An electro-hydraulic hybrid drive industrial manipulator structure and control system

Abstract

The invention provides an electro-hydraulic hybrid drive industrial robot structure and control system, including a waist rotary joint 1, a large arm rotary joint 2, a forearm rotary joint 3, a forearm rotary joint 4, a hand claw 5, a hydraulic oil tank 6, and a control system 7 , belongs to the field of intelligent machinery manufacturing technology. The Stm32 controller drives the motor to drive the waist rotary joint to rotate, causing the entire mechanical arm to rotate, and drives the electro-hydraulic servo valve to control the movement of the two hydraulic cylinders of the large arm. The movement process is reversed to realize the lifting and lowering of the large arm. Lengthening and shortening make the connected mechanical arm move up and down. When the forearm rotary hydraulic cylinder 402 is extended or shortened, the forearm 401 and its connected claw 5 will swing back and forth, and the hydraulic rod of the claw hydraulic cylinder 503 will When extending or shortening, with the cooperation of the bearing and the claw connecting rod 505, the opening and retracting of the claw arm 511 is realized, and the photoelectric encoder and displacement sensor provide feedback information for the system.

Description

technical field [0001] The invention relates to the technical field of intelligent machinery manufacturing, in particular to a manipulator device and a control system, especially to an electro-hydraulic hybrid drive industrial manipulator and a control system. Background technique [0002] Industrial robot is an important automation equipment in modern manufacturing industry which integrates multi-disciplinary advanced technologies such as machinery, electronics, control, computer, sensor and artificial intelligence. Industrial robot products can be widely used in various fields, such as automobiles, rail transit, electrical and electronics, chemical engineering, mechanical engineering, logistics and transportation, medicine, printing and publishing, etc. In particular, industrial robots can be used to replace jobs with high labor intensity, harsh environment, high repetitive work, manual technology and work safety that are not easy to guarantee. After the release of Made i...

AI Technical Summary

Problems solved by technology

For example, a desktop industrial robot is mentioned in the patent CN103978476B, which is driven by three motors. The motor-driven robot is limited by the driving torque of the motor, and the load capacity of the motor is improved by increasing the reduction ratio. Increasing the reduction ratio will undoubtedly increase the size of the reducer, which will inevitably increase the size of the robot, which is obviously not good for the application of industrial robots.

And Chinese patent document CN1035380701A discloses a kind of 5 degrees of freedom hydraulic servo manipulator, this manipulator has used double-cylinder electro-hydraulic servo synchronous drive, dual-motor electro-hydraulic servo synchronous drive and parallelogram closed-loop structure in joint drive, and Chinese patent document CN20346081U A multi-joint hydraulic mechanical arm structure with 5 movable joints and a gripper is disclosed. Their working space and range of motion are small, and the flexible space needs to be further improved

Patent CN104647365B mentions a hydraulically driven multi-joint industrial robot, which has the characteristics of a large load / weight ratio, but the installation of its connecting rod structure is too complicated

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