CN110185671A - A kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding - Google Patents
A kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding Download PDFInfo
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- CN110185671A CN110185671A CN201910338370.9A CN201910338370A CN110185671A CN 110185671 A CN110185671 A CN 110185671A CN 201910338370 A CN201910338370 A CN 201910338370A CN 110185671 A CN110185671 A CN 110185671A
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- pressure oil
- servo valve
- pressure
- pump
- oil passage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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
-
- 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
- F15B13/027—Check valves
-
- 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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0807—Manifolds
-
- 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
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
-
- 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
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/042—Controlling the temperature of the fluid
- F15B21/0423—Cooling
-
- 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
- F15B3/00—Intensifiers or fluid-pressure converters, e.g. pressure exchangers; Conveying pressure from one fluid system to another, without contact between the fluids
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
- F15B2211/20592—Combinations of pumps for supplying high and low pressure
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31547—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having multiple pressure sources and multiple output members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention provides a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding, the system comprises: high-pressure pump, engine, medium lift pump, high-pressure oil passage servo valve, middle pressure oil road servo valve and hydraulic cylinder；The engine is connected with the high-pressure pump and medium pressure pump respectively；The high-pressure oil passage servo valve and medium pressure oil circuit parallel connection of servo valves are connected on the hydraulic cylinder；The oil inlet of the oil outlet of the high-pressure pump and the high-pressure oil passage servo valve connects and composes high-pressure oil passage；The oil outlet of medium pressure pump and the oil inlet of medium pressure oil circuit servo valve connect and compose middle pressure oil road；The output pressure that wherein high-pressure pump provides is greater than the output pressure that medium pressure pump provides.The hydraulic oil source that the present invention can provide two kinds of pressure simultaneously is selected for quadruped robot joint fluid cylinder pressure, is preferably matched the joint loads characteristic in quadruped robot walking process, is significantly improved the efficiency of quadruped robot hydraulic power system.
Description
Technical field
The present invention relates to hydraulic power systems, and in particular to a kind of quadruped robot hydraulic power of double pump source parallel connection fuel feeding
System.
Background technique
With the development of science and technology, for some complicated and dangerous work, people are often completed using robot.
The application field of robot is constantly expanding, and robot can be divided into flying robot, ground robot according to scope of activities at present
And underwater robot.Wherein ground robot can be divided into caterpillar type robot, wheeled robot, legged type robot.Relative to shoe
Belt and wheeled robot, legged type robot is low to environmental demand, there is better adaptability.According to the difference of sufficient number, sufficient formula is moved
Mobile robot can be divided into monopodia robot, biped robot, quadruped robot, hexapod robot and eight biped robots.It is double at present
Biped robot, quadruped robot and hexapod robot research are more.Compared to biped robot, quadruped robot is more stable, carrying
Property is more preferable.Compared to hexapod robot, quadruped robot is more easily controlled.Quadruped robot mostly uses greatly hydraulic-driven at present.Liquid
Pressure driving has the advantage that can realize large-scale stepless speed regulation in the process of running, hydraulic under same output power
The small in size, light-weight of transmission device, movement inertia are small, dynamic property is good, can realize gapless driving using hydraulic drive, fortune
It is dynamic steady, it is easy to implement automatic working cycle and automatic overload protection, it is hydraulic due to being generally used as driving medium using oil
Element has self lubricating action, there is longer service life, and Hydraulic Elements are all the products of standardization, seriation, convenient for designing,
Manufacture and popularization and application.
The walking feature of quadruped robot, every leg can be divided into support phase and swing phase, support phase work in the process of walking
Condition needs each joint in leg to be capable of providing biggish support force, i.e., hydraulic cylinder needs system to be capable of providing biggish pressure at this time
Power；And only need to complete swing phase process with faster speed in each joint of swing phase operating condition, i.e., hydraulic cylinder only needs at this time
Hydraulic system is capable of providing enough flows and realizes quickly movement (smaller to the demand of pressure at this time).
Currently, the quadruped robot hydraulic system structure about hydraulic-driven is substantially using single pumping source-multi executors
Mode.It is had as a drawback that using single pumping source-multi executors structure hydraulic system or insufficient: must be according to each actuator institute
The maximum working pressure and maximum stream flow needed designs and provides power output, thereby results between loading demand and energy resource supply
Unmatched problem, so as to cause its inefficiency.
Summary of the invention
Unmatched between the loading demand and energy resource supply in the presence of the prior art in order to solve the problems, such as, the present invention mentions
For a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding.
Present invention provide the technical scheme that
A kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding, the system comprises: high-pressure pump (1), hair
Motivation (2), medium lift pump (3), high-pressure oil passage servo valve (13), middle pressure oil road servo valve (12) and hydraulic cylinder (14)；
The engine (2) connect with the high-pressure pump (1) and medium pressure pump (3) respectively；
The high-pressure oil passage servo valve (13) and medium pressure oil circuit servo valve (12) are parallel-connected to the hydraulic cylinder
(14) on；
The oil outlet of the high-pressure pump (1) and the oil inlet of the high-pressure oil passage servo valve (13) connect and compose high pressure oil
Road；
The oil outlet of medium pressure pump (3) and the oil inlet of medium pressure oil circuit servo valve (12) connect and compose middle pressure oil
Road；
The output pressure that wherein high-pressure pump (1) provides is greater than the output pressure that medium pressure pump (3) provides.
Preferably, first servo valve and second servo valve respectively include control mouth A and B；
The control mouth A of the high-pressure oil passage servo valve (13) is communicated with the control mouth A of medium pressure oil circuit servo valve (12),
And it is connected to the hydraulic cylinder (14) simultaneously；The control mouth B and medium pressure oil circuit servo of the high-pressure oil passage servo valve (13)
The control mouth B of valve (12) is communicated, and is connected to hydraulic cylinder (14) simultaneously.
It preferably, further include two check valves；
One check valve is located on high-pressure oil passage, and one end is connect with the high-pressure pump (1), the other end and the high-pressure oil passage
Servo valve (13) connection；
Another check valve is located at middle pressure oil road, and one end is connect with medium pressure pump (3), the other end and medium pressure oil
Road servo valve (12) connection.
It preferably, further include two flowmeters；
One flowmeter is arranged between the check valve in high-pressure oil passage and the high-pressure pump (1)；
Another flowmeter is arranged between the check valve in middle pressure oil road and medium pressure pump (3).
It preferably, further include two filters；
The check valve in one filter one end connection high-pressure oil passage, the other end connect the high-pressure oil passage servo valve
(13) oil inlet；
The check valve in the connection of another filter one end in pressure oil road, the other end connect medium pressure oil circuit servo
The oil inlet of valve (12).
It preferably, further include two accumulators；
One accumulator is arranged between the filter in high-pressure oil passage and the high-pressure oil passage servo valve (13)；
Another accumulator is arranged between the filter in middle pressure oil road and medium pressure oil circuit servo valve (12).
It preferably, further include pressurized fuel tank (16)；
The pressurized fuel tank (16) connect with the inlet port of the high-pressure pump (1) and medium lift pump (3) respectively；
The pressurized fuel tank (16) respectively with the high-pressure oil passage servo valve (13) and medium pressure oil circuit servo valve (12)
Connection.
It preferably, further include cooler (15)；
Described cooler (15) one end is connect with the pressurized fuel tank (16)；
Cooler (15) other end respectively with the high-pressure oil passage servo valve (13) and medium pressure oil circuit servo valve
(12) it connects.
Preferably, the system also includes servo valve control devices；
The servo valve control device any time controls at least one in first servo valve and second servo valve
It is a to work in middle position.
Preferably, high-pressure pump (1) output pressure is the hydraulic oil of 21MPa；
Medium pressure pumps the hydraulic oil that (3) output pressure is 10.5MPa；
Preferably, the high-pressure pump (1) and medium pressure pump (3) are plunger pump；
Preferably, the high-pressure oil passage servo valve (13) and middle pressure oil road servo valve (12) are direct drive servovalve；
Preferably, the high-pressure oil passage servo valve (13) and middle pressure oil road servo valve (12) are the servo of 10% plus lap
Valve.
Compared with prior art, the invention has the benefit that
A kind of quadruped robot hydraulic power system the present invention provides double pump source parallel connection fuel feeding include: high-pressure pump (1),
Engine (2), medium lift pump (3), high-pressure oil passage servo valve (13), middle pressure oil road servo valve (12) and hydraulic cylinder (14)；The hair
Motivation (2) is connect with the high-pressure pump (1) and medium pressure pump (3) respectively；The high-pressure oil passage servo valve (13) and it is described in
Pressure oil road servo valve (12) is parallel-connected on the hydraulic cylinder (14)；The oil outlet and the high pressure oil of the high-pressure pump (1)
The oil inlet of road servo valve (13) connects and composes high-pressure oil passage；Medium pressure pumps the oil outlet and medium pressure oil circuit servo of (3)
The oil inlet of valve (12) connects and composes middle pressure oil road；The output pressure that wherein high-pressure pump (1) provides is pumped greater than medium pressure
(3) output pressure provided.The hydraulic oil source that the present invention can provide two kinds of pressure simultaneously is selected for quadruped robot joint fluid cylinder pressure
It selects, preferably matches the joint loads characteristic in quadruped robot walking process, significantly improve quadruped robot hydraulic power system
The efficiency of system.
Scheme provided by the invention: power/quality is than greatly, keeping the weight bearing ability of robot stronger；Robot ambulation process
In, the leg in support phase operating condition can choose high-pressure pump supply pressure oil, and the leg in swing phase operating condition can choose middle pressure
Supply pressure oil is pumped, so that robot loading demand is matched with energy supply, hydraulic system is high-efficient；Robot continuation of the journey
Ability is stronger.
Detailed description of the invention
Fig. 1 is hydraulic principle schematic diagram of the invention；
In figure: 1 being high-pressure pump, 2 be engine, 3 be medium lift pump, 4 be high-pressure oil passage flowmeter, 5 be that high-pressure oil passage is unidirectional
Valve, 6 be high-pressure oil passage filter, 7 be high-pressure oil passage accumulator, 8 be middle pressure oil road flowmeter, 9 be middle pressure oil road check valve, 10
It is middle pressure oil road accumulator for middle pressure oil pipe filter, 11,12 be middle pressure oil road direct drive servovalve, 13 is that high-pressure oil passage directly drives
Formula servo valve, 14 be hydraulic cylinder, 15 be cooler, 16 be pressurized fuel tank.
Specific embodiment
For a better understanding of the present invention, the contents of the present invention are done further with example with reference to the accompanying drawings of the specification
Explanation.
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, providing, a kind of structure is simple, power/quality ratio
Greatly, high-efficient, course continuation mileage is long, the quadruped robot hydraulic power system that loading demand is matched with energy supply.
Embodiment 1:
The technical solution adopted by the present invention is that: the quadruped robot that the present invention provides a kind of double pump source parallel connection fuel feeding is hydraulic dynamic
Force system, characterized in that it comprises: high-pressure pump 1, engine 2, medium lift pump 3, high-pressure oil passage flowmeter 4, high-pressure oil passage are unidirectional
Valve 5, high-pressure oil passage filter 6, high-pressure oil passage accumulator 7, middle pressure oil road flowmeter 8, middle pressure oil road check valve 9, middle pressure oil road
It is filter 10, middle pressure oil road accumulator 11, middle pressure oil road direct drive servovalve 12, high-pressure oil passage direct drive servovalve 13, hydraulic
Cylinder 14, cooler 15, pressurized fuel tank 16.
Further, the high-pressure pump 1 and medium lift pump 3 pass through gear synchronous belt driver and 2 output shaft phase of engine
Even, pressure oil is provided for high-pressure oil passage and middle pressure oil road.The oil outlet of the high-pressure pump 1 and medium lift pump 3, which is sequentially connected in series, is equipped with stream
Meter, check valve, filter.The high-pressure oil passage and the filter outlet on middle pressure oil road are parallel with high-pressure oil passage accumulator respectively
7 and middle pressure oil road accumulator 11, accumulator oil outlet is connected respectively to high-pressure oil passage direct drive servovalve 13 and middle pressure oil road is straight
The oil inlet of drive formula servo valve 12.
Further, the high-pressure oil passage direct drive servovalve 13 is parallel-connected to middle pressure oil road direct drive servovalve 12
On same hydraulic cylinder 14: i.e. the control of the control mouth A of high-pressure oil passage direct drive servovalve 13 and middle pressure oil road direct drive servovalve 12
Donsole A is communicated, and is connected to the rod chamber of hydraulic cylinder 14；The control mouth B of high-pressure oil passage direct drive servovalve 13 and middle pressure oil road are straight
The control mouth B of drive formula servo valve 12 is communicated, and is connected to the rodless cavity of hydraulic cylinder 14；
Further, the oil return opening phase of the high-pressure oil passage direct drive servovalve 13 and middle pressure oil road direct drive servovalve 12
Logical, oil return enters the inlet port of high-pressure pump 1 and medium lift pump 3 through cooler 12 and pressurized fuel tank 11 respectively, and it is dynamic to form Closed Hydraulic
Force system circuit；
Further, the high-pressure pump 1 is plunger type variable capacity pump, and output pressure is the hydraulic oil of 21MPa, through high-pressure oil passage
After flowmeter 4, high-pressure oil passage check valve 5, high-pressure oil passage filter 6, it is connected to the oil inlet of high-pressure oil passage direct drive servovalve 13
Mouthful.Medium pressure pump 3 is plunger type variable capacity pump, and output pressure is the hydraulic oil of 10.5MPa, pressure oil road flowmeter 8, middle pressure in
After oil circuit flowmeter 9, middle pressure oil pipe filter 10, it is connected to the oil inlet of middle pressure oil road direct drive servovalve 12；
Further, the high-pressure oil passage direct drive servovalve 13 and middle pressure oil road direct drive servovalve 12 are 10% just
The servo valve of covering can effectively cut off the oil sources supply of servo valve front end when servo valve is in middle position.
Further, any time in quadruped robot walking process, high-pressure oil passage direct drive servovalve 13 is in
At least one is in the work of middle position to pressure oil road direct drive servovalve 12, prevents high-pressure oil passage and middle pressure oil road from string oil occur existing
As；
Further, to improve the self-priming performance of robot hydraulic pump, reducing oil suction noise, in high-pressure pump 1 and medium lift pump 3
Inlet port pressurized fuel tank 11 is installed, for maintaining the inlet port pressure of hydraulic pump constant.
Compared with prior art, the invention has the following beneficial effects: 1. power/qualities than greatly, making the negative of robot
Beijing South Maxpower Technology Co. Ltd's power is stronger；2. during robot ambulation, the leg in support phase operating condition can choose high-pressure pump supply pressure oil, it is in
The leg of swing phase operating condition can choose medium lift pump supply pressure oil, so that robot loading demand is matched with energy supply
Good, hydraulic system is high-efficient；3. robot cruising ability is stronger.
As shown in Figure 1, high-pressure pump 1 and medium lift pump 3 are connected by gear synchronous belt driver with 2 output shaft of engine,
Pressure oil is provided for high-pressure oil passage and middle pressure oil road.The oil outlet of high-pressure pump 1 and medium lift pump 3 is sequentially connected in series equipped with flowmeter, list
To valve, filter.Filter outlet is parallel with accumulator respectively, and accumulator oil outlet is connected respectively to high-pressure oil passage direct-drive type and watches
Take the oil inlet of valve 13 Yu middle pressure oil road direct drive servovalve 12.
High-pressure oil passage direct drive servovalve 13 and middle pressure oil road direct drive servovalve 12 are parallel-connected to same hydraulic cylinder 14
Upper: i.e. the control mouth A of high-pressure oil passage direct drive servovalve 13 is communicated with the control mouth A of middle pressure oil road direct drive servovalve 12, even
It is connected to the rod chamber of hydraulic cylinder 14；The control mouth B and middle pressure oil road direct drive servovalve 12 of high-pressure oil passage direct drive servovalve 13
Control mouth B communicate, be connected to the rodless cavity of hydraulic cylinder 14；
High-pressure oil passage direct drive servovalve 13 is communicated with the oil return opening of middle pressure oil road direct drive servovalve 12, and oil return is through cooling
Device 12 and pressurized fuel tank 11 enter the inlet port of high-pressure pump 1 and medium lift pump 3 respectively, form Closed Hydraulic dynamical system circuit；
High-pressure pump 1 is plunger type variable capacity pump, and output pressure is the hydraulic oil of 21MPa.Medium lift pump 3 is plunger type variable capacity pump,
Output pressure is the hydraulic oil of 10.5MPa；
High-pressure oil passage direct drive servovalve 13 and middle pressure oil road direct drive servovalve 12 are the servo valve of 10% plus lap,
When servo valve is in middle position, the oil sources supply of servo valve front end can be effectively cut off.
Embodiment 2:
When a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding of the present invention works normally, 2 band of engine
Dynamic high-pressure pump 1 and medium lift pump 3 are that hydraulic system provides high and medium voltage two-way pressure oil-source, oil supply pressure be respectively 21MPa with
10.5MPa.In quadruped robot walking process, the operating condition of every leg can be divided into two kinds of operating conditions of support phase and swing phase.Work as leg
When in support phase operating condition, each joint fluid cylinder pressure 14 needs system to be capable of providing biggish operating pressure, and high-pressure oil passage is straight at this time
Drive formula servo valve 13 is in running order, and the 21MPa pressure oil that high-pressure pump 1 provides enters joint fluid cylinder pressure 14 and drives joint fortune
It is dynamic, while middle pressure oil road direct drive servovalve 12 is then in close state (servo valve input signal is 0), pressure oil source in cutting；
When leg is in swing phase operating condition, each joint fluid cylinder pressure 14 need to complete swing phase process with faster speed, at this time middle pressure
Oil circuit direct drive servovalve 12 is in running order, and the 10.5MPa pressure oil that medium lift pump 3 provides enters the driving of joint fluid cylinder pressure 14
Joint quickly moves, while high-pressure oil passage direct drive servovalve 12 is in close state, the 21MPa pressure that cutoff high pump 1 provides
Power oil.Oily to avoid high-pressure oil passage and middle pressure oil road from going here and there, any time in quadruped robot walking process, high-pressure oil passage is straight
Drive formula servo valve 13 and middle pressure oil road direct drive servovalve 12 at least one be in middle position and work.
The hydraulic cylinder mentioned in two above example shares 12, and each leg of quadruped robot uses 3 hydraulic cylinders,
This 12 hydraulic cylinder common high voltage pumps 1 and medium lift pump 3 provide pressure oil-source simultaneously.
The above is only the embodiment of the present invention, are not intended to restrict the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent substitution, improvement and etc. done, be all contained in apply pending scope of the presently claimed invention it
It is interior.
Claims (10)
1. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding, which is characterized in that the system comprises: high pressure
Pump (1), engine (2), medium lift pump (3), high-pressure oil passage servo valve (13), middle pressure oil road servo valve (12) and hydraulic cylinder (14)；
The engine (2) connect with the high-pressure pump (1) and medium pressure pump (3) respectively；
The high-pressure oil passage servo valve (13) and medium pressure oil circuit servo valve (12) are parallel-connected on the hydraulic cylinder (14)；
The oil outlet of the high-pressure pump (1) and the oil inlet of the high-pressure oil passage servo valve (13) connect and compose high-pressure oil passage；
The oil outlet of medium pressure pump (3) and the oil inlet of medium pressure oil circuit servo valve (12) connect and compose middle pressure oil road；
The output pressure that wherein high-pressure pump (1) provides is greater than the output pressure that medium pressure pump (3) provides.
2. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding according to claim 1, feature exist
In first servo valve and second servo valve respectively include control mouth A and B；
The control mouth A of the high-pressure oil passage servo valve (13) is communicated with the control mouth A of medium pressure oil circuit servo valve (12), and same
When be connected to the hydraulic cylinder (14)；The control mouth B and medium pressure oil circuit servo valve of the high-pressure oil passage servo valve (13)
(12) control mouth B is communicated, and is connected to hydraulic cylinder (14) simultaneously.
3. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding as described in claim 1, which is characterized in that
It further include two check valves；
One check valve is located on high-pressure oil passage, and one end is connect with the high-pressure pump (1), the other end and the high-pressure oil passage servo
Valve (13) connection；
Another check valve is located at middle pressure oil road, and one end is connect with medium pressure pump (3), and the other end is watched with medium pressure oil circuit
Take valve (12) connection.
4. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding as claimed in claim 3, which is characterized in that
It further include two flowmeters；
One flowmeter is arranged between the check valve in high-pressure oil passage and the high-pressure pump (1)；
Another flowmeter is arranged between the check valve in middle pressure oil road and medium pressure pump (3).
5. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding as claimed in claim 2, which is characterized in that
It further include two filters；
The check valve in one filter one end connection high-pressure oil passage, the other end connect the high-pressure oil passage servo valve (13)
Oil inlet；
The check valve in the connection of another filter one end in pressure oil road, the other end connect medium pressure oil circuit servo valve
(12) oil inlet.
6. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding as claimed in claim 5, which is characterized in that
It further include two accumulators；
One accumulator is arranged between the filter in high-pressure oil passage and the high-pressure oil passage servo valve (13)；
Another accumulator is arranged between the filter in middle pressure oil road and medium pressure oil circuit servo valve (12).
7. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding as described in claim 1, which is characterized in that
It further include pressurized fuel tank (16)；
The pressurized fuel tank (16) connect with the inlet port of the high-pressure pump (1) and medium lift pump (3) respectively；
The pressurized fuel tank (16) connect with the high-pressure oil passage servo valve (13) and medium pressure oil circuit servo valve (12) respectively.
8. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding as claimed in claim 7, which is characterized in that
It further include cooler (15)；
Described cooler (15) one end is connect with the pressurized fuel tank (16)；
Cooler (15) other end respectively with the high-pressure oil passage servo valve (13) and medium pressure oil circuit servo valve (12)
Connection.
9. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding according to claim 1, feature exist
In, the system also includes: servo valve control device；
The servo valve control device any time controls at least one of first servo valve and second servo valve place
Yu Zhongwei work.
10. a kind of quadruped robot hydraulic power system of double pump source parallel connection fuel feeding as described in claim 1, feature exist
In high-pressure pump (1) output pressure is the hydraulic oil of 21MPa；
Medium pressure pumps the hydraulic oil that (3) output pressure is 10.5MPa；
Preferably, the high-pressure pump (1) and medium pressure pump (3) are plunger pump；
Preferably, the high-pressure oil passage servo valve (13) and middle pressure oil road servo valve (12) are direct drive servovalve；
Preferably, the high-pressure oil passage servo valve (13) and middle pressure oil road servo valve (12) are the servo valve of 10% plus lap.
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