阅读说明：本技术 机器人二次调节液压移动平台 (Robot secondary adjustment hydraulic moving platform ) 是由 臧发业 尹修杰 戴汝泉 杨仁明 孔祥臻 于 2019-11-21 设计创作，主要内容包括：一种机器人二次调节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,通过控制比例换向阀的输入电流,调节转向油缸活塞杆的伸缩长度,实现平台的转向；两个二次元件通过减速器分别驱动两个后轮,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,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。(A robot secondary regulation 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 the telescopic length of a piston rod of a steering oil cylinder is regulated by controlling the input current of a proportional reversing valve to realize the steering of the platform; the two secondary elements respectively drive two rear wheels through the speed reducer, and the working conditions of the secondary elements in a hydraulic motor or a hydraulic pump are adjusted 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 stored in the energy accumulator and are 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. A robot secondary regulation hydraulic moving platform comprises a left front wheel (1), a left front electromagnetic brake (2), a front baffle plate (3), a left front wheel supporting plate (4), a connecting rod (5), an oil cylinder support (6), an oil tank (7), a motor (8), a steering oil cylinder (9), a motor support (10), a variable pump (11), a right front electromagnetic brake (12), a right front wheel (13), a right front wheel supporting plate (14), a proportional reversing valve (15), a pressure reducing valve (16), an overflow valve (17), a one-way valve (18), a right rear wheel (19), a right rear electromagnetic brake (20), a right side plate (21), a right rear speed reducer (22), a right rear variable device (23), a right rear secondary element (24), a right rear secondary element support (25), a rear baffle plate (26), an energy accumulator support (27), an energy accumulator (28), a left rear secondary element support (29), A left rear variable device (30), a left rear secondary element (31), a left rear speed reducer (32), a left side plate (33), a left rear electromagnetic brake (34), a left rear wheel (35), a bottom plate (36) and an upper cover plate (37); 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 arranged on a left side plate (33) of the platform body, the wheel axle of a right front wheel (13) is connected with a right front wheel support plate (14) through a right front electromagnetic brake (12), the right front electromagnetic brake (12) is arranged on a right side plate (21) of the movable platform body, a right rear wheel (19) is arranged on an output shaft of a right rear speed reducer (22) through a right rear electromagnetic brake (20), the right rear electromagnetic brake (20) is arranged on the outer side surface of the right side plate (21) of the platform body, the right rear speed reducer (22) is arranged on the inner side surface of the right side plate (21) of the platform body, the left rear wheel (35) is arranged on the output shaft of the left rear speed reducer (32) through a left rear electromagnetic brake (34), and the left rear electromagnetic brake (34) is arranged on the outer side surface of the left side plate (, the left rear speed reducer (32) is arranged on the inner side surface of a left side plate (33) of the platform body; the front baffle (3), the right side plate (21), the rear baffle (26), the left side plate (33), the bottom plate (36) and the upper cover plate (37) form a body of the mobile platform, and the front baffle (3), the right side plate (21), the rear baffle (26), the left side plate (33) and the bottom plate (36) are welded together and are connected with the upper cover plate (37) through bolts; a left front wheel support plate (4), a connecting rod (5), a steering oil cylinder (9), a proportional reversing valve (15) and a right front wheel support plate (14) form a steering mechanism of the mobile platform, the tail part of a cylinder body of a steering oil cylinder (9) is connected with an oil cylinder support (6) through a cylindrical pin, the oil cylinder support (6) 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 (9) is connected with a right front wheel support plate (14) through the cylindrical pin, a proportional reversing valve (15) is installed on an oil tank (7), 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 (14) is connected with the wheel axle of a right front wheel (13), and the other end of the right front wheel support plate is; the hydraulic control system comprises an oil tank (7), a motor (8), a variable pump (11), a pressure reducing valve (16), an overflow valve (17), a check valve (18), a right rear speed reducer (22), a right rear variable device (23), a right rear secondary element (24), an energy accumulator (28), a left rear variable device (30), a left rear secondary element (31) and a left rear speed reducer (32) which form a secondary regulation hydraulic driving device of a mobile platform, wherein the oil tank (7) is fixed on a platform body bottom plate (36) through bolts, the motor (8) and the variable pump (11) are arranged on a motor support (10), the motor support (10) is fixed on the oil tank (7), the pressure reducing valve (16), the overflow valve (17) and the check valve (18) are arranged on the oil tank (7), the right rear servo valve (23-1) and the right rear variable cylinder (23-2) form the right rear variable device (23), and the right rear variable device (23) is arranged on the right rear secondary element, the right rear secondary element (24) is installed on a platform body bottom plate (36) through a right rear secondary element support (25), an output shaft of the right rear secondary element (24) is connected with an input shaft of a right rear speed reducer (22), a left rear servo valve (30-1) and a left rear variable oil cylinder (30-2) form a left rear variable device (30), the left rear variable device (30) is installed on a left rear secondary element (31), the left rear secondary element (31) is installed on the platform body bottom plate (36) through a left rear secondary element support (29), and an output shaft of the left rear secondary element (31) is connected with an input shaft of a left rear speed reducer (32); the energy accumulator (28) is arranged on the bottom plate (36) of the platform body through an energy accumulator support (27); the variable pump (11), the one-way valve (18) and the overflow valve (17) form a constant pressure oil source.

Technical Field

The invention relates to a robot moving platform, in particular to a robot secondary adjustment 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:

a secondary adjustment hydraulic mobile platform of a robot comprises a left front wheel, a left front electromagnetic brake, a front baffle, a left front wheel support plate, a connecting rod, an oil cylinder support, an oil tank, a motor, a steering oil cylinder, a motor support, a variable pump, a right front electromagnetic brake, a right front wheel support plate, a proportional reversing valve, a pressure reducing valve, an overflow valve, a one-way valve, a right rear wheel, a right rear electromagnetic brake, a right side plate, a right rear speed reducer, a right rear variable device, a right rear secondary element support, a rear baffle, an energy accumulator support, an energy accumulator, a left rear secondary element support, a left rear variable device, a left rear secondary element, a left rear speed reducer, a left side plate, a left rear electromagnetic brake, a left rear wheel, a bottom plate and an upper cover; 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 the 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 the right side plate of the mobile platform body, the right rear wheel is installed on the output shaft of the right rear speed reducer through a right rear electromagnetic brake, the right rear electromagnetic brake is installed on the outer side surface of the right side plate of the platform body, the right rear speed reducer is installed on the inner side surface of the right side plate of the platform body, the left rear wheel is installed on the output shaft of the left rear speed reducer through the left rear electromagnetic brake, the left rear electromagnetic brake is installed on the outer side surface of the left side plate of the platform body, and the left rear; 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 oil tank, the motor, the variable pump, the pressure reducing valve, the overflow valve, the one-way valve, the right rear reducer, the right rear variable device, the right rear secondary element, the energy accumulator, the left rear variable device, the left rear secondary element and the left rear reducer form a secondary regulation hydraulic driving device of the mobile platform, the oil tank is fixed on a bottom plate of a platform body by 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 right rear servo valve and the right rear variable oil cylinder form the right rear variable device, the right rear variable device is arranged on the right rear secondary element, the right rear secondary element is arranged on the bottom plate of the platform body by a right rear secondary element support, an output shaft of the right rear secondary element is connected with an input shaft of the right rear reducer, the left rear servo valve and the left rear variable oil, the left rear secondary element is arranged on the bottom plate of the platform body through a left rear secondary element support, and an output shaft of the left rear secondary element is connected with an input shaft of the left rear speed reducer; the energy accumulator is arranged on the bottom plate of the platform body through an energy accumulator support; 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 robot secondary adjustment hydraulic moving platform;

FIG. 2 is a view of a robot secondary adjustment hydraulic moving platform A-A;

FIG. 3 is a schematic diagram of a hydraulic system of a robot secondary adjustment hydraulic moving platform;

in the figure: 1. the left front wheel, 2, the left front electromagnetic brake, 3, the front baffle, 4, the left front wheel support plate, 5, the connecting rod, 6, the cylinder support, 7, the oil tank, 8, the motor, 9, the steering cylinder, 10, the motor support, 11, the variable pump, 12, the right front electromagnetic brake, 13, the right front wheel, 14, the right front wheel support plate, 15, the proportional reversing valve, 16, the pressure reducing valve, 17, the overflow valve, 18, the check valve, 19, the right rear wheel, 20, the right rear electromagnetic brake, 21, the right side plate, 22, the right rear reducer, 23, the right rear variable device, 24, the right rear secondary element, 25, the right rear secondary element support, 26, the rear baffle, 27, the energy accumulator support, 28, 29, the left rear secondary element support, 30, the left rear variable device, 31, the left rear secondary element, 32, the left rear reducer, 33, the left side plate, 34, the left rear electromagnetic brake, 35. left rear wheel, 36, bottom plate, 37, upper cover plate.

(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 invention comprises 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, a cylinder support 6, an oil tank 7, a motor 8, a steering cylinder 9, a motor support 10, a variable pump 11, a right front electromagnetic brake 12, a right front wheel 13, a right front wheel support plate 14, a proportional reversing valve 15, a pressure reducing valve 16, an overflow valve 17 and a one-way valve 18, the left rear wheel 19, the right rear electromagnetic brake 20, the right side plate 21, the right rear speed reducer 22, the right rear variable device 23, the right rear secondary element 24, the right rear secondary element support 25, the rear baffle 26, the energy accumulator support 27, the energy accumulator 28, the left rear secondary element support 29, the left rear variable device 30, the left rear secondary element 31, the left rear speed reducer 32, the left side plate 33, the left rear electromagnetic brake 34, the left rear wheel 35, the bottom plate 36, the upper cover plate 37 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 33 of the platform body, the wheel axle of the right front wheel 13 is connected with the right front wheel support plate 14 through the right front electromagnetic brake 12, the right front electromagnetic brake 12 is installed on the right side plate 21 of the mobile platform body, the right rear wheel 19 is installed on the output shaft of the right rear speed reducer 22 through the right rear electromagnetic brake 20, the right rear electromagnetic brake 20 is installed on the outer side surface of the right side plate 21 of the platform body, the right rear speed reducer 22 is installed on the inner side surface of the right side plate 21 of the platform body, the left rear wheel 35 is installed on the output shaft of the left rear speed reducer 32 through the left rear electromagnetic brake 34, the left rear electromagnetic brake 34 is installed on the outer side surface of the left side plate 33 of the platform body, and the left rear speed. The front baffle 3, the right side plate 21, the rear baffle 26, the left side plate 33, the bottom plate 36, the upper cover plate 37 and the like form a body of the mobile platform; the front baffle 3, the right side plate 21, the rear baffle 26, the left side plate 33 and the bottom plate 36 are welded together and are connected with the upper cover plate 37 through bolts. A left front wheel supporting plate 4, a connecting rod 5 and a steering oil cylinder 9, the proportional reversing valve 15 and the right front wheel support plate 14 form a steering mechanism of the mobile platform, the cylinder body tail part of the steering cylinder 9 is connected with the cylinder support 6 through a cylindrical pin, the cylinder body tail part of the steering cylinder 9 can rotate around the cylinder support 6, the cylinder support 6 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 cylinder 9 is connected with the right front wheel support plate 14 through the cylindrical pin, the proportional reversing valve 15 controls the extension and retraction of the piston rod of the steering cylinder 9, the proportional reversing valve 15 is installed on the oil tank 7, one end of the left front wheel support plate 4 is connected with a wheel axle 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 wheel support plate 14 is connected with the wheel axle of the. The oil tank 7, the motor 8, the variable pump 11, the pressure reducing valve 16, the overflow valve 17, the check valve 18, the right rear reducer 22, the right rear variable device 23, the right rear secondary element 24, the energy accumulator 28, the left rear variable device 30, the left rear secondary element 31, the left rear reducer 32 and the like form a secondary regulation hydraulic driving device of the mobile platform; the oil tank 7 is fixed on the bottom plate 36 of the platform body by bolts, the motor 8 and the variable pump 11 are installed on the motor support 10, the motor support 10 is fixed on the oil tank 7, and the pressure reducing valve 16, the overflow valve 17 and the one-way valve 18 are installed on the oil tank 7; the right rear servo valve 23-1, the right rear variable cylinder 23-2 and the like form a right rear variable device 23, the right rear variable device 23 is installed on a right rear secondary element 24, the right rear secondary element 24 is installed on a platform body bottom plate 36 through a right rear secondary element support 25, an output shaft of the right rear secondary element 24 is connected with an input shaft of a right rear speed reducer 22, and the left rear servo valve 30-1, the left rear variable cylinder 30-2 and the like form a left rear variable device 30; the left rear variable device 30 is arranged on a left rear secondary element 31, the left rear secondary element 31 is arranged on a platform body bottom plate 36 through a left rear secondary element support 29, and an output shaft of the left rear secondary element 31 is connected with an input shaft of a left rear speed reducer 32; the energy accumulator 28 is mounted on the platform body bottom plate 36 through an energy accumulator support 27; the variable displacement pump 11, the check valve 18, the relief valve 17, 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 8 drives the variable pump 11 to work, and oil is filled into the energy accumulator 28.

When the mobile platform starts, accelerates and moves, the controller sends a control instruction to the right rear servo valve 23-1 and the left rear servo valve 30-1 to respectively control the extension and contraction of the piston rods of the right rear variable oil cylinder 23-2 and the left rear variable oil cylinder 30-2 to adjust the zero crossing points of the right rear secondary element 24 and the left rear secondary element 31 to work under the working condition of the hydraulic motor, and at the moment, high-pressure oil stored in the energy accumulator 28 is released to supply oil to the right rear secondary element 24 and the left rear secondary element 31 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. During operation, the extension and contraction lengths of the piston rod of the steering oil cylinder 9 are controlled by adjusting the direction and the magnitude of the input current of the proportional directional valve 15, so that the turning direction and the turning angle of the left front wheel 1 and the right front wheel 13 are adjusted.

When the mobile platform starts to brake or descends a long slope, the controller sends a control signal to the right rear servo valve 23-1 and the left rear servo valve 30-1 to respectively control the extension of piston rods of the right rear variable oil cylinder 23-2 and the left rear variable oil cylinder 30-2, adjust the zero crossing points of the right rear secondary element 24 and the left rear secondary element 31 to work under the working condition of the hydraulic pump, and output high-pressure oil to flow to the energy accumulator 28 and store the high-pressure oil in the energy accumulator 28 under the action of inertial kinetic energy or gravitational potential energy of the platform so as to feed energy back to the system and provide energy for the starting, acceleration and climbing motion of the next mobile platform. When the rotating speed of the right rear secondary element 24 and the left rear secondary element 31 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 12, the left rear electromagnetic brake 34 and the right rear electromagnetic brake 20, 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 right rear secondary element 24 and the left rear secondary element 31 can be adjusted to adapt to the working condition change of the mobile platform.