CN109488663A - A kind of hydraulic power system for robot - Google Patents
A kind of hydraulic power system for robot Download PDFInfo
- Publication number
- CN109488663A CN109488663A CN201811583581.0A CN201811583581A CN109488663A CN 109488663 A CN109488663 A CN 109488663A CN 201811583581 A CN201811583581 A CN 201811583581A CN 109488663 A CN109488663 A CN 109488663A
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- China
- Prior art keywords
- plunger pump
- engine
- power system
- hydraulic power
- robot according
- Prior art date
- Legal status (The legal status 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 status listed.)
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- 238000010521 absorption reaction Methods 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 5
- 239000002828 fuel tank Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 2
- 239000000446 fuel Substances 0.000 abstract description 9
- 238000006073 displacement reaction Methods 0.000 abstract 5
- 238000002955 isolation Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000003752 improving hair Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
本发明公开一种机器人液压动力系统，包括发动机、舵机、变量柱塞泵、压力传感器、流量传感器以及上位机；所述发动机的输出轴与所述变量柱塞泵连接，并驱动所述变量柱塞泵运动，所述变量柱塞泵的出油口连接有出油管路，所述压力传感器以及流量传感器分别安装于所述出油管路上，所述压力传感器以及流量传感器均与所述上位机电连接，所述上位机分别与所述变量柱塞泵以及舵机电连接，所述舵机与所述发动机的油门线连接。本发明具有工作效率高、燃油消耗低的技术效果。
The invention discloses a robot hydraulic power system, comprising an engine, a steering gear, a variable displacement plunger pump, a pressure sensor, a flow sensor and a host computer; the output shaft of the engine is connected with the variable displacement plunger pump, and drives the variable displacement plunger pump. The plunger pump moves, the oil outlet of the variable displacement plunger pump is connected with the oil outlet pipeline, the pressure sensor and the flow sensor are respectively installed on the oil outlet pipeline, the pressure sensor and the flow sensor are both connected with the upper electromechanical The upper computer is respectively connected with the variable displacement plunger pump and the steering motor, and the steering gear is connected with the throttle wire of the engine. The invention has the technical effects of high working efficiency and low fuel consumption.
Description
Technical field
The present invention relates to robot power source technical fields, and in particular to a kind of hydraulic power system for robot.
Background technique
Due to the compact-sized of hydraulic-driven, power density is big, adaptivity is strong, and Hydraulic servo drive is in robot
The application in field has greater advantage compared with electric drive.In order to meet a variety of design requirements of robot, fluid power system
Hydraulic power source is not required nothing more than during the work time with quick, stable characteristic, hydraulic power source is also required to have high power density, efficiently
The characteristics of rate.Therefore, developing highly integrated hydraulic power system and providing strong hydraulic power source for the walking of robot is to set
Count a key technology of high-performance walking robot.Existing hydraulic power system for robot usually exist working efficiency it is low,
The high problem of fuel consumption.
Summary of the invention
It is an object of the invention to overcome above-mentioned technical deficiency, a kind of hydraulic power system for robot is provided, is solved existing
The technical problem that hydraulic power system for robot working efficiency is low in technology, fuel consumption is high.
To reach above-mentioned technical purpose, technical solution of the present invention provides a kind of hydraulic power system for robot, including hair
Motivation, steering engine, Variable plunger pump, pressure sensor, flow sensor and host computer；
The output shaft of the engine is connect with the Variable plunger pump, and the Variable plunger pump is driven to move, described
The oil outlet of Variable plunger pump is connected with oil outlet pipe, the pressure sensor and flow sensor be respectively arranged in it is described go out
On oil pipe line, the pressure sensor and flow sensor with the upper mechatronics, the host computer respectively with institute
It states Variable plunger pump and steering engine electrical connection, the steering engine is connect with the throttle line of the engine.
Compared with prior art, the beneficial effect comprise that being supervised in real time by pressure sensor and flow sensor
The data on flows and pressure data of Variable plunger pump are surveyed, host computer is according to pressure data and data on flows simultaneously to Variable plunger pump
Discharge capacity and the revolving speed of engine carry out closed-loop control, realize the operating point matching of engine and Variable plunger pump, improve hair
The working efficiency of motivation and Variable plunger pump reduces the fuel consumption of engine.
Detailed description of the invention
Fig. 1 is the working principle diagram of hydraulic power system for robot provided by the invention.
Appended drawing reference:
1, engine, 11, steering engine, 2, Variable plunger pump, 31, pressure sensor, 32, flow sensor, 33, secondary instrument
Table, 4, host computer, 51, check valve, 52, overflow valve, 61, oil absorption filter, 62, fuel tank, 71, remote terminal, 72, wireless transmission
Receiver, 81, starting motor, 82, starting relay, 821, main contacts, 83, starting battery.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1:
As shown in Figure 1, the embodiment of the present invention 1 provides a kind of hydraulic power system for robot, it is hereinafter referred to as hydraulic dynamic
Force system, including engine 1, steering engine 11, Variable plunger pump 2, pressure sensor 31, flow sensor 32 and host computer 4；
The output shaft of the engine 1 is connect with the Variable plunger pump 2, and the Variable plunger pump 2 is driven to move, institute
The oil outlet for stating Variable plunger pump 2 is connected with oil outlet pipe, and the pressure sensor 31 and flow sensor 32 are installed respectively
In in the oil outlet pipe, the pressure sensor 31 and flow sensor 32 are electrically connected with the host computer 4, it is described on
Position machine 4 is electrically connected with the Variable plunger pump 2 and steering engine 11 respectively, and the throttle line of the steering engine 11 and the engine 1 connects
It connects.
The oil outlet pipe of Variable plunger pump 2 is equipped with pressure sensor 31 and flow sensor 32, realizes to variable piston
The pressure of pump 2 and the real-time monitoring of flow.Pressure data and data on flows are uploaded to host computer 4, host computer 4 is according to number pressure
The factually existing closed-loop control to 1 revolving speed of engine, and then realize the accurate control of hydraulic power system pressure；Meanwhile host computer 4
The closed-loop control to 2 discharge capacity of Variable plunger pump is realized according to data on flows, and then realizes 2 oil inlet fuel delivery of Variable plunger pump
Accurate supply.It is rotated specifically, host computer 4 controls steering engine 11, pulls the throttle line traffic control of engine 1 to start when steering engine 11 rotates
The revolving speed of machine 1.
Hydraulic power system provided by the invention is according to pressure data and data on flows, to the discharge capacity of Variable plunger pump 2
Two-parameter closed-loop control is carried out with the revolving speed of engine 1.Host computer 4 matches in the hydraulic power system course of work simultaneously starts
The revolving speed of machine 1 and 2 discharge capacity of Variable plunger pump achieve the purpose that improve the two working efficiency, are guaranteeing accurately to control fuel feeding
Under the premise of amount, improves the working efficiency of hydraulic power system, reduces engine fuel consumption.
The present invention can accurately control fuel delivery, efficiently use energy, reduce the fuel consumption of robot, increase in continuation of the journey
Journey.And the present invention realizes the intelligentized control method of hydraulic power by host computer, adaptable, response is fast, is conducive to shortening machine
The response time of device people improves the adaptability to emergency case.
Preferably, the engine 1 is four stroke one-spool engines.
Four stroke one-spool engines have the advantages that power is big, revolving speed is high, light-weight.Specifically, the present embodiment is selected
The rotary engine of model Aixro XR50, the model engine output are 33 kilowatts of 8750rpm, weight 17Kg, are turned
Square 39Nm at 7500rpm, cylinder capacity 294cc, maximum (top) speed 11000rpm, igniter are PVL Fire 650, performance
It is excellent.
Preferably, the Variable plunger pump 2 is electric proportional variable plunger pump.
Electric proportional variable plunger pump can carry out flow control according to electric signal, and control is precisely, efficiently.
Specifically, the preferred diacytic type plunger pump of Variable plunger pump 2, diacytic type plunger pump uses involute spline transmission side
Formula, has the function of constant voltage output, and it is high with working speed, that structure gold is searched, power-weight ratio is big, output power is variable is excellent
Point.
Preferably, the pressure sensor 31 and flow sensor 32 pass through secondary meter 33 and the host computer respectively
4 electrical connections.
Pass through the flow number of the acquisition of secondary meter 33, the pressure data of record pressure sensor 31 and flow sensor 32
According to being then uploaded to host computer 4, while realizing that pressure data and data on flows upload, secondary meter 33 can also be to pressure
Data and data on flows carry out real-time display, understand the working condition of hydraulic power system in real time convenient for user.Secondary meter is adopted
It is realized with the prior art.
Preferably, the host computer 4 is PLC controller.
PLC controller is common host computer 4, and control logic is simple.
Preferably, as shown in Figure 1, being also connected with check valve 51 and overflow valve 52 in the oil outlet pipe.
For check valve 51 for preventing oily refluence, overflow valve 52 plays the role of safeguard protection.
Preferably, as shown in Figure 1, the oil inlet of the Variable plunger pump 2 is equipped with oil absorption filter 61, the oil suction
Filter 61 is connect by oil inlet pipe with fuel tank 62.
Fuel tank 62 is that Variable plunger pump 2 provides oil sources, and oil absorption filter 61 is filtered oil sources, and impurity is avoided to enter change
Measure the normal work of 2 variation plunger pump 2 of plunger pump.Specifically, oil sources preferably No. 10, No. 12 and No. 15 aircraft fluids.
Preferably, as shown in Figure 1, hydraulic power system further includes remote terminal 71 and wireless transmitter receiver device 72, institute
It states host computer 4 to be electrically connected with the wireless transmitter receiver device 72, and whole by the wireless transmitter receiver device 72 and the remote control
End 71 is wirelessly connected.
Remote terminal 71 and wireless transmitter receiver device 72 are added, telecommand is sent to host computer 4 by remote terminal 71,
Host computer 4 is adjusted engine 1 and Variable plunger pump 2 according to telecommand, realizes the long-range control of hydraulic power system
System, the mode remotely controlled are suitble to various dangerous situation operations.
Preferably, as shown in Figure 1, hydraulic power system further includes starting motor 81, starting relay 82 and starting electricity
Pond 83, the engine 1 are electrically connected with the starting motor 81 transmission, and the starting motor 71 passes through the starting relay 82
Main contacts 821 be electrically connected with the starting battery 83, the starting relay 82 is electrically connected with the host computer 4.
Host computer 4 controls the switch of main contacts 821 by control starting relay 82, and then controls opening for starting motor 81
It is dynamic, drive engine 1 to start by starting motor 81.
Preferably, water cooling equipment is also equipped on the engine 1.
Increase water cooling equipment, water-cooling is carried out to engine, extends the stream time of engine.Water cooling equipment is adopted
It is realized with the prior art.
Preferably, air cooler is also equipped on the engine 1.
Increase air cooler, air discharging and radiating is carried out to engine, extends the stream time of engine.Air cooler is adopted
It is realized with the prior art.
Preferably, muffling device is also equipped on the engine 1.
Muffling device carries out noise elimination, reduces noise pollution.
Preferably, engine 1 is installed on robot body by isolation isolation isolation mounting.
The vibration that isolation isolation mounting avoids engine from causing robot body excessive, avoids the walking of robot body from receiving
To the influence of engine vibration.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications that technical concept of the invention is made should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of hydraulic power system for robot, which is characterized in that including engine, steering engine, Variable plunger pump, pressure sensing
Device, flow sensor and host computer；
The output shaft of the engine is connect with the Variable plunger pump, and the Variable plunger pump is driven to move, the variable
The oil outlet of plunger pump is connected with oil outlet pipe, and the pressure sensor and flow sensor are respectively arranged in the flowline
On the road, the pressure sensor and flow sensor with the upper mechatronics, the host computer respectively with the change
It measures plunger pump and steering engine electrical connection, the steering engine is connect with the throttle line of the engine.
2. hydraulic power system for robot according to claim 1, which is characterized in that the engine is four stroke single-turns
Sub- engine.
3. hydraulic power system for robot according to claim 1, which is characterized in that the Variable plunger pump is electric ratio
Variable plunger pump.
4. hydraulic power system for robot according to claim 1, which is characterized in that the pressure sensor and flow
Sensor passes through secondary meter and the upper mechatronics respectively.
5. hydraulic power system for robot according to claim 1, which is characterized in that the host computer is PLC controller.
6. hydraulic power system for robot according to claim 1, which is characterized in that be also connected in the oil outlet pipe
Check valve and overflow valve.
7. hydraulic power system for robot according to claim 1, which is characterized in that the oil inlet of the Variable plunger pump
Oil absorption filter is installed, the oil absorption filter is connect by oil inlet pipe with fuel tank.
8. hydraulic power system for robot according to claim 1, which is characterized in that further include remote terminal and wireless
Transceiver, the host computer are electrically connected with the wireless transmitter receiver device, and pass through the wireless transmitter receiver device and institute
State remote terminal wireless connection.
9. hydraulic power system for robot according to claim 1, which is characterized in that further include starting motor, starting after
Electric appliance and starting battery, the engine are electrically connected with the starting motor drive, and the starting motor passes through the starting
The main contacts of relay is electrically connected with the starting battery, the starting relay and the upper mechatronics.
10. -9 any hydraulic power system for robot according to claim 1, which is characterized in that on the engine also
Water cooling equipment is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811583581.0A CN109488663A (en) | 2018-12-24 | 2018-12-24 | A kind of hydraulic power system for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811583581.0A CN109488663A (en) | 2018-12-24 | 2018-12-24 | A kind of hydraulic power system for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109488663A true CN109488663A (en) | 2019-03-19 |
Family
ID=65711515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811583581.0A Pending CN109488663A (en) | 2018-12-24 | 2018-12-24 | A kind of hydraulic power system for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109488663A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959633A (en) * | 2020-08-27 | 2020-11-20 | 燕山大学 | A hydraulically driven foot bionic humanoid robot |
| CN115390506A (en) * | 2022-07-18 | 2022-11-25 | 江苏韦斯顿智能科技有限公司 | Electro-hydraulic servo system with data interaction function for monitoring Internet of things |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102278334A (en) * | 2011-07-22 | 2011-12-14 | 中国人民解放军装甲兵工程学院 | Hydraulic power system for robot |
| CN103291474A (en) * | 2013-06-27 | 2013-09-11 | 山东大学 | Control system and method for gasoline engine driving leg-foot-type robot hydraulic system |
| CN206573924U (en) * | 2017-03-09 | 2017-10-20 | 中船重工海为郑州高科技有限公司 | A kind of bellows production equipment wireless control system |
-
2018
- 2018-12-24 CN CN201811583581.0A patent/CN109488663A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102278334A (en) * | 2011-07-22 | 2011-12-14 | 中国人民解放军装甲兵工程学院 | Hydraulic power system for robot |
| CN103291474A (en) * | 2013-06-27 | 2013-09-11 | 山东大学 | Control system and method for gasoline engine driving leg-foot-type robot hydraulic system |
| CN206573924U (en) * | 2017-03-09 | 2017-10-20 | 中船重工海为郑州高科技有限公司 | A kind of bellows production equipment wireless control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959633A (en) * | 2020-08-27 | 2020-11-20 | 燕山大学 | A hydraulically driven foot bionic humanoid robot |
| CN111959633B (en) * | 2020-08-27 | 2022-06-07 | 燕山大学 | Hydraulic drive type foot type bionic humanoid robot |
| CN115390506A (en) * | 2022-07-18 | 2022-11-25 | 江苏韦斯顿智能科技有限公司 | Electro-hydraulic servo system with data interaction function for monitoring Internet of things |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190319 |
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| RJ01 | Rejection of invention patent application after publication |