Annular node layout hydraulic driving system based on topology principle

Abstract

The invention discloses an annular node layout hydraulic driving system based on a topology principle in the technical field of hydraulic driving, which comprises a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder and an oil tank, all the hydraulic cylinders are connected in series through a bus to form annular oil supply, and additional driving pumps are added among all the hydraulic cylinders, so that the hydraulic driving system is formed. The driving pump and the hydraulic cylinders are distributed in an annular topological form, the oil way flow direction and pressure distribution in the hydraulic system are dynamically adjusted by means of the topological flexibility of the annular network according to the requirement of driving force, the energy transmission path can be optimized, pressure and flowing of hydraulic oil can be reasonably distributed, and the problems that a traditional pump control system is poor in dynamic performance and poor in stability are solved. According to the device, under the condition that the driving power is not increased, the maximum driving force of a single hydraulic cylinder can be improved, the driving force of each hydraulic cylinder can be finely controlled, and a hydraulic driving system is more flexible.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic drive technology, and in particular to a ring node layout hydraulic drive system based on topology principles. Background Art

[0002] With the development of social economy and the requirements of environmental protection, the industry has put forward higher demands on economy and energy efficiency, requiring both energy conservation and improved productivity.

[0003] The current traditional pump-controlled hydraulic system has insufficient dynamic performance and limited energy efficiency improvement. It is already a very mature industry, resulting in insufficient research and development motivation. The current hydraulic drive system is gradually unable to meet production needs, especially in multi-drive systems. The traditional pump control system is a pump driving a hydraulic system, which cannot achieve fine control. As a result, no matter how large the driving force required, it relies on the same hydraulic system to drive, resulting in energy waste. Moreover, the driving force is consistent, and it can only be controlled with maximum force during design. The flow and power distribution cannot be refined, which limits the development and use of multi-drive systems.

[0004] Electro-hydraulic variable speed drive technology is a relatively advanced energy conversion and control technology. It cleverly converts the mechanical energy generated by an electric motor into hydraulic energy in the hydraulic system. By precisely adjusting the speed of the hydraulic pump or motor, this technology can flexibly control the operating state of the hydraulic system, thereby achieving precise control of the hydraulic system's operating speed and position. Currently, this electronic control of the hydraulic system changes the way the driving force is controlled, while the drive oil system remains the same.

[0005] When traditional pump control systems are used for simultaneous operation of multiple actuators, each actuator must be designed according to the two extreme working conditions of maximum torque and maximum speed, resulting in large installed power and high operating costs.

[0006] Based on this, the present invention designs a ring node layout hydraulic drive system based on topological principles to solve the above problems. Summary of the Invention

[0007] The purpose of the present invention is to provide a hydraulic drive system with a ring node layout based on topological principles. The device adds 5 separate variable-speed hydraulic metering pumps. Through the metering variable-speed pumps, the 6 chambers of the three hydraulic cylinders can form a hydraulic system instead of three separate hydraulic cylinders. The design concept of the present invention is to first share the chambers, short-circuit the rod chambers of the two hydraulic cylinders and the rodless chamber of the other hydraulic cylinder, so as to realize chamber sharing; not only does it reduce the number of chambers to be controlled, but it can also reduce conversion losses and simplify component integration at the system level. At the same time, it also reduces the demand for pumps and makes flexible adjustments. There is no need for valves to control the oil circuit. Instead, the oil circuit flow direction and pressure distribution in the hydraulic system are dynamically adjusted through pump control, which can optimize the energy transmission path, reasonably distribute the pressure and flow of hydraulic oil, and solve the shortcomings of poor dynamic performance and limited energy efficiency improvement of traditional pump control systems, forming the effect of smooth adjustment of hydraulic cylinder extension and retraction.

[0008] The present invention is implemented as follows: a ring node layout hydraulic drive system based on topological principles, comprising:

[0009] A first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a pressure control pipe and a common capacity pipe;

[0010] The first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are all linear hydraulic cylinders;

[0011] The inner cavity of the first hydraulic cylinder is divided into a left cavity and a right cavity by a piston seal;

[0012] The inner cavity of the second hydraulic cylinder is divided into two left cavities and two right cavities by a piston seal;

[0013] The inner cavity of the third hydraulic cylinder is divided into three left cavities and three right cavities by a piston seal;

[0014] The left chamber is respectively connected to a control pump and a cylinder supplementary pump;

[0015] The control pump is connected to a left chamber and a right chamber at the same time;

[0016] The three right chambers are connected to a three-control pump and a three-cylinder supplementary pump respectively;

[0017] The three-control pump also connects three left chambers and three right chambers at the same time;

[0018] The single-cylinder supplementary pump and the three-cylinder supplementary pump are both arranged on the pressure control pipe;

[0019] The two left chambers are sealed with an oil supply pump, which is connected to an oil supply tank. The two left chambers are also sealed with a pressure control tube.

[0020] The oil supply pump is connected to the one-cylinder supplementary pump and the three-cylinder supplementary pump through the two left chambers and the pressure control tube to form an integral pipeline;

[0021] The one-control pump and the three-control pump are also connected to the second right chamber; the one-control pump, the first right chamber, the second right chamber, the three-control pump and the three left chambers are all connected to the common volume pipe.

[0022] Furthermore, the first left chamber, the second left chamber and the third left chamber are all rodless chambers of the hydraulic cylinder;

[0023] The first right chamber, the second right chamber and the third right chamber are all rod chambers of the hydraulic cylinder.

[0024] Furthermore, the one-control pump, the oil supply pump, the three-control pump, the one-cylinder supplementary pump and the three-cylinder supplementary pump are all variable speed hydraulic quantitative pumps; and are all provided with flow meters and pressure gauges.

[0025] Furthermore, the pressure control tube is a high-pressure hose;

[0026] The common containment pipe is a sealed high-pressure hose, and the common containment pipe is sealedly connected to the first control pump, the first right chamber, the second right chamber, the third control pump and the third left chamber through a joint.

[0027] Furthermore, the one control pump and one cylinder supplementary pump are symmetrically connected on the outer walls of the two left cavities;

[0028] The three-control pump and the three-cylinder supplementary pump are also connected to the two sides of the three left chambers without contacting each other.

[0029] The beneficial effects of the present invention are as follows: 1. The present invention adds multiple driving pumps, and through the distribution of the driving pumps, it is possible to flexibly adjust the flow direction of the hydraulic oil between the various chambers of the hydraulic cylinder, and then flexibly adjust the direction and position of the driving force, so that the hydraulic drive system can reasonably distribute the flow, improve the coordination of compound actions, reduce energy waste, and improve the energy efficiency of the system under the same power. In addition, the oil supply pump is added, and the oil supply pump is directly connected to the two left chambers of the second hydraulic cylinder to form a ring oil circuit sharing. Dynamic flow regulation maintains the overall flow balance of the system, realizes real-time transfer and reuse of energy in the ring network, and avoids energy waste in traditional independent drive; significantly reduces the total displacement and power configuration of the required variable speed pump;

[0030] 2. The driving method of this system can reduce the demand for the maximum driving force of each pump and the hydraulic system as a whole to a certain extent, thereby making the system form a smaller energy consumption and achieve a greater driving effect. It does not add an additional hydraulic pump for driving. This driving system integrates the cavity sharing between multiple actuators to couple the actuators with each other, reducing the required drive units, and also reducing the total installed power and the number of equipment, thereby achieving the purpose of reducing costs and increasing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] Fig. 1This is a schematic diagram of the overall layout structure of the hydraulic system of the present invention;

[0033] Fig. 2 Schematic diagram of the connection relationship structure of the co-containing chamber of the present invention.

[0034] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0035] 1-first hydraulic cylinder, 11-first control pump, 12-first left chamber, 13-first right chamber, 2-second hydraulic cylinder, 21-oil supply pump, 22-second left chamber, 23-second right chamber, 24-oil tank, 3-third hydraulic cylinder, 31-third control pump, 32-third left chamber, 33-third right chamber, 4-first cylinder supplementary pump, 41-third cylinder supplementary pump, 42-pressure control pipe, 43-common volume pipe. DETAILED DESCRIPTION

[0036] See also Figs. 1-2 As shown, the present invention provides a ring node layout hydraulic drive system based on topological principles. In order to better understand the above technical solution, the above technical solution will be described in detail below in combination with the drawings in the specification and specific implementation methods.

[0037] In a specific embodiment of the technical solution of the present invention:

[0038] It includes a first hydraulic cylinder 1, a second hydraulic cylinder 2, a third hydraulic cylinder 3 and a pressure control tube 42;

[0039] The first hydraulic cylinder 1, the second hydraulic cylinder 2 and the third hydraulic cylinder 3 are all linear hydraulic cylinders;

[0040] The inner cavity of the first hydraulic cylinder 1 is divided into a left cavity 12 and a right cavity 13 by a piston seal;

[0041] The inner cavity of the second hydraulic cylinder 2 is divided into two left cavities 22 and two right cavities 23 by a piston seal;

[0042] The inner cavity of the third hydraulic cylinder 3 is divided into three left cavities 32 and three right cavities 33 by a piston seal;

[0043] A left chamber 12 is connected to a control pump 11 and a cylinder supplementary pump 4 respectively;

[0044] A control pump 11 and a cylinder supplementary pump 4 are symmetrically connected to the outer wall of the second left chamber 22;

[0045] A control pump 11 is connected to a left chamber 12 and a right chamber 13 at the same time.

[0046] The three right chambers 33 are connected to the three-control pump 31 and the three-cylinder supplementary pump 41 respectively;

[0047] The three-control pump 31 and the three-cylinder supplementary pump 41 are also connected to the two sides of the three left chambers 32 without contacting each other.

[0048] The three-control pump 31 also connects the three left chambers 32 and the three right chambers 33 at the same time;

[0049] The single-cylinder supplementary pump 4 and the triple-cylinder supplementary pump 41 are both arranged on the pressure control tube 42;

[0050] The second left chamber 22 is sealed with an oil supply pump 21, which is connected to an oil supply tank 24. The second left chamber 22 is also sealed with a pressure control tube 42.

[0051] The oil supply pump 21 is connected to the single-cylinder supplementary pump 4 and the triple-cylinder supplementary pump 41 through the two left chambers 22 and the pressure control tube 42 to form an integral pipeline; the pressure control tube 42 is a high-pressure hose;

[0052] The first-control pump 11 and the third-control pump 31 are also connected to the second right chamber 23; the first-control pump 11, the first right chamber 13, the second right chamber 23, the third-control pump 31 and the third left chamber 32 are all connected to the common containment pipe 43; the common containment pipe 43 is a sealed high-pressure hose, and the common containment pipe 43 is sealedly connected to the first-control pump 11, the first right chamber 13, the second right chamber 23, the third-control pump 31 and the third left chamber 32 through a joint. The common containment pipe 43 forms a sealed oil circuit shared cavity node, so that the first-control pump 11 and the third-control pump 31 share the internal pressure of the first right chamber 13, the second right chamber 23 and the third left chamber 32 with hydraulic oil and pressure, which is convenient for pressure regulation and flexible operation.

[0053] The first left chamber 12, the second left chamber 22 and the third right chamber 33 are connected to form a shared oil path through the pressure control tube 42. The oil flow in the pressure control tube 42 is controlled by the first cylinder supplementary pump 4 and the third cylinder supplementary pump 41, forming a controllable shared oil path.

[0054] The common containment pipe 43 is a more open shared chamber, especially the first right chamber 13, the second right chamber 23 and the third left chamber 32 are completely shared, with stronger openness and more balanced pressure. Therefore, when the pump at any node on the entire common containment pipe 43 is pumping, the oil pressure of the entire common containment pipe 43 will change accordingly, achieving the effect of overall common pressure drive.

[0055] The single-control pump 11, oil supply pump 21, triple-control pump 31, single-cylinder supplementary pump 4, and triple-cylinder supplementary pump 41 are all variable-speed hydraulic fixed-displacement pumps, each equipped with a flow meter and pressure gauge. The pressure and flow rate are used to adjust and control the suction force of each hydraulic pump, thereby flexibly adjusting the direction and driving force of the hydraulic cylinders.

[0056] The first left chamber 12, the second left chamber 22 and the third left chamber 32 are all rodless chambers of the hydraulic cylinder;

[0057] The first right chamber 13, the second right chamber 23 and the third right chamber 33 are all rod chambers of the hydraulic cylinder. The hydraulic cylinder has a conventional design structure, whether with or without a rod.

[0058] It should be noted that:

[0059] 1. Transmission drive mode: Each hydraulic cylinder requires a separate oil pump to drive it, and they do not interfere with each other, so as to achieve the purpose of fine control of the individual hydraulic cylinders. The entire device is only the drive system. As for the oil circuit control system, other software is required for coordinated control. This system only proposes a drive distribution to enable the system to achieve better drive strength and obtain greater driving force with less total power;

[0060] 2. There is also a large-power hydraulic device to drive multiple hydraulic cylinders. This large hydraulic cylinder is too large in size, consumes too much energy, and has limited installation space and use environment. This system only distributes the first control pump 11, the second control pump 21, and the third control pump 31 in a ring topology, such as Fig. 2 As shown, it is installed between the first hydraulic cylinder 1, the second hydraulic cylinder 2, the third hydraulic cylinder 3 and the oil tank 24, and multiple small hydraulic cylinders are used to achieve the driving effect of a large hydraulic cylinder. Each hydraulic cylinder can also be used separately, and the ring topology distribution can be used to flexibly drive each hydraulic cylinder, or all hydraulic cylinders can be driven synchronously. The three oil pumps can simultaneously drive a single hydraulic cylinder in an integrated manner to maximize the driving force. The three oil pumps can also drive their respective hydraulic cylinders separately to achieve independent control of the driving force. It is very flexible to use and effectively reduces the system's installed power redundancy and design cost, and improves energy utilization: the traditional mode lacks an energy interaction mechanism due to the independent driving of each actuator, resulting in redundant flow requirements and frequent energy conversion losses. These defects can be compensated by this system;

[0061] 3. After realizing chamber sharing, the "actuator chamber" is used as a node to form four nodes in the drive system, and the pump and pipeline are connected in a ring shape as connecting lines; the present invention forms a dynamic allocation of driving force through the interconnection of shared chambers, so that the idle flow between different actuators can be synergistically utilized, reducing the number of pump control units and energy conversion links. At the same time, the oil supply pump 21 is used to flexibly compensate for the missing driving force, centrally solving the additional flow demand caused by the area difference of the hydraulic cylinder, avoiding the energy waste of decentralized compensation of multiple pumps, thereby greatly reducing the overall energy consumption of the system and achieving more efficient energy utilization. This drive system does not use valves at all. The control software system of the hydraulic pump is a common device for hydraulic equipment, especially three-arm cranes, excavators, etc. The software system and oil circuit control system on such equipment can control this oil circuit system. Traditional hydraulic systems usually use valve control systems, but because the valve control system needs to use valves to adjust the flow and pressure, this adjustment method has large throttling and overflow losses, which will waste a lot of energy, resulting in low energy efficiency, usually below 40%; this system completely uses hydraulic pumps to control the driving force and adjust the direction, and no longer uses additional valve control. The oil supply pump 21 is used to compensate for the reverse oil pressure difference to achieve the adjustment and compensation of hydraulic balance.

[0062] 4. The drive system controller can use the original controller of the equipment. When used on an excavator, it can be controlled by the excavator controller. Commonly used hydraulic software control systems can be used.

[0063] The controller controls the entire system to achieve the goal of automatically controlling the oil circuit. The controller can be a common oil circuit controller. It only needs to set the oil circuit flow direction and the driving direction of the hydraulic pump to achieve the required driving force.

[0064] A ring topology in computer networks is a network structure in which devices (nodes) are serially connected via communication links, ultimately closing the loop end-to-end to form a physical loop. Data is transmitted sequentially in a relay-like manner along the ring in a predetermined direction. Access control is often implemented using a token that circulates within the ring (as in the Token Ring standard IEEE 802.5). Only nodes that capture the token can send data, effectively preventing transmission conflicts. Once a data packet is sent, it traverses all nodes in the ring, replicates the information at the destination node, and is ultimately retrieved, removed, and released by the source node.

[0065] The present invention is inspired by the core logic of the above-mentioned ring topology, and creatively transfers its organizational form of "node head-to-tail closed-loop connection" and the coordination mechanism of "token-controlled orderly transmission / dynamic resource allocation" to the design of the energy transmission network of the hydraulic system. In the field of hydraulics, we use "actuator chambers" as network nodes and "servo motor-pump units" as links connecting nodes to build a hydraulic energy transmission closed loop similar to the ring topology. Multiple chambers no longer use valves to control the pressure of each chamber and the flow of hydraulic oil. Instead, a common pressure-controlled pipe 42 and a common-capacity pipe 43 are established to form an oil circuit trunk. The oil pressure is shared by each node on the pipeline through the pressure-controlled pipe 42 and the common-capacity pipe 43. The purpose is to break through the limitations of the traditional independent drive architecture, enable the flexible delivery of hydraulic oil to each chamber, realize the efficient collaborative sharing and dynamic allocation of hydraulic energy and electrical energy between multiple actuators, and achieve the purpose of flexibly adjusting the pressure changes of each chamber.

[0066] In the structure of the present invention, a variable speed pump control unit, a control pump 11, is placed in the middle of the oil circuit from the first left chamber 12 to the first right chamber 13, the second right chamber 23 and the third left chamber 32 to achieve the control effect on the first hydraulic cylinder 1.

[0067] A variable speed pump control unit three-control pump 31 is placed on the oil path from the first right chamber 13 , the second right chamber 23 and the third left chamber 32 to the third right chamber 33 to achieve the control effect on the third hydraulic cylinder 3 .

[0068] The variable speed pump control unit three cylinder compensation pump 41 is arranged on the oil line from the third right chamber 33 to the second left chamber 22, the variable speed pump control unit one cylinder compensation pump 4 is arranged on the oil line from the first left chamber 12 to the second left chamber 22, and a complete connection pipeline is formed through the pressure control pipe 42, in addition, a variable speed pump control unit oil supply pump 21 is connected with the oil tank 24, which is used to compensate the additional flow demand caused by the area difference of the differential cylinder, so as to maintain the overall flow balance of the system, so that the device is more flexible to use, and the driving force is more stable and accurate.

[0069] Application of the driving system on the excavator:

[0070] Specifically, the first hydraulic cylinder 1 is a driving arm hydraulic cylinder of the excavator, the second hydraulic cylinder 2 is a bucket rod hydraulic cylinder, and the third hydraulic cylinder 3 is a bucket hydraulic cylinder; and five variable displacement units of one control pump 11, three control pumps 31, one cylinder compensation pump 4, three cylinder compensation pumps 41 and an oil supply pump 21. The mode of the driving system forms a ring-shaped topological layout with a bus to connect each control node.

[0071] When the hydraulic cylinder moves to the right, the variable speed pump control unit in the oil line drives the hydraulic oil to control the movement state of the cylinder, and the specific working oil line flow direction is as shown in Fig. 1 .

[0072] The variable speed pump control unit oil supply pump 21 provides the required additional flow to the oil line and drives the bucket rod cylinder to move to the right, that is, the hydraulic oil in the oil tank 24 is pumped into the second left chamber 22 through the oil supply pump 21, then connected through the pressure control pipe, controlled through the one cylinder compensation pump 4 and the three cylinder compensation pump 41, so as to achieve the effect of adjusting and supplementing the hydraulic oil of the boom hydraulic cylinder 1 and the bucket hydraulic cylinder 3.

[0073] Second hydraulic cylinder 2 extension action: the oil supply pump 21 pumps the additional flow required by the three cylinder area difference into the second left chamber 22, that is, the second hydraulic cylinder 2 of the bucket rod is driven to move to the right, and the one cylinder compensation pump 4 provides the additional flow provided by the oil supply pump 21 to the chamber 12, and the oil discharged from the chamber 23 directly flows into the chamber 32.

[0074] Third hydraulic cylinder 3 extension action: the variable speed pump control unit three cylinder compensation pump 41 and the three control pumps 31 suck the hydraulic oil in the third right chamber 33 and provide it to the third left chamber 32 and the first left chamber 12 respectively, so as to drive the third hydraulic cylinder 3 of the bucket to extend to the right;

[0075] The first hydraulic cylinder 1 extends: the variable speed pump control unit one controls the pump 11 and the variable speed pump control unit one cylinder compensation pump 4, respectively, the chamber one right chamber 13 and two right chamber 23 discharged hydraulic oil, plus the variable speed pump control unit three control pump 31 from the chamber 33 suction part of the hydraulic oil, with the variable speed pump control unit oil pump 21 to provide the balance of hydraulic oil, the variable speed pump control unit three cylinder compensation 41 discharged hydraulic oil, all provided to the left chamber 12, control the boom first hydraulic cylinder 1 to the right extension, complete the arm action, and three cylinder collaborative work

[0076] The above work, although according to the single cylinder movement to list the working condition of each oil pump, in actual situation is all the oil pump in the same time work together, realize the collaborative work of three cylinder.

[0077] Each cylinder to the left of the formation of the retraction action, only need to control the reverse pumping of hydraulic oil.

[0078] Generally, three hydraulic cylinders will not be extended or retracted at the same time in the same direction, but one pushes the other two cylinders to be static, or two hydraulic cylinders are extended or retracted, and the other is static, because the operator is also difficult to operate three hydraulic cylinders at the same time.

[0079] So the device to save labor sharing oil, collaborative drive effect, and low power to achieve the effect of large driving force.

[0080] Although the above describes the specific embodiments of the present application, those skilled in the art should understand that the specific examples we described are only illustrative, and not for the scope of the present invention, those skilled in the art in accordance with the spirit of the present invention made equivalent modifications and changes, should be covered within the scope of the claims of the present invention.

Claims

1. A ring node layout hydraulic drive system based on topological principle, characterized in that: include: A first hydraulic cylinder (1), a second hydraulic cylinder (2), a third hydraulic cylinder (3), a pressure control tube (42) and a common volume tube (43); The first hydraulic cylinder (1), the second hydraulic cylinder (2) and the third hydraulic cylinder (3) are all linear hydraulic cylinders; The inner cavity of the first hydraulic cylinder (1) is divided into a left cavity (12) and a right cavity (13) by a piston seal; The inner cavity of the second hydraulic cylinder (2) is divided into two left cavities (22) and two right cavities (23) by a piston seal; The inner cavity of the third hydraulic cylinder (3) is divided into three left cavities (32) and three right cavities (33) by a piston seal; The left chamber (12) is respectively connected to a control pump (11) and a cylinder supplementary pump (4); The control pump (11) is connected to a left chamber (12) and a right chamber (13) at the same time; The three right chambers (33) are respectively connected to a three-control pump (31) and a three-cylinder supplementary pump (41); The three-control pump (31) is also connected to the three left chambers (32) and the three right chambers (33) at the same time; The single-cylinder supplementary pump (4) and the three-cylinder supplementary pump (41) are both arranged on a pressure control tube (42); The two left chambers (22) are sealedly connected to the oil supply pump (21), the oil supply pump (21) is connected to the oil supply tank (24), and the two left chambers (22) are also sealedly connected to the pressure control tube (42); The oil supply pump (21) is connected to the one-cylinder supplementary pump (4) and the three-cylinder supplementary pump (41) through two left chambers (22) and a pressure control pipe (42) to form an integral pipeline; The one-control pump (11) and the three-control pump (31) are also connected to the two right chambers (23); the one-control pump (11), the one right chamber (13), the two right chambers (23), the three-control pump (31) and the three left chambers (32) are all connected to the common containment pipe (43).

2. The ring node layout hydraulic drive system based on topological principle according to claim 1, characterized in that: The first left chamber (12), the second left chamber (22) and the third left chamber (32) are all rodless chambers of the hydraulic cylinder; The first right chamber (13), the second right chamber (23) and the third right chamber (33) are all rod chambers of the hydraulic cylinder.

3. The ring node layout hydraulic drive system based on topological principle according to claim 1, characterized in that: The one-control pump (11), the oil supply pump (21), the three-control pump (31), the one-cylinder supplementary pump (4) and the three-cylinder supplementary pump (41) are all variable speed hydraulic quantitative pumps, and are all provided with flow meters and pressure meters.

4. The ring node layout hydraulic drive system based on topological principle according to claim 1, characterized in that: The pressure control tube (42) is a high-pressure hose; The common containment pipe (43) is a sealed high-pressure hose, and is sealedly connected to the first control pump (11), the first right chamber (13), the second right chamber (23), the third control pump (31) and the third left chamber (32) through a joint.

5. The ring node layout hydraulic drive system based on topological principle according to claim 1, characterized in that: The control pump (11) and the cylinder supplement pump (4) are symmetrically connected to the outer walls of the two left chambers (22); The three-control pump (31) and the three-cylinder supplementary pump (41) are also connected to both sides of the three left chambers (32) without contacting each other.

Images