CN204512035U - A kind of hydraulic energy-saving controller - Google Patents
A kind of hydraulic energy-saving controller Download PDFInfo
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- CN204512035U CN204512035U CN201520012389.1U CN201520012389U CN204512035U CN 204512035 U CN204512035 U CN 204512035U CN 201520012389 U CN201520012389 U CN 201520012389U CN 204512035 U CN204512035 U CN 204512035U
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- hydraulic
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- filler opening
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Abstract
A kind of hydraulic energy-saving controller, comprises high pressure filler opening 1, low pressure filler opening 2, oil outlet 9, high-speed switch valve 4, one-way valve 5, inertia device 6, two-bit triplet high speed selector valve 7 and accumulator 8.Adopt pwm signal as the control signal 3 of valve in hydraulic energy-saving controller.By controlling the opportunity of the switch of high-speed switch valve, repeat above-mentioned working procedure, oil outlet is made to continue pressure and the flow of stable output, the energy acting that high pressure oil can be utilized so unnecessary, reaches energy-conservation effect, by regulating the dutycycle of pwm control signal, the adjustment of delivery pressure and flow can be realized, namely by controlling the time of high pressure hydraulic fluid port and low pressure oil supply mouth, thus the total energy reaching control inputs matches with load institute energy requirement all the time, finally realizes the object of efficient energy-saving.
Description
Technical field
The utility model relates to a kind of hydraulic energy-saving controller.
Background technique
Movable robot obtains significant progress in fields such as structure, perception, path planning and controls in recent years, achieve the sophisticated functions such as entertainment service, human-computer interaction, extreme environment investigation, but the energy and actuation techniques lagging in development, cause movable robot's load capacity limited, constrain the practical of movable robot.Now there are some researches show, when the delivery pressure of power source is more than 3.5MPa, the hydraulic driving system with power has higher specific power than pure electromechanical driving system.Hydraulic driving system is adopted to be improve the effective way of load capacity.Current many research units start trial hydraulic power system to drive movable robot, as BIGDOG, petman of the development of boston, u.s.a utility companies, the KenKen II hydraulic driving quadruped robot of istituto Italiano Di Tecnologia, the high-performance quadruped robot project of being subsidized by Chinese 863 high-tech research development plans in addition clearly proposes to adopt hydraulic driving system.
Due to the restriction of weight and volume, what the hydraulic driving system of movable robot adopted is all single pumping source-multi executors system architecture.Such hydraulic driving system efficiency is very low, main cause is that the load of each final controlling element is not identical at synchronization, and same final controlling element is load is not identical yet in the same time, a pumping source can not carry out power match with the load of multiple final controlling element simultaneously, the high-power final controlling element load of general selection is mated, the mode that current control final controlling element adopts is ratio throttling control mode, and the final controlling element branch road causing load lower thus occurs that a large amount of throttling is consumed, and causes inefficiency.
Inefficiency can cause following problem: the power requirements of power source is high, and the weight and volume of power source can rise; The energy (as gasoline) completing same need of work increases, and weight increases; System hydraulic pressure element function index request can improve, and the weight and volume of hydraulic element can increase; System heating can be more serious, and the power of cooling system will become large, and the volume and weight of cooling system will increase.Therefore inefficiency can have a strong impact on the load capacity of movable robot.
Model utility content
The purpose of this utility model is to provide a kind of energy-saving controller and the controlling method that effectively can improve movable robot's hydraulic driving system efficiency for the deficiencies in the prior art, the method realizes mating of output power and bearing power by regulating pwm signal pulsewidth, finally reaches the object of raising hydraulic system efficiency.The utility model is achieved through the following technical solutions above-mentioned purpose.
A kind of hydraulic energy-saving controller, comprise high pressure filler opening, low pressure oil filler opening and the oil outlet be communicated with final controlling element, described high pressure filler opening is communicated with final controlling element by energy conserving system, described energy conserving system comprises the first high-speed switch valve, second high-speed switch valve, selector valve and inertia device, described inertia device comprises mass block, the bilateral symmetry of described mass block is provided with hydraulic piston, the end of the piston rod of described hydraulic piston is arranged on the both sides of described mass block, described high pressure filler opening is communicated with the rodless cavity of the second high-speed switch valve with the hydraulic piston at the two ends of inertia device with the first high-speed switch valve be arranged on pipeline respectively by pipeline, the rodless cavity of two described hydraulic pistons is connected with the filler opening A of selector valve and filler opening B respectively by oil circuit, the oil outlet C of described selector valve is communicated with final controlling element, and the oil circuit between the oil outlet C of selector valve and final controlling element is also parallel with accumulator, the rodless cavity of two hydraulic pistons of described inertia device is also communicated with low pressure filler opening.
Oil circuit between the rodless cavity of two hydraulic pistons of described inertia device and the filler opening A of selector valve and filler opening B is separately installed with the first one-way valve preventing hydraulic oil from refluxing to inertia device, oil circuit between described selector valve and final controlling element is also provided with the second one-way valve preventing hydraulic oil from refluxing to oil outlet C, the oil circuit between the rodless cavity of two hydraulic pistons of described inertia device and low pressure filler opening is provided with the 3rd one-way valve preventing hydraulic oil from refluxing to low pressure filler opening.
Comprise the described energy conserving system of two covers, the oil outlet C of the selector valve of the described energy conserving system of two covers is communicated with.
Described selector valve is two-bit triplet high speed selector valve.
Described hydraulic piston is arranged on supporting frame and outer wrap has safety cover, and described hydraulic piston and described mass block opposing side are provided with the flexible block preventing collsion damage.
The cylinder barrel of described hydraulic piston is high voltage bearing high pressure straight tube.
The end cap of described hydraulic piston is fixed by screws in safety cover two ends, and is provided with resilient pad between described end cap and safety cover.
Described high-speed switch valve and selector valve all adopt pwm signal as control signal.
Owing to adopting said structure, this device by arranging an energy conserving system between high pressure filler opening and final controlling element, final controlling element energy supply is given on the one hand by the hydraulic energy of the high pressure oil of energy conserving system, on the other hand, high pressure oil promotes the mass block accelerated motion in inertia device, be the kinetic energy of mass block by unnecessary hydraulic energy transfer, hydraulic oil in the other end high pressure straight tube is released by mass block simultaneously, the hydraulic oil of discharging flows to final controlling element by selector valve, when high-speed switch valve closed condition, high pressure filler opening is cut off, now mass block continue under the effect of inertia motion hydraulic oil is drawn into the hydraulic piston of inertia device side from low pressure filler opening, and the hydraulic oil in cylinder barrel is released continuing by the piston on the mass block the other end, the hydraulic oil of discharging flows to final controlling element by selector valve, mass block under hydraulic thrust effect retarded motion until speed is reduced to zero, now the kinetic energy of mass block changes into hydraulic energy completely.By controlling the opportunity of the switch of high-speed switch valve, repeating above-mentioned working procedure, making oil outlet continue pressure and the flow of stable output, the energy acting that high pressure oil can be utilized so unnecessary, reaches energy-conservation effect.
Adopt pwm signal as the control signal (periodic signal of pwm signal and adjustable pulse width joint of valve in the utility model, this signal is ripe technology, obtain by multiple means, adopt this kind of SC sigmal control efficiently fairly simple, signal easily obtains).Speed-sensitive switch valve port is opened, then closing high-speed switch valve port when amplitude is 0 when control signal amplitude is 1.Make B mouth and the conducting of C mouth of two-position three-way valve when control signal amplitude is 1, make A mouth and the conducting of C mouth of two-position three-way valve when amplitude is 0.
In sum, the utility model can by regulating the dutycycle of pwm control signal, and (in dutycycle and one-period, the time of amplitude shared by 1 (pulsewidth) is relative to the ratio of one-period time.) realize delivery pressure and flow and induced pressure and flows match, namely by controlling the time of high pressure hydraulic fluid port and low pressure oil supply mouth, thus the total energy reaching control inputs matches with load institute energy requirement all the time, finally realizes the object of efficient energy-saving.This patent is more energy-conservation (namely reducing the consumption of gasoline) compared to existing technologies, energy-conservation can reduce power source weight and volume, the gasoline weight of carrying, the weight and volume that can reduce radiator etc. can be reduced thus reduce the weight of robot self, thus improve robot and can take load-carrying weight.The utility model can be used on the larger all kinds of middle-size and small-size mobile platform of each final controlling element load variations of energy autonomy, as biped robot, quadruped robot, miniature self-service excavator, ectoskeleton equipment etc., effectively can improve this type of equipment hydraulic driving system efficiency, thus improve its load capacity, promote that it is practical further, realize energy-conserving and environment-protective simultaneously, there is good economic value.
Accompanying drawing explanation
Fig. 1 schematic diagram of the present utility model;
Fig. 2 inertia device of the present utility model structural representation;
Fig. 3 (a) working procedure schematic diagram of the present utility model;
Fig. 3 (b) working procedure schematic diagram of the present utility model;
Fig. 4 valve control signal schematic diagram of the present utility model;
The load variations situation schematic diagram that Fig. 5 application example: different duty K of the present utility model can mate.
Embodiment
Below in conjunction with accompanying drawing, further describe the embodiment of this patent.
Embodiment: as shown in Figure 1, arranges two cover energy conserving systems in this example, hydraulic energy-saving controller has three hydraulic fluid ports, a high pressure filler opening 1, low pressure filler opening 2 and an oil outlet 9.Often cover energy conserving system structure is identical comprises high-speed switch valve 4, one-way valve 5, inertia device 6 and selector valve 7, in this example, first energy conserving system comprises the first high-speed switch valve 41, second high-speed switch valve 43, first inertia device 61, one-way valve and the first selector valve 71, second energy conserving system comprises third high speed switch valve 42, 4th high-speed switch valve 44, one-way valve, second inertia device 62 and the second selector valve 72, selector valve is that two-bit triplet high speed selector valve is provided with filler opening A mouth and B mouth, oil outlet C mouth, oil circuit between the rodless cavity of two hydraulic pistons of described first inertia device and the filler opening A of the first selector valve and filler opening B is separately installed with the one-way valve 52 preventing hydraulic oil from refluxing to the first inertia device, 53, oil circuit between described first selector valve and final controlling element is also provided with the one-way valve 59 preventing hydraulic oil from refluxing to oil outlet C, oil circuit between the rodless cavity of two hydraulic pistons of described first inertia device and low pressure filler opening is provided with the one-way valve 51 preventing hydraulic oil from refluxing to low pressure filler opening, 54, oil circuit between the rodless cavity of two hydraulic pistons of described second inertia device and the filler opening A of the second selector valve and filler opening B is separately installed with the one-way valve 56 preventing hydraulic oil from refluxing to the second inertia device, 58, oil circuit between the rodless cavity of two hydraulic pistons of described second inertia device and low pressure filler opening is provided with the one-way valve 55 preventing hydraulic oil from refluxing to low pressure filler opening, 57, because the first energy conserving system is identical with the second energy-conservation system architecture, therefore be described for the first energy conserving system here, high-speed switch valve 41, 43 one end are connected with high pressure filler opening 1, the other end is communicated with the rodless cavity of the hydraulic piston at the first inertia device 61 two ends, the rodless cavity of hydraulic piston is also pressed with import with low respectively, the filler opening A of the first selector valve is communicated with filler opening B, selector valve 61 oil outlet C is connected with outlet 9, export to have and be connected with final controlling element, and at one-way valve 59 and an accumulator 8 in parallel on the oil circuit exporting 9.
The practical structures of this energy-saving controller is subject to boundary dimension and the mounting structure of the device such as selected quick closing valve and accumulator, and the concrete restriction using the arrangement space of object, and its structure can design arbitrarily.Wherein this patent gives a kind of concrete structure of core devices inertia device 6, as shown in Figure 2.This inertia device 6 adopts symplex structure to design, and is made up of hydraulic fluid port 611, end cap 612, resilient pad 613, supporting frame 614, flexible block 615, high pressure straight tube 616, mass block 617 and outer protective cover 618 etc.Hydraulic fluid port 611 is positioned at the two ends of inertia device 61, is connected respectively with one end of high pressure straight tube 616.End cap 611 is fixed by screws in safety cover 618 two ends, and places resilient pad 613 below, ensures that end cap 611 can compress high pressure straight tube 616 when being convenient to tighten screw.Mass block 617 is made up of the piston rod 6172 at mass block 6173 and two ends, piston 6171.Piston 6171 slides in high pressure straight tube 616.The end face that high pressure straight tube 616 contacts with mass block 6173 being provided with flexible block 615, clashing into high pressure straight tube 616 for preventing mass block 616.Mass block supports by the piston at two ends, the surface friction drag produced by mass block quality and gravity, negligible for the thrust that hydraulic oil produces.
Working principle of the present utility model: as shown in Figure 3, this working procedure comprises stored energy and two stages of release of inertia device to a working procedure of hydraulic energy-saving controller.Fig. 3 (a) is depicted as stored energy process, and dotted arrow represents running of hydraulic power oil circuit, and now high-speed switch valve 41 is in opening state, and high-speed switch valve 43 is in closed condition, and hydraulic oil enters into inertia device 6 by high pressure hydraulic fluid port 1.The B mouth of two-position three-way valve 71 and the conducting of C mouth.Now high pressure hydraulic fluid port 1 pressure p
shigher than induced pressure p
l, the mass block 617 in inertia device accelerates to move right under the effect of hydraulic thrust, and therefore unnecessary hydraulic energy then changes into the kinetic energy E of mass block, that is:
Wherein, v is the speed of mass block, and m is mass block quality, and S is the sectional area of the piston 6171 of mass block.Because mass block speed constantly increases in this process, the flow got rid of from inertia device is increased, and now unnecessary flow absorbs by accumulator 8, keeps the steady of delivery pressure and flow.
Fig. 3 (b) is depicted as energy release process, and dotted arrow represents running of hydraulic power oil circuit, and now high-speed switch valve 41 and 43 is all in closed condition, same B mouth and the conducting of C mouth keeping two-position three-way valve 71.Now mass block continues motion under effect of inertia, is drawn into inertia device 6 by hydraulic oil from low pressure oil supply mouth 2.Now due to induced pressure p
lhigher than low pressure oil confession oil pressure p
t, mass block retarded motion under the effect of hydraulic thrust, until mass block speed reduces to zero, the kinetic energy of storage discharges by mass block completely, and is converted into hydraulic energy.This procedure quality block does retarded motion, that is:
Because mass block speed constantly declines in this process, the flow got rid of from inertia device is reduced, now the hydraulic oil absorbed is discharged the deficiency of supplementing output flow by accumulator 8, keeps the steady of delivery pressure and flow.
Figure 4 shows that the control signal of hydraulic energy-saving controller valve, wherein k is dutycycle, T
0for the time cycle.As shown in Figure 1, signal 31,32,33 and 34 is the control signal of high-speed switch valve 4, and when signal amplitude is 1, high-speed switch valve 4 is in opening state, is then in closed condition when amplitude is 0.Signal 35 and 36 is the control signal of two-position three-way valve 7, the B mouth of two-position three-way valve 7 and the conducting of C mouth when signal amplitude is 1, the A mouth of two-position three-way valve 7 and the conducting of C mouth when amplitude is 0.In hydraulic energy-saving controller, valve is under the control of signal shown in Fig. 4, repeats the working procedure shown in Fig. 3.Namely the working procedure that energy-saving controller is complete is: under the control of Fig. 4 signal, first control signal 31 amplitude is 1, high-speed switch valve 41 is opened, all the other high-speed switch valves are in closed condition, now the first inertia device 61 performs working procedure shown in Fig. 3 (a), when control signal 31 amplitude is zero, high-speed switch valve 42 is closed, and the first inertia device 61 performs working procedure shown in Fig. 3 (b).Then control signal 32 amplitude is 1, high-speed switch valve 42 is opened, all the other high-speed switch valves are in closed condition, second inertia device 62 performs working procedure shown in Fig. 3 (a), when control signal 32 amplitude is zero, high-speed switch valve 42 is closed, and the second inertia device 62 performs working procedure shown in Fig. 3 (b), when performing this four working procedure, the B mouth of two-bit triplet selector valve 71 and 72 and the conducting of C mouth.When first control signal 33 amplitude is 1, high-speed switch valve 43 is opened, all the other high-speed switch valves are in closed condition, now the first inertia device 61 performs working procedure shown in Fig. 3 (a), just mass block traffic direction is contrary with shown in Fig. 3 (a), the A mouth of two-bit triplet selector valve 71 and the conducting of C mouth, when control signal 33 amplitude is zero, high-speed switch valve 43 is closed, first inertia device 61 performs working procedure shown in Fig. 3 (b), same mass block traffic direction is contrary with shown in Fig. 3 (b), the A mouth of two-bit triplet selector valve 71 and the conducting of C mouth.When first control signal 34 amplitude is 1, high-speed switch valve 44 is opened, all the other high-speed switch valves are in closed condition, now the second inertia device 62 performs working procedure shown in Fig. 3 (a), just mass block traffic direction is contrary with shown in Fig. 3 (a), the A mouth of two-bit triplet selector valve 72 and the conducting of C mouth, when control signal 34 amplitude is zero, high-speed switch valve 44 is closed, first inertia device 62 performs working procedure shown in Fig. 3 (b), same mass block traffic direction is contrary with shown in Fig. 3 (b), the A mouth of two-bit triplet selector valve 72 and the conducting of C mouth.Perform above-mentioned work process by circulation, oil outlet continues pressure and the flow of stable output.
Keep output flow one timing, the height of the pressure exported by regulating the size adjustment of dutycycle k, delivery pressure p
lcan be expressed as:
p
L＝p
T+(p
S-p
T)k
Equally, keep delivery pressure certain, by regulating the size of the size adjustment output flow of dutycycle k.Fig. 5 gives a hydraulic energy-saving controller under different duty k, the pressure of output and the change curve of flow.
Therefore the utility model can by regulating dutycycle, delivery pressure and flow and induced pressure and flows match can be made, namely by controlling the time of high pressure hydraulic fluid port and low pressure oil supply mouth, thus the total energy realizing input matches with load institute energy requirement all the time, finally realizes the object of efficient energy-saving.
Claims (8)
1. a hydraulic energy-saving controller, comprise high pressure filler opening, low pressure oil filler opening and the oil outlet be communicated with final controlling element, it is characterized in that, described high pressure filler opening is communicated with final controlling element by energy conserving system, described energy conserving system comprises the first high-speed switch valve, second high-speed switch valve, selector valve and inertia device, described inertia device comprises mass block, the bilateral symmetry of described mass block is provided with hydraulic piston, the end of the piston rod of described hydraulic piston is arranged on the both sides of described mass block, described high pressure filler opening is communicated with the rodless cavity of the second high-speed switch valve with the hydraulic piston at the two ends of inertia device with the first high-speed switch valve be arranged on pipeline respectively by pipeline, the rodless cavity of two described hydraulic pistons is connected with the filler opening A of selector valve and filler opening B respectively by oil circuit, the oil outlet C of described selector valve is communicated with final controlling element, and the oil circuit between the oil outlet C of selector valve and final controlling element is also parallel with accumulator, the rodless cavity of two hydraulic pistons of described inertia device is also communicated with low pressure filler opening.
2. hydraulic energy-saving controller according to claim 1, it is characterized in that: the oil circuit between the rodless cavity of two hydraulic pistons of described inertia device and the filler opening A of selector valve and filler opening B is separately installed with the first one-way valve preventing hydraulic oil from refluxing to inertia device, oil circuit between described selector valve and final controlling element is also provided with the second one-way valve preventing hydraulic oil from refluxing to oil outlet C, the oil circuit between the rodless cavity of two hydraulic pistons of described inertia device and low pressure filler opening is provided with the 3rd one-way valve preventing hydraulic oil from refluxing to low pressure filler opening.
3. hydraulic energy-saving controller according to claim 2, is characterized in that: comprise the described energy conserving system of two covers, and the oil outlet C of the selector valve of the described energy conserving system of two covers is communicated with.
4. hydraulic energy-saving controller according to claim 3, is characterized in that: described selector valve is two-bit triplet high speed selector valve.
5. according to the hydraulic energy-saving controller one of Claims 1-4 Suo Shu; it is characterized in that: described hydraulic piston is arranged on supporting frame and outer wrap has safety cover, and described hydraulic piston and described mass block opposing side are provided with the flexible block preventing collsion damage.
6. hydraulic energy-saving controller according to claim 5, is characterized in that: the cylinder barrel of described hydraulic piston is high voltage bearing high pressure straight tube.
7. hydraulic energy-saving controller according to claim 6, is characterized in that: the end cap of described hydraulic piston is fixed by screws in safety cover two ends, and is provided with resilient pad between described end cap and safety cover.
8. according to the hydraulic energy-saving controller one of Claims 1-4 Suo Shu, it is characterized in that: described high-speed switch valve and selector valve all adopt pwm signal as control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520012389.1U CN204512035U (en) | 2015-01-08 | 2015-01-08 | A kind of hydraulic energy-saving controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520012389.1U CN204512035U (en) | 2015-01-08 | 2015-01-08 | A kind of hydraulic energy-saving controller |
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| CN204512035U true CN204512035U (en) | 2015-07-29 |
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| CN201520012389.1U Withdrawn - After Issue CN204512035U (en) | 2015-01-08 | 2015-01-08 | A kind of hydraulic energy-saving controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104533865A (en) * | 2015-01-08 | 2015-04-22 | 中国人民解放军国防科学技术大学 | Hydraulic energy-saving controller |
| CN106224323A (en) * | 2016-09-13 | 2016-12-14 | 华侨大学 | The restructuring of a kind of many single plunger pumps controls the closed type hydraulic system of asymmetrical cylinder |
| CN106224310A (en) * | 2016-07-27 | 2016-12-14 | 华侨大学 | A kind of enclosed many single plunger pumps restructuring controls cylinder device |
| CN106224312A (en) * | 2016-07-27 | 2016-12-14 | 华侨大学 | A kind of single plunger pump matrix form arranges fluid power system |
-
2015
- 2015-01-08 CN CN201520012389.1U patent/CN204512035U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104533865A (en) * | 2015-01-08 | 2015-04-22 | 中国人民解放军国防科学技术大学 | Hydraulic energy-saving controller |
| CN106224310A (en) * | 2016-07-27 | 2016-12-14 | 华侨大学 | A kind of enclosed many single plunger pumps restructuring controls cylinder device |
| CN106224312A (en) * | 2016-07-27 | 2016-12-14 | 华侨大学 | A kind of single plunger pump matrix form arranges fluid power system |
| CN106224312B (en) * | 2016-07-27 | 2018-01-09 | 华侨大学 | A kind of single plunger pump matrix form arranges fluid power system |
| CN106224323A (en) * | 2016-09-13 | 2016-12-14 | 华侨大学 | The restructuring of a kind of many single plunger pumps controls the closed type hydraulic system of asymmetrical cylinder |
| CN106224323B (en) * | 2016-09-13 | 2017-12-01 | 华侨大学 | A kind of closed type hydraulic system of more single plunger pump restructuring control asymmetrical cylinders |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150729 Effective date of abandoning: 20170405 |