CN219622970U

CN219622970U - Single pump type hydraulic control system of robot

Info

Publication number: CN219622970U
Application number: CN202320522582.4U
Authority: CN
Inventors: 邓开忠
Original assignee: Ningbo Zhongning Hydraulic Co ltd
Current assignee: Ningbo Zhongning Hydraulic Co ltd
Priority date: 2023-03-17
Filing date: 2023-03-17
Publication date: 2023-09-01
Anticipated expiration: 2033-03-17

Abstract

The utility model relates to a robot single-pump type hydraulic control system which comprises an oil tank, a plunger pump, a proportional multi-way valve, an oil inlet pipeline and an oil return pipeline, wherein the oil tank is respectively communicated with the proportional multi-way valve through the oil inlet pipeline and the oil return pipeline, the plunger pump is connected in series on the oil inlet pipeline, the proportional multi-way valve comprises a first reversing valve and a second reversing valve, a P port of the first reversing valve and a P port of the second reversing valve are both connected with the oil inlet pipeline, a T port of the first reversing valve and a T port of the second reversing valve are both connected with the oil return pipeline, a B port of the first reversing valve is connected with a plurality of first oil cylinders which are connected in parallel through a first oil way, an A port of the first reversing valve is connected with a second oil cylinder through a second oil way, and a B port and an A port of the second reversing valve are respectively connected with a traveling motor through a third oil way and a fourth oil way; the hydraulic control system solves the technical problems that in the prior art, the hydraulic control system is large in overall weight and volume and affects the advancing of a robot in water and on land.

Description

Single pump type hydraulic control system of robot

Technical Field

The utility model relates to the technical field of hydraulic control systems, in particular to a single-pump type hydraulic control system of a robot.

Background

Robots are classified into a variety of types, such as a demolition robot, a fire robot, a drainage robot, a transportation robot, and the like. In addition, there is also an amphibious robot, wherein a water pumping motor is arranged at the bottom of the robot main body, and water can be discharged by using the water pumping motor, so that a waterlogging discharging function is realized. Because the robot work environment is mostly complicated, the crawler is used as a travelling mechanism, a support is further arranged on the robot main body, the crawler is covered outside the support, and the support is driven to lift and deform through a plurality of hydraulic cylinders, so that the distance between the robot main body and the ground is changed, and the robot can extract water with lower liquid level. Because such robots need to travel in water, there is a high demand for their overall weight. The track deformation module and the moving module of the robot are controlled by a hydraulic system. Chinese patent CN105041741B discloses a hydraulic drive control system for a full hydraulic amphibious amusement tank, by which the effects of simple operation, reliable system and low energy consumption can be achieved. However, in the hydraulic control system in the above patent, a plurality of hydraulic pumps are required to cooperate with a gear pump to control each actuator, so that the overall weight and the volume of the hydraulic system are large, and if the hydraulic system is directly used in a amphibious robot, the overall weight and the volume of the robot are also large, so that the advancing of the robot in water and on land is affected.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide a single-pump type hydraulic control system of a robot, which has small weight, small volume and compact structure, so as to solve the technical problems that the whole weight and the volume of the hydraulic control system in the prior art are large, and the advancing of the robot in water and on land is influenced.

In order to solve the technical problems, the utility model provides a robot single-pump type hydraulic control system which comprises an oil tank, a plunger pump, a proportional multi-way valve, an oil inlet pipeline and an oil return pipeline, wherein the oil tank is respectively communicated with the proportional multi-way valve through the oil inlet pipeline and the oil return pipeline, the plunger pump is connected in series on the oil inlet pipeline, the proportional multi-way valve comprises a first reversing valve and a second reversing valve, a P port of the first reversing valve and a P port of the second reversing valve are both connected with the oil inlet pipeline, a T port of the first reversing valve and a T port of the second reversing valve are both connected with the oil return pipeline, a B port of the first reversing valve is connected with a plurality of first oil cylinders which are connected in parallel through a first oil way, an A port of the first reversing valve is connected with a second oil cylinder through a second oil way, the first oil cylinder is used for driving a robot support to deform, and a B port and A port of the second reversing valve is respectively connected with a walking motor through a third oil way and a fourth oil way.

After the structure is adopted, the single-pump type hydraulic control system of the robot has the following advantages: the single plunger pump is matched with the multi-way valve, the first oil cylinder, the second oil cylinder and the traveling motor are respectively controlled by the first reversing valve and the second reversing valve in the multi-way valve, the crawler deformation and the traveling of the robot can be realized by only one plunger pump, the whole weight and the whole volume of the hydraulic control system are greatly reduced, the structure is more compact, the traveling can be faster under the same power when the robot travels on land, and the traveling of the robot is faster when the robot travels in water.

As an improvement, the proportional multi-way valve further comprises a third reversing valve and a fourth reversing valve, wherein a P port of the third reversing valve is connected with an oil inlet pipeline, a T port of the third reversing valve is connected with an oil return pipeline, a B port and an A port of the third reversing valve are respectively connected with a steering motor through an eleventh oil way and a twelfth oil way, a P port of the fourth reversing valve is connected with the oil inlet pipeline, a T port of the fourth reversing valve is connected with the oil return pipeline, and a B port and an A port of the fourth reversing valve are respectively connected with a pumping motor through a fifth oil way and a sixth oil way; by adopting the structure, the steering and water pumping of the robot are realized through the single plunger pump, and the steering and the advancing of the robot are controlled through two independent motors, so that the robot can move more flexibly and stably.

As an improvement, the proportional multi-way valve further comprises a fifth reversing valve, wherein a P port of the fifth reversing valve is connected with an oil inlet pipeline, a T port of the fifth reversing valve is connected with an oil return pipeline, and a B port and an A port of the fifth reversing valve are respectively connected with the double-acting oil cylinder through a seventh oil way and an eighth oil way; by adopting the structure, one double-acting oil cylinder is additionally arranged under the condition of using only a single plunger pump, so that the functions of a hydraulic system are enriched.

As an improvement, a ninth oil way is connected to the seventh oil way, a tenth oil way is connected to the eighth oil way, and the seventh oil way, the eighth oil way, the ninth oil way and the tenth oil way are all connected with a second switching valve in series; by adopting the structure, the ninth oil way and the tenth oil way are used as standby oil ways, so that the hydraulic control system can be used as a movable hydraulic pressure source when applied to a robot, and in addition, the arrangement of the second switching valve can also prevent the seventh oil way, the eighth oil way, the ninth oil way and the tenth oil way from returning oil.

As an improvement, the utility model also comprises a feedback oil way, one end of the feedback oil way is connected with an oil inlet pipeline, and the other end of the feedback oil way is connected with a plunger pump after connecting the P1 port and the C port of the first reversing valve and the second reversing valve in series; by adopting the structure, the plunger pump can change the output pressure and the flow rate through the feedback oil way, so that the oil pressure and the flow rate applied to the multi-way valve are adjusted to proper values.

As an improvement, the utility model also comprises a pressure reducing valve, wherein an oil inlet of the pressure reducing valve is connected with an oil inlet pipeline, and an oil outlet of the pressure reducing valve is connected with an oil return pipeline; by adopting the structure, the pressure of the oil flowing into the multi-way valve is regulated by the pressure reducing valve, so that the pressure of the multi-way valve is regulated to a proper value.

As an improvement, a high-pressure ball valve is connected in series on the first oil way; by adopting the structure, the high-pressure ball valve is used as a manual switch and can be used as an emergency switch when the system is powered off.

As an improvement, a one-way throttle valve is connected in series on the first oil way; by adopting the structure, the stretching speed of the first oil cylinder is manually adjusted through the one-way throttle valve, and then the stretching speed of the bracket is adjusted to a proper value.

As an improvement, a first switching valve is connected in series on each of the first oil way and the second oil way; with the structure, when the first oil cylinder and the second oil cylinder extend, the first oil cylinder is disconnected from the first oil path through the first switching valve, and the second oil cylinder is disconnected from the second oil path, so that the first oil cylinder and the second oil cylinder are kept in an extending state.

As an improvement, an energy storage oil way is connected to the first oil way, the connection point of the energy storage oil way and the first oil way is positioned at the downstream of the first switching valve, an energy accumulator and a speed regulating valve block are connected to the energy storage oil way, and the speed regulating valve block is positioned between the energy accumulator and the first oil cylinder; by adopting the structure, the first oil way can be in a pressure maintaining state through the energy accumulator combined with the first reversing valve, the first oil cylinder is maintained to extend, the energy accumulator can also play a role in buffering and damping, and when the robot moves to a road surface with uneven height, the first oil cylinder can be properly retracted according to the condition of the road surface under the reaction force of the road surface, so that the first oil cylinder is prevented from being in an extending state all the time and damaged.

Drawings

FIG. 1 is a schematic diagram of the overall circuit of the present utility model.

Fig. 2 is a partial enlarged view of the portion D in fig. 1.

Reference numerals: 1. an oil tank; 2. a plunger pump; 3. a proportional multi-way valve; 301. a first reversing valve; 302. a second reversing valve; 303. a third reversing valve; 304. a fourth reversing valve; 305. a fifth reversing valve; 4. an oil inlet pipeline; 5. an oil return pipeline; 6. a first oil passage; 7. a first cylinder; 8. a second oil path; 9. a second cylinder; 10. a third oil passage; 11. a fourth oil passage; 12. a one-way valve; 13. a pressure gauge; 14. an eleventh oil passage; 15. a twelfth oil passage; 16. a steering motor; 17. a fifth oil passage; 18. a sixth oil passage; 19. a water pump motor; 20. a diesel engine; 21. a seventh oil passage; 22. an eighth oil passage; 23. a ninth oil passage; 24. a tenth oil passage; 25. a second switching valve; 26. a feedback oil path; 27. a pressure reducing valve; 28. a high pressure ball valve; 29. a one-way throttle valve; 30. a first switching valve; 31. an energy storage oil way; 32. an accumulator; 33. a speed regulating valve block; 34. an air cooler; 35. an oil filter; 36. a walking motor; 37. a double-acting oil cylinder.

Detailed Description

The following describes a single pump hydraulic control system for a robot according to the present utility model in detail with reference to the accompanying drawings.

As shown in fig. 1 to 2, a single-pump hydraulic control system for a robot comprises an oil tank 1, a plunger pump 2, a proportional multi-way valve 3, an oil inlet pipeline 4 and an oil return pipeline 5, wherein the oil tank 1 is respectively communicated with the proportional multi-way valve 3 through the oil inlet pipeline 4 and the oil return pipeline 5, namely one end of the oil inlet pipeline 4 is connected with the oil tank 1, the other end is connected with the proportional multi-way valve 3, the plunger pump 2 is connected on the oil inlet pipeline 4 in series, the load-sensitive plunger pump 2 is further connected with a diesel engine 20, the proportional multi-way valve 3 is the load-sensitive proportional multi-way valve 3, an air cooler 34 and an oil filter 35 are connected on the oil return pipeline 5 in series, the plunger pump 2 and the air cooler 34 and the oil filter 35 are respectively connected on a main road of the oil inlet pipeline 4 and the oil return pipeline 5, and a main road of the oil inlet pipeline 4 is also connected with a one-way valve 12 and a pressure gauge 13, and both are positioned at the downstream of the plunger pump 2.

As shown in fig. 1, the proportional multi-way valve 3 includes a first reversing valve 301, a second reversing valve 302, a third reversing valve 303, a fourth reversing valve 304 and a fifth reversing valve 305 connected in parallel, the oil inlet pipeline 4 is divided into a plurality of branches from the main pipeline, the P port of the first reversing valve 301, the P port of the second reversing valve 302, the P port of the third reversing valve 303, the P port of the fourth reversing valve 304 and the P port of the fifth reversing valve 305 are respectively connected with one branch of the oil inlet pipeline 4, the main pipeline of the oil return pipeline 5 is also divided into a plurality of branches, the T port of the first reversing valve 301, the T port of the second reversing valve 302, the T port of the third reversing valve 303, the T port of the fourth reversing valve 304 and the T port of the fifth reversing valve 305 are respectively connected with one branch of the oil return pipeline 5, and each branch of the oil inlet pipeline 4 is connected with a first one-way valve and a first pressure reducing valve; the utility model also comprises a pressure reducing valve 27, wherein an oil inlet of the pressure reducing valve 27 is connected with the oil inlet pipeline 4, an oil outlet of the pressure reducing valve 27 is connected with the oil return pipeline 5, in the embodiment, the oil inlet of the pressure reducing valve 27 is connected with a main road of the oil inlet pipeline 4, the oil outlet is connected with a main road of the oil return pipeline 5, and the pressure reducing valve 27 and the proportional multi-way valve 3 form a parallel structure.

As shown in fig. 1, a port B of a first reversing valve 301 is connected with a plurality of first cylinders 7 connected in parallel through a first oil path 6, in this embodiment, the end of the first oil path 6 branches into five branches and is respectively connected with a single-acting first cylinder 7, a port a of the first reversing valve 301 is connected with a second cylinder 9 through a second oil path 8, the first cylinder 7 is used for driving a robot support to deform, the second cylinder 9 is used for driving a robot track to adjust, in this embodiment, two first reversing valves 301 are shared, the oil paths of the connection of the interfaces of the two first reversing valves 301 are identical, and the first cylinders 7 and the second cylinders 9 of the two first reversing valves 301 respectively correspond to the supports and the tracks on both sides of the robot; wherein, each first oil path 6 is connected with a high-pressure ball valve 28 and a one-way throttle valve 29 in series, the high-pressure ball valve 28 is positioned at the downstream of the one-way throttle valve 29 in the oil inlet state, the first oil path 6 and the second oil path 8 are connected with a first switching valve 30 in series, and the first switching valve 30 on the first oil path 6 is positioned between the one-way throttle valve 29 and the high-pressure ball valve 28. The first oil path 6 is connected with an energy storage oil path 31, and a connection point of the energy storage oil path 31 and the first oil path 6 is located at the downstream of the first switching valve 30, namely, between the first switching valve 30 and the high-pressure ball valve 28, the energy storage oil path 31 is connected with an energy accumulator 32 and a speed regulating valve block 33, and the speed regulating valve block 33 is located between the energy accumulator 32 and the first oil cylinder 7.

As shown in fig. 1, the port B and the port a of the second reversing valve 302 are connected to the travel motor 36 through the third oil passage 10 and the fourth oil passage 11, respectively, the port B and the port a of the third reversing valve 303 are connected to the steering motor 16 through the eleventh oil passage 14 and the twelfth oil passage 15, respectively, the port B and the port a of the fourth reversing valve 304 are connected to the pump motor 19 through the fifth oil passage 17 and the sixth oil passage 18, respectively, and the port B and the port a of the fifth reversing valve 305 are connected to the double-acting cylinder 37 through the seventh oil passage 21 and the eighth oil passage 22, respectively, wherein the fourth reversing valve 304 and the pump motor 19 are both two; the seventh oil passage 21 is connected with a ninth oil passage 23, the eighth oil passage 22 is connected with a tenth oil passage 24, and the seventh oil passage 21, the eighth oil passage 22, the ninth oil passage 23 and the tenth oil passage 24 are connected with second switching valves 25 in series, wherein the second switching valves 25 on the seventh oil passage 21 and the eighth oil passage 22 are respectively positioned at the downstream of the connection points with the ninth oil passage 23 and the tenth oil passage 24.

As shown in fig. 1, the present utility model further includes a feedback oil path 26, one end of the feedback oil path 26 is connected to the oil inlet pipe 4, the other end of the feedback oil path 26 is connected in series to the P1 port and the C port of the first reversing valve 301 and the second reversing valve 302, in other words, the two first reversing valves 301, the second reversing valve 302, the third reversing valve 303, the two fourth reversing valves 304 and the fifth reversing valve 305 are arranged in sequence from left to right, the feedback oil path 26 connects the P1 port of the first left reversing valve 301 with the main path of the oil inlet pipe 4, then connects the C port of the first left reversing valve 301 with the P1 port of the second first reversing valve 301, connects the C port of the second first reversing valve 301 with the P1 port of the second reversing valve 302, and so on, and the C port of the fifth reversing valve 305 is connected with the plunger pump 2 through the feedback oil path 26.

In this embodiment, the first reversing valve 301, the second reversing valve 302, the third reversing valve 303, the fourth reversing valve 304 and the fifth reversing valve 305 are all Y-shaped three-position six-way electric reversing valves, taking the actions of the first oil cylinder 7 and the travelling motor 36 as an example, through electromagnetic reversing, when the port P of the first reversing valve 301 is communicated with the port a, the second oil cylinder 9 is extended, the first oil cylinder 7 is retracted, when the port P of the first reversing valve 301 is communicated with the port B, the first oil cylinder 7 is extended, the second oil cylinder 9 is retracted, the first switching valve 30 can be utilized to close the first oil way 6 and the second oil way 8, and the first oil cylinder 7 is in a pressure maintaining state in cooperation with the accumulator 32, so that the buffer effect on the first oil cylinder 7 can be achieved; through electromagnetic reversing, the oil inlet and the oil return port of the traveling motor 36 are changed, the steering of the traveling motor 36 is changed, the crawler deformation and the robot traveling can be realized by only one plunger pump 2, the whole weight and the whole volume of the hydraulic control system are greatly reduced, the structure is more compact, the traveling speed can be faster under the same power when traveling on land, and the traveling speed of the robot is also faster when in water.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, but the present utility model is not limited to the above-described one embodiment, and all other examples obtained by those skilled in the art without making any inventive effort are within the scope of the present utility model.

Claims

1. The utility model provides a robot single pump type hydraulic control system, its characterized in that includes oil tank (1), plunger pump (2), proportion multiple unit valve (3), oil feed pipeline (4) and return line (5), oil tank (1) respectively through oil feed pipeline (4) with return line (5) communicate with proportion multiple unit valve (3), plunger pump (2) establish ties on oil feed pipeline (4), proportion multiple unit valve (3) include first switching-over valve (301) and second switching-over valve (302), the P mouth of first switching-over valve (301) with the P mouth of second switching-over valve (302) all with oil feed pipeline (4) are connected, the T mouth of first switching-over valve (301) with the T mouth of second switching-over valve (302) all with return line (5) are connected, the B mouth of first switching-over valve (301) is connected with a plurality of parallelly connected first hydro-cylinders (7) through first oil circuit (6), the A mouth of first switching-over valve (301) is connected with second hydro-cylinder (9) through second oil circuit (8) and is used for driving robot (9) the deformation support, and the port B and the port A of the second reversing valve (302) are respectively connected with the traveling motor (36) through a third oil way (10) and a fourth oil way (11).

2. The single-pump hydraulic control system of a robot according to claim 1, characterized in that the proportional multi-way valve (3) further comprises a third reversing valve (303) and a fourth reversing valve (304), wherein the port P of the third reversing valve (303) is connected with the oil inlet pipeline (4), the port T of the third reversing valve (303) is connected with the oil return pipeline (5), the port B and the port a of the third reversing valve (303) are connected with the steering motor (16) through an eleventh oil way (14) and a twelfth oil way (15), respectively, the port P of the fourth reversing valve (304) is connected with the oil inlet pipeline (4), the port T of the fourth reversing valve (304) is connected with the oil return pipeline (5), and the port B and the port a of the fourth reversing valve (304) are connected with the pumping motor (19) through a fifth oil way (17) and a sixth oil way (18), respectively.

3. The single-pump hydraulic control system of the robot according to claim 1, wherein the proportional multi-way valve (3) further comprises a fifth reversing valve (305), a P port of the fifth reversing valve (305) is connected with the oil inlet pipeline (4), a T port of the fifth reversing valve (305) is connected with the oil return pipeline (5), and a B port and an a port of the fifth reversing valve (305) are connected with the double-acting oil cylinder (37) through a seventh oil way (21) and an eighth oil way (22) respectively.

4. A single pump hydraulic control system according to claim 3, characterized in that a ninth oil path (23) is connected to the seventh oil path (21), a tenth oil path (24) is connected to the eighth oil path (22), and a second switching valve (25) is connected in series to each of the seventh oil path (21), the eighth oil path (22), the ninth oil path (23) and the tenth oil path (24).

5. The single-pump hydraulic control system of the robot according to claim 1, further comprising a feedback oil path (26), wherein one end of the feedback oil path (26) is connected with the oil inlet pipeline (4), and the other end of the feedback oil path (26) is connected with the plunger pump (2) after being connected with the first reversing valve (301) and the second reversing valve (302) in series through the port P1 and the port C.

6. The single-pump hydraulic control system of the robot according to claim 1, further comprising a pressure reducing valve (27), wherein an oil inlet of the pressure reducing valve (27) is connected with the oil inlet pipeline (4), and an oil outlet of the pressure reducing valve (27) is connected with the oil return pipeline (5).

7. A single pump hydraulic control system of a robot according to claim 1, characterized in that the first oil circuit (6) is connected in series with a high pressure ball valve (28).

8. A single pump hydraulic control system of a robot according to claim 1, characterized in that the first oil circuit (6) is connected in series with a one-way throttle valve (29).

9. A single pump hydraulic control system of a robot according to claim 1, characterized in that a first switching valve (30) is connected in series to both the first oil circuit (6) and the second oil circuit (8).

10. The robot single-pump hydraulic control system according to claim 9, wherein an energy storage oil path (31) is connected to the first oil path (6), a connection point of the energy storage oil path (31) and the first oil path (6) is located downstream of the first switching valve (30), an energy accumulator (32) and a speed regulating valve block (33) are connected to the energy storage oil path (31), and the speed regulating valve block (33) is located between the energy accumulator (32) and the first oil cylinder (7).