6 results about "Hydraulic manipulator" patented technology

The pipeline pressure blocking operation multi-degree-of-freedom hydraulic manipulator device and method of the present application belongs to the pipeline repair and pressure blocking technical field, comprising: setting pressure blocking execution device, wherein the pressure blocking execution device comprises a main feeding rod and a blocking head at the end of the main feeding rod, and an embedded fine adjustment mechanism is connected between the blocking head and the main feeding rod, and the scheme adopts the parallel connection configuration of high-strength flexible hinge and micro hydraulic cylinder; the high-strength flexible hinge has very high rigidity in the axial direction, can withstand the huge axial thrust generated by the medium pressure up to 25 MPa or above, and ensures that the blocking head is not pushed back; at the same time, by using the incompressibility of hydraulic oil, the system can still realize the fine adjustment of ± 3 degrees to ± 5 degrees of pitch and yaw while maintaining high pressure bearing capacity through the coordinated action of the hydraulic cylinder, solving the pain points of easy self-locking and difficult adjustment under high pressure.

The application discloses a hydraulic mechanical arm system for nuclear power station, which comprises a mechanical arm assembly, an openable and closable mechanical claw, a rotary motor assembly and a pump station assembly. The pump station assembly is arranged at one end of the mechanical arm assembly, and the hydraulic mechanical arm assembly is driven to perform pitching action. The mechanical claw is arranged at the other end of the mechanical arm assembly away from the pump station assembly, and is driven to open and close under the hydraulic drive of the pump station assembly. The rotary motor assembly is arranged on the pump station assembly, and is connected to and drives the mechanical arm assembly to rotate relative to the pump station assembly. The pump station assembly is connected with a vertical long-distance conveying assembly, and can move up and down along the length direction of the vertical long-distance conveying assembly. The hydraulic mechanical arm system for nuclear power station can drive the mechanical arm assembly and the mechanical claw to move up and down by moving the pump station assembly up and down along the vertical long-distance conveying assembly, and can clamp and carry workpieces. The mechanical arm assembly and the pump station assembly are integrated, the structure is compact, and the length of the hydraulic pipe arranged between the mechanical arm assembly and the pump station assembly is reduced.

The application discloses a hydraulic manipulator and belongs to the technical field of manipulators. The hydraulic manipulator comprises a mechanical arm and a supporting ring installed at the end of the mechanical arm. The inside of the supporting ring is provided with a mounting hole for fixing a workpiece. The hole diameter of the mounting hole can be changed. The inside of the mounting hole is provided with an abutting plate. The abutting plate is provided with a notch. The inner ring surface of the supporting ring is provided with a groove in the shape of a ring. A plurality of supporting assemblies are installed in the sidewalls of the groove. The hydraulic manipulator can complete the clamping and releasing functions of shaft parts. There are two states under clamping, one is rigid connection in the locked state, and the other is flexible connection in the locked state. During the clamping process, the workpiece can be centrally positioned, so that the workpiece is prevented from being deviated during machining.

This invention discloses a safe motion control method for a hydraulic manipulator based on an extended state observer, belonging to the field of hydraulic manipulator servo control technology. This method combines an extended state observer and a high-order control barrier function to construct a safe control framework, achieving safe motion control of the hydraulic manipulator. First, a complete dynamic model of the hydraulic manipulator is established, covering the dynamics of both the mechanical and hydraulic systems. Then, an extended state observer is designed to accurately estimate mismatch disturbances, their derivatives, and matching disturbances within the system. Finally, based on the disturbance estimates and the upper bound of the disturbance estimation error, a high-order control barrier function (ESO-HoCBF) based on the extended state observer is constructed, and the control input is solved using quadratic programming. This invention does not rely on an accurate dynamic model, simultaneously ensuring the safety constraints and trajectory tracking performance of the hydraulic manipulator, effectively suppressing the influence of various disturbances, reducing control conservatism, and has broad application prospects in fields such as forestry and emergency rescue.

This invention belongs to the field of hydraulic control system technology, specifically an integrated pressure loss protection valve assembly for a deep-sea hydraulic manipulator. The bottom surface of the valve body has multiple oil ports for connecting to the manipulator, and the top surface of the valve body has multiple oil ports communicating with the interior of the servo valves. Two hydraulically controlled check valves, two check valves, and a control piston are respectively installed on the valve body. The control oil circuits of the two hydraulically controlled check valves are cross-connected, and the control piston has a damping orifice inside. As a control valve assembly for the joints of a deep-sea hydraulic manipulator, this invention provides pressure loss protection for the joints and anti-servo valve zero-drift functionality, and has advantages such as compact structure, high integration, and high reliability.

This invention discloses a master-slave control method for a hydraulic robotic arm handle based on jerk-constrained trajectory planning. The method includes: when the slave-end hydraulic robotic arm is operated via the master-end handle, acquiring and preprocessing the input commands from the master-end handle to construct the desired trajectory model of the end effector; establishing the Jacobian matrix of the slave-end hydraulic robotic arm and using Newton's iteration method to iteratively solve for the desired joint angles in the joint space; then performing jerk-constrained trajectory replanning to generate continuous desired joint trajectory commands, and performing closed-loop regulation control of the hydraulic servo valves of each joint hydraulic cylinder to achieve precise master-slave tracking control. This method effectively overcomes the physical impact on the hydraulic system caused by sudden changes and jitter in handle input during human-machine interaction, and while ensuring high real-time mapping from the workspace to the joint space, it reduces the end-effector trajectory tracking error of the robotic arm, significantly enhancing the stability and accuracy of master-slave control.