CN208123136U - A kind of pump control hydraulic transmission system applied to exoskeleton robot - Google Patents
A kind of pump control hydraulic transmission system applied to exoskeleton robot Download PDFInfo
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- CN208123136U CN208123136U CN201820659901.5U CN201820659901U CN208123136U CN 208123136 U CN208123136 U CN 208123136U CN 201820659901 U CN201820659901 U CN 201820659901U CN 208123136 U CN208123136 U CN 208123136U
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Abstract
The utility model discloses a kind of pump control hydraulic transmission systems applied to exoskeleton robot, including：Servo motor, bidirectional hydraulic pump, flow match valve, assist function switch valve, oil cylinder and oil vessel；Using the hydraulic pump of servo motor driving bidirectional rotation, the commutation and speed regulation of executing agency, executing agency's demand pressure and hydraulic pump works pressure real-time matching are realized by the adjusting of motor rotation direction and revolving speed, ineffective energy consumption is small, and transmission efficiency can greatly improve.
Description
Technical field
The utility model relates to mechanical engineering technical fields, more particularly to a kind of to be applied to exoskeleton robot
Pump control hydraulic transmission system.
Background technique
Exoskeleton robot is a kind of man-machine collaboration device being worn on human body, in military affairs, logistics, speedily carries out rescue work, helps the disabled
Field has broad prospect of application.Have the research and development of exoskeleton robot of more institutions conducts both at home and abroad, and obtains stage
Research achievement.
It is divided by driving form, exoskeleton robot mainly has electric transmission (motor driven speed reducer or screw rod), hydraulic biography
The three classes such as dynamic (hydraulic oil drive cylinder), Pneumatic Transmission (compressed air-driven cylinder).Wherein, hydraulic drive is because of its power density
High, output strength becomes mainstream transmission scheme greatly and on heavy-load type (loading-type) exoskeleton robot.
Hydraulicdriven exoskeleton robot generally controls traffic direction and the operation of each oil cylinder using electrohydraulic servo valve
Speed.The Core Superiority of valve control system is can to obtain higher response speed, especially with constant pressure oil source and increases accumulation of energy
When device, because standby pressure is high, quickly, and hydraulic system instantaneous output power can be maximum much larger than motor for servo valve response speed
Output power.
The essence of valve control system is throttle grverning, and while obtaining compared with high response speed, transmission efficiency is relatively low to be
Its inadequate natural endowment, especially with the constant pressure oil source system of electrohydraulic servo valve.
The reason is that multiple executing agencies share hydraulic oil source in valve control system, oil supply pressure, which needs to meet, respectively to be held
The maximum pressure demand that maximum executing agency occurs in the process of running is loaded in row mechanism.Each executing agency is in synchronization
Operating pressure demand is different, and same executing agency is in different moments operating pressure demand also different (the variation meetings of mechanical arm angle
Lead to the variation of cylinder force), and what the pressure of hydraulic oil source adapted to always is maximum pressure demand, this results in major part
The gross output of hydraulic oil source is much larger than the sum of executing agency's demand power under operating condition, so that ineffective energy consumption is high.
Therefore, how to provide that a kind of ineffective energy consumption is small, the high pump control hydraulic applied to exoskeleton robot of transmission efficiency
The problem of transmission system is those skilled in the art's urgent need to resolve.
Utility model content
In view of this, the present invention provides a kind of pump control hydraulic transmission systems applied to exoskeleton robot, adopt
With the hydraulic pump of servo motor driving bidirectional rotation, commutation and the tune of executing agency are realized by the adjusting of motor rotation direction and revolving speed
Speed, executing agency's demand pressure and hydraulic pump works pressure real-time matching, ineffective energy consumption is small, and transmission efficiency can greatly improve.
To achieve the goals above, the utility model adopts the following technical solution：
A kind of pump control hydraulic transmission system applied to exoskeleton robot, including：Servo motor, bidirectional hydraulic pump, stream
Flux matched valve, assist function switch valve, oil cylinder and oil vessel；
The bidirectional hydraulic pump of the servo motor driving bidirectional rotation, the bidirectional hydraulic pump is at least provided with two
Oil outlet, respectively：The second oil outlet of the first oil outlet of hydraulic pump and hydraulic pump；The flow match valve of the flow match valve
One oil outlet is connected to the first oil outlet of hydraulic pump that the bidirectional hydraulic pumps, the flow match valve second of the flow match valve
Oil outlet is connected to the second oil outlet of hydraulic pump that the bidirectional hydraulic pumps；And the flow match valve of the flow match valve is mended
Oily drain tap is connected to the oil vessel；
The assist function switch valve is electric control reversing valve or hand-operated direction valve or has electric control reversing and manual reverse of direction control
Make the switch valve of commutation；
There are two working positions, respectively the first working position and the second working position for the assist function switch valve；The power-assisted
The initial bit of functional switch valve is the first working position or the second working position；The assist function switch valve is in the first working position
When, the traffic direction and the speed of service of the oil cylinder can be changed by the rotation direction and revolving speed that change the servo motor；It is described to help
When power functional switch valve is in the second working position, the traffic direction and the speed of service of the oil cylinder be not by the control of the servo motor
System, oil cylinder can free extensions under external force.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, the oil cylinder is double
Action oil cylinder, at least there are three hydraulic fluid ports for the assist function switch valve, respectively：The first oil outlet of assist function switch valve helps
The second oil outlet of power functional switch valve, assist function switch valve repairing drain tap；First oil outlet of assist function switch valve
It is connected to the rodless cavity of the oil cylinder；Second oil outlet of assist function switch valve is connected to the rod chamber of the oil cylinder；Institute
Assist function switch valve repairing drain tap is stated to be connected to the oil vessel；The assist function switch valve is in the first working position
When, first oil outlet of assist function switch valve is opened with second oil outlet of assist function switch valve with the assist function
It closes not connected between valve repairing drain tap；When the assist function switch valve is in the second working position, the assist function is opened
Close the first oil outlet of valve and second oil outlet of assist function switch valve and the assist function switch valve repairing drain tap it
Between interconnect.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, the oil cylinder is used
One-way cylinder, and the in-line of the cylinder rod chamber is disconnected, at least there are two hydraulic fluid ports for the assist function switch valve, respectively
For：The first oil outlet of assist function switch valve and assist function switch valve repairing drain tap, the assist function switch valve first
Oil outlet is connected to the oil cylinder rodless cavity, and the assist function switch valve repairing drain tap is connected to the oil vessel；
When the assist function switch valve is in the first working position, first oil outlet of assist function switch valve and the assist function
It is not connected between switch valve repairing drain tap；When the assist function switch valve is in the second working position, the assist function
It is interconnected between the first oil outlet of switch valve and the assist function switch valve repairing drain tap.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, using single-acting oil
When cylinder, the second oil outlet of the hydraulic pump of the hydraulic pump is connected to by a throttle orifice with the oil vessel.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, in the oil cylinder
It is installed on rodless cavity or rod chamber in-line and is respectively mounted institute on the rodless cavity and rod chamber in-line of balanced valve or the oil cylinder
Balanced valve is stated, is provided with check valve on the balanced valve.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, in the oil cylinder
It is installed on rodless cavity or rod chamber in-line and is respectively mounted institute on the rodless cavity and rod chamber in-line of hydraulic lock or the oil cylinder
State hydraulic lock.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, the assist function
Switch valve is the switch valve with electric control reversing and manual reverse of direction, perhaps for the switch valve only with electric control reversing or for only
Switch valve with manual reverse of direction.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, the flow matches
Valve is replaced using two hydraulic control one-way valve combinations or is replaced with a hydraulic control one-way valve and a check valve combination.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, the bidirectional hydraulic
Pump uses asymmetric flow hydraulic pump, and the bidirectional hydraulic pump is additionally provided with hydraulic pump third oil outlet, and the hydraulic pump
Third oil outlet is connected to the oil vessel.
Preferably, in a kind of above-mentioned pump control hydraulic transmission system applied to exoskeleton robot, the bidirectional hydraulic
When pump is using asymmetric flow hydraulic pump, the flow match valve is replaced using two check valve combinations.
It can be seen via above technical scheme that compared with prior art, the utility model is directed to existing for valve control system not
Foot, proposes a kind of pump control hydraulic transmission system applied to exoskeleton robot, and the utility model is driven using servo motor
The hydraulic pump of bidirectional rotation is realized the commutation and speed regulation of executing agency by the adjusting of servo motor rotation direction and revolving speed, executes machine
Structure demand pressure and hydraulic pump works pressure real-time matching, ineffective energy consumption is small, and transmission efficiency can greatly improve.The utility model is suitable
For exoskeleton robot, it is particularly suitable for the hydraulic-driven and its control of heavy-load type (loading-type) exoskeleton robot, was both fitted
Upper limb power-assisted or the common power-assisted of upper and lower extremities are also applied for for lower limb power-assisted.The utility model can both be independently operated, or and its
He is used cooperatively technical solution, i.e. the exoskeleton robot of hydraulic-driven, and some mechanical shoulder joint is provided using the utility model
Technical solution drive, other part joint of mechanical arm driven using other technologies scheme.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 attached drawing is the hydraulic schematic diagram of embodiment 1；
Fig. 2 attached drawing is the hydraulic schematic diagram of embodiment 2；
Fig. 3 attached drawing is the hydraulic schematic diagram of embodiment 3；
Fig. 4 attached drawing is the hydraulic schematic diagram of embodiment 4；
Fig. 5 attached drawing is the hydraulic schematic diagram of embodiment 5；
Fig. 6 attached drawing is the hydraulic schematic diagram of embodiment 6；
Fig. 7 attached drawing is the hydraulic schematic diagram of embodiment 7；
Fig. 8 attached drawing is the hydraulic schematic diagram of embodiment 8；
Fig. 9 attached drawing is the hydraulic schematic diagram of embodiment 9.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The utility model embodiment discloses a kind of pump control hydraulic transmission system applied to exoskeleton robot, using watching
The hydraulic pump for taking motor driven bidirectional rotation realizes the commutation and speed regulation of executing agency by the adjusting of motor rotation direction and revolving speed,
Executing agency's demand pressure and hydraulic pump works pressure real-time matching, ineffective energy consumption is small, and transmission efficiency can greatly improve.
Embodiment 1
It is to be applied to exoskeleton robot joint oil cylinder 7 drives first using the utility model in fact in conjunction with shown in attached drawing 1
Apply example.Scheme includes servo motor 1, two-way bidirectional hydraulic pump 2, flow match valve 4, balanced valve 5, assist function switch valve 6, oil
Cylinder 7 and oil vessel 3.
Servo motor 1 drives the two-way bidirectional hydraulic pump 2 of bidirectional rotation, and the flow match valve first of flow match valve 4 goes out
Hydraulic fluid port A2 and the second oil outlet of flow match valve B2 be respectively connected to bidirectional hydraulic pump 2 two sides hydraulic fluid port and flow match valve repairing
Drain tap T2 is connected to oil vessel 3.
Oil cylinder 7 use two-way cylinder, balanced valve 5 have check valve 4b, balanced valve 5 be mounted on oil cylinder 7 rodless cavity or
On rod chamber in-line, at least there are three hydraulic fluid ports for assist function switch valve 6：The first oil outlet of assist function switch valve A3, power-assisted
Functional switch valve the second oil outlet B3 and assist function switch valve repairing drain tap T3, the first oil outlet of assist function switch valve A3
The rod chamber and rodless cavity and assist function switch valve of oil cylinder 7 are respectively connected to the second oil outlet of assist function switch valve B3
Repairing drain tap T3 is connected to oil vessel 3.
Assist function switch valve 6 is electric control reversing valve and has manual reverse of direction handle, and electric control reversing and manual reverse of direction can be real
Existing effects equivalent, assist function switch valve 6 is at least there are two working position, assist function switch valve first when being in the first working position
Oil outlet A3 and assist function switch valve the second oil outlet B3 and assist function switch valve repairing drain tap T3 are not connected, are in
Assist function switch valve the first oil outlet A3 and assist function switch valve the second oil outlet B3 and assist function when the second working position
Switch valve repairing drain tap T3 is interconnected, and the initial bit of assist function switch valve 6 can be the first working position and be also possible to
Two working positions.
When assist function switch valve 6 is in the first working position, pass through the changeable oil of rotation direction and revolving speed for changing servo motor 1
The traffic direction and the speed of service of cylinder 7.
When assist function switch valve 6 is in the second working position, the traffic direction and the speed of service of oil cylinder 7 be not by the control of motor
System, oil cylinder 7 can free extensions under external force.
The working principle and function of the embodiment realize that process is as follows：
First default assist function switch valve 6 is in the first working position (left position, is at this time power-assisted function in figure in the following description
Can open), the function and principle of assist function switch valve 6 remark additionally below.
When needing oil cylinder 7 to stretch out, servo motor 1 starts, and drives two-way 2 operating of bidirectional hydraulic pump, two-way bidirectional hydraulic
Hydraulic pump the second oil outlet B1 oil suction of pump 2, the first oil outlet of hydraulic pump A1 are fuel-displaced.In starting moment, hydraulic pump first is fuel-displaced
Mouth A1 pressure is not yet established, and flow match valve 4 not yet commutates, and oil cylinder 7 not yet acts, and hydraulic pump the second oil outlet B1 is because of two-way liquid
2 oil suction of press pump and pressure reduction, bidirectional hydraulic pump 2 can be supplied by the check valve 4b oil suction built in flow match valve 4 at this time.
After the first oil outlet of hydraulic pump A1 establishes pressure, flow match valve 4 commutates, the flow matches of flow match valve 4
It is closed between valve the first oil outlet A2 and flow match valve repairing drain tap T2, and flow match valve the second oil outlet B2 and flow
It can two-way circulate between matching valve repairing drain tap T2.The first oil outlet of hydraulic pump A1 it is fuel-displaced through balanced valve 5 to 7 rodless cavity of oil cylinder
Fuel feeding, oil cylinder 7 stretch out.Motor speed is higher, then it is bigger to go out oil stream amount by the first oil outlet of hydraulic pump A1, and oil cylinder 7 stretches out speed and gets over
Fastly.
When oil cylinder 7 stretches out due to rodless cavity oil inlet quantity is big and rod chamber oil pump capacity is few, rod chamber oil liquid all flows back to two-way
Still the oil suction flow demand of bidirectional hydraulic pump 2 is not able to satisfy after 2 the second oil outlet of hydraulic pump B1 of hydraulic pump.But flow at this time
It can two-way circulate between flow match valve the second oil outlet B2 with valve 4 and flow match valve repairing drain tap T2, therefore two-way liquid
Press pump 2 can be supplied by flow match valve the second oil outlet B2 from 3 oil suction of oil vessel.
When needing oil cylinder 7 to retract, the reversion starting of servo motor 1, the first oil outlet of hydraulic pump of two-way bidirectional hydraulic pump 2
A1 oil suction, the second oil outlet of hydraulic pump B1 are fuel-displaced.In starting moment, hydraulic pump the second oil outlet B1 pressure is not yet established, flow
Matching valve 4 not yet commutates, and oil cylinder 7 not yet acts, hydraulic pump the first oil outlet A1 because bidirectional hydraulic pump 2 oil suction due to pressure reduction,
Bidirectional hydraulic pump 2 can be supplied by the check valve 4b oil suction built in flow match valve 4 at this time.
After the second oil outlet of hydraulic pump B1 establishes pressure, flow match valve 4 commutates, the flow matches of flow match valve 4
It is closed between valve the second oil outlet B2 and flow match valve repairing drain tap T2, and flow match valve the first oil outlet A2 and flow
It can two-way circulate between matching valve repairing drain tap T2.When the fuel-displaced 7 rod chamber fuel feeding to oil cylinder of the second oil outlet of hydraulic pump B1, liquid
The pressure oil of the second oil outlet of press pump B1 is also used to control the unlatching of balanced valve 5, when hydraulic pump the second oil outlet B1 pressure not on
It is raised to before balanced valve 5 opens required minimum control pressure, the oil liquid of 7 rodless cavity of oil cylinder can not flow back into bidirectional hydraulic pump 2
Hydraulic pump the first oil outlet A1, only hydraulic pump the second oil outlet B1 pressure push enough balanced valve 5 open after, oil cylinder 7
Rodless cavity ability oil return, oil cylinder 7 just start to retract.Motor speed is higher, then it is bigger to go out oil stream amount by the second oil outlet of hydraulic pump B1,
7 retraction speed of oil cylinder is faster.
When oil cylinder 7 retracts due to rodless cavity oil pump capacity is big and rod chamber oil inlet quantity is few, rodless cavity oil liquid flows back to bidirectional hydraulic
It pumps after 2 the first oil outlet of hydraulic pump A1 meet its oil suction flow demand and also has more than needed.But the flow matches of flow match valve 4 at this time
It can two-way circulate between valve the first oil outlet A2 and flow match valve repairing drain tap T2, therefore rodless cavity withdrawing oil hydroful is two-way enough
The part having more after 2 oil suction flow of hydraulic pump can be discharged to oil vessel 3 by the first oil outlet of flow match valve A2.
By being described above：Pass through the change of 1 rotation direction of servo motor, thus it is possible to vary 7 traffic direction of oil cylinder；By changing
Become the revolving speed of servo motor 1, thus it is possible to vary the fuel supply flow rate of bidirectional hydraulic pump 2, to change the speed of service of oil cylinder 7.
Balanced valve 5 is mounted on 7 rodless cavity in-line of oil cylinder, which is built-in with check valve 4b, which can also
With seperated with balanced valve 5, realization said function is installed in parallel with balanced valve 5.The valve is arranged, and there are two purposes：
First purpose is that oil cylinder 7 is made to keep current location under shutdown status.Under shutdown status, though oil cylinder 7 by
Effect to external force has the tendency that retraction, and since balanced valve 5 closes 7 rodless cavity oil liquid of oil cylinder, therefore oil cylinder 7 will not glide, and
It is held in current location.
Second purpose is to make oil cylinder 7 can be with even running under negative load behavior.So-called negative load behavior, refers to oil cylinder
7 bear the movement tendency generated when outer load and the consistent operating condition of 7 actual motion direction of oil cylinder.Such as oil cylinder 7 in Fig. 1 embodiment
Bearing external force makes oil cylinder 7 have retraction trend, makes its retraction to 7 rodless cavity fuel feeding of oil cylinder at this time, is exactly typical negative load behavior.
At this moment, once opening the oil drain passage of 7 rodless cavity of oil cylinder, even if 7 rod chamber of oil cylinder does not have fuel feeding, oil cylinder 7 also can be in outer masterpiece
With lower automatic downslide, if do not controlled the oil extraction flow of 7 rodless cavity of oil cylinder, the gliding speed of oil cylinder 7 is with regard to uncontrolled.?
Under this negative load behavior, 7 gliding speed of oil cylinder can be made controlled using balanced valve 5 and run smoothly.If oil cylinder in Fig. 1 embodiment
7 piston rod bears always the external axial thrust applied, and when needing oil cylinder 7 to stretch out, bidirectional hydraulic pump 2 is to oil cylinder 7 without bar
Chamber fuel feeding pushes oil cylinder 7 to stretch out after overcoming external force；When motor is out of service, 7 rodless cavity oil liquid of oil cylinder is balanced the closing of valve 5, oil
Cylinder 7 is maintained at current location；When needing oil cylinder 7 to retract, bidirectional hydraulic pump 2 establishes pressure to 7 rod chamber fuel feeding of oil cylinder, rod chamber
Balanced valve 5 could be opened after power, and oil cylinder 7 can just retract.Further, the valve port of the control mouth pressure of balanced valve 5 and balanced valve 5
Proportional relationship or approximate ratio relationship between aperture, the control more high then valve port opening of pressure are bigger.In this way, the retraction of oil cylinder 7
Speed by rodless cavity pressure control, if being substantially the control by 7 rodless cavity oil inlet flow of oil cylinder --- rodless cavity into
Oil stream amount and 7 speed of service of oil cylinder mismatch, and will lead to the variation of 7 rodless cavity pressure of oil cylinder, to change opening for balanced valve 5
Degree, makes 7 speed of oil cylinder obtain timely correction.
When outer load, which exists, to be impacted, balanced valve 5 can integrate overload valve and avoid 7 rodless cavity surge of oil cylinder excessively high.
In being described above, assist function switch valve 6 is in the first working position, and assist function switch valve 6, which does not interfere, to be watched
Control of the motor 1 to oil cylinder 7 traffic direction and the speed of service is taken, i.e., assist function switch valve 6 does not generate any effect at this time.
Illustrate the function and its working principle of assist function switch valve 6 below：
Assist function switch valve 6 is two-bit triplet reversal valve, and in the present invention, basic function is to allow when needed
The rodless cavity of oil cylinder 7 be connected to rod chamber oil vessel 3 (using need to only make when single-acting cylinder 7 rodless cavity of oil cylinder be connected to oil storage
Container 3) so that the traffic direction of the oil cylinder 7 and the speed of service get rid of the control of servo motor 1.Based on utility model works
Principle, when it is implemented, can also be replaced with two position and four-way reversing valves and (there is a hydraulic fluid port to block not having to)；Or three can also be used
Three-way diverter valve even three position four-way directional control valve is replaced to realize same function, and this simple substitution is not out this reality
With novel range.
Preferably, the reversing mode of assist function switch valve 6 has electric control reversing and two kinds of forms of manual reverse of direction simultaneously may be used
When with, electric control reversing Pending The Entry Into Force, its commutation can also be realized by pulling reversing handle, there is one section of sky when operating by reversing handle
Stroke could push spool to commutate after only crossing idle stroke.The initial bit of assist function switch valve 6 is to adjust on demand
, assist function can be opened when power is off, can also open assist function when being powered.
Assist function switch valve 6, which is switched on, to be also powered off, and can be set by program (preferably, the base of program setting
Wearer is allowed to go beyond one's commission control on plinth).When passing through program setting, at least may be set in two kinds of situations makes assist function switch valve
6 play a role (in being illustrated below by taking assist function is opened in power-off as an example)：
The first situation, can installing force sensor for human detection actual loading in place.When human body actual loading not
Do not start servo motor 1 when reaching the first preset value, and be powered to assist function switch valve 6, at this moment the oil inlet and outlet of oil cylinder 7 with
Oil vessel 3 is connected to, and human body can drive mechanical arm that oil cylinder 7 is driven to move again；When human body stress reach the first preset value without
When reaching the second preset value, servo motor 1 is not started, but power off to assist function switch valve 6, at this moment oil cylinder 7 keeps present bit
It sets；When human body actual loading is greater than the second preset value, assist function switch valve 6 powers off and starts servo motor 1, at this moment oil cylinder 7
Movement, avoids human body stress from further increasing.
It using method, may be implemented not enable assist function in the unloaded state, human body allowed to drive mechanical arm free movement；
In addition to this, function can also adjust human body and what exoskeleton robot externally loaded shares ratio.
Second situation is the deviation by detecting human body limb and corresponding mechanical arm, when deviation is greater than a certain set
It is powered when definite value to assist function switch valve 6.When human body limb and the deviation of corresponding mechanical arm are excessive, illustrate the fortune of mechanical arm
It is dynamic not catch up with human motion speed, it is powered at this time to assist function switch valve 6, speed of moving body can be made one and do not pumped by bidirectional hydraulic
The limitation of 2 maximum fuel deliveries, human body, which can go beyond one's commission, drives mechanical arm that oil cylinder 7 is driven to act again.This function can be used for dealing with
Emergency, for example, be applied to human body lower limbs power-assisted when, human body will be because can will quickly be adjusted step when disequilibrium by obstacle
State prevents from falling down.
Preferably, assist function switch valve 6 also has reversing handle, assist function can be forced to switch by pulling handle
Valve 6 commutates.There are two types of usages for the reversing handle：
The first usage, manual reverse of direction function are only used as standby functions, for example manually pull handle when electricity exhausts and make
Assist function switch valve 6 commutates.When using this usage, electric control reversing function must retain.
Second of usage：It is that the handle is strapped on corresponding human body limb, when between human body limb and mechanical arm
When deviation is excessive, human body limb band electric boosting function switch valve 6 commutates, and then human body, which can go beyond one's commission, drives mechanical arm to drive oil cylinder again
7 movements.It is possible to further the element of the installation site detection between reversing handle and corresponding mechanical arm, such as displacement sensing
Device, angular transducer etc., and acquire its signal and do the input signal for being converted to servo motor 1 after simple process.With human body limb
Bias direction between the reversing handle and mechanical arm moved synchronously determines the direction of rotation of motor, is determined with the size of departure
The running speed of motor.
When using second of usage, assist function switch valve 6 can remove electric control reversing function, only retain manual reverse of direction function
Energy.But handle is remotely strapped on human body limb not by some joint chaotropics pressure stop spacing from farther out when in view of specific implementation
It is convenient, to this kind of joint then preferred the first usage.
When manual reverse of direction function is only used as spare, if depositing for handle is significant unfavorable to monnolithic case and weight generation
It influences, assist function switch valve 6 can also remove manual reverse of direction function, only retain electric control reversing function, and assist function switchs
(oil cylinder 7 can under external force certainly when i.e. assist function switch valve 6 is in initial bit for the initial bit of valve 6 preferably the second working position
By stretching).
When being applied to the driving of exoskeleton robot joint oil cylinder using the utility model, to reduce monnolithic case and weight,
Major part Hydraulic Elements therein can do integrated design, and the housing chamber of pump replaces oil vessel 3, integrated installation stream on pump cover
Measure the auxiliary hydraulic pressures element such as flow match valve 4 and balanced valve 5.Further, multiple hydraulic oil sources can integrate one, Duo Geshuan
Shell and pump cover are shared to hydraulic pump 2, monnolithic case and weight can be made to be substantially reduced in this way.
Fig. 2, Fig. 3 are respectively corresponded and are applied to second, the of the driving of exoskeleton robot joint oil cylinder using the utility model
Three embodiments：
The oil cylinder 7 in Fig. 1 embodiment uses two-way cylinder above, can be achieved on using the benefit of two-way cylinder double
To power-assisted, shortcoming is that energy consumption is higher.Oil cylinder fortune is driven by human body if not enabling assist function under light condition
Dynamic, then because the frictional resistance of two-way cylinder is relatively large, this can make wearer feel painstaking.Exoskeleton robot in actual use
Partial joint oil cylinder only by unidirectional outer load (load-bearing), and opposite direction moves can use human body and ectoskeleton machine
The self weight of people is completed (such as squatting motion), or part self weight and the machine of exoskeleton robot are overcome by human body limb strength
Tool resistance come complete (such as non-bearing leg lift thigh and thigh and knee movement), therefore, according to specifically used operating condition, ectoskeleton machine
The partial joint of people can be driven using one-way cylinder, be provided unidirectional power-assisted.
It is the second embodiment for being applied to oil cylinder driving in exoskeleton robot joint using the utility model shown in Fig. 2.Oil
Cylinder 7 uses one-way cylinder, the obstructed oil of 7 rod chamber of oil cylinder, therefore is disconnected 7 rod chamber in-line of oil cylinder, and balanced valve 5 is mounted on oil
On the rodless cavity in-line of cylinder 7.
Accordingly, due to only one hydraulic fluid port of one-way cylinder 7, therefore assist function switch valve 6 is at least helped there are two hydraulic fluid port
Power functional switch valve the first oil outlet A3 and assist function switch valve repairing drain tap T3, the first oil outlet of assist function switch valve
A3 is connected to 7 rodless cavity of oil cylinder and assist function switch valve repairing drain tap T3 is connected to oil vessel 3, assist function switch
At least there are two working positions for valve 6, and assist function switch valve the first oil outlet A3 and assist function switch when being in the first working position
Valve repairing drain tap T3 is not connected, and assist function switch valve the first oil outlet A3 is opened with assist function when in the second working position
It closes valve repairing drain tap T3 to interconnect, the initial bit of assist function switch valve 6 can be the first working position and be also possible to second
Working position.
6 working principle of assist function switch valve based on the utility model, when specific implementation assist function switch used
Valve 6 can also be substituted with two-bit triplet or other forms, and this simple substitution is not out the scope of the utility model.
Its working principle and mechanism are as follows：
When needing oil cylinder 7 to stretch out, action principle and mechanism and use two-way cylinder are essentially identical.Difference is only
It is, when using one-way cylinder, rod chamber does not have oil liquid to flow to bidirectional hydraulic 2 imports of pump, and bidirectional hydraulic pump 2 can only pass through stream
Flux matched valve 4 is from 3 oil suction of oil vessel.
In addition, when using one-way cylinder, the oil cylinder is only under external force unlike using two-way cylinder
It can just retract.This external force can be the self weight of human body and robot, be also possible to the additional force of human body limb application.Use
The primary condition that the oil cylinder can retract when one-way cylinder is the external force that oil cylinder 7 is actuated its retraction, is being said below
When the mechanism that bright oil cylinder 7 retracts, defaults the condition and set up always.
When needing oil cylinder 7 to retract, the reversion starting of servo motor 1, the first oil outlet of hydraulic pump of two-way bidirectional hydraulic pump 2
A1 oil suction, the second oil outlet of hydraulic pump B1 are fuel-displaced.In starting moment, hydraulic pump the second oil outlet B1 pressure is not yet established, flow
Matching valve 4 not yet commutates, and oil cylinder 7 not yet acts, hydraulic pump the first oil outlet A1 because bidirectional hydraulic pump 2 oil suction due to pressure reduction,
Bidirectional hydraulic pump 2 can be supplied by the check valve 4b oil suction built in flow match valve 4 at this time.
After the second oil outlet of hydraulic pump B1 establishes pressure, flow match valve 4 commutates, the flow matches of flow match valve 4
It is closed between valve the second oil outlet B2 and flow match valve repairing drain tap T2, and flow match valve the first oil outlet A2 and flow
It can two-way circulate between matching valve repairing drain tap T2.It is fuel-displaced since the second oil outlet of hydraulic pump B1 is not connected to oil cylinder 7
Mouth is closed in fact, therefore, the second oil outlet of hydraulic pump B1 of bidirectional hydraulic pump 2 when 1 revolving speed of servo motor is very low
Establish higher pressure.However, the low rate start of servo motor 1 can't because letting out in the inevitable presence of bidirectional hydraulic pump 2
Lead to hydraulic pump the second oil outlet B1 superpressure.
The second oil outlet of hydraulic pump B1 establishes rapidly pressure when fuel-displaced, which pushes balanced valve 5 to open, then oil cylinder 7 can
It retracts under external force.Motor speed is higher, then the second oil outlet of hydraulic pump B1 pressure is higher, and 5 aperture of balanced valve is bigger, oil
The retraction speed under same external force of cylinder 7 is faster.
2 revolving speeds of bidirectional hydraulic pump are very low when oil cylinder 7 retracts but rodless cavity oil pump capacity is big, and rodless cavity oil liquid flows back to bidirectional hydraulic
It pumps after 2 the first oil outlet of hydraulic pump A1 meet its oil suction flow demand and also has more than needed, but the flow matches of flow match valve 4 at this time
It can two-way circulate between valve the first oil outlet A2 and flow match valve repairing drain tap T2, therefore rodless cavity withdrawing oil hydroful is two-way enough
The part having more after 2 oil suction flow of hydraulic pump can be discharged to oil vessel 3 by the first oil outlet of flow match valve A2.
By being described above：When using one-way cylinder 7, still can by change servo motor 1 rotation direction come
Change 7 traffic direction of oil cylinder, changes the speed of service of oil cylinder 7 by changing the revolving speed of servo motor 1.
It is noted that during one-way cylinder 7 retracts, the outlet hydraulic pump the second oil outlet B1 of bidirectional hydraulic pump 2
Flow and 7 retraction speed of oil cylinder do not have accurate corresponding relationship, and the size of outer load will affect 7 retraction speed of oil cylinder, watch
The rotational speed regulation for taking motor 1 is used only to the aperture of adjustment valve 5 in fact.
In conjunction with attached drawing 2, in embodiment 2, the pass between the revolving speed and hydraulic pump the second oil outlet B1 pressure of servo motor 1
System depends primarily on the interior discharge size of bidirectional hydraulic pump 2.If discharge is larger in bidirectional hydraulic pump 2, institute under same pressure
1 revolving speed of servo motor needed wants high, whereas to lower.In this case, when bidirectional hydraulic pump 2 volumetric efficiencies it is very high, interior discharge
When very little, required 1 revolving speed of servo motor is very low, although advantageously reducing energy consumption, hydraulic pump the second oil outlet B1 is to watching
The variation for taking 1 revolving speed of motor is too sensitive, is unfavorable for the control stability of hydraulic pump the second oil outlet B1 pressure.
As shown in figure 3, in embodiment 3, if discharge very little in the bidirectional hydraulic pump 2 used (for example use plunger
Pump), it can make to be connected between hydraulic pump the second oil outlet B1 and oil vessel 3 of bidirectional hydraulic pump 2 through a micro orifice 8.
In this way, the revolving speed needs of servo motor 1 properly increase, although energy consumption slightly increases to compensate the flow loss that the throttle orifice 8 generates
Add, but the pressure control stability of the second oil outlet of hydraulic pump B1 can be improved, retracts oil cylinder 7 more smoothly.When
So, if selected bidirectional hydraulic pump 2 low-speed performances it is poor, such as use gear pump when, maintain balanced valve 5 cracking pressure also need
Higher revolving speed is wanted, at this moment then It is not necessary to increase throttle orifice 8.
Fig. 4, Fig. 5, Fig. 6 are respectively corresponded and are applied to the of the driving of exoskeleton robot joint oil cylinder using the utility model
Four, the 5th, sixth embodiment：
In Fig. 1 embodiment, having been described above setting balanced valve 5, there are two purposes：Oil cylinder 7 is set to keep current under shutdown status
Position, and so that oil cylinder 7 is run smoothly under negative load behavior.Therefore, if balanced valve 5 is set, must see that actual use needs
It asks.
If need to only keep 7 position of oil cylinder, but without negative load behavior or and the oil cylinder 7 that is not concerned under negative load behavior
Running stability, then balanced valve 5 can be replaced using hydraulic lock 5a.Hydraulic lock 5a can equally play 7 holding position of oil cylinder
Function thus change cannot be passed through only between the aperture of hydraulic lock 5a and control pressure without apparent proportionate relationship
It controls pressure to finely tune valve port opening, when hydraulic lock 5a is applied to negative load behavior, is easy to appear 7 instantaneous velocity of oil cylinder not
Stable situation, that is, be easy to happen pause and transition in rhythm or melody and jitter phenomenon.Functionally, balanced valve 5 generally can replace hydraulic lock 5a,
But hydraulic lock 5a cannot generally replace balanced valve 5.But because hydraulic lock 5a structure is simple, if liquid can be used when specific implementation
Pressure lock 5a, then preferred hydraulic lock 5a and do not have to balanced valve 5.
To sum up, when the utility model is applied to the joint oil cylinder driving of exoskeleton robot, want using balanced valve 5,
It is that setting balanced valve 5 or two sides are all arranged on 7 rodless cavity in-line of oil cylinder or on 7 rod chamber in-line of oil cylinder, balances
Whether valve 5 can be replaced with hydraulic lock 5a, the specific operating condition depending on corresponding oil cylinder 7：
If not needing to make 7 holding position of oil cylinder under shutdown status always, balanced valve 5 can not both be had to without hydraulic
5a is locked, as shown in Figure 6.In embodiment 6 shown in Fig. 6, although 7 position of oil cylinder cannot be stably kept under shutdown status,
Be, if servo motor 1 from strap brake, and under shutdown status if motor braking, although the bidirectional hydraulic pump 2 being braked cannot
7 position of oil cylinder is effectively lockked, but the case where oil cylinder 7 quickly glides will not occur.In addition, using embodiment 6 shown in fig. 6
It is (the motor drive that can not achieve to stablize under shutdown status to keep 7 position of oil cylinder, but can be achieved under electric motor starting state
Dynamic bidirectional hydraulic pump 2 maintains certain pressure to contend with outer load compared with operating under the slow-speed of revolution).Although by maintaining motor low speed
Operating but if this operating condition is considerably less, then removes balanced valve 5 and hydraulic lock 5a not to keep 7 position of oil cylinder to will increase energy consumption
It loses to reasonably select.
If oil cylinder 7 is made to stablize holding position under being frequently necessary to shutdown status, setting balanced valve 5 or hydraulic is generally required
If 5a --- oil cylinder 7 is solely subjected to folk prescription outward force to lock always, can only be arranged on the unilateral oil circuit of oil cylinder 7 balanced valve 5 or
Hydraulic lock 5a；If oil cylinder 7 may bear the external force of both direction, need to be respectively provided with balanced valve 5 on 7 two sides oil circuit of oil cylinder
Or hydraulic lock 5a (shown in Fig. 4, being respectively provided with balanced valve 5 on 7 two sides oil circuit of oil cylinder).
It further, is to depend under negative load behavior running oil cylinder 7 flat using balanced valve 5 or hydraulic lock 5a
The requirement of stability uses balanced valve 5 if oil cylinder 7 under negative load behavior is required to run smoothly, if to this no requirement (NR), it can
It is replaced with hydraulic lock 5a and (shown in Fig. 5, is replaced balanced valve 5 with hydraulic lock 5a).
Fig. 7, Fig. 8, Fig. 9 respectively correspond be applied to that exoskeleton robot joint oil cylinder 7 drives using the utility model the
Seven, the eight, the 9th embodiment：
In each embodiment above, being all made of flow match valve 4, flow is asymmetric asks to solve the disengaging of asymmetric cylinder 7
Topic.The highly integrated of system is conducive to using the flow match valve 4, and versatility is preferable.
But solve the problems, such as that asymmetric closed circuit disengaging flow is unmatched, only the utility model technical work
A part.It is only realized for upper from function, the prior art can also be used to solve flow asymmetry problem, to keep this practical new
Localized approach in type scheme can be by simple replacement, but this replacement is not out the scope of the utility model.Fig. 7, Fig. 8,
Embodiment 7 shown in Fig. 9, embodiment 8, the scheme of embodiment 9 are the alternative but not preferred schemes of the utility model.
Embodiment illustrated in fig. 77 is to replace flow match valve 4 using two hydraulic control one-way valve 4a, is examined from service performance
Consider, a repairing check valve is preferably respectively installed on the oil inlet and outlet of pump in the program.But only realized for upper from function, it can not
In addition repairing check valve is set.
Embodiment illustrated in fig. 88 is being further simplified in embodiment 7, and the hydraulic control one-way valve 4a of wherein side is changed to
Common check valve (general abbreviation check valve) 4b.In the program, bidirectional hydraulic pump 2 is from 7 rod chamber oil suction of oil cylinder to oil cylinder 7 without bar
When chamber fuel feeding, there is oil suction resistance in bidirectional hydraulic pump 2, therefore the program preferably cooperates pressurization oil vessel 3 to use always.
In embodiment 9 shown in Fig. 9, uses asymmetric flow bidirectional hydraulic and pump 2a, hydraulic pump the first oil outlet A1 stream
Amount is big, and hydraulic pump the second oil outlet B1 flow is small, and in addition there are hydraulic pump third hydraulic fluid port T1, hydraulic pump third hydraulic fluid port T1 companies
Logical oil vessel 3.Asymmetric flow bidirectional hydraulic pumps 2a from hydraulic pump the first oil outlet A1 oil suction to the second oil outlet of hydraulic pump
When B1 oil extraction, extra flow is discharged to by oil vessel 3 by hydraulic pump third oil outlet T1；Asymmetric flow bidirectional hydraulic pump
For 2a from hydraulic pump the second oil outlet B1 oil suction to when hydraulic pump the first oil outlet A1 oil extraction, the insufficient part of oil suction passes through hydraulic pump
Third oil outlet T1 is sucked from oil vessel 3.Asymmetric flow bidirectional hydraulic pump 2a inlet and outlet flow and asymmetrical cylinder in this way
Inlet and outlet flow matches substantially.But due to the objective reality of mismachining tolerance and interior discharge, asymmetric flow bidirectional hydraulic pumps 2a sheet
Body does not ensure that flow exactly matches, it is therefore desirable to increase hydraulic control one-way valve 4a or common check valve 4b to assist.According to non-
Symmetrical flow bidirectional hydraulic pump 2a disengaging flow and oil cylinder 7 pass in and out the deviation situation of flow, can use two hydraulic control one-way valves,
It can also be assisted using a hydraulic control one-way valve 4a and a common check valve 4b or using two common check valve 4b.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (10)
1. a kind of pump control hydraulic transmission system applied to exoskeleton robot, which is characterized in that including：It is servo motor, two-way
Hydraulic pump, flow match valve, assist function switch valve, oil cylinder and oil vessel；
The bidirectional hydraulic pump of the servo motor driving bidirectional rotation, the bidirectional hydraulic pump are fuel-displaced at least provided with two
Mouthful, respectively：The second oil outlet of the first oil outlet of hydraulic pump and hydraulic pump；The flow match valve first of the flow match valve goes out
Hydraulic fluid port is connected to the first oil outlet of hydraulic pump that the bidirectional hydraulic pumps, and the flow match valve second of the flow match valve is fuel-displaced
Mouth is connected to the second oil outlet of hydraulic pump of bidirectional hydraulic pump；And the flow match valve repairing of the flow match valve is let out
Hydraulic fluid port is connected to the oil vessel；
The assist function switch valve is electric control reversing valve or hand-operated direction valve or the switch with electric control reversing and manual reverse of direction
Valve；
There are two working positions, respectively the first working position and the second working position for the assist function switch valve；The assist function
The initial bit of switch valve is the first working position or the second working position；When the assist function switch valve is in the first working position, lead to
It crosses the rotation direction for changing the servo motor and the traffic direction and the speed of service of the oil cylinder can be changed in revolving speed；The assist function
When switch valve is in the second working position, the traffic direction and the speed of service of the oil cylinder be not by the control of the servo motor, oil
Cylinder can free extension under external force.
2. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 1, which is characterized in that
The oil cylinder is two-way cylinder, and at least there are three hydraulic fluid ports for the assist function switch valve, respectively：Assist function switch valve
One oil outlet, the second oil outlet of assist function switch valve, assist function switch valve repairing drain tap；The assist function switch valve
First oil outlet is connected to the rodless cavity of the oil cylinder；Second oil outlet of assist function switch valve has bar with the oil cylinder
Chamber connection；The assist function switch valve repairing drain tap is connected to the oil vessel；The assist function switch valve is in
When the first working position, first oil outlet of assist function switch valve and second oil outlet of assist function switch valve with it is described
It is not connected between assist function switch valve repairing drain tap；It is described when the assist function switch valve is in the second working position
The first oil outlet of assist function switch valve and second oil outlet of assist function switch valve and the assist function switch valve are mended
It is interconnected between oily drain tap.
3. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 1, which is characterized in that
The oil cylinder uses one-way cylinder, and disconnects the in-line of the cylinder rod chamber, and the assist function switch valve is at least
Two hydraulic fluid ports, respectively：The first oil outlet of assist function switch valve and assist function switch valve repairing drain tap, the power-assisted function
Energy the first oil outlet of switch valve is connected to the oil cylinder rodless cavity, and the assist function switch valve repairing drain tap and the storage
Oil vessel connection；When the assist function switch valve is in the first working position, first oil outlet of assist function switch valve with
It is not connected between the assist function switch valve repairing drain tap；When the assist function switch valve is in the second working position,
It is interconnected between first oil outlet of assist function switch valve and the assist function switch valve repairing drain tap.
4. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 3, which is characterized in that
When using one-way cylinder, the second oil outlet of the hydraulic pump of the hydraulic pump passes through a throttle orifice and the oil vessel
Connection.
5. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 1, feature exist
In installing the rodless cavity and rod chamber of balanced valve or the oil cylinder on the rodless cavity or rod chamber in-line of the oil cylinder
It is respectively mounted the balanced valve on in-line, is provided with check valve on the balanced valve.
6. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 1, feature exist
In installing the rodless cavity and rod chamber of hydraulic lock or the oil cylinder on the rodless cavity or rod chamber in-line of the oil cylinder
The hydraulic lock is respectively mounted on in-line.
7. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 1, which is characterized in that
The assist function switch valve is the switch valve with electric control reversing and manual reverse of direction, or for only with the switch of electric control reversing
Valve, or for only with the switch valve of manual reverse of direction.
8. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 1, which is characterized in that
The flow match valve is replaced using two hydraulic control one-way valve combinations or is combined with a hydraulic control one-way valve and a check valve
To replace.
9. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 1, which is characterized in that
The bidirectional hydraulic pump uses asymmetric flow hydraulic pump, and the bidirectional hydraulic pump is additionally provided with hydraulic pump third oil outlet, and
And the hydraulic pump third oil outlet is connected to the oil vessel.
10. a kind of pump control hydraulic transmission system applied to exoskeleton robot according to claim 9, feature exist
In the flow match valve is replaced using two check valve combinations.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820659901.5U CN208123136U (en) | 2018-05-04 | 2018-05-04 | A kind of pump control hydraulic transmission system applied to exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820659901.5U CN208123136U (en) | 2018-05-04 | 2018-05-04 | A kind of pump control hydraulic transmission system applied to exoskeleton robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108488114A (en) * | 2018-05-04 | 2018-09-04 | 贵阳海之力液压有限公司 | A kind of pump control hydraulic transmission system applied to exoskeleton robot |
| CN112959324A (en) * | 2021-03-16 | 2021-06-15 | 合肥工业大学 | Energy-saving working unit of hydraulic industrial robot |
-
2018
- 2018-05-04 CN CN201820659901.5U patent/CN208123136U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108488114A (en) * | 2018-05-04 | 2018-09-04 | 贵阳海之力液压有限公司 | A kind of pump control hydraulic transmission system applied to exoskeleton robot |
| CN112959324A (en) * | 2021-03-16 | 2021-06-15 | 合肥工业大学 | Energy-saving working unit of hydraulic industrial robot |
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