WO2018196138A1 - 气源系统及可移动设备 - Google Patents

气源系统及可移动设备 Download PDF

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Publication number
WO2018196138A1
WO2018196138A1 PCT/CN2017/089257 CN2017089257W WO2018196138A1 WO 2018196138 A1 WO2018196138 A1 WO 2018196138A1 CN 2017089257 W CN2017089257 W CN 2017089257W WO 2018196138 A1 WO2018196138 A1 WO 2018196138A1
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WO
WIPO (PCT)
Prior art keywords
gas
air
source system
movable member
pump assembly
Prior art date
Application number
PCT/CN2017/089257
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English (en)
French (fr)
Inventor
万阳
任冠男
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780066319.6A priority Critical patent/CN109891102B/zh
Publication of WO2018196138A1 publication Critical patent/WO2018196138A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/027—Installations or systems with accumulators having accumulator charging devices

Definitions

  • the present invention relates to the field of mobile devices, and in particular to a gas source system and a movable device.
  • the air supply system is applied to a mobile device for providing air pressure to a pneumatic actuator of the mobile device as a power source.
  • a mobile device for providing air pressure to a pneumatic actuator of the mobile device as a power source.
  • the existing air source system has a simple and compact structure, and it is difficult to provide a stable air pressure, resulting in poor driving effect.
  • Embodiments of the present invention provide a gas source system and a mobile device.
  • the air source system of the embodiment of the present invention is for driving a pneumatic actuator of a movable device, the air source system comprising:
  • a gas storage element coupled to the pneumatic actuator to provide air pressure
  • a gas pump assembly coupled to the gas accumulator element to inflate the gas accumulator element
  • a detecting device coupled to the gas storage member to detect the gas pressure
  • a control device coupled to the detecting device and the air pump assembly to control the air pump assembly to inflate the gas accumulator element in accordance with the air pressure.
  • the gas accumulator element comprises a gas cylinder.
  • the gas accumulator element includes a relief valve for controlling the gas pressure in the gas accumulator element to be less than or equal to a predetermined value.
  • the gas cylinder is formed with an air inlet
  • the air pump assembly includes:
  • An air pump comprising an air outlet end rotatably coupled to the mounting seat and a piston rod remote from the air outlet end and rotatably coupled to the movable member, the air outlet end being formed with an air inlet connected to the air inlet ;
  • a driving element for controlling the movable member to gather and control the movable member to return to the piston rod for piston movement.
  • between the mount and the movable member between the air outlet end and the mount And/or the piston rod is connected to the movable member by a pin rotational connection or a bearing.
  • the drive element includes a motor, a cam and a resilient element, the motor including a rotating shaft, the cam is disposed on the rotating shaft, the cam is coupled to the movable member, and the elastic member is disposed Between the mount and the movable member, the cam is used to control the movable member to gather toward the mount and to allow the movable member to recover, and the elastic member is used to move the movable member to the The movable piece is opened when the mounting seat is folded.
  • the resilient element comprises a torsion spring.
  • the drive element includes a motor, a cam and a connector
  • the motor includes a rotating shaft
  • the cam is disposed on the rotating shaft
  • the connecting member is disposed on the cam and engaged with the activity The pieces are connected, and the motor drives the connecting member to move to drive the movable member to reciprocate.
  • the air pump assembly further includes a gas pipe connecting the gas pumping ports;
  • a one-way valve is disposed on the air pipe for defining a flow of gas to the gas storage element in one direction.
  • the detection device comprises a barometer.
  • control device is for:
  • the air pump assembly is controlled to inflate the gas accumulator element when a difference between the air pressure and a predetermined air pressure is less than or equal to a first predetermined value.
  • control device is further configured to:
  • the air pump assembly is controlled to stop inflating the gas storage element.
  • the predetermined gas pressure is 8 atmospheres.
  • the first predetermined difference is between 2% and 6% of the predetermined gas pressure.
  • a mobile device includes a pneumatic actuator and the air source system of any of the above embodiments, the air source system driving the pneumatic actuator to move or actuate the movable device.
  • the movable device and the air source system implemented by the present invention control the air pump component to inflate the gas storage component according to the air pressure detected by the detecting device connected to the gas storage component, so that the gas pressure of the gas storage component is always maintained at a stable range.
  • the air supply system can provide a stable air pressure to the pneumatic actuator, improving the stability of the operation of the mobile device.
  • FIG. 1 is a schematic plan view of a mobile device in accordance with some embodiments of the present invention.
  • FIG. 2 is a plan view of a gas source system in accordance with some embodiments of the present invention.
  • FIG. 3 is a schematic plan view of a gas pump assembly in accordance with some embodiments of the present invention.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • Connected, or integrally connected may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise specifically defined and defined. It is not in direct contact but through additional features between them.
  • the first feature "above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature includes the first feature directly below and below the second feature, or merely the first feature level being less than the second feature.
  • a gas source system 100 of an embodiment of the present invention is used to drive a pneumatic actuator 200 of a movable device 300.
  • the gas source system 100 includes a gas storage element 10, a gas pump assembly 20, a detection device 30, and a control device 40.
  • the gas storage element 10 is coupled to the pneumatic actuator 200 to pass air pressure to the pneumatic actuator 200.
  • the gas pump assembly 20 is coupled to the gas storage element 10 to inflate the gas storage element 10.
  • the detecting device 30 is connected to the gas storage element 10 to detect the gas pressure of the gas storage element 10.
  • the control device 40 is coupled to the detection device 30 and the air pump assembly 20 for controlling the air pump assembly 20 to inflate the gas storage member 10 based on the air pressure detected by the detection device 30.
  • the gas source system 100 of the present invention controls the air pump assembly 20 to inflate the gas storage member 10 based on the air pressure detected by the detecting device 30 connected to the gas storage member 10 by the control device 40, so that the gas pressure of the gas storage member 10 is always maintained at one.
  • the air supply system 100 can provide a stable air pressure to the pneumatic actuator 200, improving the stability of the operation of the mobile device 300.
  • a movable device 300 of an embodiment of the present invention includes a pneumatic actuator 200 and a gas source system 100 for driving a pneumatic actuator 200 to move or actuate the movable device 300.
  • the mobile device 300 can be a drone, a mobile robot, or the like.
  • Pneumatic actuator 200 can include components such as a pneumatic motor, cylinder, and the like.
  • the pneumatic actuator 200 is provided with a connection port (not shown) for connecting to the air supply system 100 and receiving the air pressure provided by the air supply system 100.
  • a gas source system 100 includes a gas storage element 10, a gas pump assembly 20, a detection device 30, and a control device 40.
  • the gas storage element 10 is connected to the connection port of the pneumatic actuator 200.
  • the gas storage element 10 includes an air inlet 12 and an air outlet 14.
  • the intake port 12 receives the gas and stores the gas in the gas storage element 10.
  • the air outlet 14 is in communication with a connection port of the pneumatic actuator 200 for transmitting gas within the gas storage element 10 into the pneumatic actuator 200 to provide air pressure to the pneumatic actuator 200.
  • the gas accumulator element 10 is used both to store gas and to provide air pressure to the pneumatic actuator 200.
  • the gas storage element 10 includes a gas cylinder.
  • the air pump assembly 20 includes a mount 21, a movable member 22, an air pump 23, and a drive member 24.
  • the mount 21 is used to make the air pump 23, and the mount 21 is also used to restrict the movement of the air pump 23.
  • the mount 21 can be composed of a plurality of rods.
  • the movable member 22 is rotatably mounted on the mount 21.
  • the movable member 22 includes a first mounting portion 222, a second mounting portion 224, and a connecting portion 226.
  • the first mounting portion 222 and the connecting portion 226 are located at opposite ends of the movable member 22, and the second mounting portion 224 is disposed at the first mounting portion. Between 222 and connecting portion 226.
  • the first mounting portion 222 is located at one end connected to the mounting seat 21, and the first mounting portion 222 and the mounting seat 21 can be rotatably connected by a pin.
  • the air pump 23 includes an air outlet end 232 and a piston rod 234.
  • the air outlet end 232 and the piston rod 234 are respectively located at opposite ends of the air pump 23.
  • the air outlet end 232 is located near one end of the mounting seat 21, and the end of the air outlet end 232 is rotatably mounted on the mount 21.
  • the air outlet 232 is formed with an air inlet 232a, and the air outlet 232a is connected to the air inlet 12 of the gas storage element 10 and is used to inflate the gas storage element 10.
  • the piston rod 234 is located near one end of the movable member 22, and the end of the piston rod 234 is rotatably mounted on the second mounting portion 224 of the movable member 22.
  • the air outlet end 232 and the mounting seat 21 can be rotatably connected by a pin
  • the piston rod 234 and the second mounting portion 224 can also be rotatably connected by a pin.
  • the driving member 24 is used for the movable member 22 to gather toward the mounting seat 21 and control the movable member 22 to return to move the piston rod 234 connected to the movable member 22 in a piston.
  • Drive element 24 can include a motor 242, a cam 244, and a resilient element 246.
  • the motor 242 includes a rotating shaft 242a that is disposed on the rotating shaft 242a, and the cam 244 is slidably coupled to the connecting portion 226 of the movable member 22.
  • the motor 242 drives the rotating shaft 242a to rotate
  • the rotating shaft 242a drives the cam 244 to rotate to drive the movable member 22 to move toward the piston rod 234 side
  • the elastic member 246 expands the movable member 22 when the movable member 22 is folded toward the mounting seat 21.
  • the resilient element 246 includes a torsion spring.
  • Cam 244 includes an eccentric wheel.
  • the motor 242 drives the rotating shaft 242a to rotate and drives the cam 244 to rotate, so that the distance D0 between the rotating shaft 242a and the movable member 22 is increased, and the movable member 22
  • the motor 242 drives the rotating shaft 242a to rotate and drives the cam 244 to rotate, so that the cam 244 allows the movable member 22 to return, in the elastic member 246.
  • the movable member 22 Under the action of the movable member 22, the movable member 22 is moved toward the side of the cam 244 and the movable member 22 is returned to the original position. As such, the drive element 24 can drive the movable member 22 for piston movement. As the motor 242 continues to rotate, the drive element 24 can continue to make piston movements, and the drive element 24 can drive the air pump 23 to continue to inflate the gas storage element 10.
  • the detecting element 30 is connected to the gas storage element 10 to detect the gas pressure of the stored gas in the gas storage element 10.
  • Detection element 30 includes a barometer.
  • the detecting element 30 is directly disposed on the gas storage element 10 to directly measure the gas pressure value in the gas storage element 10, and facilitates the connection of the detecting element 30 to the control device 40.
  • Control device 40 is coupled to detection element 30 and air pump assembly 20.
  • the control device 40 is for controlling the air pump assembly 20 to inflate the gas storage member 10 based on the air pressure detected by the detecting member 30.
  • the control device 40 controls the air pump assembly 20 to inflate the gas storage member 10 when the difference between the detected air pressure and the predetermined air pressure is less than or equal to the first predetermined difference.
  • the control device 40 controls the air pump assembly 20 to stop inflating the gas accumulating member 10.
  • the predetermined gas pressure is 8 atmospheres, that is, the predetermined gas pressure is 0.8 MPa.
  • the first predetermined difference is 2%-6% of the predetermined air pressure, that is, the first predetermined value is arbitrarily selected from 16KPa-48KPa, for example, the first predetermined value may be 16KPa, 20KPa, 24KPa, 28KPa, 32KPa, 36KPa, 40KPa, 44KPa Or 48KPa.
  • the second predetermined difference is less than 0 MPa, that is, the gas pressure of the gas storage element 10 cannot be greater than a predetermined gas pressure, that is, 0.8 MPa.
  • the control device 40 can include a processor 42 for controlling the air pump assembly 20 to inflate the gas storage element 10 and for controlling the gas pump assembly 20 to stop inflating the gas storage element 10, the memory 44 for holding for control
  • the gas source system 100 of the present invention controls the air pump assembly 20 to inflate the gas storage member 10 based on the air pressure detected by the detecting device 30 connected to the gas storage member 10 by the control device 40, so that the gas pressure of the gas storage member 10 is always maintained at one.
  • the air supply system 100 can provide a stable air pressure to the pneumatic actuator 200, improving the stability of the operation of the mobile device 300.
  • the embodiment of the present invention also has the following beneficial effects: first, the distance D1 between the connection point of the cam 224 connected to the connecting portion 226 and the connection point of the first mounting portion 222 on the mounting seat 21 is greater than the connection of the piston rod 234 The distance D2 between the connection point on the second mounting portion 224 and the connection point of the first mounting portion 222 on the mounting seat 21, thus, according to the principle of the lever, the force exerted by the cam 224 on the movable member 22 is smaller than that applied by the movable member 22. The force on the piston rod 234, in turn, reduces the power that the motor 242 needs to provide to the movable member 22.
  • the pin rotating connection is lower in cost and lighter in weight than the bearing connection.
  • the cost of the gas source system 100 is reduced and the quality of the gas source system 100 is alleviated.
  • the gas storage component 10 of the above embodiment includes a relief valve 16 for controlling the gas pressure of the gas in the gas storage component 10 to be less than or equal to a predetermined value.
  • the preset value is set to the highest safe pressure value at which the gas pressure allowed in the gas storage element 10 is reached, for example, the preset value is 0.8 MPa.
  • the gas pressure of the gas in the gas storage element 10 does not exceed a preset value, thereby improving the safety of the gas storage element 10.
  • the connection between the movable member 22 of the above embodiment and the mount 21 can be rotationally coupled using a bearing connection instead of a pin.
  • the mounting seat 21 is provided with a bearing, and one end of the movable member 22 (the first mounting portion 222) connected to the mounting seat 21 is provided with a rotating shaft, and the rotating shaft is mounted on the bearing to realize the movable member 22 (the first mounting portion 222) and A rotational connection between the mounts 21.
  • the mounting shaft 21 may be provided with a rotating shaft, and the end of the movable member 22 (the first mounting portion 222) connected to the mounting seat 21 is provided with a bearing connected to the rotating shaft.
  • the manner of connection between the outlet end 232 and the mount 21 and between the piston rod 234 and the movable member 22 may be replaced by a bearing connection instead of a pin.
  • the bearing connection has a better rotation effect with respect to the pin rotation connection, the movement between the movable member 22 and the mounting seat 21, between the air outlet end 232 and the mounting seat 21, and between the piston rod 234 and the movable member 22 is smoother. .
  • the driving component 24 of the above embodiment may be replaced by: a motor 242, cam 244 and connector 248.
  • the motor 242 includes a rotating shaft 242a, a cam 244 is disposed on the rotating shaft 242a, and a connecting member 248 is disposed on the cam 244 and coupled to the movable member 22.
  • the connecting member 248 can be fixed on the cam 244.
  • the movable member 22 is provided with a connecting hole 228.
  • the connecting member 248 is disposed in the connecting hole 228 and can slide in the connecting hole 228.
  • the rotating shaft 242a drives the cam 244 to rotate, and the connecting member 248 can move the movable member 22 toward the piston rod 234 side and drive the movable member 22 to move toward the rotating shaft 242a side.
  • the drive element 24 can drive the movable member 22 for piston movement.
  • the connecting member 248 and the cam 244 and the movable member 22 can also be rotated.
  • the motor 242 drives the rotating shaft 242a to rotate
  • the rotating shaft 242a drives the cam 244 to rotate
  • the connecting member 248 can move the movable member 22 toward the piston rod 234 side.
  • the movable member 22 is pushed and driven toward the side of the rotating shaft 242a to drive the movable member 22 to perform piston movement.
  • the air pump assembly 20 of the above embodiment further includes a gas pipe 25 and a check valve 26.
  • the air pipe 25 is connected to the air inlet 232a of the air pump 23 and the air inlet 12 of the gas storage element 10.
  • a one-way valve 26 is provided on the gas pipe 25 for restricting the flow of gas to the gas storage element 10 in one direction. That is, the gas generated by the air pump 23 can flow only from the air pump 23 to the gas storage element 10, and cannot flow from the gas storage element 10 to the air pump 23. As a result, the gas of the gas storage element 10 flows from the gas pipe 25 to the air pump 23, and the gas storage element 10 is prevented from storing the gas.
  • the embodiments of the present invention may satisfy only one of the foregoing embodiments or the foregoing multiple embodiments, that is, the embodiments in which one or more of the foregoing embodiments are combined also belong to the protection scope of the embodiments of the present invention. .
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)
  • Compressors, Vaccum Pumps And Other Relevant Systems (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

一种气源系统(100)及包括该气源系统(100)的可移动设备(300)，该气源系统(100)用于驱动可移动设备(300)的气动执行元件(200)，气源系统(100)包括蓄气元件(10)、气泵组件(20)、检测装置(30)和控制装置(40)，蓄气元件(10)与气动执行元件(200)连接以提供气压，气泵组件(20)与蓄气元件(10)连接以给蓄气元件(10)充气，检测装置(30)与蓄气元件(10)连接以检测气压，控制装置(40)与检测装置(30)和气泵组件(20)连接以根据气压控制气泵组件(20)给蓄气元件(10)充气。该气源系统(100)通过控制装置(40)根据与蓄气元件(10)连接的检测装置(30)检测到的气压控制气泵组件(20)给蓄气元件(10)充气，使蓄气元件(10)中气体的气压始终保持在一个稳定范围内，进而气源系统(100)能够给气动执行元件(200)提供一个稳定的气压，提升了可移动设备(300)运行的稳定性。

Description

气源系统及可移动设备 技术领域
本发明涉及可移动设备领域，具体涉及一种气源系统及可移动设备。
背景技术
气源系统应用于可移动设备，用于作为动力源给可移动设备的气动执行元件提供气压。然而，限于可移动设备体积跟质量的要求，现有的气源系统结构简单、紧凑，难以提供稳定气压，导致驱动效果差。
发明内容
本发明的实施方式提供了一种气源系统及可移动设备。
本发明实施方式的气源系统，用于驱动可移动设备的气动执行元件，所述气源系统包括：
与所述气动执行元件连接以提供气压的蓄气元件；
与所述蓄气元件连接以给所述蓄气元件充气的气泵组件；
与所述蓄气元件连接以检测所述气压的检测装置；和
与所述检测装置和所述气泵组件连接以根据所述气压控制所述气泵组件给所述蓄气元件充气的控制装置。
在某些实施方式中，所述蓄气元件包括气瓶。
在某些实施方式中，所述蓄气元件包括溢流阀，所述溢流阀用于控制所述蓄气元件中的所述气压小于或等于一个预设值。
在某些实施方式中，所述气瓶形成有进气口；
所述气泵组件包括：
转动连接的安装座和活动件；
气泵，所述气泵包括与所述安装座转动连接的出气端和远离所述出气端且与所述活动件转动连接的活塞杆，所述出气端形成有与所述进气口连接的打气口；和
用于控制所述活动件向所述安装座收拢和控制所述活动件回复以使所述活塞杆做活塞运动的驱动元件。
在某些实施方式中，所述安装座与所述活动件之间、所述出气端与所述安装座之间 和/或所述活塞杆与所述活动件采用销钉转动连接或轴承连接。
在某些实施方式中，所述驱动元件包括电机、凸轮和弹性元件，所述电机包括转轴，所述凸轮设置在所述转轴上，所述凸轮与所述活动件连接，所述弹性元件设置所述安装座和所述活动件之间，所述凸轮用于控制所述活动件向所述安装座收拢和允许所述活动件回复，所述弹性元件用于在所述活动件向所述安装座收拢时撑开所述活动件。
在某些实施方式中，所述弹性元件包括扭簧。
在某些实施方式中，所述驱动元件包括电机、凸轮和连接件，所述电机包括转轴，所述凸轮设置在所述转轴上，所述连接件设置在所述凸轮上并与所述活动件连接，所述电机带动所述连接件运动以驱动所述活动件做往复运动。
在某些实施方式中，所述气泵组件还包括连接所述打气口的气管；和
设置在所述气管上的单向阀，所述单向阀用于限定气体单向向所述蓄气元件流动。
在某些实施方式中，所述检测装置包括气压计。
在某些实施方式中，所述控制装置用于：
当所述气压与预定气压之间的差值小于或等于第一预定值时，控制所述气泵组件给所述蓄气元件充气。
在某些实施方式中，所述控制装置还用于：
当所述气压与预定气压之间的差值大于或等于第二预定值时，控制所述气泵组件停止给所述蓄气元件充气。
在某些实施方式中，所述预定气压为8个大气压。
在某些实施方式中，所述第一预定差值为所述预定气压的2％-6％。
本发明实施方式的可移动设备，包括气动执行元件和上述任意一项实施方式所述的气源系统，所述气源系统驱动所述气动执行元件以使所述可移动设备移动或做动作。
本发明实施的可移动设备和气源系统通过控制装置根据与蓄气元件连接的检测装置检测到的气压控制气泵组件给蓄气元件充气，使蓄气元件中气体的气压始终保持在一个稳定范围内，进而气源系统能够给气动执行元件提供一个稳定的气压，提升了可移动设备运行的稳定性。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明某些实施方式的可移动设备的平面示意图；
图2是本发明某些实施方式的气源系统的平面示意图；和
图3是本发明某些实施方式的气泵组件的平面示意图。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字 母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1-2，本发明实施方式的气源系统100用于驱动可移动设备300的气动执行元件200。气源系统100包括蓄气元件10、气泵组件20、检测装置30和控制装置40。蓄气元件10与气动执行元件200连接以向气动执行元件200通过气压。气泵组件20与蓄气元件10连接以给蓄气元件10充气。检测装置30与蓄气元件10连接以检测蓄气元件10的气压。控制装置40与检测装置30和气泵组件20连接，控制装置40用于根据检测装置30检测到的气压控制气泵组件20给蓄气元件10充气。
本发明实施气源系统100通过控制装置40根据与蓄气元件10连接的检测装置30检测到的气压控制气泵组件20给蓄气元件10充气，使蓄气元件10中气体的气压始终保持在一个稳定范围内，进而气源系统100能够给气动执行元件200提供一个稳定的气压，提升了可移动设备300运行的稳定性。
请参阅图1-2，本发明实施方式的可移动设备300包括气动执行元件200和气源系统100，气源系统100用于驱动气动执行元件200以使可移动设备300移动或做动作。可移动设备300可以是无人机、可移动的机器人等。
气动执行元件200可以包括气动马达、气缸等元件。气动执行元件200设置有连接口(图未示)，连接口用于与气源系统100连接并接收气源系统100提供的气压。
请参阅图2，本发明实施方式的气源系统100包括蓄气元件10、气泵组件20、检测装置30和控制装置40。
蓄气元件10与气动执行元件200的连接口连接。蓄气元件10包括进气口12和出气口14。进气口12接收气体并把气体存储在蓄气元件10内。出气口14与气动执行元件200的连接口连通，出气口14用于将蓄气元件10内的气体传递到气动执行元件200内以给气动执行元件200提供气压。如此，蓄气元件10既用于存储气体又用于给气动执行元件200提供气压。蓄气元件10包括气瓶。
气泵组件20包括安装座21、活动件22、气泵23和驱动元件24。
安装座21用于制成气泵23，且安装座21还用于限制气泵23的运动。安装座21可以由多根杆组成。
活动件22可转动地安装在安装座21上。活动件22包括第一安装部222、第二安装部224和连接部226，第一安装部222与连接部226位于活动件22相背的两端，第二安装部224设置在第一安装部222和连接部226之间。具体地，第一安装部222位于与安装座21连接的一端，第一安装部222与安装座21之间可以通过销钉转动连接。
气泵23包括出气端232和活塞杆234。出气端232与活塞杆234分别位于气泵23相背的两端。出气端232位于靠近安装座21一端，出气端232的端部能够转动地安装在安装座21上。出气端232形成有打气口232a，打气口232a与蓄气元件10的进气口12连接并用于给蓄气元件10充气。活塞杆234位于靠近活动件22一端，活塞杆234的端部能够转动的安装在活动件22的第二安装部224上。具体地，出气端232与安装座21之间可以通过销钉转动连接，活塞杆234与第二安装部224也可以通过销钉转动连接。
驱动元件24用于活动件22向安装座21收拢和控制活动件22回复以使与活动件22连接的活塞杆234做活塞运动。驱动元件24可包括电机242、凸轮244和弹性元件246。电机242包括转轴242a，凸轮244设置在转轴242a上，凸轮244与活动件22的连接部226滑动连接。电机242驱动转轴242a转动时，转轴242a带动凸轮244转动以驱动活动件22朝活塞杆234一侧运动，且弹性元件246在活动件22向安装座21收拢时撑开活动件22。弹性元件246包括扭簧。凸轮244包括偏心轮。
具体地，初始状态时，转轴242a与活动件22之间的距离D0最短，电机242驱动转轴242a转动并带动凸轮244转动，使转轴242a与活动件22之间的距离D0增大，活动件22同时朝活塞杆234一侧运动；当转轴242a与活动件22之间的距离D0最长时，电机242驱动转轴242a转动并带动凸轮244转动，使凸轮244允许活动件22回复，在弹性元件246的作用下，活动件22朝凸轮244一侧运动并使活动件22回复到原来的位置。如此，驱动元件24能够驱动活动件22做活塞运动。电机242持续转动时，驱动元件24能够持续做活塞运动，进而驱动元件24能够驱动气泵23够给蓄气元件10持续充气。
检测元件30与蓄气元件10连接以检测蓄气元件10内存储气体的气压。检测元件30包括气压计。在本实施方式中，检测元件30直接设置于蓄气元件10上以直接测得蓄气元件10内的气体压力值，并便于检测元件30与控制装置40连接。
控制装置40与检测元件30和气泵组件20连接。控制装置40用于根据检测元件30检测到的气压控制气泵组件20给蓄气元件10充气。
当检测元件30检测到的气压与预定气压之间的差值小于或等于第一预定差值时，控制装置40控制气泵组件20给蓄气元件10充气。当检测元件30检测到的气压与预定气压之间的差值大于或等于第二预定差值时，控制装置40控制气泵组件20停止给蓄气元件10充气。具体地，预定气压为8个大气压，也就是，预定气压为0.8MPa。第一预定差值为预定气压的2％-6％，也就是说，第一预定值在16KPa-48KPa中任意取值，例如，第一预定值可以为16KPa、20KPa、24KPa、28KPa、32KPa、36KPa、40KPa、44KPa 或48KPa。第二预定差值小于0MPa，也就是说，蓄气元件10气体的气压不能大于预定气压，也就是0.8MPa。
控制装置40可以包括处理器42和存储器44，处理器42用于控制气泵组件20给蓄气元件10充气和用于控制气泵组件20停止给蓄气元件10充气，存储器44用于保存用于控制气泵组件20工作的程序和包括预定气压值、第一预定差值和第二预定差值在内的各种数值。
本发明实施气源系统100通过控制装置40根据与蓄气元件10连接的检测装置30检测到的气压控制气泵组件20给蓄气元件10充气，使蓄气元件10中气体的气压始终保持在一个稳定范围内，进而气源系统100能够给气动执行元件200提供一个稳定的气压，提升了可移动设备300运行的稳定性。
本发明实施方式还具有以下有益效果：第一，由于凸轮224连接在连接部226上的连接点与第一安装部222在安装座21上的连接点之间的距离D1大于活塞杆234连接在第二安装部224上的连接点与第一安装部222在安装座21上的连接点之间的距离D2，因而，根据杠杆原理，凸轮224施加在活动件22上的力小于活动件22施加在活塞杆234上的力，进而减小了电机242需要给活动件22提供的动力。
第二，由于安装座21与活动件22之间、出气端232与安装座21之间和活塞杆234与活动件22采用销钉转动连接，销钉转动连接相对于轴承连接成本更低、质量更轻，因而降低了气源系统100的成本并减轻了气源系统100的质量。
请参阅图2，在某些实施方式中，上述实施方式的蓄气元件10包括溢流阀16，溢流阀16用于控制蓄气元件10中气体的气压小于或等于一个预设值。预设值设定为蓄气元件10中所允许气体压力达到的最高安全气压值，例如，预设值为0.8MPa。如此，蓄气元件10中气体的气压不会超过预设值，进而提升了蓄气元件10的安全性。
请参阅图2，在某些实施方式中，上述实施方式的活动件22与安装座21之间的连接方式可以使用轴承连接替代销钉转动连接。具体地，安装座21上设置有轴承，活动件22(第一安装部222)与安装座21连接的一端设置有转轴，转轴安装在轴承上以实现活动件22(第一安装部222)与安装座21之间的转动连接。或者说，安装座21上也可以设置转轴，而活动件22(第一安装部222)与安装座21连接的一端设置与转轴连接的轴承。当然，出气端232与安装座21之间和活塞杆234与活动件22之间的连接方式可以使用轴承连接替代销钉转动连接。如此，由于轴承连接相对销钉转动连接具有更好的转动效果，进而活动件22与安装座21之间、出气端232与安装座21之间和活塞杆234与活动件22之间的运动更加顺畅。
请参阅图3，在某些实施方式中，上述实施方式的驱动元件24可以替换为：电机 242、凸轮244和连接件248。电机242包括转轴242a，凸轮244设置在转轴242a上，连接件248设置在凸轮244上并与活动件22连接。具体地，连接件248可以固定在凸轮244上，活动件22上开设有连接孔228，连接件248穿设在连接孔228内并能够在连接孔228内滑动。电机242驱动转轴242a转动时，转轴242a带动凸轮244转动，并使连接件248能够带动活动件22朝活塞杆234一侧运动和带动活动件22朝转轴242a一侧运动。如此，驱动元件24能够驱动活动件22做活塞运动。当然，连接件248与凸轮244和活动件22也可以均采用转动连接，当电机242驱动转轴242a转动时，转轴242a带动凸轮244转动，且连接件248能够将活动件22朝活塞杆234一侧推动和带动活动件22朝转轴242a一侧拉动以使驱动活动件22做活塞运动。
请参阅图2，在某些实施方式中，上述实施方式的气泵组件20还包括气管25和单向阀26。气管25连接气泵23的打气口232a与蓄气元件10的进气口12。单向阀26设置在气管25上，单向阀26用于限定气体单向向蓄气元件10流动。也就是说，气泵23产生的气体只能够从气泵23流向蓄气元件10，而不能从蓄气元件10流向气泵23。如此，蓄气元件10气体从气管25流到气泵23，进而导致蓄气元件10不能够保存气体。
具体地，本发明实施方式可以只满足上述其中一个实施方式或同时满足上述多个实施方式，也就是说，上述一个或多个实施方式组合而成的实施方式也属于本发明实施方式的保护范围。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施方式，可以理解的是，上述实施方式是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施方式进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (15)

  1. 一种气源系统，用于驱动可移动设备的气动执行元件，其特征在于，所述气源系统包括：
    与所述气动执行元件连接以提供气压的蓄气元件；
    与所述蓄气元件连接以给所述蓄气元件充气的气泵组件；
    与所述蓄气元件连接以检测所述气压的检测装置；和
    与所述检测装置和所述气泵组件连接以根据所述气压控制所述气泵组件给所述蓄气元件充气的控制装置。
  2. 根据权利要求1所述的气源系统，其特征在于，所述蓄气元件包括气瓶。
  3. 根据权利要求1所述的气源系统，其特征在于，所述蓄气元件包括溢流阀，所述溢流阀用于控制所述蓄气元件中的所述气压小于或等于一个预设值。
  4. 根据权利要求1所述的气源系统，其特征在于，所述气瓶形成有进气口；
    所述气泵组件包括：
    转动连接的安装座和活动件；
    气泵，所述气泵包括与所述安装座转动连接的出气端和远离所述出气端且与所述活动件转动连接的活塞杆，所述出气端形成有与所述进气口连接的打气口；和
    用于控制所述活动件向所述安装座收拢和控制所述活动件回复以使所述活塞杆做活塞运动的驱动元件。
  5. 根据权利要求4所述的气源系统，其特征在于，所述安装座与所述活动件之间、所述出气端与所述安装座之间和/或所述活塞杆与所述活动件采用销钉转动连接或轴承连接。
  6. 根据权利要求4所述的气源系统，其特征在于，所述驱动元件包括电机、凸轮和弹性元件，所述电机包括转轴，所述凸轮设置在所述转轴上，所述凸轮与所述活动件连接，所述弹性元件设置所述安装座和所述活动件之间，所述凸轮用于控制所述活动件向所述安装座收拢和允许所述活动件回复，所述弹性元件用于在所述活动件向所述安装座收拢时撑开所述活动件。
  7. 根据权利要求6所述的气源系统，其特征在于，所述弹性元件包括扭簧。
  8. 根据权利要求4所述的气源系统，其特征在于，所述驱动元件包括电机、凸轮和连接件，所述电机包括转轴，所述凸轮设置在所述转轴上，所述连接件设置在所述凸轮上并与所述活动件连接，所述电机带动所述连接件运动以驱动所述活动件做往复运动。
  9. 根据权利要求4所述的气源系统，其特征在于，所述气泵组件还包括连接所述打气口的气管；和
    设置在所述气管上的单向阀，所述单向阀用于限定气体单向向所述蓄气元件流动。
  10. 根据权利要求1所述的气源系统，其特征在于，所述检测装置包括气压计。
  11. 根据权利要求1所述的气源系统，其特征在于，所述控制装置用于：
    当所述气压与预定气压之间的差值小于或等于第一预定值时，控制所述气泵组件给所述蓄气元件充气。
  12. 根据权利要求11所述的气源系统，其特征在于，所述控制装置还用于：
    当所述气压与预定气压之间的差值大于或等于第二预定值时，控制所述气泵组件停止给所述蓄气元件充气。
  13. 根据权利要求11所述的气源系统，其特征在于，所述预定气压为8个大气压。
  14. 根据权利要求11所述的气源系统，其特征在于，所述第一预定差值为所述预定气压的2％-6％。
  15. 一种可移动设备，包括气动执行元件，其特征在于：所述可移动设备还包括如权利要求1-14中任意一项所述的气源系统，所述气源系统驱动所述气动执行元件以使所述可移动设备移动或做动作。
PCT/CN2017/089257 2017-04-28 2017-06-20 气源系统及可移动设备 WO2018196138A1 (zh)

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