CN115898990A - Bionic joint driving hydraulic system - Google Patents
Bionic joint driving hydraulic system Download PDFInfo
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- CN115898990A CN115898990A CN202310010187.2A CN202310010187A CN115898990A CN 115898990 A CN115898990 A CN 115898990A CN 202310010187 A CN202310010187 A CN 202310010187A CN 115898990 A CN115898990 A CN 115898990A
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Abstract
The application discloses bionical joint drive hydraulic system includes: the hydraulic control system comprises a first bidirectional hydraulic pump, a first motor, a second bidirectional hydraulic pump, a second motor, a first double-cavity hydraulic cylinder, a second double-cavity hydraulic cylinder, a first throttle valve, a second throttle valve and a third throttle valve; the first bidirectional hydraulic pump is communicated with a first oil cavity of the first double-cavity hydraulic cylinder through a first oil way and is communicated with a first oil cavity of the second double-cavity hydraulic cylinder through a second oil way; the second bidirectional hydraulic pump is communicated with a second oil cavity of the first double-cavity hydraulic cylinder through a third oil way and is communicated with a second oil cavity of the second double-cavity hydraulic cylinder through a fourth oil way; the first throttle valve is connected between the first oil path and the second oil path, the second throttle valve is connected between the third oil path and the fourth oil path, and the third throttle valve is used for communicating a first oil chamber and a second oil chamber of the second double-cavity hydraulic cylinder. Through the double-pump control system, the energy consumption of the hydraulic system can be reduced, and the efficiency of the hydraulic system is improved.
Description
Technical Field
The application relates to the field of robots, in particular to a bionic joint driving hydraulic system.
Background
Along with the development of science and technology, the wearable robot can provide help for the patient of inconvenient action, and the performance of wearable robot depends on its bionic joint's drive effect.
A part of the existing wearable robot adopts a hydraulic system, but the existing wearable robot is mainly a valve control system and has great throttling loss; secondly, the existing bionic driving systems are all hydraulic systems with single-stage pressure sources, the pressure of an output pump source is the maximum energy value of a driven load, the output pump source cannot be matched with a variable load, and the energy loss is high.
Whether hydraulic system's damping can continuous regulation has decided the compliance of bionic joint's swing gesture in addition, and the gesture is not gentle and agreeable can lead to the patient to dress the travelling comfort relatively poor, and the gait is unmatched with healthy leg, and the gait is asymmetric.
Therefore, how to provide a bionic joint driving hydraulic system with low energy consumption, high efficiency and continuously adjustable damping is a technical problem urgently needed to be solved by the technical personnel in the field.
Disclosure of Invention
The application aims to provide a bionic joint driving hydraulic system which can effectively solve the problems of high energy consumption and low efficiency of the existing bionic joint hydraulic system.
In order to solve the technical problem, the application provides the following technical scheme:
a biomimetic joint-drive hydraulic system comprising: the hydraulic control system comprises a first motor, a first bidirectional hydraulic pump, a second motor, a second bidirectional hydraulic pump, a first double-cavity hydraulic cylinder, a second double-cavity hydraulic cylinder, a first throttle valve, a second throttle valve and a third throttle valve;
the first motor is connected with the first bidirectional hydraulic pump, the first bidirectional hydraulic pump is communicated with a first oil cavity of the first double-cavity hydraulic cylinder through a first oil way, and the first bidirectional hydraulic pump is communicated with a first oil cavity of the second double-cavity hydraulic cylinder through a second oil way;
the second motor is connected with the second bidirectional hydraulic pump, the second bidirectional hydraulic pump is communicated with the second oil cavity of the first double-cavity hydraulic cylinder through a third oil way, and the second bidirectional hydraulic pump is communicated with the second oil cavity of the second double-cavity hydraulic cylinder through a fourth oil way;
the first throttle valve is connected between the first oil path and the second oil path, the second throttle valve is connected between the third oil path and the fourth oil path, and the third throttle valve is used for communicating a first oil chamber and a second oil chamber of the second double-cavity hydraulic cylinder.
Preferably, a first check valve is arranged on the first oil path, a second check valve is arranged on the second oil path, a third check valve is arranged on the third oil path, and a fourth check valve is arranged on the fourth oil path.
Preferably, the first check valve and the second check valve constitute a first hydraulic lock; the third check valve and the fourth check valve form a second hydraulic lock.
Preferably, the bionic joint driving hydraulic system further comprises a first stroke sensor for detecting the stroke of the piston of the first double-cavity hydraulic cylinder and a second stroke sensor for detecting the stroke of the piston of the second double-cavity hydraulic cylinder.
Preferably, the bionic joint driving hydraulic system further comprises a first flow meter for measuring the hydraulic oil flow of the first double-cavity hydraulic cylinder and a second flow meter for measuring the hydraulic oil flow of the second double-cavity hydraulic cylinder.
Preferably, the bionic joint driving hydraulic system further comprises an oil supplementing oil tank and a one-way switch valve, and the oil supplementing oil tank is connected with the first bidirectional hydraulic pump through the one-way switch valve.
Compared with the prior art, the technical scheme has the following advantages:
the application provides a bionical joint drive hydraulic system both can realize the valve accuse system, also can realize the pump control system. The valve control system is realized by controlling the on-off and opening size of the first throttle valve, the second throttle valve and the third throttle valve, so that the output of different output forces of the first double-cavity hydraulic cylinder and the second double-cavity hydraulic cylinder can be controlled. The pump control system is used for controlling the flow rate and the flow direction of the first bidirectional hydraulic pump and the second bidirectional hydraulic pump by controlling the rotating speed and the rotating direction of the first motor and the second motor, so that the supply pressure of the hydraulic system is matched with a time-varying load, the energy loss is effectively reduced, the energy consumption of the hydraulic system can be reduced by the double-pump control system, and the efficiency of the hydraulic system is improved.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a hydraulic schematic diagram of a bionic joint driving hydraulic system according to an embodiment of the present application.
The reference numbers are as follows:
the hydraulic control system comprises a first motor 1, a first bidirectional hydraulic pump 2, a second motor 3, a second bidirectional hydraulic pump 4, a first double-cavity hydraulic cylinder 5, a second double-cavity hydraulic cylinder 6, a first throttle 7, a second throttle 8, a third throttle 9, a first oil path 10, a second oil path 11, a third oil path 12, a fourth oil path 13, a first check valve 14, a second check valve 15, a third check valve 16, a fourth check valve 17, a first stroke sensor 18, a second stroke sensor 19, a first flowmeter 20, a second flowmeter 21, an oil supplementing oil tank 22 and a one-way switch valve 23.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below.
In the following description, specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit and scope of this application. The present application is therefore not limited to the specific embodiments disclosed below.
Referring to fig. 1, fig. 1 is a hydraulic schematic diagram of a bionic joint driving hydraulic system according to an embodiment of the present disclosure.
One embodiment of the present application provides a biomimetic joint driving hydraulic system, comprising: the hydraulic control system comprises a first motor 1, a first bidirectional hydraulic pump 2, a second motor 3, a second bidirectional hydraulic pump 4, a first double-cavity hydraulic cylinder 5, a second double-cavity hydraulic cylinder 6, a first throttle valve 7, a second throttle valve 8 and a third throttle valve 9; the first motor 1 is connected with a first bidirectional hydraulic pump 2, the first bidirectional hydraulic pump 2 is communicated with a first oil cavity of a first double-cavity hydraulic cylinder 5 through a first oil way 10, and the first bidirectional hydraulic pump 2 is communicated with a first oil cavity of a second double-cavity hydraulic cylinder 6 through a second oil way 11; the second motor 3 is connected with a second bidirectional hydraulic pump 4, the second bidirectional hydraulic pump 4 is communicated with a second oil cavity of the first double-cavity hydraulic cylinder 5 through a third oil way 12, and the second bidirectional hydraulic pump 4 is communicated with a second oil cavity of the second double-cavity hydraulic cylinder 6 through a fourth oil way 13; a first throttle valve 7 is connected between the first oil path 10 and the second oil path 11, the first throttle valve 7 is used for controlling the on-off and the flow of the oil path between the first oil chambers of the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6, a second throttle valve 8 is connected between the third oil path 12 and the fourth oil path 13, and the first throttle valve 7 is connected between the first oil path 10 and the second oil path 11The second throttle valve 8 is used for controlling the on-off and the flow of an oil path between the second oil chambers of the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6, the third throttle valve 9 is communicated with the first oil chamber and the second oil chamber of the second double-cavity hydraulic cylinder 6, and the on-off and the flow of the oil path between the first oil chamber and the second oil chamber of the second double-cavity hydraulic cylinder 6 are controlled through the opening size of the third throttle valve 9. Therefore, by controlling the on-off and opening size of the first throttle valve 7, the second throttle valve 8 and the third throttle valve 9, the output of different output forces of the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6 can be controlled, namely the output forces of the two hydraulic cylinders can be controlled by the throttle valves,
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thereby realizing multiple working modes of the hydraulic system.
Referring to fig. 1, the first dual-chamber hydraulic cylinder 5 and the second dual-chamber hydraulic cylinder 6 have four chambers, and for convenience of description, the first chamber of the first dual-chamber hydraulic cylinder 5 is denoted as "first chamber
The second chamber of the first double-chamber hydraulic cylinder 5 is marked as +>
Hydraulic cylinder with two cavities 6 is marked as->
The second chamber of the second double-chamber hydraulic cylinder 6 is marked as->
. In these four chambers, is>
And &>
The first two-way hydraulic pump 2 is communicated with the hydraulic pump, and the hydraulic pump is equivalent to a small motion unit in muscle fibers of a human body. />
And &>
The second bidirectional hydraulic pump 4 is communicated, which is equivalent to a large movement unit in muscle fiber of a human body, wherein the flow rate of the second bidirectional hydraulic pump 4 is larger than that of the first bidirectional hydraulic pump 2. The first motor 1 and the second motor 3 correspond to alpha motor neurons in human muscles.
The flow size and direction of the first bidirectional hydraulic pump 2 and the second bidirectional hydraulic pump 4 are controlled by controlling the rotating speed and the steering direction of the first motor 1 and the second motor 3, so that the matching of the supply pressure of the hydraulic system and a time-varying load is realized, the energy loss is effectively reduced, and compared with a valve control system, the energy consumption of the hydraulic system can be reduced and the efficiency of the hydraulic system is improved by the double-pump control system.
In addition, by controlling the first motor 1 and the second motor 3, the damping of the hydraulic system can be adjusted in real time so as to reduce the impact in the joint driving process, and the driving action of the joint is smooth and natural by matching with the walking gait curve of the human body.
Four cavities are selected to be in coordination cooperation through the first motor 1 and the second motor 3, the size of hydraulic oil in the four cavities is controlled, different driving forces are obtained, and therefore the output force is matched with the load force, and the system is enabled to keep constant pressure. Namely, the large movement unit and the small movement unit are matched in a coordinated way according to the magnitude of the load force, so that the redundant energy loss in the joint rotation process is reduced, and the movement is smooth and natural. Namely, in the walking process of the robot, the load force is small, the required driving force is small, the first bidirectional hydraulic pump 2 with small flow is adopted to drive the two hydraulic cylinders to reciprocate, and the joint rotation is realized; when the load force is larger and the required driving force is larger, the second bidirectional hydraulic pump 4 with large flow is adopted to drive the two hydraulic cylinders to realize joint rotation; when a short-time large explosive force is needed, the first bidirectional hydraulic pump 2, the second bidirectional hydraulic pump 4, the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6 are adopted to supply energy in a coordinated mode.
In addition, the first bidirectional hydraulic pump 2, the second bidirectional hydraulic pump 4, the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6 are integrally designed, so that the wearable robot is more compact, and the aim of light weight is fulfilled.
In some embodiments of the present disclosure, a first check valve 14 is disposed on the first oil path 10, a second check valve 15 is disposed on the second oil path 11, a third check valve 16 is disposed on the third oil path 12, and a fourth check valve 17 is disposed on the fourth oil path 13. When the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6 stay at a certain position in the movement process, the locking can be carried out through corresponding one-way valves, so that the function of a safety loop is achieved. Wherein the first check valve 14 and the second check valve 15 constitute a first hydraulic lock; the third check valve 16 and the fourth check valve 17 constitute a second hydraulic lock.
In some embodiments of the present application, the biomimetic joint drive hydraulic system further comprises a first stroke sensor 18 for detecting a piston stroke of the first dual-chamber hydraulic cylinder 5, and a second stroke sensor 19 for detecting a piston stroke of the second dual-chamber hydraulic cylinder 6. The bionic joint driving hydraulic system further comprises a first flow meter 20 for measuring the hydraulic oil flow of the first double-cavity hydraulic cylinder 5 and a second flow meter 21 for measuring the hydraulic oil flow of the second double-cavity hydraulic cylinder 6. Through the sensors and the flow meters, the operation conditions of the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6 can be accurately controlled, so that accurate control is facilitated.
Furthermore, the bionic joint driving hydraulic system further comprises an oil supplementing oil tank 22 and a one-way switch valve 23, the oil supplementing oil tank 22 is connected with the first bidirectional hydraulic pump 2 through the one-way switch valve 23, and the working stability of the hydraulic system can be improved through oil supplementing operation of the oil supplementing oil tank 22.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A bionic joint driving hydraulic system is characterized by comprising: the hydraulic control system comprises a first motor (1), a first bidirectional hydraulic pump (2), a second motor (3), a second bidirectional hydraulic pump (4), a first double-cavity hydraulic cylinder (5), a second double-cavity hydraulic cylinder (6), a first throttle valve (7), a second throttle valve (8) and a third throttle valve (9);
the first motor (1) is connected with the first bidirectional hydraulic pump (2), the first bidirectional hydraulic pump (2) is communicated with a first oil cavity of the first double-cavity hydraulic cylinder (5) through a first oil way (10), and the first bidirectional hydraulic pump (2) is communicated with a first oil cavity of the second double-cavity hydraulic cylinder (6) through a second oil way (11);
the second motor (3) is connected with the second bidirectional hydraulic pump (4), the second bidirectional hydraulic pump (4) is communicated with a second oil cavity of the first double-cavity hydraulic cylinder (5) through a third oil way (12), and the second bidirectional hydraulic pump (4) is communicated with a second oil cavity of the second double-cavity hydraulic cylinder (6) through a fourth oil way (13);
the first throttle valve (7) is connected between the first oil path (10) and the second oil path (11), the second throttle valve (8) is connected between the third oil path (12) and the fourth oil path (13), and the third throttle valve (9) is used for communicating a first oil cavity and a second oil cavity of the second double-cavity hydraulic cylinder (6).
2. The hydraulic system for driving the bionic joint according to claim 1, wherein a first check valve (14) is arranged on the first oil path (10), a second check valve (15) is arranged on the second oil path (11), a third check valve (16) is arranged on the third oil path (12), and a fourth check valve (17) is arranged on the fourth oil path (13).
3. The biomimetic joint-driving hydraulic system according to claim 2, wherein the first one-way valve (14) and the second one-way valve (15) constitute a first hydraulic lock; the third check valve (16) and the fourth check valve (17) form a second hydraulic lock.
4. The biomimetic joint driving hydraulic system according to claim 1, further comprising a first stroke sensor (18) for detecting a piston stroke of the first dual-chamber hydraulic cylinder (5), and a second stroke sensor (19) for detecting a piston stroke of the second dual-chamber hydraulic cylinder (6).
5. The bionic joint driving hydraulic system according to claim 1, characterized by further comprising a first flow meter (20) for measuring the hydraulic oil flow rate of the first double-cavity hydraulic cylinder (5) and a second flow meter (21) for measuring the hydraulic oil flow rate of the second double-cavity hydraulic cylinder (6).
6. The hydraulic system for the bionic joint drive according to any one of claims 1 to 5, characterized by further comprising an oil supplementing tank (22) and a one-way switch valve (23), wherein the oil supplementing tank (22) is connected with the first bidirectional hydraulic pump (2) through the one-way switch valve (23).
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| CN202310010187.2A CN115898990B (en) | 2023-01-05 | 2023-01-05 | Bionic joint driving hydraulic system |
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| 杨政;尚建忠;王彪;唐力;梁科山;苟明康;: "液压驱动机械臂的轨迹规划", 机械设计与研究 * |
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