CN108591137A - A kind of novel robot hydraulic knuckle drive system - Google Patents
A kind of novel robot hydraulic knuckle drive system Download PDFInfo
- Publication number
- CN108591137A CN108591137A CN201810764885.0A CN201810764885A CN108591137A CN 108591137 A CN108591137 A CN 108591137A CN 201810764885 A CN201810764885 A CN 201810764885A CN 108591137 A CN108591137 A CN 108591137A
- Authority
- CN
- China
- Prior art keywords
- valve
- drive system
- line
- hydraulic pump
- pressure accumulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/021—Installations or systems with accumulators used for damping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
- F15B2013/0448—Actuation by solenoid and permanent magnet
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Manipulator (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of novel robot hydraulic knuckle drive systems, including motor, hydraulic pump and two-way ram bar cylinder, the motor is connect with hydraulic pump, it is in parallel between the hydraulic pump and two-way ram bar cylinder to be formed with in-line and oil return line, on the in-line the first high-voltage energy-storage mechanism is disposed with from hydraulic pump to two-way ram bar cylinder, second high-voltage energy-storage mechanism and the first proportioning valve or the first servo valve, first high-voltage energy-storage mechanism includes forming first check valve and the first high pressure accumulator in the first circuit, first circuit is connected to by the first three-position four-way electromagnetic directional valve with in-line, second high-voltage energy-storage mechanism includes forming the second check valve and the second high pressure accumulator of second servo loop, the second servo loop is connected to by the second three-position four-way electromagnetic directional valve with in-line.The present invention solves the problems, such as that existing fluid power system energy loss is big.
Description
Technical field
The present invention relates to drive system of robot technical fields, and in particular to a kind of novel robot hydraulic knuckle driving system
System.
Background technology
The drive system of industrial robot can be divided into hydraulic pressure, pneumatic, electronic three categories by driving force, as needed also can be by
The drive system for the combined type that these three fundamental types are combined into.
Electric drive system：The widely used servo motor of electricity Qu robots is as power source, in each joint by servo
Motor drives its movement.Since (AC converter, DC pulse are wide for AC and DC servo motor and its mating servo-driver
Spend modulator) it is widely used, this kind of drive system is largely selected in robot.This kind of system accuracy is high, rigid
It is good, bearing capacity is strong, but electricity Qu robots are in driving capability, volume structure etc. Shortcomings, due to being limited to motor
Driving force, heavy load generally use in joint and improve driving moment with speed reducer, and it is huge i.e. to result in robot volume structure
Power of motor/weight ratio is small；Each joint of robot belongs to pure rigidity by engagements such as gear reducer, gears and links simultaneously, fast
Larger rigid shock is easy tod produce when speed starts or stops, it is poor to act smooth row, does not have cushion performance.
Pneumatic drive system：Pneumatic drive system is widely used at shutdown generally using the air of compression as power source
Telescopic or rotating cylinder is as power executive component；It is good that pneumatic device typically is provided with preferable cushion performance i.e. compliance,
Its power/weight ratio is substantially less than electric drive system simultaneously, and acts smooth；But its driving load capacity is limited, cylinder scaling fortune
It is dynamic to be influenced significantly, to lead to unstability by external world's load and impact.
Fluid power system electricity relatively drives its unique advantage with pneumatic actuation and is：Its power density of hydraulic system is high, tool
Standby larger driving force and prompt explosion power is big, particularly suitable for heavy duty situation；Its layout structure relative compact simultaneously so that
Appearance and size is relatively small；Hydraulic system has self-lubricating property, impact resistance, vibration resistance, this feature is the rigid machine such as electricity drive
Not available for tool structure；It is provided simultaneously with flexible variable speed and overload protection etc..Hydraulic-driven has its own to limit item
Part：Energy conversion is carried out, speed control uses throttle grverning in most cases, and energy loss is big, utilization rate is low.
Invention content
The purpose of the present invention is to provide a kind of novel robot hydraulic knuckle drive systems, solve existing hydraulic-driven system
The big problem of energy loss of uniting, while meeting phase response speed.
The present invention is achieved through the following technical solutions：
A kind of novel robot hydraulic knuckle drive system, including motor, hydraulic pump and two-way ram bar cylinder, the electricity
Machine is connect with hydraulic pump, in parallel between the hydraulic pump and two-way ram bar cylinder to be formed with in-line and oil return line, it is described into
The first high-voltage energy-storage mechanism, the second high-voltage energy-storage mechanism and are disposed on oil circuit from hydraulic pump to two-way ram bar cylinder
One proportioning valve or the first servo valve, first high-voltage energy-storage mechanism include forming first check valve in the first circuit and first high
Accumulator, first circuit is pressed to be connected to in-line by the first three-position four-way electromagnetic directional valve, second high-voltage energy-storage
Mechanism includes forming the second check valve and the second high pressure accumulator of second servo loop, and the second servo loop passes through the second 3-position 4-way
Solenoid directional control valve is connected to in-line.
The characteristics of demand of robot proposes higher requirement, including response speed, control essence to its joint drive system
Degree, anti-interference ability and power density etc., especially propose high requirement to high power density.
Robot hydraulic knuckle has many advantages, such as that driving force is big, response is fast and adaptation impact capacity is strong, main using quantitative
Servo (ratio) control system, big, the big deficiency low with gross efficiency of restriction loss with spill losses.In order to ensure drive system
Response speed, improve fluid power system power density, the present invention combination hydraulic energy-accumulating and ratio control etc. thinkings, proposition
A kind of novel robot hydraulic knuckle drive system.
Drive system of the present invention includes 2 accumulating mechanisms, respectively the first high-voltage energy-storage mechanism, the second high-voltage energy-storage
Mechanism, it is preferable that more than 2 accumulating mechanisms can also be arranged in drive system, and the present invention is watched using the first proportioning valve or first
Take the control that valve carries out oil mass.
The operation principle of the present invention：
Before robot motion, using hydraulic pump, to one of accumulator, (the first high pressure accumulator or the first high pressure store
Energy device) filling liquid.When filling night, three-position four-way electromagnetic directional valve (the first three-position four-way electromagnetic directional valve or the second 3-position 4-way electromagnetism
Reversal valve) it is in left position (left side of diagram).
When robot motion, the high pressure accumulator (the first high pressure accumulator or the first high pressure accumulator) after the completion of filling liquid is released
It drains the oil liquid, three-position four-way electromagnetic directional valve (the first three-position four-way electromagnetic directional valve or the second three-position four-way electromagnetic directional valve) is in
Right position (right side of diagram).Fluid flow avoids spill losses by the first servo valve or the first proportional valve control.Wherein one
When a accumulator release fluid, another accumulator is by hydraulic pump filling liquid, and after the completion of filling liquid, hydraulic pump off-load or motor stop
Turn so as to energy saving.By the alternating filling liquid of accumulator and tapping, ensure the normal feed flow of system, while hydraulic knuckle being driven to transport
It is dynamic.System pressure is stablized when hydraulic pump filling liquid, is not influenced by robot motion's operating mode so that power of motor is stable, it is big to avoid
Current discharge, the two-way ram bar cylinder are actuator, can drive hydraulic articulation.
Drive system of the present invention by be arranged two high pressure accumulators, two high pressure accumulators alternately filling liquid and
Tapping, ensures the normal feed flow of system, while driving hydraulic articulation.System pressure is stablized when press pump filling liquid, not by machine
People moves the influence of operating mode so that power of motor is stable, avoids being large current discharge, and can effectively avoid energy loss, also, adopt
With fluid flow by the first servo valve or the first proportional valve control, spill losses is avoided.
Drive system of the present invention is compared with common joints hydraulic system, discharge capacity smaller, the power of motor smaller of pump, from
And make drive system energy consumption lower.
Meanwhile the drive system is invented since drive system power reduces, executive component oil return power loss reduces simultaneously
And avoid the spill losses of system, therefore the heat loss of fluid power system substantially reduces, and can cancel radiator, reduce at
Originally complete machine power density, is improved.
Further, the first circuit further includes the first booster, and first booster is arranged in the first high pressure accumulator
Rear end.
For rear end of the present invention is the flow direction of opposite liquid oil.
The present invention on the first circuit by being arranged the first booster, it can be ensured that the efficient release energy of the first high-voltage energy-storage
Amount.
Further, second servo loop further includes the second booster, and second booster is arranged in the second high pressure accumulator
Rear end.
For rear end of the present invention is the flow direction of opposite liquid oil.
The present invention on second servo loop by being arranged the second booster, it can be ensured that the efficient release energy of the second high-voltage energy-storage
Amount.
Further, the second proportioning valve or the second servo valve are provided on oil return line.
I.e. the present invention is using double proportioning valves (servo valve)：It (is watched instead of digital ratio equation valve using double proportioning valves (servo valve)
Take valve), it realizes independent flow control, avoids double throttle loss of the digital ratio equation valve on inlet and outlet of fuel channel, further increase driving
The working efficiency of system.Independent flow control uses oil return line fuel-saving control so that joint of robot has during the motion
Hydraulic damping is so that movement is more steady.(when speed governing, the first proportioning valve opening is maximum, is open and is adjusted using the second proportioning valve
Section carries out flow control.)
Further, low pressure accumulator, the two-way ram bar cylinder and the first proportioning valve or are provided on oil return line
One servo valve is provided with three position four-way directional control valve.
The advantages of present invention setting low pressure accumulator, is：If robot by load shock, leads to during the motion
It crosses oil circuit switching and can be absorbed with low pressure accumulator and impacted.In braking process, high pressure accumulator recoverer partite transport can be passed through
Energy.
Specifically：
Absorb impact process：During the motion, three position four-way directional control valve is operated in bottom, two-way ram for robot
Bar cylinder moves downward, and in the process if loading unstable or receiving rigid impact, can cause under two-way ram bar cylinder
End pressure will produce fluctuation, the low pressure accumulator communicated with this can absorption pressure fluctuation, maintain the pressure stability of entire oil circuit,
The impact endurance test shock caused by outside is absorbed to a certain extent.
The process of recovery section kinergety：Recycling movement can recycle in braking process, in braking, double cropping
It is compressed with the lower part oil pocket of piston rod cylinder and pressure is higher provides brake force with this, three position four-way directional control valve works in braking
Upper, the high pressure oil of two-way ram bar cylinder lower part is set via first the first servo valve of proportioning valve flows into high pressure accumulator (
One high-voltage energy-storage or the second high-voltage energy-storage) energy regenerating is carried out, while low pressure accumulator is capable of providing oil return line and double acting
The fuel feeding on piston rod cylinder top.
Further, pilot-type relief valve is provided between in-line and oil return line.
The setting of the pilot-type relief valve can ensure system safety, prevent hypertonia.
Specifically, when the oil outlet pressure of hydraulic pump reaches the set pressure of pilot operated compound relief valve, pilot operated compound relief valve
It is in running order to be connected so that the outlet pressure of hydraulic pump maintains set pressure and do not continue to rise, and plays safety valve
Effect.
Compared with prior art, the present invention having the following advantages and advantages：
1, drive system of the present invention is compared with common joints hydraulic system, discharge capacity smaller, the power of motor smaller of pump,
So that drive system energy consumption is lower, energy loss can be effectively avoided.
2, the present invention replaces digital ratio equation valve (servo valve) using double proportioning valves (servo valve), realizes independent flow control, keeps away
Exempt from double throttle loss of the digital ratio equation valve on inlet and outlet of fuel channel, further increases the working efficiency of drive system.Independent flow control
System uses oil return line fuel-saving control so that joint of robot has hydraulic damping during the motion so that movement is more flat
Surely
3, the present invention is since drive system power reduces, executive component oil return power loss reduces and avoids system
Spill losses, therefore the heat loss of fluid power system substantially reduces, and can cancel radiator, reduces cost, improves complete machine work(
Rate density.
Description of the drawings
Attached drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of robot hydraulic knuckle drive system.
Label and corresponding parts title in attached drawing：
1- motors, 2- hydraulic pumps, 3- pilot-type relief valves, the first three-position four-way electromagnetic directional valves of 4-, the first check valves of 5-,
The first high pressure accumulators of 6-, the first boosters of 7-, the second check valves of 8-, the second high pressure accumulators of 9-, the second boosters of 10-, 11-
Second three-position four-way electromagnetic directional valve, the first proportioning valves of 12-, 13- two-way ram bar cylinders, the second proportioning valves of 14-, 15- low pressure
Accumulator, 16- three position four-way directional control valves.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment 1：
As shown in Figure 1, a kind of novel robot hydraulic knuckle drive system, including motor 1, hydraulic pump 2 and double acting are lived
Stopper rod cylinder 13, the motor 1 are connect with hydraulic pump 2, between the hydraulic pump 2 and two-way ram bar cylinder 13 it is in parallel be formed with into
Oil circuit and oil return line are disposed with the first high-voltage energy-storage machine on the in-line from hydraulic pump 2 to two-way ram bar cylinder 13
Structure, the second high-voltage energy-storage mechanism and the first proportioning valve 12 or the first servo valve, first high-voltage energy-storage mechanism include forming the
The first check valve 5 and the first high pressure accumulator 6 of primary Ioops, first circuit passes through the first three-position four-way electromagnetic directional valve 4
It is connected to in-line, second high-voltage energy-storage mechanism includes forming the second check valve 8 and the second high-voltage energy-storage of second servo loop
Device 9, the second servo loop are connected to by the second three-position four-way electromagnetic directional valve 11 with in-line.
Embodiment 2：
As shown in Figure 1, the present embodiment is based on embodiment 1, first circuit further includes the first booster 7, described first
Booster 7 is arranged in 6 rear end of the first high pressure accumulator, and the second servo loop further includes the second booster 10, second supercharging
Device 10 is arranged in 9 rear end of the second high pressure accumulator.
Embodiment 3：
As shown in Figure 1, the present embodiment is based on embodiment 1 or embodiment 2, the second proportioning valve 14 is provided on the oil return line
Or second servo valve.
Embodiment 4：
As shown in Figure 1, the present embodiment is based on embodiment 3, low pressure accumulator 15, the double cropping are provided on the oil return line
Piston rod cylinder 13 and the first proportioning valve 12 or the first servo valve are provided with three position four-way directional control valve 16, the in-line and oil return
Pilot-type relief valve 3 is provided between road.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not intended to limit the present invention
Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of novel robot hydraulic knuckle drive system, including motor (1), hydraulic pump (2) and two-way ram bar cylinder
(13), the motor (1) connect with hydraulic pump (2), in parallel between the hydraulic pump (2) and two-way ram bar cylinder (13) to be formed
There are in-line and oil return line, which is characterized in that set successively from hydraulic pump (2) to two-way ram bar cylinder (13) on the in-line
It is equipped with the first high-voltage energy-storage mechanism, the second high-voltage energy-storage mechanism and the first proportioning valve (12) or the first servo valve, described first is high
It includes the first check valve (5) and the first high pressure accumulator (6) to form the first circuit to press accumulating mechanism, and first circuit passes through
First three-position four-way electromagnetic directional valve (4) is connected to in-line, and second high-voltage energy-storage mechanism includes forming second servo loop
Second check valve (8) and the second high pressure accumulator (9), the second servo loop by the second three-position four-way electromagnetic directional valve (11) with
In-line is connected to.
2. a kind of novel robot hydraulic knuckle drive system according to claim 1, which is characterized in that described first time
Road further includes the first booster (7), and first booster (7) is arranged in the first high pressure accumulator (6) rear end.
3. a kind of novel robot hydraulic knuckle drive system according to claim 1, which is characterized in that described second time
Road further includes the second booster (10), and second booster (10) is arranged in the second high pressure accumulator (9) rear end.
4. a kind of novel robot hydraulic knuckle drive system according to claim 1, which is characterized in that the oil return line
On be provided with the second proportioning valve (14) or the second servo valve.
5. a kind of novel robot hydraulic knuckle drive system according to claim 1, which is characterized in that the oil return line
On be provided with low pressure accumulator (15), the two-way ram bar cylinder (13) is arranged with the first proportioning valve (12) or the first servo valve
There is three position four-way directional control valve (16).
6. a kind of novel robot hydraulic knuckle drive system according to any one of claims 1 to 5, which is characterized in that
Pilot-type relief valve (3) is provided between the in-line and oil return line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810764885.0A CN108591137A (en) | 2018-07-12 | 2018-07-12 | A kind of novel robot hydraulic knuckle drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810764885.0A CN108591137A (en) | 2018-07-12 | 2018-07-12 | A kind of novel robot hydraulic knuckle drive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108591137A true CN108591137A (en) | 2018-09-28 |
Family
ID=63617435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810764885.0A Pending CN108591137A (en) | 2018-07-12 | 2018-07-12 | A kind of novel robot hydraulic knuckle drive system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108591137A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506905A (en) * | 2018-10-31 | 2019-03-22 | 西南交通大学 | A kind of electro-hydraulic testing stand |
| CN109745159A (en) * | 2019-01-21 | 2019-05-14 | 北京航空航天大学 | A kind of ankle-joint artificial limb hydraulic drive circuit for realizing damping control and energy regenerating |
| CN110685975A (en) * | 2019-09-24 | 2020-01-14 | 华中科技大学 | High-power-density hydraulic power output system of mobile robot |
| CN111828411A (en) * | 2020-07-24 | 2020-10-27 | 中国人民解放军陆军装甲兵学院 | Hydraulic system based on two-stage energy supply and independent valve control of load port and control method |
| CN111846003A (en) * | 2020-06-19 | 2020-10-30 | 浙江大学 | Multi-foot walking robot and hydraulic drive system for leg flexion and extension and control method thereof |
| CN111980991A (en) * | 2020-07-28 | 2020-11-24 | 保定北奥石油物探特种车辆制造有限公司 | Pressure impact protection device of hydraulic servo harmonic vibrator |
| CN112096679A (en) * | 2020-09-04 | 2020-12-18 | 张雅荣 | Robot hydraulic pump control device |
| CN112460085A (en) * | 2020-12-09 | 2021-03-09 | 北京理工大学重庆创新中心 | Wheel-leg robot and leg joint driving device thereof |
| CN115898990A (en) * | 2023-01-05 | 2023-04-04 | 中国人民解放军国防科技大学 | Bionic joint driving hydraulic system |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109398A (en) * | 2007-08-01 | 2008-01-23 | 太原理工大学 | Independent control electrohydraulic system of oil inlet and outlet with pump valve composite flux matched |
| CN101865184A (en) * | 2009-04-14 | 2010-10-20 | 上海汇益液压控制系统工程有限公司 | Direct-drive redundant hydraulic system for servomotor |
| CN202091298U (en) * | 2011-05-15 | 2011-12-28 | 浙江大学 | Bulk flow and high frequency response electrohydraulic vibrating device based on parallel connection of servo valves |
| CN103807223A (en) * | 2014-02-10 | 2014-05-21 | 太原理工大学 | One-hydraulic-motor double-loop control system |
| CN104963904A (en) * | 2015-06-26 | 2015-10-07 | 湖北航天技术研究院总体设计所 | Integrated electro-hydraulic servo driver hydraulic system |
| CN105485080A (en) * | 2014-09-24 | 2016-04-13 | 中联重科股份有限公司 | Rotary motor control system and control method thereof |
| CN106246615A (en) * | 2016-09-21 | 2016-12-21 | 武汉理工大学 | A kind of high-pressure high-flow quickly responds hydraulic circuit |
| CN206071790U (en) * | 2016-09-27 | 2017-04-05 | 桂林航天工业学院 | A kind of compound hydraulic drive type wave energy generating set |
| CN106939909A (en) * | 2017-05-10 | 2017-07-11 | 吉林大学 | A kind of hydraulic auxiliary driving system of integrated hydraulic starter |
| CN107013534A (en) * | 2017-04-27 | 2017-08-04 | 机械科学研究院哈尔滨焊接研究所 | Aero-engine key component inertia friction welder fluid power system |
| CN107288941A (en) * | 2017-07-25 | 2017-10-24 | 北京航空航天大学 | A kind of micro hydraulic drive system for ankle-joint artificial limb |
| US9879700B1 (en) * | 2014-07-22 | 2018-01-30 | Boston Dynamics, Inc. | Robotic hydraulic system |
| CN107917120A (en) * | 2017-11-03 | 2018-04-17 | 北京天地玛珂电液控制系统有限公司 | A kind of type pilot solenoid directional control valve |
| CN208456935U (en) * | 2018-07-12 | 2019-02-01 | 西南交通大学 | A kind of novel robot hydraulic knuckle drive system |
-
2018
- 2018-07-12 CN CN201810764885.0A patent/CN108591137A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109398A (en) * | 2007-08-01 | 2008-01-23 | 太原理工大学 | Independent control electrohydraulic system of oil inlet and outlet with pump valve composite flux matched |
| CN101865184A (en) * | 2009-04-14 | 2010-10-20 | 上海汇益液压控制系统工程有限公司 | Direct-drive redundant hydraulic system for servomotor |
| CN202091298U (en) * | 2011-05-15 | 2011-12-28 | 浙江大学 | Bulk flow and high frequency response electrohydraulic vibrating device based on parallel connection of servo valves |
| CN103807223A (en) * | 2014-02-10 | 2014-05-21 | 太原理工大学 | One-hydraulic-motor double-loop control system |
| US9879700B1 (en) * | 2014-07-22 | 2018-01-30 | Boston Dynamics, Inc. | Robotic hydraulic system |
| CN105485080A (en) * | 2014-09-24 | 2016-04-13 | 中联重科股份有限公司 | Rotary motor control system and control method thereof |
| CN104963904A (en) * | 2015-06-26 | 2015-10-07 | 湖北航天技术研究院总体设计所 | Integrated electro-hydraulic servo driver hydraulic system |
| CN106246615A (en) * | 2016-09-21 | 2016-12-21 | 武汉理工大学 | A kind of high-pressure high-flow quickly responds hydraulic circuit |
| CN206071790U (en) * | 2016-09-27 | 2017-04-05 | 桂林航天工业学院 | A kind of compound hydraulic drive type wave energy generating set |
| CN107013534A (en) * | 2017-04-27 | 2017-08-04 | 机械科学研究院哈尔滨焊接研究所 | Aero-engine key component inertia friction welder fluid power system |
| CN106939909A (en) * | 2017-05-10 | 2017-07-11 | 吉林大学 | A kind of hydraulic auxiliary driving system of integrated hydraulic starter |
| CN107288941A (en) * | 2017-07-25 | 2017-10-24 | 北京航空航天大学 | A kind of micro hydraulic drive system for ankle-joint artificial limb |
| CN107917120A (en) * | 2017-11-03 | 2018-04-17 | 北京天地玛珂电液控制系统有限公司 | A kind of type pilot solenoid directional control valve |
| CN208456935U (en) * | 2018-07-12 | 2019-02-01 | 西南交通大学 | A kind of novel robot hydraulic knuckle drive system |
Non-Patent Citations (1)
| Title |
|---|
| 宋锦春: "现代液压技术概论", vol. 1, 冶金工业出版社, pages: 81 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506905A (en) * | 2018-10-31 | 2019-03-22 | 西南交通大学 | A kind of electro-hydraulic testing stand |
| CN109745159A (en) * | 2019-01-21 | 2019-05-14 | 北京航空航天大学 | A kind of ankle-joint artificial limb hydraulic drive circuit for realizing damping control and energy regenerating |
| CN110685975A (en) * | 2019-09-24 | 2020-01-14 | 华中科技大学 | High-power-density hydraulic power output system of mobile robot |
| CN111846003A (en) * | 2020-06-19 | 2020-10-30 | 浙江大学 | Multi-foot walking robot and hydraulic drive system for leg flexion and extension and control method thereof |
| CN111828411A (en) * | 2020-07-24 | 2020-10-27 | 中国人民解放军陆军装甲兵学院 | Hydraulic system based on two-stage energy supply and independent valve control of load port and control method |
| CN111828411B (en) * | 2020-07-24 | 2022-03-01 | 中国人民解放军陆军装甲兵学院 | Hydraulic system based on two-stage energy supply and independent valve control of load port and control method |
| CN111980991A (en) * | 2020-07-28 | 2020-11-24 | 保定北奥石油物探特种车辆制造有限公司 | Pressure impact protection device of hydraulic servo harmonic vibrator |
| CN112096679A (en) * | 2020-09-04 | 2020-12-18 | 张雅荣 | Robot hydraulic pump control device |
| CN112460085A (en) * | 2020-12-09 | 2021-03-09 | 北京理工大学重庆创新中心 | Wheel-leg robot and leg joint driving device thereof |
| CN115898990A (en) * | 2023-01-05 | 2023-04-04 | 中国人民解放军国防科技大学 | Bionic joint driving hydraulic system |
| CN115898990B (en) * | 2023-01-05 | 2023-05-23 | 中国人民解放军国防科技大学 | Bionic joint driving hydraulic system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108591137A (en) | A kind of novel robot hydraulic knuckle drive system | |
| CN101435451B (en) | Movable arm potential energy recovery method and apparatus of hydraulic excavator | |
| CN201769389U (en) | Hydraulic press | |
| CN101704336B (en) | Energy-saving hydraulic hybrid power system of loader | |
| CN108533544B (en) | Energy-saving loading system of pure electric compression type garbage truck | |
| CN201339206Y (en) | Movable arm potential energy recovery device of hybrid power hydraulic pressure excavating machine | |
| CN104452868B (en) | Double-hydraulic-cylinder mixed drive control system | |
| CN108591144B (en) | Hydraulic system of motor-driven double-dosing pump double-accumulator distributed direct-drive excavator | |
| CN208456935U (en) | A kind of novel robot hydraulic knuckle drive system | |
| CN103161190A (en) | Hybrid power full hydraulic loading machine hydraulic system based on pressure common rail system | |
| CN102588396A (en) | Oil cylinder energy recovery and regeneration system | |
| CN201506243U (en) | Hydro-electric composite energy storing device | |
| CN102883865A (en) | Method for operating a hybrid drive and hybrid drive | |
| CN108412825B (en) | Closed variable-speed pump control hydraulic system of pure electric compression type garbage truck loading equipment | |
| CN205618450U (en) | Hydraulic system divides fender energy storage ware energy recuperation device | |
| CN107700576A (en) | Hydraulic crawler excavator action potential recycling system | |
| CN208454429U (en) | Bypass type energy regeneration forklift hydraulic system | |
| CN111092515B (en) | Integrated electromechanical-hydraulic driving and energy storage integrated actuating device | |
| CN201786780U (en) | Control oil source system of hydraulic hybrid power energy converting unit | |
| CN202542790U (en) | Energy-saving forklift hydraulic system with energy recycling | |
| CN201169293Y (en) | Hydraulic steering lifting system | |
| CN111059089A (en) | Descending energy recovery system of empty container stacking machine | |
| CN104724165B (en) | Vehicle steering device, control method thereof and vehicle | |
| CN107503997B (en) | Back pressure and power matching hydraulic hybrid regulate and control double actuator systems | |
| CN206487722U (en) | Standby enclosed variable speed pump control hydraulic system is installed on a kind of pure electric compression type garbage truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |