CN106958556A - A kind of integrated hydraulic driver and its control method for robot - Google Patents
A kind of integrated hydraulic driver and its control method for robot Download PDFInfo
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- CN106958556A CN106958556A CN201710248008.3A CN201710248008A CN106958556A CN 106958556 A CN106958556 A CN 106958556A CN 201710248008 A CN201710248008 A CN 201710248008A CN 106958556 A CN106958556 A CN 106958556A
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- servobcylinder
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
- F15B2215/30—Constructional details thereof
Abstract
The present invention discloses a kind of integrated hydraulic driver and its control method for robot, the servoBcylinder of its hydraulic unit driver is asymmetric servo cylinder, nozzle-flapper servo valve and oil circuit contiguous block are installed in servoBcylinder cylinder body top, and servoBcylinder is connected to the cylinder body of oil circuit contiguous block junction provided with corresponding oil duct with the oil inlet on nozzle-flapper servo valve, control port and oil return opening；Force snesor is arranged on servo cylinder piston rod front end, and the housing of displacement transducer is fixed on servoBcylinder cylinder body, and probe is fixed on the servo cylinder piston rod with force snesor homonymy；Its control method is that force snesor and displacement transducer are used cooperatively, in real time monitoring servoBcylinder power output and the quantity of state of displacement two, by load pressure observer computing system load pressure, and final via controller makes input of the output equal to system of servoBcylinder.The present invention uses asymmetrical hydraulic cylinder structure, and eliminates the pressure sensor of the chamber of servoBcylinder two, and its structure is compacter, and its power to weight ratio and controllability are respectively provided with advantage.
Description
Technical field
The invention belongs to technical field of hydraulic pressure, it is related to a kind of highly integrated property of type hydraulic actuator legged type robot joint motions
Integrated hydraulic driver.
Background technology
The major function that robot is completed by it can be divided into four classes：Operation robot, mobile robot, information machine
People and man-machine robot.Wherein, operation robot is used to simulate the action of human hand and arm to complete various technological operations；It is mobile
Robot can be subdivided into wheeled robot, caterpillar type robot and legged type robot again, and it is commonly used to complete in the industrial production
The task such as transport and feeding, discharge, and this robot is equipped with manipulator mostly, to complete execute-in-place task；Information machine
People refers to the intelligent behavior analogue means based on computer system；There is Bidirectional closed-loop connection between man-machine robot and people
System, these contacts include joining limb manipulator, the walk help machinery foot on people's leg and biological automatically controlled or vocal controlled prosthesis etc..More than this
The action of a little robots is all completed by joint motions, and the type of drive of joint of robot motion is generally divided into three
Kind：Driven by power, air pressure driving and hydraulic-driven.Because hydraulic-driven has, thrust is big, power to weight ratio is high, system stiffness good, precision
It is high, response is fast, the advantages of be easy to work in big velocity interval so that hydraulic-driven humanoid robot is more excellent in numerous areas
Gesture, therefore, hydraulic driving mode also become particularly important.
The type of drive of conventional machines person joint is generally non-integral valve-controlled cylinder structure, servo valve/proportioning valve and servo
Cylinder is connected by pipeline, and the non-integral valve-controlled cylinder structure has the disadvantage that：1st, control valve is long to the pipeline between hydraulic cylinder,
Reduce the control performance to hydraulic cylinder and the intrinsic frequency of system；2nd, the joint of system is excessive, is easily caused leakage and influences
The reliability of whole robot system.
Authorization Notice No. CN103233932B Chinese invention patent discloses a kind of highly integrated property hydraulic drive unit knot
Structure, overcomes some shortcomings of non-integral valve-controlled cylinder, and its structure employs the double rod servo cylinder structures of valve control, but due to machine
Person joint move when with forward direction exert oneself greatly, backhaul exert oneself small the characteristics of so that the symmetrical servo cylinder structure of the hydraulic unit driver
In joint of robot actual application, its appearance and size and power to weight ratio be not to be optimal.For this reason, it is necessary to design one kind
For the novel all-in-one hydraulic unit driver of robot, to solve existing hydraulic unit driver power to weight ratio not enough big and integrated level not
Enough high the shortcomings of.
The content of the invention
In view of the shortcomings of the prior art, the present invention is intended to provide a kind of being used for larger power to weight ratio and high integration degree
The integrated hydraulic driver of joint of robot motion.
The present invention seeks to what is be achieved through the following technical solutions：
A kind of integrated hydraulic driver for robot, including servoBcylinder, oil circuit contiguous block, nozzle flapper servo
Valve, displacement transducer, force snesor, nozzle-flapper servo valve and oil circuit contiguous block are arranged on the cylinder body top of servoBcylinder, described
ServoBcylinder be asymmetric servo cylinder, runner C of the cylinder body provided with radial direction of servoBcylinder and oil circuit contiguous block junction, runner H,
Runner J and four fixed oil circuit contiguous blocks screwed hole, servoBcylinder and the cylinder body of nozzle-flapper servo valve junction are provided with footpath
To runner E, runner G, runner L, runner M, dowel hole and four fixed nozzle swashplate servo valves screwed hole, servoBcylinder leans on
Runner D, runner N and runner Q provided with axial direction in the cylinder body of nearly oil circuit contiguous block side, runner D respectively with runner C and runner E
Communicate, runner N is communicated with runner J and runner M respectively, runner Q is communicated with runner H and runner L respectively；Described oil circuit contiguous block
On offer side by side：Horizontal direction oil-feed runner R and oil return runner W, vertically to runner V and runner Z, oil-feed runner R and stream
Road V is communicated, and oil return runner W and runner Z are communicated；Runner V on oil circuit contiguous block is connected with the runner J on servoBcylinder cylinder body, oil
Runner Z on the contiguous block of road is connected with the runner H on servoBcylinder cylinder body；Described nozzle-flapper servo valve provided with oil inlet P,
Control port A, control port B and oil return inlet T；Described force snesor is arranged on servo cylinder piston rod front end, described displacement
The housing of sensor is fixed on servoBcylinder cylinder body, and probe is fixed on the servo cylinder piston rod with force snesor homonymy, described
Servo cylinder piston rod can be stretched out or retraction movement.
The stretching campaign of the servo cylinder piston rod：During oil-feed, system fluid is through on inflow pipeline and oil circuit contiguous block
The runner J that oil-feed runner R and runner V is flowed into servoBcylinder cylinder body, enters nozzle through the runner N and runner M in servoBcylinder cylinder body
The oil inlet P of swashplate servo valve, after the inner flow passage of nozzle-flapper servo valve, servoBcylinder is flowed into from its control port A again
Runner E11 in cylinder body, after runner D9 and runner C8 in servoBcylinder cylinder body, eventually enters into the left chamber of servoBcylinder；During oil return,
Fluid is exited into the control port B of flow nozzle swashplate servo valve after the runner G in servoBcylinder cylinder body by the right chamber of servoBcylinder,
After the inner flow passage of nozzle-flapper servo valve, from the oil return inlet T mass flowing nozzle swashplate servo valve of nozzle-flapper servo valve, then flow
Enter servoBcylinder cylinder body runner L, the runner Z of oil circuit contiguous block is flowed into by the runner Q in servoBcylinder cylinder body and runner H, is most passed through afterwards
Oil return runner W in oil circuit contiguous block flows back to oil returning tube；The retraction movement of the servo cylinder piston rod：During oil-feed, system oil
The runner J that liquid is flowed into servoBcylinder cylinder body through the oil-feed runner R on inflow pipeline and oil circuit contiguous block and runner V, through servoBcylinder
Runner N and runner M in cylinder body enter nozzle-flapper servo valve oil inlet P, after the inner flow passage of nozzle-flapper servo valve,
The runner G flowed into again in servoBcylinder cylinder body from its control port B, and eventually enter into the right chamber of servoBcylinder；When oil return, fluid by
The left chamber of servoBcylinder exits into the control of flow nozzle swashplate servo valve after the runner C in servoBcylinder cylinder body, runner D and runner E
Liquefaction mouthful A, after the inner flow passage of nozzle-flapper servo valve, is watched from the oil return inlet T mass flowing nozzle baffle plate of nozzle-flapper servo valve
Valve is taken, then flows into servoBcylinder cylinder body runner L, the runner of oil circuit contiguous block is flowed into by the runner Q in servoBcylinder cylinder body and runner H
Z, most flows back to oil returning tube through the oil return runner W in oil circuit contiguous block afterwards.
A kind of control method of integrated hydraulic driver for robot, force snesor and displacement transducer coordinate and made
With, monitoring servoBcylinder power output and the quantity of state of displacement two, and by the load pressure of pressure observer computing system in real time, including
Following steps：
(1) displacement and force signal that displacement transducer and force snesor are exported to servoBcylinder detect, by with system
Input quantity be compared after obtain deviation；
(2) displacement and force signal of the load pressure observer by input, are controlled through internal load pressure control algorithm
The load pressure of system processed；
(3) controller obtains the spool displacement signal for controlling Nozzle flapper valve by disturbance rejection control algorithm and system deviation,
It is finally completed the correction to above-mentioned deviation so that input of the output equal to system of servoBcylinder.
Load pressure control algolithm described in step (2), specific algorithm is as follows：
When servo cylinder piston rod stretches out,
When servo cylinder piston rod is retracted,
Load pressure is：pL=| p1-p2|
In formula, p1For servoBcylinder left chamber pressure, A1For servoBcylinder left chamber area, p2For servoBcylinder right chamber pressure, A2For servo
Cylinder right chamber area, F is that force snesor detects power, n=A2/A1, psFor system pressure, pLFor load pressure.
Due to using above-mentioned technical proposal, a kind of integrated hydraulic driver for robot of the invention can be met
The response of legged type robot joint motions height, high-precision control are required, and more compact structure, and power to weight ratio is higher, can be integrated many
Individual sensing detection element detects each quantity of state of hydraulic unit driver in real time, thus improve the controlling of the hydraulic unit driver with can
By property.
A kind of integrated hydraulic driver for robot proposed by the present invention compared with prior art, has with following
Beneficial effect：
1st, because the components such as nozzle-flapper servo valve, force snesor, displacement transducer are to be directly integrated in servoBcylinder
On, therefore, the integrated level of the hydraulic unit driver is high, and small volume is lightweight, and the connecting line between servo valve and servoBcylinder
Directly processed on servoBcylinder cylinder body, so that the pipeline not only overcome caused by non-integral valve-controlled cylinder connects
The failure such as head damage and leakage, and improve the dynamic response of robot motion.
2nd, because the detection of force snesor and displacement transducer is real-time, on the one hand, what can be returned by detection is real-time
Control parameter in deviation and adoption status feedback on-line amending controller, is finally input to nozzle flapper servo by control parameter
In valve, so as to reach desired control effect；On the other hand, the displacement returned will be gathered and force signal is input to load pressure and seen
Survey in device, the load pressure for the system of obtaining can be calculated, so as to provide condition for high-precision control；To sum up, the cooperation of two sensorses
Use the control performance and reliability for improving robot.
3rd, employ asymmetrical hydraulic cylinder structure, its servoBcylinder use for single rod hydraulic servo cylinder, in operating mode of the same race
Under the conditions of, compared to the driver of the double rod servoBcylinders of valve control, driver of the invention is exerted oneself more greatly, simultaneously as of the invention
The side rod of driver is eliminated, the structure of the driver is compacter, make it shorter in the size of length direction, so that
Its arrangement at joint of robot can be more flexible.
4th, the load pressure for the system of obtaining is calculated by design (calculated) load pressure observer and detection displacement and force signal indirectly
Power, eliminates two pressure sensors for detecting the cavity pressure of servoBcylinder two, so as to reach same control effect；Pressure
The omission of force snesor and the use of load pressure observer have not only reached the requirement of high-precision control, and cause the present invention
Hydraulic unit driver structure more simplify, volume further reduces.
Brief description of the drawings
Fig. 1 is hydraulic unit driver three-dimensional installation diagram.
Fig. 2 is hydraulic unit driver Standard figure.
Fig. 3 is servoBcylinder cylinder body top view.
Fig. 4 is servoBcylinder cylinder body left view.
Fig. 5 for Fig. 2 A-A to sectional view.
Fig. 6 is hydraulic unit driver schematic diagram.
Fig. 7 is load pressure observer schematic diagram.
Fig. 8 is hydraulic unit driver position control method schematic diagram.
Fig. 9 is hydraulic unit driver force control method schematic diagram.
In figure：1- oil circuit contiguous blocks, 2- servoBcylinder cylinder bodies, 3- displacement transducers, 4- nozzle-flapper servo valves, 5- servoBcylinders
End cap, 6- force snesors, 7- spherical plain bearing rod end components, 8- runners C, 9- runner D, 10- servo cylinder piston rod, 11- runner E,
12- runners G, 13- fix the screwed hole of oil circuit contiguous block, 14- runners H, 15- runner J, 16- fixed nozzle swashplate servo valve
Screwed hole, 17- runners L, 18- runner M, 19- dowel hole, 20- runners N, 21- runner Q, 22- oil-feed runner R, 23- runner V,
24- oil return runner W, 25- runners Z.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
As shown in Figure 1-2, a kind of hydraulic unit driver for robot is by oil circuit contiguous block 1, servoBcylinder cylinder body 2, position
Displacement sensor 3, nozzle-flapper servo valve 4, servo cylinder end cap 5, force snesor 6, spherical plain bearing rod end component 7 and servoBcylinder piston
Bar 10 is constituted；Oil circuit contiguous block 1 and nozzle-flapper servo valve 4 are arranged on the top of servoBcylinder cylinder body 2, displacement transducer 3 side by side
Housing be fixed on servoBcylinder cylinder body 2, probe be fixed on the servo cylinder piston rod 10 with the homonymy of force snesor 6, power sensing
Device 6 is arranged on the front end of servo cylinder piston rod 10, and spherical plain bearing rod end component 7 is arranged on the front end of force snesor 6；
As figures 2-6, described servoBcylinder is asymmetric servo cylinder, is provided with thereon：Oil circuit contiguous block 1, displacement are passed
Sensor 3, nozzle-flapper servo valve 4, force snesor 6 and spherical plain bearing rod end component 7, servoBcylinder and the junction of oil circuit contiguous block 1
Cylinder body provided with radial flow path C8, runner H14, runner J15 and four fixed oil circuit contiguous blocks screwed hole 13, servoBcylinder and
The cylinder body of the junction of nozzle-flapper servo valve 4 is provided with radial flow path E11, runner G12, runner L17, runner M18, dowel hole
19 and the screwed hole 16 of four fixed nozzle swashplate servo valves, servoBcylinder is provided with axle in the cylinder body of the side of oil circuit contiguous block 1
To runner D9, runner N20 and runner Q21, runner D9 is communicated with runner C8 and runner E11 respectively, runner N20 respectively with runner
J15 and runner M18 are communicated, and runner Q21 is communicated with runner H14 and runner L17 respectively；Offered side by side on oil circuit contiguous block 1：Water
Put down to oil-feed runner R22 and oil return runner W24, vertically to runner V23 and runner Z25, oil-feed runner R22 and runner V23 are communicated,
Oil return runner W24 and runner Z25 are communicated；The runner V23 of oil circuit contiguous block is connected with servoBcylinder cylinder body 2 runner J15, oil circuit
The runner Z25 of contiguous block is connected with the runner H14 on servoBcylinder cylinder body；The oil inlet P of nozzle-flapper servo valve 4 and servoBcylinder cylinder
Radial flow path M18 connections on body 2, oil-out T is connected with radial flow path L17, and control port A is connected with radial flow path E11, control
Liquefaction mouthful B is connected with radial flow path G12.
As shown in fig. 7, described load pressure observer is by detecting that servoBcylinder output displacement and force signal obtain come indirect
To load pressure.First, it is input to by the signal detected by displacement transducer and force snesor in discriminant function, by judging
Function obtains the flow direction that force snesor detects signal；Then the pressure of the chamber of servoBcylinder two is obtained, finally, by the cavity pressure of servoBcylinder two
Subtract each other the load pressure for obtaining system.
As shown in figs. 7-9, without external interference ideally, the input quantity that the output quantity of servoBcylinder should be with system
It is equal.But when system is by outer interference, the output quantity of servoBcylinder is just equal no longer with the input quantity of system, now it is accomplished by pair
Departure is detected and eliminated to reach the desired input quantity of system.Displacement transducer 3 and force snesor 6 can be to servoBcylinders
Output displacement and force signal detected, by and system input quantity be compared after obtain deviation, controller passes through anti-interference
Control algolithm (control algolithm is using displacement, force signal and load pressure as input) and system deviation obtain control Nozzle flapper valve
Spool displacement signal, be finally completed the correction to deviation so that servoBcylinder output equal to system input.Controlled more than
Mode processed, it is possible to achieve the position-force control of integrated hydraulic driver and power closed-loop control.As shown in figure 8, when using position
When putting closed-loop control, displacement transducer detects servoBcylinder output displacement in real time, and is compared with system input displacement and realizes position
Closed-loop control is put, now, force snesor can detect the stressing conditions of hydraulic unit driver in real time, the displacement that sensor is detected,
Force signal is input to the load pressure for obtaining system in load pressure observer through internal load pressure control algorithm, and controller leads to
Exertin disturbance rejection control algorithm (control algolithm is using displacement, force signal and load pressure as input) and system deviation obtain control spray
The spool displacement signal of mouth flapper valve, is finally completed the correction to position deviation so that the output displacement of servoBcylinder is equal to system
Input displacement, using the control strategy can significantly cut down power interference to servoBcylinder output displacement precision and the influence of response；Such as
Shown in Fig. 9, when using power closed-loop control, force snesor detects servoBcylinder power output in real time, and is compared with system input power
Power closed-loop control is relatively realized, now, displacement transducer can detect the movement position of hydraulic unit driver in real time, and sensor is detected
Displacement, force signal be input to the load pressure for obtaining system in load pressure observer through internal load pressure control algorithm,
Controller passes through position disturbance rejection control algorithm (control algolithm is using displacement, force signal and load pressure as input) and system deviation
The spool displacement signal of control Nozzle flapper valve is obtained, the correction to power deviation is finally completed so that power output of servoBcylinder etc.
In the input power of system, Position disturbance can significantly be cut down to servoBcylinder power output precision and the shadow of response using the control strategy
Ring.Examined because displacement transducer 3 and force snesor 6 can carry out real-time and high accuracy to the output displacement and power output of servoBcylinder
Survey, so the controllability and control accuracy of the hydraulic unit driver are high.
The workflow of the present invention is as follows：
(1) hydraulic unit driver stretches out motion (servo cylinder piston rod stretches out motion)
Oil-feed：System fluid is through the runner R22 on inflow pipeline and oil circuit contiguous block 1 and runner V23 (itself and servoBcylinder cylinder
The runner J15 of body is corresponding) the runner J15 that flows into servoBcylinder cylinder body 2, through the runner N20 and runner M18 in servoBcylinder cylinder body
(it is corresponding with the oil inlet P of nozzle-flapper servo valve 4) enters servo valve oil inlet P, by nozzle-flapper servo valve 4
Runner E11 (its control oil with nozzle-flapper servo valve 4 flowed into again in servoBcylinder cylinder body from its control port A after portion's runner
Mouth A is corresponding), after runner D9 and runner C8 in servoBcylinder cylinder body, eventually enter into the left chamber of servoBcylinder.(the runner of process
Sequentially it is：System inflow pipeline → runner R22 → runner V23 → runner J15 → runner N20 → runner M18 → servo valve oil-feed
Mouth P → servo valve control hydraulic fluid port A → runner E11 → runner D9 → runner C8 → servoBcylinder left chamber)
Oil return：Runner G12 (itself and nozzle flapper servo that fluid is exited into servoBcylinder cylinder body by the right chamber of servoBcylinder
The control port B of valve 4 is corresponding) the control port B of flow nozzle swashplate servo valve 4 afterwards, after the inner flow passage of servo valve, from
The oil return inlet T outflow servo valve of nozzle-flapper servo valve 4, then flow into servoBcylinder cylinder body runner L17 (itself and nozzle-flapper servo valve
4 oil return inlet T is corresponding), the runner Z25 of oil circuit contiguous block 1 is flowed into by the runner Q21 in servoBcylinder cylinder body and runner H14
(it is corresponding with the runner 14 in servoBcylinder cylinder body), most flows back to oil returning tube through the runner W24 in oil circuit contiguous block 1 afterwards, from
And complete the stretching campaign of hydraulic unit driver.(process runner order be：ServoBcylinder right chamber → runner G12 → servo valve control
Hydraulic fluid port B → servo valve oil return inlet T → runner L17 → runner Q21 → runner H14 → runner Z25 → runner W24 → oil returning tube)
(2) hydraulic unit driver retraction movement (servo cylinder piston rod retraction movement)
Oil-feed：System fluid is through the runner R22 on inflow pipeline and oil circuit contiguous block 1 and runner V23 (itself and servoBcylinder cylinder
The runner J15 of body is corresponding) flow into servoBcylinder cylinder body in runner J15, through the runner N20 and runner M18 in servoBcylinder cylinder body
(it is corresponding with the oil inlet P of nozzle-flapper servo valve 4) enters servo valve oil inlet P, by nozzle-flapper servo valve 4
Runner G12 (its control oil with nozzle-flapper servo valve 4 flowed into again in servoBcylinder cylinder body from its control port B after portion's runner
Mouth B is corresponding), and eventually enter into the right chamber of servoBcylinder.(process runner order be：System inflow pipeline → runner R22 → stream
Road V23 → runner J15 → runner N20 → runner M18 → servo valve oil inlet P → servo valve control hydraulic fluid port B → runner G12 → is watched
Take cylinder right chamber)
Oil return：Runner C8, runner D9 and runner E11 that fluid is exited into servoBcylinder cylinder body by the left chamber of servoBcylinder
The control port A of (it is corresponding with the control port A of nozzle-flapper servo valve 4) flow nozzle swashplate servo valve 4 afterwards, through servo
After the inner flow passage of valve, servo valve is flowed out from the oil return inlet T of nozzle-flapper servo valve 4, then flow into servoBcylinder cylinder body runner L17
(it is corresponding with the oil return inlet T of nozzle-flapper servo valve 4), oil is flowed into by the runner Q21 in servoBcylinder cylinder body and runner H14
The runner Z25 (it is corresponding with the runner H14 in servoBcylinder cylinder body) of road contiguous block 1, most afterwards through the runner in oil circuit contiguous block 1
W24 flows back to oil returning tube, so as to complete the retraction movement of hydraulic unit driver.(process runner order be：ServoBcylinder left chamber → stream
Road C8 → runner D9 → runner E11 → servo valve control hydraulic fluid port A → servo valve oil return inlet T → runner L17 → runner Q21 → runner
H14 → runner Z25 → runner W24 → oil returning tube).
Claims (3)
1. a kind of integrated hydraulic driver for robot, including servoBcylinder, oil circuit contiguous block, nozzle-flapper servo valve,
Displacement transducer, force snesor, nozzle-flapper servo valve and oil circuit contiguous block are arranged on the cylinder body top of servoBcylinder, and its feature exists
In：
Described servoBcylinder is asymmetric servo cylinder, and servoBcylinder is provided with the runner of radial direction with the cylinder body of oil circuit contiguous block junction
The screwed hole of the fixed oil circuit contiguous block of C, runner H, runner J and four, servoBcylinder and the cylinder body of nozzle-flapper servo valve junction
The screwed hole of runner E, runner G, runner L, runner M, dowel hole and four fixed nozzle swashplate servo valves provided with radial direction,
ServoBcylinder in the cylinder body of oil circuit contiguous block side provided with axial direction runner D, runner N and runner Q, runner D respectively with runner C
Communicated with runner E, runner N is communicated with runner J and runner M respectively, runner Q is communicated with runner H and runner L respectively；
Offered side by side on described oil circuit contiguous block：Horizontal direction oil-feed runner R and oil return runner W, vertically to runner V and
Runner Z, oil-feed runner R and runner V are communicated, and oil return runner W and runner Z are communicated；Runner V and servoBcylinder cylinder on oil circuit contiguous block
Runner Z on runner J connections on body, oil circuit contiguous block is connected with the runner H on servoBcylinder cylinder body；
Described nozzle-flapper servo valve is provided with oil inlet P, control port A, control port B and oil return inlet T；
Described force snesor is arranged on servo cylinder piston rod front end, and the housing of described displacement transducer is fixed on servoBcylinder cylinder
On body, probe is fixed on the servo cylinder piston rod with force snesor homonymy, and the servo cylinder piston rod can be stretched out or be contracted
Backhaul dynamic；
The stretching campaign of the servo cylinder piston rod：During oil-feed, system fluid is through the oil-feed on inflow pipeline and oil circuit contiguous block
The runner J that runner R and runner V is flowed into servoBcylinder cylinder body, enters nozzle flapper through the runner N and runner M in servoBcylinder cylinder body
The oil inlet P of servo valve, after the inner flow passage of nozzle-flapper servo valve, servoBcylinder cylinder body is flowed into from its control port A again
Interior runner E11, after runner D9 and runner C8 in servoBcylinder cylinder body, eventually enters into the left chamber of servoBcylinder；During oil return, system
Fluid is exited into the control port B of flow nozzle swashplate servo valve after the runner G in servoBcylinder cylinder body by the right chamber of servoBcylinder,
After the inner flow passage of nozzle-flapper servo valve, from the oil return inlet T mass flowing nozzle swashplate servo valve of nozzle-flapper servo valve, then flow
Enter servoBcylinder cylinder body runner L, the runner Z of oil circuit contiguous block is flowed into by the runner Q in servoBcylinder cylinder body and runner H, is most passed through afterwards
Oil return runner W in oil circuit contiguous block flows back to oil returning tube；
The retraction movement of the servo cylinder piston rod：During oil-feed, system fluid is through the oil-feed on inflow pipeline and oil circuit contiguous block
The runner J that runner R and runner V is flowed into servoBcylinder cylinder body, enters nozzle flapper through the runner N and runner M in servoBcylinder cylinder body
Servo valve oil inlet P, after the inner flow passage of nozzle-flapper servo valve, is flowed into servoBcylinder cylinder body again from its control port B
Runner G, and eventually enter into the right chamber of servoBcylinder；When oil return, fluid exits into servoBcylinder cylinder body by the left chamber of servoBcylinder
The control port A of flow nozzle swashplate servo valve, the inside through nozzle-flapper servo valve after interior runner C, runner D and runner E
After runner, from the oil return inlet T mass flowing nozzle swashplate servo valve of nozzle-flapper servo valve, then servoBcylinder cylinder body runner L is flowed into, passed through
Runner Q and runner H in servoBcylinder cylinder body flow into the runner Z of oil circuit contiguous block, most afterwards through the oil return runner W in oil circuit contiguous block
Flow back to oil returning tube.
2. the control method of a kind of integrated hydraulic driver for robot, it is characterised in that comprise the following steps：
(1) displacement and force signal that displacement transducer and force snesor are exported to servoBcylinder are detected, by defeated with system
Enter after amount is compared and obtain deviation；
(2) displacement and force signal of the load pressure observer by input, control system is obtained through internal load pressure control algorithm
The load pressure of system；
(3) controller obtains the spool displacement signal for controlling Nozzle flapper valve by disturbance rejection control algorithm and system deviation, finally
Complete the correction to above-mentioned deviation so that input of the output equal to system of servoBcylinder.
3. a kind of control method of integrated hydraulic driver for robot according to right wants 2, wherein step (2)
Described in load pressure control algolithm, specific algorithm is as follows：
When servo cylinder piston rod stretches out,
When servo cylinder piston rod is retracted,
Load pressure is：pL=| p1-p2|
In formula, p1For servoBcylinder left chamber pressure, A1For servoBcylinder left chamber area, p2For servoBcylinder right chamber pressure, A2It is right for servoBcylinder
Cavity area, F is that force snesor detects power, n=A2/A1, psFor system pressure, pLFor load pressure.
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