CN114839965A

CN114839965A - Pressure driving system and mobile robot

Info

Publication number: CN114839965A
Application number: CN202210202172.1A
Authority: CN
Inventors: 张戬杰; 焉小墨
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-03-03
Filing date: 2022-03-03
Publication date: 2022-08-02

Abstract

The application provides a pressure drive system and mobile robot, pressure drive system includes: the device comprises an energy storage device, a pressure adjusting device, a control device and an execution device. The energy storage device is connected with the input end of the pressure adjusting device, the output end of the pressure adjusting device is connected with the control device, and the control device is connected with the execution device. The energy storage device is used for storing pressure media and outputting the pressure media to the pressure adjusting device, and the pressure adjusting device is used for adjusting the pressure of the pressure media so that the pressure of the output end of the pressure adjusting device is reduced to a set pressure, and the adjusted pressure media are output to the control device. The control device is used for outputting the pressure medium to the execution device and controlling the flow and the direction of the pressure medium so as to drive the execution device to execute the command action. The pressure driving system does not need to be provided with a hydraulic pump, and can avoid the problems of larger noise, larger weight and volume, lower efficiency, difficult heat dissipation and the like caused by the arrangement of the hydraulic pump.

Description

Pressure driving system and mobile robot

Technical Field

The application relates to the technical field of robot control, in particular to a pressure driving system and a mobile robot.

Background

With the rapid development of robot control technology, mobile robots have been widely used in various fields, for example, mobile robots may be applied to indoor places such as homes, hotels, hospitals, and the like, and also to outdoor places such as grazing livestock, and the like. The mobile robot can move in a certain space range by depending on a driving system of the mobile robot, and in practical application, the mobile robot needs to meet the performance requirements of high dynamic performance, energy source movement along with a body, good heat dissipation effect, low noise and the like.

In the related art, a pressure driving system is adopted to drive the mobile robot to work, and the pressure driving system has higher transient output capacity and higher energy density, so that the power output density of the mobile robot is higher, the mobile robot has higher dynamic performance, and more space can be reserved for carrying energy sources. However, a power source of the pressure driving system in the related art is a hydraulic pump, and a motor drives the hydraulic pump to pump and pressurize hydraulic oil in an oil tank, which has the same pressure as atmospheric pressure, to a working pressure, so as to drive an actuator of the mobile robot to work, and stabilize the working pressure through an overflow valve, so that the mobile robot has the defects of large noise generated by vibration of the hydraulic pump, large weight and volume, low efficiency, difficult heat dissipation and the like due to the arrangement of the hydraulic pump and related components thereof.

Disclosure of Invention

The embodiment of the application provides a pressure driving system and a mobile robot, and aims to solve the problems that in the related art, the mobile robot is large in noise, heavy in weight and large in size, low in efficiency, difficult to radiate and the like due to the fact that a hydraulic pump is arranged.

In a first aspect, embodiments of the present application provide a pressure driving system, which may include: the device comprises an energy storage device, a pressure adjusting device, a control device and an execution device. The energy storage device is connected with the input end of the pressure adjusting device, the output end of the pressure adjusting device is connected with the control device, and the control device is connected with the execution device. The energy storage device is used for storing pressure media and outputting the pressure media to the input end of the pressure adjusting device, the pressure adjusting device is used for adjusting the pressure of the pressure media so that the pressure of the output end of the pressure adjusting device is reduced to set pressure, the adjusted pressure media are output to the control device, and the set pressure is larger than or equal to the working pressure of the mobile robot. The control device is used for outputting the pressure medium to the execution device and controlling the flow and the direction of the pressure medium so as to drive the execution device to execute the command action.

In the embodiment of the present application, the pressure of the pressure medium stored in the energy storage device is greater than the set pressure, and the set pressure is greater than or equal to the working pressure of the mobile robot, so that the pressure of the pressure medium stored in the energy storage device is greater than or equal to the working pressure of the mobile robot. Therefore, the high-pressure medium in the energy storage device can be used as a power source of the pressure driving system, and the high-pressure medium pushes the execution device to do work so as to drive the execution device to execute the command action. That is, when the pressure of the pressure medium in the energy storage device is greater than the working pressure required by the mobile robot, the pressure driving system can work normally.

In the pressure driving system provided by the embodiment of the application, through setting the energy storage device, the pressure adjusting device and the control device, the energy storage device can output the pressure medium to the input end of the pressure adjusting device, the pressure adjusting device reduces the pressure of the pressure medium to the set pressure and provides the pressure medium to the control device, the control device outputs the pressure medium to the execution device, and the execution device is driven to execute the command action by controlling the flow and the direction of the pressure medium. In the embodiment of the application, the power of the pressure driving system is derived from the pressure medium in the energy storage device, the execution device is pushed to do work through the high-pressure medium, the execution device is driven to execute the instruction action, the hydraulic pump is not needed to be arranged in the pressure driving system, therefore, the problem that the conversion efficiency of the hydraulic pump is low in work can be solved, the mobile robot is more energy-saving, lower in heat productivity and easier to dissipate heat, and the mobile robot is friendly to the surrounding environment. And the noise problem generated by the hydraulic pump can be eliminated, and the mobile robot can be more suitable for the environment which requires silence, such as indoor environment. In addition, since the pressure driving system does not need to be provided with a hydraulic pump and components such as a motor and a battery related to the hydraulic pump, the weight and the volume of the mobile robot can be reduced. Therefore, the pressure driving system can avoid the problems of larger noise, larger weight and volume, lower efficiency, difficult heat dissipation and the like caused by the arrangement of the hydraulic pump.

In one possible implementation manner, the pressure driving system in the embodiment of the present application may further include: and the recovery device is connected with the execution device and is used for recovering the pressure medium discharged by the execution device. The storage device transmits the high-pressure medium to the pressure adjusting device, the pressure adjusting device can reduce the pressure of the pressure medium to a set pressure and output the adjusted pressure medium to the control device, and the control device can control the flow and the direction of the pressure medium to drive the execution device to execute the command action. The high-pressure medium pushes the execution device to do work, then the pressure is reduced, and the recovery device can recover the low-pressure medium discharged by the execution device. In specific implementation, when the pressure medium in the energy storage device is exhausted or the pressure medium in the recovery device is fully stored, the pressure driving system cannot normally work due to insufficient power, and the pressure driving system can recover power by replacing the energy storage device and the recovery device so as to normally work.

Alternatively, the pressure regulating means may be a pressure reducing valve, and the pressure regulating means may reduce the pressure of the pressure medium to a set pressure, which is greater than or equal to the working pressure of the mobile robot, for example, the set pressure may be the highest working pressure required by the actuator means. The pressure regulating device is used for regulating the pressure of the output end to enable the pressure of the output end to be set pressure, and when the pressure of the input end of the pressure regulating device is higher than the set pressure, the pressure of the pressure medium is reduced, so that the pressure of the output end is kept unchanged. The pressure regulating means may supply the regulated pressure medium to the control means, and the control means may transmit the pressure medium to the actuator means and control the flow rate and direction of the pressure medium to drive the actuator means to operate. With the operation of the actuator, the pressure of the high-pressure medium is reduced, and the pressure medium is transmitted to the recovery device through the pipeline, and the pressure of the pressure medium in the recovery device is far lower than that of the pressure medium in the energy storage device.

The pressure driving system in the embodiment of the application can be arranged in the mobile robot, and the pressure driving system can drive the mobile robot to execute the instruction action. The mobile robot may include: the connecting part can be a rotating hinge or a linear support. The base can be connected with the connecting rod through the connecting part, the main body can be connected with the connecting rod through the connecting part, and the two connecting rods can also be connected through the connecting part. The actuator may be a telescopic actuator or a rotary actuator, for example, the actuator may be a pressure-driven cylinder, a rotary cylinder or a hydraulic motor, and the actuator may also be other actuators, which is not limited herein. The executive component can drive the connecting rod to rotate around the connecting part so as to drive the mobile robot to move. In practical application, the execution device can stretch under the control of the control device, the stretching of the execution device can drive the connecting rods to rotate around the connecting parts, the length of the execution device uniquely determines the rotating angle of the connecting rods, and the relative pose of each connecting rod relative to the base can be adjusted by controlling the stretching amount of the execution device, so that the mobile robot is driven to move.

In one possible implementation, the control device may include: and at least one sub-controller, each sub-controller being configured to drive one actuator, where in an implementation, the number of actuators in the pressure driving system may correspond to the number of degrees of freedom of the mobile robot, for example, the pressure driving system may have three actuators, and then the mobile robot provided with the pressure driving system has three degrees of freedom, and in an implementation, the number of actuators may be set according to a functional requirement of the mobile robot, and is not limited herein.

In the embodiment of the present application, the sub-controller may include: at least one proportional regulating valve; and/or, at least one solenoid directional valve, that is, the sub-controller may comprise only a proportional regulating valve; alternatively, the sub-controller may include only the electromagnetic directional valve; alternatively, the sub-controller may include a proportional regulating valve and a solenoid directional valve; the number of the proportional regulating valves can be one or more, and the number of the electromagnetic directional valves can be one or more. One end of the proportional control valve is connected with the pressure regulating device, the other end of the proportional control valve is connected with the electromagnetic directional valve, and the electromagnetic directional valve is connected with the execution device. The proportional regulating valve can regulate the flow of the pressure medium to control the movement speed of the actuator. The electromagnetic directional valve may change the direction of the pressure medium to control the movement direction of the actuator, for example, the electromagnetic directional valve may be a three-position four-way electromagnetic valve, and of course, the electromagnetic directional valve may also be a directional valve of other specifications, which is not limited herein.

In a specific implementation, the actuator device may be a pressure-driven cylinder, and specifically, the actuator device may include a first cavity and a second cavity, the first cavity is communicated with a high-pressure medium in the control device, and the second cavity is communicated with a low-pressure medium in the recovery device, and under the action of a pressure difference between the pressure media in the first cavity and the second cavity, the actuator device may be driven to move, and the low-pressure medium in the second cavity may flow into the recovery device.

In the pressure driving system provided by the embodiment of the application, the recovery device can be connected with the execution device through the electromagnetic directional valve. In specific implementation, the number of the recovery devices may be set to be the same as that of the execution devices, when the capacity of the recovery devices is large, at least two execution devices may also be set to be connected to the same recovery device, and a corresponding relationship between the recovery devices and the execution devices may be set according to an actual situation, which is not limited herein.

In one possible implementation, the sub-controller may further include: the pressure detection module is used for detecting the pressure of the pressure medium output by the proportional control valve and sending the detected pressure value to the control module, and for example, the pressure detection module can be a pressure gauge. The control module is used for controlling the proportional control valve to adjust the flow of the pressure medium and controlling the electromagnetic directional valve to adjust the flowing direction of the pressure medium according to the flow and the direction required by the execution device and the pressure value of the pressure medium output by the proportional control valve. The control module may be any module with a control function, such as an embedded computer, a control chip, and the like, and is not limited herein.

In specific implementation, the pressure driving system provided in the embodiment of the present application may further include: the one-way valve is arranged, so that the flow direction of the pressure medium can be controlled to be that the energy storage device flows to the execution device and cannot flow reversely. The check valve may be located between the pressure regulating means and the control means for controlling the flow direction of the pressure medium to the pressure regulating means towards the control means. Or, the check valve may also be located between the energy storage device and the pressure adjustment device, and is configured to control the flow direction of the pressure medium to be the flow direction from the energy storage device to the pressure adjustment device. Of course, the check valve may be disposed at other positions, and is not limited herein.

In an embodiment of the present application, the pressure driving system may further include: the robot controller is used for decomposing the whole motion of the mobile robot into motion targets corresponding to each execution device, and controlling each execution device to execute the motion targets through the control device, so that the mobile robot can be driven to realize corresponding operation.

The pressure driving system in the embodiment of the present application may further include: the pressure monitoring device comprises a pressure detector positioned between the energy storage device and the pressure regulating device, and a pressure monitoring unit electrically connected with the pressure detector. The pressure monitoring unit is electrically connected with the robot controller and used for monitoring pressure information of the pressure medium output by the energy storage device and detected by the pressure detector and sending the pressure information to the robot controller. Alternatively, the pressure detector may be a pressure gauge. In specific implementation, when the pressure of the pressure medium in the energy storage device is greater than the working pressure required by the mobile robot, the pressure driving system can normally work. In the embodiment of the application, through setting up pressure detector and pressure monitoring unit, can monitor the pressure information of the pressure medium of energy storage device output, the robot controller can judge whether the pressure of the pressure medium of energy storage device output is greater than the required operating pressure of mobile robot according to pressure information to judge whether pressure actuating system can normally work.

In one possible implementation, the pressure driving system may further include: the device comprises a storage detector positioned between the recovery device and the execution device and a storage monitoring unit electrically connected with the storage detector, wherein the storage monitoring unit is electrically connected with the robot controller and used for monitoring the storage information of the recovery device detected by the storage detector and sending the storage information to the robot controller. Alternatively, the reserve detector may be a flow meter, and the reserve monitoring unit may calculate the volume of the pressure medium in the recovery device, i.e. the reserve of the recovery device, based on the accumulation of the readings of the reserve detector. In the implementation, the pressure driving system can only work normally when the storage capacity of the recovery device is smaller than the allowable volume, wherein the allowable volume refers to the volume which can be used for storing the pressure medium in the recovery device. In the embodiment of the application, the reserve volume detector and the reserve volume monitoring unit are arranged, the reserve volume information of the recovery device can be monitored, and the robot controller can judge whether the reserve volume of the recovery device is smaller than the allowable volume according to the reserve volume information so as to judge whether the pressure driving system can normally work.

In practical applications, the pressure driving system may further include a bus, and the pressure monitoring unit may be electrically connected to the robot controller through the bus, that is, the pressure monitoring unit may transmit the pressure information to the robot controller through the bus. The reserve monitoring unit can be electrically connected with the robot controller through a bus, namely, the reserve monitoring unit can transmit reserve information to the robot controller through the bus.

In the pressure driving system provided by the embodiment of the application, a power source of the pressure driving system is a high-pressure medium in the energy storage device, and the high-pressure medium pushes the execution device to do work so as to drive the execution device to execute the command action. In the pressure driving system, the pressure of the pressure medium can be adjusted through the pressure adjusting device, and the pressure of the pressure medium is adjusted through the pressure adjusting device in a mode of reducing the pressure of the pressure medium to the set pressure, so that when the pressure of the pressure medium in the energy storage device is lower than the working pressure of the mobile robot, the pressure medium cannot push the execution device to do work, namely, the energy storage unit fails, and the pressure driving system cannot work normally. When the pressure of the pressure medium output by the energy storage device is detected to be smaller than the working pressure of the mobile robot, the energy storage device needs to be replaced. In addition, the high-pressure medium pushes the execution device to work, then the pressure is reduced, and the recovery device can recover the low-pressure medium discharged by the execution device. After the pressure medium in the recovery device is fully stored, the recovery device fails, the recovery device cannot continue to recover the pressure medium, the low-pressure medium generated by the acting of the execution device cannot be discharged, the pressure driving system cannot work normally, and when the storage capacity of the recovery device is detected to be larger than the allowable volume, the recovery device needs to be replaced.

When any one of the energy storage device and the recovery device fails, the pressure driving system cannot work normally. In the working process of the mobile robot, a user can judge whether the energy storage device and the recovery device need to be replaced by observing the working performance of the execution device in the mobile robot, for example, when the execution device cannot realize instruction action or the movement speed of the execution device is slow, the user can judge that the power of the pressure driving system is insufficient and the energy storage device and the recovery device need to be replaced.

In specific implementation, the robot controller can also be used for monitoring the energy storage device and the recovery device, and when any one of the energy storage device and the recovery device is monitored to be invalid, the robot controller prompts the replacement of the energy storage device or the recovery device. In particular, the robot controller may be configured to:

judging whether the pressure of the pressure medium output by the energy storage device is greater than the working pressure of the mobile robot or not according to the pressure information; if so, setting the state information of the energy storage device to be effective; if not, setting the state information of the energy storage device as invalid;

judging whether the reserve of the recovery device is smaller than the allowable volume or not according to the reserve information; if yes, setting the state information of the recovery device to be effective; if not, the state information of the recovery device is set to be invalid.

In the embodiment of the application, through setting up pressure detector and pressure monitoring unit, can monitor the pressure information of the pressure medium of energy storage device output, the robot controller can judge whether the pressure of the pressure medium of energy storage device output is greater than mobile robot's operating pressure according to pressure information to set up the state information of energy storage device according to the judged result, thereby can be effective whether the audio-visual embodiment energy storage device of state information through the energy storage device, be convenient for monitor pressure actuating system's operating condition. And the robot controller can judge whether the reserve of the recovery device is smaller than the allowable volume according to the reserve information and set the state information of the recovery device according to the judgment result, so that whether the recovery device is effective can be visually embodied through the state information of the recovery device, and the working state of the pressure driving system can be conveniently monitored.

In some embodiments of the present application, the robot controller may be further operable to: monitoring state information of the energy storage device and the recovery device; if the state information of any one of the energy storage device and the recovery device is invalid, judging whether the state information of the energy storage device is invalid; if so, sending prompt information for replacing the energy storage device; if not, setting the state information of the energy storage device to be effective, and judging whether the state information of the recovery device is invalid or not; if so, sending out prompt information for replacing the recovery device; if yes, the state information of the recovery device is set to be effective. In the embodiment of the application, through monitoring the state information of the energy storage device and the recovery device, when monitoring that the state information of any one of the energy storage device and the recovery device is invalid, the state information is further used for judging whether the energy storage device is invalid or the recovery device is invalid, and the prompt information for replacing the energy storage device or the recovery device can be sent out in time, so that a user can replace the energy storage device or the recovery device in time, thereby ensuring that the pressure driving system can work normally and meeting the motion requirement of a mobile robot.

In a practical implementation, the pressure medium in the pressure driving system is an incompressible gas or fluid, for example, the pressure medium may be air or hydraulic oil, etc., i.e., the volume of the pressure medium does not change due to the change of pressure. In other embodiments of this application, can set up the volume of retrieving the device as being greater than the volume of energy storage device, and, when energy storage device or retrieve the device and need change, change energy storage device and retrieve the device simultaneously, the recovery device of changing at every turn is empty can, and like this, can guarantee that the pressure medium among the recovery device can not spill over, and the status information of retrieving the device is effective always promptly, therefore, monitoring procedure in the robot control ware can be simplified, the robot control ware only need monitor whether the energy storage device became invalid can. Specifically, the robot controller may be configured to determine, according to the pressure information, whether the pressure of the pressure medium output by the energy storage device is greater than a working pressure of the mobile robot; if so, setting the state information of the energy storage device to be effective; if not, prompt information for replacing the energy storage device and the recovery device is sent.

It should be noted that, in the embodiment of the present application, the process of replacing the energy storage device or recovering the energy storage device may be completed by a user, may be completed by an external auxiliary device, or may be autonomously completed by the mobile robot, where the process of replacing the energy storage device or recovering the energy storage device is not limited herein.

In one possible implementation, the pressure driving system may further include: and the standby energy storage device is connected with the input end of the pressure regulating device and is used for storing pressure media and outputting the pressure media to the pressure regulating device when the pressure of the pressure media output by the energy storage device is smaller than the working pressure of the mobile robot. The standby recovery device is connected with the execution device and is used for recovering the pressure medium discharged by the execution device when the storage capacity of the recovery device is larger than the allowable volume. The position and the function of energy storage device are the same with the energy storage device promptly, and reserve position and the function of retrieving the device are the same with retrieving the device, and like this, when energy storage device pressure is not enough or the reserves of retrieving the device are not enough, the energy storage device can replace the energy storage device temporarily, and reserve retrieval device can replace the retrieval device temporarily to continue the motion of drive mobile robot, at this in-process, mobile robot can independently better energy storage device and retrieve the device, is convenient for mobile robot's automated control.

In an embodiment of the present application, the energy storage device may include: the pressure regulating part is positioned in the first tank body and divides the first tank body into a first chamber and a second chamber, the second chamber is used for storing pressure media, and the pressure regulating part is used for regulating the volume of the second chamber so as to regulate the pressure of the pressure media. In one possible implementation, the pressure medium in the energy storage device is an incompressible gas or fluid, for example, the pressure medium may be air or hydraulic oil, etc., i.e., the volume of the pressure medium does not change due to the change of pressure, and thus, the pressure of the pressure medium in the second chamber may be adjusted by changing the volume of the second chamber by the pressure adjusting portion. In specific implementation, the first tank may be a high-pressure tank, so that the first tank can bear the pressure of the pressure medium, and thus can provide the required pressure for the normal operation of the pressure driving system.

In some embodiments of the present application, the pressure adjusting part may include: the sliding block, the sealing ring and the elastic member, for example, the elastic member may be a spring. One side of the slide block is a first cavity, and the other side of the slide block is a second cavity, namely the slide block can divide the first tank body into the first cavity and the second cavity. The sealing ring is positioned between the sliding block and the inner wall of the first tank body, and the sealing ring surrounds the sliding block, so that the first cavity and the second cavity have better sealing performance, and the pressure of a pressure medium in the second cavity can be adjusted when the volume of the second cavity is changed. The elastic part is located first cavity, and the one end and the slider of elastic part are connected, and the other end and the inner wall connection of the first jar of body can change the position of slider through the flexible volume of adjusting the elastic part to change the volume of second cavity, and then adjust the pressure of the pressure medium in the second cavity.

In other embodiments of the present application, the pressure adjusting part may include: pressure gasbag and air cock, the inside of pressure gasbag is first cavity, and the outside of the internal pressure gasbag of first jar is the second cavity, and pressure gasbag can be divided into first cavity and second cavity with first jar of body promptly. The air tap penetrates through the pressure air bag and the side wall of the first tank body and is used for charging or discharging compressed gas into or from the first chamber so as to change the volume of the second chamber and further adjust the pressure of the pressure medium in the second chamber. Specifically, when the pressure airbag is charged with the compressed gas through the air tap, the pressure of the pressure medium in the second chamber can be increased, and when the compressed gas in the pressure airbag is discharged through the air tap, the pressure of the pressure medium in the second chamber can be decreased.

In one possible implementation, the recycling device may include: the second tank body and a gas exchange valve penetrating through the side wall of the second tank body, wherein the gas exchange valve is used for communicating the inside of the second tank body with the atmosphere so as to enable the pressure medium to flow into the inside of the second tank body. Since the pressure of the pressure medium in the recovery device is low, the second tank may be a low-pressure tank as long as the low-pressure medium can be stored.

In a specific implementation, the pressure driving system may further include: a baffle, the baffle may include: the first tank body is provided with a first self-sealing joint which is used for connecting the second chamber with the first interface, the second tank body is provided with a second self-sealing joint which is connected with the second interface. Through setting up the guide plate to, first jar of body is through first from sealing joint and first interface connection, and the second jar of body is through second from sealing joint and second interface connection, thereby is connected energy storage device and pressure regulation device, is connected recovery device and executive device, in order to insert energy storage device and recovery device into pressure actuating system.

When the energy storage device is connected with the guide plate, the first self-sealing joint is opened so that the energy storage device is communicated with the pressure regulating device, and pressure media can flow into or out of the first tank body through the first self-sealing joint. When the energy storage device is replaced, the first tank body needs to be pulled out from the guide plate, and the first self-sealing joint can seal the first tank body to prevent the pressure medium in the second cavity from leaking. When the recovery device is connected with the guide plate, the second self-sealing joint is opened so that the recovery device is communicated with the execution device, and the pressure medium can flow into or out of the second tank body through the second self-sealing joint. When the recovery device is replaced, the second tank body needs to be pulled out from the guide plate, and the second self-sealing joint can seal the second tank body to prevent the pressure medium in the second tank body from leaking.

When the energy storage device is implemented specifically, the first tank body and the second tank body can be arranged separately, so that the energy storage device and the recovery device can be replaced respectively, and the operation is flexible. The first tank body and the second tank body can be of an integrated structure, so that the volume occupied by the energy storage device and the recovery device can be reduced.

Based on the same technical concept, an embodiment of the present application further provides a mobile robot, including: the robot body, and any pressure drive system of the above-mentioned. The mobile robot can be applied to scenes which need low pressure fluctuation, silence and high efficiency. For example, the mobile robot may be a high-performance mobile robot used in a home, for example, the mobile robot may be a humanoid robot. The mobile robot can also be a small mobile robot which needs to be used in rescue or field construction, and troubles such as carrying a pump, finding fuel, supplying electric power and the like can be omitted because the mobile robot does not need to be provided with a hydraulic pump. The mobile robot can also be applied to scenes requiring small pressure fluctuation in high-precision hydraulic equipment. The mobile robot can also be applied to equipment which is closely cooperated with human beings, and is used for reducing noise, reducing temperature and improving efficiency. In addition, this mobile robot also can regard as the emergency module among the complex system, and when accidents such as power failure appeared, the rescue personnel only need carry energy storage device and retrieve the device, can resume interim power for equipment fast, and drive arrangement moves to safe position, or provides the opportunity that can save out injured person, take out financial affairs. Of course, the mobile robot may also be applied to other scenarios, and is not limited herein.

Because the pressure driving system does not need to be provided with a hydraulic pump, the pressure driving system can avoid the problems of larger noise, larger weight and volume, lower efficiency, difficult heat dissipation and the like caused by the arrangement of the hydraulic pump. Furthermore, the mobile robot is more suitable for indoor environments and other environments which require silence, the weight and the size of the mobile robot are smaller, and the efficiency and the heat dissipation effect of the mobile robot are improved.

Drawings

Fig. 1 is a schematic structural diagram of a pressure driving system according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a mobile robot provided in an embodiment of the present application;

FIG. 3 is another schematic structural diagram of a pressure driving system according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of another pressure driving system provided in the embodiments of the present application;

FIG. 5 is a schematic structural diagram of another pressure driving system provided in an embodiment of the present application;

FIG. 6 is a schematic flow chart illustrating a monitoring method performed by a robot controller according to an embodiment of the present disclosure;

FIG. 7 is a schematic flow chart illustrating a monitoring method performed by a robot controller according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of another pressure driving system provided in an embodiment of the present application;

FIG. 9 is a schematic diagram of the structure of an energy storage device and a recovery device in an embodiment of the present application;

FIG. 10 is a schematic view of another embodiment of an energy storage device and a recovery device in accordance with the present disclosure;

fig. 11 is a schematic structural diagram of a mobile robot provided in an embodiment of the present application;

fig. 12 is a schematic structural diagram of a mobile robot according to an embodiment of the present application.

Reference numerals are as follows:

11-an energy storage device; 111-a first tank; 112-a pressure regulating part; 1121-sliding block; 1122-seal ring; 1123-an elastic member; 1124-pressure balloon; 1125-air tap; 113-a first self-sealing joint; 11' -a backup energy storage device; 12-a pressure regulating device; 13-a control device; 131-a sub-controller; 131 a-proportional regulating valve; 131 b-a solenoid directional valve; 131 c-a pressure detection module; 131 d-control module; 14-an execution device; 15-a recycling device; 151-a second tank; 152-a gas exchange valve; 153-a second self-sealing joint; 15' -spare recovery means; 16-a one-way valve; 17-a robot controller; 18-a pressure detector; 19-a pressure monitoring unit; 21-a base; 22-a connecting rod; 23-a connecting part; 24-a body; 25-a moving part; 31-a reserve detector; 32-reserve monitoring unit; 33-a bus; 34-a baffle; 341-a first interface; 342-a second interface; l-a first cavity; r-a second cavity; u1-first chamber; u2 — second chamber.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings.

It should be noted that the same reference numerals in the drawings of the present application denote the same or similar structures, and thus, a repetitive description thereof will be omitted. The words used in this application to describe positions and orientations are provided by way of example in the drawings and can be changed as desired and are intended to be encompassed by the present application. The drawings of the present application are for illustrating relative positional relationships only and do not represent true scale.

The problems that in the related art, a mobile robot is large in noise, heavy in weight and size, low in efficiency, difficult to radiate and the like due to the fact that a hydraulic pump is arranged are solved. The embodiment of the application provides a pressure driving system and mobile robot, and this mobile robot can be applied to in various fields, for example, mobile robot can be applied to indoor places such as family, hotel, hospital, also can be applied to outdoor places such as grazing livestock. Of course, the mobile robot may also be applied to other scenarios, and is not limited herein.

Fig. 1 is a schematic structural diagram of a pressure driving system provided in an embodiment of the present application, and as shown in fig. 1, the pressure driving system provided in the embodiment of the present application may include: an energy storage device 11, a pressure regulating device 12, a control device 13 and an actuator device 14. The energy storage device 11 is connected to an input of the pressure regulating device 12, an output of the pressure regulating device 12 is connected to the control device 13, and the control device 13 is connected to the actuator 14. The energy storage device 11 is used for storing pressure medium and outputting the pressure medium to an input end of the pressure adjusting device 12, the pressure adjusting device 12 is used for adjusting the pressure of the pressure medium, so that the pressure at an output end of the pressure adjusting device 12 is reduced to a set pressure, the adjusted pressure medium is output to the control device 13, and the set pressure is larger than or equal to the working pressure of the mobile robot. The control device 13 is used for outputting pressure medium to the execution device 14 and controlling the flow and direction of the pressure medium to drive the execution device 14 to execute the command action.

In the embodiment of the present application, the pressure of the pressure medium stored in the energy storage device 11 is greater than the set pressure, and the set pressure is greater than or equal to the working pressure of the mobile robot, so that the pressure of the pressure medium stored in the energy storage device 11 is greater than or equal to the working pressure of the mobile robot. Therefore, the high-pressure medium in the energy storage device 11 can be used as a power source of the pressure driving system, and the high-pressure medium pushes the execution device 14 to do work so as to drive the execution device 14 to execute the command action. That is, when the pressure of the pressure medium in the energy storage device 11 is greater than the working pressure required by the mobile robot, the pressure driving system can work normally.

With continued reference to fig. 1, in one possible implementation, the pressure driving system in the embodiment of the present application may further include: and the recovery device 15, wherein the recovery device 15 is connected with the execution device 14 and is used for recovering the pressure medium discharged by the execution device 14. The storage device 11 transmits high-pressure medium to the pressure regulating device 12, the pressure regulating device 12 can reduce the pressure of the pressure medium to a set pressure and output the regulated pressure medium to the control device 13, and the control device 13 can control the flow and the direction of the pressure medium to drive the execution device 14 to execute a command action. The high-pressure medium pushes the actuator 14 to do work, and then the pressure is reduced, and the recovery device 15 can recover the low-pressure medium discharged by the actuator 14. In specific implementation, when the pressure medium in the energy storage device 11 is exhausted or the pressure medium in the recovery device 15 is fully stored, the pressure driving system cannot normally work due to insufficient power, and the pressure driving system can recover power by replacing the energy storage device 11 and the recovery device 15, so that the pressure driving system normally works.

Alternatively, the pressure regulating means 12 may be a pressure reducing valve, and the pressure regulating means 12 may reduce the pressure of the pressure medium to a set pressure, which is greater than or equal to the working pressure of the mobile robot, for example, the set pressure may be the highest working pressure required by the actuator means 14. The pressure regulating device 12 is used for regulating the pressure at the output end to make the pressure at the output end be set pressure, and when the pressure at the input end of the pressure regulating device 12 is higher than the set pressure, the pressure of the pressure medium is reduced to make the pressure at the output end maintain the set pressure unchanged. The pressure regulating means 12 may supply regulated pressure medium to the control means 13, the control means 13 transmits the pressure medium to the actuator means 14, and controls the flow rate and direction of the pressure medium to drive the actuator means 14 to operate. As the actuator 14 operates, the pressure of the high-pressure medium decreases and the pressure medium is conveyed to the recovery device 15 through a pipeline, the pressure of the pressure medium in the recovery device 15 is much lower than the pressure of the pressure medium in the energy storage device 11, for example, the recovery device 15 may be set to communicate with the atmospheric pressure, and in some scenarios, the recovery device 15 may also have a certain back pressure.

The pressure driving system in the embodiment of the application can be arranged in the mobile robot, and the pressure driving system can drive the mobile robot to execute the instruction action. Fig. 2 is a schematic structural diagram of a mobile robot provided in an embodiment of the present application, and with reference to fig. 1 and fig. 2, the mobile robot may include: the base 21, the plurality of connecting rods 22, the plurality of connecting parts 23 and the main body 24, wherein the connecting parts 23 can be rotating hinges or linear supports. The base 21 may be connected to the link 22 by a connecting portion 23, the main body 24 may be connected to the link 22 by a connecting portion 23, and the two links 22 may be connected to each other by a connecting portion 23. The actuator 14 may be retractable or rotatable, for example, the actuator 14 may be a pressure-driven cylinder, a rotation cylinder or a hydraulic motor, and the actuator 14 may also be other actuators, which is not limited herein. The actuator 14 can drive the connecting rod 22 to rotate around the connecting part 23 so as to drive the mobile robot to move. In practical application, the actuator 14 can extend and contract under the control of the control device 13, the extension and contraction of the actuator 14 can drive the connecting rods 22 to rotate around the connecting parts 23, the length of the actuator 14 uniquely determines the rotation angle of the connecting rods 22, and the relative pose of each connecting rod 22 relative to the base 21 can be adjusted by controlling the extension and contraction amount of the actuator 14, so that the mobile robot is driven to move.

Fig. 3 is another schematic structural diagram of the pressure driving system provided in the embodiment of the present application, and as shown in fig. 3, the control device 13 may include: at least one sub-controller 131, each sub-controller 131 is configured to drive one actuator 14, in an implementation, the number of actuators 14 in the pressure driving system may correspond to the number of degrees of freedom of the mobile robot, for example, the pressure driving system may have three actuators 14, and the mobile robot provided with the pressure driving system has three degrees of freedom, in an implementation, the number of actuators 14 may be set according to the functional requirements of the mobile robot, and is not limited herein.

Fig. 4 is another schematic structural diagram of a pressure driving system provided in an embodiment of the present application, and as shown in fig. 4, the sub-controller 131 may include: at least one proportional regulating valve 131 a; and/or, the solenoid directional valve 131b, that is, the sub-controller 131 may include only the proportional regulating valve 131 a; alternatively, the sub-controller 131 may include only the electromagnetic directional valve 131 b; alternatively, the sub-controller 131 may include a proportional regulating valve 131a and an electromagnetic directional valve 131 b; among them, the number of the proportional regulating valves 131a may be one or more, and the number of the electromagnetic directional valves 131b may be one or more. One end of the proportional control valve 131a is connected to the pressure adjusting device 12, the other end is connected to the electromagnetic directional valve 131b, and the electromagnetic directional valve 131b is connected to the actuator 14. The proportional regulating valve 131a can regulate the flow rate of the pressure medium to control the movement speed of the actuator 14. The electromagnetic directional valve 131b may change the direction of the pressure medium to control the movement direction of the actuator 14, for example, the electromagnetic directional valve 131b may be a three-position four-way electromagnetic valve, and of course, the electromagnetic directional valve 131b may also be a directional valve of other specifications, which is not limited herein.

In specific implementation, the actuator 14 may be a pressure-driven cylinder, specifically, the actuator 14 may include a first cavity L and a second cavity R, the first cavity L is communicated with the high-pressure medium in the control device 13, the second cavity R is communicated with the low-pressure medium in the recovery device 15, and the actuator 14 may be driven to move under the action of the pressure difference between the pressure mediums in the first cavity L and the second cavity R, so that the low-pressure medium in the second cavity R flows into the recovery device 15.

With continued reference to fig. 4, the embodiment of the present application provides a pressure driving system in which the recovery device 15 may be connected to the actuator device 14 through the electromagnetic directional valve 131 b. In specific implementation, the number of the recovery devices 15 may be set to be the same as the number of the execution devices 14, for example, the number of the recovery devices 15 and the number of the execution devices 14 in fig. 4 are three, when the capacity of the recovery devices 15 is large, at least two execution devices 14 may also be set to be connected to the same recovery device 15, and the corresponding relationship between the recovery devices 15 and the execution devices 14 may be set according to actual situations, which is not limited herein.

Fig. 5 is another schematic structural diagram of the pressure driving system according to the embodiment of the present application, and as shown in fig. 5, the sub-controller 131 may further include: the pressure detecting module 131c is configured to detect a pressure of the pressure medium output by the proportional regulating valve 131a, and send the detected pressure value to the control module 131d, and the pressure detecting module 131c may be a pressure gauge, for example. The control module 131d is used for controlling the proportional control valve 131a to adjust the flow rate of the pressure medium and controlling the electromagnetic directional valve 131b to adjust the flow direction of the pressure medium according to the flow rate and the direction required by the actuator 14 and the pressure value of the pressure medium output by the proportional control valve 131 a. The control module 131d may be any module with a control function, such as an embedded computer, a control chip, etc., and is not limited herein.

As shown in fig. 3, in a specific implementation, the pressure driving system provided in the embodiment of the present application may further include: the check valve 16, by providing the check valve 16, can control the flow direction of the pressure medium to make the energy storage device 11 flow to the actuator 14, but not to make the flow in the reverse direction. As shown in fig. 3, a non-return valve 16 may be located between the pressure regulating means 12 and the control means 13 for controlling the flow direction of the pressure medium to the control means 13 from the pressure regulating means 12. Alternatively, as shown in fig. 4, the check valve 16 may also be located between the energy storage device 11 and the pressure regulating device 12 for controlling the flow direction of the pressure medium to flow from the energy storage device 11 to the pressure regulating device 12. Of course, the check valve 16 may be disposed at other positions, and is not limited herein.

As shown in fig. 5, in the embodiment of the present application, the pressure driving system may further include: the robot controller 17, the robot controller 17 is electrically connected with the control device 13, for example, the robot controller 17 may be electrically connected with the control module 131d in the control device 13, the robot controller 17 is configured to decompose the overall motion of the mobile robot into motion targets corresponding to each of the execution devices 14, and control each of the execution devices 14 to execute the motion targets through the control device 13, so that the mobile robot may be driven to implement corresponding operations.

With continued reference to fig. 5, the pressure drive system in the embodiment of the present application may further include: a pressure detector 18 located between the energy storage device 11 and the pressure regulating device 12, and a pressure monitoring unit 19 electrically connected to the pressure detector 18. The pressure monitoring unit 19 is electrically connected to the robot controller 17, and is configured to monitor pressure information of the pressure medium output by the energy storage device 11 and detected by the pressure detector 18, and send the pressure information to the robot controller 17. Alternatively, the pressure detector 18 may be a pressure gauge. In specific implementation, when the pressure of the pressure medium in the energy storage device 11 is greater than the working pressure required by the mobile robot, the pressure driving system can normally work. In the embodiment of the present application, by providing the pressure detector 18 and the pressure monitoring unit 19, the pressure information of the pressure medium output by the energy storage device 11 can be monitored, and the robot controller 17 can determine whether the pressure of the pressure medium output by the energy storage device 11 is greater than the working pressure required by the mobile robot according to the pressure information, so as to determine whether the pressure driving system can work normally.

In one possible implementation, the pressure driving system may further include: the device comprises a reserve detector 31 positioned between the recovery device 15 and the execution device 14, and a reserve monitoring unit 32 electrically connected with the reserve detector 31, wherein the reserve monitoring unit 32 is electrically connected with the robot controller 17 and is used for monitoring reserve information of the recovery device 15 detected by the reserve detector 31 and sending the reserve information to the robot controller 17. Alternatively, the reserve detector 31 may be a flow meter, and the reserve monitoring unit 32 may calculate the volume of the pressure medium in the recovery device 15, i.e. the reserve of the recovery device 15, based on the accumulation of the readings of the reserve detector 31. In the implementation, the pressure driving system can only work normally when the storage capacity of the recovery device 15 is smaller than the allowable volume, wherein the allowable volume refers to the volume inside the recovery device 15 which can be used for storing the pressure medium. In the embodiment of the present application, the reserve amount detector 31 and the reserve amount monitoring unit 32 are provided to monitor the reserve amount information of the recovery device 15, and the robot controller 17 can determine whether the reserve amount of the recovery device 15 is smaller than the allowable volume according to the reserve amount information to determine whether the pressure driving system can normally operate.

In practical applications, the pressure driving system may further include a bus 33, and the pressure monitoring unit 19 may be electrically connected to the robot controller 17 through the bus 33, that is, the pressure monitoring unit 19 may transmit the pressure information to the robot controller 17 through the bus. The inventory monitoring unit 32 may be electrically connected to the robot controller 17 via a bus 33, i.e. the inventory monitoring unit 32 may transmit the inventory information to the robot controller 17 via the bus.

In the pressure driving system provided in the embodiment of the present application, referring to fig. 5, a power source of the pressure driving system is a high-pressure medium in the energy storage device 11, and the high-pressure medium pushes the execution device 14 to do work so as to drive the execution device 14 to execute the instruction action. In the pressure driving system, the pressure of the pressure medium can be adjusted by the pressure adjusting device 12, and the pressure adjusting device 12 adjusts the pressure of the pressure medium by reducing the pressure of the pressure medium to a set pressure, so that when the pressure of the pressure medium in the energy storage device 11 is lower than the working pressure of the mobile robot, the pressure medium cannot push the execution device 14 to do work, that is, the energy storage unit 11 fails, and the pressure driving system cannot work normally. When the pressure of the pressure medium output by the energy storage device 11 is detected to be smaller than the working pressure of the mobile robot, the energy storage device 11 needs to be replaced. In addition, the high-pressure medium pushes the actuator 14 to do work, and then the pressure is reduced, and the recovery device 15 can recover the low-pressure medium discharged by the actuator 14. After the pressure medium in the recovery device 15 is fully stored, the recovery device 15 fails, and the recovery device 15 cannot recover the pressure medium any more, so that the low-pressure medium generated by the execution device 14 doing work cannot be discharged, which also causes the pressure driving system to fail to work normally, and when the storage capacity of the recovery device 15 is detected to be greater than the allowable volume, the recovery device 15 needs to be replaced.

judging whether the pressure of the pressure medium output by the energy storage device is larger than the working pressure of the mobile robot or not according to the pressure information; if so, setting the state information of the energy storage device to be effective; if not, setting the state information of the energy storage device as invalid;

Referring to fig. 5, in the embodiment of the present application, by providing the pressure detector 18 and the pressure monitoring unit 19, pressure information of the pressure medium output by the energy storage device 11 may be monitored, and the robot controller 17 may determine, according to the pressure information, whether the pressure of the pressure medium output by the energy storage device 11 is greater than the working pressure of the mobile robot, and set state information of the energy storage device 11 according to a determination result, so that whether the energy storage device 11 is effective or not may be visually embodied through the state information of the energy storage device 11, and the monitoring of the working state of the pressure driving system is facilitated. Moreover, the reserve amount detector 31 and the reserve amount monitoring unit 32 are arranged to monitor the reserve amount information of the recovery device 15, and the robot controller 17 can judge whether the reserve amount of the recovery device 15 is smaller than the allowable volume according to the reserve amount information and set the state information of the recovery device 15 according to the judgment result, so that whether the recovery device 15 is effective or not can be visually embodied through the state information of the recovery device 15, and the working state of the pressure driving system can be monitored conveniently.

In some embodiments of the present application, the robot controller may be further operable to: monitoring state information of the energy storage device and the recovery device; if the state information of any one of the energy storage device and the recovery device is invalid, judging whether the state information of the energy storage device is invalid; if so, sending prompt information for replacing the energy storage device; if not, setting the state information of the energy storage device to be effective, and judging whether the state information of the recovery device is invalid or not; if so, sending out prompt information for replacing the recovery device; if so, the state information of the recovery device is set to be effective. In the embodiment of the application, through monitoring the state information of the energy storage device and the recovery device, when the state information of any one of the energy storage device and the recovery device is monitored to be invalid, the specific situation that the energy storage device is invalid or the recovery device is invalid is further judged, and the prompt message for replacing the energy storage device or the recovery device can be sent in time, so that a user can replace the energy storage device or the recovery device in time, the pressure driving system can normally work, and the motion requirement of the mobile robot is met.

In order to more clearly illustrate the monitoring process of the robot controller on the energy storage device and the recovery device, the following describes a monitoring method performed by the robot controller with reference to the accompanying drawings. Fig. 6 is a schematic flowchart of a monitoring method executed by a robot controller in an embodiment of the present application, and as shown in fig. 6, the monitoring method executed by the robot controller includes:

s401, acquiring pressure information output by an energy storage device and reserve information of a recovery device;

s402, judging whether the pressure of the pressure medium output by the energy storage device is larger than the working pressure of the mobile robot or not according to the pressure information; if yes, go to step S403; if not, go to step S404;

s403, setting the state information of the energy storage device to be effective;

s404, setting the state information of the energy storage device to be invalid;

s405, judging whether the reserve of the recovery device is smaller than the allowable volume or not according to the reserve information; if yes, go to step S406; if not, executing step S407;

s406, setting the state information of the recovery device to be effective;

s407, setting the state information of the recovery device to be invalid;

s408, judging whether the state information of any one of the energy storage device and the recovery device is invalid or not; if yes, go to step S409; if not, executing step S401;

s409, judging whether the state information of the energy storage device is invalid or not; if yes, go to step S410; if not, executing step S411 and step S412;

s410, sending prompt information for replacing the energy storage device;

s411, setting the state information of the energy storage device to be effective;

s412, judging whether the state information of the recovery device is invalid; if yes, go to step S413; if not, go to step S414;

s413, sending out prompt information for replacing the recovery device;

s414, setting the state information of the recovery device to be effective;

s415, judging whether the energy storage device is replaced or not; if yes, go to step S411; if not, go to step S410;

s416, judging whether the recovery device is replaced or not; if yes, go to step S414; if not, step S413 is executed.

In this embodiment of the application, the robot controller may implement real-time monitoring on the energy storage device and the recovery device by executing the steps S401 to S416.

In a specific implementation, the pressure medium in the pressure driving system is an incompressible gas or fluid, for example, the pressure medium may be air or hydraulic oil, etc., i.e., the volume of the pressure medium does not change due to the change of pressure. In other embodiments of this application, can set up the volume of retrieving the device as being greater than the volume of energy storage device, and, when energy storage device or retrieve the device and need change, change energy storage device and retrieve the device simultaneously, the recovery device of changing at every turn is empty can, and like this, can guarantee that the pressure medium among the recovery device can not spill over, and the status information of retrieving the device is effective always promptly, therefore, monitoring procedure in the robot control ware can be simplified, the robot control ware only need monitor whether the energy storage device became invalid can. Specifically, the robot controller may be configured to determine, according to the pressure information, whether the pressure of the pressure medium output by the energy storage device is greater than a working pressure of the mobile robot; if so, setting the state information of the energy storage device to be effective; if not, prompt information for replacing the energy storage device and the recovery device is sent.

Fig. 7 is a schematic flowchart of a monitoring method executed by a robot controller in an embodiment of the present application, and as shown in fig. 7, the monitoring method executed by the robot controller includes:

s501, acquiring pressure information output by an energy storage device;

s502, judging whether the pressure of the pressure medium output by the energy storage device is larger than the working pressure of the mobile robot or not; if yes, go to step S503; if not, executing step S504;

s503, setting the state information of the energy storage device to be effective;

s504, sending prompt information for replacing the energy storage device and the recovery device;

s505, judging whether the energy storage device and the recovery device are replaced or not; if yes, go to step S501; if not, go to step S504.

In this embodiment of the application, the robot controller may implement real-time monitoring on the energy storage device and the recovery device by executing the steps S501 to S505.

Fig. 8 is another schematic structural diagram of a pressure driving system according to an embodiment of the present application, and as shown in fig. 8, the pressure driving system may further include: the standby energy storage device 11 ' and/or the standby recovery device 15 ', wherein the standby energy storage device 11 ' is connected with the input end of the pressure adjusting device 12 and is used for storing pressure media and outputting the pressure media to the pressure adjusting device 12 when the pressure of the pressure media output by the energy storage device 11 is smaller than the working pressure of the mobile robot. The backup recovery means 15' is connected to the actuator 14 for recovering the pressure medium discharged by the actuator 14 when the reserve volume of the recovery means 15 is greater than the permissible volume. Namely, the position and function of the energy storage device 11 'are the same as those of the energy storage device 11, the position and function of the standby recovery device 15' are the same as those of the recovery device 15, so that when the pressure of the energy storage device 11 is insufficient or the storage capacity of the recovery device 15 is insufficient, the energy storage device 11 'can temporarily replace the energy storage device 11, the standby recovery device 15' can temporarily replace the recovery device 15, so as to continue to drive the mobile robot to move, in the process, the mobile robot can automatically better store the energy storage device and recover the device, and the automatic control of the mobile robot is facilitated.

Fig. 9 is a schematic structural diagram of an energy storage device and a recycling device in an embodiment of the present application, and as shown in fig. 9, the energy storage device 11 may include: the pressure regulating part 112 divides the first tank 111 into a first chamber U1 and a second chamber U2, the second chamber U2 is used for storing a pressure medium, and the pressure regulating part 112 is used for regulating the volume of the second chamber U2 to regulate the pressure of the pressure medium. In one possible implementation, the pressure medium in the energy storage device 11 is an incompressible gas or fluid, for example, the pressure medium may be air or hydraulic oil, etc., i.e., the volume of the pressure medium does not change due to the change of the pressure, and thus, the pressure of the pressure medium in the second chamber U2 may be adjusted by changing the volume of the second chamber U2 through the pressure adjusting portion 112. In a specific implementation, the first tank 111 may be a high-pressure tank, so that the first tank 111 can bear the pressure of the pressure medium, thereby providing the required pressure for the normal operation of the pressure driving system.

With continued reference to fig. 9, in some embodiments of the present application, the pressure regulating portion 112 may include: the slider 1121, the sealing ring 1122, and the elastic member 1123, for example, the elastic member 1123 may be a spring. The slider 1121 has a first cavity U1 on one side and a second cavity U2 on the other side, that is, the slider 1121 can divide the first tank 111 into a first cavity U1 and a second cavity U2. The sealing ring 1122 is located between the sliding block 1121 and the inner wall of the first can 111, and the sealing ring 1122 surrounds the sliding block 1121, so that the first chamber U1 and the second chamber U2 have better sealing performance, and the pressure of the pressure medium in the second chamber U2 can be adjusted when the volume of the second chamber U2 is changed. The elastic member 1123 is located in the first chamber U1, one end of the elastic member 1123 is connected to the slider 1121, and the other end is connected to the inner wall of the first tank 111, and by adjusting the amount of expansion and contraction of the elastic member 1123, the position of the slider 1121 can be changed to change the volume of the second chamber U2, thereby adjusting the pressure of the pressure medium in the second chamber U2.

Fig. 10 is another schematic structural diagram of the energy storage device and the recovery device in the embodiment of the present application, and as shown in fig. 10, in other embodiments of the present application, the pressure adjustment portion 112 may include: the pressure airbag 1124 and the air tap 1125, the pressure airbag 1124 has a first chamber U1 therein, and the pressure airbag 1124 in the first tank 111 has a second chamber U2 therein, i.e. the pressure airbag 1124 can divide the first tank 111 into a first chamber U1 and a second chamber U2. An air tap 1125 extends through the pressure bladder 1124 and the side wall of the first tank 111 for filling or discharging compressed air into or from the first chamber U1 to change the volume of the second chamber U2 and thereby regulate the pressure of the pressure medium in the second chamber U2. Specifically, when the pressure bladder 1124 is filled with the compressed gas through the gas nozzle 1125, the pressure of the pressure medium in the second chamber U2 can be increased, and when the compressed gas in the pressure bladder 1124 is discharged through the gas nozzle 1125, the pressure of the pressure medium in the second chamber U2 can be decreased.

In one possible implementation, as shown in fig. 9 and 10, the recycling device 15 may include: a second tank 151, and a scavenging valve 152 penetrating a side wall of the second tank 151, the scavenging valve 152 being for communicating the inside of the second tank 151 with the atmosphere so that the pressure medium can flow into the inside of the second tank 151. Since the pressure of the pressure medium in the recovery device 15 is low, the second tank 151 may be a low-pressure tank as long as the low-pressure medium can be stored.

In a specific implementation, as shown in fig. 9, the pressure driving system may further include: a baffle 34, the baffle 34 may include: the first interface 341 is connected with the pressure regulating device, and the second interface 342 is connected with the actuating device, the first tank 111 is provided with a first self-sealing joint 113, the first self-sealing joint 113 is used for connecting the second chamber U2 with the first interface 341, the second tank 151 is provided with a second self-sealing joint 153, and the second self-sealing joint 153 is connected with the second interface 342. By arranging the flow guide plate 34, the first tank 111 is connected with the first interface 341 through the first self-sealing joint 113, and the second tank 151 is connected with the second interface 342 through the second self-sealing joint 153, so that the energy storage device 11 is connected with the pressure regulating device, and the recovery device 15 is connected with the execution device, so that the energy storage device 11 and the recovery device 15 are connected into the pressure driving system.

When the energy storage device 11 is connected with the flow guide plate 34, the first self-sealing joint 113 is opened, so that the energy storage device 11 is communicated with the pressure regulating device, and pressure medium can flow into or out of the first tank 111 through the first self-sealing joint 113. When the energy storage device 11 is replaced, the first tank 111 needs to be pulled out from the flow guide plate 34, and the first self-sealing joint 113 can seal the first tank 111 to prevent the pressure medium in the second chamber U2 from leaking. When the recovery device 15 is connected to the baffle 34, the second self-sealing joint 153 is opened to connect the recovery device 15 with the actuator, so that the pressure medium can flow into or out of the second tank 151 through the second self-sealing joint 153. When the recycling device 15 is replaced, the second tank 151 needs to be pulled out from the flow guide plate 34, and the second self-sealing joint 153 can seal the second tank 151, so as to prevent the pressure medium in the second tank 151 from leaking.

As shown in fig. 9, the first tank 111 and the second tank 151 may be separately disposed, so that the energy storage device 11 and the recovery device 15 may be replaced respectively, and the operation is flexible. As shown in fig. 10, the first tank 111 and the second tank 151 may be of an integral structure, so that the volume occupied by the energy storage device 11 and the recovery device 15 may be reduced.

Fig. 11 is a schematic structural diagram of a mobile robot according to an embodiment of the present application, where (1) in fig. 11 is a left side view of the mobile robot, and (2) in fig. 11 is a front view of the mobile robot, and as shown in fig. 11, a robot body may include: the base 21, the plurality of connecting rods 22, the plurality of connecting parts 23 and the main body 24, wherein the connecting parts 23 can be rotating hinges or linear supports. The base 21 may be connected to the link 22 by a connecting portion 23, the main body 24 may be connected to the link 22 by a connecting portion 23, and the two links 22 may be connected to each other by a connecting portion 23. The actuator 14 may be telescopic or rotatable, for example, the actuator 14 may be a pressure-driven cylinder, a rotary cylinder or a hydraulic motor, and the actuator 14 may rotate the connecting rod 22 about the connecting portion 23. In the mobile robot shown in fig. 11, the base 21, the plurality of links 22, the plurality of connecting portions 23, and the main body 24 may be formed in a leg shape, the mobile robot has two legs which can move by walking with swinging legs in a space, the two legs have ten actuators 14 for pushing the legs to swing, each actuator 14 moves under the control of one sub-controller of the control devices, and the sub-controller corresponding to the actuator 14 may be provided in the adjacent link 22 or the main body 24. The energy storage device, pressure regulation device, recovery device, etc. components of the pressure drive system may be disposed in the body 24.

For example, the mobile robot shown in fig. 11 may employ the pressure driving system shown in fig. 5, in conjunction with fig. 5 and 11, the solid line in fig. 5 represents the flow path of the pressure medium, and the dotted line represents the transmission path of the control signal. The high-pressure medium in the storage device 11 is transmitted to the pressure adjusting device 12, the pressure of the pressure medium passing through the pressure adjusting device 12 is stabilized to a set pressure, the set pressure is greater than or equal to the working pressure of the mobile robot, the pressure adjusting device 12 outputs the adjusted pressure medium to the control device 13, and the control device 13 can control the flow and the direction of the pressure medium to drive the execution device 14 to execute the command action. The high-pressure medium pushes the actuator 14 to do work, and then the pressure is reduced, and the recovery device 15 can recover the low-pressure medium discharged by the actuator 14.

The pressure detector 18 may detect the output pressure of the energy storage device 11, the pressure monitoring unit 19 may monitor the pressure information of the pressure medium output by the energy storage device 11 and detected by the pressure detector 18, perform operations such as parsing and encoding on the pressure information, and send the pressure information to the robot controller 17 through the bus 33, and the reserve monitoring unit 32 may read the flow rate of the pressure medium flowing into the recovery device 15 through the reserve detector 31, calculate the reserve of the pressure medium stored in the recovery device 15, and send the reserve information to the robot controller 17 through the bus 33. Alternatively, the reserve detector 31 may be a flow meter. The current reserve of the pressure medium stored in the recovery device 15 is the initial reserve plus Σ flow per sampling period.

In practice, the robot controller 17 may perform the method shown in fig. 6 or fig. 7 to monitor the state of the pressure driven system in order to replace the energy storage device 11 and the recovery device 15 at the appropriate time.

In specific implementation, the performance parameters of the pressure driving system can be set according to the weight limit, the motion performance requirement and other parameters of the mobile robot. For example, if a mobile robot having a self weight of about 50kg and a moving speed of about 1m/s is required, the average power of the pressure drive system needs to be set to about 3000. Compared with the pressure driving system with the hydraulic pump in the related art, the pressure driving system in the embodiment of the present application does not need to be provided with the hydraulic pump, and therefore the performance of the pressure driving in the embodiment of the present application is better. Table 1 shows a performance comparison table between the pressure drive system of the present application and the pressure drive system of the related art, where as shown in table 1, the efficiency of the pressure drive system of the related art is equal to the battery charge/discharge efficiency, the pump and relief valve efficiency, the motor efficiency is equal to 0.9, 0.8, 0.95, and the efficiency of the pressure drive system of the present application is equal to the energy storage unit output efficiency, 0.9. The input power demand of the pressure drive system in the related art is 3000/0.684 4386W, and the input power demand of the pressure drive system in the present application is 3000/0.9 3333W. In the related art, the heating power of the pressure driving system is 4386-. In the related art, the added weight of the power system of the pressure driving system is (3.5+4.5) +5+2 is (3.5+4.5) + 15kg, and the added weight of the power system of the pressure driving system is (3 +9+ 2) 14 kg. The overall noise of the pressure drive system in the related art is max (actuator noise, powertrain noise) and max (65,40) is 65 dB. The overall noise of the pressure drive system in the present application is max (actuator noise, powertrain noise) and max (40,40) is 40 dB.

In summary, in table 1, the higher the efficiency value, the better the input power demand, the lower the heating power, the better the heating power, the lighter the weight, and the better the overall noise is the high value of all noise items, the lower the overall noise is. The pressure driving system in the embodiment of the application does not need to be provided with a hydraulic pump, so that the power conversion link is reduced, the overall efficiency is improved to 0.9 from 0.684 in the related technology, correspondingly, the heating power is reduced to 333W from 1386W, and the effect is obvious. Under the same motion performance, the power requirement of the mobile robot adopting the pressure driving system in the embodiment of the application is correspondingly reduced by 1053W, and the mobile robot in the embodiment of the application can work for a longer time under the condition of carrying the same energy. In terms of weight, the weight of the power system is basically equivalent, and the pressure driving system in the embodiment of the application can be slightly lowered. The pressure drive system in the embodiment of the application reduces the whole noise from 65dB to 40dB due to the reduction of the combination of the hydraulic pump and the motor. Therefore, the performance of the pressure drive in the embodiment of the present application is better.

Table 1 comparison of performance of the pressure driven system in the present application with that in the related art

Fig. 12 is a schematic structural diagram of a mobile robot according to an embodiment of the present disclosure, where (1) in fig. 12 is a left side view of the mobile robot, and (2) in fig. 12 is a front view of the mobile robot, as shown in fig. 12, the mobile robot is a small car robot arm type mobile robot, a robot arm is composed of a plurality of links 22, a plurality of connecting portions 23, and a plurality of actuators 14, and the actuators 14 in the robot arm include linear cylinders and rotary cylinders to drive the robot arm to move, so that the robot arm has seven degrees of freedom. The robot arm is mounted on a moving part 25, which is similar to a "trolley" and can move the robot arm, the moving part 25 is driven by an actuator 14, and the actuator 14 can be a driving motor.

The mobile robot shown in fig. 12 may adopt a pressure driving system as shown in fig. 8, and in combination with fig. 8 and 12, a spare energy storage device 11 ' and a spare recovery device 15 ' are provided in the pressure driving system, and the energy storage device 11 and the spare energy storage device 11 ' may be mounted on a moving portion. When the pressure of the energy storage device 11 is insufficient or the storage capacity of the recovery device 15 is insufficient, the energy storage device 11 'can temporarily replace the energy storage device 11, the standby recovery device 15' can temporarily replace the recovery device 15 to continue driving the mobile robot to move, in the process, the mobile robot can automatically better store the energy storage device and recover the device, and the automatic control of the mobile robot is facilitated.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to encompass such modifications and variations.

Claims

1. A pressure driven system, comprising: the device comprises an energy storage device, a pressure adjusting device, a control device and an execution device;

the energy storage device is connected with the input end of the pressure adjusting device, the output end of the pressure adjusting device is connected with the control device, and the control device is connected with the execution device;

the energy storage device is used for storing pressure medium and outputting the pressure medium to the input end of the pressure regulating device;

the pressure adjusting device is used for adjusting the pressure of the pressure medium so as to reduce the pressure of the output end of the pressure adjusting device to a set pressure and outputting the adjusted pressure medium to the control device; the set pressure is greater than or equal to the working pressure of the mobile robot;

the control device is used for outputting the pressure medium to the execution device and controlling the flow and the direction of the pressure medium so as to drive the execution device to execute the instruction action.

2. The pressure driven system of claim 1, further comprising: recovering the device;

the recovery device is connected with the execution device and is used for recovering the pressure medium discharged by the execution device.

3. A pressure driven system as claimed in claim 2, wherein the control means comprises: at least one sub-controller, each of the sub-controllers for driving one of the actuators;

the sub-controller includes: at least one proportional regulating valve; and/or, at least one electromagnetic directional valve;

one end of the proportional regulating valve is connected with the pressure regulating device, and the other end of the proportional regulating valve is connected with the electromagnetic directional valve;

the electromagnetic directional valve is connected with the execution device.

4. A pressure driven system as claimed in claim 3 wherein said recovery means is connected to said actuator means through said solenoid directional valve.

5. The pressure driven system of claim 1, further comprising: a one-way valve;

the one-way valve is positioned between the energy storage device and the pressure regulating device and is used for controlling the flow direction of the pressure medium to be that the energy storage device flows to the pressure regulating device;

or the one-way valve is positioned between the pressure regulating device and the control device and is used for controlling the flow direction of the pressure medium to be that the pressure regulating device flows to the control device.

6. The pressure drive system according to any one of claims 2 to 5, further comprising: a robot controller;

the robot controller is electrically connected with the control device and is used for decomposing the complete machine motion of the mobile robot into motion targets corresponding to each execution device and controlling each execution device to execute the motion targets through the control device.

7. The pressure driven system of claim 6, further comprising: the pressure monitoring unit is electrically connected with the pressure detector;

the pressure monitoring unit is electrically connected with the robot controller and used for monitoring the pressure information of the pressure medium, which is detected by the pressure detector and output by the energy storage device, and sending the pressure information to the robot controller.

8. The pressure driven system of claim 7, further comprising: the reserve detector is positioned between the recovery device and the execution device, and the reserve monitoring unit is electrically connected with the reserve detector;

the reserve monitoring unit is electrically connected with the robot controller and used for monitoring reserve information of the recovery device detected by the reserve detector and sending the reserve information to the robot controller.

9. The pressure drive system of claim 8, wherein the robotic controller is to:

judging whether the pressure of the pressure medium output by the energy storage device is greater than the working pressure of the mobile robot or not according to the pressure information; if so, setting the state information of the energy storage device to be effective; if not, setting the state information of the energy storage device to be invalid;

judging whether the reserve of the recovery device is smaller than the allowable volume or not according to the reserve information; if yes, setting the state information of the recovery device to be valid; and if not, setting the state information of the recovery device to be invalid.

10. The pressure drive system of claim 9, wherein the robotic controller is further configured to: monitoring state information of the energy storage device and the recovery device; if the state information of any one of the energy storage device and the recovery device is invalid, judging whether the state information of the energy storage device is invalid; if so, sending prompt information for replacing the energy storage device; if not, setting the state information of the energy storage device to be effective, and judging whether the state information of the recovery device is invalid or not; if so, sending out prompt information for replacing the recovery device; and if so, setting the state information of the recovery device to be effective.

11. A pressure driven system as claimed in claim 8 wherein the volume of the recovery device is greater than the volume of the energy storage device;

the robot controller is used for judging whether the pressure of the pressure medium output by the energy storage device is greater than the working pressure of the mobile robot or not according to the pressure information; if so, setting the state information of the energy storage device to be effective; if not, prompt information for replacing the energy storage device and the recovery device is sent.

12. A pressure driven system as claimed in claim 2 wherein said energy storage device comprises: the pressure regulating device comprises a first tank body and a pressure regulating part positioned in the first tank body;

the pressure adjusting part divides the first tank into a first chamber and a second chamber, the second chamber is used for storing the pressure medium, and the pressure adjusting part is used for adjusting the volume of the second chamber so as to adjust the pressure of the pressure medium.

13. The pressure drive system according to claim 12, wherein the pressure adjusting portion includes: the sliding block, the sealing ring and the elastic piece;

one side of the sliding block is the first cavity, the other side of the sliding block is the second cavity, and the sealing ring is positioned between the sliding block and the inner wall of the first tank body;

the elastic piece is located in the first cavity, one end of the elastic piece is connected with the sliding block, and the other end of the elastic piece is connected with the inner wall of the first tank body.

14. The pressure drive system according to claim 12, wherein the pressure adjusting portion includes: a pressure air bag and an air nozzle;

the inner part of the pressure air bag is the first chamber, and the outer part of the pressure air bag in the first tank body is the second chamber;

the air tap penetrates through the pressure air bag and the side wall of the first tank body and is used for filling or discharging compressed air into or from the first chamber.

15. A pressure driven system as claimed in any one of claims 12 to 14 wherein the recovery device comprises: a second tank, and a gas exchange valve extending through a sidewall of the second tank;

the scavenging valve is used for communicating the interior of the second tank body with the atmosphere.

16. The pressure driven system of claim 15, further comprising: a baffle;

the baffle includes: a first interface connected with the pressure regulating device, and a second interface connected with the actuating device;

the first tank body is provided with a first self-sealing joint which is used for connecting the second chamber with the first interface;

the second tank body is provided with a second self-sealing joint, and the second self-sealing joint is connected with the second interface.

17. A pressure driven system as claimed in claim 15 or claim 16, wherein the first tank is provided separately from the second tank; or the first tank body and the second tank body are of an integral structure.

18. A pressure drive system as claimed in any one of claims 2 to 17, further comprising: a backup energy storage device and/or a backup recovery device;

the standby energy storage device is connected with the input end of the pressure adjusting device and is used for storing pressure media and outputting the pressure media to the pressure adjusting device when the pressure of the pressure media output by the energy storage device is smaller than the working pressure of the mobile robot;

the standby recovery device is connected with the execution device and is used for recovering the pressure medium discharged by the execution device when the storage capacity of the recovery device is larger than the allowable volume.

19. A mobile robot, comprising: a robot body, and a pressure drive system as claimed in any one of claims 1 to 18.