Hydraulic Power Unit with Counter-Rotating Pumps
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Solution Overview
Problem
Hydraulically driven robots experience a reaction force due to the rotational inertia of the pump, which degrades control performance and acts as a disturbance on the robot's body.
Innovation Solution
The robot incorporates a hydraulic power unit with multiple pumps, where the first pump rotates in one direction and the second pump in an opposite direction, allowing the control unit to adjust their rotational velocities to offset and control the reaction forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single pump is used to discharge fluid to the hydraulic channel, then the device complexity is reduced, but a reaction force is generated on the robot body due to rotational inertia of the pump
Solution Approach 1:
The patent applies the counterweight principle by introducing a second pump that rotates in the opposite direction to the first pump. The reaction force generated by the second pump counteracts the reaction force from the first pump, thereby minimizing the net reaction force on the robot body. This is a direct application of using an opposing force to cancel out the harmful effect.
Solution Approach 2:
The patent converts the harmful reaction forces into a beneficial control mechanism. By controlling the rotational velocities of the two pumps in opposite directions, the system can generate controllable reaction forces that are used to offset external disturbances and improve robot posture control, transforming the previously harmful reaction forces into useful control inputs.
2Power
If the rotational velocity of the pump changes to adjust fluid discharge, then the hydraulic power output is optimized, but the reaction force varies and degrades robot control performance
Solution Approach 1:
The system maintains stable robot control by using the second pump to counteract the variable reaction forces generated by the first pump. Even when the rotational velocity of the first pump changes to optimize hydraulic power output, the second pump adjusts its opposite-direction rotation to compensate, keeping the net reaction force minimal and maintaining control performance reliability.
Solution Approach 2:
The control unit continuously monitors and adjusts the rotational velocities of both pumps based on the required hydraulic power output and the resulting reaction forces. This feedback mechanism ensures that the reaction forces are minimized while maintaining optimal power delivery, thereby preserving robot control performance reliability.
3Object-generated harmful factors
If multiple pumps rotating in different directions are used, then the reaction force is minimized, but the device complexity increases
Solution Approach 1:
The patent implements the counterweight principle with two pumps rotating in opposite directions. The first pump and second pump are configured such that their rotational axes are parallel and they rotate in opposite directions, creating counteracting reaction forces that minimize the net force on the robot body while maintaining hydraulic power output.
Solution Approach 2:
The patent merges the functions of two pumps into a single hydraulic power unit that operates as an integrated system. The control unit coordinates both pumps to work together, combining their fluid discharge capabilities while their opposite-direction rotation cancels out harmful reaction forces, achieving functional integration with reduced net disturbance.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration minimizes the reaction force, enhances posture control of the robot, and improves its ability to resist disturbances by generating net forces from the reaction forces.
Implementation Method 1
as the velocity of the pump changes, a reaction force may be generated on a body of the robot due to rotational inertia of the pump
Data Source
AI summary
The present invention relates to a robot including a hydraulic power unit comprising: a body having a hydraulic channel through which a fluid is movable, a hydraulic power unit having a plurality of pumps and discharging a fluid to the hydraulic channel by using rotational force of the plurality of pumps, and a control unit for controlling the rotation of the plurality of pumps, wherein the plurality of pumps comprises: a first pump rotating in a first rotational direction and discharging a fluid to the hydraulic channel by a rotational force in the first rotational direction, and a second pump rotating in a second rotational direction and discharging a fluid to the hydraulic channel by a rotational force in the second rotational direction, wherein the first rotational direction is different from the second rotational direction.