CN106671091A - Robot hydraulic drive rotating joint closed-loop control system and control method - Google Patents
Robot hydraulic drive rotating joint closed-loop control system and control method Download PDFInfo
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- CN106671091A CN106671091A CN201611039763.2A CN201611039763A CN106671091A CN 106671091 A CN106671091 A CN 106671091A CN 201611039763 A CN201611039763 A CN 201611039763A CN 106671091 A CN106671091 A CN 106671091A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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Abstract
The invention discloses a robot hydraulic drive rotating joint closed-loop control system and a control method. A driving mechanism includes a direct-current motor; the direct-current motor is connected with a gear pump; an actuation mechanism includes a hydraulic rotating joint; a control mechanism includes an upper computer; the upper computer is connected with a lower computer through a USB interface; an oil inlet pipeline and an oil outlet pipeline of a three-position four-way electromagnetic reversing valve are provided with pressure transducers; the pressure transducers are connected with signal acquiring cards; potential sensors are connected with the signal acquiring cards; the signal acquiring cards are further connected with the upper computer; and the upper computer and a motor drive are connected through a CAN bus communication module. The control system detects the pressure values of an oil inlet and an oil outlet, correspondingly adjusts the PWM duty ratio, detects the rotating angle of a hydraulic drive hydraulic rotating joint, the pressure of the oil inlet and the pressure of the oil outlet in real time, duly adjusts the rotating speed of a motor, forms a closed-loop feedback loop, guarantees the stability of the rotating process, and realizes the motion control precision.
Description
Technical field
The invention belongs to technical field of robot control, in particular it relates to a kind of robot hydraulic-driven is rotated
Joint closed-loop control system and control method.
Background technology
Cradle head is most widely used a kind of joint in current industrial robot field.Adopting general cradle head more
Motor direct-drive, and it is less to pass through hydraulically powered cradle head.Due to hydraulic drive, to there is leakage, transmission fluid compressible etc.
Problem so that it is moved and is difficult to precise control.And, impact is easily produced when load changes.Traditional method
More flow is controlled using proportional control solenoid valve, but proportional control solenoid valve is expensive, and high-end product mostly is
Foreign country is monopolized, and causes control relatively costly.Therefore need that a kind of control is with low cost and position control is accurate, motion is flat badly at present
The preferable control system of stability and its method.
Number of patent application is that 201310567608.8 Chinese invention patents disclose a kind of closing based on hydraulic control mode
Ring Force control system and control method, obtain power closed loop control parameters and perform the voice letter according to the controller module
Number, and to setting hydraulic cylinder output stepping-in amount according to the control parameter and judging whether to power output control, it is if so, described
The drag force of the DSP module sampling feedback measuring cell detection, and calculate the size of the drag force as power closed loop control
The force feedback value of method, the DSP module obtains power closed loop control parameters further according to the voice module and the force feedback value is entered
Row increment PI calculate, and using the value after calculating as hydraulic control component input value.The closed loop power control that the invention can be provided
System and control method can provide safely and reliably drag force in fracture of lower arm operation for patient, but the invention is defeated in power
Go out operation stability in control poor.
Number of patent application discloses a kind of revolute joint's driving means, including driving machine for 201410119355.2
Structure and execution output mechanism；Drive mechanism includes servomotor and hydraulic pump, performs two groups that output mechanism includes be arrangeding in parallel
Hydraulic cylinder, the piston space of two groups of hydraulic cylinders is connected with fork, and at two ends, the drive draft link of piston can be with its centre of gyration pendulum
It is dynamic；Robot components are connected at the centre of gyration of fork and rotate with the swing of fork；Driving means also include detection mould
Block, processing module and electric machine controller.By driving hydraulic actuating mechanism output, output power to have using servomotor
Effect solves rotation operation robot needs the demand of high-power, cramped construction cradle head.By being driven using unilateral bearing,
Realize the unidirectional turnover motion of intermittence of power transmission shaft.By the mating reaction using transmitter and amplifier, machine is effectively adjusted
The amount of spin of people's part, but invention operation stability in power output control is poor.
The content of the invention
In order to overcome above problems of the prior art, the present invention to provide a kind of robot hydraulic-driven cradle head
Closed-loop control system, including drive mechanism, actuator and controlling organization, power module is system power supply, and drive mechanism includes
Direct current generator, direct current generator is connected with gear pump, and actuator includes hydraulic rotation joint, and controlling organization includes host computer, control
System processed also includes motor driver, data acquisition card, three-position four-way electromagnetic directional valve, and host computer is by USB interface and bottom
Machine is connected, and gear pump is connected with three-position four-way electromagnetic directional valve, oil circuit and the hydraulic rotation joint of three-position four-way electromagnetic directional valve
It is connected, pressure transmitter, pressure transmitter and signal is housed on the in-line and outlet line of three-position four-way electromagnetic directional valve
Capture card is connected, and hydraulic rotation joint is provided with potentiometric sensor, and potentiometric sensor is connected with data acquisition card, data acquisition card
Further it is connected with host computer, is connected by CAN communication module between host computer and motor driver.
Preferably, USB module connection is turned by RS232 between the data acquisition card and host computer, RS232 turns USB
Module one end is connected with data acquisition card, and the other end is connected with the USB interface of host computer.
Any of the above-described scheme is preferably, and the motor is connected by shaft coupling with gear pump, the output flow of gear pump
Model is Q=q*n*v/60.(each letter of above formula is represented：Q：Flow；q：Gear pump average (ml/ turns), q and gear per turn of tidal stream amount
Structure it is related；n：Gear revolution speed (rev/min)；v：Volumetric efficiency).
Any of the above-described scheme is preferably, and the output circuit of the gear pump is connected with three-position four-way electromagnetic directional valve.
Any of the above-described scheme is preferably, and the pressure transmitter is connected to the oil-in pipeline of solenoid directional control valve and fuel-displaced
Mouthful pipeline, respectively inlet pressure transmitter, oil-out pressure oscillation device, for measure hydraulic system in-line with it is fuel-displaced
The pressure value of pipeline, is converted into the pressure value of pipeline oil analog electrical signal and sends to data acquisition card respectively.
Any of the above-described scheme is preferably, and inlet pressure transmitter and oil-in overflow valve are both connected to oil-in pipeline
On, oil-in overflow valve provides overload protection for oil-in pipeline；Oil-out pressure transmitter and oil-out overflow valve are all connected with
On oil-out pipeline, oil-out overflow valve provides certain back pressure for oil-out pipeline.
Any of the above-described scheme is preferably, and the solenoid directional control valve is used to turn after hydraulic rotation joint reaches target location
Median Function is shifted to, the locked of oil-in and oil-out is realized, it is ensured that the locking of position, is turned when hydraulic-driven joint needs to change
During dynamic direction, it is diarthrodial into and out of hydraulic fluid port that solenoid directional control valve changes hydraulic rotation by the movement of valve position.
Any of the above-described scheme is preferably, and the potentiometric sensor is used to detect the diarthrodial position of hydraulic rotation and deliver to letter
Number capture card.
Any of the above-described scheme is preferably, the pressure that the data acquisition card transmits pressure transmitter and potentiometric sensor
Force value and hydraulic rotation joint position are sent to host computer.
Any of the above-described scheme is preferably, and the host computer is received after oil-in and oil-out pressure value, calculates pressure differential
△ P, according to pressure differential △ P, judge whether load changes, and are turned for controlled motor according to the change real-time adjustment of load
The value of dutycycle D is sent to motor driver by the value of dutycycle D of the PWM of speed, host computer by CAN communication module,
Motor driver is according to the PWM value control DC motor speed for obtaining.
Any of the above-described scheme is preferably, and the computing formula of the pressure differential △ P is △ P=Pi-Po, and Pi is oil-in
Pressure value, Po is oil-out pressure value.
Any of the above-described scheme is preferably, and dutycycle D is with the relational expression of pressure differential △ P in the PWM：D=κ △ P (κ
For proportionality coefficient), when pressure differential △ P increases, load increase is illustrated, accelerate need to motor, host computer accordingly increases dutycycle D
Greatly, and motor driver is sent it to, motor driver motor accelerates, with the instantaneous increase for adapting to load.
Any of the above-described scheme is preferably, and the host computer is received after the diarthrodial positional information of hydraulic rotation, according to institute
The physical location of arrival and target location carry out contrast judgement, if position consistency, illustrate that hydraulic rotation joint has reached specific bit
Put, this subtask terminates, if it is inconsistent, continuing executing with formulation program.
Any of the above-described scheme is preferably, and host computer calculates inlet pressure value and the oil-out that pressure transmitter is detected
The difference of pressure value, when pressure differential increases, illustrates load increase, and host computer increase PWM duty cycle D, motor accelerates to adapt to
The increase of load；When pressure differential reduces, illustrate that load reduces, host computer reduces PWM duty cycle D, and decelerating through motor is adapting to bear
Compare in real time the reduction of load, hydraulic rotation joint current location and the target location that host computer is detected to potentiometric sensor
Compared with when both are consistent, PC control solenoid directional control valve goes to Median Function, so as to realize the locking of position.
The present invention also provides a kind of control method of robot hydraulic-driven cradle head closed-loop control system, including following
Step：
Step 1：Start direct current generator, direct current generator is rotated according to acquiescence PWM duty cycle D；
Step 2：Host computer judges hydraulic pressure according to the potentiometric sensor current location for returning and the target location to be reached
Cradle head rotation direction；
Step 3：Host computer sends the corresponding command to slave computer, and the valve body for controlling solenoid directional control valve is moved to relevant position,
Oil-in, oil-out are opened, and hydraulic rotation joint starts to rotate；
Step 4：Host computer calculates pressure according to the pressure value that inlet pressure transmitter and oil-out pressure transmitter are returned
Power difference △ P, adjust PWM duty cycle D；
Step 5：DC motor driver realizes the acceleration or deceleration of direct current generator according to newest dutycycle D；
Step 6：The hydraulic rotation joint position information real-time judge hydraulic rotation that host computer is returned according to potentiometric sensor
Whether joint reaches target location, if reaching, execution step 7, otherwise execution step 4；
Step 7：Host computer sends instruction to slave computer, and control electromagnetic switch valve body is moved to Median Function, oil-in,
Oil-out is locked, and hydraulic rotation joint position locking a, subtask terminates；
Step 8：Direct current generator keeps rotating, and oil-in overflow valve overflow waits next subtask.
Beneficial effect
The present invention provides a kind of robot hydraulic-driven cradle head closed-loop control system and control method, by oil-feed
Mouthful, the detection of oil-out pressure value and corresponding regulation PWM duty cycle D, to hydraulic rotation articulation angle, oil-in and fuel-displaced
The real-time detection of mouth pressure, to motor speed timely adjustment is carried out, and so as to form closed feedback loop, realizes hydraulic rotation joint
Timely accommodation to load change, it is ensured that the stationarity of rotation process, by the real-time detection to positional information, realizes
The accuracy of motor control.
Description of the drawings
Fig. 1 is robot hydraulic-driven cradle head closed-loop control system annexation figure；
Fig. 2 is robot hydraulic-driven cradle head closed loop control method FB(flow block).
Specific embodiment
In order to be best understood from technical scheme and advantage, below by way of specific embodiment, and accompanying drawing pair is combined
The present invention is described further.In addition, the direct current generator and motor described in description of the invention is the identical concept, direct current generator
Driver and motor driver are the identical concept, and three-position four-way electromagnetic directional valve and solenoid directional control valve are the identical concept.
Embodiment 1.1
As shown in figure 1, a kind of robot hydraulic-driven cradle head closed-loop control system provided for the present invention, including drive
Motivation structure, actuator and controlling organization, drive mechanism includes direct current generator 5 and gear pump 6, direct current generator 5 and the phase of gear pump 6
Even, actuator includes hydraulic rotation joint 12, and controlling organization includes host computer 1, and host computer 1 calculates pressure transmitter and detects
Inlet pressure value and oil-out pressure value difference, when pressure differential increase, illustrate that load increases, host computer increases PWM
Dutycycle D, motor accelerates the increase to adapt to load；When pressure differential reduces, illustrate that load reduces, host computer reduces PWM and accounts for
Sky is than D, reduction of the decelerating through motor to adapt to load, the hydraulic rotation joint current location that host computer is detected to potentiometric sensor
It is compared in real time with target location, when both are consistent, PC control solenoid directional control valve goes to Median Function, so as to realize
The locking of position.
The system also includes slave computer 2, CAN communication module 3, motor driver 4, data acquisition card 7, potentiometric sensors
Device 10, three-position four-way electromagnetic directional valve 11, oil-in overflow valve 13, oil-out overflow valve 14.
Pressure transmitter includes inlet pressure transmitter 8 and oil-out pressure transmitter 9, inlet pressure transmitter 8
In-line is connected to, oil-out pressure transmitter 9 is connected to outlet line, and the pressure value into and out of oil pipe line is measured respectively；Enter
Hydraulic fluid port pressure transmitter 8, oil-out pressure transmitter 9 are connected to data acquisition card 7, and the pressure value of pipeline oil is converted to into mould
Intend the signal of telecommunication (current value) and be sent to data acquisition card 7.
Potentiometric sensor 10 is connected to hydraulic rotation joint 12, for measuring the diarthrodial current operation angle of hydraulic rotation,
The diarthrodial angular displacement of hydraulic rotation is converted to into corresponding voltage signal.
Data acquisition card 7 is connected to host computer 1, for gathering inlet pressure transmitter 8, oil-out pressure transmitter 9
The signal measured with potentiometric sensor 10, and send the signal in host computer 1.
Control method as shown in Fig. 2 host computer 1 by data acquisition card 7 obtain into and out of oil pipe line pressure value signal and
The position signalling in hydraulic rotation joint 12, according to import and export line pressure signal of change pressure difference value △ P, according to pressure differential
△ P judge whether load changes, and are used for the duty of the PWM of the rotating speed of controlled motor 9 according to the change real-time adjustment of load
Value than D；The value of dutycycle D is sent to motor driver 4, motor driver by host computer 1 by CAN communication module 3
According to the PWM value control rotating speed of direct current generator 5 for obtaining.
Direct current generator 5 is connected with gear pump 6, the performance curve of conjunction gear wheel pump 6, sets up the output flow mould of gear pump 6
Type is that (each letter of above formula is represented Q (ml)=q*n*v/60：Q：Flow；q：Gear pump is average per turn of tidal stream amount (ml/ turns), and gear
Structure it is related；n：Gear revolution speed, (rev/min)；v：Volumetric efficiency).The rotating speed of direct current generator 5 determines gear pump 6
Output flow.When the load of hydraulic system is constant, the output flow of gear pump 6 determines that hydraulic rotation is diarthrodial and rotates speed
Degree.When load changes, the diarthrodial translational speed of hydraulic rotation is affected, and correspondingly changes the output flow of gear pump 6
Just this impact can be offset, the stationarity of hydraulic rotation articulation is improved with this.
Specifically, dutycycle D in PWM is reduced to the relation of pressure differential △ P：D=κ △ P (κ is proportionality coefficient), when
Pressure differential △ P increases, and illustrates load increase, accelerates need to motor 5, and host computer 1 accordingly increases dutycycle D, and is sent to
To motor driver 4, the motor 5 of motor driver 4 accelerates, with the instantaneous increase for adapting to load；Vice versa.
Host computer 1 obtains the diarthrodial rotational angle of hydraulic rotation by data acquisition card 7.The real-time judge of host computer 1 is current
Whether rotational angle reaches target rotation angle, such as reaches specified location, then machine 1 controls corresponding electricity to the signal of slave computer 2, slave computer 2
The break-make of magnetic relay makes the valve body of solenoid directional control valve 11 change to Median Function, realizes the locked of oil-in and oil-out, this
When hydraulic rotation joint current location lock, it is once rotation task terminate.When task start next time, host computer according to appoint
Business first judges the diarthrodial rotation direction of hydraulic rotation, and correspondingly controls solenoid directional control valve according to above-mentioned steps according to rotation direction
11。
Specifically, the computing formula of pressure differential is △ P=Pi-Po (Pi：Inlet pressure, Po：Oil-out pressure)；Letter
USB module connection is turned by RS232 number between capture card 7 and host computer 1, RS232 turns USB module one end and data acquisition card 7
It is connected, the other end is connected with the USB interface of host computer 1.RS232 turns USB module can realize the serial interface of data acquisition card 7
With the conversion of the USB interface of host computer 1, to realize the communication between data acquisition card and host computer.
Connected by CAN communication module 3 between host computer 1 and DC motor driver 4, host computer 1 and CAN
Communication module 3 is connected by USB, and CAN communication module 3 is connected with motor driver 4.
Host computer 1 is connected by USB with slave computer 2, the control electromagnetic relay of slave computer 2, gives electromagnetic relay switch amount,
The power on/off of the two ends electric magnet of electromagnetic relay control solenoid directional control valve 11 is realizing the commutation of solenoid directional control valve 11.
The robot hydraulic-driven cradle head closed-loop control system of the present invention also includes power module, respectively host computer
1 (220V), slave computer 2 (5V), data acquisition card 7 (5V), motor driver 4 (24V), solenoid directional control valve 11 (24V) etc. are provided
Power supply necessary to normal work.
Robot hydraulic-driven cradle head closed loop control method specifically includes following steps：
Step 1：Start direct current generator 4, direct current generator 4 is rotated according to acquiescence PWM duty cycle D0；
Step 2：Host computer 1 judges according to potentiometric sensor 10 current location for returning and the target location to be reached
Hydraulic rotation articulation direction；
Step 3：Host computer 1 sends the corresponding command to slave computer 2, and the valve body for controlling solenoid directional control valve 11 is moved to corresponding positions
Put, open into and out of hydraulic fluid port, hydraulic rotation joint starts to rotate；
Step 4：Host computer 1 calculates pressure according to the pressure value that inlet pressure transmitter and oil-out pressure transmitter are returned
Power difference △ P, according to aforementioned rule PWM duty cycle D is adjusted；
Step 5：DC motor driver 4 realizes the acceleration or deceleration of direct current generator 5 according to newest dutycycle D；
Step 6：Whether host computer 1 arrives according to the hydraulic rotation joint position information real-time judge that potentiometric sensor 10 is returned
Up to target location, if reaching, execution step 7, otherwise execution step 4；
Step 7：Host computer 1 sends instruction to slave computer 2, and the control valve body of solenoid directional control valve 11 is moved to Median Function, enter,
Oil-out is locked, and hydraulic rotation joint position locking a, subtask terminates；
Step 8：Direct current generator 5 keeps rotating, and oil-in overflow valve overflow waits next subtask.
It should be noted that various embodiments above is only to illustrate technical scheme, rather than a limitation；Although
The present invention has been described in detail with reference to foregoing embodiments, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are carried out
Equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technical side of appropriate technical solution
The scope of case.
Claims (10)
1. a kind of robot hydraulic-driven cradle head closed-loop control system, including drive mechanism, actuator and controlling organization,
Power module is system power supply, it is characterised in that：Drive mechanism includes direct current generator, and direct current generator is connected with gear pump, performs
Mechanism include hydraulic rotation joint, controlling organization include host computer, control system also include motor driver, data acquisition card,
Three-position four-way electromagnetic directional valve, host computer is connected by USB interface with slave computer, gear pump and three-position four-way electromagnetic directional valve phase
Even, the oil circuit of three-position four-way electromagnetic directional valve is connected with hydraulic rotation joint, the in-line of three-position four-way electromagnetic directional valve with
Pressure transmitter is housed, pressure transmitter is connected with data acquisition card in outlet line, hydraulic rotation joint is provided with current potential biography
Sensor, potentiometric sensor is connected with data acquisition card, and data acquisition card is further connected with host computer, host computer and Motor drive
Connected by CAN communication module between device.
2. a kind of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 1, it is characterised in that：It is described
USB module connection is turned by RS232 between data acquisition card and host computer, RS232 turns USB module one end with data acquisition card phase
Even, the other end is connected with the USB interface of host computer, the pressure that data acquisition card transmits pressure transmitter and potentiometric sensor
Value and hydraulic rotation joint position are sent to host computer.
3. a kind of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 1, it is characterised in that：It is described
Pressure transmitter is connected to the oil-in pipeline and oil-out pipeline of solenoid directional control valve, respectively inlet pressure transmitter, go out
Hydraulic fluid port pressure oscillation device, for measuring the pressure value of hydraulic system in-line and outlet line, respectively by the pressure of pipeline oil
Force value is converted into analog electrical signal and sends to data acquisition card.
4. a kind of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 1, it is characterised in that：It is described
Solenoid directional control valve is used to be changed to Median Function after hydraulic rotation joint reaches target location, realizes oil-in and oil-out
It is locked, it is ensured that the locking of position, when hydraulic rotation joint needs to change rotation direction, the shifting that solenoid directional control valve passes through valve position
Move diarthrodial into and out of hydraulic fluid port to change hydraulic rotation.
5. a kind of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 1, it is characterised in that：It is described
Potentiometric sensor is used to detect the diarthrodial position of hydraulic rotation and deliver to data acquisition card.
6. a kind of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 3, it is characterised in that：It is described
Host computer is received after oil-in and oil-out pressure value, calculates pressure differential △ P=Pi-Po, and Pi is inlet pressure value, and Po is
Oil-out pressure value.According to pressure differential △ P, judge whether load changes, and be used for according to the change real-time adjustment of load
The value of dutycycle D is sent to electricity by the value of dutycycle D of the PWM of controlled motor rotating speed, host computer by CAN communication module
Machine driver, motor driver is according to the PWM value control DC motor speed for obtaining.
7. a kind of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 6, it is characterised in that：It is described
Dutycycle D is with the relational expression of pressure differential △ P in PWM：D=κ △ P, κ is proportionality coefficient, when pressure differential △ P increases, illustrate negative
Increase is carried, accelerates need to motor, host computer accordingly increases dutycycle D, and sends it to motor driver, motor driver
Motor accelerates, with the instantaneous increase for adapting to load.
8. a kind of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 5, it is characterised in that：It is described
Host computer is received after the diarthrodial positional information of hydraulic rotation, the current location reached according to hydraulic rotation joint and target position
Putting carries out contrast judgement, if position consistency, illustrates that hydraulic rotation joint has reached specified location, and this subtask terminates, if not
Unanimously, then formulation program is continued executing with.
9. the control of a kind of robot hydraulic-driven cradle head closed-loop control system as described in above-mentioned any one claim
Method processed, it is characterised in that：Host computer calculates the difference that pressure transmitter detects inlet pressure value and oil-out pressure value,
When pressure differential increases, load increase is illustrated, host computer increase PWM duty cycle D, motor accelerates the increase to adapt to load；When
When pressure differential reduces, illustrate that load reduces, host computer reduces PWM duty cycle D, reduction of the decelerating through motor to adapt to load is upper
Hydraulic rotation joint current location and the target location that machine is detected to potentiometric sensor is compared in real time, when both are consistent
When, PC control solenoid directional control valve goes to Median Function, so as to realize the locking of position.
10. a kind of control method of robot hydraulic-driven cradle head closed-loop control system as claimed in claim 9, it is special
Levy and be：Comprise the following steps：
Step 1：Start direct current generator, direct current generator is rotated according to acquiescence PWM duty cycle D；
Step 2：Host computer judges hydraulic rotation according to the potentiometric sensor current location for returning and the target location to be reached
Articulation direction；
Step 3：Host computer sends the corresponding command to slave computer, and the valve body for controlling solenoid directional control valve is moved to relevant position, oil-feed
Mouth, oil-out are opened, and hydraulic rotation joint starts to rotate；
Step 4：Host computer calculates pressure differential according to the pressure value that inlet pressure transmitter and oil-out pressure transmitter are returned
△ P, adjust PWM duty cycle D；
Step 5：DC motor driver realizes the acceleration or deceleration of direct current generator according to newest dutycycle D；
Step 6：The hydraulic rotation joint position information real-time judge hydraulic rotation joint that host computer is returned according to potentiometric sensor
Whether target location is reached, if reaching, execution step 7, otherwise execution step 4；
Step 7：Host computer sends instruction to slave computer, and control electromagnetic switch valve body is moved to Median Function, oil-in, fuel-displaced
Mouth is locked, and hydraulic rotation joint position locking a, subtask terminates；
Step 8：Direct current generator keeps rotating, and oil-in overflow valve overflow waits next subtask.
Priority Applications (11)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910111884.0A CN109944843B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201611039763.2A CN106671091B (en) | 2016-11-22 | 2016-11-22 | A kind of robot hydraulic-driven cradle head closed-loop control system |
| CN201910111890.6A CN109927040B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111883.6A CN109910020B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111885.5A CN109940624B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111887.4A CN109927027B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111889.3A CN109927039B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111886.XA CN109940625B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111880.2A CN109910019B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111891.0A CN109944844B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111888.9A CN109927038B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039763.2A CN106671091B (en) | 2016-11-22 | 2016-11-22 | A kind of robot hydraulic-driven cradle head closed-loop control system |
Related Child Applications (10)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910111885.5A Division CN109940624B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111888.9A Division CN109927038B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111890.6A Division CN109927040B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111887.4A Division CN109927027B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111884.0A Division CN109944843B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111880.2A Division CN109910019B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111889.3A Division CN109927039B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111886.XA Division CN109940625B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111891.0A Division CN109944844B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
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| CN201910111890.6A Active CN109927040B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201611039763.2A Active CN106671091B (en) | 2016-11-22 | 2016-11-22 | A kind of robot hydraulic-driven cradle head closed-loop control system |
| CN201910111883.6A Active CN109910020B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111887.4A Active CN109927027B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111891.0A Active CN109944844B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111885.5A Active CN109940624B (en) | 2016-11-22 | 2016-11-22 | Closed-loop control method for hydraulic drive rotary joint of robot |
| CN201910111880.2A Active CN109910019B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111888.9A Active CN109927038B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
| CN201910111889.3A Active CN109927039B (en) | 2016-11-22 | 2016-11-22 | Robot hydraulic drive rotates joint closed-loop control system |
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Also Published As
| Publication number | Publication date |
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| CN109944843B (en) | 2021-01-05 |
| CN109910020B (en) | 2020-12-11 |
| CN109927027A (en) | 2019-06-25 |
| CN109940625A (en) | 2019-06-28 |
| CN109940624A (en) | 2019-06-28 |
| CN109940624B (en) | 2020-12-22 |
| CN109940625B (en) | 2021-02-02 |
| CN109944843A (en) | 2019-06-28 |
| CN109910020A (en) | 2019-06-21 |
| CN109910019B (en) | 2021-02-09 |
| CN109927038B (en) | 2021-02-26 |
| CN109927039B (en) | 2021-02-26 |
| CN106671091B (en) | 2019-04-26 |
| CN109927027B (en) | 2020-12-22 |
| CN109944844B (en) | 2021-01-05 |
| CN109910019A (en) | 2019-06-21 |
| CN109944844A (en) | 2019-06-28 |
| CN109927038A (en) | 2019-06-25 |
| CN109927039A (en) | 2019-06-25 |
| CN109927040B (en) | 2021-01-01 |
| CN109927040A (en) | 2019-06-25 |
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