20 results about "Hydraulic manipulator" patented technology

The invention relates to a PID-DOB composite driving track control method for a hydraulic mechanical arm, and belongs to the field of track gauges of hydraulic mechanical arms. The method comprises the steps that firstly, modeling is conducted on a hydraulic system of the hydraulic mechanical arm; the saturation characteristic and the dead zone characteristic of the hydraulic system are analyzed; secondly, all shafts of the mechanical arm are identified and modeled by analyzing a signal spectrogram of normal work of the hydraulic mechanical arm, second-order linear system models of all the shafts are obtained, and a segmented PID control method is designed on the basis of the identified second-order linear system models; composite PID-DOB control rate design is carried out on the basis of a PID control method; the DOB estimates and compensates external disturbance and modeling errors of the system in real time; according to the segmented PID control method, the control process is divided into a starting segment, a main body segment and a braking segment according to time, speed and position information. The control precision and stability of the hydraulic mechanical arm are improved.

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 present invention relates to a collet comprising a left and right portion respectively, which allows the assembly and disassembly of a triconic bit from the free end of the string of a rock drill machine, which is arranged at the free end of a manipulator arm controlled in a commercially available electrohydraulic manner, thereby improving the drawbacks and accidents that occur during replacement of the triconic bits normally used in the tasks. The hydraulic collet has a fastening semi-rectangular metal plate designed to be located at the free end of a hydraulic manipulator arm holding a rotation device. Said rotation device allows the collet to be rotated about the full 360° circumference so as to safely and accurately manipulate the triconic bit from the free end of a drill hammer. The manipulator arm is controlled from a control cabinet by means of a specialised operator without requiring said operator to interact with elements or forces on the outside of the rock drill machine, in order for a specialised operator to safely replace the same.

The present application is suitable for the field of robot technology, and relates to a redundant hydraulic mechanical arm real-time flow optimization method considering multi-task priority. The method comprises the following steps: according to the speed characteristics of the redundant hydraulic mechanical arm, setting system flow constraints, joint angle, speed and acceleration constraints, generating joint constraint inequalities, and inputting a polyhedral vertex solver to obtain joint speed polyhedral vertices and task speed polyhedral vertices; collecting the instruction speed of an operator, inputting the instruction speed and the task speed polyhedral vertices into an optimal task speed solver to obtain optimal task speed; mapping the optimal task speed into the minimum norm solution of the joint space, and inputting the minimum norm solution into a flow optimal solution solver to obtain the optimal joint speed of the flow. The present application plans the joint speed instruction of the redundant hydraulic mechanical arm, which satisfies all constraints, minimizes the speed error and optimizes the flow, thereby improving the tracking accuracy and operation efficiency of the hydraulic mechanical arm and reducing the system energy consumption.

This invention proposes a servo control method and system for a multi-joint hydraulic manipulator based on sliding mode adaptation, relating to the field of hydraulic equipment servo control technology. Based on the manipulator's current pose and received command information, the method generates the end effector trajectory within the workspace and calculates the desired angular displacement, angular velocity, and angular acceleration of each joint. It then obtains the actual angular displacement of each joint under the current pose and calculates the actual angular velocity. Based on the desired angular displacement, angular velocity, and angular acceleration, and the actual angular displacement, angular velocity, and angular acceleration, combined with the manipulator's dynamics model, the method calculates the driving force of each joint. Based on the desired angular displacement, actual angular displacement, and driving force of each joint, a sliding mode surface is constructed, the adaptive rate is updated, and sliding mode adaptive control is performed on the manipulator. This invention enables precise position control of multi-axis hydraulic actuators with positional characteristics, achieving coordinated control of complex motion laws between multiple axes.

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 invention relates to a multi-degree-of-freedom hydraulic manipulator device and method for pipeline under-pressure plugging operation, and belongs to the technical field of pipeline repair and under-pressure plugging. The multi-degree-of-freedom hydraulic manipulator device comprises an under-pressure plugging execution device which comprises a main feeding rod and a plugging head located at the tail end of the main feeding rod; an embedded fine adjustment mechanism is connected between the plugging head and the main feeding rod. According to the scheme, the structure that the high-strength flexible hinge and the micro hydraulic cylinder set are connected in parallel is adopted; the high-strength flexible hinge has extremely high rigidity in the axial direction and can bear huge axial thrust generated by medium pressure up to 25 MPa or above, and it is ensured that the plugging head is not jacked back; meanwhile, by means of the incompressibility of hydraulic oil, the system can still achieve pitching and deflection fine adjustment of + / -3 degrees to + / -5 degrees through the cooperative action of the hydraulic cylinders while maintaining the high pressure bearing capacity, and the problems that self-locking is prone to occurring and adjustment is difficult under high pressure are solved.

The application provides a four-mechanism hydraulic manipulator for installing mill lining plates, which comprises a horizontal swing mechanism, a rolling swing mechanism, a pitching swing mechanism and a counter-holding mechanism driven by an oil cylinder; the horizontal swing mechanism, the rolling swing mechanism and the pitching swing mechanism are connected through a wrist movement connecting arm; the front end of the pitching swing mechanism is connected with the counter-holding mechanism through a pitching swing rod welding piece. The four-mechanism hydraulic manipulator for installing mill lining plates has the advantages of scientific design, simple operation, small size and light weight, and can perform horizontal swing, rolling swing, pitching swing and counter-holding movement, thereby facilitating the installation of the mill lining plates.

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.

The invention relates to the technical field of marine equipment, in particular to a multifunctional hydraulic manipulator device which comprises a plurality of mechanical claw bodies used for clamping a target object and a base connected with the mechanical claw bodies. The bottom of the base is detachably connected with a fixing mechanism used for being fixedly connected with a ship and a floating bag mechanism used for floating on the water surface. An adjusting mechanism used for adjusting the supporting height of the mechanical claw body and a rotating mechanism used for adjusting the rotating direction of the mechanical claw body are arranged between the mechanical claw body and the base. The mechanical gripper further comprises a separating mechanism used for driving the adjacent mechanical gripper bodies to be closed and separated, and the mechanical gripper bodies are each sleeved with a flexible bag used for being bent and expanded after being inflated. The processor is used for controlling the adjusting mechanism, the rotating mechanism, the separating mechanism and the pneumatic part to work based on the environment image; the device is used for guaranteeing capturing of the motion state of the target object, the stability in the target object clamping process is improved, the target object recycling efficiency is improved, and the collision risk is reduced.

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.

The utility model discloses a novel hydraulic mechanical arm which comprises a bottom plate and multiple sets of arm bodies, every two sets of arm bodies are connected through a connecting assembly, and the lowermost set of arm bodies is installed on the top of the bottom plate through a rotating assembly. The arm body comprises a first supporting plate, a box body, a hydraulic cylinder and a second supporting plate, the box body is arranged between the first supporting plate and the second supporting plate, the box body is fixedly installed on one side of the first supporting plate, the hydraulic cylinder is arranged in the box body, and a hydraulic rod of the hydraulic cylinder extends out of the box body to be fixedly connected with the second supporting plate. According to the hydraulic mechanical arm, the multiple sets of arm bodies are arranged, the two sets of arm bodies are connected through the connecting assembly, when the hydraulic mechanical arm operates, the working range of the hydraulic mechanical arm can be adjusted according to actual requirements, and the use flexibility is improved.

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.

The utility model discloses a slewing mechanism of a hydraulic manipulator, which comprises a mounting frame fixedly arranged at the upper end of a base and a mounting seat for fixedly mounting the manipulator, the mounting seat is rotatably arranged on the mounting frame, and a movable seat is movably arranged at the upper end of the base and positioned on the outer side of the mounting frame. A transverse open groove is transversely formed in the outer wall of the mounting frame in a penetrating mode, a longitudinal open groove is further longitudinally formed in the outer side of the mounting base in a penetrating mode, and an adjusting shaft is rotationally connected to the inner side face of the movable base and movably penetrates through the transverse open groove and the longitudinal open groove; the upper end of the base is fixedly connected with a motor which drives the movable base to move transversely and drives the mechanical arm to rotate. Different from a traditional motor direct driving mode, the mechanical transmission structure is adopted to achieve rotation adjustment and rotation of the mechanical arm, the motor is matched with the transmission structure to achieve rotation adjustment and rotation of the mechanical arm, loss of the motor can be effectively reduced when the mechanical arm transfers heavy objects, and the service life of the motor is guaranteed.

The application discloses a hydraulic mechanical arm remote operation master-slave heterogeneous matching method based on a special-shaped working space. The method comprises the following steps: in the case that the degrees of freedom between the slave end hydraulic mechanical arm and the master end device are inconsistent, a special-shaped working space is established; the dimensions between the slave end hydraulic mechanical arm and the master end device are matched by using a remote operation instruction adaptive mapping method, and finally the hydraulic mechanical arm remote operation master-slave heterogeneous matching is realized. The method realizes the consistency integration of the master-slave working space dimensions, solves the problem that the inconsistency of the master-slave working space dimensions caused by the different degrees of freedom between the slave end hydraulic mechanical arm and the master end device affects the accurate reproduction of the actual operation instruction at the slave end, realizes the full use of the slave end working space and guarantees the accurate reproduction of the hydraulic mechanical arm remote operation instruction in the actual operation process, and finally significantly improves the remote operation effect of the hydraulic mechanical arm under the master-slave heterogeneous condition.

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.

The utility model relates to the technical field of mechanical arms, and discloses a rotary hydraulic manipulator which comprises a base, a rotary main shaft, a rotary auxiliary shaft, a manipulator body and supporting assemblies, the multiple supporting assemblies and cylindrical solid lead are installed at the lower end of the base, and the threaded end of a fixing bolt block is in threaded connection with a threaded hole in the cylindrical face of a second adjusting rod. The first adjusting rod is fixed in the second adjusting rod through the fixing bolt block to prevent vertical sliding, on the uneven ground, the height can be adjusted to keep balance, the cylindrical solid lead keeps balance of the gravity center and force, the gravity center is transferred into the lower end of the base through the cylindrical solid lead, and the gravity center can be adjusted. And the lower end of the rotating main shaft is installed in the protective shell, a second gear is installed on the rotating main shaft, the first gear is matched with the second gear in an engaged mode, a rotating auxiliary shaft is rotationally installed at the upper end of the rotating main shaft, and the mechanical arm is installed at one end of the rotating auxiliary shaft.

The utility model belongs to the technical field of part machining equipment, and discloses a flattening device for a machining workpiece, which comprises a flattening plate for flattening the machining workpiece and a fixed seat, the top of the fixed seat is movably connected with a movable seat, and a plurality of fixing lugs for connection are welded on the side walls of the fixed seat and the movable seat. The multiple fixing lugs are connected with the working face of the hydraulic manipulator through fastening bolts, a moving plate is arranged at the bottom of the moving seat, the bottom of the moving plate is fixed to the top of the leveling plate, a mounting groove is formed in the end of the fixing seat and communicates with a moving groove embedded in the fixing seat, and the inner wall of the moving groove is slidably connected with the side wall of the leveling plate. According to the device, chippings generated by a machined workpiece can be cleaned, damage to the surface of the workpiece due to long-time accumulation can be avoided, the workpiece can be machined in the moving groove in cooperation with the spring and the leveling plate, the workpiece is protected, and the practicability of the device is improved.

The utility model provides a clutch hydraulic manipulator which comprises a rubber cap, a hydraulic exhaust plug, an oil passing bolt, a copper gasket, a shell, a hydraulic plunger, a steel ball, a hole check ring, a sealing ring I, a sealing ring II and a spring, the rubber cap is assembled on the head portion of the hydraulic exhaust plug, and threads are arranged on the front section of the hydraulic exhaust plug. Two sealing rings made of different materials are assembled between the shell and the hydraulic plunger, the sealing ring on the side close to brake fluid is made of ozone-resistant and aging-resistant sealing materials, and the sealing ring on the side close to engine oil is made of corrosion-resistant and high-temperature-resistant materials. According to different characteristics of contacted oil liquid, the two sealing rings are respectively made of proper materials, so that the sealing performance and the durability of a product are improved, and the working stability of the clutch hydraulic manipulator is ensured.

The invention discloses an underwater steel pipe pile cutting method, and belongs to the technical field of underwater engineering. An underwater remote control operation vehicle carrying a hydraulic mechanical arm, a multi-beam scanning sonar and an underwater range finder is moved to the range 2-5 m away from a target steel pipe pile, three-dimensional point cloud data of the steel pipe pile are obtained through the multi-beam scanning sonar, a preset cutting path is calculated, and the hydraulic mechanical arm is operated to enable a high-pressure water jet cutting spray head to move to the starting point of the path; starting a spray head to cut along a preset cutting path at the speed of 1-5mm / min under the conditions that the injection pressure is 350-400MPa and the abrasive flow is 0.8-1.2 kg / min, starting an underwater range finder to measure the vertical distance between the spray head and the path in real time at the frequency of 5-10Hz, comparing the vertical distance with a preset reference distance of 150mm, and determining the distance between the spray head and the path; closed-loop adjustment is conducted on the posture of the spray head through the hydraulic mechanical arm, and the device is mainly used for precise cutting operation of target steel pipe piles in underwater structures such as bridges and wharfs.