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Za prenašanje velikih sil in navorov pogosto uporabljamo hidravlične sisteme. Ti nam omogočajo kompaktno obliko, dolgoročno stabilnost in samo mazalnost. Hidravlični valj je eden glavnih sestavnih delov hidravličnih sistemov in se uporablja za kontroliran prenos moči. Različne dajalnike pomika uporabljamo predvsem pri avtomatiziranih sistemih. Glede načina merjenja se merilniki delijo na optične, induktivne, magnetne in tiste s principom vrtinčnih tokov. Glede na izhodni signal pa jih delimo na inkrementalne, absolutne in navidezno absolutne merilnike. Nogi obstoječega humanoidnega robota sta sestavljeni iz šestih hidravličnih valjev. Za nadaljnji razvoj humanoidnega robota je nujno potrebna vgradnja merilnikov pomika v vse njegove hidravlične valje. V okviru naloge so bile pregledane vse možnosti merjenja pomika batnic hidravličnih valjev na trgu. Izdelan je bil tridimenzionalni model hidravličnih valjev ter predvidena vgradnja različnih merilnikov pomika. Primerjana je bila cena in funkcionalnost posameznih rešitev ter izbrana najprimernejša. Izbran merilnik je bil vgrajen v hidravlična valja, preizkušeno je bilo njegovo delovanje in ocenjena uporabnost. We often use hydraulic systems to transmit large forces and torques. These enable us to have a compact design, long-term stability and self-lubrication. The hydraulic cylinder is one of the main components of hydraulic systems and is used for controlled power transmission. Various feed encoders are mainly used in automated systems. Regarding the measurement method, gauges are divided into optical, inductive, magnetic and those with the principle of eddy currents. According to the output signal, they are divided into incremental, absolute and quasi-absolute meters. The legs of the existing humanoid robot consist of six hydraulic cylinders. For the further development, it is necessary to install displacement gauges in all its hydraulic cylinders. As part of the task, all options for measuring the displacement of the pistons of hydraulic cylinders on the market were examined. A three-dimensional model of the hydraulic cylinders was made and the installation of various displacement gauges was planned. The price and functionality of individual solutions were compared and the most suitable was selected. The selected gauge was installed in the cylinder, its operation was tested and its usefulness was evaluated.

Trend razvoja hidravličnih sistemov stremi k vedno bolj zanesljivim, preciznim sistemom. V skladu s tem razvojem in namenom preprečevanja potencialnih poškodb občutljivih komponent naraščajo zahteve po čistoči sistemov. V kolikor se vgrajenih in generiranih nečistoč ne odstrani, krožijo po sistemu in povzročajo poškodbe hidravličnih sestavin. Sistem se učinkovito očisti nečistoč z izpiranjem. Literatura si ni enotna, katere komponente se lahko izpira in kakšna je spodnja vrednost Reynoldsovega števila Re, s katerim sistem temeljito očistimo oprijete kontaminacije. Naš namen je bil definirati najnižjo vrednost Reynoldsovega števila Re s katerim je možno sistem temeljito očistiti in katere komponente se lahko izpira skupaj s sistemom. V ta namen smo eksperiment strukturirali v več faz. Na preliminarnem sistemu smo preizkušali in primerjali različne metode izpiranja, in sicer: izpiranje z vročim oljem, izpiranje z vročim oljem in nizkim pretokom ter izpiranje s turbulentnim tokom. Na realnem sistemu smo ugotovili, da se hidravličnega valja in ohišja filtra ne da izprati s sistemom. Realni sistem smo nato izpirali z različnimi vrednostmi Re in primerjali učinkovitost izpiranja s posameznim Re. Ugotovili smo, da je spodnja vrednost Re za temeljito izpiranje sistema 4000, optimalna vrednost Re za obravnavan sistem pa je bila 10000. Recent trends in hydraulic systems have shown that precision and reliability are among the most desirable characteristics. To minimize potential damage to sensitive components, special attention should be paid to the cleanliness of hydraulic systems. If contaminants generated during manufacture and maintenance processes, or generated during operation, are not removed from the system, they can cause damage to components. The hydraulic system can be cleaned by flushing, but various sources are unclear about which components of the system can be cleaned by flushing. The objective of our study was to determine the minimum value of Reynolds number Re at which the system can be effectively cleaned and to determine which components within the system can and should be flushed. We set up our experiment in several stages. On a preliminary system, we tested different flushing methods – flushing with hot oil flushing with hot oil and low flow and flushing using turbulent flow. On a real system, we found that the filter housing and the hydraulic cylinder could not be cleaned by flushing. In an effort to optimize the cleaning method, we tested various Re values and finally concluded that the minimum Re value for effective cleaning is 4000, but the optimum Re value for our system is 10 000.