MULTI-CHANNEL FLOW CONTROL PUMP SYSTEM AND METHOD

Abstract

The invention relates to a multi-channel flow control pump that provides advanced and dynamic motion capabilities by enabling precise movement of mechanisms in robotic applications, particularly in humanoid robots and heavy machinery systems, using numerous components. It is also used in excavators and similar heavy construction machinery to ensure the regular and desired distribution of fluid flow, allowing for the independent and precise direction of fluid flow through multiple flow lines (channels) within a single pump housing at specific time intervals. In other words, the invention relates to a control system and method that enables variable flow pumps to direct flow to each channel only once.

Description

1 TARIFF MULTI-CHANNEL FLOW CONTROL PUMP SYSTEM AND METHOD TECHNICAL AREA 5 The invention utilizes numerous components in robotic applications, particularly humanoid robots. and the precise movement of mechanisms in heavy machinery systems To ensure its realization; hydraulic elements such as hydraulic capacitors are supplied with liquid. Used to distribute liquid flow in a regular and even manner. Multiple flow lines (channels) can be independently routed within a single pump housing. multiple The channel flow control pump is related to the le lg ld r. In other words, the invention is a variable flow pump. a control that will allow the pumps to flow into each channel only once It is related to the system and method. STATE OF THE ART In excavators that are in the technically advanced state, variable flow hydraulics are used. Liquid transfer is achieved using a pump, but this system is generally not suitable for each individual unit. (Hydroelectric power) is limited to directional valves that enable the pumping of liquid. This 20 s stem, each brsl nd re liquid pumping function performs a directional valve It works through this. In the excavator, when a lever is moved, the fluid pressure increases. The flow is directed to a specific area by diverting valves. The system is generally single. A single pump works, but this system is used for pumping liquid into more than one cylinder. It offers limited flexibility. Furthermore, all these processes are carried out manually. 25 Current systems use variable flow water pumps and diverter valves. It works, but such systems generally control a limited number of actuators. It is used to achieve efficiency and efficiency in more complex applications. There are flexibility problems. Especially in excavators and industrial machinery, every 30 The use of separate directional valves for BRP stone and multiple hydraulic systems. Combining components often leads to unnecessary complexity and maintenance difficulties. This leads to... 2 Although there is no system that directly copies the invention, similar systems exist. It provides control of hydraulic actuators with variable flow water pumps. This These types of systems are generally for unidirectional movements or a limited number of functions. It is structured. However, in current systems, multi-channel, dynamic and variable flow 5 There is no system in place that ensures fluid transfer with precise timing. Fluid control in these systems is not yet sufficiently advanced in these structures. However, this machines and robotic systems are much more functional and require control. With the increase in hydrol kp stonlar gb elements, these currently used methods 10 This is a rather primitive method, and its use in new systems is outlined below. This will reveal the disadvantages. The shortcomings and disadvantages of these systems can be listed as follows: 1. Complexity and Inefficiency: Current systems require 15 for each hydrolytic capacitor. This requires separate directional valves and control elements. This situation is very... Complexity and maintenance in applications using a large number of actuators It increases the cost of materials. Also, each channel needs to be controlled separately. It is therefore limited in terms of flexibility and speed. 2. Transition Challenges Between Scenarios: In traditional hydroelectric systems, and the ability to react to changes or more dynamic movements They are limited. These systems generally follow planned movement patterns. Because of his work, he can quickly adapt to unexpected situations. They may have difficulty providing it. 25 3. High Number and Volume of System Components: Complex Orientation valves and multiple pressure control valves gbb components use, This increases the size of the system and prevents efficient space utilization. This also... especially in robotics applications, weight and space limitations are relevant. This can lead to problems. 3 Consequently, current flow control systems generally have a limited number of actuators. It can manage data in a linear fashion, but requires more dynamic, precise, and versatile actions. It is insufficient for robotic and industrial applications that require control. DEFINITION OF INVENTION 5 The present invention eliminates the aforementioned disadvantages and the related technical Multi-channel flow control pump developed to bring new advantages to the field. It is related to the system and method. The aim of the invention is to provide a solution to the shortcomings in the current state of technology, thereby reducing costs. variable flow fluid by controlling a large number of actuators with a small number of components Pumping operations result in a more flexible and efficient braking system. Another aim of the invention is to increase the efficiency of hydraulic systems, by making them more efficient. The goal is to achieve more precise, powerful, faster, and flexible control capabilities. Another aim of the invention is to control and direct the fluid flow rate in hydraulic systems. By ensuring that the robot parts are optimized, the mobility of the robot parts is increased. development is the goal. 20 Another purpose of the invention is particularly for variable flow water pumps and multi-channel structures. by using multiple pistons and actuators to operate synchronously. This is to ensure that humanoid robots, which require precise and dynamic movements, are able to function. This is a critical advantage for applications. 25 Another aim of the invention is to improve existing pumping and directing systems. Given the complexity and maintenance challenges, the more advantages offered by the invention BASIC, thanks to its flexible and low-cost solutions, is a long-term leader in the sector. It is the fulfillment of expectations. 30 In general, the advantages of our invention are: 4 Reduced Complexity and Fewer Components: Each component in traditional systems The hydraulic piston has separate directional valves and control elements, In our invention, these functions are managed through a single system. This makes the system more efficient. It allows it to work with a small number of components and significantly reduces complexity. More Flexible and Dynamic Control: The invention allows for control over which channel the fluid flows through, at what speed, and at what rate. To determine how long it will take, we need to consider numerous parameters. It has a structure that can manage situations in a timely manner. This allows the system to make quick decisions. It can quickly adapt to changes and dynamic movements. Faster Response Time and Adaptation: Traditional hydraulic systems generally While working with fixed plans, thanks to the invention, the fluid flow and direction can be adjusted for each channel 10 It can be controlled independently. This is particularly important in robotic applications, for instantaneous use. It creates a system that can quickly adapt to changes in movement. Ease of Maintenance: Fewer components and a less complex structure facilitate maintenance. It significantly simplifies operations. Furthermore, the system's operational efficiency increases. In the long run, there is less risk of maintenance and breakdowns. 15 Less Space and Weight: Many valves used in traditional systems Replacing multiple components with a single integrated system offers more advantages in robotic applications. It enables efficient use of space. This is especially true for mobile robots or small robotics. It offers significant advantages in devices. Efficient Energy Use: The invention allows for the delivery of fluid to each channel only as needed, up to 20 oz. It increases energy efficiency by transferring it. It also minimizes hydraulic energy losses. Thus, the system's energy consumption is kept at lower levels. Also, a flow... If the system shows a tendency to move in the direction in which fluid flow will occur in the channel, the energy generated from the flow trend coming from here is transferred to the fluid flow in other flow channels. It will guide you. 25 In conclusion, the invention is more efficient, flexible, and maintenance-friendly compared to existing systems. by offering a solution for numerous hydraulic actuators in robotics and industrial fields. This simplifies management. This is especially true for fluids with dynamic and variable flow rates. It provides a significant advantage in applications that have specific requirements. 30 Solutions The present invention, briefly summarized above and discussed in more detail below, applications of the invention, example applications of which are depicted in the attached drawings. This can be understood by referring to the reference. However, the attached drawings are only typical of this invention. It describes the applications and inventions, and therefore, other equally effective ones. Since it may allow applications, it cannot be assumed that it limits its scope. 5 It should be noted. To make it easier to understand, indicate the identical elements that are common to the shapes. For this purpose, identical reference numbers have been used where possible. Figures are to scale. It is not drawn and can be simplified for clarity. The elements of an application and Its features are useful to other applications without needing further explanation. It is thought that it can be included in this way. Figure 1: Isometric view of the multi-channel flow control pump. 15 Figure 2: Izoometric view of the multi-channel flow control pump. Figure 3: Enabling 8 variable flow rates to be pumped by gear number 10. and the flow rate can be adjusted by the element to which 8 hydraulic capacitors are connected. Zometric view, pumper Figure 4: 20 that enables 8 variable flow rates to be pumped by gear number 10. and the flow rate can be adjusted by the element to which 8 hydraulic capacitors are connected. The isometric view of the NBR cover removed to show the d-connection. pumper Figure 5: Zoometric view of the timer. Figure 6: Timer segment number 11 formed by angles of 22.5 degrees. cut view Figure 7: Timer segment number 11 formed by angles of 22.5 degrees. cut view Figure 8: Exploded view of the timer. Figure 9: Isometric view of the directional flap 30 Figure 10: Cross-sectional view of the directional flap. Figure 11: Exploded view of the directional flap. 6 Explanation of Details in the Solutions The corresponding reference numbers shown in the figures are given below. 1- First element 5 2- Second element 3- Direction flap 4- First timer 5- Second timer 7- D shl P ston 10 8- Variable flow water pump flow rate adjuster ml 9- Hydroelectric capacitors that play a role in the control of variable flow. 10- Gears that operate variable flow water pumps. 11- The moving part that sets the time of the timer. 12- Timer cover br nc 15 13- Timer cover 14- Direction flap is the movable part that determines which channel the water will flow into. 15- The part containing the channels that make the directional flap. 16- Direction flap cover a1: The fluid of the variable flow water pump driven by component number 10.1 is 20 the channel it pumps or vacuums a8: Fluid of the variable flow water pump driven by part number 10.8 the channel it pumps or vacuums b1: Hydrol kp stona g ren or exit fluid channel c1: Channel 25 where all variable flow water pumps vacuum the fluid. c2: The channel through which all variable flow water pumps pump fluid. d1: Collective fluid channel connected to the timer d2: Collective fluid channel exiting the timer. e1: From the eight channels entered by the timer e2: The output of the timer is from channel br 30 e3: The channel that directs the fluid flowing from channel e1 to channels d1 and d2. e4: A direct connection between the fluid flowing from channel e1 and channel e2. the channel that provides 7 f1: Part number 11 through the fluid channels in parts 12 and 13 a channel carved out for direct flow f2: The channel carved out for part number 11 to flow into channels d1 and d2. f3: the channel space continuing from f2 g1: Single channel opened in part number 14 5 g2: channelless area opposite channel g1 h1: In part number 15, the eight channels opened from br j1: Channel for part number 15 to enter and exit channel number g1. k1: In part number 15, eight channels are opened from br 1.1: The third pipe to which element number 4 is connected to element number 1 is 10 1.2: The k-th pipe to which element number 4 is connected to element number 1. 1.3: The third pipe to which element number 4 is connected to element number 1. 1.4: The fourth pipe to which element number 4 is connected to element number 1. 1.5: Five NC pipes to which element number 4 is connected to element number 1. 1.6: The sixth pipe, to which element number 4 is connected, is 15 1.7: The seventh pipe to which element number 4 is connected to element number 1. 1.8: The sq z nc pipe to which element number 4 is connected to element number 1. 1.12:1 element's visible ml of number 10.2 d 1.18: The visible ml of element number 1 of element number 10.8 2.1: The third pipe to which element number 5 and element number 2 are connected is 20 2.2: The k nc pipe to which element number 5 is connected to element number 2. 2.3: The third pipe to which element number 5 is connected to element number 2. 2.4: The fourth pipe to which element number 5 is connected to element number 2. 2.5: Five NC pipes to which element number 5 and element number 2 are connected. 2.6: The sixth pipe, to which element number 5 is connected, is 25 2.7: The seventh pipe to which element number 5 is connected to element number 2. 2.8: The 2-section pipe to which element number 5 is connected to element number 2. 2.22:2 element's visible ml of the d-shaft numbered 10.2 2.28:2 element's visible ml of number 10.8 d 3.11: The third pipe to which element number 3 and element number 1 are connected is 30 3.12: The k nc pipe to which element number 3 is connected to element number 1. 3.13: The third pipe to which element number 3 is connected to element number 1. 3.14: The fourth pipe to which element number 3 is connected to element number 1. 8 3.15: Five NC pipes to which element number 3 and element number 1 are connected. 3.16: The sixth pipe to which element number 3 is connected to element number 1. 3.17: The seventh pipe to which element number 3 and element number 1 are connected. 3.18: The sq z nc pipe to which element number 3 is connected to element number 1. 3.21: The third pipe to which element number 3 and element number 2 are connected is 5 3.22: The k nc pipe to which element number 3 and element number 2 are connected. 3.23: The third pipe to which element number 3 is connected to element number 2. 3.24: The fourth pipe to which element number 3 is connected to element number 2. 3.25: Five NC pipes to which element number 3 and element number 2 are connected. 3.26: The sixth pipe, to which element number 3 and element number 2 are connected, is 10 3.27: The seventh pipe to which element number 3 and element number 2 are connected. 3.28: The sq z nc pipe to which element number 3 and element number 2 are connected. 10.1:10 The gear that drives the variable flow water pump. 10.2:10 The gear that drives the variable flow water pump. The gear numbered 10.3:10 drives the third variable flow water pump, gear 15. 10.4:10 numbered d drive the fourth variable flow water pump. d şl s The gear numbered 10.5:10 drives the fifth variable flow water pump. The gear numbered 10.6:10 drives the sixth variable flow water pump. The gear numbered 10.7:10 drives the seventh variable flow water pump. The eighth variable flow water pump driven by component number 10.8:10 d şl s 9.1: Adjust the flow rate of the variable flow water pump driven by part number 10.1. making h drol kp ston The flow rate adjustment of the variable flow water pump driven by the number 9.8:10.8 is 25 making h drol kp ston DETAILED EXPLANATION OF THE INVENTION This detailed explanation includes the preferred alternatives to the design of the invention, 30 purely for the purpose of better understanding the subject and without any limiting influence. It is explained in a way that will not create a problem. 9 The invention utilizes numerous components in robotic applications, particularly humanoid robots. and the precise movement of mechanisms in heavy machinery systems by enabling its realization, it offers advanced and dynamic mobility capabilities. In addition, in excavators and similar heavy machinery, the fluid flow rate needs to be regulated. Also used for distributing liquid flow in a controlled manner, a single pump 5 capable of independently managing multiple flow lines (channels) within its body. multi-channel that allows precise and time-sensitive control. flow control pump le lg ld r. In the invention, the first element (1) is pump number 1. The second element (2) is pump number 2. It is a pump. This will be explained in detail below. Figure 4 shows a part of the pump in Figure 3 being removed and a variable flow water pump being installed. In order to see how the pumps are driven by the gear (10) It is designed. The geared (10) servo motor 15 drives the variable flow water pumps. The pump is driven by eight variable flow water pumps, as shown in Figure 3. The variable flow rate is controlled by eight hydraulic capacitors that adjust the flow rate. It is located. In order for eight variable flow rates to perform pumping, the variable The gear (10) that operates the variable flow water pumps must rotate. Variable flow water When the d-shaped (10) that drives the pumps rotates, eight variable flow water pumps 20 Fluid of the variable flow water pump driven by component number 10.1 the channel (a1) that it pumps or vacuums and the drive of the 10.8 numbered d channel (a8) through which the variable flow water pump pumps or vacuums the fluid The flow is initiated through the eight channels located in GB. While fluid is being vacuumed into some channels... Some are pumped with liquid. Vacuum or pumping is done on the pump 25 The control of the hydroelectric capacitors located on the pump is determined by the pumper. The channel (c1) through which all variable flow water pumps vacuum the fluid and Channel (c2) through which all variable flow water pumps pump fluid. It needs to be connected to the hydraulic tank. Thus, variable flow water pumps. It drains or feeds excess fluid from here. 30 Figures 6 and 7 show the movement that sets the time of the single timer in Figure 5. The sections taken with part (11) making a 22.5 degree turn. The moving part (11) element that sets the time of the timer is a servo motor. The element we call the first timer (4) and the second timer (5) is triggered. There are two different functions. The first one is the movable part that sets the time of the timer. The part (11) is fixed in position in Figure 6 and the 8 channels that enter the timer. The fluid entering / exiting from channel (e1) flows from channel e1 to channel e2. By passing through the channel (e4) hole that enables direct connection The output of the timer comes from channel br (e2) and it goes in / out. This If we say that the timer's first time is the nth time, then at the kth time, the timer's 10 The 22.5 degree rotation of the moving part (11) that sets the time is shown in Figure 7. It happens when it reaches that position. This happens at the third time, according to the Timer, from eight channels. Fluid entering / exiting from one of the eight channels entering the timer The flowing fluid (e1) is directed to channels d1 and d2, and then to channel (e3). The signal from the timer cannot go from channel (e1) to channel (e1) and 15 from channel e1. fluid flowing through channel (e3) directed to channels d1 and d2 the bulk fluid channel (d1) entering the timer and the bulk fluid exiting the timer It is directly connected to the fluid channel (d2). The bulk fluid is connected to the timer. channel (d1) and bulk fluid channel (D2) coming from the timer brh drol k tanka It is there for the fluid to enter or exit. In short, the timer is 20. The element we mentioned is a control element that contains the first and second time periods. And At the third time, the eight pipes connected to the timer are directly connected to the opposite pipe. It flows. At the second time, the pipe connected to the timer flows into the same space. flowing and this gap hydroelectric tank is connected to a timer that detects the bulk fluid. channel (d1) and the bulk fluid channels (d2) coming from the timer 25 It contains. Thus, at time k, the fluid coming from / going through the pipes is hydroelectric. It can be drained / fed from the tank. Figure 8 shows the elements of the Timer more clearly, and the Timer's There are eight parts of part number 11 on the moving part (11) that set the time. For direct flow through the fluid channels in parts 12 and 13. carved channel (f1) and eight z pieces of part number 11 into channels d1 and d2 the channel that flows through is connected to the channel (f2) and the channel that continues from the channel at f2 11 The gap (f3) has been opened. These holes appear to be very close to each other. The system Care must be taken to ensure this proximity where it will be used. Otherwise, the Timer will malfunction. The moving part (11) that sets the time makes angles of 22.5 degrees. part number 10 directly from the fluid channels in parts 12 and 13 the channel (f1) that is hollowed out for flow and parts d1 and d2 of part number 11 There may be flow between the channel (f2) and the channel that has been hollowed out, but this should not happen. The element shown in Figure 9 is the directional flap (3). The element called the directional flap (3) controls the flow. It is a control element that ensures the movement occurs in a specific direction. Figure 11 shows this direction. The flaps nn (3) is the exploded appearance. 10 As shown in the figures, the directional flap has channels that make ingress. Channels have been opened on the part (15) to allow flow into sixteen pipes. To understand how the system works, the cross-sectional view given in Figure 10 should be examined. Here, the movable part (14) 15 determines which channel the direction flap will flow into. It makes angles of 22.5 degrees from the single channel opened in part number 14 (g1) The part (15) on which the channels making the directional flap are located The channels found match with br le. This match is for part number 15, number g1. For fluid to enter and exit from channel (j1), the fluid coming from / going from channel 14 Passing through the single (g1) channel opened in part number 20, it enters the channel to which it is matched. It allows for fluid transfer. Directional flap nn which channel to flow into. The moving part (14) that determines what it will do is driven by a servo motor. Direction (15) Which part of the directional flap contains the channels that make the flap. from the single (g1) channel opened in the movable (14) part which determines that it will flow into the channel The (j1) channel is connected to the drol k pump for entry and exit. Thus, direction 25 The channels connected to the part (15) where the channels that make up the flap (3) are located, fluid It can pump or vacuum. In short, directional flap (3) Which directional flap The matching element is the moving part (14) that determines that it will flow into the channel. it connects to the channel it is on and with this match, part number 15, g1 To make entry and exit from channel number (j1), it connects to channel (j1). Matching 30 Since the process involves sixteen different channels, you can say that they are matched. It will be correct. The pumper, timer and directional flap shown in the figures (3) 12 We explained what it is. Now we'll talk about how these will be used in the hydroelectric system. It should be noted that the hydroelectric system is the structure shown in Figure 1 and Figure 2. The pumper is a servo motor (10) that drives the variable flow water pumps. It is controlled by turning it back. And variable flow water pumps 5 Variable flow water pumps with channel (c1) where they vacuum the fluid. The channel (c2) through which the fluid is pumped is connected to the hydraulic tank. Pumper The hydraulic capacitors on it adjust the variable flow pumps and By driving the gear (10) that operates the variable flow water pumps, eight different Channel flow control is provided. The timer controls the flow of fluid coming from eight different channels. either when it directly connects to the hydrol tank or when the eight channels It may be found at a time when it allows connecting to the opposite channel. This To ensure control, the moving part that sets the time of the timer (11) It must be controlled by a servo motor. Direction flap (3), Direction flap nn The moving part (14) which determines which channel the flow will go to is driven by a servo motor. A single channel (g1)16 was opened in part number 14 with a rotation of 22.5 degrees. It is possible to make connections with different channels. Thanks to these connections, it is possible to enter the directional flap. The part in which the channels are located (15) gr from channel number g1 and exit To do this, the desired amount of fluid is transferred to the channel made by matching it with channel (j1). It is possible to flow within the specified time interval. Part number 15, g1 number 20 For the channel to be able to make this flow in and out of the channel (j1) A servo motor-controlled water pump should be connected to this channel. Thus, Direction claps (3) match any channel from the sixteen channels and the desired amount to that channel It can pump liquid. In short, thanks to two servo motors, it can sequentially pump the liquid into the desired channel. It is capable of transferring fluid. However, it should be noted that 25 fluids cannot be transferred to each channel at the same time. There is no situation where liquid is injected. These processes occur sequentially. Simultaneously. The task is to provide the sten len stream to all channels within the sten len time interval. I will discuss the Multi-Channel Flow Control Pump (Figure 1 and Figure 2) in later sections. is doing. Figures 1 and 2 show the isometric view of the Multi-Channel Flow Control Pump. It has been given. Before explaining the working principle of this system, let me explain the purpose of the system and It is useful to understand what kinds of methods are used in current systems. 13 This way we will understand why this system is necessary. Multichannel Streaming The control pump is supplied to numerous pipelines within a specified time interval. It can pump or vacuum a certain amount of fluid. For example... Let's assume that the junction in Figure 1 serves eight different hydraulic ducts, and This sequence of voltages is 2V, 0V, 3V, -1.2V, 0V, 8V, 8.75V, -5V fluid 5 If necessary, ("-" indicates the flow direction is reversed and a side vacuum is being created. (written to clarify) if this operation is taken from the control unit of the servo motors It can be realized within the scope of information. In short, flow into numerous fluid channels. It provides control. We will discuss the technical details of how this process works. Now, let's look at the function of the Multi-Channel Flow Control Pump. According to what we know, how this process is done in the current methods and what kind of Due to the difficulties, we are away from systems that use variable flow water pumps. We will talk about how things have calmed down. Existing systems for controlling the flow of numerous fluid channels In some cases, the water from the stationary water pump will be pumped to the hydraulic water pump. During this process, a TBR motor is used, and after this necessary flow is completed... The fluid is being bypassed. When this process is considered, the fluid... The pumping takes place within a certain time interval; what fluid is needed? 20 Because the flow rate is bypassed after deb lending, the fluid has a certain duration. It is not really possible to say that it is fluctuating within that range. In some systems, however, it is very... After a single water pump is used for the number of channels and the required flow is completed A bypass operation is performed, cutting off the flow to the channel. This reduces the fluid pressure. Since the flow is easier in the channel where the hydroelectric flow is minimal, the process is 25. It will be easily completed and the required fluid for hydrol kp stones at different time intervals It will be pumped. What kinds of problems arise in such robotic structures? If we consider that it will be removed, then what has been placed inside a walking robot? h drol kp stonlar düzens zbr kide çalışda durmayla dah It will not succeed. Because the fluid is not pumped within the time control. 30 This is a major problem. However, if stationary water pumps are controlled by a servo motor... With this method, timing and quantity control can be achieved, thus providing more precise results. Motion control would be possible. We used servo motors in the D yel mks system and each 14 brh drol kp ston ç nbr sab t su pompa ve br servo motor yerlet rd k. Bu In this situation, there are eighty hydroelectric devices in a system that will enable a person to perform actions. Pstone, therefore, contains eighty fixed-flow pumps and eighty servo motors. will receive. Several key challenges will arise here: Processor Load and Latency: For controlling each servo motor. The microprocessor needs to constantly receive data such as position, velocity, and torque. Trying to check eighty at the same time or at very short intervals, 10 This strains the processor's real-time processing capacity, causes delays, and The system response time is negatively affected by the processor's I / O pin count and bus bandwidth. Factors such as bandwidth, processing power, and real-time operating system usage. Here, the critical factor plays a crucial role. Synchronization Problems: Each servo motor controls a specific water pump. By controlling it, the BRP (Brain Speed) system is activated. However, the nature of human movements... It requires very precise synchronization. For example, during a walking movement. The knee and ankle pistons must be engaged simultaneously, at the right time, and in the right amount. It needs to work. A disruption of this synchronization results in unnatural movement, 20 This leads to imbalance or dysfunction. Communication Traffic: Incoming and outgoing signals from each servo motor. The signals create a very high volume of data traffic. In such systems, CAN, EtherCAT, etc. Industrial communication protocols may need to be used. Otherwise, 25 Problems such as data conflicts, delays, or loss of commands can occur in the system. Compact Fit: Servo motors in a compact and mobile structure like the human body. When you try to integrate them, the physical dimensions of the motors differ from each other and from their surroundings. The mechanism can overlap with the components. For example, both a piston and a pump can be inside a lever arm. And installing the engine is quite difficult. 30 First of all, it should be noted that we are talking about eighty servo motors here. It was connected to a hydroelectric water pump that provided a constant flow rate. However, a different scenario... Let's consider this: If these servo motors only have eighty variable speeds... If he / she was responsible for adjusting the pump's flow rate and all pumps were a single constant mechanically driven via a common unit rotated by a rev motor. Ed Lseyd, in terms of fluid transfer to numerous fluid channels in the system, offers various options. This has created conveniences. For example, instead of a separate motor for each pump, now there are 5 Since only one powerful motor will suffice, the servo used in the system motors are only for control tasks and are smaller and have lower power. Three-dimensional servo motors could be preferred. This would both increase energy efficiency and... The overall design of the system could have been made more compact and economical. (mentioned) This structure uses servo motors instead of hydraulic capacitors in the pumper shown in Figure 3. It is the situation where a motor is used. It's not like that, the system mentioned earlier... What would be the outcome of the situation? Increased Efficiency in Power Distribution: Previously, each pump had its own motor. While being rotated, now a single powerful motor transmits mechanical power through the ml 15 He will do it. This reduces the number of motors and lowers energy losses. The efficiency of the mechanism increases because the individual losses of electric motors (heat, friction, 20 (Wiring, driver circuits, etc.) are eliminated. The expected workload from servo motors is reduced: Servo motors are no longer used solely for flow direction (valve control) or flow rate adjustment. 25 (For example, it takes on tasks such as adjusting eccentricity, opening / closing valves, etc.). Because these tasks require low torque and low speed, smaller, lighter, and lower-powered engines are needed. Mal Yetl servo motors can be used. Convenience in Location and Layout: 16 Since each pump does not have its own motor, the space occupied by pump-motor sets is... The dramatic effect diminishes. This makes compact designs possible. A large number of pumps can be arranged in an orderly fashion along the M l line; this It provides modular and s-meter KD designs. 5 Heat and Power Management is Easier: Because the powerful engine is located in one place, the cooling process can be centralized. Servo motors operate at low power, so overheating is not a problem. This significantly reduces heat dissipation and cabling clutter. 10 Low Complexity in the Control System: Previously, it was necessary to check both the motor and the pump; now it's just the motor. It's running in a constant state, only servo-driven deb regulation will be done. This also reduces the load on the processor. 15 In addition, the system's real-time control algorithms become simpler and more stable. Advantages in Fluid Transfer: Since the pumps driven via M1 operate synchronously, the flow rate is synchronized. It becomes easier. Furthermore, thanks to the constant motor speed, the system's pressure profile and flow behavior can be determined. It makes things more predictable. This also ensures more stable operation in multi-channel distribution systems. However, it should be remembered that even a momentary change in the fluid flow rate setting can have an effect. If the design changes, a flow change occurs and engineering In this sense, these calculations are quite complex. The flow rate-time graph in the system... If it is to be drawn for a single channel, it is not a fixed graph. Therefore, such calculations... It is extremely difficult. To make it easier, the servo motor needs to be rotated 30 times for a specific period of time. It needs to remain constant. One might think that this would solve the problem. However... The situation is not that simple. Because the amount of fluid that will go into the channels is different. When necessary, an adjustment must be made to the fluid flow rate, and this change must be observed. 17 It not only creates a delay, but also, with adjustment, the variable flow rate changes by a certain amount. Fluid leakage or seepage occurs. Taking this into account, there will be a loss in the environment. Excess fluid formation is observed. It is at this stage that Multichannel Flow Control is implemented. The pump is engaged. This Multi-Channel Flow Control Pump is one of a kind. There may be different applications. We have given one of these applications in Figure 1 and Figure 2. These 5 The common aspect of the applications is the flow rate of the fluid passing through the Mzbr channel I just mentioned. To stabilize the flow rate-time graph and to adjust the flow rate again for a second movement. When the process is started for constant but different flow rate, the servo motor By making adjustments, it prevents the formation of residual or lost fluid, The goal is to eliminate the delay in adjusting the flow rate. Just now, variable 10... The situation where the flow rate is controlled by servo motors is different from hydraulic fluid flow. This is possible with the inclusion of control elements. Alone, as shown in Figure 3... The pump is insufficient. To eliminate these kinds of problems, our first application is the Multi-15 shown in Figure 1. Let's talk about the Ducted Flow Control System. In this system, variable flow water... The problem of delay in adjusting the flow rate of the pumps has been eliminated, and The formation of fluid or the disappearance of fluid has been prevented. Furthermore, the fluid... The pumping motor power ensures flow to all channels in a highly efficient manner. sah pt r. 20 Figure 2 shows the structure in Figure 1 from a different angle. Figure 1 contains two The pumper has k timers and one directional flap (3). There are sixteen fluid channels on the flap (3) and these fluid channels Each brbrh drol kp ston adjusts its position. Half of these h drol kp stons are 25 One half of the pump is located on one pump, and the other half is located on the other pump. Timers on variable flow water pumps, each pump It is connected to the channel it created in sequence. These Timers are ksnn A pipe where the channel opposite the fluid coming from the pumps connects. It is clearly seen that this is not the case. These channels are eight in number in the Timer and 30 There are sixteen in total. However, the number of channels where flow control is performed is not sixteen, There are eight timers. One of these timers has a channel on it and the other... The channels on the timer are combined into a single channel, and the content on this channel... 18 It will be able to fully control the flow, and the flow of a total of eight channels. It will provide control. Before explaining how the system works, some Definitions are needed. These definitions will explain how the system works. And then I will give an example application. The servo motors and directional flap (3) that drive the elements in the system are connected to The hydraulic pump is controlled according to the decisions made by its operator. As it is known, there are two Timers. These Timers are located... We will customize it according to the position. When the first timer (4) is in the position shown in Figure 7 and the second timer (5) is in the position shown in Figure 7 At position 7 = Starting time, when the pump k is not pumping. When the deb setting can be adjusted When the first timer (4) is in the position shown in Figure 6 and the second timer (5) is in Figure 6 When in position 7, the first element (1) pumps and the second element (2) has a flow rate of 15. when the control is regulated When the first timer (4) is in the position shown in Figure 6 and the second timer (5) is in Figure 6 At the 6-minute mark = Intermediate time, the pump is ready to pump. when Let's talk about flow processes. The purpose of the system is to control the flow in the channels. Since the purpose is to provide, let's talk about definitions related to flow rates. 2V = indicates the amount of fluid that will flow in the positive direction in a volume of 2V. -3V = indicates the amount of fluid that will flow in the negative direction in a volume of 3V. 25 0V = no fluid flow Fluid is generally transported in specific quantities through channels to elements such as hydraulic coupe. It was necessary to specify this for vacuuming or pumping. In Figure 1, which pipes control pumps numbered 1 and 2 and which 30 He indicated that he was creating a vacuum or pumping into the pipe. 19 Element B (1) carries the fluid through the connection between element 4 and element 1. br nc pipe (1.1) flow rates and flow rate adjustment with element no. 3 and element no. 1 the fluid that is vacuumed / pumped from the tube (3.11) to which the element is connected The hydroelectric capacitor's movement is realized through this process. The second variable flow water pump transfers the fluid through element number 4 and element number 1. The pipe to which the element is connected is the pipe (1.2) and the flow rate and flow rate adjustment is done with number 3. from the pipe to which element 1 is connected, pipe k nc (3.12) The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The third variable flow water pump transfers the fluid through element number 4 and element number 1. The flow rate and flow rate adjustment are made with the third pipe (1.3) to which the element is connected, element number 3. from the third pipe (3.13) to which element number 1 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The fourth variable flow water pump directs the fluid through element number 4 to element number 1. The fourth pipe (1.4) to which the element is connected and the flow rate and flow rate adjustment are numbered 3. from the fourth pipe (3.14) to which element 1 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The fifth variable flow water pump transfers the fluid through element number 4 and element number 1. The flow rate and flow rate adjustment are done with five nc (1.5) pipes to which the element is connected, number 3. from five nc (3.15) pipes to which element 1 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The sixth variable flow water pump conveys the fluid through pipe number 1.6 at certain flow rates and flow rates. Adjust the setting from the sixth (3.16) pipe where element number 3 is connected to element number 1. The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The seventh variable flow water pump transfers the fluid through element number 3 and element number 1. The sixth pipe (3.16) to which the element is connected, the flow rates and flow rate adjustment are done with number 3. from the seventh pipe (3.17) to which element 1 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The eighth variable flow water pump transfers the fluid through element number 4 and element number 1. The element is connected to the pipe with flow rates and flow rate adjustment number 3. element 1 is connected to the pipe z nc (3.18) The vacuuming / pumping of the fluid is accomplished by the movement of the lg lh drol kp stonun. 5 Pump number 2; The first variable flow water pump transfers the fluid through element number 5 and element number 2. The flow rate and flow rate adjustment are made with the pipe (2.1) to which the element is connected, number 3. from the pipe br nc (3.21) to which element 2 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The second variable flow water pump distributes the fluid through 2.2 pipes and adjusts the flow rate. element number 15 from pipe k nc (3.22) to which element number 2 is connected. The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The third variable flow water pump directs the fluid through element number 5 to element number 2. The flow rate and flow rate adjustment are made with the third (2.3) pipe to which the element is connected, number 3. the third pipe (3.23) to which element 2 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the lg lh drol kp stonun. 20 The fourth variable flow water pump pump transfers the fluid through element number 5 to element number 2. The fourth pipe (2.4) to which the element is connected and the flow rate and flow rate adjustment are made with number 3. element 2 to which the fourth pipe (3.24) is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The fifth variable flow water pump transfers the fluid through element number 5 and element number 2. The flow rate and flow rate adjustment are made with five nc (2.5) pipes to which the element is connected, number 3. from five nc (3.25) pipes to which element 2 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The sixth variable flow water pump directs the fluid through element number 5 to element number 2. The sixth (2.6) pipe to which the element is connected and the flow rate and flow rate adjustment are made with the 3rd number 30 from the sixth pipe (3.26) to which element 2 is connected The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. 21 The seventh variable flow water pump transfers the fluid through element number 5 and element number 2. The flow rates and flow rate adjustment are made with the seven NC pipes (2.7) to which the element is connected, number 3. from pipe n to which element 2 is connected (3.27) The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. The eighth variable flow water pump transfers the fluid through element number 5 and element number 2. The element is connected to the 2.8 nc pipe, flow rates and flow rate adjustment number 3. element 2 is connected to the pipe (3.28) The vacuuming / pumping of the fluid is accomplished by the movement of the fluid pump. This system generally performs operations by following a planned chain of movements. 10 It is suitable for this. What is called a planned chain of motion is the movement of the fluid at a specific time. It is related to specifying how much flow will go into which channel at certain intervals. A few creating a chain of movements in steps and how the system operates with this chain of movements I will explain it with an example. This way, the system's operation will be clearly understood. I will define eight channels for these flow processes. These eight channels are brh drol k It can be thought that it performs a robotic movement by driving the piston. The fluid pumped / vacuumed into the first channel is transferred to the first timer (4) element number 4 is connected to element number 1, and element number 1 is connected to element number 4.20. element number 1 to which element number 1 is connected br nc (1.1) pipe element number 5 connected to the opposite channel and the second timer (5) The pipe to which element number 2 is connected, element number 5, and element number 2. The element is connected directly to the channel opposite the third pipe (2.1). Let's accept that it is connected. Article 25 The fluid pumped / vacuumed into the second channel is connected to the first timer (4). element no. 2 to which element no. 2 is connected in the third pipe (2.1) element number 5 connected to the opposite channel and the second timer (5) The k nc pipe (2.2) to which element number 2 is connected is directly connected to the channel opposite. Let's accept that it is connected. Article 30 The fluid pumped / vacuumed into the third channel is timed to the third timer (4) element number 4 is connected to element number 1. 5 connected to the channel opposite the third pipe (1.3) and to the second timer (5) 22 the third pipe (2.3) to which element number 2 is connected Let's assume it's directly connected to the other channel. The fluid pumped / vacuumed into the fourth channel is timed by the B r nc timer (4) connected timer (4) to element number 1 The fourth pipe (1.4) is connected to the opposite channel and to the second timer (5) element number 2 to the fourth pipe (2.4) to which element number 2 is connected Let's assume it's directly connected to the other channel. The fluid pumped / vacuumed into the fifth channel is transferred to the third timer (4) element number 4 is connected to element number 1. 5 10 connected to the channel opposite the five nc pipes (1.5) and to the k nc timer (5). five nc pipes (2.5) to which element number 2 is connected Let's assume it's directly connected to the other channel. The fluid pumped / vacuumed into the sixth channel is fed into the br nc timer (4) The sixth pipe, to which element number 1 is connected, is connected to element number 4. (1.6) connected to the opposite channel and k nc timer (5) connected to k nc timer (5) to the channel opposite the sixth pipe (2.6) to which element number 2 is connected. Let's assume it's directly connected. The fluid pumped / vacuumed into the seventh channel is 20 of the first timer (4) element number 4 is connected to pipe number 7 where element number 1 is connected. (1.7) connected to the opposite channel and timer number 5. element 2 opposite the seventh pipe (2.7) to which element 2 is connected Let's assume it's directly connected to the channel. The fluid pumped / vacuumed into channel 2 is sent to timer number 4. element number 4 is connected to element number 1, which is connected to pipe z nc. (1.8) connected to the channel opposite the pipe and the k nc timer (5) number 5 element 2 is connected to the channel opposite the pipe (2.8) Let's assume it is directly connected. Article 30 Thus, we have determined the connection with eight different fluid channels. Now, these Please draw up a table outlining the plan for the flow of traffic to the channels. 23 If we read the table, in the time interval 0-t, 2V fluid flows into channel br nc. It has been pumped. In this way, a movement plan has been created. This movement of the system Before explaining how to carry out the operation in accordance with the plan I should mention that even though this action plan is well-defined, in possible situations... The system can make adjustments accordingly to allow for changes (and this will be urgent in the future). I'll talk about the situation later. What I mean is the system is changing, movement 10 According to the plan, a study can show continuous system movement step. These are implemented by adding them. Even if this application information is received, the system directly uses it. He doesn't put it into practice. While implementing one action plan, he prepares for the second. Thus, the changes in the third action plan directly affect the functioning of the system. It does not. However, direct intervention in a change at the k-th step of the movement is required. 15 The emergency situation I just mentioned can be resolved with a change of scenery. 24 The Multi-Channel Flow Pump shown in Figure 1 performs these steps. We will run it to make it happen. After the system receives the command to operate, follow the steps mentioned below. We will be observing the movements, and I will provide some notes during these steps. Also The realization of this will be a problem, including how he dealt with it. I will talk about it. There may be many more problems than those I will mention. This system Because it is a system with many development options, it is suitable for future technologies. He promises everything. STEPS; 10 Step 0: All elements within the structure are stationary. Timers Start It comes to the right time. This means that a timer is in the position shown in Figure 7. It allows the pump to adjust the flow rate. Channels for first movement. For the pumping operation, see Direction 15 for adjusting the flow rate of the pumps. flaps (3) the third pipe to which element number 3 and element number 1 are connected Channel (3.11) matches with this matching directional flap (3) working together. The fluid flowing from the hydraulic pump is the first element (1) the first variable flow rate To control the flow rate, bring the flow rate to the desired position. In the time interval 0-t The variable flow rate adjusts the flow rate according to the number of revolutions required. (Mention 20) The mentioned movements, such as B r nc hareket and k nc hareket, occur at different times. These movements occur within these intervals, and the system requires the motors to rotate at the appropriate speeds for these movements. It determines and then performs the revolution accordingly. For example, during the 0-t interval, number 1 The variable flow rate of the pump will rotate four turns; a decision can be made. This decision... The strength of the pump in the system varies depending on the pump's capacity or the motor's power. This is the situation. Direction flap (3) where element number 3 is connected to element number 1. After the br nc pipe (3.11) is matched with channel no. 3, the directional flap (3) is on it. For part number 15 to enter and exit channel number g1 (j1) Fluid is pumped through the channel and the br nc variable flow rate is in the 0-t time interval four It reaches a position where it can pump 2V of volume within the cycle. In order, the first 30 variable flow, second variable flow, ... eighth variable flow related flow The pump completes the flow rate adjustment. The directional flap (3) adjusts the flow rate of the eight variable flow rates of water. After adjusting the pump's settings, the pumper performs the first movement. He prepares it accordingly. And now the direction flap (3) Second movement because the third element (2) It can be prepared. If attention is paid, the second element (2) is directed to adjust the flow rate. The flap (3) must have prepared the element (1) to pump. K m In these cases, the third element (1) and the second element (2) pumps flow at the same time. The settings may need to be adjusted. In some cases, only the flow rate of the pump can be adjusted. More than one directional flap (3) may be needed to make the adjustment. The basis of this is The reason is to prepare more quickly for the break. For this, a suitable number of directions are needed. The valve (3) can be mounted on the system. Step 1: Timer switches to time B and now timer b is (4) 10 The timer is in the position shown in Figure 6. This means that the pump enables flow to the channels by pumping. ver r. B r nc element (1) To perform the B r nc movement, along the 0-t interval It performs the cycle that is specified. During this time, the second element (2) does not remain stationary. Because Timer number 5 is in the appropriate position for adjusting the flow rate and 15 While the third movement is taking place, the second pump does not rotate but the flow rate is adjusted. It does. Eight variable flow rates, the first movement is the appropriate flow rate for the pump to perform the third movement. The directional flap (3) is determined by the adjustment. The side directional flap (3) of the pumper number 2. It adjusts the flow rate. And after completing this flow rate adjustment throughout the 0-t range... Timers enter the intermediate time position. Entering the intermediate time means 20 The pump's flow rate has not been adjusted and it is suitable for pumping. It's time. If the auxiliary system is ready to make the second movement, it will immediately initiate that movement. We can begin. We are currently performing the first movement, and the system is ready for the second movement. However, the k nc movement has not started. Step 2: In the instantaneous state where the system is at the end of the time interval 0-t, the first step is... element (1) stops at GBK NC element (2) starts to move to make a pump. And k nc movement begins. We are in the time interval t-2t, and during this time interval the k nc element... (2) When making a pump, the third element (1) cannot make a pump. Because the third timer (4) is not ready for the flow rate adjustment. For this, the Timers enter the second time. 30 Thus, the third element (1) will be able to adjust the flow rate. The directional flap (3) will adjust the required flow rate. It configures the settings, and after this process is complete, the Timers can perform an intermediate transition. By delaying the transition, the system can begin its third phase. 26 The workings of the system are now quite understandable. A pump, a movement. While the first element is active to perform the action, the third element (2) comes into play for the other movement. Thus, the system can function in this way. 5 These pumps can be three or many more depending on the system's needs. It can be used as a single unit, or it can be used as a whole. One of the advantages of using a single unit is... Because of its disadvantages, we did not include it in the first application and will use a different application. I will also mention them. 10 Step 3: The system completes its second movement when the third element (2) stops and the first element stops. element (1) moves to make the third move instantly. Third Timer to prepare for the fourth movement at the time the movement is performed. Therefore, it should be entered into the first time period. However, as noted in this system, 15 No pump operation is performed in the fourth movement. Therefore, the system is in the fifth phase. In order for the movement to occur, the third element (2) must be prepared. However, here too, a special element There is a situation. Because the same movement that is made in the third movement is also made in this movement. It is available. Therefore, the system is directly ready for this movement of the first element (1). It is stated that in order to prepare for the Sixth Movement, the First Time Period is 20 It makes a gr. The appropriate movement for the Sixth movement via the directional flap (3). It adjusts the flow rate setting to perform the action. After this adjustment is made, the intermediate timer will start. A meeting can be expected. However, due to this specific situation, the system... to avoid being affected by the pressure coming from the channels (servo motors of the pumps) (To avoid forcing) Instead of having an interim meeting, have a meeting at the beginning time. 25 He will do it. But entering the starting time before completing the third movement. That would not be correct. First, the third element (1) must complete its third movement. Step 4: Timers after the system completes its third movement It makes a retrospective reference to the starting time. Actually, making a retrospective reference to this time is only possible in the Fourth 30th century. This is to reduce the pressure on the pump during the stroke. Fourth. We started the movement and towards the end of this time the first element (1) The fifth It must be ready to take action. That's why Timers are set to Time 1. 27 It can make a start. If you want to make a start in the Sixth time, adjust the second element (2) flow rate. If completed and ready, a meeting can be held at any time. However, it should be noted that... If pressure builds up on the pumps when the system enters the intermediate period, then this intermediate period... to pass through time near the end of the movement and before that movement ends It would be much more beneficial for him to enter the interim period at a time when he can pass the interim period. 5 That will be. We are now nearing the end of the Fourth Period and have made an introduction to the First Period. Step 5: To make the fifth movement, the third element (1) is to make a pump. They can take action. However, there is one thing to be careful about. Third However similar it may be to the movement, in the third time period, in the time interval of 2t-5t, this 10 The flow rate was obtained. This means that the pump is operated at the same speed with the same flow rate setting. This causes the system to produce different amounts of flow. Therefore, the system proportionally... It is necessary to determine how much the debit / floor is. Thus, these types of decisions should be made at the same debit / floor rates. When doing so, one can make proportional preparations. To understand this proportionality issue, see the Third Let's assume that the variable flow rate completes six turns in the time interval. That is, the time interval is 2t-3t = 15 In the interval, it completed a total of k turns. In this movement, which completed k turns during time t... If, in the fifth time interval, it makes k turns in time t, then in the fifth movement... Half of the pump that needs to be made will be done. Because the fifth time is the third. It takes about half the time. Therefore, in the fifth time period, the variable values... He needs to complete six laps in 1.5t time. The number of laps he makes per minute is k 20. It will increase to the floor. Similarly, the fifth time period, the third time period. If the flow rate were to be in the form of multiples of the flow rate in the dlm ndek, then the pump would... He could do this by controlling the number of revolutions he would make. We are in the first time period. Preparations for the Sixth Movement can continue. Note that preparations for the Sixth Movement... Continued comment. In the side system, a decision change is possible instantly. 25 We are in this situation. If the amount of flow that will go into a channel in the sixth movement is changed... If, during this time interval, you quickly check the flow rate with the directional flap (3). It is necessary. However, since we will be entering the intermediate period near the end of the Fifth Movement, the Intermediate Period... This flow adjustment must be completed without delay, because this system makes instant decisions. Allow 30 minutes to adjust the flow rate in order to adapt to the changes. It must be found. The amount of flow going to all channels changes. Before completing the adjustment process, without entering the intermediate time frame. It is highly unlikely to start. This system is challenging. In short, the system's interim period... 28 Decisions made without prior notice can be rectified. However, having entered the interim period means... It is now necessary to take action. Let's say it was taken without delay. To adapt quickly to the land, as I mentioned earlier, during the intermediate period... To speed up the flow, we should use more directional flaps (3) in the system. In these cases, the number of channels controlled by the system is not eight, but more than eighty. It is possible. In such cases, the effect of the directional flap (3) is taken into consideration more. It is valuable. Because there are over eighty hydraulic capacitors available for adjusting the flow rate. We make a reference to the intermediate time towards the end of the fifth movement. Step 6: With the completion of the fifth movement, the first element (1) stops and the second element 10 (2) It starts moving to make the sixth move. Timers Enter the second time. He does. At this time, the directional flap (3) first performs the seventh movement. The element (1) adjusts the flow rate of the side pump. To the end of the sixth movement. The correct system makes changes in time. Step 7: With the completion of the sixth movement, the second element (2) stops and the first element (1) It starts moving to make the seventh movement. Timers First time entry It does. At this time, the directional flap (3) second in order to perform the eighth movement. element (2) adjusts the flow rate. Towards the end of the seventh movement, the system adjusts. It changes with time. 20 Step 8: With the completion of the seventh movement, the first element (1) stops and the second element (1) stops. element (2) starts moving to make the eighth movement. Timers Second It makes a transition in time. At this time, the Ninth movement is to be carried out by the Direction. The flap (3) adjusts the flow rate of the third element (1). Towards the end of the eighth movement 25 The system makes changes over time. It will continue in this manner. After all movements are completed, the Timers It can be determined by the starting time. Looking at steps 6, 7, and 8, this pattern now exists. The system can continue. I believe this application helps to understand how the system's workflow processes work. Let's explain why this system is of great importance. 29 The system has 2 pumps, and the variable on these pumps is... By increasing the deb l number, we can increase the number of channels we control, and this number... Let's assume there are approximately eighty. Control of the fluid flow through eighty channels; 5 2 Pumpers, each pumper operating the variable flow water pumps. d şl y (10) to drive k constant speed motor or k servo motor 1 Direction flaps (3), one of them is a hydraulic pump and one of them is the timer's time setting A total of 2 servo motors are used to drive the moving part (11). The timer is the moving part (11) that sets the time of each k timer. There are a total of 2 servo motors for driving the vehicle. If you pay attention, the flow control for eighty channels is done with six servo motors. This is extremely important, however, in these servo motors only The high power of servo motors used in pumps is important. It carries [the load] because even though the pump creates a large flow rate into these channels, it still carries [the load] into these channels. the force that must be applied to variable flow rates to pump the fluid that will flow. It distributes it. Thus, an effective power distribution occurs. Therefore, only The servo motor to be used in the pumps needs to be powerful in the system. Using many servo motors instead of controlling with a very small number of servo motors 20 It is possible to provide it. The pump takes up quite a bit of space. However, in a miniature form. It can be designed. We have described the first application. It is also worth mentioning the number of pumps. There may be one or many more. 25 different variations of the system in Figure 1. Let's talk about it. The reason why the system is used in different variations is because of the different systems. HT is related to delays in the required flow processes. In the second application, unlike the system in Figure 1, only the directional flap (3) is used. Instead of using hydraulic capacitors together, each variable flow rate needs to be controlled. 30 A nbr servo motor can be used. Thus, hydraulic kipstones can be used on the pumps. Small servo motors will be used in the area. Before the system transitions to intermediate time. These servo motors are solely responsible for adjusting the LG L variable flow water pump settings. It is sufficient. This system can reach the intermediate time very quickly. However, the flow in the system... Servo motor control that is k times the number of channels being controlled It is a challenging situation to handle. In the third application, the pump in Figure 3 is for controlling the flow. 5 Instead of hydraulic coupling on the pump, a servo motor can be used. However, this... In this situation, controlling the flow is somewhat difficult, but not impossible. Agreed. ed leb lr errors can be made with the pump. The fourth application involves the pump and timer in the system shown in Figure 1. It was created by reducing the number to b. Thus, the system is based on the time interval. It will not pump until it is ready to pump and will remain on standby. This will happen. However insufficient this may seem, some things are acceptable in terms of delay. There may be a rare situation. Side To move from the first movement to the second movement The system is prepared for pumping. The directional valves are set to a pumping flow rate of 15 seconds. This arrangement can be expected. Thus, the system can use fewer elements. We can do it by accepting the same delays. The Importance of Multichannel Flow Control Pumps in Robotic Systems In general, a multi-channel flow control pump controls the flow in channels. We stated that we could provide control. This control is important in terms of robotic systems. The extent to which it is critical is a matter that requires detailed explanation, especially regarding humans. When this system is used in similar robots, it enables hydraulic-based multi-channel control. The mechanical design dramatically improved the robot's overall performance and efficiency. It is increasing. 25 If this system were applied to a human-like robot, the joint movements would be... multi-channel flow control pump to be used for this purpose They should be installed in a miniature form. Miniature hydraulic systems, with their small size and In addition to having a certain weight, they offer high output density and impact resistance of 30. It has high resistance to environmental conditions, high temperatures, and slippage. It reduces friction. These features are used in miniature hydraulic robot design and machinery. It makes the production process ideal. The system is structured in such a way that, 31 Hydroelectric power strips do not require any sensors to be present on them. Only the water pipes carrying the fluid determine which arm movement the robot performs. The system detects and executes whichever action is desired. can get it This significantly reduces the load on the processor in the robot system. It offers a simpler and faster control system. 5 Furthermore, the robotic arm does not require any electronic cables. It simplifies the system and increases its physical durability. Robot Thanks to the use of only six servo motors inside, both the interior and exterior structure... A significant amount of headroom is gained, and this headroom allows for a larger and more powerful servo 10. It allows the use of motors. Of these motors, only k motors can control the flow of liquid. While the pumping task is undertaken to provide, the hydraulic power obtained from the pumps Thanks to the multi-channel connection system, all streaming channels receive a balanced distribution. is distributed. This situation requires even the smallest robotic arm structure to withstand higher hydraulic pressure. It offers a strong range of motion. 15 Traditional humanoid robots have separate motors, valves, sensors, and wiring for each joint. While necessary; in this new system, dozens of joints are connected by a central pump system. It can be controlled with several motors. For example, this system can control 80 to 100 different flows. It is possible to control the channel with the help of only 6 servo motors. This structure allows the robot to control 20 channels. It greatly reduces cable load, minimizes electronic component failures, and It increases mobility by reducing overall weight. Furthermore, it works on the principle of valveless DDH (valveless DDH). Thanks to this, pressure and energy losses caused by classic valves are eliminated. 25 It has been shown that sensorless position estimation can be performed with high accuracy. Thus The system becomes both more energy efficient and requires less maintenance. This technology... while increasing the robot's resilience to external interference and environmental challenges This allows it to deliver a much stronger, more agile and more efficient performance over time. In conclusion, the Multi-Channel Flow Control Pump is only for a pumping system 30 It is not only a revolutionary flow control platform for robotic systems, but also a revolutionary one. Humanoid robots using this system are much more powerful than those with traditional designs. Secure, cable-free, and optimized for processing load. 32 ed lm ş br yapı serg ler. This system is used in engineering and industrial applications. It is a promising technology with high potential. The invention has a hydraulic system located on the br nc element (1) and the k nc elements (2). No sensors are needed for position control of the pistons. This 5 The movement of the pistons is connected to the direction flap (3) of the hydraulic pump, which precisely pumps the liquid. This is achieved by pumping or suction. Thus, the fluid is sent into the channels. or the position of the piston is determined by the effect of the fluid being drawn in. Therefore, piston It does not need to have a separate position sensor. This approach utilizes sensorless hydraulic flow control in robotic systems. It provides management and uses sensor-based methods in existing robotic systems. It offers a significant innovation compared to others. Valveless DDH (D rect Dr and Hydraul c Actuator) Prince b 15 Valveless z direct drive kl h drol k actuator (Valveless DDH), class kh drol k Directional control valves and flow control valves are commonly used in systems. It operates without needing a power source. In this system, a servo motor or electric motor is used. It directly drives the pump. The direction and pressure of the fluid are entirely given to the motor. It is controlled by commands. 20 The advantages this method provides are:  Eliminating valve-related losses and delays,  Fewer components, compact and lightweight design, 25  High energy efficiency,  Faster dynamic response,  High-precision authorized control. Reset (Referencing) Mechanism In the system, leaks that may occur in the fluid channels can cause piston 30 to wear out over time. Shifts in position may occur. In this case, a reset operation is applied. The system is referenced again. This method, used today, refers to end locations. It is carried out based on: 33  The pump is operated for a specified period until the piston reaches its physical limit (e.g., maximum). (to the stroke position) get rlr,  This position is considered the “reference position” (e.g., 0 mm or 100 mm).  In subsequent movements, via motor position or flow rate Monitoring and control are performed using the calculated location information. 5 By creating a vacuum and placing the piston in the exact opposite position, at zero, its position can be determined. This is possible, but it cannot be implemented in every system. The pump that enables the P-shaped pull is operated in the reverse direction. 10 If there is a double impact lbrp stone, this reaches the zero position by draining the fluid in the reverse direction. It can be used for. 20 30

Claims

34 REQUESTS 1- The invention relates to variable flow pumps that draw flow into each channel in a single pass. The control system that will enable it to do this is related to the method and its characteristic; - The first timer (4) must be in the starting position and The pump's pumping action provides flow to the channels. - To perform the first movement of element (1) along the 0-t interval the cycle that was determined, - While the first movement is taking place, the direction of the second element (2), the pumper, is 10 adjusting the flow rate with the flaps (3), - After completing this flow rate adjustment throughout the 0-t range, the timers will pause. coming into time position, - After the br nc element (1) stops in the time interval t-2t, the k nc element (2) to start pumping, 15 - Timers (4,5) By entering the second time, the first timer (4) Preparation for flow adjustment and making the flow adjustment of the directional flap (3), - After the second element (2) stops, the third element (1) is in the range of 2t-5t. pumping action and directional flap (3) flow adjustment, - The system then returns to its original position after (5t-5.5t) or (0-t), 20 - System pumps are connected by the first element (1) and the second element (2). (5.5t-7t) motion n or (0-t) motion ne return, - With the completion of the fifth movement, the first element (1) stops and the second element (2) moves in the range of (7t-8t) to make the sixth move. passing, 25 - Timers (4,5) should start at time (t-2t) and at this time direction The flap nn (3) makes the flow adjustment of the element (1), - Completion of the 7t-8t movement, the second element (2) stops and the first element The element (1) must start moving to make an 8t-15t movement. - The first and second timers (4,5) should enter the 0-t time and this 30 In time, the direction flap nn (3) makes the flow adjustment of the k nc element (2), 35 - After the completion of the 8t-15t movement, the third element (1) stops and k nc element (2) sek nc movement 15t-30t movement n to make the movement passing and the first timer (4) and the second timer (4,5) second The time difference is that it makes a ninth movement in the t-2t interval, and at this time... To perform this, adjust the flow rate of the first element (1) of the directional flap (3) 5 the process of doing it and the continuation of the loop depending on the system's structure His steps are like a circle. 2- The invention involves variable flow pumps that draw flow into each channel in a single pass. It is related to a control system that will enable it to do this, and its feature is; 10 - At least one third element (1) that enables pumping, - At least one second element (2) that enables pumping, - Variable flow water pumps of element (1) and element (2) of the first element. to drive the d-sl-y (10) at least a constant flow motor or 15 At least k servo motors provide flow control to the channels, - At least one control element used to measure the time interval. br nc timer (4) and k nc timer (5), - Directional flap (3) that allows adjustment of the fluid flow rate. - Variable flow water pump flow rate adjuster ml (8), 20 - Variable flow water pump that adjusts the flow rate of incoming fluid in ml. turning with the help of d shl p ston (7), - Hydrocoupler (9) which is involved in the control of variable flow. - Gears (10) that operate variable flow water pumps - The moving part (11) that sets the time of the timer (4,5), 25 - Direction flap nn (3) is the movable part that determines which channel the flow will go into. (14) - The part (15) where the channels that make directional flaps (3) are located - Hydrol kp stona g ren or çık fluid channel (b1), - The bulk fluid channel (d1) that enters the timer (4,5), 30 - The bulk fluid channel (d2) coming from the timer (4,5), - One of the eight channels (e1) that enters the timer (4,5), 36 - The eight channels that go up to the timer (4,5) contain br (e2). 3- The invention relates to variable flow pumps, each channel containing a single pump, as per Claim 2. It is a control system that will ensure smooth flow during the journey, and its characteristic is; - At least one pipe to which the first element (1) is connected with the first timer (4) 5 Çermes Dr. 4- The invention relates to variable flow pumps, each channel containing a single pump, as per Claim 2. It is a control system that will ensure smooth flow during the journey, and its characteristic is; - At least one pipe to which the second timer (5) and the second element (2) are connected 10 Çermes Dr. 5- The invention relates to variable flow pumps that pump each channel in a single pass, as per Claim 2. It is related to a control system that will enable the flow, and its characteristic is direction. flaps (3) to which the first element (1) or the second element (2) is connected at least br 15 adet boru çermes d r. 6- The invention relates to variable flow pumps, which, according to Claim 2, provide a single pump for each channel. It is a control system that will ensure smooth flow during the journey, and its characteristic is; The variable flow water pump must contain at least one gear that drives it. 20 7- The invention relates to variable flow pumps, as per Claim 2, with a single pump for each channel. It is a control system that will ensure smooth flow during the journey, and its characteristic is; the variable flow water pump that drives the gears pumps the fluid or at least one channel that it vacuums. 25 8- The invention relates to variable flow pumps, as per Claim 2, with a single pump for each channel. It is a control system that will ensure smooth flow during the journey, and its characteristic is; h drol kp stona g ren or exit fluid channel (b1) çermes d r. 9- The invention relates to variable flow pumps, subject to Claim 2, with a single pump per channel. It is a control system that will ensure smooth flow during the journey, and its characteristic is; 37 at least one channel going to and going from the timer Çermes Dr. 10- The invention relates to variable flow pumps, each channel containing a single pump, as per Claim 2. It is related to a control system that will ensure smooth flow during the journey, and its feature is; 5 the moving part (11) that sets the time of the timer at least one channel carved out for direct streaming from the channels Çermes Dr. 11- The invention relates to variable flow pumps, each channel having a single 10-inch pump, as per Claim 2. It is a control system that will ensure smooth flow during the journey, and its characteristic is; direction flap nn (3) the movable part that determines which channel the flow will go into a single open channel and the channelless area opposite it are called Çermes D. 12- The invention relates to variable flow pumps, each channel having a single 15-inch pump, as per Claim 2. It is a control system that will ensure smooth flow during the journey, and its characteristic is; direction flap (3) opened in the part where the channels making the g gr are located at least br adet kanal çermes d r. 13- The invention relates to a variable flow rate (VTR) based on any of the above-mentioned systems. pumps that will allow flow to each channel only once The control system is related to and its feature is; to drive the hydraulic pump. a small number of servo motors are the moving parts that set the timer's timing. It must contain at least one servo motor to drive the part (11). 14- The invention relates to a variable flow rate based on any of the above systems. pumps that will allow flow to each channel only once The control system is related to the feature; first timer (4), second to drive the moving part (11) which sets the time of the timer (5) It must contain at least k servo motors. 30 35

Images