High-reliability hydraulic system with redundant control loop

Abstract

The invention relates to hydraulic control equipment, in particular to a high-reliability hydraulic system with a redundant control loop, which comprises a first oil supply branch pipe, a second oil supply branch pipe, a third oil supply branch pipe, a first working header pipe, a second working header pipe, an oil return pipe, a first proportional direction valve and a first balance valve, an electric proportioning pump set is arranged on the first oil supply branch pipe, a manual proportioning pump set is arranged on the second oil supply branch pipe, an energy accumulator is arranged on the third oil supply branch pipe, one ends of the first oil supply branch pipe, the second oil supply branch pipe and the third oil supply branch pipe are all connected with an oil source, and the other ends of the first oil supply branch pipe, the second oil supply branch pipe and the third oil supply branch pipe are all connected with one end of the first working header pipe. The other end of the first working header pipe and the other end of the second working header pipe are connected with the driving hydraulic cylinder, and the first proportional direction valve and the first balance valve are arranged between the first working header pipe and the second working header pipe. High-pressure large-flow oil output can be achieved, oil supply is reliable while quick start and stop are achieved, and redundancy is high.

Description

Technical Field

[0001] This invention relates to a hydraulic control device, and more particularly to a highly reliable hydraulic system with redundant control loops. Background Technology

[0002] When a high-inertia robotic arm moves, it needs to achieve rapid start-stop, emergency stop at any position, and position holding functions. Since the robotic arm is directly driven by hydraulic cylinders, the linear motion of the cylinders can be converted into the rotation of the robotic arm, making operation convenient. Therefore, hydraulic cylinder systems are a commonly used mechanism for driving robotic arms. However, existing hydraulic cylinder systems suffer from insufficient flow output and low redundancy, failing to meet the driving requirements of high-inertia robotic arms. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a highly reliable hydraulic system with redundant control circuits that can achieve high pressure and high flow rate oil output, rapid start and stop, reliable oil supply, and high redundancy.

[0004] To address the aforementioned technical problems, this application provides the following technical solution:

[0005] This invention discloses a highly reliable hydraulic system with redundant control loops, comprising a first oil supply branch pipe, a second oil supply branch pipe, a third oil supply branch pipe, a first working main pipe, a second working main pipe, and a return oil pipe. An electro-proportional pump assembly is installed on the first oil supply branch pipe, a manual proportional pump assembly is installed on the second oil supply branch pipe, and an accumulator is installed on the third oil supply branch pipe. One end of each of the first, second, and third oil supply branch pipes is connected to an oil source, and the other end of each is connected to one end of the first working main pipe. The other end of the first working main pipe is used to connect to one cylinder of a driving hydraulic cylinder. One end of the return oil pipe is connected to the oil source, and the other end is connected to one end of the second working main pipe. The other end of the second working main pipe is connected to the other cylinder of the driving hydraulic cylinder.

[0006] Furthermore, it also includes a first proportional directional valve and a first balancing valve, which are disposed between the first working main pipe and the second working main pipe.

[0007] Furthermore, it also includes a first speed regulating valve, a second speed regulating valve, a first switching valve, and a speed regulating branch pipe. The speed regulating branch pipe is connected in parallel to the first working main pipe. The first speed regulating valve and the first switching valve are connected in series on the speed regulating branch pipe. The second speed regulating valve is located on the first working main pipe and is connected in parallel with the first speed regulating valve.

[0008] Furthermore, it also includes a first pressure sensor and a second pressure sensor, which are respectively disposed on the first working manifold and the second working manifold.

[0009] Furthermore, it also includes a third working main pipe, a fourth working main pipe, a second proportional directional valve, a second balance valve, a second switching valve, and a third switching valve. One end of the third working main pipe is connected to the first oil supply branch pipe, the second oil supply branch pipe, and the third oil supply branch pipe, and the other end is connected to one cylinder of the driving hydraulic cylinder. One end of the fourth working main pipe is connected to the return oil pipe, and the other end is connected to the other cylinder of the driving hydraulic cylinder. The second proportional directional valve and the second balance valve are disposed between the third working main pipe and the fourth working main pipe. The second switching valve is disposed on the first working main pipe, and the third switching valve is disposed on the third working main pipe.

[0010] Furthermore, it also includes a first safety valve and a second safety valve, which are respectively disposed between the first oil supply branch pipe and the return oil pipe, and between the second oil supply branch pipe and the return oil pipe.

[0011] Furthermore, it also includes a first flow meter and a second flow meter, which are respectively installed on the first oil supply branch pipe and the second oil supply branch pipe.

[0012] Furthermore, it also includes a main oil supply pipe, with one end of the first oil supply branch pipe, the second oil supply branch pipe, and the third oil supply branch pipe connected to the drive hydraulic cylinder connected to the main oil supply pipe, and a pressure sensor and a proportional relief valve are provided on the main oil supply pipe.

[0013] Furthermore, it also includes a first check valve, a second check valve, a third check valve, and a fourth check valve. The first check valve and the second check valve are respectively installed on the first oil supply branch pipe and the second oil supply branch pipe, and the third check valve and the fourth check valve are respectively installed on the second working main pipe and the fourth working main pipe.

[0014] Furthermore, the accumulator includes a bladder, an oil filling solenoid valve, an oil drain solenoid valve, an oil drain shut-off valve, and a fifth check valve. An oil filling branch pipe is provided between the second oil supply branch pipe and the third oil supply branch pipe. The oil filling solenoid valve and the fifth check valve are connected in series on the oil filling branch pipe. When the oil filling solenoid valve is turned on, the accumulator is pressurized and stored by the manual proportional pump group. Hydraulic oil is filled into one side of the bladder through the oil filling solenoid valve, and the other side of the bladder is used to fill nitrogen gas.

[0015] Compared with the prior art, the high-reliability hydraulic system with redundant control loops of the present invention has at least the following beneficial effects:

[0016] This invention discloses a highly reliable hydraulic system with redundant control loops. Because it includes a first oil supply branch pipe, a second oil supply branch pipe, a third oil supply branch pipe, an electro-proportional pump set installed on the first oil supply branch pipe, a manual proportional pump set installed on the second oil supply branch pipe, and an accumulator installed on the third oil supply branch pipe, it can simultaneously control the hydraulic oil flow rate through the electro-proportional pump set, the manual proportional pump set, and the accumulator, thereby controlling the extension and retraction speed of the driving hydraulic cylinder. This achieves high-pressure, high-flow-rate oil output, meeting the needs of rapid start-up and shutdown of hydraulic systems for large-inertia robotic arms or other large-inertia mechanisms. Furthermore, it can form a triple-redundant hydraulic-pneumatic combined oil supply, improving the reliability of the oil source.

[0017] The highly reliable hydraulic system with redundant control loops of the present invention will be further described below with reference to the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall principle of the high-reliability hydraulic system with redundant control loops of the present invention;

[0019] Figure 2 This is a partially enlarged view of part C in the high-reliability hydraulic system with redundant control loops of the present invention;

[0020] Figure 3 This is a partially enlarged view of part B in the high-reliability hydraulic system with redundant control loops of the present invention;

[0021] Figure 4 This is a partially enlarged view of part A in the high-reliability hydraulic system with redundant control loops of the present invention. Detailed Implementation

[0022] like Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, the present invention discloses a highly reliable hydraulic system with redundant control loops, including a first oil supply branch pipe 01, a second oil supply branch pipe 02, a third oil supply branch pipe 03, a first working main pipe 04, a second working main pipe 05, and a return oil pipe 08. An electric proportional pump group 11 is installed on the first oil supply branch pipe 01, a manual proportional pump group 21 is installed on the second oil supply branch pipe 02, and an accumulator 31 is installed on the third oil supply branch pipe 03. The flow rate of hydraulic oil in the first oil supply branch pipe 01 is remotely and in real-time proportionally adjusted by the electric proportional pump group 11. One end of the first oil supply branch pipe 01, the second oil supply branch pipe 02, and the third oil supply branch pipe 03 is connected to an oil source, and the other end of each is connected to one end of the first working main pipe 04. The other end of the first working main pipe 04 is used to connect to one cylinder of the driving hydraulic cylinder. One end of the return oil pipe 08 is connected to an oil source, and the other end is connected to one end of the second working main pipe 05. The other end of the second working main pipe 05 is connected to the other cylinder of the driving hydraulic cylinder. The electric proportional pump set 11 includes a motor pump set, a control pump, a flow sensor, and a pressure sensor. The electric proportional pump set 11 enables remote real-time proportional adjustment of the pump source flow. When the high-reliability hydraulic system with redundant control loops of this invention is used to control a large inertia robotic arm, it can meet the adjustment requirements of the robotic arm's rotation angle and speed. The manual proportional pump set 21 is used to manually adjust the pump's output flow. The accumulator 31 is used to provide instantaneous high-flow, high-pressure hydraulic oil to drive the hydraulic cylinder's extension and retraction actions. This invention discloses a highly reliable hydraulic system with redundant control loops. Because it includes a first oil supply branch pipe 01, a second oil supply branch pipe 02, a third oil supply branch pipe 03, an electro-proportional pump group 11 installed on the first oil supply branch pipe 01, a manual proportional pump group 21 installed on the second oil supply branch pipe 02, and an accumulator 31 installed on the third oil supply branch pipe 03, it can simultaneously control the hydraulic oil flow rate and the extension / retraction speed of the driving hydraulic cylinder through the electro-proportional pump group 11, the manual proportional pump group 21, and the accumulator 31. This achieves high-pressure, high-flow-rate oil output, meeting the needs of rapid start-up and shutdown of hydraulic systems for large-inertia robotic arms or other large-inertia mechanisms. Furthermore, it can form a triple-redundant hydraulic-pneumatic combined oil supply, improving the reliability of the oil source.

[0023] Optionally, the accumulator 31 includes a bladder 311, a filling solenoid valve 312, a drain solenoid valve 313, a drain shut-off valve 314, and a fifth check valve 315. A filling branch pipe is provided between the second oil supply branch pipe 02 and the third oil supply branch pipe 03. The filling solenoid valve 312 and the fifth check valve 315 are connected in series on the filling branch pipe. When the filling solenoid valve 312 is turned on, the accumulator 31 is pressurized and stored by the manual proportional pump group 21. Hydraulic oil is filled into one side of the bladder 311 through the filling solenoid valve 312. The other side of the bladder 311 is used to fill nitrogen. While hydraulic oil fills one side of the bladder 311, it compresses the nitrogen on the other side. The compressed nitrogen expands rapidly, and the high-pressure oil in the bladder 311 quickly flows into the third oil supply branch pipe 03, providing the system with a large instantaneous flow of high-pressure hydraulic oil to drive the hydraulic cylinder's extension and retraction. During operation, the drain solenoid valve 313 is energized, supplying oil to the accumulator 31. When the drain solenoid valve 313 is de-energized, the accumulator 31 stops supplying oil, and the bladder 311 discharges oil through the drain shut-off valve 314. A pressure sensor 316 is also installed on the third oil supply branch pipe 03 to measure the oil supply pressure of the accumulator 31.

[0024] Optionally, it also includes a first proportional directional valve 41 and a first balance valve 42, which are disposed between the first working main pipe 04 and the second working main pipe 05. The first proportional directional valve 41 enables stepless adjustment of the hydraulic oil flow rate, adjusts the extension and retraction speed of the drive hydraulic cylinder, and changes the extension and retraction direction of the drive hydraulic cylinder. The first balance valve 42 can balance the changing load of the large inertia robot arm or other loads, ensuring smooth load movement, and lock the position of the drive hydraulic cylinder, enabling the robot arm to stop suddenly at any position and maintain its position for a long time at any rotation angle.

[0025] Optionally, the system also includes a first speed regulating valve 43, a second speed regulating valve 44, a first switching valve 45, and a speed regulating branch pipe 47. The speed regulating branch pipe 47 is connected in parallel to the first working main pipe 04. The first speed regulating valve 43 and the first switching valve 45 are connected in series on the speed regulating branch pipe 47. The second speed regulating valve 44 is located on the first working main pipe 04 and is connected in parallel with the first speed regulating valve 43. The total flow rate of hydraulic oil entering the drive hydraulic cylinder is adjusted by the first speed regulating valve 43 and the second speed regulating valve 44 to instantaneously change the extension speed of the drive hydraulic cylinder as needed, thereby meeting the speed control requirements of different loads.

[0026] Optionally, it also includes a first pressure sensor 48 and a second pressure sensor 49, which are respectively disposed on the first working main pipe 04 and the second working main pipe 05, and measure the real-time pressure of the two cylinders in the driving hydraulic cylinder through the first pressure sensor 48 and the second pressure sensor 49.

[0027] Optionally, it also includes a third working main pipe 06, a fourth working main pipe 07, a second proportional directional valve 61, a second balance valve 62, a second switching valve 46, and a third switching valve 63. One end of the third working main pipe 06 is connected to the first oil supply branch pipe 01, the second oil supply branch pipe 02, and the third oil supply branch pipe 03, and the other end is connected to one cylinder of the driving hydraulic cylinder. One end of the fourth working main pipe 07 is connected to the return oil pipe 08, and the other end is connected to the other cylinder of the driving hydraulic cylinder. The second proportional directional valve 61 and the second balance valve 62 are disposed between the third working main pipe 06 and the fourth working main pipe 07. The third switching valve 63 is disposed on the third working main pipe 06. Switch valve 46 is installed on the first working main pipe 04. The second switch valve 46 and the third switch valve 63 are both solenoid valves. The third working main pipe 06, the fourth working main pipe 07, the second proportional directional valve 61, the second balance valve 62, and the third switch valve 63 form a backup control valve circuit. When the main control valve circuit consisting of the first working main pipe 04, the second working main pipe 05, the first proportional directional valve 41, and the first balance valve 42 fails, the hydraulic system operates normally. Simultaneously, the backup control valve circuit and the main control valve circuit can also operate, increasing the hydraulic oil flow rate of the system and enabling the large-angle rapid swing function of the robotic arm or other high-flow-rate loads. The second switch valve 46 is used to open or close the oil inlet of the first working main pipe 04, and the third switch valve 63 is used to open or close the oil inlet of the third working main pipe 06. When closed, it serves to isolate faults.

[0028] Optionally, the system also includes a first safety valve 12 and a second safety valve 22. The first safety valve 12 and the second safety valve 22 are respectively disposed between the first oil supply branch pipe 01 and the return oil pipe 08, and between the second oil supply branch pipe 02 and the return oil pipe 08. The first safety valve 12 and the second safety valve 22 limit the maximum pressure of the oil in the first oil supply branch pipe 01 and the second oil supply branch pipe 02, thereby protecting the system.

[0029] Optionally, it also includes a first flow meter 13 and a second flow meter 23, which are respectively installed on the first oil supply branch pipe 01 and the second oil supply branch pipe 02. The first flow meter 13 and the second flow meter 23 measure the hydraulic oil flow rate output in real time from the first oil supply branch pipe 01 and the second oil supply branch pipe 02 to meet the flow requirements of the load.

[0030] Optionally, the system also includes a main oil supply pipe 09. The ends of the first oil supply branch pipe 01, the second oil supply branch pipe 02, and the third oil supply branch pipe 03 that are connected to the drive hydraulic cylinder are connected to the main oil supply pipe 09. A pressure sensor 91 and a proportional relief valve 92 are installed on the main oil supply pipe 09. The proportional relief valve 92 continuously adjusts the system pressure in real time to keep the oil pressure in the system within a safe range.

[0031] Optionally, the system also includes a first check valve 14, a second check valve 24, a third check valve 51, and a fourth check valve 65. The first check valve 14 and the second check valve 24 are respectively installed on the first oil supply branch pipe 01 and the second oil supply branch pipe 02, and the third check valve 51 and the fourth check valve 65 are respectively installed on the second working main pipe 05 and the fourth working main pipe 07. Each check valve is used to control the flow direction of the hydraulic oil. Specifically, the system also includes a first oil filter 15, a second oil filter 25, and a third oil filter 95. The first oil filter 15 and the second oil filter 25 are respectively installed on the first oil supply branch pipe 01 and the second oil supply branch pipe 02, and the third oil filter 95 is installed on the return oil main pipe 08. The first oil filter 15 and the second oil filter 25 are both high-pressure oil filters. The first oil filter 15, the second oil filter 25, and the third oil filter 95 are used to filter particulate matter in the hydraulic system oil to ensure the purity of the oil.

[0032] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A highly reliable hydraulic system with redundant control loops, characterized in that, It includes a first oil supply branch pipe (01), a second oil supply branch pipe (02), a third oil supply branch pipe (03), a first working main pipe (04), a second working main pipe (05), and a return oil pipe (08). An electric proportional pump group (11) is installed on the first oil supply branch pipe (01), a manual proportional pump group (21) is installed on the second oil supply branch pipe (02), and an accumulator (31) is installed on the third oil supply branch pipe (03). One end of the first oil supply branch pipe (01), the second oil supply branch pipe (02), and the third oil supply branch pipe (03) are all connected to an oil source, and the other end of each is connected to one end of the first working main pipe (04). The other end of the first working main pipe (04) is used to connect to one cylinder of the driving hydraulic cylinder. One end of the return oil pipe (08) is connected to the oil source, and the other end is connected to one end of the second working main pipe (05). The other end of the second working main pipe (05) is connected to the other cylinder of the driving hydraulic cylinder.

2. The high-reliability hydraulic system with redundant control loops according to claim 1, characterized in that, It also includes a first proportional directional valve (41) and a first balance valve (42), which are disposed between the first working main pipe (04) and the second working main pipe (05).

3. The high-reliability hydraulic system with redundant control loops according to claim 2, characterized in that, It also includes a first speed regulating valve (43), a second speed regulating valve (44), a first switching valve (45), and a speed regulating branch pipe (47). The speed regulating branch pipe (47) is connected in parallel to the first working main pipe (04). The first speed regulating valve (43) and the first switching valve (45) are connected in series on the speed regulating branch pipe (47). The second speed regulating valve (44) is located on the first working main pipe (04) and is connected in parallel with the first speed regulating valve (43).

4. The high-reliability hydraulic system with redundant control loops according to claim 3, characterized in that, It also includes a first pressure sensor (48) and a second pressure sensor (49), which are respectively disposed on the first working main pipe (04) and the second working main pipe (05).

5. The high-reliability hydraulic system with redundant control loops according to claim 4, characterized in that, It also includes a third working main pipe (06), a fourth working main pipe (07), a second proportional directional valve (61), a second balance valve (62), a second switching valve (46), and a third switching valve (63). One end of the third working main pipe (06) is connected to the first oil supply branch pipe (01), the second oil supply branch pipe (02), and the third oil supply branch pipe (03), and the other end is connected to one cylinder of the driving hydraulic cylinder. One end of the fourth working main pipe (07) is connected to the return oil pipe (08), and the other end is connected to the other cylinder of the driving hydraulic cylinder. The second proportional directional valve (61) and the second balance valve (62) are located between the third working main pipe (06) and the fourth working main pipe (07). The second switching valve (46) is located on the first working main pipe (04), and the third switching valve (63) is located on the third working main pipe (06).

6. The high-reliability hydraulic system with redundant control loops according to claim 5, characterized in that, It also includes a first safety valve (12) and a second safety valve (22), which are respectively located between the first oil supply branch pipe (01) and the oil return pipe (08) and between the second oil supply branch pipe (02) and the oil return pipe (08).

7. The high-reliability hydraulic system with redundant control loops according to claim 6, characterized in that, It also includes a first flow meter (13) and a second flow meter (23), which are respectively installed on the first oil supply branch pipe (01) and the second oil supply branch pipe (02).

8. The high-reliability hydraulic system with redundant control loops according to claim 7, characterized in that, It also includes a main oil supply pipe (09), and one end of the first oil supply branch pipe (01), the second oil supply branch pipe (02), and the third oil supply branch pipe (03) connected to the driving hydraulic cylinder is connected to the main oil supply pipe (09). A pressure sensor (91) and a proportional relief valve (92) are provided on the main oil supply pipe (09).

9. The high-reliability hydraulic system with redundant control loops according to claim 8, characterized in that, It also includes a first check valve (14), a second check valve (24), a third check valve (51), and a fourth check valve (65). The first check valve (14) and the second check valve (24) are respectively installed on the first oil supply branch pipe (01) and the second oil supply branch pipe (02), and the third check valve (51) and the fourth check valve (65) are respectively installed on the second working main pipe (05) and the fourth working main pipe (07).

10. The high-reliability hydraulic system with redundant control loops according to any one of claims 1-8, characterized in that, The accumulator (31) includes a bladder (311), an oil filling solenoid valve (312), an oil drain solenoid valve (313), an oil drain shut-off valve (314), and a fifth check valve (315). An oil filling branch pipe is provided between the second oil supply branch pipe (02) and the third oil supply branch pipe (03). The oil filling solenoid valve (312) and the fifth check valve (315) are connected in series on the oil filling branch pipe. When the oil filling solenoid valve (312) is turned on, the manual proportional pump group (21) pressurizes and stores energy for the accumulator (31). Hydraulic oil is filled into one side of the bladder (311) through the oil filling solenoid valve (312), and the other side of the bladder (311) is used to fill nitrogen gas.

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