Hydraulic swing cylinder and potential sensor closed-loop control based modular robot driving joint

Abstract

The invention relates to a hydraulic swing cylinder and potential sensor closed-loop control based modular robot driving joint. The modular robot driving joint includes a mechanical section and a control section. The mechanical section includes a driving joint L-shaped carrier, a plane side plate, a hydraulic swing cylinder, a swing cylinder gear, a potentiometer gear, a potentiometer connection block, a hydraulic swing cylinder cushion block, a swing cylinder backing plate A, a swing cylinder backing plate B, a fixing end cover, a motor and hydraulic pump support, and a shaft coupling. The control section includes a host computer, a potentiometer sensor, a signal control card, a flowmeter, a hydraulic pump and a hydraulic pump driving motor. According to the invention, a function relationship between the flow of the hydraulic pump and the rotation angle of the hydraulic swing cylinder of the driving joint is established, the rotation angle of the hydraulic swing cylinder can be adjusted in real time, and then a closed feedback loop is formed, and accurate control of the hydraulic swing cylinder can be achieved; the robot hydraulic driving joint can output large torque, is simple in structure, and is modular and standardized; series connection of mechanical arms and rapid establishment of multi-degree of freedom mechanical arms can be achieved, and modular production can be achieved.

Description

technical field [0001] The invention relates to a driving joint of a robot, in particular to a modular robot driving joint based on closed-loop control of a hydraulic swing cylinder and a potential sensor. Background technique [0002] Robotic arms are currently the most widely used automated mechanical devices in the field of robotics. Traditional robotic arms are designed based on specific tasks and cannot be changed and adjusted flexibly. Their ability to change according to needs is weak. Robot design often specifically designs the structure of each segment of the robotic arm according to actual work requirements, resulting in a single working mode of the robot, and it is difficult for the designed robot components to be used in common with other robots. Most of them are non-modular designs, and the parts are less common. Therefore, the modularization of robot-driven joints is an inevitable development trend. [0003] In the existing industrial robots, the multi-degree-...

AI Technical Summary

Problems solved by technology

[0003] In the existing industrial robots, the multi-degree-of-freedom movement is mostly driven by the servo motors at each joint, but the problem is that the driving torque generated by the servo motors at each joint is relatively small, and there is an urgent need for a robot that can withstand large torques and Robot-driven joints that output high torque

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