39 results about "Hydraulic manipulator" patented technology

The invention provides a hydraulic mechanical arm structure control method and system based on data fusion, and the method comprises the steps: firstly initializing a mechanical arm structure and unifying a global coordinate system, then collecting multi-source heterogeneous sensor data in real time, carrying out the data fusion through an unscented Kalman filtering algorithm, and obtaining the real-time high-dimensional state estimation of the mechanical arm structure. According to construction task requirements and obstacle information and spatial constraint conditions of a construction area, the system uses a path generation algorithm to plan an expected trajectory of an end effector in a world coordinate system. And finally, in combination with real-time high-dimensional state estimation and the expected trajectory, an optimal control instruction for driving the mechanical arm frame and the base is generated by applying a control law based on operation space dynamics, and accurate control is achieved. The operation precision and adaptability of the mechanical arm in a complex environment are effectively improved.

The invention discloses a control method and system of a hydraulic mechanical arm, electronic equipment and a medium, and belongs to the technical field of mechanical arm control technologies. The control method comprises the steps that the rotary encoder is used for detecting the rotary angle of the rotary platform; the lifting angle of the movable arm is detected through the movable arm angle sensor; the telescopic length of the telescopic arm body is detected through a telescopic arm length sensor; detecting the angle of the bucket rod by using the bucket rod angle sensor; and if a control instruction is received, current pose information is generated according to the rotation angle, the movable arm lifting angle, the telescopic length and the bucket rod angle, and control operation corresponding to the control instruction is conducted on a target valve set according to the current pose information. The hydraulic mechanical arm can achieve high-precision automatic control.

The invention discloses a hydraulic mechanical arm modeling and optimizing method based on a digital twinning technology, which comprises the following steps: based on geometric performance parameters of a hydraulic mechanical arm, establishing a corresponding virtual geometric morphology model through modeling software; establishing a corresponding kinematics attribute model based on the position and attitude data of each joint of the hydraulic mechanical arm; optimizing the kinematics attribute model by using an Adam optimization method to obtain an optimized attribute model; constructing a dynamic simulation model of the hydraulic system according to the working state data of each component in the hydraulic system; integrating the virtual geometric morphology model, the optimized attribute model and the dynamic simulation model to obtain a digital twinborn model of the hydraulic mechanical arm; and operating state data of the hydraulic mechanical arm are collected in real time, and the state of the digital twin model is updated based on the operating state data. According to the method, the modeling precision of the hydraulic mechanical arm is effectively improved.

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 invention discloses a hydraulic mechanical arm multi-loop hierarchical control method and system based on hybrid modeling, and belongs to the technical field of hydraulic robot control. The method comprises the steps that historical operation state data of the hydraulic mechanical arm is utilized, data loss, physical loss and regularization constraint minimization serve as targets, system dynamics identification is conducted through a physical information neural network, and a physical-data hybrid dynamics model is constructed; trajectory tracking of an end effector of the hydraulic mechanical arm is conducted through a physical-data hybrid dynamics model, the expected joint angle, the expected joint angular velocity and the expected joint angular acceleration are determined and input into an active disturbance rejection servo controller in combination with forward kinematics, and servo control is conducted on the hydraulic mechanical arm through the nonlinear feedback control rate. The working efficiency and precision of the hydraulic mechanical arm can be improved, and the problem that the trajectory tracking precision of an existing hydraulic mechanical arm needs to be improved under the complex working condition is solved.

The invention provides a hydraulic mechanical arm global energy consumption optimization method fused with dynamic time domain planning, which comprises the following steps of: according to a plurality of pre-scaling time periods divided by pre-scaling duration time of a reference track of a hydraulic mechanical arm, a plurality of post-scaling time periods divided by post-scaling duration time and a time change rate corresponding to a pre-scaling track first-order derivative; constructing a multi-layer two-dimensional configuration layer; reverse iteration is carried out on the multiple two-dimensional configuration layers, and the minimum operation cost of each two-dimensional configuration layer and the optimal control quantity corresponding to the minimum operation cost are obtained; and according to the optimal control quantity of each two-dimensional configuration layer, forward iteration is conducted on each two-dimensional configuration layer, and a hydraulic mechanical arm movement track fused with dynamic time planning is obtained. According to the method, under the conditions that the tail end track is not affected and all constraints are met, the movement track of the hydraulic mechanical arm can be scaled in the time dimension, the system energy consumption is reduced, and the operation efficiency is 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.

The present invention belongs to the field of hydraulic manipulator modeling and provides a method and system for modeling a hydraulic manipulator arm that integrates physical models and data-driven models. The method for modeling a hydraulic manipulator arm that integrates physical models and data-driven models includes virtually decomposing the hydraulic manipulator arm into multiple independent sub-models to decouple the closed-chain structure between the joints and the connecting rods; constructing a hydraulic drive system model for each sub-model, which is then combined with the corresponding sub-model to form a corresponding subsystem; using an embedded neural network model to learn the dynamic characteristics of the hydraulic manipulator arm under different working conditions, and then dynamically compensating each subsystem; combining the dynamic compensation of the subsystem and its corresponding embedded neural network model to construct a dynamic model of the hydraulic manipulator arm. This method can improve the modeling accuracy of the hydraulic manipulator arm and speed up its response speed.

The invention provides a design method and application of a hydraulic mechanical arm hoisting load anti-swing self-adaptive fuzzy sliding mode controller, belongs to the technical field of engineering machinery, and aims at solving the problem that switching items of sliding mode control are discontinuous, fuzzy approximation is carried out on the switching items of the sliding mode control by combining a fuzzy control method and self-adaptive sliding mode control, and therefore the switching items of the sliding mode control are not continuous. And the problem of discontinuity is solved. The design method comprises the following steps that 1, a hydraulic mechanical arm hoisting system model is established, and a self-adaptive sliding mode anti-swing controller is designed on the basis of the hydraulic mechanical arm hoisting system model; and 2, introducing a fuzzy control method into the adaptive sliding mode anti-swing controller, and establishing an adaptive fuzzy sliding mode controller. The self-adaptive fuzzy sliding mode controller designed by the invention has an obvious swing control effect on the hoisting load in the movement process, the control speed is high, the hoisting load is stable and operates under the action of the controller, the swing amplitude of the hoisting load is kept in an acceptable range, the sudden change condition is avoided, and the control accuracy is high. And the requirements of rapid elimination of hoisting swinging and accurate operation are met.

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 present invention discloses a method for adaptively compensating the low-pressure nonlinear elastic modulus of a hydraulic rotary joint. The method comprises: establishing a linear parameterized dynamic model of the rotary joint of a hydraulic manipulator based on the bulk elastic modulus in the form of a parameterized fraction, designing an adaptive robust controller, inputting the ideal joint angle of the current rotary joint into the controller, and simultaneously performing online adaptive update of the parameters, the controller outputs the ideal control flow after processing, and obtains the valve port control voltage after static mapping to control the hydraulic valve; the rotary joint outputs the actual control flow, actual driving torque and actual joint angle to the controller in real time, realizing adaptive compensation closed-loop control. The method of the present invention can realize effective compensation of the bulk elastic modulus and precise parameter adaptation in the case of changes in the bulk elastic modulus of the rotary joint of the hydraulic manipulator, thereby further improving the parameter adaptation effect while ensuring the motion control performance.

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 present invention discloses a method for controlling the motion of a hydraulic manipulator based on low-pressure bulk modulus compensation. The method comprises: establishing a dynamic linearization model of a multi-degree-of-freedom hydraulic manipulator including an effective bulk modulus; designing an adaptive robust controller using a backstepping method; inputting the desired joint angle into the adaptive robust controller; and simultaneously performing online adaptive parameter updates. The adaptive robust controller processes and outputs a virtual control flow of the multi-degree-of-freedom hydraulic manipulator; static mapping is performed to obtain a valve port control voltage, thereby controlling the hydraulic valve; and the multi-degree-of-freedom hydraulic manipulator outputs the actual control flow, actual joint control torque, and actual joint angle to the adaptive robust controller in real time, thereby achieving closed-loop motion control of the multi-degree-of-freedom hydraulic manipulator. The method of the present invention can achieve high-precision motion tracking performance for the hydraulic manipulator while maintaining a stable low pressure.

The invention discloses a hydraulic arm position sliding mode control method based on an expansion state observer, which belongs to the technical field of electro-hydraulic position servo control, and comprises the following steps: step 1, establishing a state space model of a hydraulic mechanical arm joint position system; step 2, establishing a mathematical model of the extended state observer; 3, designing an improved sliding-mode active disturbance rejection controller based on an extended state observer, and replacing linear feedback with an improved sliding-mode control law while performing real-time observation and compensation on the comprehensive disturbance quantity of a joint position system of the hydraulic mechanical arm; and 4, carrying out stability proving on the improved sliding-mode active-disturbance-rejection controller by using a Lyapunov stability theory. According to the method, the disturbance quantity of the joint position system of the hydraulic mechanical arm is observed and compensated in real time, meanwhile, the improved sliding mode control law is adopted to replace linear feedback, the response lag phenomenon can be improved, and the control precision and robustness of the joint position system of the hydraulic mechanical arm are improved.

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.

The present invention discloses an adaptive robust control method for a hydraulic manipulator based on non - linear state observation. The parameter estimation value of the dynamic parameters is input into the intermediate conversion state quantity model to output the intermediate conversion state quantity. The non - linear state observer performs observation to output the observed state and obtains the estimated value of the joint angular velocity. The estimated value of the joint angular velocity and the target trajectory are input, and the control signal of the spool displacement is output to control the operation of the multi - joint hydraulic manipulator. The tracking error is obtained and output to the adaptive robust control law. The above steps are repeated while the non - linear state observer is self - updated, and finally, the adaptive robust control is realized. The method of the present invention realizes the real - time observation of the unmeasurable state based on the uncertainty of the model parameters, solves the situation where the feedback state is unmeasurable due to sensor limitations in actual situations, and while ensuring the overall stability of the control system and the observation system, reduces the tracking error at the end of the manipulator and improves the control performance.

The present invention relates to a hydraulic manipulator supporting a fully hydraulic tunnel drill for coal mines and a control method thereof, belonging to the technical field of tunnel drilling rigs, including a tunnel drilling rig, wherein the rear end of the tunnel drilling rig is provided with a connecting body, the upper end of the connecting body is provided with a water-convenient disassembly mechanism that is slidably plugged and fixed to the connecting body, and the side of the connecting body is provided with a manipulator upper drill rod mechanism. The manipulator upper drill rod mechanism includes a drill rod storage box, an upper drill rod assembly is provided between the drill rod storage box and the connecting body, and drill rods are provided on the upper drill rod assembly and in the drill rod storage box. The upper drill rod assembly includes a swinging oil cylinder, a fixed support clamping rod is provided on one side of the swinging oil cylinder, a movable clamping block that is movably clamped with the fixed support clamping rod is provided at the front upper end of the fixed support clamping rod, and a grabbing oil cylinder is provided at the rear end of the movable clamping block and the rear upper end of the fixed support clamping rod. It has the characteristics of compact structure, small space occupation, convenient operation and good operating stability. It solves the problems of large workload and safety hazards in drilling rig shifting, repositioning and rod changing operations.

The invention provides a suspension insulator replacement mobile platform with multi-dimensional adaptability, the platform is of a front-back symmetrical structure, is composed of the same main body structure, is divided into a front end and a rear end, and is connected by a main hydraulic telescopic cylinder, and the front end and the rear end are connected by a main hydraulic telescopic cylinder; comprising a quasi-hexagonal shell, a hydraulic lifting buffer device, a hydraulic buffer device, a crawler belt moving device, a hydraulic telescopic device, a hydraulic mechanical arm, a hydraulic mechanical claw, a mechanical arm moving platform and a hydraulic system cabin, and the quasi-hexagonal shell comprises two main body frames and two bottom frames; a cuboid-like opening frame is arranged outside the main body frame and serves as a hydraulic telescopic device containing bin, a hydraulic telescopic device is arranged in the hydraulic telescopic device containing bin, guide rails are installed on the left side and the right side of a hydraulic telescopic device fixing plate, and a guide rail mechanical arm moving platform and a hydraulic lifting buffering device are installed on installation hole positions in the inner side of the main body frame and the inner side of the bottom frame. The crawler belt moving device is mounted on the hydraulic lifting buffer device; the hydraulic buffer devices are mounted at the lower end of the inner top plate of the main body frame and the upper end of the inner bottom plate of the bottom frame, and the upper and lower hydraulic buffer devices are symmetrically arranged. The platform is good in moving performance, has a reliable protection mechanism, is accurate in operation control, and has wide adaptation capability.

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 relates to an explosion-proof type six-degree-of-freedom hydraulic mechanical arm structure, which belongs to the technical field of mechanical arms and comprises a base, a rotating cylinder and a stabilizing frame are fixed at the top of the base, a bearing block is rotatably connected to the top of the rotating cylinder, and a driving shaft is rotatably connected to the front side of the bearing block. A driving oil cylinder is fixed to the outer side of the driven shaft, a movable oil cylinder is fixed to the top of the bearing block, a frame body is fixed to the back face of the driving shaft, and a structure body is arranged on the frame body. According to the anti-explosion type six-degree-of-freedom hydraulic mechanical arm structure, rotation of the whole structure is achieved through the arrangement of the hydraulic swing cylinder, multi-joint adjusting swing of the whole structure is achieved through the arrangement of the hydraulic motor and the multiple oil cylinders, flexibility improvement is facilitated, and the anti-explosion capacity of the whole structure is improved through the anti-explosion arrangement of the structure in the control module; and through the arrangement of the replacement assembly, replacement of the operation tool is facilitated, the overall structure is good in flexibility, and the anti-explosion performance is high.

The invention relates to a hydraulic mechanical arm chain type mining underground transportation box body loading and unloading device and a control method thereof. The device comprises a hydraulic mechanical arm, a chain assembly and a modular transportation box body. The hydraulic mechanical arm realizes multi-degree-of-freedom movement through cooperative action of the vertical hydraulic cylinder and the horizontal hydraulic cylinder, and drives the chain assembly to complete hoisting, hoisting and lowering operations. The lock chain assembly is composed of a lock catch, a short lock chain, a lock hook and a long lock chain and is connected with the transportation box body, and stable and reliable hoisting is ensured. According to the device, the UWB and IMU fusion technology is adopted, high-precision positioning and posture tracking are achieved, and the alignment precision of the tail end of the mechanical arm and a transport box is optimized. According to the scheme, the overall rigidity and safety of the loading and unloading device are improved, the loading and unloading efficiency is improved through the manual locking design, the problem of lateral loading and unloading of the underground transportation box is solved, the loading and unloading efficiency is improved, the labor demand is reduced, and intelligent, safe and efficient mine construction is promoted.

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.