Precision hydraulically-driven joint for robot based on closed-loop control

Abstract

A precision hydraulically-driven joint for a robot based on closed-loop control comprises a closed-loop control system and a rotating joint body for the robot. The closed-loop control system comprises a single-chip microcomputer, a motor driver, servo motors, bidirectional screw pumps, swinging hydraulic cylinders and an electric detection system for detecting the precision rotating angle of an output shaft of each swinging hydraulic cylinder. The electric detection system comprises a pulse type rotary encoder, a rotary potentiometer and a subdivision angle detection circuit, wherein the pulse type rotary encoder and the rotary potentiometer are mounted on a detection shaft. A rotary shaft of the rotary potentiometer and a movable loop of the pulse type rotary encoder are fixedly connected through an elastic coupler. The potentiometer voltage corresponding to the subdivision angle beyond the whole scale angle of the pulse type rotary encoder is detected through the single-chip microcomputer and the subdivision angle voltage detection circuit, the precision angle value of the subdivision angle beyond the whole scale angle of the pulse type rotary encoder is detected, and accordingly the rotating joint body of the robot is driven precisely to rotate.

Description

technical field [0001] The invention relates to a hydraulically driven joint for a robot. Background technique [0002] Most of the robot companies in my country are processing and assembling, lacking key core technologies. The three key core components in robots (high-performance AC servo motors, precision reducers, and controllers) have long relied on imports, especially the precision reducers are almost used by Teijin of Japan. Monopolized by two companies, HRAMonic and HRAMonic, the price remains high, which directly pushes up the production cost of my country's robot products, reduces the market competitiveness of products, and limits the development of my country's robots to processing and assembly. Risk of hollowing out. [0003] For robots, the rotary joints require large torque and high rotation accuracy. The commonly used method is to use precision mechanical deceleration devices (such as harmonic reducers, RV reducers, etc.), obtain high torque through large reduc...

AI Technical Summary

Problems solved by technology

The processing and high-precision assembly of high-precision parts will inevitably lead to high manufacturing costs. The pre-tightening between the intermeshing parts increases the difficulty of assembly on the one hand, and increases the wear of the parts on the other hand.

In addition, after the deceleration device is used for a period of time, the wear of the meshing surfaces between the mutually meshing parts will increase the reverse hysteresis, which will cause the deceleration device to be unable to use normally. Therefore, after several years of use, the robot imported from abroad, Examples of elimination due to insufficient positioning accuracy often occur

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