A hydraulic control system for a mechanical arm

Abstract

The invention discloses a mechanical arm hydraulic control system, which includes a hydraulic oil tank, a hydraulic oil pump, a main overflow valve, a 3-position 6-way multi-way valve, a rotary motor and at least one variable-length oil cylinder; each rotary motor or variable-length oil cylinder is connected to the oil outlet pipe of the hydraulic oil pump through the 3-position 6-way multi-way valve, and the return oil of the action motor or variable-length oil cylinder is connected back to the corresponding 3-position 6-way multi-way valve through a pipeline, and is connected back to the hydraulic oil tank from the T oil port of the 3-position 6-way multi-way valve; the oil outlet of the hydraulic oil pump is connected to the oil return port of the hydraulic oil tank through the main overflow valve; it is characterized in that: it also includes a plurality of priority valves, N priority valves are connected in series in sequence, and the oil outlet of the hydraulic oil pump is connected to the P oil port of the first priority valve; each priority valve connected in series is respectively connected to a 3-position 6-way multi-way valve. The invention has low cost, low requirements on the cleanliness of the hydraulic system oil, and is simple and convenient to maintain.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic systems, and in particular to a hydraulic control system for a mechanical arm. Background Art

[0002] At present, most of the domestic robot arm control uses electric proportional load-sensitive multi-way valves. On the basis of sharing the same oil pump, multiple robot arm motion parts can work simultaneously without interfering with each other; and each robot arm motion part can be steplessly adjusted. However, compared with ordinary 3-position 6-way multi-way valves, electric proportional load-sensitive multi-way valves are more expensive, have higher requirements on oil cleanliness, and are more difficult to maintain. Summary of the invention

[0003] The object of the present invention is to provide a hydraulic control system for a mechanical arm.

[0004] The technical solution adopted by the present invention is:

[0005] A mechanical arm hydraulic control system comprises a hydraulic oil tank, a hydraulic oil pump, a main overflow valve, a 3-position 6-way multi-way valve, a slewing motor and at least one variable-length oil cylinder; each slewing motor or variable-length oil cylinder is connected to the oil outlet pipe of the hydraulic oil pump through the 3-position 6-way multi-way valve, and the return oil of the action motor or variable-length oil cylinder is connected back to the corresponding 3-position 6-way multi-way valve through a pipeline, and is connected back to the hydraulic oil tank from the T oil port of the 3-position 6-way multi-way valve; the oil outlet of the hydraulic oil pump is connected to the oil return port of the hydraulic oil tank through the main overflow valve; it is characterized in that: it also includes a plurality of priority valves, N priority valves are connected in series in sequence, and the oil outlet of the hydraulic oil pump is connected to the P oil port of the first priority valve; each priority valve connected in series is respectively connected to a 3-position 6-way multi-way valve.

[0006] Furthermore, as a preferred embodiment, the present invention also includes a hydraulic oil tank accessory, which includes an oil suction filter and an oil return filter. The hydraulic oil tank is connected to the hydraulic oil pump through the oil suction filter, and the oil return filter is arranged at the oil return port of the hydraulic oil tank. The hydraulic return oil returns to the hydraulic oil tank through the oil return filter.

[0007] Furthermore, as a preferred embodiment, a balancing valve is provided on each luffing cylinder, and the balancing valve prevents the luffing cylinder from dropping due to its own weight when it stops moving.

[0008] Further, as a preferred embodiment, the 3-position 6-way multi-way valve includes an O-type 3-position 6-way multi-way valve and a Y-type 3-position 6-way multi-way valve, the rotary motor is connected to the hydraulic oil pump via the O-type 3-position 6-way multi-way valve, and each boom cylinder is connected to the hydraulic oil pump via a corresponding Y-type 3-position 6-way multi-way valve.

[0009] Further, as a preferred embodiment, the number N of priority valves is not less than the total number of slewing motors and luffing cylinders;

[0010] Furthermore, as another feasible implementation, the last priority valve is additionally connected to a 3-position 6-way multi-way valve.

[0011] Further, as a preferred embodiment, the number N of priority valves is not less than the sum of the number of slewing motors and luffing cylinders minus 1.

[0012] Further, as a preferred embodiment, the robotic arm includes a slewing motor and N arm cylinders, and the number of priority valves is N.

[0013] The present invention adopts the above technical solution to solve the problem that the ordinary 3-position 6-way multi-way valve itself does not have pressure compensation, and cannot make the robot arm action parts work simultaneously without interfering with each other; and cannot perform stepless speed regulation on each robot arm action part. The present invention can completely solve the above problems by connecting a priority valve in series before the ordinary 3-position 6-way multi-way valve. Compared with the currently commonly used electric proportional load-sensitive multi-way valve, this invention has low cost, low requirements on the cleanliness of the hydraulic system oil, and is simple and convenient to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments;

[0015] Figure 1 The figure is a schematic diagram of the principle of a hydraulic control system of a mechanical arm of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0017] The present invention discloses a mechanical arm hydraulic control system, which comprises a hydraulic oil tank 10, a hydraulic oil pump 11, a main overflow valve 9, a 3-position 6-way multi-way valve, a slewing motor 1 and at least one variable-length oil cylinder 4; each slewing motor 1 or variable-length oil cylinder 4 is connected to the oil outlet pipe of the hydraulic oil pump 11 through the 3-position 6-way multi-way valve, and the return oil of the action motor or variable-length oil cylinder 4 is connected back to the corresponding 3-position 6-way multi-way valve through a pipeline, and is connected back to the hydraulic oil tank 10 from the T oil port of the 3-position 6-way multi-way valve; the oil outlet of the hydraulic oil pump 11 is connected to the oil return port of the hydraulic oil tank 10 through the main overflow valve 9; it is characterized in that: it also comprises a plurality of priority valves, N priority valves are connected in series in sequence, and the oil outlet of the hydraulic oil pump 11 is connected to the P oil port P1' of the first priority valve P1; each priority valve connected in series is respectively connected to a 3-position 6-way multi-way valve.

[0018] Furthermore, as a preferred embodiment, the present invention also includes a hydraulic oil tank accessory, which includes an oil suction filter 12 and an oil return filter 8. The hydraulic oil tank 10 is connected to the hydraulic oil pump 11 through the oil suction filter 12, and the oil return filter 8 is arranged at the oil return port of the hydraulic oil tank 10. The hydraulic return oil returns to the hydraulic oil tank 10 through the oil return filter 8.

[0019] Furthermore, as a preferred embodiment, a balancing valve 3 is provided on each luffing cylinder 4, and the balancing valve 3 prevents the luffing cylinder 4 from descending due to its own weight when the luffing cylinder 4 stops moving.

[0020] Further, as a preferred embodiment, the 3-position 6-way multi-way valve includes an O-type 3-position 6-way multi-way valve and a Y-type 3-position 6-way multi-way valve, the rotary motor 1 is connected to the hydraulic oil pump 11 through the O-type 3-position 6-way multi-way valve, and each variable amplitude cylinder 4 is connected to the hydraulic oil pump 11 through the corresponding Y-type 3-position 6-way multi-way valve.

[0021] Further, as a preferred embodiment, the number N of priority valves is not less than the total number of the slewing motors 1 and the luffing cylinders 4;

[0022] Furthermore, as another feasible implementation, the last priority valve is additionally connected to a 3-position 6-way multi-way valve.

[0023] Further, as a preferred embodiment, the number N of the priority valves is not less than the sum of the number of the slewing motors 1 and the luffing cylinders 4 minus 1.

[0024] Further, as a preferred embodiment, the robot arm includes a rotary motor 1 and N arm cylinders, and the number of priority valves is N.

[0025] Specifically, Figure 1 As shown, the present invention connects N priority valves 5 in series, and connects the oil outlet of the hydraulic oil pump 11 to the P1 oil port of the priority valve 5; the N priority valves 5 connected in series are respectively connected to the O-type 3-position 6-way multi-way valve 13 or the Y-type 3-position 6-way multi-way valve 2; and then connected to the rotary motor 1 or the variable-length oil cylinder 4 through the O-type 3-position 6-way multi-way valve 13 or the Y-type 3-position 6-way multi-way valve 2. The return oil of all action motors or oil cylinders is connected back to the O-type 3-position 6-way multi-way valve 13 or the Y-type 3-position 6-way multi-way valve 2 through pipelines, and is connected back to the hydraulic oil tank 10 from the T oil port of the O-type 3-position 6-way multi-way valve 13 or the Y-type 3-position 6-way multi-way valve 2.

[0026] The present invention adopts the above technical solution to solve the problem that the ordinary 3-position 6-way multi-way valve itself does not have pressure compensation, and cannot make the robot arm action parts work simultaneously without interfering with each other; and cannot perform stepless speed regulation on each robot arm action part. The present invention can completely solve the above problems by connecting a priority valve in series before the ordinary 3-position 6-way multi-way valve. Compared with the currently commonly used electric proportional load-sensitive multi-way valve, this invention has low cost, low requirements on the cleanliness of the hydraulic system oil, and is simple and convenient to maintain.

[0027] Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present application is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians of the art without making creative work are within the scope of protection of the present application.

Claims

1. A mechanical arm hydraulic control system, comprising a hydraulic oil tank, a hydraulic oil pump, a main relief valve, a 3-position 6-way multi-way valve, a slewing motor and at least one luffing cylinder; each slewing motor or luffing cylinder is connected to the oil outlet pipe of the hydraulic oil pump through the 3-position 6-way multi-way valve, and the return oil of the slewing motor or luffing cylinder is connected back to the corresponding 3-position 6-way multi-way valve through a pipeline, and is connected back to the hydraulic oil tank from the T oil port of the 3-position 6-way multi-way valve; the oil outlet of the hydraulic oil pump is connected to the oil return port of the hydraulic oil tank through the main relief valve; it is characterized in that: It also includes a number of priority valves, N priority valves are connected in series in sequence, and the oil outlet of the hydraulic oil pump is connected to the P oil port of the first priority valve; each priority valve connected in series is respectively connected to a 3-position 6-way multi-way valve; the last priority valve is additionally connected to a 3-position 6-way multi-way valve; the number N of priority valves is not less than the total number of slewing motors and boom cylinders minus 1; the robotic arm includes a slewing motor and N arm cylinders, and the number of priority valves is N.

2. A mechanical arm hydraulic control system according to claim 1, characterized in that: It also includes hydraulic oil tank accessories, which include an oil suction filter and an oil return filter. The hydraulic oil tank is connected to the hydraulic oil pump through the oil suction filter. The oil return filter is arranged at the oil return port of the hydraulic oil tank, and the hydraulic return oil returns to the hydraulic oil tank through the oil return filter.

3. A mechanical arm hydraulic control system according to claim 1, characterized in that: A balancing valve is provided on each luffing cylinder to prevent the luffing cylinder from dropping due to its own weight when it stops moving.

4. A mechanical arm hydraulic control system according to claim 1, characterized in that: The 3-position 6-way multi-way valve includes an O-type 3-position 6-way multi-way valve and a Y-type 3-position 6-way multi-way valve. The slewing motor is connected to the hydraulic oil pump through the O-type 3-position 6-way multi-way valve, and each boom cylinder is connected to the hydraulic oil pump through the corresponding Y-type 3-position 6-way multi-way valve.

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