Actuating mechanism of unmanned miniature intelligent hydraulic system

Abstract

The invention relates to the field of mechanical-electrical-hydraulic integration, and particularly discloses an actuating mechanism of an unmanned miniature intelligent hydraulic system. The miniature intelligent power unit and the hydraulic execution unit are arranged to form a miniature hydraulic system execution mechanism, and the miniature intelligent power unit and the hydraulic execution unit are connected through a signal line and a hydraulic oil pipe. A sensor on the hydraulic execution unit feeds back position, speed and pressure information of a hydraulic cylinder to a control circuit board through a signal line, the control circuit board controls a motor to drive a hydraulic pump to rotate according to a received instruction of an upper computer, and then the flow, pressure and oil supply time of output hydraulic oil are controlled. The hydraulic cylinder completes specified power output according to an instruction of an upper computer, the control circuit board conducts control monitoring according to feedback of a sensor on the hydraulic rod, a motion control closed loop of the speed, the position and the pressure of the hydraulic rod is achieved, and instruction operation can be powerfully, rapidly, accurately and reliably completed when a vehicle is switched to be driverless.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechatronics and hydraulic integration, and in particular relates to an actuator for an unmanned miniature intelligent hydraulic system. Background Art

[0002] The progress of information technology and electronic technology has provided a broad space for the development of traditional hydraulic technology, making hydraulic intelligence a reality. The transformation from traditional transportation to intelligent transportation has become the direction of future transportation development. In the process of transformation from manned to unmanned driving, there is a core problem that needs to be solved, that is, how to connect the actuator of automatic driving to the operating mechanism of manned driving in the process of transformation of manned vehicles to unmanned driving, while not interfering with the operating habits, smoothness and safety of manned driving, so that the driving vehicle can meet both human driving habits and unmanned driving requirements. There has been no excellent actuator that is compatible with both as a solution.

[0003] The unmanned transformation of traditional vehicles is the main form of unmanned driving at present. The main change in the transformation from manned to unmanned driving is the actuator related to driving control. The vehicle is required to retain the traditional driving actuator and integrate the unmanned driving actuator, becoming a vehicle with dual operating actuators. That is, there are two operating mechanisms in one actuator, and they are required to work in parallel without interfering with each other. The existing design schemes have their own disadvantages and cannot take into account the requirements of the two operating mechanisms. The operation mode of the traditional structure is retained in the unmanned driving modification structure. This is forcibly stipulated by operating habits and relevant safety regulations. The automatic actuator added later must not interfere with and hinder the original mechanism, and the execution instructions issued by the control system must be completed, and the two actuators can be switched freely between manned and unmanned.

[0004] To this end, in order to freely switch the execution mode between manned driving and unmanned driving, so that the driving vehicle can complete the unmanned driving operation powerfully, quickly, accurately and reliably when it is unmanned, and avoid the newly integrated mechanism from affecting the original actuator when it is manned, this structure is designed so that the two actuators can be switched freely, the conversion is smooth and the execution is reliable. Summary of the invention

[0005] The purpose of the present invention is to provide an unmanned micro intelligent hydraulic system actuator to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] Unmanned driving micro intelligent hydraulic system actuator, including:

[0008] A micro intelligent power unit, the micro intelligent power unit is composed of a connecting mounting plate and an upper shell and a lower shell respectively fixedly mounted on the upper and lower sides of the connecting mounting plate, and the connecting mounting plate is fixedly connected with a motor, a hydraulic pump, an electromagnetic reversing valve and a control circuit board;

[0009] A hydraulic actuator unit, which is composed of a hydraulic cylinder, a pressure sensor, and a position and speed sensor;

[0010] The micro intelligent power unit is connected to the hydraulic execution unit via a hydraulic oil pipe and a signal line.

[0011] Preferably, the connecting mounting plate is arranged in a T shape, the lower end of the protrusion of the sealing connecting mounting plate of the lower shell forms a closed oil tank, the motor and the hydraulic pump are arranged coaxially and are immersed in the closed oil tank together, and the motor is an oil-immersed motor.

[0012] Preferably, an oil passage is opened inside the connecting mounting plate, and a plug-in hydraulic lock and a plug-in overflow valve are provided on the side wall of the connecting mounting plate, and a hydraulic oil outlet connected to the oil passage is provided.

[0013] Preferably, a breathing capsule connected to the sealed oil tank is fixedly connected to the connecting mounting plate.

[0014] Preferably, an oil level observation glass is fixedly connected to the connecting mounting plate.

[0015] Preferably, a trigger element of a pressure sensor and a trigger element of a position and speed sensor are fixedly connected inside the hydraulic rod of the hydraulic cylinder, and feedback signals of the pressure sensor and the position and speed sensor are transmitted to the control circuit board through signal lines.

[0016] Preferably, two pressure sensors are provided, and the two pressure sensors are respectively arranged at two ends of the hydraulic cylinder and connected to the rod chamber and the rodless chamber of the hydraulic cylinder.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention forms a micro hydraulic system actuator by arranging a micro intelligent power unit and a hydraulic actuator unit. The micro intelligent power unit and the hydraulic actuator unit are connected by a signal line and a hydraulic oil pipe. The sensor on the hydraulic actuator unit feeds back the position, speed and pressure information of the hydraulic cylinder to the control circuit board through the signal line. The control circuit board controls the motor to rotate according to the received host computer command. The motor drives the hydraulic pump to rotate and then controls the flow, flow direction, pressure and oil supply time of the output hydraulic oil, so that the hydraulic cylinder completes the specified power output according to the host computer command. The control circuit board controls and monitors according to the sensor signal on the hydraulic cylinder to realize the closed loop of motion control of the speed, position and force of the hydraulic rod, so that the driving vehicle can be switched to unmanned driving in a powerful, rapid, accurate and reliable manner. When the equipment is powered off, the hydraulic cylinder is completely depressurized, and the hydraulic rod is free to extend and retract without resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the micro intelligent power unit of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of the hydraulic actuator unit of the present invention;

[0021] Figure 3 The structure of the connecting mounting plate of the present invention is shown in FIG. Figure 1 ;

[0022] Figure 4 The structure of the connecting mounting plate of the present invention is shown in FIG. Figure 2 ;

[0023] Figure 5 The structure of the connecting mounting plate of the present invention is shown in FIG. Figure 3 ;

[0024] Figure 6 The structure of the connecting mounting plate of the present invention is shown in FIG. Figure 4 ;

[0025] In the figure: 1. Connecting mounting plate; 2. Lower housing; 3. Upper housing; 4. Motor; 5. Hydraulic pump; 6. Solenoid reversing valve; 7. Breathing capsule; 8. Hydraulic oil outlet; 9. Plug-in hydraulic lock; 10. Plug-in overflow valve; 11. Oil level sight glass; 12. Hydraulic cylinder; 13. Pressure sensor; 14. Position and speed sensor; 15. Control circuit board. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Example:

[0028] See also Figure 1 - Figure 6 As shown, the unmanned driving micro intelligent hydraulic system actuator includes:

[0029] A micro intelligent power unit, the micro intelligent power unit is composed of a connecting mounting plate 1 and an upper shell 3 and a lower shell 2 respectively fixedly mounted on the upper and lower sides of the connecting mounting plate 1, the connecting mounting plate 1 is fixedly connected with a motor 4, a hydraulic pump 5, an electromagnetic reversing valve 6 and a control circuit board 15, the control circuit board 15 includes a single-chip microcomputer, which is responsible for the signal sending, receiving and operation control of the entire system, can receive host computer instructions, and send control instructions to the outside according to control logic requirements, and the control instructions are sent and received in the form of serial port 485, 232, CAN protocol, etc.;

[0030] The hydraulic actuator unit is composed of a hydraulic cylinder 12, a pressure sensor 13 and a position and speed sensor 14. The hydraulic cylinder 12 has no restrictions on cylinder diameter, stroke and pressure.

[0031] The connecting mounting plate 1 is connected to the hydraulic cylinder 12 via a hydraulic oil pipe, and the pressure sensor 13 and the position and speed sensor 14 are connected to the control circuit board 15 via a signal line.

[0032] When the unmanned driving execution structure of the vehicle is controlled, the host computer sends corresponding control instructions to the control circuit board 15. The control circuit board 15 sends a control signal to the motor 4 according to the host computer instruction based on the hydraulic cylinder pressure, hydraulic rod position and speed information fed back by the pressure sensor 13 and the position and speed sensor 14, and controls the motor 4 to drive the hydraulic pump 5 to rotate according to the control signal requirements, thereby generating the corresponding required hydraulic oil output, thereby realizing the controllable movement of the hydraulic rod of the hydraulic cylinder 12 in position, speed and force.

[0033] The connecting mounting plate 1 is arranged in a T shape, and the lower shell 2 is sealed to form a closed oil tank at the raised lower end of the connecting mounting plate 1. The motor 4 and the hydraulic pump 5 are arranged coaxially and are immersed in the closed oil tank together. The motor 4 is an oil-immersed motor, and the closed oil tank is filled with oil. The motor 4 is immersed in the oil. The hydraulic oil provides lubrication and heat dissipation for the motor 4. The motor 4 will drive the hydraulic pump 5 to rotate. The motor 4 and the hydraulic pump 5 have the same speed and torque. Controlling the motor 4 is to indirectly control the hydraulic pump 5.

[0034] An oil passage is provided inside the connecting mounting plate 1, and a plug-in hydraulic lock 9 and a plug-in relief valve 10 are provided on the side wall of the connecting mounting plate 1, and a hydraulic oil outlet 8 connected to the oil passage is provided. The pumped hydraulic oil enters the hydraulic cylinder 12 through the hydraulic oil outlet 8, and work is performed by the hydraulic cylinder 12 to complete power output. Wire connectors, oil circuit interfaces, oil drain ports, etc. can also be provided on the connecting mounting plate 1, which are evenly distributed on the connecting mounting plate 1.

[0035] The oil tank and part of the oil circuit form a sealed whole, which is not connected to the atmosphere, has strong anti-pollution ability, and does not pollute the outside world, thereby broadening the scope of application of the device. It can be used in relatively quiet places such as medical, laboratories or offices, and can also be used in places with serious external pollution such as agricultural machinery, ships, aviation or vehicles.

[0036] The connecting and mounting plate 1 is fixedly connected with a breathing capsule 7 which is in communication with the sealed oil tank. The breathing capsule 7 expands and contracts through breathing to adjust the pressure change inside the sealed oil tank.

[0037] An oil level sight glass 11 is fixedly connected to the connecting and mounting plate 1 , and an operator can observe the oil level inside the sealed oil tank through the oil level sight glass 11 .

[0038] The hydraulic rod of the hydraulic cylinder 12 is fixedly connected with trigger elements of a pressure sensor 13 and a position and speed sensor 14. Feedback signals of the pressure sensor 13 and the position and speed sensor 14 are transmitted to a control circuit board 15 through a signal line. Two pressure sensors 13 are provided, and the two pressure sensors 13 are respectively arranged at both ends of the hydraulic cylinder 12, and are respectively connected to the rod cavity and the rodless cavity of the hydraulic cylinder 12.

[0039] The sensor trigger element is arranged inside the hydraulic rod, which can trigger the position and speed sensor 14 at the head of the hydraulic cylinder 12. The pressure sensors 13 at both ends of the hydraulic cylinder 12 can sense the pressure changes at both ends of the hydraulic cylinder 12. The pressure change signal can also be fed back to the control circuit board 15 through the signal line. The control circuit board 15 performs logical operations based on the pressure difference signal, speed signal, position signal and pressure signal, and then outputs a control signal to control the speed and direction of the motor 4.

[0040] During operation, the host computer sends a control instruction to the control circuit board 15. The control circuit board 15 receives the pressure difference signal, pressure signal, speed signal and position signal of the hydraulic cylinder 12 through the pressure sensor 13 and the position and speed sensor 14, generates a control signal according to the received signal and the control instruction, sends a control signal to the motor 4, controls the speed and torque of the hydraulic pump 5 through the motor 4, and then controls the flow, direction and oil pressure of the output hydraulic oil. The power output of the hydraulic cylinder 12 is controlled by controlling the output hydraulic oil, so that the hydraulic cylinder 12 can stop at the required place.

[0041] The standard parts used in the present invention can all be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0042] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0046] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

Claims

1. Unmanned driving micro intelligent hydraulic system actuator, characterized in that: include: A micro intelligent power unit, the micro intelligent power unit comprising a connecting mounting plate (1) and an upper shell (3) and a lower shell (2) respectively fixedly mounted on the upper and lower sides of the connecting mounting plate (1); a motor (4), a hydraulic pump (5), an electromagnetic reversing valve (6) and a control circuit board (15) are fixedly connected to the connecting mounting plate (1); A hydraulic actuator unit, the hydraulic actuator unit comprising a hydraulic cylinder (12), a pressure sensor (13) and a position and speed sensor (14); The micro intelligent power unit is connected to the hydraulic execution unit via a hydraulic oil pipe and a signal line.

2. The unmanned driving micro intelligent hydraulic system actuator according to claim 1 is characterized in that: The connecting mounting plate (1) is arranged in a T-shape, the lower housing (2) seals the lower end of the connecting mounting plate (1) to form a closed oil tank, the motor (4) and the hydraulic pump (5) are arranged coaxially and are immersed in the closed oil tank together, and the motor (4) is an oil-immersed motor.

3. The unmanned driving micro intelligent hydraulic system actuator according to claim 2 is characterized in that: An oil passage is provided inside the connecting and mounting plate (1), and a plug-in hydraulic lock (9) and a plug-in overflow valve (10) are provided on the side wall of the connecting and mounting plate (1), and a hydraulic oil outlet (8) connected to the oil passage is provided.

4. The unmanned driving micro intelligent hydraulic system actuator according to claim 1 is characterized in that: A breathing capsule (7) which is in communication with the sealed oil tank is fixedly connected to the connecting and mounting plate (1).

5. The unmanned driving micro intelligent hydraulic system actuator according to claim 1 is characterized in that: An oil level observation mirror (11) is fixedly connected to the connecting and mounting plate (1).

6. The unmanned driving micro intelligent hydraulic system actuator according to claim 1 is characterized in that: A trigger element of a position and speed sensor (14) is fixed inside the hydraulic rod of the hydraulic cylinder (12), and feedback signals of the pressure sensor (13) and the position and speed sensor (14) are transmitted to a control circuit board (15) via a signal line.

7. The unmanned driving micro intelligent hydraulic system actuator according to claim 1 is characterized in that: Two pressure sensors (13) are provided, and the two pressure sensors (13) are respectively arranged at two ends of the hydraulic cylinder (12) and communicate with the rod chamber and the rodless chamber of the hydraulic cylinder (12).

Images