Hydraulic machine arm control framework capable of reducing vibration and impact

Abstract

The utility model relates to the technical field of hydraulic mechanical arm control, aims to solve the problems that control transmission is not fast and smooth enough and vibration and impact cannot be effectively reduced due to the fact that an existing hydraulic mechanical arm control system is delayed in control response and communication of a remote controller is delayed, and provides a hydraulic mechanical arm control framework capable of reducing vibration and impact. Comprising a control unit, the control unit is connected with a hydraulic system, and the hydraulic system is connected with a hydraulic mechanical arm; the control unit is further connected with a remote controller, the control unit is used for receiving a control instruction of the remote controller, generating a corresponding control signal and controlling the hydraulic system, the control unit is connected with the remote controller in a wired mode, and a rocker of the remote controller is an analog quantity remote control rocker; the auxiliary power system is connected with the power supply system, and the control unit is connected with the power supply system; according to the utility model, the control instruction transmission is faster, the control response is more timely, the control precision is improved, and the vibration and impact of the hydraulic mechanical arm are reduced.

Description

Technical Field

[0001] This utility model relates to the field of hydraulic robotic arm control technology, and more specifically, to a hydraulic robotic arm control architecture that reduces vibration and impact. Background Technology

[0002] Hydraulic robotic arms are widely used in industrial production, construction and other fields, but they are prone to vibration and impact during operation, which affects the accuracy and stability of the operation.

[0003] Existing hydraulic robotic arm control systems have the following shortcomings:

[0004] 1. The remote control signal conversion delay causes the controller to be unable to respond in time, resulting in a delayed control response and an inability to achieve fast and smooth control transmission, which leads to greater vibration and impact on the robotic arm;

[0005] 2. The remote control uses wireless communication, which has a large communication delay, resulting in a lag in the transmission of control commands and a delayed control response, leading to greater vibration and impact on the robotic arm;

[0006] 3. Lacking auxiliary power support, it cannot effectively overcome the effects of vibration and impact. Utility Model Content

[0007] This invention aims to provide a hydraulic robotic arm control architecture that reduces vibration and impact, in order to solve the problems of control response delay, remote control communication delay, and lack of auxiliary power support in existing hydraulic robotic arm control systems, which result in insufficiently fast and smooth control transmission and inability to effectively reduce vibration and impact.

[0008] This utility model is achieved using the following technical solution:

[0009] This utility model provides a hydraulic robotic arm control architecture that reduces vibration and impact, including a control unit connected to a hydraulic system, and the hydraulic system connected to the hydraulic robotic arm;

[0010] The control unit is also connected to the remote controller. The control unit is used to receive control commands from the remote controller and generate corresponding control signals to control the hydraulic system. The control unit and the remote controller are connected via a wire. The joystick of the remote controller is an analog remote control joystick.

[0011] It also includes a power supply system and an auxiliary power system, wherein the auxiliary power system is connected to the power supply system and the control unit is connected to the power supply system.

[0012] The control architecture of this utility model connects the control unit and the remote controller via a wired connection, avoiding the problem of wireless communication delay. This allows the remote controller to transmit control commands faster and more efficiently. As a result, the control unit responds faster and more promptly, and the hydraulic robotic arm can react in the shortest possible time, achieving faster and smoother control transmission. This is beneficial for improving operational accuracy and stability, and for reducing vibration and impact on the hydraulic robotic arm.

[0013] In the control architecture of this utility model, the joystick of the remote controller adopts an analog remote control joystick. The analog remote control joystick can output continuously changing electrical signals, which makes the control command transmission faster, reduces the control response delay, reduces the vibration and impact of the hydraulic robot arm, realizes precise control of the movement of the hydraulic robot arm, improves control accuracy, and improves operational flexibility and efficiency.

[0014] The control architecture of this utility model adds an auxiliary power system, which provides auxiliary power, ensures a stable power supply, reduces the problem of unstable robot arm movement caused by power fluctuations, improves control performance, and indirectly reduces the vibration and impact of the robot arm.

[0015] As a preferred technical solution:

[0016] The control unit includes a controller;

[0017] The hydraulic system includes multiple hydraulic valves, which are respectively installed at various control positions of the hydraulic robotic arm.

[0018] As a preferred technical solution:

[0019] The control architecture also includes a distance sensor, a tilt sensor, and an encoder, all of which are connected to the control unit.

[0020] As a preferred technical solution:

[0021] The distance sensor is mounted on the forearm end of the hydraulic robotic arm.

[0022] As a preferred technical solution:

[0023] The distance sensor is mounted on a suction cup connected to the end of the forearm.

[0024] As a preferred technical solution:

[0025] The tilt sensor is mounted on the vehicle body connected to the hydraulic robotic arm.

[0026] As a preferred technical solution:

[0027] The encoder is installed at each of the rotating joints of the hydraulic robotic arm.

[0028] As a preferred technical solution:

[0029] The distance sensor, the tilt sensor, and the encoder are all connected to the power supply system.

[0030] As a preferred technical solution:

[0031] The power system may, but is not limited to, use batteries.

[0032] As a preferred technical solution:

[0033] The auxiliary power system uses a range extender.

[0034] As a preferred technical solution:

[0035] The control architecture also includes a display screen, which is connected to the control unit.

[0036] As a preferred technical solution:

[0037] The display screen is connected to the control unit via Ethernet.

[0038] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0039] 1. The control architecture of this utility model connects the control unit and the remote controller via a wired connection, avoiding the problem of wireless communication delay. This allows the remote controller to transmit control commands faster and more efficiently. As a result, the control unit responds faster and more promptly, and the hydraulic robotic arm can react in the shortest possible time, achieving faster and smoother control transmission. This is beneficial for improving work accuracy and stability, and for reducing vibration and impact on the hydraulic robotic arm.

[0040] 2. In the control architecture of this utility model, the joystick of the remote controller adopts an analog remote control joystick. The analog remote control joystick can output continuously changing electrical signals, which makes the control command transmission faster, reduces the control response delay, reduces the vibration and impact of the hydraulic robot arm, realizes precise control of the movement of the hydraulic robot arm, improves control accuracy, and improves operational flexibility and efficiency.

[0041] 3. The control architecture of this utility model adds an auxiliary power system, which provides auxiliary power, can ensure a stable power supply, reduce the problem of unstable robot arm movement caused by power fluctuations, improve control performance, and indirectly reduce the vibration and impact of the robot arm.

[0042] 4. The control architecture of this utility model is equipped with a distance sensor, an tilt sensor, and an encoder, all of which are connected to the control unit. The collected data is transmitted to the control unit, which can obtain the specific posture of the hydraulic robot arm in real time and accurately. The control unit can adjust the motion control of the hydraulic robot arm according to the obtained data, making the control more precise, reducing vibration and impact, and improving stability.

[0043] 5. The distance sensor, tilt sensor and encoder of this utility model are set in designated positions to perform their respective functions, collect relevant data and monitor the posture of the hydraulic robot arm and vehicle. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the hydraulic robotic arm control architecture for reducing vibration and impact as described in this utility model. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0046] Example 1

[0047] like Figure 1 As shown, this embodiment proposes a hydraulic robotic arm control architecture to reduce vibration and impact, including a control unit connected to a hydraulic system, which in turn is connected to the hydraulic robotic arm. The hydraulic system directly controls the movements of the hydraulic robotic arm and also controls other hydraulic systems. The control unit and the hydraulic system are electrically connected.

[0048] The control unit is also connected to a remote controller. The control unit receives control commands from the remote controller and generates corresponding control signals to control the hydraulic system. The control unit and the remote controller are electrically connected.

[0049] The control unit is connected to the remote controller via a wired connection, which makes the transmission of control commands by the remote controller faster and more efficient, avoiding the problem of control command delay caused by wireless communication. As a result, the control unit responds faster and more promptly, and the hydraulic robotic arm can react in the shortest possible time, achieving faster and smoother control transmission. This is beneficial for improving operational accuracy and stability, and for reducing vibration and impact on the hydraulic robotic arm.

[0050] The remote control uses an analog remote control joystick, which can output continuously changing electrical signals. This allows for faster transmission of control commands, reduces control response delay, minimizes vibration and impact on the hydraulic robotic arm, and enables precise control of the hydraulic robotic arm's movement, improving control accuracy, operational flexibility, and efficiency. The analog remote control joystick is existing technology and will not be described in detail here.

[0051] The hydraulic system includes multiple hydraulic valves, which are respectively installed at various control positions of the hydraulic robotic arm. For example, the multiple hydraulic valves are respectively installed at the upper arm, lower arm, forearm, rotary motor, and travel motor of the hydraulic robotic arm. Controlling the various components of the hydraulic robotic arm to perform actions via hydraulic valves is existing technology and will not be elaborated here.

[0052] The control unit includes a controller, which may, but is not limited to, a controller of model YK-VOBC-52.

[0053] The analog remote control joystick and the controller use wired CAN communication, and the angle signal of the analog remote control joystick can be quickly sent to the controller, thus indirectly affecting the response speed and accuracy of the overall system.

[0054] The control architecture also includes a distance sensor, a tilt sensor, and an encoder. The distance sensor, the tilt sensor, and the encoder are all connected to the control unit and transmit the collected data to the control unit. The connection method is electrical connection.

[0055] The distance sensor is installed at the end of the forearm of the hydraulic robotic arm, and the distance sensor is used to measure the distance between the end of the forearm and the object to be grasped.

[0056] During the production and installation of photovoltaic panels, a suction cup is usually installed at the end of the forearm to grip the photovoltaic panel for handling or positioning. At this time, the distance sensor is installed on the suction cup.

[0057] In this embodiment, the distance sensor may be, but is not limited to, an ultrasonic sensor.

[0058] The tilt sensor is mounted on the vehicle body connected to the hydraulic robotic arm. The tilt sensor is used to measure the tilt angle of the vehicle body relative to the horizontal plane, to understand the current attitude of the vehicle, to prevent the vehicle from overturning, and to manage the load on the vehicle, so as to better distribute and control the load on the robotic arm.

[0059] The encoder is installed at each rotating joint of the hydraulic robot arm. The encoder is used to measure the current rotation angle of each rotating joint, so that the control unit can obtain the specific posture of the hydraulic robot arm in real time and accurately, so that the control unit can perform high-precision control of the hydraulic robot arm.

[0060] The distance sensor, tilt sensor, and encoder collect relevant data, and the position of the hydraulic robotic arm is fed back to the control unit. The control unit can then adjust the motion control of the hydraulic robotic arm accordingly, making the control more precise, reducing vibration and impact, and improving stability.

[0061] The control architecture also includes a power system, in which the control unit, the distance sensor, the tilt sensor and the encoder are all connected to the power system, which provides power to each component.

[0062] The power system may, but is not limited to, use batteries.

[0063] The control architecture also includes an auxiliary power system for charging the power system. Therefore, the auxiliary power system is connected to the power system. The auxiliary power system provides auxiliary power, ensuring a stable power supply, reducing unstable robot arm movements caused by power fluctuations, improving control performance, and indirectly reducing robot arm vibration and impact.

[0064] The auxiliary power system may, but is not limited to, employ a range extender, which includes an internal combustion engine, a generator, and a power electronics module. The internal combustion engine is used to convert chemical energy into mechanical energy, the generator is used to convert the mechanical energy provided by the internal combustion engine into electrical energy, and the power electronics module is used to manage the electrical energy output by the generator.

[0065] The range extender can be a gasoline range extender, whose output power can be adjusted according to the load of the hydraulic robotic arm to match the output power of the gasoline range extender with the hydraulic system. This ensures that the electrical energy provided by the gasoline range extender can effectively meet the power demand of the hydraulic system, jointly driving the movement of the hydraulic robotic arm. The gasoline range extender is existing technology and will not be described in detail here.

[0066] Example 2

[0067] The difference between this embodiment and Embodiment 1 is that:

[0068] The control architecture also includes a display screen, which is connected to the control unit. Specifically, the display screen is connected to the control unit via Ethernet.

[0069] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A control architecture for a hydraulic robotic arm that reduces vibration and impact, characterized in that: Includes a control unit, which is connected to a hydraulic system, which is connected to a hydraulic robotic arm; The control unit is also connected to the remote controller. The control unit is used to receive control commands from the remote controller and generate corresponding control signals to control the hydraulic system. The control unit and the remote controller are connected via a wire. The joystick of the remote controller is an analog remote control joystick. It also includes a power supply system and an auxiliary power system, wherein the auxiliary power system is connected to the power supply system and the control unit is connected to the power supply system.

2. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 1, characterized in that: The control unit includes a controller; The hydraulic system includes multiple hydraulic valves, which are respectively installed at various control positions of the hydraulic robotic arm.

3. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 1, characterized in that: The control architecture also includes a distance sensor, a tilt sensor, and an encoder, all of which are connected to the control unit.

4. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 3, characterized in that: The distance sensor is mounted on the forearm end of the hydraulic robotic arm.

5. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 4, characterized in that: The tilt sensor is mounted on the vehicle body connected to the hydraulic robotic arm.

6. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 5, characterized in that: The encoder is installed at each of the rotating joints of the hydraulic robotic arm.

7. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 6, characterized in that: The distance sensor, the tilt sensor, and the encoder are all connected to the power supply system.

8. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 1, characterized in that: The auxiliary power system uses a range extender.

9. The hydraulic robotic arm control architecture for reducing vibration and shock according to any one of claims 1-8, characterized in that: The control architecture also includes a display screen, which is connected to the control unit.

10. The hydraulic robotic arm control architecture for reducing vibration and impact according to claim 9, characterized in that: The display screen is connected to the control unit via Ethernet.

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