阅读说明：本技术 节能型机器人液压移动平台 (Energy-saving robot hydraulic moving platform ) 是由 臧发业 杨仁明 孔祥臻 尹修杰 于 2019-11-21 设计创作，主要内容包括：一种节能型机器人液压移动平台主要包括车轮、平台本体、电磁制动器、转向机构和二次调节液压驱动装置等,转向机构为平行四杆转向机构,通过调节比例换向阀的输入电流,控制转向油缸活塞杆的伸缩长度,实现平台转向；二次元件与后驱动桥连接,通过调节二次元件分别处在液压马达或液压泵工况,来驱动平台运动或回收其制动动能和坡道重力能,转换为液压能储存在蓄能器中,用于移动平台的起动、加速和爬坡运动；本发明适合在野外、高速、大负载的工况下工作,移动平台承载大、牵引能力强；能够实现能量的回收与再利用,大大减少了移动平台的装机功率。(An energy-saving robot hydraulic moving platform mainly comprises wheels, a platform body, an electromagnetic brake, a steering mechanism, a secondary regulation hydraulic driving device and the like, wherein the steering mechanism is a parallel four-rod steering mechanism, and controls the telescopic length of a piston rod of a steering oil cylinder by regulating the input current of a proportional reversing valve to realize the steering of the platform; the secondary element is connected with the rear drive axle, and the secondary element is regulated to be respectively positioned in the working conditions of the hydraulic motor or the hydraulic pump to drive the platform to move or recover the braking kinetic energy and the slope gravitational energy of the platform, and the braking kinetic energy and the slope gravitational energy are converted into hydraulic energy which is stored in the energy accumulator and used for starting, accelerating and climbing the mobile platform; the invention is suitable for working under the working conditions of field, high speed and heavy load, and the mobile platform has large bearing capacity and strong traction capacity; the energy can be recycled, and the installed power of the mobile platform is greatly reduced.)

1. An energy-saving type robot hydraulic moving platform comprises a left front wheel (1), a left front electromagnetic brake (2), a front baffle (3), a left front wheel supporting plate (4), a connecting rod (5), an oil tank (6), a motor (7), an oil cylinder supporting seat (8), a motor supporting seat (9), a steering oil cylinder (10), a variable pump (11), a proportional reversing valve (12), a right front wheel supporting plate (13), a right side plate (14), a right front wheel (15), a right front electromagnetic brake (16), a pressure reducing valve (17), an overflow valve (18), a one-way valve (19), an energy accumulator supporting seat (20), a right rear electromagnetic brake (21), a right rear wheel (22), an energy accumulator (23), a variable device (24), a secondary element (25), a secondary element supporting seat (26), a right rear axle (27), a rear driving axle (28), a rear baffle (29), a left half axle (30), A left side plate (31), a left rear electromagnetic brake (32), a left rear wheel (33), a bottom plate (34) and an upper cover plate (35); the method is characterized in that: the wheel axle of a left front wheel (1) is connected with a left front wheel support plate (4) through a left front electromagnetic brake (2), the left front electromagnetic brake (2) is installed on a left side plate (31) of the platform body, the wheel axle of a right front wheel (15) is connected with a right front wheel support plate (13) through a right front electromagnetic brake (16), the right front electromagnetic brake (16) is installed on a right side plate (14) of the platform body, a right rear wheel (22) is installed on a right half shaft (27) through a right rear electromagnetic brake (21), the right rear electromagnetic brake (21) is installed on the right side plate (14) of the platform body, a left rear wheel (33) is installed on a left half shaft (30) through a left rear electromagnetic brake (32), and the left rear electromagnetic brake (32) is installed on the left side plate (31) of the platform body; the front baffle (3), the right side plate (14), the rear baffle (29), the left side plate (31), the bottom plate (34) and the upper cover plate (35) form a body of the mobile platform, and the front baffle (3), the right side plate (14), the rear baffle (29), the left side plate (31) and the bottom plate (34) are welded together and are connected with the upper cover plate (35) through bolts; a left front wheel support plate (4), a connecting rod (5), a steering oil cylinder (10), a proportional reversing valve (12) and a right front wheel support plate (13) form a steering mechanism of the mobile platform, the tail part of a cylinder body of a steering oil cylinder (10) is connected with an oil cylinder support (8) through a cylindrical pin, the oil cylinder support (8) is fixed on a bottom plate (34) of a moving platform body through a bolt, the top end of a piston rod of the steering oil cylinder (10) is connected with a right front wheel support plate (13) through the cylindrical pin, a proportional reversing valve (12) is installed on an oil tank (6), one end of a left front wheel support plate (4) is connected with a wheel axle of a left front wheel (1), the other end of the left front wheel support plate is connected with the left end of a connecting rod (5) through the cylindrical pin, one end of the right front wheel support plate (13) is connected with the wheel axle of a right front wheel (15), and the other end of the right front wheel support plate is; the hydraulic control system comprises an oil tank (6), a motor (7), a variable pump (11), a pressure reducing valve (17), an overflow valve (18), a check valve (19), an energy accumulator (23), a variable device (24), a secondary element (25), a right half shaft (27), a rear drive axle (28) and a left half shaft (30) which form a secondary regulation hydraulic drive device of a mobile platform, wherein the oil tank (6) is fixed on a platform body bottom plate (34) through bolts, the motor (7) and the variable pump (11) are installed on a motor support (9), the motor support (9) is fixed on the oil tank (6), the pressure reducing valve (17), the overflow valve (18) and the check valve (19) are installed on the oil tank (6), the energy accumulator (23) is installed on the platform body bottom plate (34) through an energy accumulator support (20), the variable oil cylinder (24-1) and a servo valve (24-2) form the variable device (, the variable device (24) is arranged on a secondary element (25), the secondary element (25) is arranged on a platform body bottom plate (34) through a secondary element support (26) and is connected with a rear drive axle (28), and the rear drive axle (28) is respectively connected with the left end of a right half shaft (27) and the right end of a left half shaft (30); the variable pump (11), the one-way valve (19) and the overflow valve (18) form a constant pressure oil source.

Technical Field

The invention relates to a robot moving platform, in particular to an energy-saving robot hydraulic moving platform.

Background

The mobile platform is a carrier of a robot, the current mobile platform usually adopts an electric driving mode, for example, the foreign open power houses and the domestic new loose mobile platform are driven by motors, and the mobile platform has better control and control performance, but is mostly only suitable for indoor environment work, has poorer universality, low moving speed, insufficient maneuvering and off-road performance and bearing and traction capacity, and is not suitable for the working conditions of high speed and heavy load.

The hydraulic transmission has the advantages of stable transmission, convenient speed regulation, large power-mass ratio, strong bearing and traction capacity and the like, is widely applied to the engineering field, and becomes one of important transmission forms in the mechanical transmission field. The secondary regulation hydrostatic transmission technology is a novel hydraulic transmission technology, adopts secondary elements in a constant pressure network to realize the mutual conversion of mechanical energy, gravitational potential energy and hydraulic energy, realizes the regulation of load torque or rotating speed by changing the discharge capacity of the secondary elements, and ensures that the secondary elements can work under the working condition of a hydraulic motor and the working condition of a hydraulic pump by changing the oil flow direction (zero crossing point) of the secondary elements. When the secondary element works under the working condition of the hydraulic motor, hydraulic energy is converted into mechanical energy, power is output to the mobile platform, and the platform is driven to move; when the secondary element works under the working condition of the hydraulic pump, the braking kinetic energy and the slope gravitational potential energy of the platform are recovered and converted into hydraulic energy to be stored in the energy accumulator, and the hydraulic energy is used for starting, accelerating and climbing the mobile platform, so that the energy conservation and consumption reduction are realized.

Disclosure of Invention

The invention aims to overcome the defects of an electric driving mode in the background technology, and provides an energy-saving robot hydraulic moving platform adopting a secondary regulation hydrostatic transmission technology, which can work under the working conditions of field, high speed and heavy load, realizes energy regeneration, and reduces the installed power of the moving platform.

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

an energy-saving robot hydraulic moving platform comprises a left front wheel, a left front electromagnetic brake, a front baffle, a left front wheel support plate, a connecting rod, an oil tank, a motor, an oil cylinder support, a motor support, a steering oil cylinder, a variable pump, a proportional reversing valve, a right front wheel support plate, a right side plate, a right front wheel, a right front electromagnetic brake, a pressure reducing valve, an overflow valve, a one-way valve, an energy accumulator support, a right rear electromagnetic brake, a right rear wheel, an energy accumulator, a variable device, a secondary element support, a right half shaft, a rear drive axle, a rear baffle, a left half shaft, a left side plate, a left rear electromagnetic brake, a left rear wheel, a bottom plate and an upper cover plate; the wheel axle of the left front wheel is connected with the left front wheel supporting plate through a left front electromagnetic brake, the left front electromagnetic brake is installed on a left side plate of the platform body, the wheel axle of the right front wheel is connected with the right front wheel supporting plate through a right front electromagnetic brake, the right front electromagnetic brake is installed on a right side plate of the platform body, the right rear wheel is installed on a right half shaft through a right rear electromagnetic brake, the right rear electromagnetic brake is installed on a right side plate of the platform body, the left rear wheel is installed on the left half shaft through a left rear electromagnetic brake, and the left rear electromagnetic brake is installed on the left side plate of the platform body; the front baffle, the right side plate, the rear baffle, the left side plate, the bottom plate and the upper cover plate form a body of the mobile platform, and the front baffle, the right side plate, the rear baffle, the left side plate and the bottom plate are welded together and are connected with the upper cover plate through bolts; the steering mechanism of the moving platform is formed by a left front wheel supporting plate, a connecting rod, a steering oil cylinder, a proportional reversing valve and a right front wheel supporting plate, the tail part of a cylinder body of the steering oil cylinder is connected with an oil cylinder support through a cylindrical pin, the oil cylinder support is fixed on a bottom plate of the moving platform body through a bolt, the top end of a piston rod of the steering oil cylinder is connected with the right front wheel supporting plate through the cylindrical pin, the proportional reversing valve is installed on an oil tank, one end of the left front wheel supporting plate is connected with a wheel shaft of a left front wheel, the other end of the left front wheel supporting plate is connected with the left end of the connecting rod through the cylindrical pin, one end of the right front wheel supporting plate is connected; the hydraulic control system comprises an oil tank, a motor, a variable pump, a pressure reducing valve, an overflow valve, a one-way valve, an energy accumulator, a variable device, a secondary element, a right half shaft, a rear drive axle and a left half shaft, wherein the secondary control hydraulic drive device of the mobile platform is formed by the oil tank, the oil tank is fixed on a bottom plate of a platform body through bolts, the motor and the variable pump are arranged on a motor support, the motor support is fixed on the oil tank, the pressure reducing valve, the overflow valve and the one-way valve are arranged on the oil tank, the energy accumulator is arranged on the bottom plate of the platform body through the energy accumulator support, the variable oil cylinder and a servo valve form the variable device, the variable device is arranged on the secondary element, the secondary element is arranged on the bottom plate of the platform body through the secondary; the variable pump, the one-way valve and the overflow valve form a constant pressure oil source.

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

the device can work under the working conditions of field, high speed and heavy load; the steering is flexible, the maneuvering off-road property is good, the bearing capacity is large, and the traction capacity is strong; the recovery and the reutilization of the braking kinetic energy of the mobile platform and the gravitational potential energy of the ramp can be realized; the hydraulic accumulator has high energy density and large output power, can provide larger starting and braking torques, and greatly reduces the installed power of the mobile platform.

(IV) description of the drawings

FIG. 1 is a schematic structural diagram of a hydraulic mobile platform of an energy-saving robot;

FIG. 2 is a view of the hydraulic mobile platform A-A of the energy-saving robot;

FIG. 3 is a schematic diagram of a hydraulic system of the energy-saving robot hydraulic moving platform;

in the figure: 1. the hydraulic brake system comprises a left front wheel, 2, a left front electromagnetic brake, 3, a front baffle, 4, a left front wheel support plate, 5, a connecting rod, 6, an oil tank, 7, a motor, 8, a cylinder support, 9, a motor support, 10, a steering cylinder, 11, a variable pump, 12, a proportional reversing valve, 13, a right front wheel support plate, 14, a right side plate, 15, a right front wheel, 16, a right front electromagnetic brake, 17, a pressure reducing valve, 18, an overflow valve, 19, a one-way valve, 20, an energy accumulator support, 21, a right rear electromagnetic brake, 22, a right rear wheel, 23, an energy accumulator, 24, a variable device, 25, a secondary element, 26, a secondary element support, 27, a right half shaft, 28, a rear drive axle, 29, a rear baffle, 30, a left half shaft, 31, a left side plate, 32, a left rear electromagnetic brake, 33, a left rear wheel, 34, a bottom plate and 35.

(V) detailed description of the preferred embodiments

The invention will be further described with reference to the accompanying figures 1, 2 and 3 and examples.

As shown in fig. 1, 2 and 3, the present invention includes a left front wheel 1, a left front electromagnetic brake 2, a front baffle 3, a left front wheel support plate 4, a connecting rod 5, an oil tank 6, an electric motor 7, a cylinder support 8, an electric motor support 9, a steering cylinder 10, a variable pump 11, a proportional directional valve 12, a right front wheel support plate 13, a right side plate 14, a right front wheel 15, a right front electromagnetic brake 16, a pressure reducing valve 17, an overflow valve 18, a check valve 19, an accumulator support 20, a right rear electromagnetic brake 21, a right rear wheel 22, an accumulator 23, a variable device 24, a secondary element 25, a secondary element support 26, a right half shaft 27, a rear drive axle 28, a rear baffle 29, a left half shaft 30, a left side plate 31, a left rear electromagnetic brake 32, a left rear wheel 33, a bottom plate 34, an upper cover plate 35, and the like. The wheel axle of the left front wheel 1 is connected with the left front wheel support plate 4 through the left front electromagnetic brake 2, the left front electromagnetic brake 2 is installed on the left side plate 31 of the platform body, the wheel axle of the right front wheel 15 is connected with the right front wheel support plate 13 through the right front electromagnetic brake 16, the right front electromagnetic brake 16 is installed on the right side plate 14 of the platform body, the right rear wheel 22 is installed on the right half shaft 27 through the right rear electromagnetic brake 21, the right rear electromagnetic brake 21 is installed on the right side plate 14 of the platform body, the left rear wheel 33 is installed on the left half shaft 30 through the left rear electromagnetic brake 32, and the left rear electromagnetic brake 32 is installed on the left side plate 31 of the platform body. The front baffle 3, the right side plate 14, the rear baffle 29, the left side plate 31, the bottom plate 34, the upper cover plate 35 and the like form a body of the mobile platform, and the front baffle 3, the right side plate 14, the rear baffle 29, the left side plate 31 and the bottom plate 34 are welded together and are connected with the upper cover plate 35 through bolts. Comprises a left front wheel supporting plate 4, a connecting rod 5 and a steering oil cylinder 10, the proportional reversing valve 12 and the right front wheel support plate 13 form a steering mechanism of the mobile platform, the tail part of a cylinder body of the steering oil cylinder 10 is connected with the oil cylinder support 8 through a cylindrical pin, the steering oil cylinder 10 can rotate around a fixed point of the tail part, the oil cylinder support 8 is fixed on a bottom plate 34 of the mobile platform body through a bolt, the top end of a piston rod of the steering oil cylinder 10 is connected with the right front wheel support plate 13 through the cylindrical pin, the extension and retraction of the piston rod of the steering oil cylinder 10 are controlled by the proportional reversing valve 12, the proportional reversing valve 12 is installed on the oil tank 6, one end of the left front wheel support plate 4 is connected with a wheel shaft of the left front wheel 1, the other end of the left front wheel support plate is connected with the left end of the connecting rod 5 through the cylindrical pin, one end of the right front. The secondary regulation hydraulic drive device of the mobile platform is composed of an oil tank 6, a motor 7, a variable pump 11, a pressure reducing valve 17, an overflow valve 18, a check valve 19, an energy accumulator 23, a variable device 24, a secondary element 25, a right half shaft 27, a rear drive axle 28, a left half shaft 30 and the like, and provides power for the movement of the platform, the oil tank 6 is fixed on a platform body bottom plate 34 by bolts, the motor 7 and the variable pump 11 are installed on a motor support 9, the motor support 9 is fixed on the oil tank 6, the pressure reducing valve 17, the overflow valve 18 and the check valve 19 are installed on the oil tank 6, the energy accumulator 23 is installed on the platform body bottom plate 34 through an energy accumulator support 20, the variable device 24 is composed of a variable oil cylinder 24-1 and a servo valve 24-2, the variable device 24 is installed on the secondary element 25, the secondary element 25 is installed on the platform body bottom plate 34 through, the rear drive axle 28 is respectively connected with the left end of the right half shaft 27 and the right end of the left half shaft 30; the variable displacement pump 11, the check valve 19, the relief valve 18, and the like constitute a constant pressure oil source.

The working principle of the invention is as follows:

when the energy accumulator works, the motor 7 drives the variable pump 11 to work, and oil is filled into the energy accumulator 23.

When the mobile platform starts, accelerates and moves, the controller sends a control instruction to the electro-hydraulic servo valve 24-2 to control the extension of the piston rod of the variable oil cylinder 24-1 and adjust the zero crossing point of the secondary element 25 to work under the working condition of the hydraulic motor, and at the moment, the high-pressure oil stored in the energy accumulator 23 is released and supplies oil to the secondary element 25 together with the variable pump 11 to drive the mobile platform to move.

When the mobile platform turns, the controller sends a control command to the proportional directional valve 12 to control the extension and retraction of the piston rod of the steering oil cylinder 10, and the wheels are rotated through the parallelogram steering mechanism to realize the steering of the mobile platform. In operation, the extension and contraction lengths of the piston rod of the steering oil cylinder 10 are controlled by adjusting the direction and the magnitude of the input current of the proportional directional valve 12, so that the turning direction and the turning angle of the left front wheel 1 and the right front wheel 15 are adjusted.

When the mobile platform starts to brake or descends a long slope, the controller sends a control signal to the electro-hydraulic servo valve 24-2 to control the movement of the variable oil cylinder 24-1, the zero crossing point of the secondary element 25 is adjusted to work under the working condition of the hydraulic pump, and the secondary element 25 outputs high-pressure oil to flow to the energy accumulator 19 and store the high-pressure oil in the energy accumulator 19 under the action of inertial kinetic energy or gravitational potential energy of the platform to feed back energy to the system so as to provide energy for the starting, accelerating and climbing movement of the next mobile platform. When the rotating speed of the secondary element 25 is reduced to a set value or the platform speed is reduced to a lower value, the controller sends control signals to the left front electromagnetic brake 2, the right front electromagnetic brake 16, the left rear electromagnetic brake 32 and the right rear electromagnetic brake 21, and the mobile platform is braked. When the mobile platform needs emergency braking, the mobile platform is directly braked without a recovery process of braking energy and gravitational potential energy.

In operation, the displacement of the secondary element 25 can be adjusted to adapt to the working condition change of the mobile platform.