Hydraulic drive control device for heavy load robot arm

Abstract

This invention discloses a hydraulic drive control device for a heavy-duty robotic arm, relating to the field of hydraulic drive control technology. It includes a base with a chassis embedded at its top. A front box is mounted on one side of the chassis bottom, with a main pipe connected to its top. A return guide box is mounted on the other side of the chassis bottom, with a return pipe connected to its top. A side valve is mounted on one side of the bottom of the return guide box, with a branch pipe connected to its end. A recovery tank is mounted on one side of the return guide box. During the robotic arm's operation, this invention can store and convert the return oil pressure from the main oil circuit, achieving waste energy utilization. Simultaneously, it can fully utilize the auxiliary booster structure to handle instantaneous peak pressure supply tasks, achieving auxiliary boosting. This improves the robotic arm's operational stability and smoothness while effectively reducing the oil pump's output power, allowing the oil pump to deliver oil smoothly at an average output pressure, and reducing the heating problem of the hydraulic system.

Description

Technical Field

[0001] This invention relates to the field of hydraulic drive control technology, specifically to a hydraulic drive control device for a heavy-duty robotic arm. Background Technology

[0002] Heavy-duty robotic arms typically employ high-pressure, high-flow hydraulic drive systems to achieve high power density and large load capacity. These systems commonly use high-pressure, high-flow components such as variable displacement piston pumps, large-diameter servo proportional valves, and large-size hydraulic cylinders to meet lifting and handling requirements ranging from hundreds of kilograms to several tons. A Chinese patent discloses an electro-hydraulic control system for a mining multi-joint heavy-duty hydraulic robotic arm, application number CN202410237695.9, which enables the main action and follow-up action to be performed simultaneously, reducing the number of power supply cycles and minimizing the impact of dust.

[0003] However, current hydraulic drive control devices lack an effective pressure balancing mechanism. When encountering sudden heavy loads within the normal operating range of the robotic arm, the supply and demand of hydraulic oil are prone to imbalance, and the robotic arm is prone to interruption of movement, shaking, and leg weakness. Moreover, the peak load pressure is entirely borne by the oil pump, which not only requires the oil pump to be selected according to the peak power, resulting in increased costs and power waste and increased energy consumption, but also requires the oil pump to operate continuously at high loads, which increases the heat generation of the hydraulic system. Summary of the Invention

[0004] This invention provides a hydraulic drive control device for heavy-duty robotic arms, which can effectively solve the problems mentioned in the background art. Currently available hydraulic drive control devices lack an effective pressure balancing mechanism. When encountering sudden heavy loads within the normal operating range of the robotic arm, hydraulic oil supply and demand imbalances are likely to occur, leading to interruptions in the robotic arm's movements, shaking, and limpness. Furthermore, the peak load pressure is entirely borne by the oil pump, which not only requires selecting the oil pump according to the peak power, resulting in increased costs and power waste, and increased energy consumption, but also requires the oil pump to operate continuously at high loads, increasing the heat generation problem of the hydraulic system.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a heavy-duty robotic arm hydraulic drive control device, comprising a base, wherein a dynamic adjustment mechanism is installed on the inner side of the base;

[0006] The dynamic control mechanism includes a chassis;

[0007] A chassis is embedded at the top of the base, a front box is installed on one side of the bottom of the chassis, a main pipe is connected to the top of the front box, a return box is installed on the other side of the bottom of the chassis, a return pipe is connected to the top of the return box, a side valve is installed on one side of the bottom of the return box, a branch pipe is connected to the end of the side valve, a recovery tank is installed on one side of the return box, a piston is slidably installed inside the recovery tank, and a release pipe is connected to one side of the top of the recovery tank;

[0008] A throttling box is installed on the side end face of the recovery tank. The two ends of the throttling box are respectively connected to a conduit and a gas pipe. A charging pipe is connected to the middle of the side end face of the throttling box. A valve block is slidably installed inside the throttling box. A pressurizing tank is installed on one side of the throttling box. A pressure replenishing pipe is connected to one end of the pressurizing tank. A valve core is slidably installed inside the pressurizing tank.

[0009] Preferably, a solenoid valve is installed at the middle of the bottom of the front box, and a reset pipe is connected to the end of the solenoid valve. An outlet pipe is connected to the other end of the pressurization tank. A connecting valve is installed at the middle of the bottom of the return box, and a circulation pipe is connected to the other side of the bottom of the return box. An oil pump is installed on one side of the front box, and pump pipes are connected to both the inlet and outlet of the oil pump.

[0010] Preferably, a rotating base is rotatably mounted on the top of the chassis, and a robotic arm is mounted on the top of the rotating base. The rotating base and the chassis together form an output chamber and a recovery chamber. The output chamber and the recovery chamber are not connected, and the output chamber is located outside the recovery chamber. The output chamber is connected to several output pipes at equal angles along the circumference, and the recovery chamber is connected to several return oil pipes at equal angles along the circumference. The oil inlet and oil outlet of the robotic arm are respectively connected to the output pipes and the return oil pipes through control valve pipes.

[0011] Preferably, a regulating valve is installed on the other side of the top of the recycling tank, and the regulating valve and the release pipe are respectively connected to the space inside the recycling tank located on both sides of the piston.

[0012] Preferably, the throttling box is connected to the front chamber via a conduit, the throttling box is connected to the recovery tank via an air pipe, and the air pipe and the release pipe are respectively connected to the space inside the recovery tank located on both sides of the piston. The middle of the top of the inner cavity of the throttling box is connected to the release pipe.

[0013] Preferably, the space in the inner cavity of the pressurizing tank located on one side of the valve core is connected to the throttling box through a charging pipe, and the space in the inner cavity of the pressurizing tank located on the other side of the valve core is connected to the front box through a pressure replenishing pipe. The end face area of ​​the valve core located on the charging pipe side is five times the end face area of ​​the valve core located on the pressure replenishing pipe side. The gap in the inner cavity of the pressurizing tank located between the two end faces of the valve core is connected to the reset pipe.

[0014] Preferably, the front box is connected to the oil pump outlet via a pump pipe, the base cavity is connected to the oil pump inlet via a pump pipe, the base cavity is filled with hydraulic oil, the outlet pipe is connected to the connecting valve, the connecting valve is a one-way solenoid valve, the side valve is a one-way valve, and the connecting valve and the side valve have opposite conduction directions, and the return box is connected to the base cavity via a circulation pipe.

[0015] Preferably, a mechanical limiting mechanism is installed on one side of the front box;

[0016] The mechanical limiting mechanism includes a connecting box;

[0017] A connecting box is installed on one side of the front box. A partition is installed inside the connecting box. A sliding rod is slidably installed in the middle of the side end face of the partition. A slider is installed at one end of the sliding rod, and a block is installed at the other end of the sliding rod. A through hole is opened on one side of the side end face of the block. A connecting pipe is connected to one side of the side end face of the front box, and an overflow pipe is connected to the other side of the side end face of the front box. A guide pipe is connected to the side end face of the connecting box at the position corresponding to the overflow pipe.

[0018] One end of the connecting box is connected to a connecting pipe, and a long box is installed at the end of the connecting pipe. A sliding plug is slidably installed inside the long box. An indicator rod is installed in the middle of the side end face of the sliding plug. The end of the indicator rod is a contact rod. A switch is embedded in the side end face of the base at the position corresponding to the contact rod. An observation scale is embedded in the side of the base at the position corresponding to the indicator rod. A push rod is embedded in and slidably installed at the other end of the connecting box.

[0019] Preferably, the partition divides the inner cavity of the connecting box into a sliding cavity and a release cavity, the slider is located inside the sliding cavity, the plug is located inside the release cavity, the connecting pipe is connected to the sliding cavity, the overflow pipe is connected to the release cavity, and the horizontal distance between the connection point of the overflow pipe and the connecting box and the partition is equal to the horizontal distance between the through hole and the end of the plug.

[0020] Preferably, the end of the guide tube is connected to the inner cavity of the base, an air valve is installed at the top of the connecting box between the slider and the partition, a liquid valve is installed at the top of the connecting box near the connecting tube, the end face of the block is larger than the end face of the sliding plug, the switch is an external alarm switch, and both the switch and the oil pump input are electrically connected to the external power output.

[0021] Compared with the prior art, the advantages of the present invention are: the present invention has a scientific and reasonable structure and is safe and convenient to use;

[0022] 1. Equipped with a dynamic control mechanism, a pressure recovery mechanism can be formed by the cooperation of the return box, return pipe, side valve, branch pipe, recovery tank and piston. It can store and convert the pressure during the hydraulic oil return process, improve the return stability of hydraulic oil and make the operation of the robotic arm smoother. At the same time, it can provide a reserve pressure source for the pressurization action of the pressurizing tank. With the flow limiting and guiding effect of the release pipe, charging pipe, throttle box and valve block, as well as the synchronous transmission of pressure with the conduit and air pipe, it can provide a stable driving force for pressurization during the operation of the robotic arm. It can make full use of the difference in the end face area of ​​the valve core. In cooperation with the pressurizing tank and pressure replenishment pipe, it can quickly convert the low pressure oil source into high pressure oil output when the robotic arm encounters sudden hard object jamming, accidental collision and load change during operation. It can supplement the robotic arm actuator with a high pressure oil flow that is relatively independent of the oil pump, and achieve precise and timely auxiliary pressurization work.

[0023] On the one hand, it can compensate for the oil pump's supply capacity and the needs of the robotic arm actuator, achieving timely and effective underpressure compensation, reducing hydraulic oil pressure fluctuations in the main oil circuit between the oil pump and the robotic arm, and allowing the oil pump to be selected based on average load rather than peak load. This also enables the oil pump to deliver oil smoothly with average output pressure during robotic arm operation, saving on the procurement cost of core hydraulic components and reducing energy consumption. On the other hand, since the boosting energy comes from the storage and conversion of pressure during the hydraulic oil return process, waste energy can be utilized. While stabilizing the oil pump output, it can avoid continuous high-load operation of the oil pump, reducing the heat generation problem of the hydraulic system from the source, slowing down the temperature rise rate of the hydraulic oil, delaying the aging of seals and the oxidation and deterioration of the oil. Through the cooperation of the chassis, front box, main pipe, solenoid valve, reset pipe, connecting valve, outlet pipe and circulation pipe, a complete hydraulic oil flow path can be formed to achieve precise drive.

[0024] 2. Equipped with a mechanical limit mechanism, which, through the cooperation of a connecting box, partition, slide bar, slider, plug, connecting pipe, and overflow pipe, can form a linkage limiting structure for the hydraulic oil output pressure. With the flow-limiting and guiding effect of the guide pipe and through hole, it can form a mechanical limit protection mechanism independent of the electronic control system. At the same time, since each link of the entire limit mechanism is a rigid mechanical connection and direct hydraulic action, it can effectively avoid intermediate links that fail due to power failure, interference, and electronic component and software defects in the electronic control system. This makes the limit protection process faster and more direct, achieving independent redundancy protection at the physical level. It can release the main oil circuit pressure oil more timely and effectively during abnormal jamming of the robotic arm, reduce the pressure load impact inside the main oil circuit, achieve timely pressure relief, and effectively avoid damage to the robotic arm and oil pump caused by abnormal jamming.

[0025] By combining a connecting pipe, a long box, a sliding plug, and an indicator rod, a synchronous early warning mechanism can be formed. It can effectively utilize the end face difference between the sliding plug and the block to amplify the displacement through hydraulic transmission, thereby amplifying the hydraulic oil pressure transmission signal. With the addition of a contact rod and a switch, early warning can be achieved more accurately and reliably, simultaneously improving the accuracy and sensitivity of the early warning and enhancing the timeliness and effectiveness of the early warning work. With the addition of an observation scale, it can assist on-site operators in quickly and accurately assessing the working condition, greatly improving the convenience of maintenance work for staff.

[0026] In summary, this hydraulic drive control device can store and convert the return oil pressure of the main oil circuit during the operation of the robotic arm, realizing the utilization of waste energy. At the same time, it can make full use of the auxiliary booster structure to undertake the supply task of instantaneous peak pressure, realizing auxiliary boosting. While improving the operational stability and smoothness of the robotic arm, it can effectively reduce the output power of the oil pump, allowing the oil pump to deliver smoothly at an average output pressure. It can also reduce the heat generation problem of the hydraulic system, allowing the hydraulic oil to remain in the optimal working viscosity range for a longer period of time. At the same time, it can form a mechanical limit protection mechanism independent of the electronic control system, making the limit protection process more direct and efficient. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0028] In the attached diagram:

[0029] Figure 1 This is a schematic diagram of the structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the chassis mounting structure of the present invention;

[0031] Figure 3 This is a schematic diagram of the pressure tank installation structure of the present invention;

[0032] Figure 4 This is a schematic diagram of the installation structure of the recycling tank of the present invention;

[0033] Figure 5 This is a schematic diagram of the dynamic control mechanism of the present invention;

[0034] Figure 6 This is a schematic diagram of the throttle box installation structure of the present invention;

[0035] Figure 7 This is a schematic diagram of the mechanical limiting mechanism of the present invention;

[0036] Figure 8 This is a schematic diagram of the block installation structure of the present invention;

[0037] The diagram labels are as follows: 1. Base; 11. Oil pump; 12. Pump pipe; 13. Robotic arm; 14. Rotary seat; 15. Output pipe; 16. Return oil pipe.

[0038] 20. Dynamic control mechanism; 201. Chassis; 202. Front box; 203. Main pipe; 204. Return box; 205. Return pipe; 206. Side valve; 207. Branch pipe; 208. Recovery tank; 209. Piston; 210. Throttling box; 211. Connecting pipe; 212. Air pipe; 213. Release pipe; 214. Charging pipe; 215. Valve block; 216. Pressurization tank; 217. Pressure replenishment pipe; 218. Valve core; 219. Solenoid valve; 220. Reset pipe; 221. Connecting valve; 222. Outlet pipe; 223. Circulation pipe;

[0039] 21. Output chamber; 22. Recovery chamber; 23. Control valve;

[0040] 30. Mechanical limit mechanism; 301. Connecting box; 302. Partition plate; 303. Slide rod; 304. Slider; 305. Block; 306. Connecting pipe; 307. Overflow pipe; 308. Guide pipe; 309. Through hole; 310. Connecting pipe; 311. Long box; 312. Sliding plug; 313. Indicator rod; 314. Contact rod; 315. Switch; 316. Observation scale; 317. Push rod;

[0041] 31. Slide cavity; 32. Release cavity; 33. Gas valve; 34. Liquid valve. Detailed Implementation

[0042] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0043] Example: Figure 1-8 As shown, the present invention provides a technical solution, a hydraulic drive control device for a heavy-duty robotic arm, including a base 1, and a dynamic adjustment mechanism 20 installed on the inner side of the base 1;

[0044] The dynamic control mechanism 20 includes the chassis 201;

[0045] A chassis 201 is embedded in the top of the base 1. A rotating seat 14 is rotatably mounted on the top of the chassis 201. A robotic arm 13 is mounted on the top of the rotating seat 14. The rotating seat 14 and the chassis 201 together form an output chamber 21 and a recovery chamber 22. The output chamber 21 and the recovery chamber 22 are not connected, and the output chamber 21 is located outside the recovery chamber 22. Several output pipes 15 are connected to the output chamber 21 at equal angles along the circumferential direction. Several return oil pipes 16 are connected to the recovery chamber 22 at equal angles along the circumferential direction. The oil inlet and oil outlet of the robotic arm 13 are connected to the output pipes 15 and the return oil pipes 16 respectively through control valve pipes for hydraulic drive.

[0046] A front box 202 is installed on one side of the bottom of the chassis 201. A main pipe 203 is connected to the top of the front box 202. A return box 204 is installed on the other side of the bottom of the chassis 201. A return pipe 205 is connected to the top of the return box 204. A side valve 206 is installed on one side of the bottom of the return box 204. A branch pipe 207 is connected to the end of the side valve 206. A recovery tank 208 is installed on one side of the return box 204. A piston 209 is slidably installed inside the recovery tank 208. A release pipe 213 is connected to one side of the top of the recovery tank 208. A regulating valve 23 is installed on the other side of the top of the recovery tank 208. The regulating valve 23 and the release pipe 213 are respectively connected to the spaces inside the recovery tank 208 located on both sides of the piston 209 to perform undervoltage compensation adjustment.

[0047] A throttling box 210 is installed on the side end face of the recovery tank 208. The two ends of the throttling box 210 are connected to the same conduit 211 and the air pipe 212, respectively. The middle of the side end face of the throttling box 210 is connected to the charging pipe 214. The throttling box 210 is connected to the front box 202 through the same conduit 211. The throttling box 210 is connected to the recovery tank 208 through the air pipe 212. The air pipe 212 and the release pipe 213 are respectively connected to the space inside the recovery tank 208 located on both sides of the piston 209. The middle of the top of the inner cavity of the throttling box 210 is connected to the release pipe 213 for pressure recovery and reuse. A valve block 215 is slidably installed inside the throttling box 210. A pressurizing tank 216 is installed on one side of the throttling box 210. One end of the pressurizing tank 216 is connected to the pressure replenishing pipe 217. A valve core 218 is slidably installed inside the pressurizing tank 216.

[0048] A solenoid valve 219 is installed at the bottom center of the front box 202. A reset tube 220 is connected to the end of the solenoid valve 219. The space inside the pressure tank 216 located on one side of the valve core 218 is connected to the throttling box 210 through the charging tube 214. The space inside the pressure tank 216 located on the other side of the valve core 218 is connected to the front box 202 through the pressure replenishing tube 217. The end face area of ​​the valve core 218 located on the charging tube 214 is five times the end face area of ​​the valve core 218 located on the pressure replenishing tube 217. The gap between the two end faces of the valve core 218 inside the pressure tank 216 is connected to the reset tube 220 for pressure compensation and stable pressurization. The other end of the pressure tank 216 is connected to the outlet tube 222. A connecting valve 221 is installed at the bottom center of the return box 204.

[0049] The bottom of the return box 204 is connected to the other side of the circulation pipe 223. The front box 202 is connected to the outlet of the oil pump 11 through the pump pipe 12. The inner cavity of the base 1 is connected to the inlet of the oil pump 11 through the pump pipe 12. The inner cavity of the base 1 is filled with hydraulic oil. The outlet pipe 222 is connected to the connecting valve 221. The connecting valve 221 is a one-way solenoid valve. The side valve 206 is a one-way valve. The connecting valve 221 and the side valve 206 have opposite conduction directions. The return box 204 is connected to the inner cavity of the base 1 through the circulation pipe 223 to form a complete hydraulic oil flow path. The oil pump 11 is installed on one side of the front box 202. The inlet and outlet of the oil pump 11 are both connected to the pump pipe 12.

[0050] A mechanical limit mechanism 30 is installed on one side of the front box 202;

[0051] The mechanical limit mechanism 30 includes a connecting box 301;

[0052] A connecting box 301 is installed on one side of the front box 202. A partition 302 is installed inside the connecting box 301. A sliding rod 303 is slidably installed in the middle of the side end face of the partition 302. A slider 304 is installed at one end of the sliding rod 303, and a block 305 is installed at the other end of the sliding rod 303. A through hole 309 is opened on one side of the side end face of the block 305. A connecting pipe 306 is connected to one side of the side end face of the front box 202, and an overflow pipe 307 is connected to the other side of the side end face of the front box 202.

[0053] A guide pipe 308 is connected to the side end of the connecting box 301 at the position corresponding to the overflow pipe 307. The partition 302 divides the inner cavity of the connecting box 301 into a sliding cavity 31 and a release cavity 32. The slider 304 is located inside the sliding cavity 31, and the block 305 is located inside the release cavity 32. The connecting pipe 306 is connected to the sliding cavity 31, and the overflow pipe 307 is connected to the release cavity 32. The horizontal distance between the connection point of the overflow pipe 307 and the connecting box 301 and the partition 302 is equal to the horizontal distance between the through hole 309 and the end of the block 305, so as to perform safety pressure limiting.

[0054] One end of the connecting box 301 is connected to a connecting pipe 310. A long box 311 is installed at the end of the connecting pipe 310. A slider 312 is slidably installed inside the long box 311. An indicator rod 313 is installed in the middle of the side end face of the slider 312. The end of the indicator rod 313 has a contact rod 314. A switch 315 is embedded in the side end face of the base 1 at the position corresponding to the contact rod 314. The end of the guide pipe 308 communicates with the inner cavity of the base 1. The top of the connecting box 301 is located between the slider 304 and the partition 302. A gas valve 33 is installed. A liquid valve 34 is installed at the top of the connection box 301 near the connecting pipe 310. The end face of the block 305 is larger than the end face of the sliding plug 312. The switch 315 is an external alarm switch. The switch 315 and the input end of the oil pump 11 are electrically connected to the output end of the external power supply for medium replenishment and work indication. An observation scale 316 is embedded and installed on the side of the base 1 at the position corresponding to the indicator rod 313. A push rod 317 is embedded and slidably installed at the other end of the connection box 301.

[0055] The working principle and usage process of this invention: When using this hydraulic device to drive and control a heavy-duty robotic arm, firstly, the robotic arm 13 is stably installed on the rotating base 14, and then the output pipe 15 is connected to the control valve on the oil inlet of the hydraulic actuator of the robotic arm 13 in sequence, and the return pipe 16 is connected to the control valve on the oil outlet of the hydraulic actuator of the robotic arm 13 to complete the basic connection and installation work.

[0056] Next, open the side door of the base 1 and inject an appropriate amount of air into the recovery tank 208 through the regulating valve 23. The amount of air injected can be adjusted according to the actual working conditions of the robotic arm 13. In the default state, the injected air pressure is less than the average output pressure of the oil pump 11 when the robotic arm 13 is working. In the actual working process, the greater the air pressure injected into the recovery tank 208, the higher the underpressure value of the hydraulic oil when the pressurizing tank 216 performs the pressurization action, and the higher the peak pressure that the pressurizing tank 216 can instantly replenish. In the default state, the air pressure injected into the recovery tank 208 is 85% of the average output pressure of the oil pump 11. That is, when the underpressure value of the hydraulic oil reaches 15%, the pressurization action is performed. This can be selected according to the actual underpressure compensation standard and pressurization requirements.

[0057] Next, push rod 317 can be manually pushed so that slider 304 will push block 305 synchronously through slide rod 303, so that block 305 abuts against end of connecting box 301. At this time, overflow pipe 307 and guide pipe 308 will be connected through through hole 309. Push rod 317 is limited by external tool to maintain its current state. Air is injected into slide cavity 31 inside connecting box 301 through air valve 33 to give slider 304 initial support force, so that in this state, the air pressure value of slider 304 is equal to the maximum safe pressure value of hydraulic oil inside front box 202 during the operation of robotic arm 13.

[0058] Hydraulic fluid is then injected into the connecting box 301 through the hydraulic valve 34. With the connection of the connecting pipe 310, the hydraulic fluid is injected into the long box 311 simultaneously through the connecting pipe 310. The amount of hydraulic fluid injected is controlled so that the hydraulic fluid fills the gap between the block 305 and the sliding plug 312 inside the connecting box 301, the connecting pipe 310 and the long box 311. The sliding plug 312 is pushed by the hydraulic fluid to drive the indicator rod 313 to slide. When the contact rod 314 comes into contact with the switch 315, the injection of hydraulic fluid is stopped, the restriction on the push rod 317 is released, and the slider 304, the block 305 and the sliding plug 312 will all be reset under the action of air pressure.

[0059] After completing the aforementioned work, the drive control of the robotic arm 13 can be performed normally, driving the robotic arm 13 to perform the operation.

[0060] During the use of the robotic arm 13, the oil pump 11 draws hydraulic oil from the inner cavity of the base 1 through the pump pipe 12 at the inlet end, and sends the hydraulic oil into the front box 202 through the pump pipe 12 at the outlet end for secondary distribution. Part of the hydraulic oil entering the front box 202 will be injected into the pressure tank 216 through the pressure replenishing pipe 217, filling the cavity between the valve core 218 and the pressure replenishing pipe 217 inside the pressure tank 216, and causing the valve core 218 to move towards the outlet pipe 222 side under hydraulic action.

[0061] With the connection to the conduit 211, a portion of the hydraulic oil entering the return box 204 will also enter the throttle box 210, causing the valve block 215 to be subjected to synchronous pressure from the hydraulic oil. Because with the connection to the air pipe 212, the pressure on the other end of the valve block 215 is equal to the air pressure inside the recovery tank 208, and this air pressure is less than the average output pressure of the oil pump 11 when the robotic arm 13 is working. Under the push of the hydraulic oil, the valve block 215 will overcome the air pressure on the other side and move towards the air pipe 212, cutting off the connection path between the release pipe 213 and the charging pipe 214.

[0062] The last part of the hydraulic oil entering the front box 202 will be connected to the main pipe 203 and then flow through the return pipe 205 into the output chamber 21 formed by the chassis 201 and the rotating seat 14. It will then flow through the output pipe 15 and through the control valve on the oil inlet of the hydraulic actuator of the robotic arm 13 into the hydraulic actuator of the robotic arm 13, driving the robotic arm 13 to perform corresponding actions and drive the robotic arm 13 to work normally.

[0063] After the robotic arm 13 completes the corresponding action, the hydraulic oil injected into the hydraulic actuator of the robotic arm 13 will pass through the control valve on the oil outlet of the hydraulic actuator of the robotic arm 13, and be injected into the recovery chamber 22 formed by the chassis 201 and the rotating seat 14 along the oil return pipe 16 connected thereto, and be injected into the return guide box 204 under the conduction of the return pipe 205.

[0064] Subsequently, under the limiting guidance of the side valve 206, part of the hydraulic oil injected into the return box 204 will be injected into the recovery tank 208 along the branch pipe 207, causing the piston 209 to move towards the regulating valve 23 under the push of the hydraulic oil, compressing the air inside the recovery tank 208, converting the pressure of the hydraulic oil into the internal energy of the air, recovering and storing the pressure of the hydraulic oil, improving the stability of the hydraulic oil return flow, making the operation of the robotic arm 13 smoother, and providing a reserve pressure source for the pressurization action of the pressurization tank 216. The remaining part of the hydraulic oil will flow back into the inner cavity of the base 1 through the circulation pipe 223, forming a complete hydraulic oil flow path.

[0065] During the normal operation of the robotic arm 13, especially in complex external working environments, the robotic arm 13 is prone to sudden hard object jamming, accidental collisions, and load fluctuations. When the load suddenly increases, such that the oil pump 11 cannot provide enough flow to maintain the movement in an instant, an imbalance occurs between the oil supply capacity of the oil pump 11 and the demand of the actuator of the robotic arm 13. At this time, the pressure of the main oil circuit drops, that is, the pressure of the hydraulic oil flow path between the pump pipe 12 and the robotic arm 13 will drop.

[0066] The hydraulic pressure inside the corresponding front box 202 will drop synchronously. With the connection of the same conduit 211, the hydraulic pressure on the valve block 215 will also drop synchronously. When the hydraulic pressure on the valve block 215 is lower than the air pressure on the other side, the undervoltage compensation standard condition is reached. At this time, the valve block 215 will be displaced to the same side as the conduit 211 under the action of air pressure, which will eventually make the release pipe 213 and the charging pipe 214 connected.

[0067] At this time, the piston 209 will move towards the release pipe 213 under the push of the air pressure inside the recovery tank 208, releasing the pressure stored in the recovery tank, and injecting the hydraulic oil inside the recovery tank 208 into the pressurization tank 216 through the release pipe 213 and the charging pipe 214, pushing the valve core 218 to move towards the pressure replenishment pipe 217, and under the action of the end face area difference at both ends of the valve core 218, the hydraulic oil inside the pressurization tank 216 will be pressurized and injected into the front box 202 through the pressure replenishment pipe 217;

[0068] It can then merge with the hydraulic oil output by the oil pump 11, instantly providing a higher peak pressure than the oil pump 11 to compensate for the pressure demand of the actuator of the robotic arm 13, adapt to the instantaneous increase in load, avoid motion stagnation and vibration caused by insufficient pressure, and at the same time enable the oil pump 11 to deliver smoothly with average output pressure during operation. In the selection process, the oil pump 11 can be selected according to the average load rather than the peak load.

[0069] After the load is overcome, the main oil circuit pressure is restored. At this time, the valve block 215 will reset under the pressure of the hydraulic oil, and the connection path between the release pipe 213 and the charging pipe 214 will be cut off again. Under the guidance of the connection between the side valve 206 and the branch pipe 207, the hydraulic oil that is subsequently returned to the return guide box 204 will enter the recovery tank 208 again for hydraulic oil replenishment and pressure storage.

[0070] Simultaneously, the hydraulic oil pumped into the front tank 202 by the oil pump 11 will be injected into the pressure tank 216 through the solenoid valve 219 and the reset pipe 220, filling the gap between the two end faces of the valve core 218 in the inner cavity of the pressure tank 216. Under the action of the end face area difference at both ends of the valve core 218, the valve core 218 end face area on the side of the outlet pipe 222 is larger, and the hydraulic oil pressure it receives will also be greater, driving the valve core 218 to move and reset to the side of the outlet pipe 222. The hydraulic oil injected into the pressure tank 216 through the charging pipe 214 will be sent into the return box 204 through the connecting valve 221 and the outlet pipe 222. During this process, the hydraulic oil pumped into the front tank 202 by the oil pump 11 will also be injected into the pressure tank 216 through the pressure replenishment pipe 217 to replenish the hydraulic oil in order to cope with the next load fluctuation.

[0071] Similarly, during the operation of the robotic arm 13, when a sudden hard object gets stuck or the robotic arm 13 gets stuck, if the pressurization tank 216 still cannot overcome the problem after completing the pressurization action, the oil pump 11 will increase its displacement and output more hydraulic oil to overcome the hard object getting stuck, since it has already obtained sufficient reaction time. At this time, the pressure of the main oil circuit will continue to rise.

[0072] The hydraulic fluid inside the front box 202 will rise synchronously. With the connection of the connecting pipe 306, the slider 304 will be synchronously compressed by the hydraulic oil. When the hydraulic fluid on the slider 304 is sufficient to overcome the air pressure on the other side, the slider 304 will synchronously push the block 305 to the side of the connecting pipe 310 through the main pipe 203, and pump the hydraulic fluid inside the release chamber 32 into the long box 311, so that the slide plug 312 pushes the indicator rod 313 to slide outward.

[0073] When the block 305 abuts against the end of the connecting box 301, that is, when the pressure of the hydraulic oil is equal to the air pressure inside the slide cavity 31, the maximum safe pressure value of the hydraulic oil is reached. The overflow pipe 307 and the guide pipe 308 will be connected through the through hole 309. The hydraulic oil inside the front box 202 will flow back directly into the inner cavity of the base 1 through the overflow pipe 307, the through hole 309 and the guide pipe 308 to relieve pressure, so as to avoid the mechanical arm 13 from getting stuck and damaged and the oil pump 11 from being blocked. At the same time, the contact rod 314 will trigger the switch 315 to provide an abnormal warning, ensuring the stability of the mechanical arm 13.

[0074] During the operation and subsequent maintenance of the robotic arm 13, the pressure of the hydraulic oil can be monitored and determined by observing the scale 316 and the sliding length of the indicator rod 313. At the same time, since the end face area of ​​the block 305 is larger than that of the sliding plug 312, the displacement amplitude of the indicator rod 313 relative to the block 305 will be larger, which can make the pressure limiting of the hydraulic oil more sensitive and efficient.

[0075] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A hydraulic drive control device for a heavy-duty robotic arm, comprising a base (1), characterized in that: A dynamic control mechanism (20) is installed on the inner side of the base (1); The dynamic control mechanism (20) includes a chassis (201); The base (1) has a chassis (201) embedded at the top. A front box (202) is installed on one side of the bottom of the chassis (201). A main pipe (203) is connected to the top of the front box (202). A return box (204) is installed on the other side of the bottom of the chassis (201). A return pipe (205) is connected to the top of the return box (204). A side valve (206) is installed on one side of the bottom of the return box (204). A branch pipe (207) is connected to the end of the side valve (206). A recovery tank (208) is installed on one side of the return box (204). A piston (209) is slidably installed inside the recovery tank (208). A release pipe (213) is connected to one side of the top of the recovery tank (208). A throttling box (210) is installed on the side end face of the recovery tank (208). The two ends of the throttling box (210) are respectively connected to a conduit (211) and a gas tube (212). A charging tube (214) is connected to the middle of the side end face of the throttling box (210). A valve block (215) is slidably installed inside the throttling box (210). A pressurizing tank (216) is installed on one side of the throttling box (210). A pressure replenishing pipe (217) is connected to one end of the pressurizing tank (216). A valve core (218) is slidably installed inside the pressurizing tank (216).

2. The heavy-duty robotic arm hydraulic drive control device according to claim 1, characterized in that, A solenoid valve (219) is installed at the middle of the bottom of the front box (202). A reset pipe (220) is connected to the end of the solenoid valve (219). An outlet pipe (222) is connected to the other end of the pressurization tank (216). A connecting valve (221) is installed at the middle of the bottom of the return box (204). A circulation pipe (223) is connected to the other side of the bottom of the return box (204). An oil pump (11) is installed on one side of the front box (202). A pump pipe (12) is connected to both the inlet and outlet of the oil pump (11).

3. The heavy-duty robotic arm hydraulic drive control device according to claim 1, characterized in that, A rotating base (14) is rotatably mounted on the top of the chassis (201). A robotic arm (13) is mounted on the top of the rotating base (14). The rotating base (14) and the chassis (201) together form an output chamber (21) and a recovery chamber (22). The output chamber (21) and the recovery chamber (22) are not connected. The output chamber (21) is located outside the recovery chamber (22). The output chamber (21) is connected to several output pipes (15) at equal angles along the circumferential direction. The recovery chamber (22) is connected to several return oil pipes (16) at equal angles along the circumferential direction. The oil inlet and oil outlet of the robotic arm (13) are connected to the output pipes (15) and the return oil pipes (16) respectively through control valve pipes.

4. The heavy-duty robotic arm hydraulic drive control device according to claim 1, characterized in that, A regulating valve (23) is installed on the other side of the top of the recycling tank (208). The regulating valve (23) and the release pipe (213) are respectively connected to the space inside the recycling tank (208) located on both sides of the piston (209).

5. The heavy-duty robotic arm hydraulic drive control device according to claim 1, characterized in that, The throttling box (210) is connected to the front box (202) through the conduit (211), and the throttling box (210) is connected to the recovery tank (208) through the air pipe (212). The air pipe (212) and the release pipe (213) are respectively connected to the space inside the recovery tank (208) located on both sides of the piston (209). The middle of the top of the inner cavity of the throttling box (210) is connected to the release pipe (213).

6. The heavy-duty robotic arm hydraulic drive control device according to claim 2, characterized in that, The space inside the pressure tank (216) located on one side of the valve core (218) is connected to the throttling box (210) through the charging pipe (214). The space inside the pressure tank (216) located on the other side of the valve core (218) is connected to the front box (202) through the pressure replenishing pipe (217). The end face area of ​​the valve core (218) located on the side of the charging pipe (214) is five times the end face area of ​​the valve core (218) located on the side of the pressure replenishing pipe (217). The gap between the two end faces of the valve core (218) inside the pressure tank (216) is connected to the reset pipe (220).

7. The heavy-duty robotic arm hydraulic drive control device according to claim 2, characterized in that, The front box (202) is connected to the outlet of the oil pump (11) through the pump pipe (12). The inner cavity of the base (1) is connected to the inlet of the oil pump (11) through the pump pipe (12). The inner cavity of the base (1) is filled with hydraulic oil. The outlet pipe (222) is connected to the connecting valve (221). The connecting valve (221) is a one-way solenoid valve. The side valve (206) is a one-way valve. The connecting valve (221) and the side valve (206) have opposite conduction directions. The return box (204) is connected to the inner cavity of the base (1) through the circulation pipe (223).

8. The heavy-duty robotic arm hydraulic drive control device according to claim 1, characterized in that, A mechanical limiting mechanism (30) is installed on one side of the front box (202); The mechanical limiting mechanism (30) includes a connecting box (301); A connecting box (301) is installed on one side of the front box (202). A partition (302) is installed inside the connecting box (301). A sliding rod (303) is slidably installed in the middle of the side end face of the partition (302). A slider (304) is installed at one end of the sliding rod (303). A block (305) is installed at the other end of the sliding rod (303). A through hole (309) is opened on one side of the side end face of the block (305). A connecting pipe (306) is connected to one side of the side end face of the front box (202). An overflow pipe (307) is connected to the other side of the side end face of the front box (202). A guide pipe (308) is connected to the side end face of the connecting box (301) at the position corresponding to the overflow pipe (307). One end of the connecting box (301) is connected to a connecting pipe (310), and a long box (311) is installed at the end of the connecting pipe (310). A sliding plug (312) is slidably installed inside the long box (311). An indicator rod (313) is installed in the middle of the side end face of the sliding plug (312). A contact rod (314) is installed at the end of the indicator rod (313). A switch (315) is embedded in the side end face of the base (1) at the position corresponding to the contact rod (314). An observation scale (316) is embedded in the side of the base (1) at the position corresponding to the indicator rod (313). A push rod (317) is embedded in and slidably installed at the other end of the connecting box (301).

9. The heavy-duty robotic arm hydraulic drive control device according to claim 8, characterized in that, The partition (302) divides the inner cavity of the connecting box (301) into a sliding cavity (31) and a release cavity (32). The slider (304) is located inside the sliding cavity (31), and the block (305) is located inside the release cavity (32). The connecting pipe (306) is connected to the sliding cavity (31), and the overflow pipe (307) is connected to the release cavity (32). The horizontal distance between the connection point of the overflow pipe (307) and the connecting box (301) and the partition (302) is equal to the horizontal distance between the through hole (309) and the end of the block (305).

10. A heavy-duty robotic arm hydraulic drive control device according to claim 9, characterized in that, The end of the guide tube (308) is connected to the inner cavity of the base (1). A gas valve (33) is installed at the top of the connecting box (301) between the slider (304) and the partition (302). A liquid valve (34) is installed at the top of the connecting box (301) near the side of the connecting tube (310). The end face of the block (305) is larger than the end face of the sliding plug (312). The switch (315) is an external alarm switch. The input terminals of the switch (315) and the oil pump (11) are electrically connected to the output terminal of the external power supply.

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