Integrated hydraulic driver for robot and control method of integrated hydraulic driver

Abstract

The invention discloses an integrated hydraulic driver for a robot and a control method of the integrated hydraulic driver. A servo cylinder of the hydraulic driver is a single-piston-rod hydraulic cylinder; a nozzle flapper servo valve and an oil way connection block are mounted at the upper part of a cylinder block of the servo cylinder; corresponding oil channels are formed in the cylinder block in the position where the servo cylinder is connected with the oil way connection block to communicate with an oil inlet, an oil control port and an oil return port in the nozzle flapper servo valve; a force sensor is mounted at the front end of a piston rod of the servo cylinder; a casing of a displacement sensor is fixed on the cylinder block of the servo cylinder; and a probe is fixed on the servo cylinder piston rod on the same side with the force sensor. The control method of the integrated hydraulic driver comprises the steps as follows: the force sensor and the displacement sensor are used cooperatively, two state quantities of the output force and the displacement of the servo cylinder are monitored in real time, the system load pressure is calculated by a load pressure observer, and finally, the output of the servo cylinder is equal to the input of the system by the aid of a controller. The integrated hydraulic driver adopts the valve-controlled asymmetric cylinder structure, pressure sensors of two cavities of the servo cylinder are omitted, the structure of the driver is more compact, and the power-to-weight ratio and the controllability are advantageous.

Description

technical field [0001] The invention belongs to the field of hydraulic technology, and relates to a highly integrated integrated hydraulic driver for the joint motion of a hydraulically driven footed robot. Background technique [0002] Robots can be divided into four categories according to their main functions: operating robots, mobile robots, information robots and man-machine robots. Among them, operating robots are used to simulate the movements of human hands and arms to complete various process operations; mobile robots can be subdivided into wheeled robots, crawler robots and footed robots, which are commonly used in industrial production to complete transportation and loading and unloading. Cutting materials and other tasks, and most of these robots are equipped with operators to complete on-site operation tasks; information robots refer to intelligent behavior simulation devices based on computer systems; there are two-way closed-loop connections between man-machin...

AI Technical Summary

Problems solved by technology

[0003] The driving method of traditional robot joints is generally a non-integrated valve-controlled cylinder structure, and the servo valve / proportional valve is connected to the servo cylinder through a pipeline. This non-integrated valve-controlled cylinder structure has the following disadvantages: 1. Between the control valve and the hydraulic cylinder The pipeline is too long, which reduces the control performance of the hydraulic cylinder and the natural frequency of the system; 2. There are too many joints in the system, which will easily lead to leakage and affect the reliability of the entire robot system

[0004] The Chinese invention patent with the authorized notification number CN103233932B discloses a highly integrated hydraulic drive unit structure, which overcomes some shortcomings of the non-integrated valve-controlled cylinder. It has the characteristics of large forward output and small return output, so that the symmetrical servo cylinder structure of the hydraulic drive is not optimal in the actual application process of the robot joint.

For this reason, it is necessary to design a new type of integrated hydraulic drive for robots to solve the shortcomings of existing hydraulic drives such as insufficient power-to-weight ratio and insufficient integration.

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