CN202170902U - Hydraulic power system of robot - Google Patents
Hydraulic power system of robot Download PDFInfo
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- CN202170902U CN202170902U CN 201120262590 CN201120262590U CN202170902U CN 202170902 U CN202170902 U CN 202170902U CN 201120262590 CN201120262590 CN 201120262590 CN 201120262590 U CN201120262590 U CN 201120262590U CN 202170902 U CN202170902 U CN 202170902U
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- variable displacement
- displacement pump
- power system
- hydraulic power
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Abstract
A hydraulic power system of a robot comprises the following components: a control unit ECU, a starting motor, an engine and a variable pump, wherein the starting motor, the engine and the variable pump are successively connected. An oil inlet of the variable pump is connected with an oil tank through coarse filtration. An oil outlet of the variable pump is provided with a first pressure sensor. An oil outlet of the variable pump is provided with a flow sensor through series connection, and an oil inlet end of the load is provided with a second pressure sensor through parallel connection. The first pressure sensor, the second pressure sensor and the flow sensor transmit a collected signal to the control unit ECU. The control unit ECU monitors an operation state of the power system, and simultaneously performs closed-loop control for the rotation speed of the engine and the displacement of the variable pump, thereby realizing accurate feeding of the flow and accurate control for the system pressure. Furthermore, an oil outlet of the variable pump is provided with an electric control unloading valve. The oil outlet of the variable pump is connected with an overflow valve and an energy accumulator in parallel through a check valve. The hydraulic power system of the robot can effectively utilize the energy and can accurately control the amount of supplied oil.
Description
Technical field
The utility model relates to hydraulic power system, particularly the hydraulic power system of walking robot.
Background technique
Walking bionic robot has stronger adaptability under high-speed mobile characteristic and the open-air extreme terrain under the landform of conventional plane.Walking robot mainly is towards wild environment, in concrete design process, except the normal walking function, bears many-sided specific requirements such as useful load, walking mileage in addition.Because hydraulically powered compact structure, specific power is big, adaptivity is strong, so hydraulic servo drives application in this field and drives to compare with electricity and have greater advantage.In order to satisfy the multiple designing requirement of robot: hydraulic servomechanism requires not only in the course of the work that hydraulic power has fast, stable properties, also requires hydraulic power to possess high power density (volume is little, in light weight), high-efficiency characteristics.Therefore, the highly integrated hydraulic power system of exploitation is that strong hydraulic power is provided is a key technology of design high-performance walking robot for the walking of robot.
What external document about walking robot mainly adopted is battery-motor driven systems.Chinese patent document ZL200820157956.2, C N101602382A, the disclosed structure quadruped robot of ZL03153505.4 also all are to have adopted battery-electric machine structure.Battery-motor shortcoming is that specific power is low, flying power is poor.
Chinese patent CN 101811304A discloses a kind of hydraulic driving system of quadruped robot; The power section of this system has adopted motor to combine the structural type of metering pump; In addition in the robot architecture of similar walking robot, adopt motor addition of variable pump structure in addition, through output flow to the control break hydraulic power of variable displacement pump.Two kinds of design proposal shortcomings that more than adopt are following:
First kind is that the engine drives metering pump carries out work; The controlling method of this structure is to realize different flow output through regulating engine speed; The shortcoming of this scheme is that the rotation speed change scope of motor is less, when servomechanism needs flow hour, can only reduce the pressure of system through overflow; So just caused the waste of energy; Energy consumption is higher when the robot low-speed motion, and the Conversion of energy of waste is that caloric requirement is dispelled the heat through radiator simultaneously, has increased the heat radiation burden of system.
Second kind of design proposal is to adopt the engine drives variable displacement pump to carry out work, through the control to the variable displacement pump discharge capacity, realizes the adjusting to flow system flow, realizes the adjusting of level pressure unsteady flow amount.The shortcoming of this scheme is: though realized the adjusting of flow through variable displacement pump; But when robot is in low-speed motion; Motor is in the working state of high rotating speed, low moment of torsion; Fuel can't fully burn and cause the fuel consumption of motor bigger, and the working efficiency that the while variable displacement pump is in when hanging down discharge capacity is also lower, and the energy of consumption also can increase the weight of the burden of radiation system to a certain extent.
The model utility content
The technology of the utility model is dealt with problems and is: overcome the deficiency of existing technology, a kind of robot hydraulic power system is provided, the utility model can effectively utilize energy, and can accurately control fuel delivery.
The technical solution of the utility model is: the robot hydraulic power system; Comprise control unit ECU; The starting electrical machinery, motor and the variable displacement pump that link to each other successively; The filler opening of said variable displacement pump links to each other with fuel tank through coarse filtration, and the oil outlet place of said variable displacement pump is provided with first pressure transducer, connects and be provided with flow transducer, is provided with second pressure transducer in the oil inlet end parallel connection of load in the oil outlet place of said variable displacement pump; Said first pressure transducer, second pressure transducer and flow transducer are transferred to control unit ECU with the signal that collects; Said control unit ECU monitors the working state of power system, simultaneously engine speed and variable displacement pump discharge capacity is carried out closed loop control, realizes the accurate supply of flow.
Further, the oil outlet of said variable displacement pump is parallelly connected with accumulator through one way stop peturn valve.
Further, the oil outlet of said variable displacement pump is also parallelly connected with relief valve through said one way stop peturn valve.
Further, the oil outlet place of said variable displacement pump is provided with automatically controlled unloading valve.
Preferably, said variable displacement pump is a plunger type variable capacity pump.
Said control unit ECU gathers the signal of the swashplate angle sensor of variable displacement pump, realizes the closed loop control to the variable displacement pump discharge capacity through the control to the variable displacement pump Proportional valve.
Said control unit ECU gathers the signal of the speed probe of motor, realizes the closed loop control to engine speed through the control to electronic throttle of engine.
Preferably, said control unit ECU is through other system communication of can bus and robot.
The utility model compared with prior art has following advantage:
(1) core component of the utility model power system comprises motor, variable displacement pump and control unit ECU.Starting electrical machinery, motor and variable displacement pump link to each other successively; When power system starts, drive engine revolution by starting electrical machinery, motor drives variable displacement pump again and rotates; The filler opening of said variable displacement pump links to each other with fuel tank through coarse filtration; The oil outlet place of said variable displacement pump is provided with first pressure transducer, and the oil outlet place series connection of said variable displacement pump is provided with flow transducer, parallel connection is provided with second pressure transducer, and said first pressure transducer, second pressure transducer and flow transducer are transferred to control unit ECU with the signal that collects; Said control unit ECU monitors the working state of power system; Rotating speed through to variable pump delivery and motor carries out two-parameter closed loop control, in the power system working procedure, reasonably matees the operation point of motor and variable displacement pump, reaches the purpose that improves the two working efficiency; This structural design can make the utility model guarantee accurately to control under the prerequisite of fuel delivery, improves working efficiency, the reduction fuel consume of power system.
(2) oil outlet of the utility model variable displacement pump is parallelly connected with accumulator through one way stop peturn valve, and accumulator can replenish the transient flow of system, improves the dynamic response capability of power system, increases the instantaneous flow of system.
(3) oil outlet of the utility model variable displacement pump is parallelly connected with relief valve through one way stop peturn valve, and relief valve plays the effect of safe overflow, and the system of assurance is in below the maximum delivery pressure.
(4) the utility model adopts starting electrical machinery and automatically controlled unloading valve cooperating, realizes that the electricity of power system starts and quick relief, and under engine idling condition, unloading valve can effectively reduce the life-span that the pressure of variable displacement pump oil outlet helps improving variable displacement pump.
(5) the utility model adopts independently control unit ECU realization intelligent control.
Description of drawings
Fig. 1 is the robot hydraulic power system principle schematic according to the utility model.
Fig. 2 is the control unit ECU theory diagram according to the utility model.
Fig. 3 is the fundamental diagram of robot hydraulic power system under the [constant pattern.
Fig. 4 is the fundamental diagram of robot hydraulic power system under the [constant pattern.
Figure number explanation: 1-starting electrical machinery, 2-motor, the electronic throttle of 3-motor, the speed probe of 4-motor, 5-control unit ECU; The 6-shaft orientation plunger variable pump, the Proportional valve of 7-variable displacement pump, the swashplate angle sensor of 8-variable displacement pump, the automatically controlled unloading valve of 9-, 10-first pressure transducer; The 11-one way stop peturn valve, 12-accumulator, 13-flow transducer, 14-second pressure transducer, the smart filter of 15-; The 16-radiator, 17-fuel tank, 18-relief valve, 19-coarse filtration.
Embodiment
Below will combine accompanying drawing that the embodiment of the utility model is described.
As shown in Figure 1; Robot hydraulic power system according to the utility model; Comprise control unit (ECU) 5, the starting electrical machinery 1, motor 2 and the variable displacement pump 6 that link to each other successively, the filler opening of said variable displacement pump links to each other with fuel tank 17 through coarse filtration 19; The oil outlet place of said variable displacement pump is parallel with first pressure transducer 10; The oil outlet place series connection of said variable displacement pump is provided with flow transducer 13, the parallel connection of load fuel feeding end is provided with second pressure transducer 14, and said first pressure transducer, second pressure transducer and flow transducer are transferred to control unit ECU with the signal that collects, and said control unit ECU monitors the working state of power system; Simultaneously engine speed and variable displacement pump discharge capacity are carried out closed loop control, realize the accurate supply of flow.
Starting electrical machinery 1 directly is connected with motor 2, when power system starts, drives motor 2 rotations by starting electrical machinery 1.Motor 2 links to each other with variable displacement pump 6, drives variable displacement pump 6 and rotates.When system start-up, under the control of control unit (ECU) 5, automatically controlled unloading valve energising off-load, variable displacement pump discharge capacity are adjusted to 0.Motor can start under non-loaded condition like this, the resisting moment when reducing engine start effectively.
Motor adopts petrol engine (DENG also can) certainly among the embodiment, variable displacement pump adopt plunger type variable capacity pump (other variable displacement pump is good, the benefit that just adopts plunger type variable capacity pump be running steadily; Discharge uniformity is good; Noise is low, and working pressure is high, helps improving the specific power of system; The preferred rotating speed of motor is not less than 7000r/min's; The preferred rotating speed of variable displacement pump is not less than 6000r/min's, and adopting high-revolving benefit is to reduce the volume and weight of system, improves the specific power of system.
Motor 2, variable displacement pump 6 and control unit 5 are core components in this power system, and control unit ECU controls engine speed and variable displacement pump discharge capacity simultaneously, realize the accurate supply of flow.Control unit 5 is gathered the signal of the speed probe 4 of motor, realizes the closed loop control to engine speed through the control to electronic throttle of engine 3; Control unit 5 is gathered the signal of the swashplate angle sensor 8 of variable displacement pump, realizes the closed loop control to the variable displacement pump discharge capacity through the control to variable displacement pump Proportional valve 7.
In order to reduce the variable displacement pump outlet pressure when engine start and the idling, in the life-span of improving variable displacement pump, be parallel with automatically controlled unloading valve 9 at the oil outlet place of variable displacement pump 6.When robot started perhaps temporary transient the shutdown, control unit 5 was opened automatically controlled unloading valve 9, guaranteed that motor 2 starts under no-load condition.Control unit 5 drives starting electrical machinery 1 and gives engine oil through the control to electronic throttle of engine 3 simultaneously, realizes that the electricity of robot starts.When robot is in temporary transient outage state, can open automatically controlled unloading valve 9, the aperture that reduces electronic throttle of engine reduces the rotating speed of motor, makes motor be in the state of the unloaded idling of low speed, with fuel saving with prolong the variable displacement pump life-span.
The oil outlet of variable displacement pump 6 is parallelly connected with relief valve 18 and accumulator 12 through one way stop peturn valve 11; Relief valve plays safe overflow; The system of assurance is in below the maximum delivery pressure, and accumulator can replenish the moment flow of system, improves the dynamic response capability of power system.
The way to cycle oil of load is in series with radiator 16 and smart filter 15, realizes the function of cooling and cleaning, guarantees that fuel tank recycle oil is in regulation and temperature and turbidity test scope.
As shown in Figure 2, present embodiment adopts the CAN bus to realize the communication function of power system ECU and other system of robot.The machine man-hour; Control unit is through the working state and the related data of CAN send receive module real-time release power system; And in time obtain current gait information and the environmental information and the motor pattern of robot, confirm rational fuel feeding pattern and oil pressure and flow according to the current gait of robot, environment and motor pattern.According to the efficiency characteristic of motor and variable displacement pump, the two can be mated at most effective point simultaneously, reach the purpose of energy saving under the prerequisite that guarantees the effective fuel delivery of hydraulic system.
Control unit ECU is by chip microcontroller in the present embodiment, and that single-chip microcomputer is selected for use is the MC9S12DP256 that Freescale company produces.Certainly, ECU also can adopt the SAF-XE164G-72F66L of company of Infineon or SAF-XE167FM-72FxxL to realize.
In the working procedure, power system realizes the accurate control to the robot flow rate of hydraulic system through the closed loop control to engine speed and variable displacement pump discharge capacity, can realize [constant pattern and two kinds of output modes of [constant pattern through the control to flow.
Under the [constant pattern, as shown in Figure 3, realize through closed loop control engine speed and variable displacement pump discharge capacity.At first ECU confirms the variable displacement pump discharge capacity and the engine speed of needs according to the target flow of system, and wherein realize at the displacement size utilization of the variable displacement pump angle of inclination that changes the variable displacement pump swash plate.ECU confirms the size of current of Proportional valve according to the difference at the target inclination angle of variable displacement pump pitch and actual inclination angle, closed loop control is carried out at variable displacement pump pitch inclination angle, thereby realized the accurate control to the variable displacement pump displacement size.Simultaneously, ECU confirms the size of engine air throttle aperture according to the difference of engine target rotating speed and actual speed, and throttle opening is carried out closed loop control, thereby realizes the accurate control of engine speed.
In the [constant pattern, the pressure of system is controlled through relief valve, and during overpressure, extra flow is through the relief valve overflow.The advantage of [constant pattern is that system response time short, and the traffic demand that can respond servo motion mechanism of robot apace changes.Be applicable to that robot works as that external environment changes suddenly and the situation that needs the quick adjustment attitude.
Under the [constant pattern, as shown in Figure 4, ECU implements dynamic adjustments to flow system flow according to goal pressure, reaches the purpose of control system pressure through the adjusting to flow.In concrete adjustment process, at first ECU confirms to increase or reduce flow according to the value of goal pressure and actual pressure.The variation of flow is through to the closed loop control of engine speed and variable displacement pump discharge capacity realization, flow adjustment process consistent with the regulating method under the [constant pattern.
The benefit of [constant pattern is, energy efficient does not have spill losses, is applicable to the various walkings and the working state of robot widely.
The hydraulic power system of the utility model has the following advantages:
Advantage 1: the fuel consume that efficient is high, can effectively reduce robot increases the continuation of the journey mileage that adds a fuel oil.
Advantage 2: intelligent control, adaptability is strong.Can adjust the mode of operation of power system according to the working state of robot flexibly.
Advantage 3: response is fast, helps shortening the response time of robot, improves the adaptability to emergency case.
Advantage 4: high power density, volume is little, in light weight.
Need to prove that the utility model is applicable to the power system of any robot, be particularly useful for the power system of walking robot.
The content of not doing in the utility model specification to describe in detail belongs to related domain professional and technical personnel's known technology.
The utility model is not limited to the content that claim and the foregoing description are addressed, so long as any model utility of creating out according to the design of the utility model all should belong within the protection domain of the utility model.
Claims (8)
1. robot hydraulic power system; It is characterized in that; Comprise control unit ECU (5), the starting electrical machinery (1), motor (2) and the variable displacement pump (6) that link to each other successively, the filler opening of said variable displacement pump links to each other with fuel tank (17) through coarse filtration (19); The oil outlet place of said variable displacement pump is provided with first pressure transducer (10); The series connection of the oil outlet place of said variable displacement pump is provided with flow transducer (13), is provided with second pressure transducer (14) in the fuel feeding end parallel connection of load, and said first pressure transducer, second pressure transducer and flow transducer are transferred to control unit ECU with the signal that collects, and said control unit ECU monitors the working state of power system; Simultaneously engine speed and variable displacement pump discharge capacity are carried out closed loop control, realize the accurate supply of flow.
2. robot according to claim 1 hydraulic power system is characterized in that, the oil outlet of said variable displacement pump is parallelly connected with accumulator (12) through one way stop peturn valve (11).
3. robot according to claim 2 hydraulic power system is characterized in that, the oil outlet of said variable displacement pump is also parallelly connected with relief valve (18) through said one way stop peturn valve (11).
4. robot according to claim 1 hydraulic power system is characterized in that, the oil outlet place of said variable displacement pump is provided with automatically controlled unloading valve (9).
5. robot according to claim 1 hydraulic power system is characterized in that, said variable displacement pump is a plunger type variable capacity pump.
6. robot according to claim 5 hydraulic power system; It is characterized in that; Said control unit ECU (5) gathers the signal of the swashplate angle sensor (8) of variable displacement pump, realizes the closed loop control to the variable displacement pump discharge capacity through the control to variable displacement pump Proportional valve (7).
7. robot according to claim 1 hydraulic power system; It is characterized in that; Said control unit ECU (5) gathers the signal of the speed probe (4) of motor, realizes the closed loop control to engine speed through the control to electronic throttle of engine (3).
8. robot according to claim 1 hydraulic power system is characterized in that, said control unit ECU is through other system communication of can bus and robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120262590 CN202170902U (en) | 2011-07-22 | 2011-07-22 | Hydraulic power system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120262590 CN202170902U (en) | 2011-07-22 | 2011-07-22 | Hydraulic power system of robot |
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| CN202170902U true CN202170902U (en) | 2012-03-21 |
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| CN 201120262590 Expired - Fee Related CN202170902U (en) | 2011-07-22 | 2011-07-22 | Hydraulic power system of robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102278334A (en) * | 2011-07-22 | 2011-12-14 | 中国人民解放军装甲兵工程学院 | Hydraulic power system for robot |
| CN103016467A (en) * | 2012-12-25 | 2013-04-03 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms |
| CN103075389A (en) * | 2013-01-23 | 2013-05-01 | 北京理工大学 | Hydraulic oil supply system for machine tool which rolls and strengthens torque shaft surface |
| CN105156382A (en) * | 2015-10-08 | 2015-12-16 | 中国人民解放军装甲兵工程学院 | Electric servo hydraulic power source drive system of four-foot robot |
| CN112959324A (en) * | 2021-03-16 | 2021-06-15 | 合肥工业大学 | Energy-saving working unit of hydraulic industrial robot |
-
2011
- 2011-07-22 CN CN 201120262590 patent/CN202170902U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102278334A (en) * | 2011-07-22 | 2011-12-14 | 中国人民解放军装甲兵工程学院 | Hydraulic power system for robot |
| CN103016467A (en) * | 2012-12-25 | 2013-04-03 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms |
| CN103016467B (en) * | 2012-12-25 | 2015-06-10 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms |
| CN103075389A (en) * | 2013-01-23 | 2013-05-01 | 北京理工大学 | Hydraulic oil supply system for machine tool which rolls and strengthens torque shaft surface |
| CN103075389B (en) * | 2013-01-23 | 2015-02-18 | 北京理工大学 | Hydraulic oil supply system for machine tool which rolls and strengthens torque shaft surface |
| CN105156382A (en) * | 2015-10-08 | 2015-12-16 | 中国人民解放军装甲兵工程学院 | Electric servo hydraulic power source drive system of four-foot robot |
| CN105156382B (en) * | 2015-10-08 | 2018-03-23 | 中国人民解放军装甲兵工程学院 | Quadruped robot electrical servo hydraulic pressure source driving system |
| CN112959324A (en) * | 2021-03-16 | 2021-06-15 | 合肥工业大学 | Energy-saving working unit of hydraulic industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120321 Termination date: 20140722 |
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| EXPY | Termination of patent right or utility model |