Robot hydraulic drive rotating joint closed-loop control system and control method
A technology of rotating joints and closed-loop control, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve problems such as poor movement stability
Active Publication Date: 2017-05-17
BEIHANG UNIV
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Problems solved by technology
By using the cooperation between the transmitter and the amplifier, the rotation amount of the robot parts can be effectively adjusted, but the invention has poor motion stability in the force output control
Method used
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Embodiment 11
[0034] Such as figure 1 As shown, a closed-loop control system for a robot hydraulically driven rotary joint provided by the present invention includes a drive mechanism, an executive mechanism and a control mechanism. The drive mechanism includes a DC motor 5 and a gear pump 6, and the DC motor 5 is connected to the gear pump 6. The mechanism includes a hydraulic rotary joint 12, and the control mechanism includes a host computer 1. The host computer 1 calculates the difference between the pressure value of the oil inlet port detected by the pressure transmitter and the pressure value of the oil outlet port. When the pressure difference increases, it means that the load increases. Large, the upper computer increases the PWM duty ratio D, and the motor accelerates to adapt to the increase in load; when the pressure difference decreases, it means that the load decreases, the upper computer reduces the PWM duty ratio D, and the motor decelerates to adapt to the decrease in load ...
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The invention discloses a robot hydraulic drive rotating joint closed-loop control system and a control method. A driving mechanism includes a direct-current motor; the direct-current motor is connected with a gear pump; an actuation mechanism includes a hydraulic rotating joint; a control mechanism includes an upper computer; the upper computer is connected with a lower computer through a USB interface; an oil inlet pipeline and an oil outlet pipeline of a three-position four-way electromagnetic reversing valve are provided with pressure transducers; the pressure transducers are connected with signal acquiring cards; potential sensors are connected with the signal acquiring cards; the signal acquiring cards are further connected with the upper computer; and the upper computer and a motor drive are connected through a CAN bus communication module. The control system detects the pressure values of an oil inlet and an oil outlet, correspondingly adjusts the PWM duty ratio, detects the rotating angle of a hydraulic drive hydraulic rotating joint, the pressure of the oil inlet and the pressure of the oil outlet in real time, duly adjusts the rotating speed of a motor, forms a closed-loop feedback loop, guarantees the stability of the rotating process, and realizes the motion control precision.
Description
technical field [0001] The invention belongs to the technical field of robot control. Specifically, the invention relates to a closed-loop control system and control method for a hydraulically driven rotary joint of a robot. Background technique [0002] Rotary joints are currently the most widely used joints in the field of industrial robots. Generally, the rotary joints are mostly directly driven by motors, while the rotary joints driven by hydraulic pressure are less. Due to the leakage of hydraulic transmission and the compressibility of transmission fluid, it is difficult to precisely control its movement. Also, it is prone to shock when the load changes. The traditional method mostly uses electromagnetic proportional control valves to control the flow, but the electromagnetic proportional control valves are expensive, and most of the high-end products are monopolized by foreign countries, resulting in high control costs. Therefore, there is an urgent need for a cont...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B25J9/18
CPCB25J9/161B25J9/1628
Inventor 陶永胡磊房增亮孙贝高进芃
Owner BEIHANG UNIV