CN219197762U

CN219197762U - Dynamic hydraulic constant-top lifting force system and robot landing leg

Info

Publication number: CN219197762U
Application number: CN202223358962.3U
Authority: CN
Inventors: 王猛; 王光平; 陈垚学; 李云辉
Original assignee: China Railway Engineering Machinery Research and Design Institute Co Ltd
Current assignee: China Railway Engineering Machinery Research and Design Institute Co Ltd
Priority date: 2022-12-13
Filing date: 2022-12-13
Publication date: 2023-06-16
Anticipated expiration: 2032-12-13

Abstract

The utility model provides a dynamic hydraulic constant-lift system and a robot landing leg, which relate to the field of robots, wherein the dynamic hydraulic constant-lift system is used for being connected with a landing leg assembly of the robot, the landing leg assembly comprises a supporting arm and an axle provided with wheels, the dynamic hydraulic constant-lift system comprises an oil tank, an oil pump motor assembly, a valve assembly and a hydraulic oil cylinder, the valve assembly comprises a load sensitive valve and an inverse proportion overflow valve, the input end of the oil pump motor assembly is communicated with the oil tank, the output end of the oil pump motor assembly is connected with the input end of the load sensitive valve, the first output end of the load sensitive valve is communicated with a rodless cavity of the hydraulic oil cylinder, the second output end of the load sensitive valve is communicated with a rod cavity of the hydraulic oil cylinder, the hydraulic oil cylinder is used for forming a triangle structure with the supporting arm and the axle, two ends of the hydraulic oil cylinder are respectively connected with the supporting arm and the axle in a rotating way, and the inverse proportion overflow valve is arranged between the rodless cavity of the hydraulic oil cylinder and the oil tank. The scheme can realize the constant support of the ground or the floor slab to the wheels.

Description

Dynamic hydraulic constant-top lifting force system and robot landing leg

Technical Field

The utility model relates to the field of robots, in particular to a dynamic hydraulic constant-lift system and a robot landing leg.

Background

The fabricated building is to make a standard part in advance of a concrete structure, a steel structure, a modern wood structure building and the like, and then to transport the standard part to a construction site for assembly. When carrying out the building of two-layer or multilayer floor and erect, the assembly robot erects first floor earlier, and each wheel station that later assembly robot landing leg subassembly is located first floor, carries out the erection of second floor, and current robot wheel is because of the effort control inconvenience to the floor, very easily makes the floor damage because of surpassing the floor and bear the scope, influences the construction progress.

Disclosure of Invention

The utility model aims to solve the technical problems that the magnitude of the lifting force (positive pressure applied by wheels to a floor slab) generated by the landing leg of the existing robot is uncontrollable and easily exceeds the bearing range of the floor slab.

In one aspect, the utility model provides a dynamic hydraulic constant-lift system for lifting a supporting leg assembly, the supporting leg assembly comprises a supporting arm and an axle provided with wheels, the dynamic hydraulic constant-lift system comprises an oil tank, an oil pump motor assembly, a valve assembly and a hydraulic oil cylinder, the valve assembly comprises a load sensitive valve and an inverse proportion overflow valve, the input end of the oil pump motor assembly is communicated with the oil tank, the output end of the oil pump motor assembly is communicated with the input end of the load sensitive valve, the first output end of the load sensitive valve is communicated with a rodless cavity of the hydraulic oil cylinder, the second output end of the load sensitive valve is communicated with the rod-shaped cavity of the hydraulic oil cylinder, the hydraulic oil cylinder is used for forming a triangle structure with the supporting arm and the axle, two ends of the hydraulic oil cylinder are respectively connected with the supporting arm and the axle in a rotating mode, and the inverse proportion overflow valve is arranged on a connecting pipeline between the rodless cavity of the hydraulic oil cylinder and the oil tank to adjust the output pressure of the inverse proportion overflow valve so as to change the rodless cavity pressure of the hydraulic oil cylinder.

According to the dynamic hydraulic constant-lift system, the oil pump motor assembly supplies oil to the hydraulic oil cylinder through the load sensitive valve, when the supporting leg assembly of the robot needs to be lifted, the first output end of the load sensitive valve supplies oil to the rodless cavity of the hydraulic oil cylinder, the piston rod of the hydraulic oil cylinder extends out, and the supporting arm is lifted; when the second output end of the load sensitive valve supplies oil to the rod cavity of the hydraulic oil cylinder, the piston rod is retracted, and the supporting arm is lowered; the axle, the support arm and the hydraulic cylinder form a triangle structure, under the condition that the lengths of the axle and the support arm are unchanged, the length of one side of the triangle can be changed by the expansion and contraction of a piston rod of the hydraulic cylinder, two ends of the hydraulic cylinder can rotate around the rotating points of the piston rod, if the pressure of a rodless cavity of the hydraulic cylinder is unchanged at the moment, the pressure of a wheel set of the axle to a floor slab changes according to the trigonometric function relation, the force balance and the moment balance principle, namely the lifting force of the floor slab to the support leg changes.

Optionally, the valve assembly further includes a bidirectional balance valve, the bidirectional balance valve is disposed between the load sensitive valve and the hydraulic cylinder, a first input end of the bidirectional balance valve is connected with a first output end of the load sensitive valve, a second input end of the bidirectional balance valve is connected with a second output end of the load sensitive valve, the first output end of the bidirectional balance valve is communicated with a rodless cavity of the hydraulic cylinder, and the second output end of the bidirectional balance valve is communicated with a rod cavity of the hydraulic cylinder.

Optionally, an oil return port of the load-sensitive valve communicates with the oil tank.

Optionally, the dynamic hydraulic constant-lift system further comprises a first pressure measuring assembly, wherein the first pressure measuring assembly comprises a first pressure sensor and a second pressure sensor, the first pressure sensor is used for detecting the rodless cavity pressure of the hydraulic cylinder, and the second pressure sensor is used for detecting the rod cavity pressure of the hydraulic cylinder.

Optionally, the hydraulic cylinder includes the cylinder with remove set up in piston rod in the cylinder, be equipped with displacement sensor in the cylinder, displacement sensor is used for detecting the piston rod position, the output pressure of inverse proportion overflow valve is used for according to first pressure measurement subassembly with displacement sensor's detection information adjusts.

Optionally, the bidirectional balance valve, the inverse proportion overflow valve and the first pressure measuring assembly are mounted on the cylinder barrel.

Optionally, the dynamic hydraulic constant-lift system further comprises a second pressure measuring assembly, wherein the second pressure measuring assembly is arranged at a pressure measuring port of the load sensitive valve.

Optionally, the dynamic hydraulic constant-lift system further comprises a filter assembly, the filter assembly comprises a high-pressure filter, and the high-pressure filter is arranged on a connecting pipeline between the oil pump motor assembly and the input end of the load sensitive valve.

Optionally, the filtering assembly further comprises an oil return filter, and the oil return filter is arranged on a connecting pipeline between the inverse proportion overflow valve and the oil tank.

On the other hand, the utility model provides a robot landing leg which comprises the dynamic hydraulic constant-top lift system and a landing leg component, wherein a hydraulic cylinder of the dynamic hydraulic constant-top lift system is in driving connection with the landing leg component. The advantages of the robot leg of the present utility model over the prior art are the same as the dynamic hydraulic constant lift system described above and will not be repeated here.

Drawings

FIG. 1 is a schematic diagram of a dynamic hydraulic constant top lift system according to an embodiment of the present utility model.

Reference numerals illustrate:

1. an oil tank; 2. an oil pump motor assembly; 3. a valve assembly; 31. a load-sensitive valve; 32. an inverse proportion overflow valve; 33. a two-way balancing valve; 4. a hydraulic cylinder; 41. a cylinder; 42. a piston rod; 5. a first pressure measurement assembly; 51. a first pressure sensor; 52. a second pressure sensor; 6. a second pressure measurement assembly; 7. a filter assembly; 71. a high pressure filter; 72. an oil return filter; 8. a leg assembly; 81. a support arm; 82. an axle; 83. and (3) a wheel.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "coupled," and "mated" are to be construed broadly, and may be, for example, fixedly coupled, detachably coupled, or integrally coupled; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those skilled in the art according to the specific circumstances.

In addition, in the description of the present utility model, it should be noted that terms such as "upper", "lower", "front", "rear", etc. in the embodiments indicate terms of orientation, and only for simplifying the positional relationship of the description based on the drawings of the specification, it does not represent that the elements and devices etc. referred to must be operated according to the operations and methods and configurations defined in the specific orientation and limitation of the present utility model, and such orientation terms do not constitute limitations of the present utility model.

As shown in fig. 1, the dynamic hydraulic constant lift system according to the embodiment of the present utility model is configured to be connected to a leg assembly 8 of a robot, where the leg assembly 8 includes a support arm 81 and an axle 82 provided with wheels 83, the dynamic hydraulic constant lift system includes an oil tank 1, an oil pump motor assembly 2, a valve assembly 3 and a hydraulic oil cylinder 4, the valve assembly 3 includes a load sensing valve 31 and an inverse proportion relief valve 32, an input end of the oil pump motor assembly 2 is connected to the oil tank 1, an output end of the oil pump motor assembly 2 is connected to an input end of the load sensing valve 31, a first output end of the load sensing valve 31 is connected to a rodless cavity of the hydraulic oil cylinder 4, a second output end of the load sensing valve 31 is connected to a rod cavity of the hydraulic oil cylinder 4, the hydraulic oil cylinder 4 is configured to form a triangle structure with the support arm 81 and the axle 82, two ends of the hydraulic oil cylinder 4 are respectively connected to the support arm 81 and the axle 82 in a rotating manner, the inverse proportion relief valve 32 is disposed between the rodless cavity of the hydraulic oil cylinder 4 and the rod cavity 1 of the hydraulic oil cylinder 4, and the inverse proportion relief valve 32 is disposed to change the pressure of the hydraulic oil cylinder 4.

In this embodiment, the axle 82 is disposed along the direction shown by the X-axis, and the length of the axle 82 is taken as the bottom edge, the hydraulic cylinder 4 and the supporting arm 81 are oblique edges, so as to form a triangle structure, the hydraulic cylinder 4 includes a cylinder 41 and a piston rod 42, one end of the piston rod 42 is inserted into the cylinder 41, and the piston rod 42 can move telescopically along the axial direction of the cylinder 41. The end (i.e. the lower end) of the piston rod 42 far away from the cylinder 41 is rotationally connected to the point F with one end of the axle 82, the upper end of the cylinder 41 is rotationally connected to the point D with one end of the supporting arm 81, the other end of the supporting arm 81 is rotationally connected to the point E with the other end of the axle 82, the rotational connection can be realized through a pin, and the wheel 83 is mounted at the point G on the axle 82.

Here, the oil pump motor assembly 2 pumps the hydraulic oil in the oil tank 1 to the input end of the load sensitive valve 31, when the leg assembly 8 needs to generate an upward lifting force, the first output end of the load sensitive valve 31 inputs the hydraulic oil to the rodless cavity of the hydraulic oil cylinder 4, the piston rod 42 extends, and the supporting arm 81 is driven to rotate clockwise, so that the height of the upper end of the supporting arm 81 to the ground is increased; when the robot needs to descend, the second output end of the load-sensitive valve 31 inputs hydraulic oil to the rod cavity of the hydraulic cylinder 4, the piston rod 42 is shortened, and the support arm 81 is driven to rotate anticlockwise, so that the height of the support arm 81 to the ground is reduced.

When the piston rod 42 of the hydraulic cylinder 4 is extended or retracted, the lengths of the two sides (the supporting arm 81 and the axle 82) of the triangle DEF are kept unchanged, while the length of the side DF is changed, if the rodless cavity pressure of the hydraulic cylinder 4 is kept unchanged at this time, according to the trigonometric function relation, the force balance and the moment balance principle, the acting force of the hydraulic cylinder 4 on the axle 82 and the supporting arm 81 is changed, the acting force of the axle 82 on the wheel set is changed, the counter acting force of the floor slab on the wheel set, namely the jacking force is changed, and in order to keep the jacking force to be a constant value and not exceed a limiting value, the pressure of the rodless cavity of the hydraulic cylinder is required to be adjusted at this time. In this embodiment, by setting the inverse proportion overflow valve 32 on the connecting pipeline between the rodless cavity and the oil tank 1, the output pressure of the inverse proportion overflow valve 32 (i.e. the working pressure of the rodless cavity of the hydraulic cylinder) is adjusted, so that the extension amount of the piston rod 42 of the hydraulic cylinder 4 is within the travel range thereof, and the positive pressure of the wheels 83 on the axle 82 to the floor slab is a constant value and does not exceed the bearing range of the floor slab.

Optionally, the valve assembly 3 further includes a bidirectional balance valve 33, the bidirectional balance valve 33 is disposed between the load sensitive valve 31 and the hydraulic cylinder 4, a first input end of the bidirectional balance valve 33 is connected with a first output end of the load sensitive valve 31, a second input end of the bidirectional balance valve 33 is connected with a second output end of the load sensitive valve 31, the first output end of the bidirectional balance valve 33 is communicated with a rodless cavity of the hydraulic cylinder 4, and the second output end of the bidirectional balance valve 33 is communicated with a rod cavity of the hydraulic cylinder 4.

In this embodiment, the two-way balance valve 33 is a balance valve on each of the rod cavity side and the rodless cavity side of the hydraulic cylinder 4, so that the oil supply loop can be controlled conveniently, when only one side is in oil, the balance valve on the corresponding side is opened, when both sides are not in oil, the balance valves on both sides are in a closed state, both sides of the hydraulic cylinder 4 are open, and the hydraulic cylinder 4 is ensured not to change position due to the action of external force.

Here, the balance valve capable of being controlled in two directions is adopted instead of the two one-way valves, so that the action is more stable no matter the oil cylinder stretches out or retracts, and meanwhile, uncontrollable high-frequency shaking caused by negative load in the retracting process of the oil cylinder can be avoided.

Optionally, the return port of the load-sensitive valve 31 communicates with the tank 1.

In this embodiment, the hydraulic oil in the oil tank 1 enters the load-sensitive valve 31 through the oil pump motor assembly 2, the hydraulic oil with a stable flow rate output from the load-sensitive valve 31 enters the rodless cavity of the hydraulic oil cylinder 4, and the hydraulic oil with the rod cavity flows to the oil tank 1 through the oil return port of the load-sensitive valve 31, so as to realize the oil supply circulation of the hydraulic oil.

Optionally, the dynamic hydraulic constant-lift system further comprises a first pressure measuring assembly 5, wherein the first pressure measuring assembly 5 comprises a first pressure sensor 51 and a second pressure sensor 52, the first pressure sensor 51 is used for detecting the rodless cavity pressure of the hydraulic cylinder 4, and the second pressure sensor 52 is used for detecting the rod cavity pressure of the hydraulic cylinder 4.

In this embodiment, the first pressure measuring component 5 is disposed on a connecting valve block between the bidirectional balance valve 33 and the hydraulic cylinder 4, the first pressure measuring component 5 is not affected by the bidirectional balance valve 33, the first pressure sensor 51 and the second pressure sensor 52 respectively detect pressures of two cavities of the hydraulic cylinder 4, the detection value of the second pressure sensor 52 is fed back to the controller, a control signal of the inverse proportion overflow valve 32 is obtained according to a control algorithm, and the first pressure sensor 51 detects the output pressure of the inverse proportion overflow valve 32, so that the output pressure of the inverse proportion overflow valve 32 is consistent with the required jacking force.

Optionally, the hydraulic cylinder 4 includes a cylinder 41 and a piston rod 42 movably disposed in the cylinder 41, a displacement sensor is disposed in the cylinder 41, the displacement sensor is used for detecting a position of the piston rod 42, and an output pressure of the inverse proportion overflow valve 32 is used for adjusting according to detection information of the first pressure measuring assembly 5 and the displacement sensor.

In this embodiment, when the hydraulic cylinder 4 needs to implement a dynamic constant-lift function, the oil pump motor assembly 2 operates normally, the load-sensitive valve 31 outputs a certain specific stable flow, the first pressure sensor 51 and the second pressure sensor 52 detect hydraulic oil pressures of a rod cavity and a rodless cavity of the hydraulic cylinder respectively, the cylinder displacement sensor detects a piston rod position of the hydraulic cylinder, and an output pressure value that the inverse proportion overflow valve needs to provide, namely, a working pressure of a rodless cavity of the hydraulic cylinder is pushed out according to a preset constant-lift control target, a trigonometric function, a force and a moment balance relation, so that the piston rod of the hydraulic cylinder 4 is in a stroke range thereof, and the positive pressure of the wheel 83 on the axle 82 to the floor slab is a constant value and does not exceed a floor slab bearing range.

Optionally, the two-way balance valve 33, the inverse proportion overflow valve 32 and the first pressure measuring assembly 5 are mounted on the cylinder 41.

In this embodiment, the bidirectional balance valve 33, the inverse proportion overflow valve 32 and the first pressure measuring component 5 are fixedly installed on the cylinder 41, which not only has the characteristics of compact structure, quick response and sensitive control, but also can reliably lock the hydraulic cylinder 4 under the condition of pipeline failure, thereby preventing accidents.

Optionally, the dynamic hydraulic constant-lift system further comprises a second pressure measuring assembly 6, and the second pressure measuring assembly 6 is arranged at a pressure measuring port of the load sensitive valve 31.

In this embodiment, the second pressure measuring component 6 measures the pressure on the load sensing valve 31, so that the working pressure of the load sensing valve 31 can be conveniently known in real time, and once the working pressure of the load sensing valve 31 exceeds the limit value, effective countermeasure can be timely taken, so as to ensure that the load sensing valve 31 always works within the preset range.

Optionally, the dynamic hydraulic constant-lift system further comprises a filter assembly 7, the filter assembly 7 comprises a high-pressure filter 71, and the high-pressure filter 71 is arranged on a connecting pipeline between the oil pump motor assembly 2 and the input end of the load sensitive valve 31.

In this embodiment, the high-pressure filter 71 is used to filter the hydraulic oil pumped from the oil tank 1 by the oil pump motor assembly 2, and retain the pollutants in the oil, so that the hydraulic oil entering into the subsequent devices maintains a certain cleanliness, the service life of the hydraulic oil is prolonged, and the equipment loss is reduced.

Optionally, the filter assembly 7 further includes an oil return filter 72, and the oil return filter 72 is disposed on a connection line between the inverse proportion overflow valve 32 and the oil tank 1.

In this embodiment, the oil return filter 72 is used for filtering the hydraulic oil to be returned to the oil tank 1, so that the pollutants carried in the hydraulic oil during the working process can be filtered, and the hydraulic oil returned to the oil tank 1 has a high cleanliness, which is beneficial to the recycling of the hydraulic oil.

Another embodiment of the present utility model provides a robot leg, including the above-mentioned dynamic hydraulic constant-lift system and a leg assembly 8, where a hydraulic cylinder 4 of the dynamic hydraulic constant-lift system is in driving connection with the leg assembly 8. The advantages of the robot leg according to the present embodiment compared to the prior art are the same as those of the dynamic hydraulic constant-lift system described above, and the description thereof will not be repeated here.

Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the utility model.

Claims

1. The utility model provides a dynamic hydraulic constant-lift system, characterized in that is used for being connected with landing leg subassembly (8) of robot, landing leg subassembly (8) include support arm (81) and install axle (82) of wheel (83), dynamic hydraulic constant-lift system includes oil tank (1), oil pump motor subassembly (2), valve subassembly (3) and hydraulic cylinder (4), valve subassembly (3) include load sensitive valve (31) and inverse proportion overflow valve (32), oil pump motor subassembly (2)'s input with oil tank (1) intercommunication, oil pump motor subassembly (2)'s output with load sensitive valve (31) input intercommunication, load sensitive valve (31) first output with hydraulic cylinder (4) rodless cavity intercommunication, load sensitive valve (31) second output with hydraulic cylinder (4) have the pole chamber intercommunication, hydraulic cylinder (4) are used for with support arm (81) and axle (82) constitute triangle-shaped structure, oil cylinder (4) output with oil cylinder (81) respectively with connecting rod (82) are located in the connecting rod chamber (81) of hydraulic cylinder (4), and adjusting the output pressure of the inverse proportion overflow valve (32) to change the rodless cavity pressure of the hydraulic oil cylinder (4).

2. The dynamic hydraulic constant lift system according to claim 1, wherein the valve assembly (3) further comprises a bi-directional balancing valve (33), the bi-directional balancing valve (33) being arranged between the load sensitive valve (31) and the hydraulic ram (4), a first input of the bi-directional balancing valve (33) being connected to a first output of the load sensitive valve (31), a second input of the bi-directional balancing valve (33) being connected to a second output of the load sensitive valve (31), the first output of the bi-directional balancing valve (33) being in communication with a rodless chamber of the hydraulic ram (4), and the second output of the bi-directional balancing valve (33) being in communication with a rod-like chamber of the hydraulic ram (4).

3. The dynamic hydraulic constant lift system according to claim 1, characterized in that the return opening of the load-sensitive valve (31) communicates with the tank (1).

4. The dynamic hydraulic constant lift system of claim 2, further comprising a first pressure measurement assembly (5), the first pressure measurement assembly (5) comprising a first pressure sensor (51) and a second pressure sensor (52), the first pressure sensor (51) being configured to detect a rodless cavity pressure of the hydraulic ram (4), the second pressure sensor (52) being configured to detect a rod cavity pressure of the hydraulic ram (4).

5. The dynamic hydraulic constant lift system according to claim 4, wherein the hydraulic cylinder (4) comprises a cylinder (41) and a piston rod (42) movably arranged in the cylinder (41), a displacement sensor is arranged in the cylinder (41) and used for detecting the position of the piston rod (42), and the output pressure of the inverse proportion overflow valve (32) is adjusted according to the detection information of the first pressure measuring assembly (5) and the displacement sensor.

6. The dynamic hydraulic constant lift system of claim 5, wherein the two-way balancing valve (33), the inverse proportional relief valve (32) and the first pressure measuring assembly (5) are mounted on the cylinder (41).

7. The dynamic hydraulic constant lift system of claim 1, further comprising a second pressure measurement assembly (6), the second pressure measurement assembly (6) being provided at a pressure measurement port of the load sensitive valve (31).

8. The dynamic hydraulic constant lift system according to claim 1, further comprising a filter assembly (7), the filter assembly (7) comprising a high pressure filter (71), the high pressure filter (71) being provided on a connection line between the oil pump motor assembly (2) and the input of the load sensitive valve (31).

9. The dynamic hydraulic constant lift system according to claim 8, characterized in that the filter assembly (7) further comprises an oil return filter (72), said oil return filter (72) being provided on the connection line between the inverse proportional overflow valve (32) and the tank (1).

10. A robot leg, characterized by comprising a dynamic hydraulic constant top lift system according to any of claims 1-9 and a leg assembly (8), wherein a hydraulic cylinder (4) of the dynamic hydraulic constant top lift system is in driving connection with the leg assembly (8).