阅读说明：本技术 一种用于液压四足机器人的集成式油路块 (Integrated oil way block for hydraulic quadruped robot ) 是由 陈云川 骆敏舟 张佳丽 李聪 于 2020-12-15 设计创作，主要内容包括：本发明公开了一种用于液压四足机器人的集成式油路块,其包括溢流阀、正压件和油路块,所述溢流阀、正压件安装在所述油路块上,并与所述油路块内部连通；以及蓄能器、过滤器和传感件,所述蓄能器、过滤器和传感件均安装在所述油路块上,所述蓄能器和过滤器连通所述油路块内部；本发明通过建立铝合金7075-T6的集成油路块,精简了液压四足机器人液压系统设计难度；集中式油路块可以整体拆卸,可以快速装配到别的足式机器人上,扩大了集成式油路块的使用范围,增强了互换性；使用寿命更长,减少了损失。(The invention discloses an integrated oil circuit block for a hydraulic quadruped robot, which comprises an overflow valve, a positive pressure piece and an oil circuit block, wherein the overflow valve and the positive pressure piece are arranged on the oil circuit block and are communicated with the inside of the oil circuit block; the energy accumulator, the filter and the sensing piece are all arranged on the oil path block, and the energy accumulator and the filter are communicated with the inside of the oil path block; according to the invention, by establishing the integrated oil circuit block of the aluminum alloy 7075-T6, the design difficulty of the hydraulic system of the hydraulic quadruped robot is reduced; the integrated oil circuit block can be integrally disassembled and can be quickly assembled on other foot type robots, so that the application range of the integrated oil circuit block is expanded, and the interchangeability is enhanced; the service life is longer, and the loss is reduced.)

1. The utility model provides an integrated form oil circuit piece for hydraulic pressure four-footed robot which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the oil way block comprises an overflow valve (101), a positive pressure piece (102) and an oil way block (200), wherein the overflow valve (101) and the positive pressure piece (102) are installed on the oil way block (200) and are communicated with the inside of the oil way block (200); and the number of the first and second groups,

the oil circuit block comprises an energy accumulator (103), a filter (104) and a sensing piece (105), wherein the energy accumulator (103), the filter (104) and the sensing piece (105) are all installed on the oil circuit block (200), and the energy accumulator (103) and the filter (104) are communicated with the inside of the oil circuit block (200).

2. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 1, wherein: the sensing piece (105) comprises a first pressure sensor (105a), a second pressure sensor (105b) and a temperature sensor (105c), the first pressure sensor (105a) is installed on the overflow valve (101), and the second pressure sensor (105b) and the temperature sensor (105c) are installed on the oil path block (200).

3. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 1, wherein: the oil circuit block (200) is of a square structure and comprises a first side face (200a), a second side face (200b), a third side face (200c) and a fourth side face (200d), wherein the first side face (200a) is opposite to the third side face (200c), and the second side face (200b) is opposite to the fourth side face (200 d).

4. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 3, wherein: the hydraulic oil port structure is characterized in that a first hydraulic oil port (200a-1) is arranged on the first side face (200a), a second hydraulic oil port (200c-1) is arranged on the third side face (200c), a third hydraulic oil port (200b-1) is arranged on the second side face (200b), and the first hydraulic oil port (200a-1) is opposite to the second hydraulic oil port (200 c-1).

5. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 3 or 4, wherein: a first flow pipe (201) and a second flow pipe (202) are arranged inside the oil path block (200), one end of the first flow pipe (201) is connected with the first hydraulic oil port (200a-1), the other end of the first flow pipe is connected with the second hydraulic oil port (200c-1), and the first flow pipe (201) is vertically communicated with the second pressure sensor (105b), the overflow valve (101) and the positive pressure piece (102);

one end of the second flow pipe (202) is connected with the third hydraulic oil port (200b-1), the other end of the second flow pipe vertically penetrates through the first flow pipe (201), and the second flow pipe (202) is communicated with the interior of the first flow pipe (201).

6. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 4, wherein: the hydraulic oil pump is characterized in that a fourth hydraulic oil port (200a-2) is further arranged on the first side face (200a), a fifth hydraulic oil port (200c-2) is further arranged on the third side face (200c), a sixth hydraulic oil port (200d-1) is arranged on the fourth side face (200d), the fourth hydraulic oil port (200a-2) and the fifth hydraulic oil port (200c-2) are oppositely arranged, and the sixth hydraulic oil port and the third hydraulic oil port (200b-1) are oppositely arranged.

7. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 6, wherein: a third circulation pipe (203), a fourth circulation pipe (204) and a fifth circulation pipe (205) are further arranged in the oil path block (200);

the third flow pipe (203) and the fourth flow pipe (204) are coaxially arranged and are not communicated, and the fifth flow pipe (205) and the second flow pipe (202) are coaxially arranged and are not communicated.

8. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 7, wherein: one end of the third flow pipe (203) is connected with the fourth hydraulic oil port (200a-2), the other end of the third flow pipe is vertically communicated with the filter (104) on the oil circuit block (200), one end of the fourth flow pipe (204) is connected with the fifth hydraulic oil port (200c-2), and the other end of the fourth flow pipe is vertically communicated with the filter (104).

9. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 8, wherein: the fifth circulation pipe (205) penetrates through the third circulation pipe (203) and is communicated with the third circulation pipe and the third circulation pipe, one end of the fifth circulation pipe (205) is connected with a sixth hydraulic oil port (200d-1), the other end of the fifth circulation pipe is vertically communicated with the overflow valve (101) to the first pressure sensor (105a), and the fifth circulation pipe (205) is vertically communicated with the energy accumulator (103) at a position close to the sixth hydraulic oil port (200 d-1).

10. The integrated oil circuit block for a hydraulic quadruped robot as claimed in claim 5, wherein: one end of the second flow pipe (202) is connected with the third hydraulic oil port (200b-1), and the other end of the second flow pipe is vertically communicated with the overflow valve (101);

the first flow pipe (201) is located between a third hydraulic oil port (200b-1) and a communication port of the overflow valve (101), and the fourth flow pipe (204) is located between the communication port of the overflow valve (101) and a communication port of the accumulator (103).

Technical Field

The invention relates to the technical field of quadruped robots, in particular to an integrated oil circuit block for a hydraulic quadruped robot.

Background

The hydraulic system of the existing hydraulic quadruped robot is developed mainly by means of direct connection of a hose or a hard pipe, and after required hydraulic elements (such as an energy accumulator and a one-way valve) are considered, the hydraulic elements are independently added on a pipeline, and most of the hydraulic systems need to be additionally provided with an independent small hydraulic block to serve as a carrier for the hydraulic elements to be assembled. Therefore, although the addition of elements in future development is convenient, the number of joints is greatly increased, the on-way loss of the whole hydraulic system is increased, the number of connection points of the hydraulic system is too many, and the hidden danger of oil leakage is increased; the fixation of each hydraulic block also becomes a troublesome problem; the distributed arrangement makes regular maintenance of hydraulic components such as accumulators and filters difficult.

This hydraulic system configuration is clearly insufficient to support the basic reliability and ease of maintenance of a hydraulic quadruped robot, and the design of a single hydraulic carrier also increases the repetitive labor of the designer. The integrated oil circuit block improves the response speed and the performance of the whole hydraulic system; the modularized design simplifies the design process and accelerates the updating speed of the future equipment.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the problems occurring in the prior art.

Therefore, the technical problem to be solved by the invention is that the existing hydraulic system configuration scheme is obviously insufficient to support the basic reliability and the maintenance simplicity of the hydraulic quadruped robot, and the design of a single hydraulic carrier also increases the repeated labor of designers.

In order to solve the technical problems, the invention provides the following technical scheme: an integrated oil circuit block for a hydraulic quadruped robot comprises an overflow valve, a positive pressure piece and an oil circuit block, wherein the overflow valve and the positive pressure piece are arranged on the oil circuit block and are communicated with the inside of the oil circuit block; and the energy accumulator, the filter and the sensing piece are all installed on the oil path block, and the energy accumulator and the filter are communicated with the inside of the oil path block.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: the sensing part comprises a first pressure sensor, a second pressure sensor and a temperature sensor, the first pressure sensor is installed on the overflow valve, and the second pressure sensor and the temperature sensor are installed on the oil circuit block.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: the oil circuit block is of a square structure and comprises a first side face, a second side face, a third side face and a fourth side face, wherein the first side face is opposite to the third side face, and the second side face is opposite to the fourth side face.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: the hydraulic oil port structure is characterized in that a first hydraulic oil port is formed in the first side face, a second hydraulic oil port is formed in the third side face, a third hydraulic oil port is formed in the second side face, and the first hydraulic oil port is opposite to the second hydraulic oil port.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: a first flow pipe and a second flow pipe are arranged in the oil path block, one end of the first flow pipe is connected with the first hydraulic oil port, the other end of the first flow pipe is connected with the second hydraulic oil port, and the first flow pipe is vertically communicated with the second pressure sensor, the overflow valve and the positive pressure piece; one end of the second through pipe is connected with the third hydraulic oil port, the other end of the second through pipe vertically penetrates through the first through pipe, and the second through pipe is communicated with the inside of the first through pipe.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: the first side face is further provided with a fourth hydraulic oil port, the third side face is further provided with a fifth hydraulic oil port, the fourth side face is provided with a sixth hydraulic oil port, the fourth hydraulic oil port and the fifth hydraulic oil port are arranged oppositely, and the sixth hydraulic oil port and the third hydraulic oil port are arranged oppositely.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: a third circulation pipe, a fourth circulation pipe and a fifth circulation pipe are further arranged in the oil path block; the third circulation pipe and the fourth circulation pipe are coaxially arranged and are not communicated, and the fifth circulation pipe and the second circulation pipe are coaxially arranged and are not communicated.

As a preferable embodiment of the integrated oil circuit block for the hydraulic quadruped robot according to the present invention, one end of the third flow pipe is connected to the fourth hydraulic oil port, and the other end of the third flow pipe is vertically communicated with the filter on the oil circuit block, and one end of the fourth flow pipe is connected to the fifth hydraulic oil port, and the other end of the fourth flow pipe is vertically communicated with the filter.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: the fifth circulation pipe penetrates through the third circulation pipe and is communicated with the inside of the third circulation pipe, one end of the fifth circulation pipe is connected with a sixth hydraulic oil port, the other end of the fifth circulation pipe is vertically communicated with the overflow valve to the first pressure sensor, and the fifth circulation pipe is vertically communicated with the energy accumulator close to the sixth hydraulic oil port.

As a preferable aspect of the integrated oil circuit block for a hydraulic quadruped robot of the present invention, wherein: one end of the second flow pipe is connected with the third hydraulic oil port, and the other end of the second flow pipe is vertically communicated with the overflow valve; the first circulation pipe is located between the third hydraulic oil port and the overflow valve communication port, and the fourth circulation pipe is located between the overflow valve communication port and the accumulator communication port.

The invention has the beneficial effects that: the invention has the following effects:

(1) by establishing the integrated oil circuit block of the aluminum alloy 7075-T6, the design difficulty of the hydraulic system of the hydraulic quadruped robot is reduced. Compared with the traditional connection of steel wire woven rubber pipes, the reliability between oil way channels is enhanced while the weight is reduced by using high-strength aluminum alloy to establish the oil way, the weight is only 9.8KG when the hydraulic element and the mechanical assembly are added, and the weight is more than 20KG when the hose connection is adopted. The oil way blocks are arranged densely, the length and the width are 230 x 265mm, the height of the highest position is 283mm, the assembly space of hydraulic elements is reduced, and the centralized maintenance is greatly facilitated.

(2) The centralized oil circuit block can be integrally disassembled and can be quickly assembled on other foot type robots, the application range of the integrated oil circuit block is expanded, and interchangeability is enhanced.

(3) Compared with the connection of a hose woven by steel wires, the hose woven by the steel wires vibrates when pressure oil passes through the hose, so that the hose is easy to wear and is generally replaced after 1 year of service life, otherwise, the safety is greatly reduced; the integrated oil circuit block cannot vibrate when a hydraulic system is started and impacted, the rigidity and the abrasion resistance of the integrated oil circuit block 7075-T6 far exceed those of a hose, the on-way loss is reduced, other oil passages do not need to be maintained except that whether a joint is broken or not is periodically checked, the service life of the joint is generally 5-7 years, and the service life of the hydraulic system is greatly prolonged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:

fig. 1 is a diagram showing connection of hydraulic components in the first embodiment.

Fig. 2 is a diagram showing an internal structure of an oil circuit block in the second embodiment.

Fig. 3 is a structural view showing a communication between a hydraulic component and an internal pipe in the second embodiment.

Fig. 4 is a structural view of a hollowed-out oil circuit block in the second embodiment.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1, there is provided a first embodiment of the present invention, which provides an integrated type oil way block for a hydraulic quadruped robot

The hydraulic system comprises an overflow valve 101, a positive pressure piece 102 and an oil path block 200, wherein the oil path block 200 is of a square structure, the overflow valve 101 and the positive pressure piece 102 are installed on the oil path block 200, the overflow valve 101 is in a threaded cartridge type, the opening pressure is set to be 23Mpa, and the hydraulic system is protected when the system is overloaded; the positive pressure member 102 can ensure that the pump sucks oil normally.

Further, the hydraulic system further comprises an accumulator 103, a filter 104 and a sensing element 105, which are all installed on the oil path block 200, specifically, the sensing element 105 includes a first pressure sensor 105a, a second pressure sensor 105b and a temperature sensor 105c, the first pressure sensor 105a is installed on the overflow valve 101, and the second pressure sensor 105b and the temperature sensor 105c are installed on the oil path block 200, and are used for monitoring oil inlet pressure and oil return pressure and monitoring oil return temperature, so as to determine the working state of the hydraulic system.

Further, in order to reduce the influence of the pulse of the pump on a hydraulic system, the energy accumulator 103 adopts an air bag diaphragm type energy accumulator, the specification is 0.75L and 250Bar, the oil and gas of the energy accumulator 103 are isolated, the oil is not easy to oxidize, the reaction is fast, the size is small, the weight is light, the manufacturing and maintenance cost is low, and the energy accumulator is very suitable for a hydraulic quadruped robot.

In order to meet the requirement of a high-precision electro-hydraulic servo valve on the cleanliness of oil, the precision of the filter 104 is about 3-5 μm, and the inverted tube type paper filter 104 conforming to ISO 440615/12 is selected in consideration of factors such as convenience in filter element replacement and installation size.

Furthermore, the working state of the hydraulic quadruped robot is complex, when walking or running gait is performed, the hydraulic oil in the return oil may be discontinuous, even suction occurs, which may prove to affect the performance of the hydraulic pump and the whole robot, so in order to ensure that the oil suction of the pump is normal, the positive pressure piece 102 is a positive pressure component formed by combining a self-made shell and an NXQ type 0.25L air bag, and the pressure is 2 Mpa.

Example 2

Referring to fig. 2 to 4, in a second embodiment of the present invention, based on the previous embodiment, the oil circuit block 200 has a square structure, and includes a first side 200a, a second side 200b, a third side 200c, and a fourth side 200d, where the first side 200a is opposite to the third side 200c, and the second side 200b is opposite to the fourth side 200 d.

Further, a first hydraulic oil port 200a-1 and a fourth hydraulic oil port 200a-2 are arranged on the first side 200a, a third hydraulic oil port 200b-1 is arranged on the second side 200b, a second hydraulic oil port 200c-1 and a fifth hydraulic oil port 200c-2 are arranged on the third side 200c, and a sixth hydraulic oil port 200d-1 is arranged on the fourth side 200 d.

Further, a first through pipe 201, a second through pipe 202, a third through pipe 203, a fourth through pipe 204 and a fifth through pipe 205 are arranged inside the oil path block 200, specifically, one end of the first through pipe 201 is connected with a first hydraulic oil port 200a-1, the other end is connected with a second hydraulic oil port 200c-1, the second pressure sensor 105b, the temperature sensor 105c and the positive pressure piece 102 are located above the first through pipe 201, and the first through pipe 201 is sequentially communicated with the second pressure sensor 105b, the temperature sensor 105c and the positive pressure piece 102.

One end of the second flow pipe 202 is connected with the third hydraulic port 200b-1, the other end vertically penetrates through the first flow pipe 201 and is vertically communicated with the overflow valve 101, the second flow pipe 202 is communicated with the inside of the first flow pipe 201, and the first flow pipe 201 penetrates through a communication port between the third hydraulic port 200b-1 and the overflow valve 101.

One end of the third flow pipe 203 is connected with the fourth hydraulic oil port 200a-2, the other end of the third flow pipe is vertically communicated with the filter 104 on the oil path block 200, the fourth flow pipe 204 and the third flow pipe 203 are coaxially arranged and are not communicated, the filter 104 and the overflow valve 101 are positioned above the third flow pipe 203, one end of the fourth flow pipe 204 is connected with the fifth hydraulic oil port 200c-2, and the other end of the fourth flow pipe 204 is vertically communicated with the filter 104.

The fifth circulation pipe 205 and the second circulation pipe 202 are coaxially arranged and are not communicated, specifically, the accumulator 103 is located above the third circulation pipe 203 and the fifth circulation pipe 205, the fifth circulation pipe 205 penetrates through the third circulation pipe 203 and is communicated with the interior of the third circulation pipe and the interior of the third circulation pipe, one end of the fifth circulation pipe 205 is connected with the sixth hydraulic oil port 200d-1, the other end of the fifth circulation pipe 205 is vertically communicated with the overflow valve 101 to the first pressure sensor 105a, the sixth hydraulic oil port 200d-1 is a process hole, the fifth circulation pipe 205 is vertically communicated with the accumulator 103 at a position close to the sixth hydraulic oil port 200d-1, and the third circulation pipe 203 penetrates through a position between a communication port of the overflow valve 101 and a communication port.

Further, the pressure oil flows out from the outlet of the pump, flows into the fourth flow pipe 204 through the fifth hydraulic port 200c-2, and simultaneously communicates with the accumulator 103 port and the first pressure sensor 105a port through the fifth flow pipe 205, and flows out from the fourth hydraulic port 200a-2 through the filter 104 to be delivered to the actuator. The returned return oil enters the first flow pipe 201 through the first hydraulic oil port 200a-1 and is sequentially communicated with the second pressure sensor 105b, the overflow valve 101, the temperature sensor 105c and the positive pressing piece 102, and the return oil flows out of the second hydraulic oil port 200c-1 and flows into an oil inlet of the pump.

On the premise of ensuring that the mounting bolt and the communicating pipe have the wall thickness of 5mm, the oil path block 200 is hollowed out, so that the weight is reduced, as shown in fig. 3.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.