A full hydraulic drive system for the rotary motion of the mechanical arm

Abstract

The invention discloses a fully hydraulic drive system for the rotary motion of a mechanical arm. The system is mainly composed of a hydraulic drive module and an electrical control module; the electrical control module includes a first A / D module, a first D / A module, a first signal conditioning Module, industrial computer, display, second A / D module, second D / A module, second signal conditioning module, PLC controller; the hydraulic drive module consists of a pump station, a swing motor module, a roll motor module, a lift It is composed of a motor module, a first swing motor module and a second swing motor module. The invention adopts multi-hydraulic motors to form a mechanical arm to rotate and drive full hydraulic pressure, which has faster response, higher reliability, and large power-to-weight ratio; the adopted intelligent anti-disturbance control method can perform real-time debugging and control on the mechanical arm to match the operation requirements.

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 rotating motion of a mechanical arm. Background technique [0002] The robotic arm is the most widely used mechanical device in the field of robotics. It can not only replace the heavy labor of humans to achieve automated and efficient production, but also operate in dangerous environments to ensure life safety. Greatly reduce labor costs, improve production efficiency, and effectively improve product production quality. [0003] The traditional manipulator has a single application and simple working conditions. Generally, it is only to complete a specific working condition, and the change ability of the degree of freedom is poor. The motor acceleration and decelerator drive mode is mostly used, so the bearing capacity is relatively small. The hydraulic drive system has the characteristics of large power-to-weight ratio,...

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

Images