CN205780025U - Multicarity hydraulic cylinder and control system thereof - Google Patents

Abstract

A kind of Multicarity hydraulic cylinder, including Composite cylinder drum and hybrid piston rod.Described cylinder barrel and piston rod form four airtight cavity A, B, C, D, a kind of hydraulic cylinder control system, including four plug-in two-bit triplet electromagnetic switch valves being connected with four cavitys of Multicarity hydraulic cylinder and a proportional throttle valve being connected with four electromagnetic switch valves.By controlling described two-bit triplet electromagnetic switch valve and described 3-position 4-way servo valve, can select whether four first airtight cavity A, B, C, D connect with the oil-out P and tank drainback mouth T of pump or end, thus obtain different effective active area.Described piston rod arranges a carrying sensor, measures the load on described piston rod in real time, that is to say that Multicarity hydraulic cylinder loads.According to load feedback, by described electromagnetic switch valve group and the control of described servo valve group, select suitable effective active area, it is achieved hydraulic cylinder maximum power output is mated with carrying, ratio throttling function finally by servo valve, it is achieved high-precision position or the control of power.

Description

Multicarity hydraulic cylinder and control system thereof

Technical field

This utility model relates to a kind of Multicarity hydraulic cylinder and control system thereof.

Background technology

Load capacity is limited has become " bottleneck " problem that the mobile robot of restriction is practical, uses the liquid of high power density Pressure driving raising mobile robot load capacity is the mode that each robot research mechanism of the current world is commonly used, such as U.S.'s ripple Scholar pause utility companies develop BIGDOG, petman, the KenKen II hydraulic-driven quadruped robot of istituto Italiano Di Tecnologia, separately The high-performance quadruped robot project subsidized by Chinese 863 high-tech research development plans outward clearly proposes hydraulic-driven to be used System.

Due to the restriction of weight and volume, what the fluid power system of mobile robot used is all single many execution of pumping source Device system structure, such as document " Design and control of ranger:An energy-efficient, dynamic walking robot》、《Design principles for highly efficient quadrupeds and Implementation on the MIT Cheetah robot. ", " 4-legged bipedalrobot " all use such liquid Pressure system structure.Such hydraulic system structure inefficiency.Outside the BLEEX subsidized by U.S. national defense pre research office reported Skeleton fluid power system efficiency only 14%, the thesis for the doctorate of Zhejiang University doctor Zhang Yanting " returns with energy based on hybrid power The hydraulic excavator saving energy research received " show, use the efficiency of excavator of single pumping source multi executors fluid power system to be only 40%.The main cause of such hydraulic system inefficiency is that the synchronization that is supported on of each executor is different from, and with One executor also differs loading the most in the same time, and pumping source load with multiple executors can not carry out power simultaneously Join, be typically chosen high-power executor load and mate, thus cause other executor's branch roads to occur throttling in a large number consume, make Become inefficiency.Mobile robot, compared with excavator, has more executor, and dynamic performance requires higher, The displacement of same each executor instantaneous output and the difference of power are more notable, the displacement of different time same executor output Change with power is more violent, and its fluid power system efficiency can be lower.

Inefficiency can cause system heat generation serious, and the power of cooling system will become big, the volume of cooling system and weight Amount will increase.Additionally poor efficiency has also resulted in the more energy of same job demand (such as gasoline), same operating mode The demanded power output of lower power source is higher.Therefore the inefficient load capacity that can have a strong impact on mobile robot and continuation of the journey energy Power.

The method of the single pumping source multi executors fluid power system efficiency of existing raising is a lot, such as oil inlet and oil return independent throttle control System, electrohydraulic mixed power and Energy Recovery Technology, load sensitive pump control technology, hydraulic transformer etc..These technical energy saving effects Limited and do not account for the volume and weight of system, it is difficult to use in mobile robot.

Change in real time the effective active area of hydraulic cylinder according to load so that the load pressure of each executor's branch road all with The output pressure of pumping source is close, is automatically adjusted the output flow of pump and each tributary payload flows by the variable adaptive mechanism of pump Amount sum coupling, thus the output realizing pump mates with each branch circuit load power sum, is effectively improved system effectiveness.

Therefore Multicarity hydraulic cylinder is developed significant for improving mobile robot load capacity.Multicarity hydraulic pressure simultaneously Cylinder may be used for improving the efficiency of the equipment such as all kinds of engineering machinery using banked direction control valves control Driven by Hydraulic Cylinder.

Utility model content

The purpose of this utility model is to provide one for existing single pumping source-Multi-actuator Hydraulic System inefficiency problem Plant by hydraulic cylinder multi cavity design, select different cavity to turn on high-pressure oil passage or turn on low pressure oil way to realize oil sources pressure Power is mated with load pressure, is finally reached Multicarity hydraulic cylinder and the control system thereof improving hydraulic system efficiency purpose.

This utility model is achieved through the following technical solutions above-mentioned purpose.

A kind of Multicarity hydraulic cylinder, including Composite cylinder drum and hybrid piston rod, described Composite cylinder drum includes outer cylinder and interior Cylinder barrel, described inner cylinder tube coaxially lays with outer cylinder, and described inner cylinder tube is arranged in outer cylinder, described inner cylinder tube and outer cylinder Sealing with one end, other end opening, described hybrid piston rod includes outer piston bar and inner piston rod, described outer piston bar and described One end of inner piston rod connects firmly together, and the other end of described inner piston rod is arranged in inner cylinder tube and described inner carrier is with described Inner cylinder tube size matches, outside the other end of described outer piston bar is arranged in the gap between outer cylinder and inner cylinder tube and is described Gap length between piston and outer cylinder and inner cylinder tube matches, between described outer piston bar is between outer cylinder and inner cylinder tube The rod chamber formed in gap is the 3rd cavity C, and rodless cavity is the second cavity B, and formed in described inner piston rod inner cylinder tube has bar Chamber is the 4th cavity D, and rodless cavity is the first cavity A, and described first cavity A, the second cavity B, the 3rd cavity C, the 4th cavity D are equal It is provided with oil circuit and external control oil communication.

Described Composite cylinder drum is connected with end ring by pressure transducer, and described hybrid piston rod is provided with detection composite piston The carrying sensor of bar carrying.

Sealed by the first seal sleeve between described inner cylinder tube and outer cylinder.

Sealed by the second seal sleeve between described outer piston bar and outer cylinder inwall and inner cylinder tube outer wall.

It is fixed together by the first end cap and the second end cap between described inner cylinder tube and outer cylinder.

The control system of a kind of Multicarity hydraulic cylinder, is used for controlling above-mentioned Multicarity hydraulic cylinder, described first cavity A, Two cavity B, the 3rd cavity C, the 4th cavity D respectively with the hydraulic fluid port C of the first switch valve in switch valve group₁, second switch valve Hydraulic fluid port C₂, the hydraulic fluid port C of the 3rd switch valve₃Hydraulic fluid port C with the 4th switch valve₄Connect, the hydraulic fluid port A of described first switch valve₁, described The hydraulic fluid port A of second switch valve₂, the hydraulic fluid port A of described 3rd switch valve₃Hydraulic fluid port A with described 4th switch valve₄With described after parallel connection The oil-out connection of proportional throttle valve, the hydraulic fluid port B of described first switch valve₁, the hydraulic fluid port B of described second switch valve₂, the described 3rd The hydraulic fluid port B of switch valve₃Hydraulic fluid port B with described 4th switch valve₄By low pressure drainback passage T after parallel connection_sConnect with fuel tank, described The high pressure oil-in of proportional throttle valve connects with the high-pressure oil outlet of the power source that constant pressure variable displacement pump and safety overflow valve are constituted.

Described first switch valve, second switch valve, the 3rd switch valve and the 4th switch valve are two-bit triplet electromagnetic switch Valve, described choke valve is proportional throttle valve or proportional velocity regulating valve.

Using such scheme, inner cylinder tube and the outer cylinder of this device are coaxially laid, the axis of rotation of the most multiple cavity structures Anyway conllinear, select the conducting combination of hydraulic cylinder difference cavity and high-pressure oil passage and low pressure oil way, and each cavity internal pressure is made With not havinging the deflection torque being perpendicular to axis of rotation on the piston ring, thus avoid the active force of sub-piston rod can be in main work Form a deflection torque on stopper rod, cause and between main piston rod and cylinder barrel, produce big friction, prevent deflection torque from causing Rub between each piston ring and cylinder barrel excessive, prevent excessive friction damage sealing member, affect the life-span, in addition non-linear in tribology meeting Difficulty is brought to the high-precision power of hydraulic cylinder and position control；The inner cylinder tube the most so arranged and outer cylinder more compact structure, Required installing space is little, manufactures assembling and is more easy to realize.

This utility model makes when performing varying load operating mode by control system and control method, can be by different electromagnetism The control combination of switch valve, selects hydraulic cylinder difference cavity to realize hydraulic cylinder with the conduction status of high-pressure oil passage and low pressure oil way Maximum power output is mated with load, is finally reached the purpose improving hydraulic system efficiency, thus can be effectively improved each executor The efficiency of single pumping source-multi executors fluid power system that load changes greatly.In sum, this utility model can be used on energy On all kinds of middle-size and small-size mobile platform that autonomous each executor load changes greatly, such as biped robot, quadruped robot, small-sized Unmanned excavator, ectoskeleton equipment etc., it is possible to be effectively improved this type of equipment fluid power system efficiency, thus improve its load energy Power, promote that it is the most practical, realize energy-conserving and environment-protective simultaneously, there is preferable economic worth.

Accompanying drawing explanation

Fig. 1 (a) is the sectional view of this utility model Multicarity hydraulic cylinder；

Fig. 1 (b) is the Composite cylinder drum structural representation of this utility model Multicarity hydraulic cylinder；

Fig. 1 (c) is the hybrid piston rod structural representation of this utility model Multicarity hydraulic cylinder；

Fig. 1 (d) is the axonometric chart of this utility model Multicarity hydraulic cylinder；

Fig. 2 is structural principle of the present utility model and hydraulic control system schematic diagram；

Fig. 3 is that this utility model applies the efficiency in single pumping source-Multi-actuator Hydraulic System to improve flow chart.

Detailed description of the invention

Below in conjunction with the accompanying drawings, specific implementation of the patent mode is further described.

As shown in Fig. 1 (a), Multicarity hydraulic cylinder is made up of Composite cylinder drum 1 and hybrid piston rod 2, defines the first cavity A, the second cavity B, the 3rd cavity C and the 4th cavity D.Shown in Fig. 1 (b), Composite cylinder drum 1 includes end ring 101, pressure transducer 102, inner cylinder tube 103 (containing right-hand member piston ring), attachment screw 104, end cap 105, seal sleeve 106, inner cylinder tube right-hand member piston ring Dynamic seal ring 114, inner cylinder tube right-hand member piston ring guide ring the 115, first static sealing ring the 116, second static sealing ring 117, outer cylinder 107, seal sleeve 108, guide ring 109, dynamic seal ring the 110, the 3rd static sealing ring 111, end cap 112, attachment screw 113.Its Middle end ring 101, pressure transducer 102, inner cylinder tube 103 are threaded connection, and inner cylinder tube 103 and outer cylinder 107 pass through sealing shroud Cylinder 106 seals, and described seal sleeve 106, outer cylinder 107 are internal and outer piston forms the first cavity A, and inner cylinder tube 103 passes through spiral shell Stricture of vagina connects firmly with seal sleeve 106, and seal sleeve 106 is connected firmly with outer cylinder 107 by attachment screw 104, end cap 105.Sealing shroud Cylinder 108 is pressed on outer cylinder 107 by end cap 112 and screw 113, and seal sleeve 108 is realized by the 3rd static sealing ring 111 Sealing with outer cylinder 107.

Shown in Fig. 1 (c), hybrid piston rod 2 includes earrings the 201, the 4th static sealing ring 202, outer piston bar 203, inner carrier Bar 204, pipe joint the 205, the 5th static sealing ring the 206, the 6th static sealing ring 207, guide ring 208, dynamic seal ring 209.Pipe joint 205 are sealed by the 5th static sealing ring 206 with outer piston bar 203.Described inner piston rod 204 outer wall, outer piston bar 203 inwall and Inner cylinder tube 103 end forms the 4th cavity D, and outer piston bar 203 is sealed by sealing ring 202 with inner piston rod 204, and passes through spiral shell Stricture of vagina links together.Earrings 201 is linked together with outer piston bar 203 by screw thread.Described inner cylinder tube 103 inwall and inner carrier Form the first cavity A, the outer wall of described outer piston bar 203, inner cylinder tube outer wall, between outer cylinder inwall and seal sleeve, form the Three cavity C.

First oil inlet passage 21 of this device connects with the first cavity A, and the second oil inlet passage 22 connects with the second cavity B, 3rd oil inlet passage 23 connects with the 3rd cavity C, and the 4th oil inlet passage 24 connects with the 4th cavity D.

Inner cylinder tube 103 right-hand member piston ring in Composite cylinder drum 1 is by guide ring 115 and dynamic seal ring 116 and composite piston Outer piston bar 203 in bar 2 forms movable sealing；Inner cylinder tube 103 in Composite cylinder drum 1 and the inner piston rod in hybrid piston rod 2 204 left end piston rings form movable sealing by dynamic seal ring 207.Outer piston bar 203 left end piston ring in hybrid piston rod 2 leads to Cross guide ring 208 and dynamic seal ring 209 forms movable sealing with the outer cylinder 107 in Composite cylinder drum 1.Outside in hybrid piston rod 2 Piston rod 203 forms movable sealing with the outer cylinder 107 in Composite cylinder drum 1 by guide ring 109 and sealing ring 110.

Fig. 1 (d) is the outward appearance threedimensional model of this Multicarity hydraulic cylinder, and this Multicarity hydraulic cylinder is integrated with pressure transducer 102 and displacement transducer 3.Pipe joint ChA, ChB, ChC, ChD connect with cavity A, B, C, D respectively.

Switch valve group 3 and proportional throttle valve 4 in Fig. 2 can be integrated in this Multicarity hydraulic cylinder according to actual requirement of engineering On outer cylinder 107 in Composite cylinder drum 1, it is also possible to independently installed by hydraulic manifold block, by flexible pipe and Multicarity hydraulic cylinder Connect.

Operation principle of the present utility model: switched by four two-bit triplet plug-ins as in figure 2 it is shown, of the present utility model Valve 3 realizes, and high-precision power and Bit andits control are realized by a proportional throttle valve 4.Described Composite cylinder drum 1 and described multiple Close piston rod 2 and form four the first airtight cavity A, the second cavity B, the 3rd cavity C and the 4th cavity D.Described first is empty Chamber A, the second cavity B, the 3rd cavity C, the 4th cavity D respectively with the hydraulic fluid port C of the first switch valve in switch valve group 3₁, second open Close the hydraulic fluid port C of valve₂, the hydraulic fluid port C of the 3rd switch valve₃Hydraulic fluid port C with the 4th switch valve₄Connect, described first switch valve, second open Pass valve, the 3rd switch valve, the 4th switch valve are connected with described proportional throttle valve, the hydraulic fluid port A of described first switch valve₁, described The hydraulic fluid port A of two switch valves₂, the hydraulic fluid port A of described 3rd switch valve₃, the hydraulic fluid port A of described 4th switch valve₄With described proportional throttle valve The hydraulic fluid port A of 4_sConnection, the hydraulic fluid port B of described first switch valve₁, the hydraulic fluid port B of described second switch valve₂, the oil of described 3rd switch valve Mouth B₃, the hydraulic fluid port B of described 4th switch valve₄By low pressure drainback passage T_sConnect with fuel tank, the high pressure of described proportional throttle valve 4 Oil inlet P_sThe high-pressure oil outlet of the power source constituted with constant pressure variable displacement pump 5 and safety overflow valve 6 connects.

As in figure 2 it is shown, set the effective active area of whole Multicarity hydraulic cylinder as Ae, when the first cavity A, the second cavity B, During the 4th cavity D individually oil-feed, hybrid piston rod 2 is turned right and is stretched out, when the 3rd independent oil-feed of cavity C, and hybrid piston rod 2 Turn left retraction, if active area corresponding during described first cavity A oil-feed is A_l1, work corresponding during described second cavity B oil-feed It is A with area_l2, active area corresponding during described 4th cavity D oil-feed is A_l3, work corresponding during described 3rd cavity C oil-feed It is A with area_r, the control of described four switch valves is x_k[k=1,2,3,4], x_kTwo kinds of location status of corresponding switch valve, if x_kValue be 0 or 1.Combine by controlling the diverse location of described four switch valves, different effective active areas can be obtained. The effective active area of whole Multicarity hydraulic cylinder is that Ae can express by equation below:

Ae=A_l1·x₁+A_l2·x₂+A_l3·x₃-A_r·x₄

The effective active area that the different controlled state of described four switch valve groups 3 is corresponding is as shown in the table.

As can be seen from the above table, by controlling switch valve group 3, it is possible to obtain effective active area Ae different in 16, logical Cross the active area A of design the first cavity A, the second cavity B, the second cavity C, the 4th cavity D correspondence respectively_l1、A_l2、A_r、A_l3's Size, it is possible to obtain the size distribution of these 16 kinds different effective active area Ae.

One carrying sensor 7 is set on the right side of described hybrid piston rod 2, according to carrying sensor 7 measure real-time Load, by the control of described electromagnetic switch valve group, select suitable effective active area realize hydraulic cylinder maximum power output with Carrying is mated, and reduces the restriction loss of proportional throttle valve, improves system effectiveness, and detailed process is as follows.

If the real-time varying load of carrying sensor is F_LnIf, P_sAnd Q_sFor output pressure and the flow of pumping source, P_nAnd Q_nPoint Be not load pressure and the load flow of the n-th executor, then total power throttle loss that system is caused by control valve is:

$\mathrm{\Δ}W=P_s{Q}_s-\underset{1}{\overset{N}{\Σ}}{P}_n{Q}_n---\left(1\right)$

If the varying load that the n-th valve-controlled cylinder drives branch road is F_Ln, the effective active area of the n-th cylinder is Ae_n, then n-th The load pressure P of branch road_nFor:

$P_n=\frac{F_{Ln}}{A_{en}}---\left(2\right)$

By controlling described four switch valves, regulate effective active area Ae_nSo that load pressure P_nAt any time With pump outlet pressure P_sMate equal, then formula (1) becomes following form:

$\mathrm{\Δ}W=P_s(Q_s-\underset{1}{\overset{N}{\Σ}}{Q}_n)---\left(3\right)$

By the variable adaptive mechanism of pump, the output flow flow sum equal to each branch road of pump can be to ensure that, also It is exactly that following formula is set up:

$Q_s=\underset{1}{\overset{N}{\Σ}}{Q}_n$

Then shown in formula (3), system power dissipation △ W is zero.

System power dissipation △ W is zero to be ideal situation, needs two conditions to ensure: one is that effective active area Ae continuously may be used Adjusting, two is not consider the force tracing control of hydraulic cylinder and the precision of Position Tracking Control and response speed.Practical situation is effective Active area Ae is discrete, it is impossible to continuously adjust, therefore it cannot be guaranteed that load pressure P shown in formula (2) at any time_nWith pump Source pressure P_sMate equal, can only allow load pressure P_nApproach pump outlet pressure P_s.Additionally, in actual applications, to force tracing control Concrete required precision and response speed requirement is had, in order to ensure the driving energy that hydraulic cylinder can be enough with Position Tracking Control Power thus reduce tracking error and ensure higher response speed, the load pressure P when carrying out load matched_nWith pump outlet pressure P_s Between also should ensure that certain difference so that tracking error to reduce direction change, make load movement possess necessarily simultaneously Acceleration, tracking error adjust response speed meet requirement.

By said method according to load feedback, by described electromagnetic switch valve group and the control of described servo valve group, choosing Select suitable effective active area, it is achieved hydraulic cylinder maximum power output is mated with carrying, by the self adaptation variable of variable pump The output flow of functional realiey pump mates with load flow, thus realizes mating of variable pump output and bearing power, System effectiveness is improved with this.Ratio throttling function finally by servo valve, it is achieved high-precision position or the control of power.

Claims (7)

1. a Multicarity hydraulic cylinder, it is characterised in that: include Composite cylinder drum (1) and hybrid piston rod (2), described Composite cylinder drum (1) including outer cylinder (107) and inner cylinder tube (103), described inner cylinder tube (103) is coaxially laid with outer cylinder (107), and described Inner cylinder tube (103) is arranged in outer cylinder (107), and described inner cylinder tube (103) seals with same one end of outer cylinder (107), another End opening, described hybrid piston rod includes outer piston bar (203) and inner piston rod (204), described outer piston bar (203) and described One end of inner piston rod (204) connects firmly together, the other end of described inner piston rod (204) be arranged in inner cylinder tube (103) and Described inner carrier matches with described inner cylinder tube (103) size, the other end of described outer piston bar (203) be arranged on outer cylinder with Gap length in gap between inner cylinder tube and between described outer piston and outer cylinder and inner cylinder tube matches, described outer piston The rod chamber formed in the bar (203) gap between outer cylinder and inner cylinder tube is the 3rd cavity C, and rodless cavity is the second cavity B, The rod chamber formed in described inner piston rod (204) inner cylinder tube (103) is the 4th cavity D, and rodless cavity is the first cavity A, described First cavity A, the second cavity B, the 3rd cavity C, the 4th cavity D are equipped with oil circuit and external control oil communication.

Multicarity hydraulic cylinder the most according to claim 1, it is characterised in that: described Composite cylinder drum (1) passes through pressure sensing Device (102) is connected with end ring (101), and described hybrid piston rod (2) is provided with the carrying of detection hybrid piston rod (2) carrying Sensor (7).

Multicarity hydraulic cylinder the most according to claim 2, it is characterised in that: described inner cylinder tube (103) and outer cylinder (107) Between by the first seal sleeve (106) seal.

Multicarity hydraulic cylinder the most according to claim 3, it is characterised in that: described outer piston bar (203) and outer cylinder (107) sealed by the second seal sleeve (108) between inwall and inner cylinder tube (103) outer wall.

Multicarity hydraulic cylinder the most according to claim 4, it is characterised in that: described inner cylinder tube (103) and outer cylinder (107) Between be fixed together by the first end cap (105) and the second end cap (112).

6. a control system for Multicarity hydraulic cylinder, for controlling the Multicarity hydraulic pressure as described in one of claim 1 to 5 Cylinder, it is characterised in that described first cavity A, the second cavity B, the 3rd cavity C, the 4th cavity D respectively with in switch valve group (3) The hydraulic fluid port C of the first switch valve₁, the hydraulic fluid port C of second switch valve₂, the hydraulic fluid port C of the 3rd switch valve₃Hydraulic fluid port C with the 4th switch valve₄ Connect, the hydraulic fluid port A of described first switch valve₁, the hydraulic fluid port A of described second switch valve₂, the hydraulic fluid port A of described 3rd switch valve₃And institute State the hydraulic fluid port A of the 4th switch valve₄After parallel connection, the oil-out with described proportional throttle valve (4) connects, the oil of described first switch valve Mouth B₁, the hydraulic fluid port B of described second switch valve₂, the hydraulic fluid port B of described 3rd switch valve₃Hydraulic fluid port B with described 4th switch valve₄In parallel Afterwards by low pressure drainback passage T_sConnect with fuel tank, the high pressure oil-in of described proportional throttle valve (4) and constant pressure variable displacement pump (5) and The high-pressure oil outlet connection of the power source that safety overflow valve (6) is constituted.

The control system of Multicarity hydraulic cylinder the most according to claim 6, it is characterised in that: described first switch valve, Two switch valves, the 3rd switch valve and the 4th switch valve are two-bit triplet electromagnetic switch valve, and described choke valve is proportional throttle valve Or proportional velocity regulating valve.