CN116066430A - EHA closed hydraulic system and pump valve integrated device - Google Patents

EHA closed hydraulic system and pump valve integrated device Download PDF

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Publication number
CN116066430A
CN116066430A CN202310112271.5A CN202310112271A CN116066430A CN 116066430 A CN116066430 A CN 116066430A CN 202310112271 A CN202310112271 A CN 202310112271A CN 116066430 A CN116066430 A CN 116066430A
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CN
China
Prior art keywords
valve
oil
way
port
pump
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Pending
Application number
CN202310112271.5A
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Chinese (zh)
Inventor
朱冬
胡小东
唐国梅
陈大文
王力
王镇
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Seven Teng Robot Co ltd
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Seven Teng Robot Co ltd
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Priority to CN202310112271.5A priority Critical patent/CN116066430A/en
Publication of CN116066430A publication Critical patent/CN116066430A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C13/00—Adaptations of machines or pumps for special use, e.g. for extremely high pressures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C2/00—Rotary-piston machines or pumps
    • F04C2/08—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing
    • F04C2/12—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing of other than internal-axis type
    • F04C2/14—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing of other than internal-axis type with toothed rotary pistons
    • F04C2/18—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing of other than internal-axis type with toothed rotary pistons with similar tooth forms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B2013/002—Modular valves, i.e. consisting of an assembly of interchangeable components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention relates to the technical field of hydraulic control, in particular to an EHA closed hydraulic system and pump valve integrated device which comprises a two-way pump, a motor, a first main oil way, a second main oil way, an energy accumulator and a symmetrical execution unit, wherein the first main oil way is connected with the motor; two oil suction ports of the two-way pump are respectively communicated with the first main oil way and the second main oil way; the two-way pump is communicated with the energy accumulator; the device also comprises a first one-way balance valve, a second one-way balance valve and an oil filling port; the motor is connected with the valve block; the energy accumulator, the one-way balance valve I and the one-way balance valve II are positioned in the valve body; two oil suction ports of the bidirectional pump are respectively communicated with a first main oil way and a second main oil way through an oil inlet and outlet A and an oil outlet B, and the oil drain hole is communicated with the energy accumulator; the oil filling hole is communicated with the energy accumulator and the two-way pump through the one-way valve, and a loop is greatly simplified in principle in the scheme; the closed hydraulic system is beneficial to reducing the volume of the closed hydraulic system, solves the problems that the four-foot robot is overlarge in volume and appearance and inconvenient to load and apply, and realizes the standing in any stable posture in a stop state.

Description

EHA closed hydraulic system and pump valve integrated device
Technical Field
The invention relates to the technical field of hydraulic control, in particular to an EHA closed hydraulic system and pump valve integrated device.
Background
The mobile robot is widely applied to the fields of military industry, rescue and relief work and the like with high risk and high labor intensity, not only can reduce the working intensity of human beings, but also can replace the human beings to finish dangerous work, wherein the wheeled and crawler type inspection robots are widely applied, but can only move in relatively flat ground environments, rugged road surfaces, stairs, barriers and the like exist in inspection scenes of industries such as petroleum, chemical industry, electric power and the like, movement of the wheeled and crawler type inspection robots is limited, compared with other moving methods such as wheeled, crawler type and the like, the multi-legged robot only needs discrete foot falling points in the walking process, can walk on the rugged road surfaces with barriers like multi-legged walking animals, and has stronger complex road surface adaptability. Therefore, the multi-legged walking robot can be developed faster and applied more widely.
The structure of the multi-foot robot generally comprises a trunk and a plurality of hydraulic mechanical legs, such as a hydraulic pump cylinder control driving system of a four-foot robot with the patent number of CN202222609650.9, which discloses a side swing unit, a hip unit, a knee unit, a servo motor, a hydraulic pump and a hydraulic cylinder energy accumulator of the four-foot robot, wherein the energy accumulator is connected with the hydraulic pump and the hydraulic cylinder through pipelines. The hydraulic cylinder in the system adopts an asymmetric hydraulic cylinder with a rod cavity oil port and a rodless cavity oil port, the volumes in the hydraulic cylinder are different under the working condition, the flow is different during oil inlet and oil return, and an oil supplementing loop consisting of a double-hydraulic control one-way valve and a large energy accumulator is needed, so that the difficulty of loop design of the hydraulic system is increased, and the volume of the hydraulic system is increased.
In addition, the research analysis: the robot leg joints are mainly divided into hip lateral swing joints, hip rotary joints and knee rotary joints. The ground environment can be divided into three environments of a flat ground, a slope, a stair and the like, no matter in which environment, the four-foot ground-contact adjusting gesture working condition exists for the foot-type robot, the centroid gesture is adjusted in the six-degree-of-freedom direction in space for the robot trunk, and the three different joints of hip lateral swinging, hip rotation, knee rotation and the like are different in joint positions, and the corresponding load working conditions are different when the four-foot ground-contact adjusting gesture is carried out, wherein the hip lateral swinging and the hip pitching are similar in corresponding working conditions when the four-foot ground-contact adjusting gesture is carried out, the knee joint hydraulic cylinder is arranged on the leg, and the working conditions are different from the other two hydraulic cylinders. In a plane coordinate system composed of a load force F and a piston rod speed v of a hydraulic cylinder under the application working condition of the four-foot robot joint shown in fig. 10, the load force and speed of a hip side swing joint and a hip pitch joint can be changed in four quadrants, the working condition is complex, the load working condition of the knee rotary joint hydraulic cylinder is concentrated in one quadrant, two quadrants, three quadrants and four quadrants, and based on the analysis, the complexity of the hydraulic system loop principle is high under the working condition requirements of different posture adjustment of the four-foot robot, which also results in the large volume of the hydraulic system of the patent, the whole product is too large, and the load and the application are inconvenient.
For this reason, how to provide a hydraulic system with a simple system composition and a small volume is a problem to be solved.
Disclosure of Invention
In order to solve the problems of complex hydraulic system, large volume, inconvenient load and application in the prior art, the following technical scheme is provided:
an EHA closed hydraulic system comprises a bidirectional pump, a motor for driving the bidirectional pump to rotate, a first main oil way, a second main oil way, an energy accumulator and a symmetrical execution unit; two oil suction ports of the two-way pump are respectively communicated with the first main oil way and the second main oil way; the leakage oil port of the two-way pump is communicated with the energy accumulator;
the hydraulic pump also comprises a one-way balance valve I, a one-way balance valve II and an oil filling port which is in one-way communication with the two-way pump and the energy accumulator; the first valve ports of the one-way balance valve I and the one-way balance valve II are respectively communicated with the oil port I and the oil port II of the symmetrical execution unit; the second valve ports of the first unidirectional balance valve and the second unidirectional balance valve are respectively communicated with the oil inlets of the first main oil way and the second main oil way;
the control valve port of the one-way balance valve I is communicated with a main oil way II at the front section of the second valve port of the one-way balance valve II; the control valve port of the second one-way balance valve is communicated with the first main oil way of the front section of the second valve port of the first one-way balance valve;
the first valve port of the one-way balance valve I is in bidirectional communication with the first valve port of the one-way balance valve II through the overflow valve;
the accumulator is respectively communicated with the second valve ports of the first check balance valve and the second check balance valve through the check valve.
Preferably, the hydraulic control system further comprises pressure sensors connected with the first valve ports of the one-way balance valve I and the one-way balance valve II respectively.
Preferably, the system further comprises temperature sensors respectively connected with the first main oil way and the second main oil way.
The working principle of the invention is as follows: the scheme adopts a closed hydraulic system and a symmetrical execution unit, an oil supplementing loop consisting of a double-hydraulic control one-way valve and a large energy accumulator is not needed, and the loop principle is simplified. When the bidirectional pump rotates clockwise, oil liquid from the bidirectional pump enters the upper cavity of the symmetrical execution unit through the second valve port and the first valve port of the one-way balance valve I, and if the symmetrical execution unit is loaded, the path is high-pressure oil. On the oil return path of the lower cavity of the symmetrical execution unit, when the control valve port of the second one-way balance valve is opened under the control of the hydraulic oil pressure of the high pressure of the oil path of the front section of the second valve port of the first one-way balance valve, oil can flow back to the two-way pump from the first valve port and the second valve port of the second one-way balance valve, and once the pressure of the upper cavity of the symmetrical execution unit is lower than the opening pressure of the control valve port of the second one-way balance valve, the control valve port of the second one-way balance valve cannot be opened at the holding position of the symmetrical execution unit.
When the bidirectional pump rotates anticlockwise, oil liquid from the bidirectional pump enters the lower cavity of the symmetrical execution unit through the second valve port and the first valve port of the unidirectional balance valve II, and if the symmetrical execution unit is loaded, the path is high-pressure oil. On the oil return path of the upper cavity of the symmetrical execution unit, when the control valve port of the first unidirectional balance valve is opened under the control of the high-pressure hydraulic oil pressure of the oil path of the front section of the second valve port of the second unidirectional balance valve, oil can flow back to the bidirectional pump from the first valve port and the second valve port of the first unidirectional balance valve, and once the pressure of the lower cavity of the symmetrical execution unit is lower than the opening pressure of the control valve port of the first unidirectional balance valve, the control valve port of the first unidirectional balance valve cannot be opened. At the moment, the symmetrical execution unit keeps the position, and meanwhile, the second one-way balance valve is also in a one-way flowing state or in a closed state, at the moment, the system motor can stop rotating, and the symmetrical execution unit can keep the position in any stroke range. The overflow valve which is connected in a bidirectional way between the first unidirectional balance valve and the second unidirectional balance valve plays a role in protection and is used for limiting the pressure of the system not to exceed a certain value; for preventing the overpressure of the system, the overflow valve on one side will be opened to flow oil to the low pressure side after the overpressure on that side.
The energy accumulator is used for storing oil required by the closed hydraulic circuit and oil needed to be supplemented by the system due to leakage of hydraulic oil on one hand, and is used for maintaining the oil suction pressure of the bidirectional pump and supplementing the oil to the low-pressure oil suction side on the other hand. And the accumulator supplements oil to the low pressure side of the bidirectional pump through the one-way valve.
The invention also provides a pump valve integrated device, which comprises a valve body and the EHA closed hydraulic system, wherein the motor is connected with the valve block; the valve body is provided with a mounting end face for mounting the two-way pump, an oil inlet and outlet A, an oil inlet and outlet B, an oil drain hole used as a leakage oil port, an oil filling hole used as an oil filling port, an oil hole I and an oil hole II which are communicated with the oil port I and the oil port II of the symmetrical execution unit; the energy accumulator, the one-way balance valve I and the one-way balance valve II are positioned in the valve body; two oil suction ports of the bidirectional pump are respectively communicated with a first main oil way and a second main oil way through an oil inlet and outlet A and an oil outlet B, and the oil drain hole is communicated with the energy accumulator; the oil charging hole is communicated with the energy accumulator and the bidirectional pump through a one-way valve; the motor is provided with an encoder.
Preferably, the bidirectional pump is a gear pump, the gear pump comprises a driving gear and a driven gear which are meshed with each other, and the driving gear and the driven gear are correspondingly arranged at the installation end face; the transmission shaft of the motor is in transmission connection with the driving gear of the gear pump; the outer sides of the driving gear and the driven gear are provided with a gear end cover and a shaft sleeve; the shaft sleeve and the oil drain hole are respectively communicated, and the inner cavity of the gear end cover, the inner cavity of the shaft sleeve and the inner cavity of the oil drain hole are all communicated with the energy accumulator.
Preferably, the valve body is provided with a valve hole I and a valve hole II for installing a one-way balance valve I and a one-way balance valve II, the valve hole I is provided with an oil cavity I, an oil cavity II and an oil cavity III which are formed by corresponding to a first valve port, a second valve port and a control valve port of the one-way balance valve I, and the valve hole II is provided with an oil cavity I, an oil cavity II and an oil cavity III which are formed by corresponding to the first valve port, the second valve port and the control valve port of the one-way balance valve II; the first oil cavity is provided with an A1 port, an A2 port and an A3 port; the second oil cavity is provided with a B1 port and a B2 port; a C port is arranged on the oil cavity III; the A1 port on the first valve hole and the A1 port on the second valve hole are respectively communicated with the first oil hole and the second oil hole;
the port B1 of the valve hole I and the port B1 of the valve hole II are respectively communicated with the oil inlets of the main oil way I and the main oil way II;
the A2 port of the valve hole I is communicated with the A2 port of the valve hole II through an overflow valve;
the A3 port of the valve hole II is communicated with the A3 port of the valve hole I through an overflow valve;
the port B1 of the valve hole I is communicated with the port C of the valve hole II; the port B1 of the valve hole II is communicated with the port C of the valve hole I; the accumulator is respectively communicated with the first port and the second port B2 of the valve hole through the one-way valve.
Preferably, the sleeve holes of the first valve hole and the second valve hole are positioned on the side face of the valve body, and the first one-way balance valve and the second one-way balance valve are connected with the first valve hole and the second valve hole in a plug-in mode.
Preferably, the accumulator is a spring accumulator, a piston accumulator or an oil-resistant elastomer accumulator.
The working principle of the invention is as follows: the pump valve integrated device in this scheme makes whole size little through the design that integrates, in integrating a valve piece with the pipeline of bi-directional pump and closed hydraulic system, is connected with the motor through the shaft coupling, and the motor also adopts the frameless motor, adopts the radiator shroud of individual design to encapsulate, makes its volume as little as possible. In comparison with the situation that the pump and the motor are basically separate standard components in the conventional hydraulic system and the overall dimension is relatively large, the pump valve integrated device in the scheme is novel, compact and unique in structural form.
The beneficial effects of the invention are as follows: 1. in the scheme, a closed hydraulic system based on a symmetrical hydraulic cylinder is adopted, and compared with an asymmetrical hydraulic cylinder, an oil supplementing loop consisting of a double-hydraulic-control one-way valve and a large energy accumulator is not needed, so that the loop is greatly simplified in principle; the closed hydraulic system is beneficial to reducing the volume of the closed hydraulic system, so that the closed hydraulic system is suitable for various small-sized machines driven by hydraulic pressure; 2. according to the scheme, through integrated design, a pump valve integrated unit with a compact structure and a smaller volume is formed; compared with a conventional hydraulic system, the hydraulic system solves the problems of overlarge volume and appearance and inconvenient loading and application; 3. when the scheme is applied to the four-foot robot, the hydraulic principles of hip joint pitching, hip joint side swinging and knee joint rotation of the four-foot robot are unified, meanwhile, the situation that external force pulls the knee joint and bidirectional negative loads of all joints are considered in extreme cases, and convenience is provided for the universality and maintenance of subsequent parts; 4. the four-foot robot joint hydraulic system can meet different working condition requirements, is simple in system composition, is beneficial to reducing the volume and weight required by the system, enhances the reliability of the system, and also realizes standing in any stable posture in a stop state.
Drawings
FIG. 1 is a diagram of an EHA closed hydraulic system for hip roll and pitch of the present invention;
FIG. 2 is a schematic illustration of an EHA closed hydraulic system for a knee joint according to the present invention;
FIG. 3 is a schematic view of the overall structure of the pump valve integrated device of the present invention;
FIG. 4 is a schematic view of the overall structure of the pump valve integrated device according to another aspect of the present invention;
FIG. 5 is a schematic view showing the internal structure of the pump valve integrated device of the present invention;
FIG. 6 is a schematic view showing another view of the internal structure of the pump valve integrated device according to the present invention;
FIG. 7 is a schematic view showing the internal structure of the valve body according to the present invention;
FIG. 8 is a schematic view of the internal structure of the valve body according to another aspect of the present invention;
FIG. 9 is a schematic diagram of a one-way balancing valve according to the present invention;
FIG. 10 is a FV diagram of load force and cylinder rod velocity;
FIG. 11 is a graph of the load condition of the knee joint;
FIG. 12 is a schematic diagram of hip roll and pitch cylinder load conditions;
FIG. 13 is a second schematic diagram of hip roll and pitch cylinder load conditions;
FIG. 14 is a view showing the state of use of the pump valve integrated device;
in the figure: 1. a bi-directional pump; 2. a motor; 3. a first main oil way; 4. a main oil way II; 5. an accumulator; 6. a symmetric execution unit; 7. a one-way balance valve I; 8. a second one-way balance valve; 9. an oil filling port; 10. a first valve port; 11. an overflow valve I; 12. an overflow valve II; 13. a second valve port; 14. a control valve port; 15. a C port; 16. a one-way valve; 17. a pressure sensor; 18. a temperature sensor; 19. a valve body; 20. a connection cover; 21. a mounting end face; 22. an oil inlet and outlet port A; 23. an oil inlet and outlet port B; 24. an oil drain hole; 25. an oil hole I; 26. an oil hole II; 27. a gear end cap; 28. a shaft sleeve; 29. a valve hole I; 30. a valve hole II; 31. an oil cavity I; 32. an oil cavity II; 33. an oil cavity III; 34. a port A1; 35. a port A2; 36. a port A3; 37. a port A4; 38. B1B 1 a mouth; 39. a port B2; 40. a torso; 41. a hip pitch hydraulic cylinder; 42. a knee rotary joint hydraulic cylinder; 43. a hip joint side swing hydraulic cylinder; 44. a control interface; 45. a heat dissipation cover.
Detailed Description
The following describes an EHA closed hydraulic system and pump valve integrated device according to the present invention in further detail with reference to examples.
As shown in fig. 1 and 2, an EHA closed hydraulic system includes a bi-directional pump 1, a motor 2 for driving the bi-directional pump 1 to rotate, a primary oil line one 3, a primary oil line two 4, an accumulator 5, and a symmetrical execution unit 6; two oil suction ports of the bidirectional pump 1 are respectively communicated with a first main oil way 3 and a second main oil way 4; the leakage oil port of the two-way pump 1 is communicated with the energy accumulator 5;
the hydraulic pump also comprises a first one-way balance valve 7, a second one-way balance valve 8 and an oil filling port 9 which is in one-way communication with the two-way pump 1 and the energy accumulator 5; the first valve ports 10 of the first one-way balance valve 7 and the second one-way balance valve 8 are respectively communicated with the first oil port and the second oil port of the symmetrical execution unit 6; the second valve ports 13 of the first check balance valve 7 and the second check balance valve 8 are respectively communicated with the oil inlets of the first main oil way 3 and the second main oil way 4;
the control valve port 14 of the one-way balance valve I7 is communicated with the main oil way II 4 at the front section of the second valve port 13 of the one-way balance valve II 8; the control valve port 14 of the one-way balance valve II 8 is communicated with the main oil way I3 at the front section of the second valve port 13 of the one-way balance valve I7;
the first valve port 10 of the one-way balance valve I7 is in bidirectional communication with the first valve port 10 of the one-way balance valve II 8 through an overflow valve;
the accumulator 5 is respectively communicated with the second valve ports 13 of the first check balance valve 7 and the second check balance valve 8 through the check valve 16.
When the bidirectional pump 1 rotates clockwise, oil from the bidirectional pump 1 enters the upper cavity of the symmetrical execution unit 6 through the second valve port 13 and the first valve port 10 of the unidirectional balance valve I7, and if the symmetrical execution unit 6 is loaded, the path is high-pressure oil. On the oil return path of the lower cavity of the symmetrical execution unit 6, when the control valve port 14 of the second unidirectional balance valve 8 is opened under the control of the hydraulic oil pressure of the high-pressure oil path of the front section of the second valve port 13 of the first unidirectional balance valve 7, the oil can flow back to the bidirectional pump 1 from the first valve port 10 and the second valve port 13 of the second unidirectional balance valve 8, and once the pressure of the upper cavity of the symmetrical execution unit is lower than the opening pressure of the control valve port of the second unidirectional balance valve 8, the control valve port 14 of the second unidirectional balance valve 8 is not opened, and the symmetrical execution unit 6 keeps the position at the moment.
When the bidirectional pump 1 rotates anticlockwise, oil from the bidirectional pump 1 enters the lower cavity of the symmetrical execution unit 6 through the second valve port 13 and the first valve port 10 of the second unidirectional balance valve 8, and if the symmetrical execution unit 6 is loaded, the path is high-pressure oil. On the upper cavity oil return path of the symmetrical execution unit 6, when the control valve port 14 of the first unidirectional balance valve 7 is opened under the control of the high-pressure hydraulic oil pressure of the oil path at the front section of the second valve port 13 of the second unidirectional balance valve 8, oil can flow back to the bidirectional pump 1 from the first valve port 10 and the second valve port 13 of the first unidirectional balance valve 7, once the pressure of the lower cavity of the symmetrical execution unit is lower than the opening pressure of the control valve port 14 of the first unidirectional balance valve 7, the control valve port 14 of the first unidirectional balance valve 7 cannot be opened, the symmetrical execution unit 6 is kept at the moment, meanwhile, the second unidirectional balance valve 8 is in a unidirectional flowing state or in a closed state, the system motor 2 can stop rotating at the moment, and the symmetrical execution unit 6 can keep at the position in any travel range. The overflow valve which is connected in a bidirectional way between the first one-way balance valve 7 and the second one-way balance valve 8 plays a role in protection and is used for limiting the pressure of the system not to exceed a certain value; for preventing the overpressure of the system, the overflow valve on one side will be opened to flow oil to the low pressure side after the overpressure on that side.
The accumulator 5 is used for storing oil required by the closed hydraulic circuit and oil which needs to be supplemented by the system due to leakage of hydraulic oil on the one hand, and is used for maintaining the oil suction pressure of the bidirectional pump 1 and supplementing the oil to the low-pressure oil suction side on the other hand. The oil filling port 9 fills the system with oil through a one-way valve 16, and the accumulator 5 supplements the low pressure side of the bi-directional pump with oil through the one-way valve 16.
In the scheme, the electro-hydrostatic loop based on the symmetrical hydraulic cylinder is adopted, compared with the asymmetrical hydraulic cylinder, the upper cavity and the lower cavity of the asymmetrical hydraulic cylinder are different in volume and different in flow, and the complexity of the system is increased. The system does not need an oil supplementing loop consisting of a double-hydraulic control one-way valve and a large energy accumulator, so that the loop is greatly simplified in principle; when the system is applied to leg joints of a quadruped robot, the balance valve on the loop has two purposes: firstly, the robot joint can be locked at any angle within the joint angle range of the robot joint, and the function means that the robot can keep standing for a long time under any stable posture under the condition of stopping whether the robot is stopped or not; and secondly, the squatting negative load working condition corresponding to the fourth quadrant can be adapted, so that the robot can stably squat. The hydraulic system not only meets the working condition requirements, but also has simple system composition, greatly reduces the volume and weight required by the hydraulic system, enhances the reliability of the system, and further realizes the standing in any stable posture in a stop state.
In the present embodiment, the symmetrical execution unit 6 is specifically a double piston rod hydraulic cylinder; the bidirectional pump 1 of the system adopts a quantitative gear pump, when the system is in a working condition requiring variable flow, the change of the flow and the change of the oil flowing direction can be realized by changing the rotating speed and the rotating direction of the motor 2, the encoder is used for detecting the motion information of the motor 2, and the controller is connected with the control interface 44 at the rear end of the motor 2, so that the motion information acquired by the encoder is acquired to perform the motion control and the reversing of the motor, the rotating speed of the motor 2 is controlled in a closed loop manner, and the precise rotating speed and the precise rotating direction are controlled. The encoder chip is of the type AM8192RLS5005, but not limited thereto. The overflow valve comprises an overflow valve I11 and an overflow valve II 12.
Preferably, the valve further comprises a pressure sensor 17 connected with the first valve ports 10 of the first one-way balance valve 7 and the second one-way balance valve 8 respectively. The two pressure sensors 17 are respectively used for measuring the oil pressure of the first main oil way 3 and the second main oil way 4 in the system, so that the hydraulic system and the actuating mechanism can form dynamic control.
Preferably, the system further comprises a temperature sensor 18 connected with the first main oil way and the second main oil way respectively.
The temperature sensor 18 is used to measure the system leakage oil and make-up oil temperature, which is used to set the system temperature alarm signal.
As shown in fig. 3, 4, 5, 6, 7 and 8, a pump valve integrated device comprises a valve body 19 and the EHA closed hydraulic system, and the motor 2 is connected with a valve block through a connecting cover 20; the valve body 19 is provided with a mounting end face 21 for mounting the bidirectional pump 1, an oil inlet and outlet port A22, an oil inlet and outlet port B23, an oil drain hole 24 used as an oil leakage port, an oil filling hole used as an oil filling port 9, an oil hole I25 and an oil hole II 26 communicated with an oil port I and an oil port II of the symmetrical execution unit 6; the energy accumulator 5, the one-way balance valve I7 and the one-way balance valve II 8 are positioned in the valve body 19; two oil suction ports of the bidirectional pump 1 are respectively communicated with a first main oil way 3 and a second main oil way 4 through an oil inlet and outlet A22 and an oil outlet B23, and an oil drain hole 24 is communicated with the energy accumulator 5; the oil filling hole is communicated with the energy accumulator 5 and the two-way pump 1 through a one-way valve 16, and an encoder is arranged on the motor 2.
In this embodiment, the bi-directional pump 1 is a gear pump, which includes a driving gear and a driven gear that are engaged with each other, and the driving gear and the driven gear are correspondingly installed at the installation end surface 21; the transmission shaft of the motor 2 is in transmission connection with the driving gear of the gear pump; the outer sides of the driving gear and the driven gear are provided with a gear end cover 27 and a shaft sleeve 28; the shaft sleeve 28 and the oil drain hole 24 are respectively communicated, and the inner cavity of the gear end cover 27, the inner cavity of the shaft sleeve 28 and the inner cavity of the oil drain hole 24 are communicated with the energy accumulator 5. When the system is in the working condition that needs to change flow, the change of flow and the change of the oil flowing direction can be realized by changing the rotating speed and the rotating direction of the motor 2, the encoder is used for detecting the motion information of the motor, and the controller is connected with the control interface 44 at the rear end of the motor 2, so that the motion information collected by the encoder is acquired to perform the motion control and the reversing of the motor, the rotating speed of the motor 2 is controlled in a closed loop manner, and the precise rotating speed and the precise rotating direction are controlled.
The accumulator 5 is used for storing oil required by the closed hydraulic circuit, oil leaked from the bidirectional pump 1 and oil needed to be supplemented by the system due to the leakage of hydraulic oil on the one hand, and maintaining the oil suction pressure of the bidirectional pump 1 on the other hand, and supplementing the oil to the oil way on the low-pressure oil suction side. The oil filling port 9 is used for flushing oil to the system through the one-way valve 16, and the accumulator 5 is used for supplementing oil to an oil way of the low pressure side of the gear pump through the one-way valve 16.
The two sides of the shafts of the driving gear and the driven gear of the gear pump are respectively arranged in the oil drain hole 24 and the shaft sleeve 28, and the oil drain hole 24 is a pore canal on the valve body; the internal leakage of the gear pump mainly has three paths, namely end face leakage, radial leakage and meshing line leakage, and leakage oil of the gear pump in the process of absorbing the pressure oil flows into the energy accumulator 5 through the oil leakage hole 24. In other embodiments, the bi-directional pump 1 may also be a radial plunger pump, an internal gear cycloid gear pump, an internal involute gear pump, or the like.
Preferably, a valve hole I29 and a valve hole II 30 for installing a one-way balance valve I7 and a one-way balance valve II 8 are respectively arranged on the valve body 19, the valve hole I29 is provided with an oil cavity I31, an oil cavity II 32 and an oil cavity III 33 which are formed corresponding to a first valve port 10, a second valve port 13 and a control valve port 14 of the one-way balance valve I7, and the valve hole II 30 is provided with an oil cavity I31, an oil cavity II 32 and an oil cavity III 33 which are formed corresponding to the first valve port 10, the second valve port 13 and the control valve port 14 of the one-way balance valve II 8; the first oil cavity 31 is provided with an A1 port 34, an A2 port 35 and an A3 port 36; the oil cavity II 32 is provided with a B1 port 38 and a B2 port 39; the oil cavity III 33 is provided with a C port 15; the A1 port 34 on the first valve hole 29 and the second valve hole 30 is communicated with the first oil hole 25 and the second oil hole 26 respectively;
the port B1 of the valve hole I29 and the port B1 of the valve hole II 30 are respectively communicated with the oil inlets of the main oil way I and the main oil way II;
the A2 port 35 of the first valve hole 29 is communicated with the A2 port 35 of the second valve hole 30 through an overflow valve;
the A3 port 36 of the valve hole II 30 is communicated with the A3 port 36 of the valve hole I29 through an overflow valve;
the B1 port 38 of the valve hole I29 is communicated with the C port 15 of the valve hole II 30; the B1 port 38 of the valve hole II 30 is communicated with the C port 15 of the valve hole I29; the accumulator 5 communicates with the B2 ports 39 of the first valve hole 29 and the second valve hole 30 through the check valve 16, respectively.
In the present embodiment, the A1 port 34, the A2 port 35, and the A3 port 36 on the oil chamber one 31; b1 port 38 and B2 port 39 on oil chamber two 32; the C port 15 on the oil cavity III 33 is connected with other corresponding elements through a pore canal in the valve body, so that the use of hoses is reduced, the oil way reaching the actuating mechanism is reduced, the appearance of the whole machine is improved, and the response speed of a hydraulic system is improved. The problems of easy fatigue fracture and short service life of the hose are avoided. In this embodiment, the first oil chamber 31 is further provided with an A4 port 37, and the two pressure sensors 17 are respectively communicated with the A4 ports 37 of the first valve hole 29 and the second valve hole 30.
Preferably, as shown in fig. 5, 8 and 9, the sleeve holes of the first valve hole 29 and the second valve hole 30 are positioned on the side surface of the valve body 19, and the first check balance valve 7 and the second check balance valve 8 are connected with the first valve hole 29 and the second valve hole 30 in a plug-in mode.
The balance valve adopts a plug-in design, has the characteristics of compact flow passage and small volume, is beneficial to further reducing the volume of the pump valve integrated device, and has more compact overall structure.
Preferably, the accumulator 5 is a spring accumulator, a piston accumulator or an oil-resistant elastomer accumulator.
The oil resistant elastomer type accumulator may be an air bladder type or a diaphragm type accumulator. In this embodiment, a spring type accumulator is used, which stores and releases hydraulic energy by compression and extension of a spring, the spring and the pressure oil are separated by a piston, and the force of the spring acts on the hydraulic oil through the piston.
As shown in fig. 14, all parts are integrated in one valve block in the device, wherein the gear pump has no separate shell, two gears are arranged on the valve block mounting end face 21, and the transmission shaft of the motor is also designed and processed together and is used as the transmission shaft of the gear pump, and the transmission shaft is connected with the driving gear of the gear pump through a coupler.
Conventional hydraulic system thought designs require the use of standard motors, couplings, bells, and gear pumps, which can be quite bulky. Compared with a conventional hydraulic system, the pump valve integrated device in the scheme solves the problem that the volume and the appearance of the closed system are overlarge, and can avoid the problem that the whole product is overlarge in volume and inconvenient to load and apply due to overlarge hydraulic system when being applied to a walking robot. The pump valve integrated device in this scheme whole size is as little as possible, with the gear pump customization in a valve piece, is connected with the motor through shaft coupling and flange, and the motor adopts frameless motor to use the radiator cover of individual design to encapsulate according to the shape of frameless motor, make its volume as little as possible. In comparison with the situation that the pump and the motor are basically separate standard components in the conventional hydraulic system and the overall dimension is relatively large, the pump valve integrated device in the scheme is novel, compact and unique in structural form.
The following examples illustrate the application of an EHA closed hydraulic system in connection with a four-legged robot.
The scheme provides a joint electrohydraulic composite transmission scheme according to joint application working conditions of the four-foot robot. The robot leg joints are mainly divided into hip lateral swing joints, hip rotary joints and knee rotary joints. The ground environment can be divided into three environments of a flat ground, a slope, a stair and the like, no matter in which environment, the four-foot ground-contact adjusting gesture working condition exists for the foot-type robot, for the robot trunk, the centroid gesture is adjusted in the six-degree-of-freedom directions in space, and for three different joints such as hip lateral swinging, hip rotation and knee rotation, due to the difference of the positions of the joints, the corresponding load working conditions are different when the four-foot ground-contact adjusting gesture is carried out, wherein the corresponding working conditions of the hip joint lateral swinging hydraulic cylinder 43 and the hip joint pitching hydraulic cylinder 41 are similar as the four-foot ground-contact adjusting gesture is carried out on the trunk. While the knee rotary joint cylinder 42 is mounted on the leg in a different condition from the other two cylinders.
Under the working condition of the knee joint hydraulic cylinder 42:
when the foot end of the four-foot robot touches the ground completely, two working conditions exist in the knee rotary joint: one is that the piston rod of the hydraulic cylinder contracts under the action of the trunk and the load of the robot, the angle of the corresponding knee joint becomes smaller, and the working condition is a negative load working condition; the other is to overcome the condition that the piston rod of the hydraulic cylinder stretches out of the trunk of the robot and the load weight, and the angle of the corresponding knee joint is increased, which is the positive load condition.
When a certain foot end of the four-foot robot leaves the ground to execute a certain track in the air, in the leg lifting process, the knee rotary joint needs to overcome the gravity of the leg to retract the piston rod of the hydraulic cylinder, and the corresponding joint angle is reduced, so that the four-foot robot is in a positive load working condition; in the leg landing process, as the leg is generally designed in a lightweight way, the weight of the leg is smaller at the moment, in order to accelerate the foot landing speed, if the knee joint hydraulic cylinder is elongated, the hydraulic pump should work in a pump state at the moment, under the condition, the hydraulic cylinder can be in a negative load working condition, and meanwhile, in order to consider that external force pulls the knee joint under extreme conditions. Through the above analysis, in the four-legged robot, the load conditions of the knee rotary joint are as shown in fig. 10 and 11:
fig. 10 shows a schematic diagram of the joint arrangement of the four-legged robot, wherein the knee rotary joint adopts a rotary driving mode of a hydraulic cylinder and a connecting rod. In a plane coordinate system formed by a load force F and a hydraulic cylinder piston rod speed v, the load working condition of the knee rotary joint hydraulic cylinder is concentrated in one, two, three and four quadrants, corresponding functions are completed in each quadrant, and the load force and the hydraulic cylinder piston rod speed direction are shown in a FV diagram shown in FIG. 10.
Compared with an asymmetric hydraulic cylinder, the EHA closed hydraulic system adopts a closed hydraulic system based on a symmetric execution unit, and an oil supplementing loop formed by a double-hydraulic control one-way valve and a large energy accumulator is not needed, so that the loop principle can be greatly simplified, and a one-way balance valve I7 and a one-way balance valve II 8 are arranged on the loop, and the balance valve has two purposes: firstly, the robot joint can be locked at any angle within the joint angle range of the robot joint, and the function means that the robot can keep standing for a long time under any stable posture under the condition of stopping whether the robot is stopped or not; and secondly, the squatting negative load working condition corresponding to the fourth quadrant can be adapted, so that the robot can stably squat. The hydraulic system not only meets the working condition requirements, but also has simple system composition, greatly reduces the volume and weight required by the hydraulic system, enhances the reliability of the system, and further realizes the standing in any stable posture in a stop state.
Under the working conditions of side swing and pitching of the hip joint hydraulic cylinder:
the left side diagram of fig. 12 shows the ground contact condition of the foot end of the hip pitching joint, and the right side diagram shows the ground separation condition of the foot end of the hip pitching joint; the left side view of fig. 13 shows the ground contact condition of the foot end of the hip side swing joint, and the right side view shows the ground separation condition of the foot end of the hip side swing joint.
For the hip lateral swing joint, the load working condition of the hip lateral swing joint is changed according to different angles of the hip lateral swing joint;
when the foot ends are grounded, the ground-to-foot forces are upward and the resulting torque direction to the hip roll and hip pitch joints is different depending on the different positions of the legs relative to the torso 40. As shown in fig. 12 (left) for the hip pitch joint foot end touchdown condition and fig. 13 (left) for the hip roll joint foot end touchdown condition, the hip roll joint and the hip pitch joint are subjected to a face-to-face torque in a clockwise direction when the leg is in the left position of the centerline OA as shown by OB, and the hip roll joint and the hip pitch joint are subjected to a face-to-face torque in a counterclockwise direction when the leg is in the right position of the centerline OA as shown by OB'. Therefore, when the hip roll and hip pitch joint swing bidirectionally at the OB or OB' position, four-quadrant load conditions occur, and both positive and negative load conditions occur.
When the foot end is lifted off, the gravity of the whole leg is always downward, as shown in the lift-off working condition of the foot end of the hip pitching joint in the figure 12 (right) and the lift-off working condition of the foot end of the hip side swinging joint in the figure 13 (right), when the leg is at the left OB position of the midline OA, the torque generated by the gravity of the leg is anticlockwise along the center of the hip side swinging; with the leg in the right OB' position on the midline OA, the torque produced by the weight of the leg is clockwise along the center of the hip swing. Because the whole leg needs to be designed in a lightweight way, if the torque generated by the friction force of the hip side swing joint actuator is larger than the torque generated by gravity, only two positive and negative load working conditions exist at the moment.
When the EHA closed hydraulic system is applied to a four-foot robot, the hydraulic principles of the hip pitching joint, the hip side swinging joint and the knee rotary joint of the four-foot robot are unified, meanwhile, the situation that external force pulls the knee joint and bidirectional negative loads of all joints under extreme conditions is considered, and convenience is provided for the general purpose and maintenance of subsequent parts.
The one-way balance valve I7 and the one-way balance valve II 8 on the hydraulic loop can avoid the condition that the two-way pump 1 is changed into a motor under the negative load condition, and avoid the motor to be changed into a generator, thereby avoiding the difficulty brought to the subsequent electric energy control. Such as under the following conditions: when the resultant force direction and the movement direction of the hydraulic cylinder are the same and are downward, the working condition of negative load is changed at the moment, the pressure of an upper cavity of the hydraulic cylinder is reduced, the pressure of a control oil way of the second one-way balance valve 8 is insufficient to open the second one-way balance valve 8, oil in a lower cavity is sealed in an oil cavity and a pipeline of the hydraulic cylinder, and cannot flow back to the bidirectional pump 1, so that the hydraulic cylinder can be kept in position under the working condition of negative load, and abnormal work of the bidirectional pump 1 is avoided.

Claims (11)

1. The EHA closed hydraulic system is characterized by comprising a bidirectional pump (1), a motor (2) for driving the bidirectional pump (1) to rotate, a first main oil way (3), a second main oil way (4) and a symmetrical execution unit (6); two oil suction ports of the two-way pump (1) are respectively communicated with the first main oil way (3) and the second main oil way (4); the oil leakage port of the two-way pump (1) is communicated with the energy accumulator (5);
the hydraulic pump also comprises a one-way balance valve I (7), a one-way balance valve II (8) and an oil filling port (9) which is in one-way communication with the two-way pump (1) and the energy accumulator (5); the first valve ports (10) of the first unidirectional balance valve (7) and the second unidirectional balance valve (8) are respectively communicated with the first oil port and the second oil port of the symmetrical execution unit (6); the second valve ports (13) of the first unidirectional balance valve (7) and the second unidirectional balance valve (8) are respectively communicated with the oil inlets of the first main oil way (3) and the second main oil way (4);
the control valve port (14) of the one-way balance valve I (7) is communicated with the main oil way II (4) at the front section of the second valve port (13) of the one-way balance valve II (8); the control valve port (14) of the one-way balance valve II (8) is communicated with the main oil way I (3) at the front section of the second valve port (13) of the one-way balance valve I (7);
the first valve port (10) of the one-way balance valve I (7) is communicated with the first valve port (10) of the one-way balance valve II (8) in a two-way manner through an overflow valve;
the accumulator (5) is respectively communicated with the second valve ports (13) of the first check balance valve (7) and the second check balance valve (8) through the check valve (16).
2. The EHA closed hydraulic system of claim 1, further comprising a pressure sensor (17) coupled to the first ports (10) of the first and second check balance valves (7, 8), respectively.
3. The EHA closed hydraulic system according to claim 1 or 2, further comprising a temperature sensor (18) connected to the first main oil passage and the second main oil passage, respectively.
4. Pump valve integrated device comprising a valve body (19) and an EHA closed hydraulic system according to any one of claims 1 to 3, characterized in that the motor (2) is connected to a valve block; the valve body (19) is provided with a mounting end face (21), an oil inlet and outlet A (22), an oil inlet and outlet B (23), an oil drain hole (24) serving as an oil leakage port, an oil filling hole serving as an oil filling port (9), an oil hole I (25) and an oil hole II (26) which are communicated with an oil port I and an oil port II of the symmetrical execution unit (6); the energy accumulator (5), the one-way balance valve I (7) and the one-way balance valve II (8) are positioned in the valve body (19); two oil suction ports of the bidirectional pump (1) are respectively communicated with a first main oil way (3) and a second main oil way (4) through an oil inlet and outlet A (22) and an oil outlet B (23), and an oil drain hole (24) is communicated with the energy accumulator (5); the oil filling hole is communicated with the energy accumulator (5) and the two-way pump (1) through a one-way valve (16); an encoder is arranged on the motor (2).
5. Pump valve integrated device according to claim 4, characterized in that the bi-directional pump (1) is a gear pump comprising a driving gear and a driven gear which are intermeshed, the driving gear and the driven gear being mounted in correspondence of the mounting end face (21); a transmission shaft of the motor (2) is in transmission connection with a driving gear of the gear pump; the outsides of the driving gear and the driven gear are provided with a gear end cover (27) and a shaft sleeve (28); the shaft sleeves (28) and the oil drain holes (24) are respectively communicated, and the inner cavities of the gear end cover (27), the shaft sleeve (28) and the oil drain holes (24) are communicated with the energy accumulator (5).
6. The pump valve integrated device according to claim 4 or 5, wherein a valve hole I (29) and a valve hole II (30) for installing a one-way balance valve I (7) and a one-way balance valve II (8) are respectively arranged on the valve body (19), the valve hole I (29) is provided with an oil cavity I (31), an oil cavity II (32) and an oil cavity III (33) which are formed corresponding to a first valve port (10), a second valve port (13) and a control valve port (14) of the one-way balance valve I (7), and the valve hole II (30) is provided with an oil cavity I (31), an oil cavity II (32) and an oil cavity III (33) which are formed corresponding to the first valve port (10), the second valve port (13) and the control valve port (14) of the one-way balance valve II (8); the first oil cavity (31) is provided with an A1 port (34), an A2 port (35) and an A3 port (36); the oil cavity II (32) is provided with a B1 port (38) and a B2 port (39); a C port (15) is arranged on the oil cavity III (33); the A1 port (34) on the first valve hole (29) and the second valve hole (30) are respectively communicated with the first oil hole (25) and the second oil hole (26);
the port B1 (38) of the valve hole I (29) and the valve hole II (30) are respectively communicated with the oil inlets of the main oil way I and the main oil way II;
the A2 port (35) of the valve hole I (29) is communicated with the A2 port (35) of the valve hole II (30) through an overflow valve;
the A3 port (36) of the valve hole II (30) is communicated with the A3 port (36) of the valve hole I (29) through an overflow valve;
the port B1 (38) of the valve hole I (29) is communicated with the port C (15) of the valve hole II (30); the B1 port (38) of the valve hole II (30) is communicated with the C port (15) of the valve hole I (29); the accumulator (5) is respectively communicated with the port B2 (39) of the first valve hole (29) and the second valve hole (30) through a one-way valve (16).
7. Pump valve integrated unit device according to claim 4 or 5, characterized in that the first valve opening (29) and the second valve opening (30) are located on the side of the valve body (19), and the first one-way balancing valve (7) and the second one-way balancing valve (8) are connected with the first valve opening (29) and the second valve opening (30) in a plug-in manner.
8. Pump valve integrated unit device according to claim 6, characterized in that the first valve opening (29) and the second valve opening (30) are located on the side of the valve body (19), and the first check balance valve (7) and the second check balance valve (8) are connected to the first valve opening (29) and the second valve opening (30) in a plug-in manner.
9. Pump valve integrated unit device according to claim 4, 5 or 8, characterized in that the accumulator (5) is a spring accumulator, a piston accumulator or an oil resistant elastomer accumulator.
10. The pump valve integral unit apparatus of claim 6, wherein the accumulator is a spring accumulator, a piston accumulator, or an oil resistant elastomer accumulator.
11. The pump valve integral unit apparatus of claim 7, wherein the accumulator is a spring accumulator, a piston accumulator, or an oil resistant elastomer accumulator.
CN202310112271.5A 2023-02-14 2023-02-14 EHA closed hydraulic system and pump valve integrated device Pending CN116066430A (en)

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