CN210087707U - Function interlocking type electro-hydraulic control equipment for multi-foot walking device - Google Patents
Function interlocking type electro-hydraulic control equipment for multi-foot walking device Download PDFInfo
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- CN210087707U CN210087707U CN201920878459.XU CN201920878459U CN210087707U CN 210087707 U CN210087707 U CN 210087707U CN 201920878459 U CN201920878459 U CN 201920878459U CN 210087707 U CN210087707 U CN 210087707U
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Abstract
The utility model discloses a function interlocking type electro-hydraulic control device of a multi-foot walking device, which comprises a plurality of interlocking type oil cylinder driving valve groups and the multi-foot walking device; the interlocking type oil cylinder driving valve group is arranged on the multi-foot walking device, a first oil port of the interlocking type oil cylinder driving valve group is connected with a second port of the high-pressure filter, and a first port of the high-pressure filter is connected with a second port of the one-way valve and a first port of the overflow valve; the first port of the one-way valve is connected with an oil outlet of a hydraulic pump, and the hydraulic pump is connected with the motor through a coupler. The utility model adopts the pure oil cylinder to drive the executing part, and utilizes the steering translation to approach to realize the space movement, so that the multi-foot walking device has simple control and compact structure; the functional interlocking valve group is adopted to control the execution part with interlocking requirement, so that the working reliability and safety are greatly improved; and the speed of each moving oil cylinder of the multi-foot walking device is not influenced by the load, and the control accuracy is high.
Description
Technical Field
The utility model belongs to the technical field of mechanical control, involve walking running gear, concretely relates to multi-legged walking gear function interlocking type electricity liquid controlgear.
Background
Engineering rescue, geological exploration, mining and other operations in complex geological environments (such as mountain forests and seabed) require not only high stability of a working device and self-walking capability, but also strong obstacle crossing passing capability and small occupied area. The hexapod type bionic walking mechanism meets the special requirement and is applied to a certain extent. However, the movement process of the robot controls a plurality of joints, the path planning control is complex, and the requirements on users and controllers are high. The walking type walking working device adopting multi-foot parallel support and rotational directional translation has simple path planning and control and has great application prospect in the operation fields of engineering rescue, geological exploration, exploitation and the like.
The multi-foot parallel walking working device has two functions of walking and supporting. In order to ensure reliable realization of functions, walking and supporting operations cannot be carried out synchronously and must be interlocked; the upper platform and the lower platform support legs cannot act simultaneously in the walking process and must be interlocked. The existing electro-hydraulic control scheme adopts independent control and single electric appliance interlocking, so that the problems of large occupied space of a hydraulic control unit, low reliability of an electro-hydraulic control system and the like are caused, and the application range of the multi-foot parallel type walking working device is severely limited by large plane space.
In addition, in order to improve the working efficiency of the working device and realize the processes of quick automatic walking and automatic leveling, multiple legs are required to move simultaneously and not influenced by load so as to realize accurate control of the speed and the position of the support legs. The existing control scheme can not meet the requirement, so that the multi-leg movement of the multi-foot parallel walking working device is influenced by load and is controlled inaccurately, and the working efficiency can not be improved all the time.
SUMMERY OF THE UTILITY MODEL
Aiming at the problems in the prior art, the utility model provides a function interlocking type electro-hydraulic control device of a multi-foot walking device, which adopts a pure oil cylinder to drive an executing part and utilizes steering translation to approach to realize space movement, thus leading the multi-foot walking device to be simple in control and compact in structure; the functional interlocking valve group is adopted to control the execution part with interlocking requirement, so that the working reliability and safety are greatly improved; and the speed of each moving oil cylinder of the multi-foot walking device is not influenced by the load, and the control accuracy is high.
Therefore, the utility model adopts the following technical scheme:
a multi-foot walking type walking device function interlocking type electro-hydraulic control device comprises a motor, a hydraulic pump, a one-way valve, a high-pressure filter, a plurality of interlocking type oil cylinder driving valve groups, a multi-foot walking type walking device, an overflow valve and an oil return filter; the interlocking type oil cylinder driving valve groups are all arranged on the multi-foot walking device and are used for controlling executing pieces with interlocking action requirements; each interlocking type oil cylinder driving valve group is provided with a first oil port, a second oil port, a third oil port, a fourth oil port, a fifth oil port, a sixth oil port and a seventh oil port; a first oil port of the interlocking type oil cylinder driving valve group is connected with a second port of the high-pressure filter, and a first port of the high-pressure filter is connected with a second port of the one-way valve and a first port of the overflow valve; the first port of the one-way valve is connected with an oil outlet of a hydraulic pump, and the hydraulic pump is connected with the motor through a coupler; and a second oil port of the interlocking type oil cylinder driving valve group is connected with a second port of the overflow valve and a second port of the oil return filter.
Preferably, the number of the interlocking type oil cylinder driving valve groups is four, and the interlocking type oil cylinder driving valve groups are a first interlocking type oil cylinder driving valve group, a second interlocking type oil cylinder driving valve group, a third interlocking type oil cylinder driving valve group and a fourth interlocking type oil cylinder driving valve group respectively; the multi-foot walking type walking device comprises a first lower supporting leg oil cylinder, a first upper supporting leg oil cylinder, a second lower supporting leg oil cylinder, a second upper supporting leg oil cylinder, a third lower supporting leg oil cylinder, a third upper supporting leg oil cylinder, a steering oil cylinder, a translation oil cylinder, an upper platform, a lower platform, a guide rail, a sliding frame, a rotary connecting plate and a rotary support;
a fourth oil port of the first interlocking type oil cylinder driving valve group is connected with a rod cavity of the first lower support oil cylinder, a rodless cavity of the first lower support oil cylinder is connected with a fifth oil port of the first interlocking type oil cylinder driving valve group, and the first lower support oil cylinder is hinged with the lower platform; a sixth oil port of the first interlocking type oil cylinder driving valve group is connected with a rodless cavity of a first upper supporting oil cylinder, a rod cavity of the first upper supporting oil cylinder is connected with a seventh oil port of the first interlocking type oil cylinder driving valve group, and the first upper supporting oil cylinder is hinged with the upper platform;
a fourth oil port of the second interlocking type oil cylinder driving valve group is connected with a rod cavity of a second lower supporting leg oil cylinder, a rodless cavity of the second lower supporting leg oil cylinder is connected with a fifth oil port of the second interlocking type oil cylinder driving valve group, and the second lower supporting leg oil cylinder is hinged with the lower platform; a sixth oil port of the second interlocking type oil cylinder driving valve group is connected with a rodless cavity of a second upper supporting oil cylinder, a rod cavity of the second upper supporting oil cylinder is connected with a seventh oil port of the second interlocking type oil cylinder driving valve group, and the second upper supporting oil cylinder is hinged with the upper platform;
a fourth oil port of the third interlocking type oil cylinder driving valve group is connected with a rod cavity of a third lower supporting oil cylinder, a rodless cavity of the third lower supporting oil cylinder is connected with a fifth oil port of the third interlocking type oil cylinder driving valve group, and the third lower supporting oil cylinder is hinged with the lower platform; a sixth oil port of the third interlocking type oil cylinder driving valve group is connected with a rodless cavity of a third upper supporting oil cylinder, a rod cavity of the third upper supporting oil cylinder is connected with a seventh oil port of the third interlocking type oil cylinder driving valve group, and the third upper supporting oil cylinder is hinged with the upper platform;
a fourth oil port of the fourth interlocking type oil cylinder driving valve group is connected with a rod cavity of the steering oil cylinder, a rodless cavity of the steering oil cylinder is connected with a fifth oil port of the fourth interlocking type oil cylinder driving valve group, one end of the steering oil cylinder is hinged with the lower platform, and the other end of the steering oil cylinder is hinged with the rotary connecting plate; the rotary connecting plate is connected with the inner ring of the rotary support, the inner ring of the rotary support is fixed with an upper platform, the outer ring of the rotary support is fixed with a sliding frame, and the sliding frame is fixed on a lower platform through a translation oil cylinder; the sixth oil port of the fourth interlocking type oil cylinder driving valve group is connected with the rodless cavity of the translation oil cylinder, the rod cavity of the translation oil cylinder is connected with the seventh oil port of the fourth interlocking type oil cylinder driving valve group, the translation oil cylinder is fixed on the lower platform, the end of the piston rod is connected with the sliding frame, the sliding frame is installed on the guide rail, and the guide rail is fixed on the lower platform.
Preferably, the interlocking type oil cylinder driving valve group comprises a fixed differential pressure reducing valve, a pre-throttle valve, an electric proportional reversing valve, a shuttle valve, a first electromagnetic block valve, a second electromagnetic block valve, a first hydraulic lock, a second hydraulic lock and an integrated mounting plate; a first port of the constant-differential-pressure reducing valve is connected with a first oil port, and a second port of the constant-differential-pressure reducing valve is connected with a first port of the electric proportional reversing valve and a first port of the pre-throttle valve; the second port of the pre-throttle valve is connected with the fourth port of the constant-differential pressure reducing valve;
the second port of the electric proportional directional valve is connected with the first port of the first electromagnetic block valve; the third port of the electric proportional directional valve is connected with the first port of the second electromagnetic block valve; a second port of the electric proportional reversing valve is connected with a first port of the shuttle valve, a second port of the shuttle valve is connected with a third port of the electric proportional reversing valve, a third port of the shuttle valve is connected with a third port of the fixed-differential pressure reducing valve and a third oil port of the interlocking type oil cylinder driving valve group, a third oil port of the interlocking type oil cylinder driving valve group is connected with a fourth port of the electric proportional reversing valve, and a fourth port of the electric proportional reversing valve is connected with a second port of the overflow valve and a second port of the oil return filter;
the second port of the first electromagnetic block valve is connected with the first port of the first hydraulic lock, and the second port of the first hydraulic lock is connected with the second port of the second electromagnetic block valve; a third port of the second electromagnetic block valve is connected with a second port of the second hydraulic lock, and a first port of the second hydraulic lock is connected with a third port of the first electromagnetic block valve;
the third port and the fourth port of the first hydraulic lock are respectively connected with the fourth oil port and the fifth oil port of the interlocking type oil cylinder driving valve group; a sixth oil port and a seventh oil port of the interlocking type oil cylinder driving valve group are respectively connected with a fourth port and a third port of the second hydraulic lock;
the first hydraulic lock and the first electromagnetic block valve are overlapped and fixed on the integrated mounting plate through bolts; the integrated mounting plate is also fixedly provided with a second hydraulic lock and a second electromagnetic block valve which are superposed through bolts; a third oil port, a fourth oil port, a fifth oil port, a sixth oil port and a seventh oil port on the integrated mounting plate are arranged in front of the integrated mounting plate; a first oil port and a second oil port are formed in the right side of the integrated mounting plate; the integrated mounting plate is connected with an electric proportional reversing valve through a bolt; a fixed-differential pressure reducing valve, a pre-throttle valve and a shuttle valve are arranged in the integrated mounting plate from the front side; and the inside of the integrated mounting plate is also provided with a connecting pipeline of the equipment.
Preferably, the system also comprises a PLC control device, wherein the PLC control device is respectively connected with the motor and the interlocking type oil cylinder driving valve group; the PLC control device is provided with a starting button, a stopping button, a supporting walking selection switch, a supporting leg selection button, a steering movement selection switch, a platform selection button, a supporting leg control handle and a movement control handle and is used for correspondingly controlling the multi-foot walking device.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the pure oil cylinder is adopted to drive the executing part, and the space movement is realized by utilizing the steering translation approach, so that the multi-foot walking device is simple to control and compact in structure.
(2) The functional interlocking valve group is adopted to control the executive component required by the interlocking action, so that the working reliability and the safety are higher.
(3) The speed control of each motion oil cylinder of the multi-foot walking device is not influenced by loads, and the control accuracy is high.
(4) The synchronous action of a master-slave pressure feedback synchronous control platform is adopted, and the synchronous precision is high; the platform of the multi-foot walking device can support quickly.
(5) The PWM output points of the control scheme are reduced, an expansion module is not needed, and the cost of control hardware is low.
(6) High working efficiency and wide application range and prospect.
Drawings
Fig. 1 is a hydraulic control circuit diagram of a multi-foot walking device function interlocking type electro-hydraulic control device provided by the utility model.
Fig. 2 is a schematic structural view of an interlocking type cylinder driving valve group.
Fig. 3 is a schematic diagram of an interlocking cylinder drive valve block.
Fig. 4 is a schematic structural composition diagram of the multi-foot walking device.
Fig. 5 is a schematic diagram of the electric control wiring layout of the multi-foot walking device function interlocking type electro-hydraulic control equipment provided by the utility model.
Fig. 6 is a block diagram of leg individual control.
Fig. 7 is a block diagram of platform synchronization support control.
FIG. 8 is a block diagram of pressure feedback master slave synchronous control.
Fig. 9 is a block diagram of platform movement control.
Description of reference numerals: 1. an electric motor; 2. a hydraulic pump; 3. a one-way valve; 4. a high pressure filter; 5a, a first interlocking type oil cylinder driving valve group; 5b, a second interlocking type oil cylinder driving valve group; 5c, a third interlocking type oil cylinder driving valve group; 5d, a fourth interlocking type oil cylinder driving valve group; 6. a first lower leg cylinder; 7. a first upper supporting leg oil cylinder I; 8. a second lower support oil cylinder; 9. a second upper leg cylinder; 10. a third lower support oil cylinder; 11. a third upper leg oil cylinder; 12. a steering cylinder; 13. a translation oil cylinder; 14. an overflow valve; 15. an oil return filter; 16a, a first pressure sensor; 16b, a second pressure sensor; 16c, a third pressure sensor; 16d, a fourth pressure sensor; 17. an upper platform; 18. a lower platform; 20. a guide rail; 21. a carriage; 22. a rotating connecting plate; 23. a rotary support; 5.1, a fixed-differential pressure reducing valve; 5.2, a pre-throttle valve; 5.3, an electric proportional reversing valve; 5.4, a shuttle valve; 5.5a, a first electromagnetic block valve; 5.5b, a second electromagnetic block valve; 5.6a, a first hydraulic lock; 5.6b, a second hydraulic lock; 5.7 Integrated mounting plate.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are only used for explaining the present invention, but not for limiting the present invention.
As shown in fig. 1, the utility model discloses a multi-foot walking device function interlocking type electro-hydraulic control equipment, which comprises a motor 1, a hydraulic pump 2, a one-way valve 3, a high-pressure filter 4, a plurality of interlocking type oil cylinder driving valve groups, a multi-foot walking device, an overflow valve 14 and an oil return filter 15; the interlocking type oil cylinder driving valve groups are all arranged on the multi-foot walking device and are used for controlling executing pieces with interlocking action requirements; each interlocking type oil cylinder driving valve group is provided with a first oil port P, a second oil port T, a third oil port C1, a fourth oil port A1, a fifth oil port B1, a sixth oil port B2 and a seventh oil port A2; a first oil port P of the interlocking type oil cylinder driving valve group is connected with a second port of the high-pressure filter 4, and a first port of the high-pressure filter 4 is connected with a second port of the check valve 3 and a first port of the overflow valve 14; a first port of the one-way valve 3 is connected with an oil outlet of the hydraulic pump 2, and the hydraulic pump 2 is connected with the motor 1 through a coupler; and a second oil port T of the interlocking type oil cylinder driving valve group is connected with a second port of the overflow valve 14 and a second port of the oil return filter 15.
Specifically, the number of the interlocking type cylinder driving valve groups is four, and the interlocking type cylinder driving valve groups are a first interlocking type cylinder driving valve group 5a, a second interlocking type cylinder driving valve group 5b, a third interlocking type cylinder driving valve group 5c and a fourth interlocking type cylinder driving valve group 5 d; the multi-foot walking type walking device comprises a first lower supporting leg oil cylinder 6, a first upper supporting leg oil cylinder 7, a second lower supporting leg oil cylinder 8, a second upper supporting leg oil cylinder 9, a third lower supporting leg oil cylinder 10, a third upper supporting leg oil cylinder 11, a steering oil cylinder 12, a translation oil cylinder 13, an upper platform 17, a lower platform 18, a guide rail 20, a sliding frame 21, a rotary connecting plate 22 and a rotary support 23, and is shown in fig. 4; first pressure sensor 16a, second pressure sensor 16b, third pressure sensor 16c, fourth pressure sensor 16d are equipped with on first interlocking type hydro-cylinder drive valves 5a, second interlocking type hydro-cylinder drive valves 5b, third interlocking type hydro-cylinder drive valves 5c, the fourth interlocking type hydro-cylinder drive valves 5d respectively, first pressure sensor 16a, second pressure sensor 16b, third pressure sensor 16c, fourth pressure sensor 16d are used for measuring the pressure on the corresponding interlocking type hydro-cylinder drive valves respectively.
A fourth oil port A1 of the first interlocking type oil cylinder driving valve group 5a is connected with a rod cavity of the first lower support oil cylinder 6, a rodless cavity of the first lower support oil cylinder 6 is connected with a fifth oil port B1 of the first interlocking type oil cylinder driving valve group 5a, and the first lower support oil cylinder 6 is hinged with the lower platform 18; a sixth oil port B2 of the first interlocking type oil cylinder driving valve group 5a is connected with a rodless cavity of the first upper supporting leg oil cylinder 7, a rod cavity of the first upper supporting leg oil cylinder 7 is connected with a seventh oil port A2 of the first interlocking type oil cylinder driving valve group 5a, and the first upper supporting leg oil cylinder 7 is hinged with the upper platform 17;
a fourth oil port A1 of the second interlocking type oil cylinder driving valve group 5B is connected with a rod cavity of the second lower supporting leg oil cylinder 8, a rodless cavity of the second lower supporting leg oil cylinder 8 is connected with a fifth oil port B1 of the second interlocking type oil cylinder driving valve group 5B, and the second lower supporting leg oil cylinder 8 is hinged with the lower platform 18; a sixth oil port B2 of the second interlocking type oil cylinder driving valve group 5B is connected with a rodless cavity of a second upper supporting leg oil cylinder 9, a rod cavity of the second upper supporting leg oil cylinder 9 is connected with a seventh oil port A2 of the second interlocking type oil cylinder driving valve group 5B, and the second upper supporting leg oil cylinder 9 is hinged with the upper platform 17;
a fourth oil port A1 of the third interlocking type oil cylinder driving valve group 5c is connected with a rod cavity of the third lower supporting leg oil cylinder 10, a rodless cavity of the third lower supporting leg oil cylinder 10 is connected with a fifth oil port B1 of the third interlocking type oil cylinder driving valve group 5c, and the third lower supporting leg oil cylinder 10 is hinged with the lower platform 18; a sixth oil port B2 of the third interlocking type oil cylinder driving valve group 5c is connected with a rodless cavity of a third upper supporting leg oil cylinder 11, a rod cavity of the third upper supporting leg oil cylinder 11 is connected with a seventh oil port A2 of the third interlocking type oil cylinder driving valve group 5c, and the third upper supporting leg oil cylinder 11 is hinged with the upper platform 17;
a fourth oil port A1 of the fourth interlocking type oil cylinder driving valve group 5d is connected with a rod cavity of the steering oil cylinder 12, a rodless cavity of the steering oil cylinder 12 is connected with a fifth oil port B1 of the fourth interlocking type oil cylinder driving valve group 5d, one end of the steering oil cylinder 12 is hinged with the lower platform 18, and the other end of the steering oil cylinder 12 is hinged with the rotary connecting plate 22; the rotary connecting plate 22 is connected with the inner ring of the rotary support 23, the upper platform 17 is fixed on the inner ring of the rotary support 23, the sliding frame 21 is fixed on the outer ring, and the sliding frame 21 is fixed on the lower platform 18 through the translation oil cylinder 13; a sixth oil port B2 of the fourth interlocking type oil cylinder driving valve group 5d is connected with a rodless cavity of the translation oil cylinder 13, a rod cavity of the translation oil cylinder 13 is connected with a seventh oil port A2 of the fourth interlocking type oil cylinder driving valve group 5d, the translation oil cylinder 13 is fixed on the lower platform 18, a piston rod end is connected with the sliding frame 21, the sliding frame 21 is installed on the guide rail 20, and the guide rail 20 is fixed on the lower platform 18.
Specifically, as shown in fig. 2 and fig. 3, the interlocking type cylinder driving valve group includes a fixed-differential pressure reducing valve 5.1, a pre-throttle valve 5.2, an electric proportional directional valve 5.3, a shuttle valve 5.4, a first electromagnetic block valve 5.5a, a second electromagnetic block valve 5.5b, a first hydraulic lock 5.6a, a second hydraulic lock 5.6b, and an integrated mounting plate 5.7; a first port of the constant-differential-pressure reducing valve 5.1 is connected with a first oil port P, and a second port of the constant-differential-pressure reducing valve is connected with a first port of the electric proportional directional valve 5.3 and a first port of the pre-throttle valve 5.2; the second port of the pre-throttle valve 5.2 is connected with the fourth port of the constant-differential-pressure reducing valve 5.1;
the second port of the electric proportional directional valve 5.3 is connected with the first port of the first electromagnetic block valve 5.5 a; the third port of the electric proportional directional valve 5.3 is connected with the first port of the second electromagnetic block valve 5.5 b; a second port of the electric proportional reversing valve 5.3 is connected with a first port of a shuttle valve 5.4, a second port of the shuttle valve 5.4 is connected with a third port of the electric proportional reversing valve 5.3, a third port of the shuttle valve 5.4 is connected with a third port of the constant-differential pressure reducing valve 5.1 and a third oil port C1 of the interlocking type oil cylinder driving valve group, a third oil port C1 of the interlocking type oil cylinder driving valve group is connected with a fourth port of the electric proportional reversing valve 5.3, and a fourth port of the electric proportional reversing valve 5.3 is connected with a second port of the overflow valve 14 and a second port of the oil return filter 15;
the second port of the first electromagnetic block valve 5.5a is connected with the first port of the first hydraulic lock 5.6a, and the second port of the first hydraulic lock 5.6a is connected with the second port of the second electromagnetic block valve 5.5 b; a third port of the second electromagnetic block valve 5.5b is connected with a second port of the second hydraulic lock 5.6b, and a first port of the second hydraulic lock 5.6b is connected with a third port of the first electromagnetic block valve 5.5 a;
the third port and the fourth port of the first hydraulic lock 5.6a are respectively connected with a fourth oil port A1 and a fifth oil port B1 of the interlocking type oil cylinder driving valve group; a sixth oil port B2 and a seventh oil port A2 of the interlocking type oil cylinder driving valve group are respectively connected with a fourth port and a third port of the second hydraulic lock 5.6B;
the first hydraulic lock 5.6a and the first electromagnetic block valve 5.5a are overlapped and fixed on the integrated mounting plate 5.7 through bolts; a second hydraulic lock 5.6b and a second electromagnetic block valve 5.5b which are overlapped are further fixed on the integrated mounting plate 5.7 through bolts; the third oil port C1, the fourth oil port A1, the fifth oil port B1, the sixth oil port B2 and the seventh oil port A2 on the integrated mounting plate 5.7 are arranged in front of the integrated mounting plate 5.7; a first oil port P and a second oil port T are arranged on the right side of the integrated mounting plate 5.7; the integrated mounting plate 5.7 is connected with an electric proportional reversing valve 5.3 through a bolt; a fixed-differential pressure reducing valve 5.1, a pre-throttle valve 5.2 and a shuttle valve 5.4 are arranged in the integrated mounting plate 5.7 from the front side; the integrated mounting plate 5.7 is also provided with connecting pipelines for the above devices.
Specifically, as shown in fig. 5, the system further comprises a PLC control device, and the PLC control device is respectively connected with the motor 1 and the interlocking type cylinder driving valve group; the PLC control device is provided with a starting button, a stopping button, a supporting walking selection switch, a supporting leg selection button, a steering movement selection switch, a platform selection button, a supporting leg control handle and a movement control handle and is used for correspondingly controlling the multi-foot walking device.
Examples
A function interlocking type electro-hydraulic control method of the function interlocking type electro-hydraulic control equipment adopting the multi-foot walking device comprises the steps of supporting leg individual control, platform synchronous supporting control and platform movement control.
Specifically, the support legs comprise an upper support leg and a lower support leg which are n, and n is 1, 2 and 3.
As shown in fig. 6, the specific process of the leg individual control is as follows:
pressing a starting button, supporting a walking switch to be shifted to a supporting position, and pressing a corresponding supporting leg n button according to a supporting leg n needing to act; when a platform selection button is pressed down, the PLC control device enables the electromagnet DC1 of the first electromagnetic block valve 5.5a and the electromagnet DC2 of the second electromagnetic block valve 5.5b of the corresponding interlocking type oil cylinder driving valve group to lose power; when the supporting leg control handle is pushed forwards, a proportional electromagnet BC2 of an electric proportional reversing valve 5.3 of the interlocking type oil cylinder driving valve group obtains corresponding current according to the action position of the control handle, and a lower supporting leg oil cylinder n extends out; when the supporting leg control handle is pulled back, a proportional electromagnet BC1 of an electric proportional reversing valve 5.3 of the interlocking type oil cylinder driving valve group obtains corresponding current according to the action position of the control handle, and the lower supporting leg oil cylinder n retracts; if the platform selection button does not act, the PLC control device enables the electromagnet DC1 of the first electromagnetic cut-off valve 5.5a and the electromagnet DC2 of the second electromagnetic cut-off valve 5.5b of the interlocking type oil cylinder driving valve group to be electrified; when the supporting leg control handle is pushed forwards, a proportional electromagnet BC2 of an electric proportional reversing valve 5.3 of the interlocking type oil cylinder driving valve group obtains corresponding current according to the action position of the control handle, and an upper supporting leg oil cylinder n extends out; when the supporting leg control handle is pulled backwards, a proportional electromagnet BC1 of an electric proportional reversing valve 5.3 of the interlocking type oil cylinder driving valve group obtains corresponding current according to the action position of the control handle, and the upper supporting leg oil cylinder n retracts; and pressing a stop button or shifting the support walking selection switch to 0 position, resetting all buttons and stopping the action.
As shown in fig. 7, the specific process of the platform synchronous support control is as follows:
pressing a starting button, and shifting a support walking switch to a support, wherein the support leg buttons do not act; when a platform selection button is pressed down, the PLC control device enables the electromagnet DC1 of the first electromagnetic block valve 5.5a and the electromagnet DC2 of the second electromagnetic block valve 5.5b of the corresponding interlocking type oil cylinder driving valve group to lose power; when the supporting leg control handle is pushed forwards, the PLC control device controls the proportional electromagnet BC2 of the electric proportional reversing valve 5.3 of the first interlocking type oil cylinder driving valve group 5a to obtain corresponding current according to the action position of the supporting leg control handle, so that the first lower supporting leg oil cylinder 6 moves at a set speed, the rest lower supporting legs determine the movement speed of the supporting leg by adopting a pressure feedback master-slave synchronous control mode, the PLC control device controls the proportional electromagnets BC2 of the electric proportional reversing valves 5.3 of the second interlocking type oil cylinder driving valve group 5b and the third interlocking type oil cylinder driving valve group 5c to obtain corresponding current, and all the lower supporting leg oil cylinders synchronously extend out; when the supporting leg control handle is pulled backwards, the PLC control device controls a proportional electromagnet BC1 of an electric proportional reversing valve 5.3 of a first interlocking type oil cylinder driving valve group 5a to obtain corresponding current according to the action position of the supporting leg control handle, so that a first lower supporting leg oil cylinder 6 moves at a set speed, the rest lower supporting legs determine the movement speed of the supporting leg in a pressure feedback master-slave synchronous control mode, the PLC control device controls proportional electromagnets BC1 of electric proportional reversing valves 5.3 of a second interlocking type oil cylinder driving valve group 5b and a third interlocking type oil cylinder driving valve group 5c to obtain corresponding current, and all the lower supporting leg oil cylinders retract synchronously; the platform selection button has no action, and the PLC control device enables the electromagnet DC1 of the first electromagnetic cut-off valve 5.5a and the electromagnet DC2 of the second electromagnetic cut-off valve 5.5b corresponding to the interlocking type oil cylinder driving valve group to be electrified; when the supporting leg control handle is pushed forwards, the PLC control device controls a proportional electromagnet BC2 of an electric proportional reversing valve 5.3 of a first interlocking type oil cylinder driving valve group 5a to obtain corresponding current according to the action position of the supporting leg control handle, so that a first upper supporting leg oil cylinder 7 moves at a set speed, the rest upper supporting legs determine the movement speed of the supporting legs in a pressure feedback master-slave synchronous control mode, the PLC control device controls proportional electromagnets BC2 of electric proportional reversing valves 5.3 of a second interlocking type oil cylinder driving valve group 5b and a third interlocking type oil cylinder driving valve group 5c to obtain corresponding current, and all the upper supporting leg oil cylinders synchronously extend out; when the supporting leg control handle is pulled backwards, the PLC control device controls a proportional electromagnet BC1 of an electric proportional reversing valve 5.3 of a first interlocking type oil cylinder driving valve group 5a to obtain corresponding current according to the action position of the supporting leg control handle, so that a first upper supporting leg oil cylinder 7 moves at a set speed, the rest upper supporting legs determine the movement speed of the upper supporting legs in a pressure feedback master-slave synchronous control mode, the PLC control device controls proportional electromagnets BC1 of electric proportional reversing valves 5.3 of a second interlocking type oil cylinder driving valve group 5b and a third interlocking type oil cylinder driving valve group 5c to obtain corresponding current, and all the upper supporting leg oil cylinders retract synchronously; and pressing a stop button or shifting the support walking selection switch to 0 position, resetting all buttons and stopping the action.
As shown in fig. 8, the pressure feedback master-slave synchronization control method is performed by a feedback function f (x), and the expression of the feedback function f (x) is as follows:
wherein: p is a radical of1Represents the maximum pressure, p, of the rod chamber and rodless chamber of the leg cylinder 1mThe maximum pressure of a rod cavity and a rodless cavity of a support oil cylinder m is shown, wherein m is 2, 3, KplRepresenting the pressure-current conversion proportionality coefficient.
As shown in fig. 9, the specific process of the platform movement control is as follows:
pressing a starting button to support the walking switch to be shifted to a walking position; when the steering movement selection button is pressed, the PLC control device enables the electromagnet DC1 of the first electromagnetic cut-off valve 5.5a and the electromagnet DC2 of the second electromagnetic cut-off valve 5.5b of the fourth interlocking type oil cylinder driving valve group 5d to lose power; when the walking control handle is pushed forward, the proportional electromagnet BC2 of the electric proportional reversing valve 5.3 of the fourth interlocking type oil cylinder driving valve group 5d obtains corresponding current according to the action position of the control handle, the steering oil cylinder 12 extends out to drive the inner ring of the rotary support 23, so that the upper platform 17 rotates anticlockwise relative to the lower platform 18; when the walking control handle is pulled backwards, the proportional electromagnet BC1 of the electric proportional reversing valve 5.3 of the fourth interlocking type oil cylinder driving valve group 5d obtains corresponding current according to the action position of the control handle, the steering oil cylinder 12 retracts to drive the inner ring of the rotary support 23, so that the upper platform 17 rotates clockwise relative to the lower platform 18; the steering movement selection button has no action, and the PLC control device enables the electromagnet DC1 of the first electromagnetic cut-off valve 5.5a and the electromagnet DC2 of the second electromagnetic cut-off valve 5.5b of the fourth interlocking type oil cylinder driving valve group 5d to be electrified; when the walking control handle is pushed forwards, the proportional electromagnet BC2 of the electric proportional reversing valve 5.3 of the fourth interlocking type oil cylinder driving valve group 5d obtains corresponding current according to the action position of the control handle, the translation oil cylinder 13 extends out, and the sliding frame 21 is pushed to drive the upper platform 17 to move left relative to the lower platform 18; when the walking control handle is pulled backwards, the proportional electromagnet BC1 of the electric proportional reversing valve 5.3 of the fourth interlocking type oil cylinder driving valve group 5d obtains corresponding current according to the action position of the control handle, the translation oil cylinder 13 retracts, and the sliding frame 21 is pulled to drive the upper platform 17 to move right relative to the lower platform 18; and pressing a stop button or shifting the support walking selection switch to 0 position, resetting all buttons and stopping the action.
The above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, and improvements made within the spirit and principle scope of the present invention should be included within the protection scope of the present invention.
Claims (4)
1. The utility model provides a function interlocking type electricity liquid control equipment of polypod walking device which characterized in that: the device comprises a motor (1), a hydraulic pump (2), a one-way valve (3), a high-pressure filter (4), a plurality of interlocking type oil cylinder driving valve groups, a multi-foot walking device, an overflow valve (14) and an oil return filter (15); the interlocking type oil cylinder driving valve groups are all arranged on the multi-foot walking device and are used for controlling executing pieces with interlocking action requirements; each interlocking type oil cylinder driving valve group is provided with a first oil port (P), a second oil port (T), a third oil port (C1), a fourth oil port (A1), a fifth oil port (B1), a sixth oil port (B2) and a seventh oil port (A2); a first oil port (P) of the interlocking type oil cylinder driving valve group is connected with a second port of the high-pressure filter (4), and a first port of the high-pressure filter (4) is connected with a second port of the check valve (3) and a first port of the overflow valve (14); a first port of the one-way valve (3) is connected with an oil outlet of the hydraulic pump (2), and the hydraulic pump (2) is connected with the motor (1) through a coupler; and a second oil port (T) of the interlocking type oil cylinder driving valve group is connected with a second port of the overflow valve (14) and a second port of the oil return filter (15).
2. The electro-hydraulic control apparatus of a function interlock type for a multi-foot walking device according to claim 1, characterized in that: the number of the interlocking type oil cylinder driving valve groups is four, and the interlocking type oil cylinder driving valve groups are respectively a first interlocking type oil cylinder driving valve group (5a), a second interlocking type oil cylinder driving valve group (5b), a third interlocking type oil cylinder driving valve group (5c) and a fourth interlocking type oil cylinder driving valve group (5 d); the multi-foot walking type walking device comprises a first lower supporting leg oil cylinder (6), a first upper supporting leg oil cylinder (7), a second lower supporting leg oil cylinder (8), a second upper supporting leg oil cylinder (9), a third lower supporting leg oil cylinder (10), a third upper supporting leg oil cylinder (11), a steering oil cylinder (12), a translation oil cylinder (13), an upper platform (17), a lower platform (18), a guide rail (20), a sliding frame (21), a rotary connecting plate (22) and a rotary support (23);
a fourth oil port (A1) of the first interlocking type oil cylinder driving valve group (5a) is connected with a rod cavity of the first lower supporting leg oil cylinder (6), a rodless cavity of the first lower supporting leg oil cylinder (6) is connected with a fifth oil port (B1) of the first interlocking type oil cylinder driving valve group (5a), and the first lower supporting leg oil cylinder (6) is hinged with the lower platform (18); a sixth oil port (B2) of the first interlocking type oil cylinder driving valve group (5a) is connected with a rodless cavity of the first upper supporting leg oil cylinder (7), a rod cavity of the first upper supporting leg oil cylinder (7) is connected with a seventh oil port (A2) of the first interlocking type oil cylinder driving valve group (5a), and the first upper supporting leg oil cylinder (7) is hinged with the upper platform (17);
a fourth oil port (A1) of the second interlocking type oil cylinder driving valve group (5B) is connected with a rod cavity of the second lower support oil cylinder (8), a rodless cavity of the second lower support oil cylinder (8) is connected with a fifth oil port (B1) of the second interlocking type oil cylinder driving valve group (5B), and the second lower support oil cylinder (8) is hinged with the lower platform (18); a sixth oil port (B2) of the second interlocking type oil cylinder driving valve group (5B) is connected with a rodless cavity of a second upper supporting leg oil cylinder (9), a rod cavity of the second upper supporting leg oil cylinder (9) is connected with a seventh oil port (A2) of the second interlocking type oil cylinder driving valve group (5B), and the second upper supporting leg oil cylinder (9) is hinged with an upper platform (17);
a fourth oil port (A1) of the third interlocking type oil cylinder driving valve group (5c) is connected with a rod cavity of a third lower supporting leg oil cylinder (10), a rodless cavity of the third lower supporting leg oil cylinder (10) is connected with a fifth oil port (B1) of the third interlocking type oil cylinder driving valve group (5c), and the third lower supporting leg oil cylinder (10) is hinged with a lower platform (18); a sixth oil port (B2) of the third interlocking type oil cylinder driving valve group (5c) is connected with a rodless cavity of a third upper supporting leg oil cylinder (11), a rod cavity of the third upper supporting leg oil cylinder (11) is connected with a seventh oil port (A2) of the third interlocking type oil cylinder driving valve group (5c), and the third upper supporting leg oil cylinder (11) is hinged with the upper platform (17);
a fourth oil port (A1) of the fourth interlocking type oil cylinder driving valve group (5d) is connected with a rod cavity of the steering oil cylinder (12), a rodless cavity of the steering oil cylinder (12) is connected with a fifth oil port (B1) of the fourth interlocking type oil cylinder driving valve group (5d), one end of the steering oil cylinder (12) is hinged with the lower platform (18), and the other end of the steering oil cylinder (12) is hinged with the rotary connecting plate (22); the rotary connecting plate (22) is connected with the inner ring of the rotary support (23), the upper platform (17) is fixed on the inner ring of the rotary support (23), the sliding frame (21) is fixed on the outer ring, and the sliding frame (21) is fixed on the lower platform (18) through the translation oil cylinder (13); a sixth oil port (B2) of the fourth interlocking type oil cylinder driving valve group (5d) is connected with a rodless cavity of the translation oil cylinder (13), a rod cavity of the translation oil cylinder (13) is connected with a seventh oil port (A2) of the fourth interlocking type oil cylinder driving valve group (5d), the translation oil cylinder (13) is fixed on the lower platform (18), the end of a piston rod is connected with the sliding frame (21), the sliding frame (21) is installed on the guide rail (20), and the guide rail (20) is fixed on the lower platform (18).
3. The electro-hydraulic control apparatus of a function interlock type for a multi-foot walking device according to claim 1, characterized in that: the interlocking type oil cylinder driving valve set comprises a fixed differential pressure reducing valve (5.1), a pre-throttle valve (5.2), an electric proportional reversing valve (5.3), a shuttle valve (5.4), a first electromagnetic block valve (5.5a), a second electromagnetic block valve (5.5b), a first hydraulic lock (5.6a), a second hydraulic lock (5.6b) and an integrated mounting plate (5.7); a first port of the constant-differential-pressure relief valve (5.1) is connected with a first oil port (P), and a second port of the constant-differential-pressure relief valve is connected with a first port of the electric proportional directional valve (5.3) and a first port of the pre-throttle valve (5.2); the second port of the pre-throttle valve (5.2) is connected with the fourth port of the constant-differential pressure reducing valve (5.1);
the second port of the electric proportional directional valve (5.3) is connected with the first port of the first electromagnetic block valve (5.5 a); the third port of the electric proportional directional valve (5.3) is connected with the first port of the second electromagnetic block valve (5.5 b); a second port of the electric proportional reversing valve (5.3) is connected with a first port of the shuttle valve (5.4), a second port of the shuttle valve (5.4) is connected with a third port of the electric proportional reversing valve (5.3), a third port of the shuttle valve (5.4) is connected with a third port of the constant-differential pressure reducing valve (5.1) and a third oil port (C1) of the interlocking type oil cylinder driving valve group, a third oil port (C1) of the interlocking type oil cylinder driving valve group is connected with a fourth port of the electric proportional reversing valve (5.3), and a fourth port of the electric proportional reversing valve (5.3) is connected with a second port of the overflow valve (14) and a second port of the oil return filter (15);
the second port of the first electromagnetic block valve (5.5a) is connected with the first port of the first hydraulic lock (5.6a), and the second port of the first hydraulic lock (5.6a) is connected with the second port of the second electromagnetic block valve (5.5 b); a third port of the second electromagnetic block valve (5.5b) is connected with a second port of the second hydraulic lock (5.6b), and a first port of the second hydraulic lock (5.6b) is connected with a third port of the first electromagnetic block valve (5.5 a);
the third port and the fourth port of the first hydraulic lock (5.6a) are respectively connected with a fourth oil port (A1) and a fifth oil port (B1) of the interlocking type oil cylinder driving valve group; a sixth oil port (B2) and a seventh oil port (A2) of the interlocking type oil cylinder driving valve group are respectively connected with a fourth port and a third port of a second hydraulic lock (5.6B);
the first hydraulic lock (5.6a) and the first electromagnetic block valve (5.5a) are overlapped and fixed on the integrated mounting plate (5.7) through bolts; a second hydraulic lock (5.6b) and a second electromagnetic block valve (5.5b) which are overlapped are also fixed on the integrated mounting plate (5.7) through bolts; a third oil port (C1), a fourth oil port (A1), a fifth oil port (B1), a sixth oil port (B2) and a seventh oil port (A2) on the integrated mounting plate (5.7) are arranged in front of the integrated mounting plate (5.7); a first oil port (P) and a second oil port (T) are arranged on the right side of the integrated mounting plate (5.7); the integrated mounting plate (5.7) is connected with an electric proportional reversing valve (5.3) through a bolt; a constant-differential pressure reducing valve (5.1), a pre-throttle valve (5.2) and a shuttle valve (5.4) are arranged in the integrated mounting plate (5.7) from the front side; the integrated mounting plate (5.7) is also internally provided with a connecting pipeline of the equipment.
4. The electro-hydraulic control apparatus of a function interlock type of a multi-foot walking device according to any one of claims 1 to 3, characterized in that: the interlocking type oil cylinder driving valve group is characterized by also comprising a PLC control device, wherein the PLC control device is respectively connected with the motor (1) and the interlocking type oil cylinder driving valve group; the PLC control device is provided with a starting button, a stopping button, a supporting walking selection switch, a supporting leg selection button, a steering movement selection switch, a platform selection button, a supporting leg control handle and a movement control handle and is used for correspondingly controlling the multi-foot walking device.
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| CN201920878459.XU CN210087707U (en) | 2019-06-12 | 2019-06-12 | Function interlocking type electro-hydraulic control equipment for multi-foot walking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110094378A (en) * | 2019-06-12 | 2019-08-06 | 湖南科技大学 | A kind of polypody walking apparatus function interlock type electrichydraulic control device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110094378A (en) * | 2019-06-12 | 2019-08-06 | 湖南科技大学 | A kind of polypody walking apparatus function interlock type electrichydraulic control device and method |
| CN110094378B (en) * | 2019-06-12 | 2024-01-30 | 湖南科技大学 | Multi-foot walking device function interlocking type electrohydraulic control equipment and method |
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