A multi-type valve driving control device applied to a special robot hydraulic control system

Abstract

The utility model discloses a kind of multi-type valve drive control devices applied to special robot hydraulic control system, including multi-type valve control circuit and multi-type valve;Multi-type valve control circuit includes: power supply unit, control unit, communication unit, two valve drive units, load monitoring unit;Power supply unit includes: system power supply and power supply;Control unit: it is selected based on ARM Cortex-M4 kernel's STM32F4 series MCU;Communication unit: as the bridge of communication with outside, including CAN and RS232 two communication modes;Valve drive unit: as the core component of multi-type valve drive circuit, consisting of DAC, operational amplifier, power amplification unit;Load monitoring unit: as the perception part of multi-type valve drive control circuit, consisting of current sampling unit, voltage sampling unit and ADC.The utility model realizes multi-type valve compatibility, high-precision closed-loop control, real-time fault diagnosis, intelligent protection mechanism and flexible parameter configuration and other functions.

Description

Technical Field

[0001] This utility model relates to the field of valve drive control technology, specifically a multi-type valve drive control device applied to the hydraulic control system of special robots. Background Technology

[0002] Electro-hydraulic servo systems are widely used in heavy-duty hydraulic robots, aerospace, and other fields due to their advantages such as high power density, fast response, and high control precision. Their core component, the electro-hydraulic servo valve, typically uses an electromagnetic coil to drive the valve spool.

[0003] Existing driving methods mostly use a microprocessor to output a PWM wave, which is then amplified by a field-effect transistor to drive the valve coil. This method has the following drawbacks: ① Low accuracy of open-loop control: The change in coil resistance with temperature causes current fluctuations, introducing nonlinear errors; ② Lack of real-time status monitoring: Unable to detect coil short circuits, open circuits, or drive circuit faults; ③ Poor versatility: Different valves require dedicated drive circuits, resulting in high maintenance costs; ④ Weak fault diagnosis capability: It relies on external sensors and is difficult to directly locate drive link faults. Utility Model Content

[0004] The purpose of this invention is to provide a multi-type valve drive control device for use in the hydraulic control system of special robots, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A multi-type valve drive control device for use in the hydraulic control system of special robots includes multi-type valve control circuits and multi-type valves; The multi-type valve control circuit includes: a power supply unit, a control unit, a communication unit, two valve drive units, and a load monitoring unit; The power supply unit includes: system power supply and power supply; Control unit: STM32F4 series MCU based on ARM Cortex-M4 core is selected; Communication unit: Serves as a bridge for communication with the outside world, including two communication methods: CAN and RS232; Valve drive unit: As the core component of various types of valve drive circuits, it consists of a DAC, operational amplifier, and power amplifier unit; Load monitoring unit: As the sensing part of various types of valve drive control circuits, it consists of a current sampling unit, a voltage sampling unit, and an ADC.

[0006] As a further aspect of this utility model: the multi-type valves include two types, namely solenoid valves and piezoelectric valves, wherein the solenoid valves include proportional valves / electro-hydraulic servo valves, self-locking valves, and ordinary solenoid valves.

[0007] As a further aspect of this utility model: the proportional valve is a current-controlled valve, which is also the valve used in the hydraulic control system of special robots. The opening degree of this type of valve is linearly related to the current.

[0008] As a further aspect of this utility model: the self-locking valve adopts a dual-coil design, with two independent electromagnetic coils inside the valve body, namely the opening coil and the closing coil.

[0009] As a further improvement of this utility model: the ordinary solenoid valve is a switch-type solenoid valve, the valve opens when the coil is energized and closes when the coil is de-energized.

[0010] Compared with the prior art, the beneficial effects of this utility model are: 1. Compatible with multiple valve types: Supports the actuation of solenoid valves (proportional valves, self-locking valves, on / off valves) and piezoelectric valves; 2. High-precision closed-loop control: Current PID closed-loop control eliminates temperature drift, with accuracy superior to PWM open-loop control; 3. Real-time fault diagnosis: Detects short circuits, open circuits, and device malfunctions through current / voltage sampling; 4. Intelligent protection mechanism: Automatically cuts off power supply in case of overcurrent, overtemperature, or voltage abnormalities; 5. Flexible parameter configuration: parameters such as drive voltage and duration can be adjusted by software to adapt to different valves. Attached Figure Description

[0011] Figure 1 This is a block diagram illustrating the hardware circuit implementation of various valve drive control devices used in the hydraulic control system of special robots.

[0012] Figure 2 This is a structural block diagram of the power supply unit in various types of valve drive control devices used in the hydraulic control system of special robots.

[0013] Figure 3 This is a circuit diagram of a valve drive unit in a multi-type valve drive control device used in the hydraulic control system of special robots.

[0014] Figure 4 For load monitoring units in various types of valve drive control devices used in hydraulic control systems of special robots Structural diagram.

[0015] Figure 5 This is a flowchart of valve parameter loading in various types of valve drive control devices used in the hydraulic control system of special robots. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Example 1

[0018] A multi-type valve drive control device for use in the hydraulic control system of special robots includes multi-type valve control circuits and multi-type valves.

[0019] Please see Figure 1 The multi-type valve control circuit includes: a power supply unit, a control unit, a communication unit, two valve drive units, and a load monitoring unit; Please see Figure 2 The power supply unit includes a system power supply and a power supply. The system power supply mainly powers the control unit, communication unit, and load monitoring unit. The power supply mainly powers the valve drive unit. The power supply is a controlled output; when a fault occurs such as overheating of the valve drive unit or short circuit in the load, the system automatically shuts off the power supply output to protect the valve drive unit and the load.

[0020] Control unit: The STM32F4 series MCU based on the ARM Cortex-M4 core is selected; the functions of this MCU are control instruction analysis and processing, control algorithm implementation, data acquisition and processing, and control data output.

[0021] Communication Unit: Serving as a bridge for communication with the outside world, it includes two communication methods: CAN and RS232. CAN communication is mainly used to control different types of electrically controlled valves to drive according to set drive modes and to upload the working status of the electrically controlled valves. This communication method has strong accessibility and can be quickly integrated into the hydraulic control system of special robots. RS232 communication is mainly used for issuing commands for sampling the current characteristic curve of solenoid valves and reading the current characteristic curve of solenoid valves.

[0022] Please see Figure 3The valve drive unit, a core component of various valve drive circuits, consists of a DAC, operational amplifier, and power amplifier. The DAC converts the control signal from digital to analog. To ensure high accuracy and fast response of the output analog signal, a 16-bit resolution DAC with an operating clock rate of 50MHz is selected. The operational amplifier amplifies the analog control signal, outputting up to 120V, ensuring the valve drive unit can drive both electromagnetic and piezoelectric valves. The power amplifier amplifies the amplified voltage signal using high-voltage, high-current power transistors connected in parallel with a common-emitter configuration. This forms a common-emitter negative feedback power amplifier circuit with the operational amplifier, achieving a maximum single-channel output power of 200W. Current-limiting protection measures are implemented at the emitter output terminals of the power transistors to effectively prevent short circuits and equipment damage. All power transistor housings are equipped with temperature detection functions. When the temperature of the valve drive control circuit reaches the alarm threshold, an automatic temperature alarm will be triggered. If the temperature of the valve drive control circuit continues to rise and reaches the fault alarm threshold, the power will be automatically cut off to prevent the power transistor from being damaged by excessive temperature rise in the valve drive control circuit.

[0023] Please see Figure 4 Load monitoring unit: As the sensing part of the multi-type valve drive control circuit, it consists of a current sampling unit, a voltage sampling unit and an ADC. The load monitoring unit mainly has three functions, including load status (short circuit, open circuit) detection, load coil current characteristic curve sampling and as the sensing part of the electro-hydraulic servo valve current closed-loop control.

[0024] Please see Figure 5 Preferably, the multi-type valves include two types: solenoid valves and piezoelectric valves. Among them, the solenoid valves include proportional valves / electrohydraulic servo valves, self-locking valves, and ordinary solenoid valves.

[0025] Preferably, the proportional valve is a current-controlled valve, which is also the type of valve used in the hydraulic control system of special robots. The opening degree of this type of valve is linearly related to the current, enabling the current sampling unit in the load monitoring unit and the valve drive unit to form a current PID closed-loop control. Compared with the traditional PWM open-loop control method, this control method significantly improves the control accuracy, and it can also detect faults such as short circuits and open circuits in the proportional valve through current sampling.

[0026] Preferably, the self-locking valve adopts a dual-coil design, with two independent electromagnetic coils inside the valve body, namely an opening coil and a closing coil. When a pulse voltage is applied to the opening coil, the valve opens and locks; when a pulse voltage is applied to the closing coil, the valve closes and locks. By using two valve drive units in conjunction, the opening and closing of the self-locking valve can be controlled.

[0027] Preferably, the ordinary solenoid valve is a switch-type solenoid valve. When the coil is energized, the valve opens; when the coil is de-energized, the valve closes. A high-opening, low-holding control method is adopted for ordinary solenoid valves.

[0028] It is necessary to explain in detail the sampling timing logic: Step 1: Initialize the ADC chip registers; Step 2: Trigger the ADC sampling chip to sample at a frequency of 100KHz; Step 3: Perform physical quantity conversion on the sampled data to convert it into actual current and voltage signals; Step 4: The converted current or voltage signal is digitally filtered and then used in subsequent related logic calculations; Regarding the current characteristic curve sampling function, when the control unit receives the command to collect the current characteristic curve, the valve drive unit starts working and synchronously stores the collected current signal. The stored current data is placed in a specific buffer. After the valve drive unit finishes driving according to the relevant parameters, it stops storing the current signal. The sampling frequency of the ADC sampling chip is 100K, so the time required to collect each point is 0.01ms. A current characteristic curve can be generated by the sampling time and the corresponding current signal. The characteristic curve can be read through the communication unit for current characteristic curve analysis. Load status detection logic: Short circuit detection: After the valve drive unit outputs the drive voltage, the current sampling unit detects the current flowing through the load. When the detected current is greater than 5A for 1 second, the load is determined to be in a short circuit state. The output of the valve drive unit is stopped to protect the valve drive unit, and the fault information is reported to the robot remote controller. Open circuit detection: After the valve drive unit outputs the drive voltage, the current sampling unit detects the current flowing through the load. When the current is 0, the load is determined to be in an open circuit state, and the fault information is reported to the robot remote controller. Current closed-loop control logic: When the system is enabled, after receiving the current setting parameters from the host computer, the valve drive unit and the current detection unit form a PID closed-loop control controller.

[0029] It should be noted that, in addition to driving proportional valves, self-locking valves, ordinary solenoid valves, and piezoelectric valves, this invention can also collect the current characteristic curve of solenoid valves and upload it to the host computer for display via a communication interface. Personnel engaged in valve research or use can analyze the current characteristic curve of solenoid valves to judge the performance of solenoid valves and make predictions in advance for possible catastrophic failures.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that... Without departing from the spirit or basic characteristics of this utility model, it can be implemented in other specific forms.

[0031] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the present invention is defined by the appended claims rather than the foregoing description. Thus, it is intended to encompass all variations falling within the meaning and scope of the equivalents of the claims within the present invention.

[0032] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-type valve drive control device for a hydraulic control system of a special robot, comprising multi-type valve control circuits and multi-type valves, characterized in that: The multi-type valve control circuit includes: a power supply unit, a control unit, a communication unit, two valve drive units, and a load monitoring unit; The power supply unit includes: system power supply and power supply; Control unit: STM32F4 series MCU based on ARM Cortex-M4 core is selected; Communication unit: Serves as a bridge for communication with the outside world, including two communication methods: CAN and RS232; Valve drive unit: As the core component of various types of valve drive circuits, it consists of a DAC, operational amplifier, and power amplifier unit; Load monitoring unit: As the sensing part of various types of valve drive control circuits, it consists of a current sampling unit, a voltage sampling unit, and an ADC.

2. The multi-type valve drive control device applied to the hydraulic control system of special robots according to claim 1, characterized in that, The valves are of two types: solenoid valves and piezoelectric valves. Solenoid valves include proportional valves / electrohydraulic servo valves, self-locking valves, and ordinary solenoid valves.

3. The multi-type valve drive control device applied to the hydraulic control system of special robots according to claim 2, characterized in that, Proportional valves are current-controlled valves and are also used in the hydraulic control systems of special robots. The opening degree of this type of valve is linearly related to the current.

4. The multi-type valve drive control device applied to the hydraulic control system of special robots according to claim 2, characterized in that, The self-locking valve adopts a dual-coil design, with two independent electromagnetic coils inside the valve body, namely the opening coil and the closing coil.

5. The multi-type valve drive control device applied to the hydraulic control system of a special robot according to claim 2, characterized in that, Ordinary solenoid valves are on / off type solenoid valves; the valve opens when the coil is energized and closes when the coil is de-energized.

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