CN110671374A - Load type exoskeleton hydraulic driving system - Google Patents
Load type exoskeleton hydraulic driving system Download PDFInfo
- Publication number
- CN110671374A CN110671374A CN201911071399.1A CN201911071399A CN110671374A CN 110671374 A CN110671374 A CN 110671374A CN 201911071399 A CN201911071399 A CN 201911071399A CN 110671374 A CN110671374 A CN 110671374A
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- Prior art keywords
- hydraulic
- motor
- valve
- output
- proportional valve
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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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
- F15B15/18—Combined units comprising both motor and pump
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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
- 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
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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
- 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
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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- 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)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides a load-bearing exoskeleton hydraulic driving system which comprises a motor pump set, a switch valve, a proportional valve, a double-output hydraulic cylinder, a single-output hydraulic cylinder, an oil tank and a hydraulic pipeline. The volume speed regulation motor-pump set and the valve are combined, the movement speed and the movement direction of the oil cylinder are controlled through the motor-pump set, the oil circuit switching and the flow distribution are controlled through the switch valve and the proportional valve, the motor-pump set outputs flow and pressure as required, no redundant overflow loss exists, the efficiency is high, and the heat generation is less. In addition, the invention only adopts one set of motor pump set to drive the two joints, realizes the switching between the hydraulic oil paths of the two joints through the valve, can further reduce the volume and the weight of the hydraulic system, and can obtain higher weight-density ratio.
Description
Technical Field
The invention relates to the technical field of humanoid robots and wearable mechanical exoskeletons, in particular to a hydraulic control system applicable to a load-bearing exoskeletons robot.
Background
The load-bearing exoskeleton robot is a novel man-machine combined machine which is provided for occasions with load-bearing requirements, such as individual load bearing, rescue and disaster relief, outfield transportation, outdoor mountain climbing movement and the like, and is a special system combining human intelligence and mechanical device mechanical energy.
At present, the exoskeleton robot has three main transmission modes: the exoskeleton is driven by hydraulic pressure, a motor and air pressure, wherein the hydraulic pressure is high in energy density ratio, can output larger torque, and has obvious advantages on a load-bearing exoskeleton.
The exoskeleton robot driven by hydraulic pressure mainly comprises two types, one type is a valve control system, the running direction and speed of each oil cylinder are controlled by a hydraulic valve, the exoskeleton robot has the advantages that high response speed can be obtained, but most of flow of the exoskeleton robot overflows through an overflow valve, and the efficiency of the whole exoskeleton robot is low. The other is to adopt a pump control EHA scheme, and achieve the purpose of controlling the movement speed and the direction of the oil cylinder by changing the displacement of the variable pump or the rotating speed of the motor. For an exoskeleton system adopting pump control EHA, energy loss is less, and system efficiency is high. However, this solution usually requires one EHA per joint, the overall system is bulky and heavy, and has a low mass to density ratio.
For example, the invention patent with the application number of 201810421622.X and the patent name of the invention is a valve control hydraulic transmission system applied to an exoskeleton robot mentions a valve control system, which has various disadvantages.
In order to reduce the weight of the exoskeleton robot and overcome the defect of low efficiency of a conventional valve control mode, the invention provides a novel hydraulic driving system, which adopts a mode of combining pump control and a valve, namely, an oil source system is used for simultaneously driving hydraulic cylinders of hip joints and knee joints to act so as to realize energy transmission.
Disclosure of Invention
In view of the deficiencies in the prior art, it is an object of the present invention to provide a hydraulic drive system for a weight-bearing exoskeleton that addresses one or more of the above-mentioned problems.
According to one aspect of the invention, the load-bearing exoskeleton hydraulic driving system comprises a motor-pump set, a switch valve, a proportional valve, a double-output hydraulic cylinder, a single-output hydraulic cylinder, an oil tank and a hydraulic pipeline.
In some embodiments, the motor-pump set consists of an adjustable speed motor, a bidirectional pump, and a motor controller.
In some embodiments, the bidirectional pump is connected with the adjustable-speed motor, and the switch valve is connected in series between an output port of the bidirectional pump and the double-output hydraulic cylinder; and a proportional valve is connected in series between the output port of the bidirectional pump and the single-output hydraulic cylinder and between the output port of the bidirectional pump and the oil tank.
In some embodiments, the motor controller is connected to the electrical section between the on-off valve, the proportional valve, and the adjustable speed motor.
In some embodiments, the proportional valve is a three-position, four-way proportional valve.
In some embodiments, the bi-directional pump is capable of forward and reverse flow output.
In some embodiments, the motor controller is capable of changing the speed and direction of the adjustable speed motor.
In some embodiments, the on-off valve is a two-position, four-way solenoid valve.
In some embodiments, the three-position four-way proportional valve and the two-position three-way switch valve are provided with corresponding stations.
In some embodiments, the dual output hydraulic cylinder is a dual output asymmetric hydraulic cylinder.
Compared with the prior art, the load type exoskeleton hydraulic driving system provided by the invention has the following advantages:
1) the invention adopts the mode of combining the volume speed-regulating motor pump set and the valve, controls the movement speed and the direction of the oil cylinder through the motor pump set, controls the oil path switching and the flow distribution through the switch valve and the proportional valve, outputs the flow and the pressure as required by the motor pump set, has no redundant overflow loss, higher efficiency and less heat generation.
2) According to the invention, only one set of motor pump set is adopted to drive the two joints, and the switching between the hydraulic oil paths of the two joints is realized through the valve, so that the volume and the weight of a hydraulic system can be further reduced, and a higher weight-density ratio can be obtained.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a first hydraulic schematic of the present invention;
FIG. 2 is a second hydraulic schematic of the present invention;
fig. 3 is a third hydraulic schematic of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, the load-bearing exoskeleton hydraulic drive system comprises a bidirectional pump 3, a speed-adjustable motor 4, a motor controller 5, a switch valve 2, a proportional valve 8, a double-output hydraulic cylinder 1, a single-output hydraulic cylinder 6, an oil tank 7 and a hydraulic pipeline 9 (P1-P6).
The bidirectional pump 3 is connected with the speed-adjustable motor 4, and the switch valve 2 is connected in series between the output port of the bidirectional pump 3 and the double-output hydraulic cylinder 1; and a three-position four-way proportional valve 8 is connected in series between the output port of the bidirectional pump 3 and the single-output hydraulic cylinder 6 and the oil tank 7. The motor controller 5 is connected with the electric parts among the switch valve 2, the proportional valve 8 and the speed-adjustable motor 4.
The adjustable speed motor 4, the bidirectional pump 3 and the motor controller 5 form a motor pump set with volume adjustable speed, and the bidirectional pump 3 can output forward and reverse flow; the speed and direction of the adjustable speed motor 4 can be changed under the control of the motor controller 5.
The switch valve 2 is a two-position four-way electromagnetic valve, two paths of the left station of the switch valve are respectively communicated, the right station ② is that hydraulic pipelines P1 and P2 are communicated with P4, when the switch valve is electrified, the P1 and the P2 are communicated with P4, when the switch valve is not electrified, the switch valve is at a position ①, the P1 is communicated with P3 and the P2 are communicated with P4, the proportional valve (8) is a three-position four-way proportional electromagnetic valve, the middle position function is Y-shaped, namely when the proportional valve is at a middle position ②, the hydraulic pipelines P4 are communicated with P5 and P6, and hydraulic oil can flow back to an oil tank.
The three-position four-way proportional valve 8 and the two-position three-way switch valve 2 have corresponding stations so as to ensure that the double-output hydraulic cylinder 1 and the single-output hydraulic cylinder 6 can be synchronously or step-by-step driven and simultaneously unloaded.
When the three-position four-way proportional valve 8 is located at the middle position ② and the two-position three-way switch valve 2 is located at the right position ②, the two cavities of the double-output hydraulic cylinder 1 and the connecting pipeline cavity of the single-output hydraulic cylinder 6 are both communicated with the oil tank 7, unloading of the two hydraulic cylinders is achieved at the moment, and the two hydraulic cylinders can freely stretch and retract.
When the bidirectional pump works in the forward direction or the reverse direction, the switch valve 2 works at the position ① on the left side, when the bidirectional pump rotates clockwise, the hydraulic pipe P4 is high-pressure, the proportional valve 8 works at the position ③, contraction (leftward movement) of the double-output hydraulic cylinder and flow injection of the one-way hydraulic cylinder can be realized, when the bidirectional pump rotates anticlockwise, the hydraulic pipe P3 is high-pressure, and the proportional valve 8 works at the position ①, extension (rightward movement) of the double-output hydraulic cylinder and flow injection of the one-way hydraulic cylinder can be realized.
The double-output hydraulic cylinder can be a double-output asymmetric hydraulic cylinder, as shown in fig. 1, or a double-output symmetric hydraulic cylinder, as shown in fig. 2 and 3; the oil path from the three-position four-way proportional valve to the single-output hydraulic cylinder can be connected to the rod cavity of the single-output hydraulic cylinder and can also be connected to the rodless cavity of the single-output hydraulic cylinder, as shown in fig. 1 and 2.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A load-bearing exoskeleton hydraulic driving system is characterized by comprising a motor-pump set, a switch valve (2), a proportional valve (8), a double-output hydraulic cylinder (1), a single-output hydraulic cylinder (6), an oil tank (7) and a hydraulic pipeline (9).
2. The hydraulic driving system for a weight-bearing exoskeleton as claimed in claim 1, wherein the motor-pump set consists of a speed-adjustable motor (4), a bidirectional pump (3) and a motor controller (5).
3. A hydraulic drive system for a weight-bearing exoskeleton as claimed in claim 2 wherein the bi-directional pump (3) is connected to the adjustable speed motor (4) and the switch valve (2) is connected in series between the output port of the bi-directional pump (3) and the dual output hydraulic cylinder (1);
and a proportional valve (8) is connected in series between the output port of the bidirectional pump (3) and the single-output hydraulic cylinder (6) and the oil tank (7).
4. A hydraulic drive system as claimed in claim 3 characterised in that the motor controller (5) is connected to the electrical section between the on/off valve (2), the proportional valve (8) and the adjustable speed motor (4).
5. A hydraulic drive system as claimed in claim 4 characterised in that the proportional valve (8) is a three-position four-way proportional valve.
6. A hydraulic drive system for a weight-bearing exoskeleton as claimed in claim 5 wherein the bi-directional pump (3) is capable of positive and negative flow output.
7. A hydraulic drive system as claimed in claim 6 characterised in that the motor controller (5) is capable of varying the speed and direction of the adjustable speed motor (4).
8. The hydraulic drive system for a weight-bearing exoskeleton as claimed in claim 7 wherein the switch valve (2) is a two-position four-way solenoid valve.
9. The hydraulic drive system for a heavy-duty exoskeleton of claim 8, wherein the three-position four-way proportional valve and the two-position three-way switch valve are provided with corresponding stations.
10. A hydraulic drive system for a weight-bearing exoskeleton as claimed in claim 9 wherein the dual output hydraulic cylinders (1) are dual output asymmetric hydraulic cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911071399.1A CN110671374B (en) | 2019-11-05 | 2019-11-05 | Load type exoskeleton hydraulic driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911071399.1A CN110671374B (en) | 2019-11-05 | 2019-11-05 | Load type exoskeleton hydraulic driving system |
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| Publication Number | Publication Date |
|---|---|
| CN110671374A true CN110671374A (en) | 2020-01-10 |
| CN110671374B CN110671374B (en) | 2021-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911071399.1A Active CN110671374B (en) | 2019-11-05 | 2019-11-05 | Load type exoskeleton hydraulic driving system |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201620891U (en) * | 2010-03-24 | 2010-11-03 | 安徽理工大学 | Variable frequency closed type hydraulic traction system of shearer |
| CN109015649A (en) * | 2018-08-23 | 2018-12-18 | 中国船舶重工集团公司第七0七研究所 | Realize the hydraulic exoskeleton robot control system and method for rhythm and pace of moving things compliant movement |
-
2019
- 2019-11-05 CN CN201911071399.1A patent/CN110671374B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201620891U (en) * | 2010-03-24 | 2010-11-03 | 安徽理工大学 | Variable frequency closed type hydraulic traction system of shearer |
| CN109015649A (en) * | 2018-08-23 | 2018-12-18 | 中国船舶重工集团公司第七0七研究所 | Realize the hydraulic exoskeleton robot control system and method for rhythm and pace of moving things compliant movement |
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| CN110671374B (en) | 2021-06-29 |
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