Master-slave control electro-hydraulic servo double-arm robot

Abstract

The master-slave control electro-hydraulic servo double-arm robot comprises mechanical arms and a hydraulic pump station system, the hydraulic pump station system is integrated in a control cabinet, the mechanical arms are of a four-section type structure and symmetrically installed on the two sides of the control cabinet, and each mechanical arm comprises four sets of swing cylinders. The hydraulic pump station system comprises four sets of swing cylinders, each set of swing cylinders serve as a motion joint of the mechanical arm, the four sets of swing cylinders achieve multi-degree-of-freedom motion of the mechanical arm, the hydraulic pump station system comprises a left set of electro-hydraulic servo valves and a right set of electro-hydraulic servo valves, each set of electro-hydraulic servo valves comprises four valve single bodies, and each swing cylinder is independently controlled through one valve single body. According to the electro-hydraulic servo double-arm robot, collaborative planning can be conducted, the double arms work in a matched mode, each mechanical arm can conduct four-degree-of-freedom movement, the flexibility is high, the swing cylinders are controlled through the electro-hydraulic servo valves, positioning is accurate, and running is stable.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a master-slave controlled electro-hydraulic servo dual-arm robot. Background Art

[0002] Robotic arms simulate human joint movements through different driving methods and have been widely used in the manufacturing industry to replace manual labor in casting, welding, palletizing and other operations. They can also replace humans in completing some dangerous or harmful operations. For some complex application scenarios, it is necessary to control the robotic arms separately or cooperate with each other to complete the operation requirements. Utility Model Content

[0003] In response to the above technical problems, the utility model proposes a master-slave controlled electro-hydraulic servo dual-arm robot, which can perform collaborative planning, and the two arms cooperate with each other. Each robotic arm can move with four degrees of freedom and has high flexibility. The swing cylinder is controlled by an electro-hydraulic servo valve, with precise positioning and smooth operation.

[0004] A master-slave controlled electro-hydraulic servo dual-arm robot comprises a mechanical arm and a hydraulic pump station system, wherein the hydraulic pump station system is integrated in a control cabinet, the mechanical arm adopts a four-section structure and is symmetrically mounted on both sides of the control cabinet, and comprises four groups of swing cylinders, each group of the swing cylinders serving as a motion joint of the mechanical arm, and the four groups of the swing cylinders realize multi-degree-of-freedom motion of the mechanical arm, the hydraulic pump station system comprises two left and right groups of electro-hydraulic servo valves, each group of the electro-hydraulic servo valves comprises four valve monomers, and each of the swing cylinders is individually controlled by a valve monomer.

[0005] As a preferred embodiment of the above technical solution, the mechanical arm includes a first swing cylinder, a second swing cylinder, a third swing cylinder and a fourth swing cylinder connected in sequence;

[0006] The fixed end of the first swing cylinder is fixedly installed on the control cabinet, and the first swing cylinder enables the mechanical arm to have a forward and backward swing function;

[0007] The second swing cylinder is perpendicular to the first swing cylinder in the same horizontal plane and connected via a first L-shaped connecting piece, and the second swing cylinder enables the robot arm to have the function of retracting and swinging left and right;

[0008] The axis of the third swing cylinder intersects with the axis of the first swing cylinder and the second swing cylinder at the same point, so that the robot arm has a third degree of freedom. The third swing cylinder is connected to the second swing cylinder through a second L-shaped connecting piece. The first swing cylinder, the second swing cylinder and the third swing cylinder are compactly arranged. The third swing cylinder enables the robot to have a shoulder joint function.

[0009] The fourth swing cylinder is located below the third swing cylinder and is connected to the third swing cylinder through a third L-shaped connecting piece. The fourth swing cylinder is used for the robot elbow joint and is the fourth degree of freedom of the robot arm.

[0010] The two connecting ends of the first L-shaped connecting member, the second L-shaped connecting member and the third L-shaped connecting member are all rotatably connected to the swing cylinders connected thereto;

[0011] The end of the fourth swing cylinder is connected to an operating rod via a fourth L-shaped connecting piece, and the fourth L-shaped connecting piece is rotatably connected to the fourth rotating cylinder connected thereto.

[0012] As a preferred embodiment of the above technical solution, the hydraulic pump station system includes an oil source valve group, which is installed on a valve block bracket. A model aircraft motor is also fixed in the valve block bracket. A self-pressurizing oil tank is fixed above the valve block bracket. The self-pressurizing oil tank is connected to the model aircraft motor through the oil source valve group. The model aircraft motor drives the plunger pump inside the oil source valve group to pump the oil in the self-pressurizing oil tank to each oil circuit of the robotic arm. The electro-hydraulic servo valve is used to adjust the flow rate of each oil circuit.

[0013] As a preferred embodiment of the above technical solution, a plurality of cooling fans are installed inside the control cabinet.

[0014] As a preferred embodiment of the above technical solution, handles are symmetrically provided on both sides of the control cabinet.

[0015] The beneficial effects of the utility model are:

[0016] 1. Collaborative planning can be carried out, and the two arms work together. Each robotic arm can move with four degrees of freedom, with high flexibility. The swing cylinder is controlled by an electro-hydraulic servo valve, with precise positioning and smooth operation.

[0017] 2. The hydraulic pump station system adopts a compact design, which can greatly reduce the overall volume of the electro-hydraulic servo dual-arm robot and the design is small.

[0018] 3. The hydraulic dual-arm robot can realize master-slave control. Its motion trajectory can be recorded in real time through the background, which can be played back and reviewed, and provide data support for the optimization of the hydraulic dual-arm robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the utility model.

[0020] Figure 2 Schematic diagram of the internal structure of the hydraulic pump station system.

[0021] Figure 3 It is a schematic diagram of the mechanism of the first L-shaped connecting member.

[0022] Figure 4 It is a schematic diagram of the mechanism of the second L-shaped connecting piece.

[0023] Figure 5 Schematic diagram of the mechanism of the third L-shaped connector.

[0024] Figure 6 It is a schematic diagram of the structure of the fourth L-shaped connecting member and the operating rod.

[0025] The accompanying drawings are marked as follows: 1-control cabinet, 2-electro-hydraulic servo valve, 3-first swing cylinder, 4-second swing cylinder, 5-third swing cylinder, 6-fourth swing cylinder, 7-first L-shaped connecting piece, 8-second L-shaped connecting piece, 9-third L-shaped connecting piece, 10-fourth L-shaped connecting piece, 11-operating lever, 12-oil source valve group, 13-valve block bracket, 14-model aircraft motor, 15-self-pressurized oil tank, 16-cooling fan, 17-handle. DETAILED DESCRIPTION

[0026] The following is a clear and complete description of the technical solution of the utility model in conjunction with the accompanying drawings of the utility model. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] like Figure 1 , Figure 2 A master-slave controlled electro-hydraulic servo dual-arm robot is shown, including a robotic arm and a hydraulic pump station system. The hydraulic pump station system is integrated in a control cabinet 1. The robotic arm adopts a four-section structure and is symmetrically installed on both sides of the control cabinet 1. It includes four groups of swing cylinders, each group of the swing cylinders serves as a moving joint of the robotic arm, and the four groups of the swing cylinders realize multi-degree-of-freedom movement of the robotic arm. The hydraulic pump station system includes two left and right groups of electro-hydraulic servo valves 2, each group of the electro-hydraulic servo valves 2 includes four valve monomers, and each of the swing cylinders is individually controlled by a valve monomer.

[0028] As a preferred embodiment of the above technical solution, the mechanical arm includes a first swing cylinder 3, a second swing cylinder 4, a third swing cylinder 5 and a fourth swing cylinder 6 which are connected in sequence;

[0029] The fixed end of the first swing cylinder 3 is fixedly installed on the control cabinet 1, and the first swing cylinder 3 enables the mechanical arm to have a forward and backward swing function;

[0030] The second swing cylinder 4 is perpendicular to the first swing cylinder 3 on the same horizontal plane and connected via a first L-shaped connector 7. The second swing cylinder 4 enables the robot arm to have the function of retracting and swinging left and right.

[0031] The axis of the third swing cylinder 5 intersects with the axis of the first swing cylinder 3 and the second swing cylinder 4 at the same point, so that the robot arm has a third degree of freedom. The third swing cylinder 5 is connected to the second swing cylinder 5 through a second L-shaped connector 8. The first swing cylinder 3, the second swing cylinder 4 and the third swing cylinder 5 are compactly arranged. The third swing cylinder 5 enables the robot to have a shoulder joint function.

[0032] The fourth swing cylinder 6 is located below the third swing cylinder 5 and is connected to the third swing cylinder 5 through a third L-shaped connector 9. The fourth swing cylinder 6 is used for the robot elbow joint and is the fourth degree of freedom of the robot arm.

[0033] The two connecting ends of the first L-shaped connecting member 7, the second L-shaped connecting member 8 and the third L-shaped connecting member 9 are all rotatably connected to the swing cylinders connected thereto;

[0034] The end of the fourth swing cylinder 6 is connected to an operating rod 11 via a fourth L-shaped connecting piece 10 , and the fourth L-shaped connecting piece 10 is rotatably connected to the fourth rotating cylinder 6 connected thereto.

[0035] In this embodiment, the hydraulic pump station system includes an oil source valve group 12, which is installed on a valve block bracket 13. A model aircraft motor 14 is also fixed in the valve block bracket 13. A self-pressurizing oil tank 15 is fixed above the valve block bracket 13. The self-pressurizing oil tank 15 is connected to the model aircraft motor 14 through the oil source valve group 12. The model aircraft motor 14 drives the plunger pump inside the oil source valve group 12 to pump the oil in the self-pressurizing oil tank 15 to each oil circuit of the robotic arm. The electro-hydraulic servo valve 2 is used to adjust the flow rate of each oil circuit.

[0036] In this embodiment, a plurality of cooling fans 16 are installed inside the control cabinet 1 .

[0037] In this embodiment, handles 17 are symmetrically provided on both sides of the control cabinet 1 .

[0038] The working principle of this embodiment is as follows.

[0039] The electro-hydraulic servo dual-arm robot consists of a mechanical arm and a hydraulic pump station system. The hydraulic pump station system moves the mechanical arm to a specified position by controlling the working state of the electro-hydraulic servo valve 2. The function of the hydraulic pump station system is to convert electrical energy into mechanical energy through the aircraft model motor 14, and use the oil in the self-pressurized oil tank 15 as a medium to provide hydraulic energy for the movement of the mechanical arm. The hydraulic pump station system adopts a closed system, which is clean and environmentally friendly.

[0040] Each set of robotic arms includes four robotic arm joints composed of four swing cylinders, wherein the first three joints together constitute the shoulder joint of the robotic arm, which has three degrees of freedom, and the fourth joint is the elbow joint of the robotic arm, so that each robotic arm has four degrees of freedom.

[0041] The electro-hydraulic servo dual-arm robot is controlled by a plc control system. The plc master station receives the analog signal from the robot arm, converts the analog signal into an analog signal for the electro-hydraulic servo valve 2 to control the movement of the swing cylinder, and the position encoder embedded in the swing cylinder feeds back the position signal to the plc. Similarly, the pressure sensor embedded in the swing cylinder can provide the system with a real-time pressure difference between the two hydraulic chambers. The plc control system and the electro-hydraulic servo system for driving the hydraulic pump station system jointly realize the direction and angle control of the swing cylinder. The movement of each swing cylinder is controlled by the FF-101 / 821R10 electro-hydraulic servo valve. The plc converts the received signal of the master operating arm into the motion signal of the electro-hydraulic servo valve, and then controls the movement of the swing cylinder. Therefore, the plc master station is provided with analog input and output modules. In addition, two analog input modules are provided for the data feedback of the pressure sensor, and a communication module is provided for the data feedback of the position encoder.

[0042] Four cooling fans are installed in the control cabinet 1 of the hydraulic pump station system. The upper cover of the control cabinet 1 is designed to be detachable, which is convenient for the installation and maintenance of the pump station. In the compact hydraulic pump station system, the working state of the oil circuit meets the use requirements by reasonably placing hydraulic components. The hydraulic pump station system also includes conventional structural parts such as electromagnetic reversing valves, relief valves, oil filters, check valves, plate ball valves, and pressure gauges. The electromagnetic reversing valves and relief valves can be used together to regulate and stabilize the pressure of the oil circuit, and can also be used as unloading valves to achieve energy saving and protect system safety. The oil filter can ensure that the cleanliness of the oil is high enough so that the electro-hydraulic servo valve 2 and the oil source valve group 12 will not be damaged by oil impurities. The series use of the check valve and the plate ball valve can maximize the role of both, prevent backflow, control flow, and improve system safety and flexibility.

[0043] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A master-slave controlled electro-hydraulic servo dual-arm robot, characterized in that: It includes a mechanical arm and a hydraulic pump station system. The hydraulic pump station system is integrated in a control cabinet. The mechanical arm adopts a four-section structure and is symmetrically installed on both sides of the control cabinet. It includes four groups of swing cylinders. Each group of the swing cylinders serves as a moving joint of the mechanical arm. The four groups of the swing cylinders realize multi-degree-of-freedom movement of the mechanical arm. The hydraulic pump station system includes two left and right groups of electro-hydraulic servo valves. Each group of the electro-hydraulic servo valves includes four valve monomers. Each of the swing cylinders is individually controlled by a valve monomer.

2. The electro-hydraulic servo dual-arm robot according to claim 1, characterized in that: The mechanical arm comprises a first swing cylinder, a second swing cylinder, a third swing cylinder and a fourth swing cylinder connected in sequence; The fixed end of the first swing cylinder is fixedly installed on the control cabinet, and the first swing cylinder enables the mechanical arm to have a forward and backward swing function; The second swing cylinder is perpendicular to the first swing cylinder in the same horizontal plane and connected via a first L-shaped connecting piece, and the second swing cylinder enables the robot arm to have the function of retracting and swinging left and right; The axis of the third swing cylinder intersects with the axis of the first swing cylinder and the second swing cylinder at the same point, so that the robot arm has a third degree of freedom. The third swing cylinder is connected to the second swing cylinder through a second L-shaped connecting piece. The first swing cylinder, the second swing cylinder and the third swing cylinder are compactly arranged. The third swing cylinder enables the robot to have a shoulder joint function. The fourth swing cylinder is located below the third swing cylinder and is connected to the third swing cylinder through a third L-shaped connecting piece. The fourth swing cylinder is used for the robot elbow joint and is the fourth degree of freedom of the robot arm. The two connecting ends of the first L-shaped connecting member, the second L-shaped connecting member and the third L-shaped connecting member are all rotatably connected to the swing cylinders connected thereto; The end of the fourth swing cylinder is connected to an operating rod via a fourth L-shaped connecting piece, and the fourth L-shaped connecting piece is rotatably connected to the fourth rotating cylinder connected thereto.

3. The electro-hydraulic servo dual-arm robot according to claim 1, characterized in that: The hydraulic pump station system includes an oil source valve group, which is installed on a valve block bracket. An aircraft model motor is also fixed in the valve block bracket. A self-pressurizing oil tank is fixed above the valve block bracket. The self-pressurizing oil tank is connected to the aircraft model motor through the oil source valve group. The aircraft model motor drives the plunger pump inside the oil source valve group to pump the oil in the self-pressurizing oil tank to each oil circuit of the robotic arm. The electro-hydraulic servo valve is used to adjust the flow of each oil circuit.

4. The electro-hydraulic servo dual-arm robot according to claim 1, characterized in that: A plurality of cooling fans are installed inside the control cabinet.

5. The electro-hydraulic servo dual-arm robot according to claim 1, characterized in that: Handles are symmetrically arranged on both sides of the control cabinet.

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