Unlock instant, AI-driven research and patent intelligence for your innovation.

A closed-loop control system for hydraulically driven rotary joints of a robot

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: 2019-04-26
BEIHANG UNIV
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A closed-loop control system for hydraulically driven rotary joints of a robot
  • A closed-loop control system for hydraulically driven rotary joints of a robot

Examples

Experimental program
Comparison scheme
Effect test

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 ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a robot hydraulic driven rotary joint closed-loop control method. The pressure value of an oil inlet and the pressure value of an oil outlet are detected, the PWM duty ratios are adjusted correspondingly, the rotation angle of a hydraulic driven hydraulic rotary joint, the pressure of the oil inlet and the pressure of the oil outlet are detected in real time, the rotation speed of a motor is subjected to timely adjustment, accordingly, a closed-loop feedback circuit is formed, the smoothness in the rotation process is ensured, and motion control precision is achieved.

Description

technical field [0001] The invention belongs to the technical field of robot control, in particular, the invention relates to a closed-loop control system of a robot hydraulically driven rotary joint. 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 control system and method wi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/18
CPCB25J9/161B25J9/1628
Inventor 陶永胡磊房增亮孙贝高进芃
Owner BEIHANG UNIV