooperation by master controller according to system power, and common driving quantitative gear pump 2 is
Energy needed for quadruped robot is provided.Preferably, each servomotor 1 comes with water cooling plant, is that servomotor 1 is carried out effectively
Radiating.
Preferably, the oil-out of each quantitative gear pump 2 is respectively mounted a pressure sensor 4, each pressure sensor 4
It is connected respectively with signal processor and controller (being not drawn into figure), is easy to implement the closed loop servo control of many motor combination drives
System.
As shown in figure 1, be parallel with successively from front to back on the oil feed line 5 of hydraulic system overflow valve 13, snap joint 6,
Proportional throttle valve 8, accumulator 9 and pressure sensor 10.Wherein, proportional throttle valve 8 and accumulator 9 collectively form regulation of energy list
Member, accelerates system response frequency, improves dynamical system efficiency, and pressure sensor 10 is used for the pressure for monitoring fuel feeding fluid.
Preferably, oil feed line 5, snap joint 6, filter 7, proportional throttle valve 8, pressure sensor 10 and check valve 3
It is connected by hydraulic valve block；The oil inlet of electrohydraulic servo valve 12, oil-out by conflux plate valve respectively with oil feed line 5 and oil return
Pipeline 14 is connected, and is easy to layout and the installation of oil circuit.
Preferably, the length of pipe of oil feed line 5 and return line 14 to each electrohydraulic servo valve 12 is as far as possible equal；It is all
Dynamical system hydraulic unit, which is installed, observes symmetric configuration, and the most short principle of pipeline is conducive to being uniformly distributed fuselage quality, improves hydraulic pressure
Servo-drive system response frequency.This technology personnel should be appreciated that " length of pipe is as far as possible equal ", " symmetric configuration " described herein,
" the most short principle of pipeline " provides for principle, can be configured according to the concrete structure of robot, meet what the present embodiment was provided
Principle, the present embodiment is not particularly limited to this.
Fig. 2 is the structural representation of the second embodiment of the utility model robot motor driving hydraulic power system.
Preferably, the artificial quadruped robot of the machine of the present embodiment.The number of oil feed line 5 in the oil feed line of the present embodiment
Amount is equal to the quantity of quantitative gear pump 2, then each quantitative gear pump 2 connects an oil feed line 5.
Specifically, robot motor's driving hydraulic power system of embodiment includes：3 servomotors 1,3 quantitative teeth
Wheel pump 2,12 electrohydraulic servo valves 12,12 hydraulic cylinders 11, wherein, each servomotor 1 connects and drives one to quantify respectively
Gear pump 2, each electrohydraulic servo valve 12 connects a hydraulic cylinder 11；Each quantitative gear pump 2 is connected by an oil feed line 5
Wherein four electrohydraulic servo valves 12.
As shown in Fig. 2 the hydraulic power system is divided into three independent oil supply loops in parallel, according to the pressure in different joints
With traffic demand, respectively reasonable selection different servomotor 1 and quantitative gear pump 2, quadruped robot hip joint side-sway, hip
Joint forward swing, knee joint provide energy.Each oil supply loop is respectively mounted proportional throttle valve 8, accumulator 9, pressure sensor 10
With overflow valve 13, while three oil feed lines 5 in parallel are connected by two stop valves 19, it is easy to external hydraulic power unit.For
Hydraulic Elements are reduced, filter 7 is located in oil suction loop.
Other refer to first embodiment to the present embodiment with first embodiment identical part, are not repeating herein.
Fig. 3 is the structural representation of the 3rd embodiment of the utility model robot motor driving hydraulic power system.
Preferably, the artificial quadruped robot of the machine of the present embodiment.The number of oil feed line 5 in the oil feed line of the present embodiment
Amount is less than the quantity of quantitative gear pump 2, then at least two quantitative gear pumps 2 share an oil feed line 5.
Specifically, with reference to Fig. 3, robot motor's driving hydraulic power system of the present embodiment includes：4 servomotors 1,
4 quantitative gear pumps 2,12 electrohydraulic servo valves 12,12 hydraulic cylinders 11, wherein, each servomotor 1 is connected and driven respectively
One quantitative gear pump 2, each electrohydraulic servo valve 12 connects a hydraulic cylinder 11.Two of which quantitative gear pump 2 passes through one
The connection six of which of oil feed line 5 electrohydraulic servo valve 12；Two other quantitative pump of gear 2 is connected by another oil feed line 5
Other six electrohydraulic servo valves 12.
It is often diagonal gait with gait pattern to consider quadruped robot, therefore using two quantitative teeth of the driving of servomotor 1
Wheel pump 2, is that the hydraulic cylinder 11 on the diagonal leg 1,3 of quadruped robot provides fluid；The quantitative tooth of two other servomotor 1 driving
Wheel pump 2, is that the hydraulic cylinder 11 on the diagonal leg 2,4 of quadruped robot provides fluid.
The hydraulic power system has two independent oil supply loops in parallel, and it is reasonable to be carried out according to the different conditions of diagonal leg
Pattern switching.Specifically, when diagonal leg 1,3 is in and lands phase, corresponding oil supply loop is switched to high-pressure low-flow pattern；
When diagonal leg 1,3, which is in, soars phase, corresponding oil supply loop is switched to low pressure and mass flow pattern；The fuel feeding of two legs 2,4 is returned
The control on road is also in this way, the servo performance of system can not only be improved, while being also beneficial to the utilization of energy.
Preferably, each oil supply loop is respectively mounted filter 7, proportional throttle valve 8, accumulator 9, the and of pressure sensor 10
Overflow valve 13, while two oil feed lines 5 in parallel are connected by stop valve 19, is easy to external hydraulic power unit.
Fig. 4 is the structure of the integrated servo hydraulic cylinder of the utility model robot motor driving hydraulic power system
Schematic diagram.
Specifically, in the present embodiment, electrohydraulic servo valve 12 and the integrated design of hydraulic cylinder 11, and it is integrated with straight line
Displacement transducer 20 and one-dimensional force snesor 21.
Above embodiments illustrate several system architectures of the present utility model.In addition, many motor mixing of the present utility model
Driving quantitative gear pump has a variety of combination drive patterns：It is multiple when oil liquid pressure needed for quadruped robot and very big flow
Motor is worked simultaneously, and the power of whole system is shared jointly, relatively low to the performance requirement of single motor, and choice of electrical machine is easy, volume
Small, light weight is cheap；When power change is small needed for quadruped robot, controller is bent according to the efficiency characteristic of servomotor 1
Line, drives each servomotor 1 it is operated in the range of optimal operating efficiency respectively, makes whole dynamical system energy consumption most
It is low；Power further diminishes needed for quadruped robot, when two motors or single motor can meet its power requirement, controller
Motor rotation work, improves motor working life.
In addition, the control method that a kind of robot motor drives hydraulic power system is also disclosed in the utility model, this method should
Hydraulic power system is driven for robot motor disclosed in above-described embodiment.Specifically, this method comprises the steps：
Step one：Corresponding relation needed for default robot between power and the power output of servomotor 11.
Specifically, robot is in the different working condition such as load is different or translational speed is different or with a varied topography, meeting
Cause the changed power of robot needs.If not having timely supplemental capacity when needing increase power, robot can be caused
Hydraulic performance decline, it is impossible to work as requested.If not reducing power in time when needing and reducing power, the wave of electric energy can be caused
Take the unnecessary loss with equipment.Therefore, should the power according to needed for robot adjust the power output of servomotor 1 in time, in this reality
With turning for the quantity or regulation servomotor 1 that in the dynamical system of multi-servomotor 1 of new offer, regulation servomotor 1 works
Speed adjusts power output, and circuit control is easy to be realized, reflection is fast；And regulation is then difficult using gas engine.Regulation is realized,
Corresponding relation between power and the power output of servomotor 1 needed for robot is set is first had to, tune is prestored in systems
Perfect square case.
Step 2：Power needed for monitoring robot, power and corresponding relation adjustment servomotor 1 are defeated according to needed for robot
Go out power.
Specifically, the acquisition of power needed for robot can be by monitoring the gain of parameter such as load, translational speed.Obtain machine
After the realtime power of people, according to the corresponding relation between power needed for the robot pre-set and the power output of servomotor 1,
The quantity and/or the power output of servomotor 1 of the servomotor 1 of work are adjusted, power needed for robot is reached.
Step 3：Whether the electric current of equipment, rotating speed, pressure, temperature parameter are in default span in detecting system.
Specifically, in the robot course of work, system passes through pressure sensor 4, temperature sensor 15, velocity pick-up
Device, potentiometer, galvanometer etc. obtain the parameter of devices in system in real time, and parameter includes but is not limited to electric current, rotating speed, pressure, temperature
Degree etc..The equipment of system includes all devices in above-described embodiment, and equipment includes but is not limited to：Servomotor 1, quantitative gear
Pump 2, electrohydraulic servo valve 12, hydraulic cylinder 11, check valve 3, filter 7, snap joint 6, spill valve 13, fuel tank 18, oil feed line
5th, return line 14 etc..For example, the rotating speed of monitoring servomotor 1, output current, temperature, or monitoring quantitative gear pump 2 and hydraulic pressure
The pressure of cylinder 11, or monitor the temperature of oil feed line 5 and return line 14 etc..The parameter and default safety ginseng obtained will be monitored
Number scope is compared, and sees if fall out predetermined safe range.
Step 4：If detection parameter exceeds predetermined safe range, close and the equipment of abnormal parameters occur, at the same increase with
Occur abnormal parameters functions of the equipments identical equipment power output or open system in do not work with there are abnormal parameters
Functions of the equipments identical equipment.
Specifically, by monitoring, if the parameter obtained exceeds predetermined safe range, there is setting for abnormal parameters in closing
It is standby, while increase is with occurring what is do not worked in the power output or open system of the functions of the equipments identical equipment of abnormal parameters
With there is the functions of the equipments identical equipment of abnormal parameters.For example, monitoring that some servomotor 1 goes wrong, then closing should
Servomotor 1, while the servomotor 1 being not turned in activation system, the power that replenishment system lacks；If not standby in system
Servomotor 1, then appropriate increase is in the power output of work servomotor 1, the power that replenishment system lacks.In another example,
Temperature by temperature detection to servomotor 1 or quantitative gear pump 2 or hydraulic cylinder 11 is too high, then starts radiator 15 to set
Make preparation for dropping temperature.
Step 5：The working time of servomotor 1 is monitored, the working time of servomotor 1 exceedes after preset time, switching
To the servomotor 1 not worked.
Specifically, being the service life of servomotor 1 in increase system, rotation work can be carried out, i.e., each servomotor 1
After the one section of preset time that works, other servomotors 1 are switched to.
Many motor combination drive hydraulic power systems of the present utility model in the process of running, if some servomotor or fixed
Flux gear pump breaks down when can not work, and can be judged by the sensor signal such as electric current, rotating speed, pressure automatic sensing, in time
Closing fault motor and the electric current for increasing servomotor 1 in parallel therewith, the power of abundance is provided for system, accident can be effectively prevented
Generation, system reliability is higher, and fault-tolerant ability is strong.
Many motor servos are functional, and drive pattern is various, and controller can carry out smooth according to different capacity demand
Pattern switching, the soft start and soft stop for being advantageously implemented pump stops, produced shock and vibration when reducing pump startup and stopping, together
The buffering shock-absorbing functions of Shi Peihe regulation of energy units, can effectively improve the stability of the upstream pressure of electrohydraulic servo valve 12, improve
The servo performance of complete machine hydraulic system.
Multiple small machine combination drive hydraulic pumps of the present utility model have compared to single big motor or fuel engines
Light weight, small volume, cost is low, and type selecting easily, the features such as flexible layout, can more make full use of the limited fuselage of quadruped robot
Space, fuselage Mass Distribution is evenly.
Because quadruped robot has the characteristics of required changed power is fast, to the servo response Capability Requirement of dynamical system compared with
Height, and many motor combination drive servo performances are good, while coordinate the dynamic property of electrohydraulic servo valve 12, can preferably meet and be
The rapidity requirement of system.
Snap joint 6 and 17 of the present utility model can be can be not only used for airborne hydraulic by external hydraulic power unit
The repairing and exhaust in loop, can also carry out debugging and the failture evacuation of quadruped robot.
Compared with prior art, advantage of the present utility model is：The hydraulic power system has low noise and high power/close concurrently
Big than two advantage of degree, disclosure satisfy that future military operation and civilian, commercial disguise and high capacity are required, practicality compared with
By force；Drive pattern is various, and fault-tolerance is strong, and dynamical system energy-conservation is reliable；Smooth running, vibration is small, and service life is long；Performance is steady
Fixed, capability of fast response is strong；Whole system cost is low, light weight, efficiency high, generates heat small；It is simple in construction, flexible layout；Fuselage
Mass Distribution is uniform, influences smaller to robot motion's balanced capacity.
Above example is only to illustrate technical concepts and features of the present utility model, and its object is to allow be familiar with technique
Personage can understand content of the present utility model and implement accordingly, protection domain of the present utility model can not be limited.It is all with
The equivalent changes and modifications that the utility model right is done, all should belong to the utility model claim covers model
Enclose.
Claims (10)
1. a kind of robot motor drives hydraulic power system, it is characterised in that including：Multiple servomotors, multiple quantitative teeth
Wheel pump, multiple electrohydraulic servo valves, multiple hydraulic cylinders, wherein,
Each servomotor connects and drives a quantitative gear pump, the quantitative gear pump is produced hydraulic energy；
The quantitative gear pump connects the electrohydraulic servo valve by oil feed line, the hydraulic energy that the quantitative gear pump is produced
Transmitted by the electrohydraulic servo valve to the hydraulic cylinder；
Each electrohydraulic servo valve connects and controls a hydraulic cylinder, is by controlling hydraulic oil to pass in and out the hydraulic cylinder
The robot provides power；
Each electrohydraulic servo valve connects a quantitative gear pump, and the electrohydraulic servo valve passes through the hydraulic oil of backflow
Return line is recycled to the quantitative gear pump.
2. robot motor according to claim 1 drives hydraulic power system, it is characterised in that the oil feed line is only
There is an oil feed line, then
All quantitative gear pumps are all connected and by oil feed line output hydraulic pressure oil, the output end of the oil feed line
Each electrohydraulic servo valve is connected respectively.
3. robot motor according to claim 1 drives hydraulic power system, it is characterised in that in the oil feed line
The quantity of oil feed line is less than the quantity of the quantitative gear pump, then at least two quantitative gear pumps are shared described in one
Oil feed line.
4. robot motor according to claim 3 drives hydraulic power system, it is characterised in that the servomotor is
4, the quantitative gear pump is 4, and the electrohydraulic servo valve is 12, the hydraulic cylinder is 12, wherein, it is each described to watch
Take motor and connect a quantitative gear pump respectively, each electrohydraulic servo valve connects a hydraulic cylinder；
Quantitative gear pump described in two of which connects electrohydraulic servo valve described in six of which by an oil feed line；
Two other described quantitative gear pump connects other six electrohydraulic servo valves by another oil feed line；
Stop valve is connected between the oil feed line.
5. robot motor according to claim 1 drives hydraulic power system, it is characterised in that in the oil feed line
The quantity of oil feed line is equal to the quantity of the quantitative gear pump, then each quantitative gear pump connects a fuel feeding
Pipeline.
6. robot motor according to claim 5 drives hydraulic power system, it is characterised in that the servomotor is
3, the quantitative gear pump is 3, and the electrohydraulic servo valve is 12, the hydraulic cylinder is 12, wherein, it is each described to watch
Take motor and connect a quantitative gear pump respectively, each electrohydraulic servo valve connects a hydraulic cylinder；
Each quantitative gear pump connects wherein four electrohydraulic servo valves by an oil feed line；
Stop valve is connected between the oil feed line.
7. robot motor's driving hydraulic power system according to claim any one of 1-6, it is characterised in that Mei Gesuo
The A actuator ports for stating electrohydraulic servo valve connect the rodless cavity of a hydraulic cylinder, the B working oils of each electrohydraulic servo valve
The rod chamber of mouth one hydraulic cylinder of connection；
The length of pipe of the oil feed line and return line to each electrohydraulic servo valve is equal, the hydraulic power system
Hydraulic unit it is symmetrical；
The electrohydraulic servo valve and hydraulic cylinder become one, and are integrated with linear displacement transducer and one-dimensional force snesor.
8. robot motor's driving hydraulic power system according to claim any one of 1-6, it is characterised in that also wrap
Include：Proportional throttle valve, accumulator, the accumulator are connected to the oil feed line, the ratio by the proportional throttle valve
The energy hole that choke valve and accumulator are used in the oil feed line.
9. robot motor's driving hydraulic power system according to claim any one of 1-6, it is characterised in that also wrap
Include：Check valve, filter, snap joint, spill valve, fuel tank, wherein,
The check valve is arranged on the oil feed line that the output end of the quantitative gear pump is connected；
The filter is arranged on the oil feed line and/or return line, for filtering the impurity in hydraulic oil；
The snap joint is connected on the oil feed line and/or return line, for carrying out repairing to airborne hydraulic loop
And exhaust；
The spill valve is connected between the oil feed line and return line；
The fuel tank is arranged on return line, for reclaiming the hydraulic oil in hydraulic circuit.
10. robot motor's driving hydraulic power system according to claim any one of 1-6, it is characterised in that also wrap
Include：Pressure sensor, temperature sensor, radiator, wherein,
The pressure sensor is connected on the oil feed line and/or return line, the pressure value for monitoring hydraulic oil；
The temperature sensor is connected on the oil feed line and/or return line, the temperature for monitoring hydraulic oil；
The radiator is connected on the oil feed line and/or return line, for cooling for hydraulic oil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621304906.3U CN206360950U (en) | 2016-11-30 | 2016-11-30 | A kind of robot motor drives hydraulic power system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621304906.3U CN206360950U (en) | 2016-11-30 | 2016-11-30 | A kind of robot motor drives hydraulic power system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206360950U true CN206360950U (en) | 2017-07-28 |
Family
ID=59373226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621304906.3U Withdrawn - After Issue CN206360950U (en) | 2016-11-30 | 2016-11-30 | A kind of robot motor drives hydraulic power system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206360950U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106545535A (en) * | 2016-11-30 | 2017-03-29 | 深圳航天科技创新研究院 | A kind of robot motor drives hydraulic power system and control method |
| CN111795025A (en) * | 2020-08-17 | 2020-10-20 | 贵州航天天马机电科技有限公司 | Electro-hydraulic hybrid driving power system of four-footed bionic robot |
-
2016
- 2016-11-30 CN CN201621304906.3U patent/CN206360950U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106545535A (en) * | 2016-11-30 | 2017-03-29 | 深圳航天科技创新研究院 | A kind of robot motor drives hydraulic power system and control method |
| CN106545535B (en) * | 2016-11-30 | 2018-08-03 | 深圳航天科技创新研究院 | A kind of robot motor drives hydraulic power system and control method |
| CN111795025A (en) * | 2020-08-17 | 2020-10-20 | 贵州航天天马机电科技有限公司 | Electro-hydraulic hybrid driving power system of four-footed bionic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1320283C (en) | Control device for working machine | |
| CN103790874B (en) | Valveless Hydrauservo System and controlling method thereof | |
| CN106545535B (en) | A kind of robot motor drives hydraulic power system and control method | |
| CN206360950U (en) | A kind of robot motor drives hydraulic power system | |
| CN204646828U (en) | Servo-hydraulic final controlling element | |
| CN102269235A (en) | Magneto-rheological fluid (MRF) damper based pressure fluctuation self-adjusting system and adjusting method | |
| CN104747544A (en) | Engineering machinery movable arm potential energy variable amplitude energy recovery device | |
| CN201747684U (en) | Rapidly hydraulic driving system | |
| CN105090135A (en) | Hydraulic driving system for solar condenser | |
| CN108999816B (en) | Linear driving system | |
| CN103397677B (en) | Based on hydraulic excavator movable arm loop and the control method thereof of hydraulic transformer | |
| CN101893008A (en) | Rapid hydraulic drive system | |
| CN103742344B (en) | Based on hydraulicdriven point absorption type wave power generation device | |
| CN106180861A (en) | A kind of lock formula hydraulic system of cutting machine | |
| CN105782164A (en) | Multi-cavity hydraulic cylinder and control system and method thereof | |
| CN202326536U (en) | Circulation cleaning device of hydraulic unit | |
| CN107091253A (en) | A kind of hydraulic pressure performs equipment | |
| CN204898749U (en) | Excavator hydraulic system with energy repayment function | |
| CN204403003U (en) | A kind of hydraulic system | |
| CN206874588U (en) | A kind of plate stretch machine stretching cylinder synchronous power save hydraulic composite control system | |
| CN107794968A (en) | A kind of hydraulic excavator energy-conservation control system | |
| CN205001268U (en) | Hydraulic generator control system | |
| CN204592200U (en) | A kind of long-range water supply hydraulic system | |
| CN106735394A (en) | A kind of dual sided porous drilling hydraulic system of modular machine tool | |
| CN111795025A (en) | Electro-hydraulic hybrid driving power system of four-footed bionic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170728 Effective date of abandoning: 20180803 |