A pure water hydraulic system for manipulator joint drive and its control method

Abstract

The invention relates to a pure water hydraulic system for driving of a mechanical arm joint and a control method of the pure water hydraulic system. The pure water hydraulic system mainly comprises a water pressure power source, a water pressure high-frequency electromagnetic switching valve set, a water pressure rotating execution element and a monitoring and controlling system. The water pressure high-frequency electromagnetic switching valve set is composed of four water pressure high-frequency electromagnetic switching valves completely identical in structure. An executing mechanism with an angle encoder is adopted in the water pressure rotating execution element. An industrial personal computer and a programming controller are in communication. The opening and closing time of the four water pressure high-frequency electromagnetic switching valves is controlled through pulse width modulation signals sent by the programming controller, and therefore precise digital control over the position and speed of a water pressure swing cylinder or motor is achieved. The pure water hydraulic system is simple in structure, pure water is adopted as working media, the whole system is an open loop, water suction and drainage are directly carried out in the system environment, and the problems that an oil pressure mechanical arm hydraulic system must be arranged to be a closed loop, a pressure compensation device needs to be additionally arranged in the system, and environment pollution is caused by leakage can be avoided.

Description

technical field [0001] The invention belongs to the field of fluid transmission and control, and relates to a hydraulic system of a hydraulic manipulator using pure water as a working medium, in particular to a pure water hydraulic system driven by joints of a manipulator used underwater and a control method thereof. Background technique [0002] Water hydraulic transmission technology has unique application advantages in underwater engineering technology fields such as underwater working tools, underwater robots, and submersible buoyancy adjustment, and is even the only choice in some occasions. This is because the traditional hydraulic system using hydraulic oil as the working medium must be designed as a closed loop structure and equipped with a pressure compensator. As the water depth increases, the back pressure that the compensator needs to withstand increases, making the system more bulky and complex. In particular, it should be pointed out that once the hydraulic oil...

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Problems solved by technology

[0004] The invention provides a hydraulic system of a hydraulic manipulator, which can be applied to a hydraulic manipulator using water as a working medium, so as to avoid the problems that the oil manipulator needs a pressure compensation device and leakage will cause pollution, etc.

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