Hydraulic cylinder with variable sections, hydraulic control system and control method of hydraulic cylinder

Abstract

The invention discloses a hydraulic cylinder with variable sections. The hydraulic cylinder comprises a piston rod, a cylinder barrel, a left end cover and a right end cover, wherein the left end cover and the right end cover are used for sealing the cylinder barrel; the piston rod comprises a main piston rod and plunger rods; the main piston rod is hermetically mounted on the cylinder barrel through the left end cover and the right end cover; a main piston is arranged at the end part of the main piston rod; a plurality of plunger rods are mounted on the main piston; secondary pistons are arranged at the end parts of the plunger rods; the main piston is mounted in the main piston cavity which is in the cylinder barrel and corresponds to the main piston; the secondary pistons are mounted in the plunger cavities which are in the cylinder barrel and correspond to the secondary pistons. The hydraulic cylinder has a certain capacity of load matching, and is a linear hydraulic cylinder capable of improving the efficiency of a hydraulic system with variable loads. When the hydraulic cylinder is under a loading condition with variable loads, a user can select different small cavities to be communicated with a high-pressure oil circuit or a low-pressure oil circuit to realize load matching so as to finally achieve the purpose of improving the efficiency of the hydraulic system.

Description

technical field [0001] The invention relates to a variable section hydraulic cylinder and its hydraulic control system and control method. Background technique [0002] In recent years, with the rapid development and in-depth cross-integration of control technology, perception technology, and new material technology, the performance of walking robots has been continuously improved. The main representatives are: ASIMO, Justin, Packbot, etc. However, because it is mainly driven by an electromechanical system, the load force is small, which restricts the practical process of the robot. The limited load capacity has become one of the "bottleneck" problems restricting the practical application of mobile robots. At present, researchers have begun to try to apply hydraulic systems to mobile robots, the most representative of which are Bigdog, AlphaDog and Cheetah developed by Boston. This type of robot has a common feature, using linear hydraulic cylinders as actuators to drive ...

AI Technical Summary

Problems solved by technology

The effective area of ​​the inner cavity of the linear hydraulic cylinder used is fixed and cannot be changed according to the change of the joint load force. When the load becomes smaller, the stable control of the hydraulic cylinder can only be achieved by increasing the pressure loss at the control valve port

However, when the walking robot walks, the load force of each joint varies greatly. During the movement of the robot, there will be a large amount of pressure loss at the valve port, which will eventually lead to a relatively low efficiency of the hydraulic power system.

Images