CN210660795U - Six-foot hydraulic system - Google Patents
Six-foot hydraulic system Download PDFInfo
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- CN210660795U CN210660795U CN201921296360.5U CN201921296360U CN210660795U CN 210660795 U CN210660795 U CN 210660795U CN 201921296360 U CN201921296360 U CN 201921296360U CN 210660795 U CN210660795 U CN 210660795U
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Abstract
The utility model discloses a six sufficient hydraulic system, including engine, hydraulic pump, switching-over valve, shuttle valve, pneumatic cylinder, radiator, filter, hydraulic tank and main oil circuit, six sufficient hydraulic system adopt the sensitive system of load, provide a sensitive variable pump of load and the sensitive variable system of load, still include the pump body and variable guiding mechanism, the one end and the pump body coupling of main oil circuit, and still be provided with the main valve on the main oil circuit, the main valve is used for controlling switching on or breaking off of main oil circuit, and the one end and the main oil circuit of the sensitive feedback oil circuit of load are connected, and the other end and the variable guiding mechanism of the sensitive feedback oil circuit of load are connected. The utility model discloses a proportion servo valve and servo hydraulic cylinder, the flexible speed and the flexible volume of each jar of control that can be accurate can realize that hexapod robot makes various actions and stabilizes the gait walking from this, adopts the sensitive variable pump of load, can supply liquid, energy-concerving and environment-protective according to the required flow of system.
Description
Technical Field
The utility model relates to a bionic robot technical field especially relates to six sufficient hydraulic system.
Background
The hexapod robot has been developed for most of the century so far, integrates multiple subjects such as machinery, electronics, materials, sensors, control technologies and the like, and is a comprehensive high-tech research subject for designing bionics, mechanics, sensing technologies, information output technologies and the like. The hexapod robot is used as a foot type robot, and has strong terrain adaptability and good maneuvering performance because foot falling points are discrete points and legs have higher degree of freedom, and is widely applied to industries such as military, mining, nuclear energy industry and the like. Compared with four-foot and two-foot robots, the hexapod robot has better stability, higher bearing capacity and more gaits, so the hexapod robot is an ideal platform for moving operation under complex terrains.
At present, the driving modes of the robot mainly comprise electric driving, pneumatic driving and hydraulic driving. The electric drive has the advantages of simple structure, mature technology and quick response, but the power is too small compared with the hydraulic drive, so that the electric drive is not suitable for a large-load hexapod robot. The pneumatic drive has the advantages of good heat dispersion, no pollution and foot end impact absorption, but the working stability of the system is greatly influenced by load change, the working noise is high, the working pressure of the system is low, and the output power under the same volume is also much smaller than that of hydraulic transmission. The hydraulic drive has the greatest advantages of high specific power and strong anti-interference capability, so that the hydraulic drive is preferred for large hexapod robots.
In the prior art, a load sensing system is a hydraulic system which senses the pressure and flow demand of the system, and the output flow of a pump body is adjusted in real time through the system pressure. Specifically, the system includes a variable displacement plunger pump and a pressure compensator which enables the system to remain in a standby state at a lower pressure when the system is not operating. When the system is switched into a working state, the compensator senses the flow demand of the system and provides adjustable flow according to the flow demand when the working condition of the system changes.
In the prior art, a load-sensitive feedback oil circuit is also arranged in the system, and a throttling hole is arranged on the oil circuit for unloading and establishing oil pressure through the throttling hole. In the structure provided in the prior art, because the throttle hole is a normally open structure, when the main valve in the system is in an open state, when the oil pressure is smaller than the throttle pressure, the oil can directly flow back to the oil tank, so that energy loss can be caused, and the flow control precision is lower.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art and providing a six-foot hydraulic system.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a six-foot hydraulic system comprises an engine, a hydraulic pump, a reversing valve, a shuttle valve, a hydraulic cylinder, a radiator, a filter, a hydraulic oil tank and a main oil way, wherein the six-foot hydraulic system adopts a load sensitive system, provides a load sensitive variable pump and a load sensitive variable system, and further comprises a pump body and a variable adjusting mechanism, one end of the main oil way is connected with the pump body, a main valve is further arranged on the main oil way and used for controlling the connection or disconnection of the main oil way, one end of a load sensitive feedback oil way is connected with the main oil way, the other end of the load sensitive feedback oil way is connected with the variable adjusting mechanism, the problem that the variable system in the prior art is easy to cause energy loss can be solved, a first displacement sensor is arranged in the hydraulic cylinder, the position of a valve core of the reversing valve is adjusted through a controller through the real-time position of the hydraulic, wherein, six legs of the hexapod robot are respectively provided with three hydraulic cylinders: thigh jar, shank jar and swing jar through the flexible volume of control each jar, accomplish the required action of every leg, realize the walking of six-legged robot, the pump body is variable plunger pump, and the inside of the pump body is equipped with a pressure compensator, and when the system was out of work, the compensator made it keep standby state under lower pressure. When the system is switched into a working state, the compensator senses the flow demand of the system and provides adjustable flow according to the flow demand when the working condition of the system changes. At the same time, the hydraulic pump also senses and responds to the pressure demands of the hydraulic system. The load sensitive control assembly is arranged on the load sensitive feedback oil way and used for controlling the connection or disconnection of the load sensitive feedback oil way and the variable adjusting mechanism, and the variable adjusting mechanism adjusts the opening angle of the pump body according to the oil pressure in the load sensitive feedback oil way; when the main valve is in an opening state, the load sensitive feedback oil way is communicated with the variable adjusting mechanism, and when the main valve is in a closing state, the load sensitive feedback oil way is disconnected with the variable adjusting mechanism.
Furthermore, the reversing valve is a three-position four-way reversing valve which is called a three-position four-way proportional servo reversing valve, and is additionally provided with safety positions, so that the total number of the reversing valve is eighteen, and direction control and flow control can be performed through input of electric signals.
Furthermore, the hydraulic cylinders are servo hydraulic cylinders, displacement sensors are arranged in the hydraulic cylinders, and the hydraulic cylinders are eighteen in total and are divided into six thigh cylinders, six shank cylinders and six swinging cylinders according to functions.
Furthermore, the filter is divided into an oil return path filter and a pressure oil path filter, the pressure oil path filter is positioned in front of the three-position four-way reversing valve, the filtering precision is high (5-20 um), and the purpose is mainly to protect the three-position four-way reversing valve.
Furthermore, the radiator is positioned on the oil return pipeline and is an engine heat dissipation and hydraulic system heat dissipation integrated radiator.
Furthermore, the hydraulic oil tank is positioned in the middle of the vehicle body and used for storing oil and supplying oil to each pipeline.
Furthermore, the hydraulic oil tank further comprises a connecting pipe, and the connecting pipe is inserted into the outer wall of one side of the hydraulic oil tank.
The utility model has the advantages that:
1. the hydraulic system that above-mentioned technical scheme provided has adopted proportional servo valve and servo hydraulic cylinder, the flexible speed and the flexible volume of each jar of control that can be accurate, can realize from this that hexapod robot makes various actions and stabilizes the gait walking.
2. The hydraulic system provided by the technical scheme adopts the load sensitive variable pump, can supply liquid according to the flow required by the system, and is energy-saving and environment-friendly.
3. According to the hydraulic system provided by the technical scheme, the engine heat dissipation and hydraulic system heat dissipation integrated radiator is adopted, so that the size is smaller, and the efficiency is higher.
Drawings
Fig. 1 is a schematic structural diagram of a hydraulic system of an embodiment of a hexapod hydraulic system of embodiment 1 provided by the present invention;
fig. 2 is a schematic view of a load-sensitive variable displacement pump of an embodiment of a hexapod hydraulic system according to the present invention;
fig. 3 is a schematic view of a compensation oil supply circuit in front of a valve in an embodiment 1 of a hexapod hydraulic system according to the present invention;
fig. 4 is a schematic diagram of a hydraulic machine of an embodiment of a hexapod hydraulic system according to the embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a hydraulic machine of an embodiment 2 hexapod hydraulic system according to the present invention.
In the figure: the system comprises a pump body 1, a first reversing valve 2, a main oil way 3, a second reversing valve 4, a load sensitive feedback oil way 5, a first variable unit 6, a second variable unit 7, a throttle valve 8, a compensation valve 9, a three-position four-way reversing valve 10, a pressure oil way filter 11, an oil way filter 12, an oil return way filter 13, a hydraulic oil tank 14 and a connecting pipe 14.
Detailed Description
The technical solutions in the present novel embodiments will be clearly and completely described below with reference to the accompanying drawings in the present novel embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present novel embodiments, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
Example 1
Referring to fig. 1 to 4, the present invention provides an oil supply circuit for a thigh cylinder, a shank cylinder, and a swing cylinder. The circuit includes: the variable pump assembly, the load sensitive control assembly, the main oil way 3, the load sensitive feedback oil way 5, the pre-valve compensation system, the three-position four-way reversing valve and the hydraulic cylinder. The pump body 1 supplies oil to each hydraulic cylinder through the main oil way 3, and the oil is supplied to a load sensitive assembly, a load sensitive feedback circuit 5, a pre-valve compensation system and a reversing valve 10.
The hexapod robot has multiple gaits including two gaits, three gaits and six gaits, and can also perform single-leg independent action, and the stretching amount of the servo hydraulic cylinder is correspondingly different in different motion states.
The embodiment of the utility model provides a sensitive hydraulic system of load, when whole car began work, pump body 1 from the oil tank oil absorption, impresses hydraulic oil pipeline, the discharge capacity of pump is regulated and control by the sensitive return circuit of load, fluid through the check valve again through the compensation circuit before the valve to the oil feed of single-leg servo hydraulic cylinder, flow back to the oil tank at last.
The embodiment of the utility model provides a sensitive variable pump of load, the sensitive variable pump of load includes: the variable pump assembly, the load sensitive control assembly, the main oil path 3 and the load sensitive feedback oil path 5. The variable pump assembly comprises a pump body 1 and a variable adjusting mechanism, wherein the pump body 1 is connected with the variable adjusting mechanism, and the variable adjusting mechanism is used for adjusting the flow of the pump body 1. One end of the main oil way 3 is connected with the pump body 1, and a main valve block is arranged on the main oil way 1 and is responsible for oil passing to each hydraulic cylinder. The other end of the main oil circuit of the load feedback oil circuit is used for being connected with a load. One end of a load sensitive feedback oil path 5 is connected with the main oil path 3, the other end of the load sensitive feedback oil path 5 is connected with a variable adjusting mechanism, load pressure is fed back through the load sensitive feedback oil path 5, a load sensitive control assembly is arranged on the load sensitive feedback oil path 5 and used for controlling the load sensitive feedback oil path 5 to be connected with or disconnected from the variable adjusting mechanism, and the variable adjusting mechanism adjusts the output flow of the pump body 1 according to oil pressure in the load sensitive feedback oil path 5.
This novel example includes first variable unit 6 and second variable unit 7 through this variable guiding mechanism, and first variable unit 6 and second variable unit 7 all are connected with the pump body 1, can control the opening angle of the pump body 1 through first variable unit 6 and second variable unit 7. Specifically, the first variable unit 6 may be used to increase the opening angle of the pump body 11, and the second variable unit 7 may be used to decrease the opening angle of the pump body 1. The opening angle of the pump body 1 can also be reduced by the first variable unit 6 and the opening angle of the pump body 1 can be increased by the second variable unit 7. In the present embodiment, the opening angle of the pump body 1 is increased by the first variable unit 6, and the opening angle of the pump body 1 is decreased by the second variable unit 7. In order to enable the first variable unit 6 and the second variable unit 7 to be controlled more accurately, the first variable unit 6 and the second variable unit 7 are piston rods, specifically, the first variable unit 6 is a first piston rod, the second variable unit 7 is a second piston rod, the first piston rod and the second piston rod are respectively connected with the pump body 1, when the first piston rod extends out, the second piston rod retracts, at the moment, the opening angle of the pump body 11 is increased, and when the second piston rod extends out and the first piston rod retracts, the opening angle of the pump body 1 is decreased.
The variable adjusting mechanism further comprises a first reversing valve 2, one end of the first reversing valve 2 is connected with the main oil way 3 and is arranged close to the pump body 1, the other end of the first reversing valve 2 is connected with a load sensitive feedback oil way 5, and the first reversing valve 2 is used for controlling the opening angle of the pump body 1 through a first variable unit 6 and a second variable unit 7. Specifically, the first reversing valve 2 controls whether the pump body 1 is communicated with the second variable unit 7 or not according to the pressure difference between the oil pressure of the main oil path 3 and the oil pressure of the load-sensitive feedback oil path 5. In this embodiment, the pump body 1 and the first variable unit 6 are always in a conducting state, when the pump body 1 is disconnected from the second variable unit 7, the pump body 1 guides part of the oil into the first variable unit 6, so that the piston rod of the first variable unit 6 extends out, the piston rod of the second variable unit 7 retracts, and the pump body 1 is further opened; when the pump body 1 is communicated with the second variable unit 7, part of oil is guided into the second variable unit 7 by the pump body 1, and because the piston cavity of the second variable unit 7 is larger than that of the first variable unit 6 and the second variable unit 7 are of a connecting rod structure, when oil is injected into the first variable unit 6 and the second variable unit 7 simultaneously, the piston rod of the second variable unit 7 can extend out, the piston rod of the first variable unit 6 retracts, and the opening angle of the pump body 1 is reduced.
Specifically, the machine position of the first reversing valve 2 is determined by pump outlet pressure Y and a pressure value at an X point of the load feedback oil path, and when the pressure at the Y point is smaller than the pressure at the X point, the left side pressure of the first reversing valve is smaller than the right side pressure, that is, the first reversing valve is in the right machine position. Because the pump body 1 is always in a conducting state with the first variable unit 6, when the pump body 1 is disconnected with the second variable unit 7, part of oil is led into the first variable unit 6 by the pump body 1, so that a piston rod of the first variable unit 6 extends out, a piston rod of the second variable unit 7 retracts, and the pump body 1 is further opened; when the pressure at the point Y is greater than the pressure at the point X, the pressure at the left side of the first reversing valve 2 is greater than the pressure at the right side, namely, the left machine position is achieved. When the pump body 1 is communicated with the second variable unit 7, part of oil is guided into the second variable unit 7 by the pump body 1, because the piston cavity of the second variable unit 7 is larger than that of the first variable unit 6, and the first variable unit 6 and the second variable unit 7 are of a connecting rod structure, when oil is injected into the first variable unit 6 and the second variable unit 7 simultaneously, the piston rod of the second variable unit 7 can extend out, the piston rod of the first variable unit 6 retracts, and the opening angle of the pump body 1 is reduced.
The present novel embodiment provides a pre-valve compensation load sensing system, i.e. the compensation valve 9 is located before the throttle valve 8. Namely, when the flow rate provided by the pump body 1 is sufficient, the liquid can be supplied to the hydraulic cylinders with different loads at the same time, and the situation that only light load is supplied is prevented.
The pre-valve compensation system compares the outlet pressure Y of the pump body with the load pressure X by connecting a load sensitive oil way, so that the opening angle of the pump body 1 is controlled.
The embodiment of the present invention provides a three-position four-way directional valve 10, which is controlled by an external control system to control oil to supply oil to a rod cavity or a rodless cavity, thereby controlling the extension and retraction of a cylinder rod and achieving the requirement of asynchronous state of the whole machine.
Example 2
Referring to fig. 5, the hexapod hydraulic system in this embodiment, compared with embodiment 1, further includes a connecting pipe 14, and the connecting pipe 14 is inserted into an outer wall of one side of the hydraulic oil tank 13.
The working principle is as follows: the connection pipe 14 facilitates the supply of the raw material inside the hydraulic oil tank 13 at any time.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (7)
1. The six-foot hydraulic system is characterized by further comprising a pump body (1) and a variable adjusting mechanism, one end of the main oil way (3) is connected with the pump body (1), a main valve is further arranged on the main oil way (3), one end of a load sensitive feedback oil way (5) is connected with the main oil way (3), the other end of the load sensitive feedback oil way (5) is connected with the variable adjusting mechanism, a first displacement sensor is arranged in the hydraulic cylinder, the pump body (1) is a variable plunger pump, and a pressure compensator is arranged in the pump body (1).
2. The hexapod hydraulic system according to claim 1 wherein the directional control valves are three-position, four-way directional control valves (10), all three-position, four-way proportional servo directional control valves, and additionally safety positions, for a total of eighteen.
3. The hexapod hydraulic system of claim 2 wherein the hydraulic cylinder is a servo hydraulic cylinder and a plurality of second displacement sensors, totaling eighteen, are provided inside the hydraulic cylinder, functionally divided into six thigh cylinders, six shank cylinders and six swing cylinders.
4. Hexapod hydraulic system according to claim 3, characterized in that the filters are divided into a return filter (12) and a pressure line filter (11), and that the pressure line filter (11) is located before the three-position, four-way reversing valve (10).
5. The hexapod hydraulic system of claim 4 wherein the radiator is located on the return line and the radiator is an engine and hydraulic system heat sink integrated radiator.
6. A hexapod hydraulic system as claimed in claim 5 wherein the hydraulic reservoir (13) is located in the middle of the vehicle body and the hydraulic reservoir (13) holds oil therein to supply oil to the various lines.
7. The hexapod hydraulic system according to any one of claims 1-6, further comprising a connecting pipe (14), wherein the connecting pipe (14) is inserted into an outer wall of one side of the hydraulic oil tank (13).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921296360.5U CN210660795U (en) | 2019-08-12 | 2019-08-12 | Six-foot hydraulic system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921296360.5U CN210660795U (en) | 2019-08-12 | 2019-08-12 | Six-foot hydraulic system |
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| CN210660795U true CN210660795U (en) | 2020-06-02 |
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| CN201921296360.5U Active CN210660795U (en) | 2019-08-12 | 2019-08-12 | Six-foot hydraulic system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332164A (en) * | 2019-08-12 | 2019-10-15 | 吉林大学 | Six sufficient hydraulic systems |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332164A (en) * | 2019-08-12 | 2019-10-15 | 吉林大学 | Six sufficient hydraulic systems |
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