Full-hydraulic driving system for rotary motion of mechanical arm

Abstract

The invention discloses a full-hydraulic driving system for rotary motion of a mechanical arm. The system is mainly composed of a hydraulic driving module and an electrical control module, wherein theelectrical control module comprises a first A / D module, a first D / A module, a first signal conditioning module, an industrial personal computer, a display, a second A / D module, a second D / A module, asecond signal conditioning module and a PLC; and the hydraulic driving module is composed of a pump station, a horizontal swinging motor module, a rolling and swinging motor module, a lifting motor module, a first rotating motor module and a second rotating motor module. The full-hydraulic driving system for rotary motion of the mechanical arm is composed of multiple hydraulic motors, is more rapid in response, higher in reliability and high in power-to-weight ratio; an intelligent anti-interference control method is used for debugging and controlling the mechanical arm in real time; and theoperation requirements are met.

Description

technical field [0001] The invention relates to the field of intelligent fluid transmission and control, in particular to a full hydraulic drive system for the rotary motion of a mechanical arm. Background technique [0002] The robotic arm is currently the most widely used mechanical device in the field of robotics. It can not only replace heavy human labor to achieve automated and efficient production, but also operate in dangerous environments to ensure human safety. Greatly reduce labor costs, improve production efficiency, and effectively improve product quality. [0003] Traditional manipulators have single application occasions and simple working conditions. Generally, they are only used to complete specific working conditions, and the ability to change the degree of freedom is poor. Most of them are driven by motor accelerators and decelerators, so the carrying capacity is relatively small. The hydraulic drive system has the characteristics of large power-to-weight ...

AI Technical Summary

Problems solved by technology

However, the working principle and control idea of ​​the hydraulic auxiliary control system are not clearly stated, and the intelligent rotation control of the mechanical arm cannot be performed according to the load condition.

[0006] Patent ZL201610368304.2 aims at the mechanical arm in the field of gas cutting, and proposes a rotary drive mechanism for the mechanical arm. By setting a positioning mechanism between the fixed seat and the rotating disk, the positioning mechanism is used to reduce the impact of inertia on the rotational movement of the mechanical arm. , which improves the rotation accuracy of the manipulator, but does not explain how the rotation mechanism is controlled

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