阅读说明：本技术 一种可能量回收的足式液压机器人液压控制系统 (Sufficient hydraulic robot hydraulic control system that possible volume was retrieved ) 是由 丁孺琦 江来 李刚 李望笃 于 2020-06-06 设计创作，主要内容包括：本发明公布了一种可能量回收的足式液压机器人液压控制系统。该系统通过配置可双向旋转、进出油方向可逆的液压泵,采用电磁开关阀作为蓄能器与液压泵进油口油路放液阀,可实现能量的适时再利用；采用电磁开关阀作为腿足关节油缸回油腔与油箱低压回路接通或与蓄能器连通油路的切换阀,可实现腿足关节油缸超越负载能量的回收；采用每条腿足配置独立的液压系统,使每条腿足之间的液压系统流量、压力互不干扰,可实现复杂工况、步态下的超越负载能量回收。本发明能够实现足式液压机器人超越负载能量回收和再利用的精确控制,有效地降低液压系统能耗,进一步提高其工作续航能力。(The invention discloses a hydraulic control system of a foot type hydraulic robot capable of recovering energy. The system is provided with a hydraulic pump which can rotate in two directions and has reversible oil inlet and outlet directions, and an electromagnetic switch valve is used as an energy accumulator and a liquid discharge valve of an oil inlet oil path of the hydraulic pump, so that the energy can be recycled timely; an electromagnetic switch valve is used as a switching valve of an oil way for communicating an oil return cavity of the leg-foot joint oil cylinder with an oil tank low-pressure loop or with an energy accumulator, so that the recovery of the overrunning load energy of the leg-foot joint oil cylinder can be realized; each leg and foot is provided with an independent hydraulic system, so that the flow and the pressure of the hydraulic system between each leg and foot are not interfered with each other, and the overrunning load energy recovery under complex working conditions and gait can be realized. The invention can realize the accurate control of the foot type hydraulic robot over-load energy recovery and reutilization, effectively reduce the energy consumption of the hydraulic system and further improve the working endurance capacity of the hydraulic robot.)

1. The utility model provides a sufficient hydraulic pressure robot hydraulic control system of possibility recovery, includes servo motor, hydraulic pump, overflow valve 3, accumulator, ordinary joint drive unit group, energy recovery joint hydro-cylinder control valve, energy recovery joint hydro-cylinder, energy storage oil circuit diverter valve, energy storage oil circuit check valve, accumulator bleeder valve, oil return check valve, oil tank, characterized by: one branch at the oil outlet of the hydraulic pump is connected to an oil tank through an overflow valve to form an overflow loop of the system, and the other branch is respectively connected to a main oil inlet of a common joint driving control unit group and an oil inlet of an energy recovery joint oil cylinder control valve; the general oil return port of the common joint drive control unit group is connected with an oil tank; one branch of an oil return port of the energy recovery joint oil cylinder control valve is connected to an oil tank through an energy storage oil way switching valve, and the other branch of the energy recovery joint oil cylinder control valve is connected to an energy accumulator through an energy storage oil way one-way valve; one branch of the hydraulic pump oil inlet is connected to the oil tank after the oil return is unidirectional, and the other branch is connected to the energy accumulator through the energy accumulator liquid discharge valve.

2. The hydraulic control system of a foot-type hydraulic robot with the capability of energy recovery according to claim 1, characterized in that: furthermore, the energy recovery joint oil cylinder is arranged on a joint mechanism of the foot type hydraulic robot with the most surpassing load energy generated by a single leg, and an oil inlet and an oil outlet of the energy recovery joint oil cylinder are connected with a working oil port of a control valve of the energy recovery joint oil cylinder; the energy recovery joint oil cylinder control valve adopts a three-position four-way electric proportional reversing valve, and the valve core and the opening degree are controlled through electric signals, so that the movement direction and the speed of the energy recovery joint oil cylinder are controlled; the hydraulic pump adopts a quantitative pump which can rotate in two directions and has reversible oil inlet and outlet directions, the system flow can be controlled by adjusting the speed of the servo motor, the system flow can be supplied as required, and the energy consumption of the system is greatly reduced in the aspect of energy supply; and the energy storage oil path switching valve and the energy accumulator liquid discharge valve both adopt electromagnetic switch valves.

3. The hydraulic control system of a foot-type hydraulic robot with the capability of energy recovery according to claim 1, characterized in that: furthermore, the common joint driving control unit group comprises a plurality of common joint driving units, and the number of the common joint driving units is determined by the number of joints of one leg of the robot; the common joint driving unit consists of a common joint driving oil cylinder and a common joint driving oil cylinder control valve corresponding to the common joint driving oil cylinder; the common joint driving oil cylinder is arranged at a joint with little recoverable energy on a single leg, the control valve of the common joint driving oil cylinder adopts a three-position four-way electric proportional reversing valve, a working oil port of the common joint driving oil cylinder is connected with an oil inlet and an oil outlet of the corresponding common joint driving oil cylinder, oil inlets of the common joint driving oil cylinder are connected with a main oil inlet of the unit set after being communicated with each other, and oil outlets of the common joint driving oil cylinder are connected with a main oil outlet of the unit set after being communicated with each other.

Technical Field

The invention relates to a hydraulic control system, in particular to a hydraulic control system of a foot type hydraulic robot capable of recovering energy.

Background

In recent years, the foot type hydraulic robot has great power-weight ratio, flexible motion mode and strong environmental adaptability, and is valued by many colleges and universities, scientific research institutions and military science and technology departments at home and abroad. In the future, the foot type hydraulic robots are expected to play an important role in the fields of mountain land carrying, rescue and emergency rescue, geological exploration and the like. The application fields all require long-time continuous work in a complex field environment, which not only puts forward higher requirements on environmental adaptability, response rapidity, system stability and action accuracy, but also puts forward higher requirements on work endurance capacity for the foot type hydraulic robot.

The energy recovery hydraulic system of the traditional foot type hydraulic robot is configured in a way that a single hydraulic system supplies oil to a multi-foot multi-joint actuator at the same time, an energy accumulator is arranged at an oil outlet of a pump, when the flow required by the system is reduced, high-pressure oil enters an accumulator, and when the flow required by the system is increased, the oil in the accumulator is supplied to the system, so that the energy recovery is realized to a certain extent. However, the energy storage and release of the traditional hydraulic control system cannot be controlled, and the overrunning load energy recovery of the legs under different motion working conditions cannot be realized respectively, which seriously affects the energy utilization efficiency of the foot type hydraulic robot.

Disclosure of Invention

In order to solve the technical problems, the invention provides a hydraulic control system of a foot type hydraulic robot, which can further reduce energy consumption and improve the working endurance capacity and has a single-leg overrunning load energy recovery function.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a hydraulic control system of a foot type hydraulic robot with the possibility of energy recovery comprises a servo motor 1, a hydraulic pump 2, an overflow valve 3, an energy accumulator 4, a common joint driving unit group 5, an energy recovery joint oil cylinder control valve 6, an energy recovery joint oil cylinder 7, an energy storage oil way switching valve 8, an energy storage oil way check valve 9, an energy accumulator liquid discharge valve 10, an oil return check valve 11 and an oil tank 12;

one branch at an oil outlet p2 of the hydraulic pump 2 is connected to the oil tank 12 through an overflow valve 3 to form an overflow loop of the system, and the other branch is respectively connected to a main oil inlet a5 of a common joint drive control unit group 5 and an oil inlet p6 of an energy recovery joint oil cylinder control valve; the general joint driving control unit group 5 total oil return port b5 is connected with the oil tank 12; one branch of an oil return port b6 of the energy recovery joint oil cylinder control valve 6 is connected to an oil tank 12 through an energy storage oil path switching valve 8, and the other branch is connected to an energy accumulator 4 through an energy storage oil path one-way valve 9; one branch at an oil inlet t2 of the hydraulic pump 2 is connected to an oil tank 12 through an oil return one-way 11, and the other branch is connected to an energy accumulator 4 through an energy accumulator liquid discharge valve 10.

Further, the energy recovery joint oil cylinder 7 is arranged on a joint mechanism of the foot type hydraulic robot with the most surpassing load energy generated by a single leg, and an oil inlet and an oil outlet of the energy recovery joint oil cylinder are connected with a working oil port of the energy recovery joint oil cylinder control valve 6; the energy recovery joint oil cylinder control valve 6 adopts a three-position four-way electric proportional reversing valve, and controls the valve core and the opening degree through electric signals, so that the movement direction and the speed of the energy recovery joint oil cylinder 7 are controlled; the hydraulic pump 2 adopts a quantitative pump which can rotate in two directions and has reversible oil inlet and outlet directions, the system flow can be controlled by adjusting the speed of the servo motor 1, the system flow can be supplied as required, and the energy consumption of the system is greatly reduced in the aspect of energy supply; and the energy storage oil path switching valve 7 and the energy accumulator liquid discharge valve 10 both adopt electromagnetic switch valves.

Furthermore, the common joint driving control unit group 5 comprises a plurality of common joint driving units, and the number of the common joint driving units is determined by the number of joints of one leg of the robot; the common joint driving unit consists of a common joint driving oil cylinder and a common joint driving oil cylinder control valve corresponding to the common joint driving oil cylinder; the common joint driving oil cylinder is arranged at a joint with little recoverable energy on a single leg, the control valve of the common joint driving oil cylinder adopts a three-position four-way electric proportional reversing valve, a working oil port of the common joint driving oil cylinder is connected with an oil inlet and an oil outlet of the corresponding common joint driving oil cylinder, oil inlets of the common joint driving oil cylinder are connected with each other and then connected to a main oil inlet a5 port of the unit set, oil outlets of the common joint driving oil cylinder are connected with each other and then connected to a main oil outlet b5 of the unit set and then.

Compared with the prior art, the invention has the beneficial effects that:

the energy storage oil way for energy recovery is matched with the electromagnetic switch valve for use, the energy recovery process can be controlled, timely recovery and timely utilization are achieved, energy consumption can be effectively reduced, and the energy recovery utilization efficiency and the working endurance of the foot type hydraulic robot are further improved.

Secondly, the invention adopts a distributed driving scheme of configuring an independent hydraulic system for each leg and foot of the foot type hydraulic robot, can adopt different energy recovery control modes according to the working condition of each leg, and can achieve the intellectualization of the energy recovery and utilization beyond the load.

The invention can be realized by configuring light and compact hydraulic elements, can be quickly transplanted into an original hydraulic system under the condition of basically not changing the layout of the original system, greatly saves the redesign and layout cost of the system, and is suitable for the electromechanical liquid equipment with highly integrated system, such as a foot type hydraulic robot.

Drawings

FIG. 1 is a schematic diagram of a hydraulic control system for a foot-type hydraulic robot with energy recovery according to the present invention;

FIG. 2 is a schematic diagram of a common joint drive control unit;

FIG. 3 is a schematic diagram of the system of the present invention in a resistive extension condition;

FIG. 4 is a schematic diagram of the system of the present invention in a resistive retract condition;

FIG. 5 is a schematic view of the system of the present invention in an overrunning extension condition;

FIG. 6 is a schematic view of the system of the present invention in an overrunning retraction condition;

fig. 7 is a schematic diagram of a distributed hydraulic control system for a biped hydraulic robot with energy recovery according to an embodiment of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings. Wherever possible, the same or corresponding reference numbers will be used throughout the drawings to refer to the same or like parts.

Referring now to fig. 1 and 2, a hydraulic control system of a foot type hydraulic robot with capability of energy recovery, which can supply gait tracking control signals to control valves of all joint oil cylinders to control all joint oil cylinders of legs and feet to work under four-quadrant working conditions; when the load is resisted, the load force and the speed are opposite, and the hydraulic cylinder can extend and retract; when the load is surpassed, the load force and the speed are the same, and the hydraulic cylinder can extend and retract; the energy exceeding load energy generated on the energy recovery joint oil cylinder 7 due to the fact that the speed direction and the load force direction are the same can be recovered and utilized by changing the opening and closing states of all switch valves in the system schematic diagram; it should be noted that the number of the common joint driving control units of the common joint driving control unit group 5 is determined by the number of the single-leg joints of the foot type hydraulic robot; fig. 1 shows an example of a single-leg two-joint foot type hydraulic robot, and if the number of joints of a single leg is increased, the number of drive control units of common joints is correspondingly increased.

Referring to fig. 3, the energy recovery joint oil cylinder control valve 6 is fed with an action control signal, and when the energy recovery joint oil cylinder 7 works under the impedance extension working condition: the rodless cavity of the energy recovery joint oil cylinder 7 is communicated with a high-pressure oil way; the energy storage oil path switching valve 8 is powered on, and a rod cavity of the energy recovery joint oil cylinder 7 is communicated with an oil tank 12; the energy accumulator liquid discharging valve 10 is electrified to be communicated with an oil path between the energy accumulator 4 and the hydraulic pump oil inlet t2, and the oil return one-way valve 11 can prevent high-pressure fluid from entering the oil tank, so that the high-pressure fluid in the energy accumulator 4 can only enter the hydraulic pump 2 to assist the servo motor to do work, and the utilization of energy is realized.

Referring to fig. 4, the energy recovery joint oil cylinder control valve 6 is fed with an action control signal, and when the energy recovery joint oil cylinder 7 works under an impedance retraction working condition, a rod cavity of the energy recovery joint oil cylinder 7 is communicated with a high-pressure oil path; the energy storage oil path switching valve 8 is powered on, and the rodless cavity of the overrunning load energy recovery joint oil cylinder 7 is communicated with the oil tank 12; the energy accumulator liquid discharging valve 10 is electrified to be communicated with an oil path between the energy accumulator 4 and the hydraulic pump oil inlet t2, and the oil return one-way valve 11 can prevent high-pressure fluid from entering the oil tank, so that the high-pressure fluid in the energy accumulator 4 can only enter the hydraulic pump 2 to assist the servo motor to do work, and the utilization of energy is realized.

Referring to fig. 5, the overrunning load energy recovery joint oil cylinder control valve 6 is fed with an action control signal, and when the energy recovery joint oil cylinder 7 works under an overrunning extension working condition, a rodless cavity of the energy recovery joint oil cylinder 7 is communicated with a high-pressure oil way; the electromagnet of the energy storage oil path switching valve 8 is powered off, so that the rod cavity of the energy recovery joint oil cylinder 7 is communicated with the energy accumulator 4; the electromagnet of the energy accumulator liquid discharging valve 10 is powered off, an oil path between the energy accumulator 4 and the oil inlet t2 of the hydraulic pump is closed, oil liquid in a rod cavity of the energy recovery joint oil cylinder 7 is pressurized into high-pressure fluid under the action of exceeding load energy, the energy storage oil path one-way valve 9 is opened, and the energy accumulator 4 is filled with the high-pressure fluid, so that energy recovery is realized.

Referring to fig. 6, the energy recovery joint oil cylinder control valve 6 is fed with an action control signal, and when the energy recovery joint oil cylinder 7 works under an overrunning retraction working condition, a rod cavity of the energy recovery joint oil cylinder 7 is communicated with a high-pressure oil way; the electromagnet of the energy storage oil path switching valve 8 is powered off, so that the rodless cavity of the energy recovery joint oil cylinder 7 is communicated with the energy accumulator 4; the electromagnet of the energy accumulator liquid discharging valve 10 is powered off, an oil path between the energy accumulator 4 and the oil inlet t2 of the hydraulic pump is closed, oil liquid in a rod cavity of the energy recovery joint oil cylinder 7 is pressurized into high-pressure fluid under the action of exceeding load energy, the energy storage oil path one-way valve 9 is opened, and the energy accumulator 4 is filled with the high-pressure fluid, so that energy recovery is realized.

Referring now to fig. 7, a schematic diagram of a distributed hydraulic control system for a two-footed hydraulic robot with energy recovery is shown in this embodiment. In the illustrated embodiment, the hydraulic system 300 is formed by two sets of the distributed arrangement of the present invention of the right leg hydraulic system 100 and the left leg hydraulic system 200.

In this embodiment, the right leg hydraulic system 100 and the left leg hydraulic system 200 are independent on the hydraulic system, and the oil flow and the pressure are not interfered with each other during operation; the joint oil cylinders are mutually linked in control and mutually matched so as to finish various actions of the double-foot hydraulic robot.

In this embodiment, the biped hydraulic robot has two joints on one leg, and the overrunning load energy is mainly distributed on the thigh joint oil cylinder, so the overrunning load energy recovery joint oil cylinders 107 and 207 should be arranged on the thigh, and the common joint driving unit groups 105 and 205 have only one common joint driving unit respectively and are arranged on the shank joint.

In this embodiment, the working principle and the control method are as follows: the system is started, the constant delivery pumps 102 and 202 of each leg system provide proper pressure and flow for each leg system under the driving of the servo motors 101 and 102, the common joint oil cylinder control valves 1051 and 2051 and the transcendental load energy recovery joint oil cylinder control valves 106 and 206 are fed with gait tracking control signals by the controller, and the transcendental load energy recovery joint oil cylinders 107 and 207 of the biped hydraulic robot work under four-quadrant working conditions; the recovery and utilization of the overrunning load energy generated by the energy recovery joint oil cylinders 107 and 207 can be realized by monitoring the motion working condition of the overrunning load energy recovery joint oil cylinders 107 and 207 and changing the opening and closing states of each switch valve in the system corresponding to the modes shown in fig. 3 to 6 according to the motion working condition.

It should be understood that parts of the specification not set forth in detail are well within the prior art. The above examples are merely illustrative of the preferred embodiments of the present invention and do not limit the scope of the present invention.