CN202147278U - Fire-fighting robot arm hydraulic circuit system - Google Patents
Fire-fighting robot arm hydraulic circuit system Download PDFInfo
- Publication number
- CN202147278U CN202147278U CN201120177912U CN201120177912U CN202147278U CN 202147278 U CN202147278 U CN 202147278U CN 201120177912 U CN201120177912 U CN 201120177912U CN 201120177912 U CN201120177912 U CN 201120177912U CN 202147278 U CN202147278 U CN 202147278U
- Authority
- CN
- China
- Prior art keywords
- circuit
- loop
- robot arm
- fire
- hydraulic circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Fluid-Pressure Circuits (AREA)
Abstract
The utility model discloses a fire-fighting robot arm hydraulic circuit system, which comprises a constant pressure circuit, a non-interference circuit, a decompression circuit, a balance circuit, a throttle speed limiting circuit and other elements, wherein the constant pressure circuit is a constant pressure speed control circuit composed of an overflow valve; the non-interference circuit is a dual pump oil supply non-interference circuit used between a robot arm hydraulic circuit and a gripper hydraulic circuit; the decompression circuit is connected with a major oil circuit through a fixed pressure reducing valve for pressurizing in the short time; the balance circuit is the balance circuit employing a single sequence valve; the throttle speed limiting circuit is matched with the overflow valve through a one-way valve. The fire-fighting robot arm hydraulic circuit system satisfies the performance requirements of the robot arm of finishing the action and the whole working system; the fire-fighting robot arm hydraulic circuit system is mainly used in the simulation, test, improvement and the like of the fire-fighting robot arm.
Description
Technical field
The utility model relates to a kind of construction machinery hydraulic system, particularly a kind of fire-fighting robot arm hydraulic circuit system.
Background technology
The main action of certain fire-fighting robot arm has walking, revolution, arm to go up and down, roll over and open with closure etc., and hydraulic drive is all leaned in these motions.According to above job requirement, the assembly that organically couples together each Hydraulic Elements with oil pipe promptly is the hydraulic system of robot.The function of this type systematic is can be Engine Mechanical medium with fluid, utilize oil pump change into hydraulic pressure can, send oil cylinder, oil motor etc. to and change mechanical energy into, each executing agency of transmission realizes the various motions and the course of work again.But such loop element is many, complex structure, be not suitable for direct modeling and simulating.In a kind of mechanical-hydraulic dynamic simulation of fire-fighting robot arm, for improving simulation efficiency, should fire-fighting robot hydraulic system be simplified, be primarily aimed at big arm oil cylinder group, forearm oil cylinder group, this three group oil cylinder of paw oil cylinder group and carry out machine liquid coupling Simulation; And can take similar method for the machine liquid coupling Simulation of running motor, work table rotation motor, manipulator rotation motor, difference is to carry out the difference of original paper (motor but not hydraulic cylinder) and relative parameters setting.
Summary of the invention
The purpose of the utility model is exactly to overcome that original loop element is many, complex structure, be not suitable for the above-mentioned shortcoming of direct modeling and simulating, and a kind of hydraulic circuit system of fire-fighting robot arm is provided.Realize through following technical scheme:
A kind of fire-fighting robot arm hydraulic circuit system; Comprise the level pressure loop, do not disturb loop, pressure reducing circuit, balanced loop, throttling speed limit loop mutually; Said level pressure loop comprises big arm constant voltage speed control loop that is made up of big arm overflow valve, fuel tank, constant displacement pump and the big arm constant voltage speed control loop that is made up of paw overflow valve, fuel tank, constant displacement pump; The said loop of not disturbing mutually is between big forearm hydraulic circuit and paw hydraulic circuit, to adopt the double pump oil feeding type of constant displacement pump and constant displacement pump not disturb the loop mutually; Said pressure reducing circuit links to each other with working connection with check valve through fixed pressure reducing valve; Said balanced loop is for using the balanced loop of individual event sequence valve, and said throttling speed limit loop is cooperated big arm overflow valve or cooperated the paw overflow valve to form by check valve.
Also comprise the double acting hydraulic cylinder of accomplishing the compulsory exercise needs.The three position four-way directional control valve that also comprises the change working needs.
The utility model advantage:
The hydraulic circuit system of a kind of fire-fighting robot arm that the utility model provides; Said hydraulic circuit system comprehensive with each fundamental circuit of having put mechanical arm in order; Satisfy the action that mechanical arm will accomplish and the performance requirement of whole equipment; Be convenient to the mechanical-hydraulic emulation of mechanical arm, save simulation time, improve simulation efficiency.
Description of drawings
Fig. 1 is the layout sketch map of the utility model fire-fighting robot arm hydraulic circuit system.
The specific embodiment
The big arm hydraulic cylinder of 1-; The little arm hydraulic cylinder of 2-; 3-paw hydraulic cylinder; The big arm throttling of 4-check valve; The big arm safety valve of 5-; The big arm directional control valve of 6-; 7-forearm pressure-reducing valve; The 8-check valve; The big arm overflow valve of 9-; The 10-constant displacement pump; 11-forearm safety valve; The little arm directional control valve of 12-; 13-arm safety valve; 14-arm reversal valve; 15-paw overflow valve.
As shown in Figure 1, the fire-fighting robot arm hydraulic circuit system of the utility model comprises the level pressure loop, does not disturb loop, pressure reducing circuit, balanced loop, throttling speed limit loop and other element mutually.The level pressure loop comprises big arm level pressure loop and paw level pressure loop, is respectively the constant voltage speed control loop that is made up of big arm overflow valve 9, paw overflow valve 15, makes the whole pressure of hydraulic system keep constant.Not disturbing the loop mutually is that the double pump oil feeding type that between big forearm hydraulic circuit and paw hydraulic circuit, adopts does not disturb the loop mutually; Double pump comprises big forearm constant displacement pump 10 and paw constant displacement pump 16, prevents that each hydraulic cylinder is because of the different phase mutual interference in action of operating pressure.Said pressure reducing circuit links to each other with working connection through fixed pressure reducing valve 7, plays the effect of pressurize in short-term, reduces the impact to the forearm hydraulic circuit.The balanced loop is for using the balanced loop of individual event sequence valve 8, big arm throttling check valve 4.Said throttling speed limit loop uses check valve 8 to cooperate overflow valves 5 or 13, can play relax impact, prevent to transship, the effect of throttling speed limit.Said other element comprises the double acting hydraulic cylinder of accomplishing the compulsory exercise needs; Comprise big arm hydraulic cylinder 1, forearm hydraulic cylinder 2 and paw hydraulic cylinder 3; The three position four-way directional control valve that change working needs comprises big arm directional control valve 6, forearm reversal valve 12 and arm reversal valve 14.The action that mechanical arm will accomplish and the performance requirement of whole work system are satisfied in this loop, are mainly used in emulation, test, improvement of fire-fighting robot arm etc.
The hydraulic circuit system of a kind of fire-fighting robot arm that the utility model provides; Said hydraulic circuit system comprehensive with each fundamental circuit of having put mechanical arm in order; Satisfy the action that mechanical arm will accomplish and the performance requirement of whole equipment; Be convenient to the mechanical-hydraulic emulation of mechanical arm, can save simulation time significantly, improve simulation efficiency.
The utility model mainly provide a kind of satisfy robot arm action request, basic liquid hydraulic circuit complete, be suitable for simulation analysis and the desirable fire-fighting robot arm hydraulic circuit system system of simulated effect; Efficient during with the emulation of raising mechanical arm mechanical-hydraulic; Or else deviate under the situation of the utility model essence; Can the structural configuration of fire-fighting robot arm hydraulic circuit system system be done corresponding change, but these corresponding changes should belong to all within the affiliated claim protection domain of the utility model.
Claims (3)
1. fire-fighting robot arm hydraulic circuit system; It is characterized in that: comprise the level pressure loop, do not disturb loop, pressure reducing circuit, balanced loop, throttling speed limit loop mutually; Said level pressure loop comprises big arm constant voltage speed control loop that is made up of big arm overflow valve, fuel tank, constant displacement pump and the big arm constant voltage speed control loop that is made up of paw overflow valve, fuel tank, constant displacement pump; The said loop of not disturbing mutually is between big forearm hydraulic circuit and paw hydraulic circuit, to adopt the double pump oil feeding type of constant displacement pump and constant displacement pump not disturb the loop mutually; Said pressure reducing circuit links to each other with working connection with check valve through fixed pressure reducing valve; Said balanced loop is for using the balanced loop of individual event sequence valve, and said throttling speed limit loop is cooperated big arm overflow valve or cooperated the paw overflow valve to form by check valve.
2. fire-fighting robot arm hydraulic circuit system according to claim 1 is characterized in that: also comprise the double acting hydraulic cylinder of accomplishing the compulsory exercise needs.
3. fire-fighting robot arm hydraulic circuit system according to claim 1 is characterized in that: the three position four-way directional control valve that also comprises the change working needs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120177912U CN202147278U (en) | 2011-05-30 | 2011-05-30 | Fire-fighting robot arm hydraulic circuit system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120177912U CN202147278U (en) | 2011-05-30 | 2011-05-30 | Fire-fighting robot arm hydraulic circuit system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202147278U true CN202147278U (en) | 2012-02-22 |
Family
ID=45588352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120177912U Expired - Fee Related CN202147278U (en) | 2011-05-30 | 2011-05-30 | Fire-fighting robot arm hydraulic circuit system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202147278U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927090A (en) * | 2012-11-19 | 2013-02-13 | 无锡市京锡冶金液压机电有限公司 | Connecting method of hydraulic system pressure reducing loop of hydraulic test bench |
| CN103331640A (en) * | 2013-05-13 | 2013-10-02 | 浙江外国语学院 | Loading and unloading manipulator system of broaching machine |
| CN104343758A (en) * | 2013-08-01 | 2015-02-11 | 常州金刚文化科技集团有限公司 | Hydraulic system of outdoor performance robot |
| CN105332959A (en) * | 2015-12-08 | 2016-02-17 | 徐州一呼机械制造有限公司 | Hydraulic control loop of carrying manipulator |
| CN106239481A (en) * | 2016-08-31 | 2016-12-21 | 南京晨光集团有限责任公司 | A kind of exoskeleton robot micro hydraulic servosystem |
| PL423195A1 (en) * | 2016-07-11 | 2019-03-11 | Politechnika Lubelska | Hydraulic system of the bale self-loading trailer |
| CN110131221A (en) * | 2019-04-19 | 2019-08-16 | 武汉智仁传控技术有限公司 | The hydraulic system of mechanical arm |
| CN111810493A (en) * | 2020-07-29 | 2020-10-23 | 中国人民解放军陆军装甲兵学院 | Simulation modeling method for hydraulic system of quadruped robot |
| CN112432740A (en) * | 2020-09-21 | 2021-03-02 | 深圳市吉迩科技有限公司 | Positive pressure test equipment and method for air tightness of smoke cartridge |
-
2011
- 2011-05-30 CN CN201120177912U patent/CN202147278U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927090A (en) * | 2012-11-19 | 2013-02-13 | 无锡市京锡冶金液压机电有限公司 | Connecting method of hydraulic system pressure reducing loop of hydraulic test bench |
| CN103331640A (en) * | 2013-05-13 | 2013-10-02 | 浙江外国语学院 | Loading and unloading manipulator system of broaching machine |
| CN103331640B (en) * | 2013-05-13 | 2015-09-30 | 浙江外国语学院 | Broaching machine feeding-blanking manipulator system |
| CN104343758A (en) * | 2013-08-01 | 2015-02-11 | 常州金刚文化科技集团有限公司 | Hydraulic system of outdoor performance robot |
| CN105332959A (en) * | 2015-12-08 | 2016-02-17 | 徐州一呼机械制造有限公司 | Hydraulic control loop of carrying manipulator |
| PL423195A1 (en) * | 2016-07-11 | 2019-03-11 | Politechnika Lubelska | Hydraulic system of the bale self-loading trailer |
| CN106239481A (en) * | 2016-08-31 | 2016-12-21 | 南京晨光集团有限责任公司 | A kind of exoskeleton robot micro hydraulic servosystem |
| CN110131221A (en) * | 2019-04-19 | 2019-08-16 | 武汉智仁传控技术有限公司 | The hydraulic system of mechanical arm |
| CN111810493A (en) * | 2020-07-29 | 2020-10-23 | 中国人民解放军陆军装甲兵学院 | Simulation modeling method for hydraulic system of quadruped robot |
| CN112432740A (en) * | 2020-09-21 | 2021-03-02 | 深圳市吉迩科技有限公司 | Positive pressure test equipment and method for air tightness of smoke cartridge |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202147278U (en) | Fire-fighting robot arm hydraulic circuit system | |
| CN102140917A (en) | Heave compensation simulation test device for deep-sea mining | |
| CN107444575A (en) | A kind of floating platform using wave-energy power generation | |
| CN105806694A (en) | Combined loading testing device for complex loads of submarine pipelines | |
| CN106122188B (en) | Conventional overflow valve overflow loss recycle and reuse system based on hydraulic accumulator | |
| CN105425610B (en) | A kind of thrust control analogue system of operation type underwater robot hydraulic pusher | |
| CN105179148A (en) | Vibrating floater type wave power generation device | |
| CN204533013U (en) | A kind of wave simulation experiment porch hydraulic system | |
| CN101586525B (en) | Hydraulic central control device for wind power generating set | |
| CN204851524U (en) | Vibrate float -type wave energy power generation facility | |
| CN102540903A (en) | Modelica-language-based simulation modeling method for pump truck boom system | |
| Lin et al. | A study on dual-stroke pendulum wave energy conversion technology based on a water/oil integrated transmission system | |
| Yu et al. | Study on energy regeneration of hybrid hydraulic excavator using hydraulic transformer | |
| CN103529704B (en) | The netted array artificial-muscle design of class skeletal muscle straight line and the neural control method of class | |
| CN103213629A (en) | Hydraulic power device of bear-loading hopping robot | |
| Siebert et al. | Reduction of system inherent pressure losses at pressure compensators of hydraulic load sensing systems | |
| CN103064404A (en) | power matching control simulation test system of automobile crane | |
| CN204959857U (en) | Hydraulic power assembly for excavator | |
| CN208715330U (en) | Integrated hydraulic system robot leg | |
| CN204940321U (en) | A kind of seismic-sensitive building structure isolation foundation | |
| CN106870616A (en) | Hydro-pneumatic buffer | |
| CN207713364U (en) | A kind of hydraulic test with pooling feature | |
| CN206246441U (en) | The hydraulic system of leaf spring vibration mechine | |
| CN205559423U (en) | Spiral rotary actuator test device | |
| Huang et al. | Study of control mode and control strategy for direct drive volume control actuating unit of heave compensation winch |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120222 Termination date: 20120530 |