CN115898990B - Bionic joint driving hydraulic system - Google Patents
Bionic joint driving hydraulic system Download PDFInfo
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- CN115898990B CN115898990B CN202310010187.2A CN202310010187A CN115898990B CN 115898990 B CN115898990 B CN 115898990B CN 202310010187 A CN202310010187 A CN 202310010187A CN 115898990 B CN115898990 B CN 115898990B
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Abstract
The application discloses bionical joint drive hydraulic system includes: the hydraulic 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 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 the first oil cavity and the second oil cavity of the second double-cavity hydraulic cylinder. By the double-pump control system, the energy consumption of the hydraulic system can be reduced, and the efficiency of the hydraulic system can be improved.
Description
Technical Field
The application relates to the field of robots, in particular to a bionic joint driving hydraulic system.
Background
With the development of science and technology, the wearable robot can provide assistance for patients with mobility impairment, and the performance of the wearable robot depends on the driving effect of the bionic joint of the wearable robot.
Some of the existing wearable robots adopt hydraulic systems, but are mainly valve control systems, so that the existing wearable robots have great throttling loss; secondly, the current bionic driving systems are all hydraulic systems with single-stage pressure sources, the output pump source pressure is the maximum energy value of the driven load, the output pump source pressure cannot be matched with the changed load, and the energy loss is high.
In addition, whether the damping of the hydraulic system can be continuously adjusted determines the flexibility of the swing posture of the bionic joint, and the poor comfort of wearing of a patient can be caused by the non-flexibility of the posture, the gait is not matched with the 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 to be solved by those skilled in the art.
Disclosure of Invention
The utility model aims at providing a bionic joint drive hydraulic system, can effectively solve current bionic joint hydraulic system energy consumption height and inefficiency's problem.
In order to solve the technical problems, the application provides the following technical scheme:
a biomimetic joint driving hydraulic system, comprising: the hydraulic 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 way and the second oil way, the second throttle valve is connected between the third oil way and the fourth oil way, and the third throttle valve is used for communicating a first oil cavity and a second oil cavity of the second double-cavity hydraulic cylinder.
Preferably, the first oil way is provided with a first one-way valve, the second oil way is provided with a second one-way valve, the third oil way is provided with a third one-way valve, and the fourth oil way is provided with a fourth one-way valve.
Preferably, the first check valve and the second check valve form 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 a piston stroke of the first dual-chamber hydraulic cylinder, and a second stroke sensor for detecting a piston stroke of the second dual-chamber hydraulic cylinder.
Preferably, the bionic joint driving hydraulic system further comprises a first flowmeter for measuring the hydraulic oil flow rate of the first dual-chamber hydraulic cylinder, and a second flowmeter for measuring the hydraulic oil flow rate of the second dual-chamber hydraulic cylinder.
Preferably, the bionic joint driving hydraulic system further comprises an oil supplementing tank and a one-way switch valve, and the oil supplementing tank is connected with the first two-way hydraulic pump through the one-way switch valve.
Compared with the prior art, the technical scheme has the following advantages:
the bionic joint driving hydraulic system provided by the application can realize a valve control system and a pump control system. The valve control system is realized by controlling the on-off and opening sizes 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 realizes the process of controlling the flow size and direction of the first bidirectional hydraulic pump and the second bidirectional hydraulic pump by controlling the rotating speed and the steering of the first motor and the second motor, thereby realizing the matching of the supply pressure of the hydraulic system and the time-varying load, effectively reducing the energy loss, reducing the energy consumption of the hydraulic system and improving the efficiency of the hydraulic system through the double pump control system.
Drawings
In order to more clearly illustrate the technical solutions of the present application or the prior art, the following description will briefly introduce the drawings used in the embodiments or the description of the prior art, and it is obvious that, in the following description, the drawings are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a hydraulic schematic diagram of a bionic joint driving hydraulic system according to an embodiment of the present application.
The reference numerals are as follows:
1 is a first motor, 2 is a first bidirectional hydraulic pump, 3 is a second motor, 4 is a second bidirectional hydraulic pump, 5 is a first double-cavity hydraulic cylinder, 6 is a second double-cavity hydraulic cylinder, 7 is a first throttle valve, 8 is a second throttle valve, 9 is a third throttle valve, 10 is a first oil path, 11 is a second oil path, 12 is a third oil path, 13 is a fourth oil path, 14 is a first one-way valve, 15 is a second one-way valve, 16 is a third one-way valve, 17 is a fourth one-way valve, 18 is a first travel sensor, 19 is a second travel sensor, 20 is a first flowmeter, 21 is a second flowmeter, 22 is an oil supplementing tank, and 23 is a one-way switch valve.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with 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 may be carried out in a variety of other ways than those herein set forth, and similar generalizations may be made by those skilled in the art without departing from the spirit of the application. Therefore, the present application is not limited by 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 application.
One embodiment of the present application provides a bionic joint driving hydraulic system, comprising: a first motor 1, a first bi-directional hydraulic pump 2, a second motor 3, a second bi-directional hydraulic pump 4, a first dual-chamber hydraulic cylinder 5, a second dual-chamber 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 two-way hydraulic pump 2, the first two-way hydraulic pump 2 is communicated with a first oil cavity of a first two-cavity hydraulic cylinder 5 through a first oil way 10, and the first two-way hydraulic pump 2 is communicated with a first oil cavity of a second two-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 the 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 the 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 passage 10 and the second oil passage 11, the first throttle valve 7 is used for controlling the on-off and the flow of the oil passage between the first oil chamber of the first double-cavity hydraulic cylinder 5 and the first oil chamber of the second double-cavity hydraulic cylinder 6, the second throttle valve 8 is connected between the third oil passage 12 and the fourth oil passage 13, and the second throttle valve 8 is used for controlling the first double-cavity hydraulic cylinderThe opening and closing of the oil passage and the flow rate between the first oil chamber and the second oil chamber of the second double-chamber hydraulic cylinder 6 are controlled by the opening size of the third throttle valve 9, and the third throttle valve 9 communicates the first oil chamber and the second oil chamber of the second double-chamber hydraulic cylinder 6. Therefore, by controlling the on-off and opening sizes 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 through each throttle valve,
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thereby realizing various 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 share four chambers, and the first chamber of the first dual-chamber hydraulic cylinder 5 is referred to as a first chamber for convenience of description
The second chamber of the first two-chamber hydraulic cylinder 5 is denoted +.>
The first chamber of the second double-chamber hydraulic cylinder 6 is marked +.>
The second chamber of the second two-chamber hydraulic cylinder 6 is denoted +.>
. In these four chambers, +.>
And->
The first two-way hydraulic pump 2 is communicated with the human body muscle fiber, and is equivalent to a small movement unit in the human body muscle fiber. />
And->
Is communicated by a second bidirectional hydraulic pump 4, which is equivalent to a large movement unit in human muscle fibers, 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 the human muscle.
The flow rate and the 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 supply pressure of the hydraulic system is matched with a time-varying load, 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 through a double-pump control system.
In addition, through 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 flexible and natural by matching with the walking gait curve of a human body.
Four cavities are selected to be matched with each other through the first motor 1 and the second motor 3, and the hydraulic oil quantity in the four cavities is controlled to obtain different driving forces, so that output force and load force are matched, and the system keeps constant pressure. Namely, the large movement unit and the small movement unit are matched in a coordinated manner according to the magnitude of the load force, so that the redundant energy loss in the process of joint rotation is reduced, and the movement is smooth and natural. In the walking process of the robot, the load force is smaller, and the required driving force is smaller, so that the first two-way hydraulic pump 2 with small flow rate 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 two hydraulic cylinders are driven by the second bidirectional hydraulic pump 4 with large flow rate to realize joint rotation; when a short-time large explosion 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 used for coordinated energy supply.
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 designed in a pump cylinder integrated manner, so that the wearable robot is more compact, and the purpose of light weight is achieved.
In some embodiments of the present application, the first oil path 10 is provided with a first check valve 14, the second oil path 11 is provided with a second check valve 15, the third oil path 12 is provided with a third check valve 16, and the fourth oil path 13 is provided with a fourth check valve 17. When the first double-cavity hydraulic cylinder 5 and the second double-cavity hydraulic cylinder 6 stay at a certain position in the moving process, the locking can be performed through corresponding one-way valves so as to play a role of a safety loop. 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 driving hydraulic system further comprises a first stroke sensor 18 for detecting the piston stroke of the first dual-chamber hydraulic cylinder 5, and a second stroke sensor 19 for detecting the piston stroke of the second dual-chamber hydraulic cylinder 6. The biomimetic joint driving hydraulic system further comprises a first flowmeter 20 for measuring the hydraulic oil flow of the first two-chamber hydraulic cylinder 5, and a second flowmeter 21 for measuring the hydraulic oil flow of the second two-chamber hydraulic cylinder 6. By means of the sensors and the flow meters, the operation of the first 5 and second 6 double-chamber hydraulic cylinders can be accurately or precisely controlled.
Further, 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 two-way 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 is noted that 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 (3)
1. A biomimetic joint driving hydraulic system, comprising: the hydraulic 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 two-way hydraulic pump (2), the first two-way hydraulic pump (2) is communicated with a first oil cavity of the first two-cavity hydraulic cylinder (5) through a first oil way (10), and the first two-way hydraulic pump (2) is communicated with a first oil cavity of the second two-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 way (10) and the second oil way (11), the second throttle valve (8) is connected between the third oil way (12) and the fourth oil way (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);
a first one-way valve (14) is arranged on the first oil way (10), a second one-way valve (15) is arranged on the second oil way (11), a third one-way valve (16) is arranged on the third oil way (12), a fourth one-way valve (17) is arranged on the fourth oil way (13), and the first one-way valve (14) and the second one-way valve (15) form a first hydraulic lock; the third one-way valve (16) and the fourth one-way valve (17) form a second hydraulic lock;
the hydraulic system further comprises an oil supplementing tank (22) and a one-way switch valve (23), wherein the oil supplementing tank (22) is connected with the first two-way hydraulic pump (2) through the one-way switch valve (23).
2. 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).
3. The biomimetic joint driving hydraulic system according to claim 1, further comprising a first flowmeter (20) for measuring the hydraulic oil flow of the first dual-chamber hydraulic cylinder (5), and a second flowmeter (21) for measuring the hydraulic oil flow of the second dual-chamber hydraulic cylinder (6).
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| CN202310010187.2A CN115898990B (en) | 2023-01-05 | 2023-01-05 | Bionic joint driving hydraulic system |
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| CN202310010187.2A CN115898990B (en) | 2023-01-05 | 2023-01-05 | Bionic joint driving hydraulic system |
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