CN110953201A - Seven-degree-of-freedom heavy-load mechanical arm hydraulic servo system - Google Patents

Seven-degree-of-freedom heavy-load mechanical arm hydraulic servo system Download PDF

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Publication number
CN110953201A
CN110953201A CN201911409003.XA CN201911409003A CN110953201A CN 110953201 A CN110953201 A CN 110953201A CN 201911409003 A CN201911409003 A CN 201911409003A CN 110953201 A CN110953201 A CN 110953201A
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China
Prior art keywords
valve
hydraulic
oil
servo
outlet
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CN201911409003.XA
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Chinese (zh)
Inventor
杨秀萍
常景岚
袁昌耀
曹秀芳
张高峰
王收军
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Tianjin University of Technology
Nanjing Chenguang Group Co Ltd
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Tianjin University of Technology
Nanjing Chenguang Group Co Ltd
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Priority to CN201911409003.XA priority Critical patent/CN110953201A/en
Publication of CN110953201A publication Critical patent/CN110953201A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/021—Installations or systems with accumulators used for damping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2201/00—Accumulators
    • F15B2201/30—Accumulator separating means
    • F15B2201/315—Accumulator separating means having flexible separating means
    • F15B2201/3151—Accumulator separating means having flexible separating means the flexible separating means being diaphragms or membranes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)

Abstract

A hydraulic servo system of a seven-degree-of-freedom heavy-load mechanical arm. The hydraulic control system comprises a first main loop, a second main loop, a first hydraulic pump station, a second hydraulic pump station, a servo cylinder unit, a gripper hydraulic cylinder, a swing motor unit, a rotary motor unit and an oil tank; wherein: the first hydraulic pump station is simultaneously connected with the servo cylinder unit, the gripper hydraulic cylinder, the swing motor unit and the rotary motor unit through a first main loop, the second hydraulic pump station is connected with the rotary motor unit through a second main loop, and the oil tank is respectively connected with the first hydraulic pump station and the second hydraulic pump station. The hydraulic servo system of the seven-degree-of-freedom heavy-load mechanical arm provided by the invention has the following beneficial effects: 1. the rotating speed and the discharge capacity of the servo motor and the variable intelligent pump can be automatically adjusted according to different actual loads, so that flexible control of the loads is realized; 2. the structure design is reasonable, and the stability, reliability, safety and controllability of the system can be greatly ensured.

Description

Seven-degree-of-freedom heavy-load mechanical arm hydraulic servo system
Technical Field
The invention belongs to the technical field of multi-joint mechanical arm hydraulic systems, and particularly relates to a seven-degree-of-freedom heavy-load mechanical arm hydraulic servo system.
Background
In recent years, heavy-duty mechanical arms have increasingly exhibited irreplaceable effects in aspects of heavy workpiece carrying, assembling, heavy equipment maintenance and the like in the global industrial field, and become core necessary equipment with great requirements on high-load operation efficiency improvement, production safety guarantee, labor cost reduction and the like in fields such as mine metallurgy, aerospace and the like.
The heavy-load mechanical arm can replace almost all heavy and dangerous work in the manual operation process. The working efficiency is high, and the safety of people/machines is guaranteed, so the machine is popular to the public and has good development prospect.
The field-related high-performance heavy-load special robot is also generally lacked at home and abroad, the integration, manufacturing and testing integrated solution is very deficient, and the related research is very insufficient. The key technologies of hydraulic drive servo control, power matching and the like in the hydraulic heavy-duty mechanical arm are not broken through, so that the position precision, the output force precision and the speed precision of the mechanical arm cannot meet the requirements, the efficiency is not high, and the research and development and application of the hydraulic heavy-duty mechanical arm are severely restricted.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a seven-degree-of-freedom heavy-duty robot arm hydraulic servo system.
In order to achieve the aim, the hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm comprises a first main loop, a second main loop, a first hydraulic pump station, a second hydraulic pump station, a servo cylinder unit, a gripper hydraulic cylinder, a swing motor unit, a rotary motor unit and an oil tank; wherein: the first hydraulic pump station is simultaneously connected with the servo cylinder unit, the gripper hydraulic cylinder, the swing motor unit and the rotary motor unit through a first main loop, the second hydraulic pump station is connected with the rotary motor unit through a second main loop, and the oil tank is respectively connected with the first hydraulic pump station and the second hydraulic pump station.
The first main loop comprises a first main oil outlet pipe and a first main oil return pipe and is used for transferring hydraulic oil among the servo cylinder unit, the gripper hydraulic cylinder, the swing motor unit, the rotary motor unit and the first hydraulic pump station; the second main circuit includes a second main oil outlet pipe and a second main oil return pipe for transferring hydraulic oil between the swing motor unit and the second hydraulic pump station.
The first hydraulic pump station comprises: the system comprises a first servo motor, a first variable intelligent pump, a first coupler, a first shock pad, a proportional overflow valve, a first one-way valve, a first shock absorption throat, a first oil absorption ball valve, a second servo motor, a second variable intelligent pump, a second coupler, a second shock pad, a second one-way valve, a second shock absorption throat, a second oil absorption ball valve, a first high-pressure ball valve, a second high-pressure ball valve, a first diaphragm energy accumulator, a second diaphragm energy accumulator, a first bypass valve, a blockage alarm pressure oil filter, a first bypass valve, a blockage alarm oil return valve, an air cooler and a first pressure sensor; a first shock pad is arranged below the first servo motor, and the first servo motor is connected with the first variable intelligent pump through a first coupler and used for driving the first variable intelligent pump; the oil inlet of the first variable intelligent pump is connected with a first damping throat, the first damping throat is connected with a first oil suction ball valve, the first oil suction ball valve is connected with an oil tank, the oil outlet of the first variable intelligent pump is connected with an inlet of a first one-way valve, a second damping pad is arranged below a second servo motor, and the second servo motor is connected with a second variable intelligent pump through a second coupler and used for driving the second variable intelligent pump; the oil inlet of the second variable intelligent pump is connected with a second damping throat, the second damping throat is connected with a second oil suction ball valve, the second oil suction ball valve is connected with an oil tank, the oil outlet of the second variable intelligent pump is connected with a second one-way valve inlet, the outlet of the second one-way valve is connected with a first one-way valve outlet, the outlets of the first one-way valve and the second one-way valve are connected with a first belt bypass valve and a blocking alarm pressure oil filter inlet, the outlets of the first belt bypass valve and the blocking alarm pressure oil filter are connected with a first high-pressure ball valve and a second high-pressure ball valve, the first high-pressure ball valve is connected with a first thin-film energy accumulator, the second high-pressure ball valve is connected with a second thin-film energy accumulator, the first belt bypass valve and the blocking alarm pressure oil filter outlet are connected with a first main oil outlet pipe of the system, and the outlets of the first one-, the first one-way valve outlet and the second one-way valve outlet are connected with a proportional overflow valve, the proportional overflow valve is connected with a first main oil return pipe of the system, the first main oil return pipe is connected with an air cooler, the air cooler is connected with a first bypass valve and an inlet of a blockage alarm oil return filter, and the first bypass valve and the outlet of the blockage alarm oil return filter are connected with an oil tank.
The second hydraulic pump station comprises: the system comprises a pilot electromagnetic overflow valve, a motor, a hydraulic pump, a third coupler, a third shock pad, a third high-pressure ball valve, a third diaphragm accumulator, a second pressure oil filter with a bypass valve and a blockage alarm pressure, a second pressure oil filter with a bypass valve and a blockage alarm oil return filter, a third check valve, a third shock absorption throat and a third oil absorption ball valve; a third shock pad is arranged below the motor, and the motor is connected with the hydraulic pump through a third coupler and used for driving the hydraulic pump; the oil inlet of the hydraulic pump is connected with a third damping throat, the third damping throat is connected with a third oil suction ball valve, the third oil suction ball valve is connected with an oil tank, the oil outlet of the hydraulic pump is connected with the inlet of a third one-way valve, the outlet of the third one-way valve is connected with a second bypass valve and the inlet of the blockage alarm pressure oil filter, the outlet of the second bypass valve and the outlet of the blockage alarm pressure oil filter are connected with a third high-pressure ball valve, the third high-pressure ball valve is connected with a third diaphragm accumulator, the second bypass valve and the outlet of the blockage alarm pressure oil filter are connected with a second main oil outlet pipe, the outlet of the third one-way valve is connected with a pilot electromagnetic overflow valve which is connected with a second main oil return pipe, the second main oil return pipe is connected with a second bypass valve and an inlet of the blockage alarm oil return filter, and the second bypass valve and an outlet of the blockage alarm oil return filter are connected with an oil tank.
The servo cylinder unit comprises four completely same internal parts, namely a first amplitude servo cylinder, a second amplitude servo cylinder, a telescopic servo cylinder and a feeding servo cylinder, and each part comprises: the hydraulic control system comprises a first non-leakage electromagnetic reversing stop valve, a first electro-hydraulic servo valve, a first hydraulic control one-way valve, a second pressure sensor, a third pressure sensor and a servo oil cylinder; the first main oil outlet pipe is connected with a first non-leakage electromagnetic reversing stop valve, the first non-leakage electromagnetic reversing stop valve is respectively connected with a first hydraulic control one-way valve and a second hydraulic control one-way valve oil control opening, the first main oil outlet pipe is connected with a P opening of a first electro-hydraulic servo valve, an A opening of the first electro-hydraulic servo valve is connected with a first hydraulic control one-way valve inlet, a first hydraulic control one-way valve outlet is connected with a second pressure sensor, a first hydraulic control one-way valve outlet is connected with a servo oil cylinder oil inlet, a servo oil cylinder oil outlet is connected with a second hydraulic control one-way valve outlet, a servo oil cylinder oil outlet is connected with a third pressure sensor, a second hydraulic control one-way valve inlet is connected with a B opening of the first electro-hydraulic servo valve, and a T opening of the first electro-hydraulic servo valve is connected with a first.
The gripper hydraulic cylinder comprises: the three-position four-way reversing valve, the third hydraulic control one-way valve, the fourth pressure sensor, the one-way throttle valve and the gripper servo oil cylinder are arranged on the hydraulic control system; the first main oil outlet pipe is connected with a P port of the three-position four-way reversing valve, a port A of the three-position four-way reversing valve is connected with a one-way throttle valve, the one-way throttle valve is connected with an inlet of a third hydraulic control one-way valve, an outlet of the third hydraulic control one-way valve is connected with an oil inlet of a gripper servo oil cylinder, an oil outlet of the gripper servo oil cylinder is connected with a fourth pressure sensor, an oil outlet of the gripper servo oil cylinder is connected with a control oil port of the third hydraulic control one-way valve, an oil outlet of the gripper servo oil cylinder is connected with a port B of the three-position four-way reversing valve.
The swing motor unit comprises three completely same parts, namely a horizontal swing motor, a rolling swing motor and a lifting motor, wherein each part comprises: the second non-leakage electromagnetic reversing stop valve, the second electro-hydraulic servo valve, the fourth hydraulic control one-way valve, the fifth pressure sensor, the first high-pressure hose, the first overflow valve, the swing motor, the fourth one-way valve, the fifth one-way valve, the second overflow valve, the second high-pressure hose, the sixth pressure sensor and the fifth hydraulic control one-way valve; the first main oil outlet pipe is connected with a second non-leakage electromagnetic reversing stop valve, the second non-leakage electromagnetic reversing stop valve is respectively connected with a fourth hydraulic control one-way valve and a fifth hydraulic control oil port, the first main oil outlet pipe is connected with a P port of a second electro-hydraulic servo valve, an A port of the second electro-hydraulic servo valve is connected with an inlet of the fourth hydraulic control one-way valve, an outlet of the fourth hydraulic control one-way valve is connected with a fifth pressure sensor, an outlet of the fourth hydraulic control one-way valve is connected with a first high-pressure hose, the first high-pressure hose is connected with an inlet of a motor safety valve formed by connecting the fourth one-way valve and a first overflow valve in parallel, the first high-pressure hose is connected with an inlet of a swing motor, an outlet of the swing motor is connected with an inlet of the motor safety valve formed by connecting the fifth one-way valve and the second overflow valve in parallel, an outlet of the motor safety valve is connected with an, the second high-pressure hose is connected with a sixth pressure sensor, the second high-pressure hose is connected with an outlet of a fifth hydraulic control one-way valve, an inlet of the fifth hydraulic control one-way valve is connected with a port B of the second electro-hydraulic servo valve, and a port T of the second electro-hydraulic servo valve is connected with a first main oil return pipe.
The swing motor unit includes two identical parts of a first swing motor and a second swing motor, each of which includes: the hydraulic control system comprises a third non-leakage electromagnetic reversing stop valve, a third electro-hydraulic servo valve, a sixth hydraulic control one-way valve, a seventh pressure sensor, a third high-pressure hose, a sixth one-way valve, a third overflow valve, a seventh one-way valve, a fourth overflow valve, a rotary motor, a fourth high-pressure hose, a motor brake, an eighth pressure sensor, a fifth high-pressure hose, a ninth pressure sensor, a fourth non-leakage electromagnetic reversing stop valve and a pilot-operated pressure reducing valve; the first main oil outlet pipe is connected with a third non-leakage electromagnetic reversing stop valve, the third non-leakage electromagnetic reversing stop valve is respectively connected with a sixth hydraulic control one-way valve and a seventh hydraulic control oil port, the first main oil outlet pipe is connected with a P port of a third electro-hydraulic servo valve, an A port of the third electro-hydraulic servo valve is connected with an inlet of the sixth hydraulic control one-way valve, an outlet of the sixth hydraulic control one-way valve is connected with a seventh pressure sensor, an outlet of the sixth hydraulic control one-way valve is connected with a third high-pressure hose, the third high-pressure hose is connected with an inlet of a motor safety valve E formed by connecting the sixth one-way valve and a third overflow valve in parallel, the third high-pressure hose is connected with an inlet of a rotary motor, an outlet of the rotary motor is connected with an inlet of a motor safety valve F formed by connecting the seventh one-way valve and the fourth overflow valve in parallel, and the outlet of the motor safety valve E, an inlet of the motor safety valve F is connected with a fourth high-pressure hose, the fourth high-pressure hose is connected with a ninth pressure sensor, the fourth high-pressure hose is connected with an outlet of a seventh hydraulic control one-way valve, an inlet of the seventh hydraulic control one-way valve is connected with a port B of a third electro-hydraulic servo valve, and a port T of the third electro-hydraulic servo valve is connected with a first main oil return pipe; the second main oil outlet pipe is connected with a pilot-operated type pressure reducing valve, the pilot-operated type pressure reducing valve is connected with a fourth non-leakage electromagnetic reversing stop valve, the fourth non-leakage electromagnetic reversing stop valve is connected with an eighth pressure sensor, the fourth non-leakage electromagnetic reversing stop valve is connected with a fifth high-pressure hose, the fifth high-pressure hose is connected with a motor brake, and the fourth non-leakage electromagnetic reversing stop valve is connected with a second main oil return pipe.
The hydraulic servo system of the seven-degree-of-freedom heavy-load mechanical arm provided by the invention has the following beneficial effects:
1. the rotating speed and the discharge capacity of the servo motor and the variable intelligent pump can be automatically adjusted according to different actual loads, so that flexible control of the loads is realized;
2. the structure design is reasonable, and the stability, reliability, safety and controllability of the system can be greatly ensured.
Drawings
Fig. 1 is a schematic diagram of a hydraulic servo system of a seven-degree-of-freedom heavy-duty mechanical arm provided by the invention.
Fig. 2 is a block diagram of a hydraulic servo system of a seven-degree-of-freedom heavy-duty mechanical arm provided by the invention.
Fig. 3 is a schematic diagram of a first hydraulic pump station system in the system provided by the invention.
Fig. 4 is a schematic diagram of a second hydraulic pumping station system in the system provided by the invention.
FIG. 5 is a schematic diagram of a hydraulic control valve group system of an amplitude servo cylinder, a telescopic servo cylinder and a feeding servo cylinder in the seven-degree-of-freedom heavy-duty mechanical arm hydraulic servo system provided by the invention.
Fig. 6 is a schematic diagram of a hydraulic control valve group system of a gripper hydraulic cylinder in the hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm provided by the invention.
Fig. 7 is a schematic diagram of a swing motor hydraulic control valve group system in the seven-degree-of-freedom heavy-duty mechanical arm hydraulic servo system provided by the invention.
Fig. 8 is a schematic diagram of a rotary motor hydraulic control valve group system in the seven-degree-of-freedom heavy-duty mechanical arm hydraulic servo system provided by the invention.
Fig. 9 is a schematic motion diagram of a hydraulic servo system of a seven-degree-of-freedom heavy-duty mechanical arm provided by the invention.
Detailed Description
The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm provided by the invention is described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 9, the hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm provided by the invention comprises:
the hydraulic control system comprises a first main loop A, a second main loop B, a first hydraulic pump station 1, a second hydraulic pump station 2, a servo cylinder unit 3, a gripper hydraulic cylinder 4, a swing motor unit 5, a rotary motor unit 6 and an oil tank 7; wherein: the first hydraulic pump station 1 is simultaneously connected with the servo cylinder unit 3, the gripper hydraulic cylinder 4, the swing motor unit 5 and the rotary motor unit 6 through the first main loop A, the second hydraulic pump station 2 is connected with the rotary motor unit 6 through the second main loop B, and the oil tank 7 is respectively connected with the first hydraulic pump station 1 and the second hydraulic pump station 2.
The servo cylinder unit 3 is composed of four parts with the same inside, and comprises the following components: the hydraulic pump system comprises a first variable amplitude servo cylinder 3.1, a second variable amplitude servo cylinder 3.2, a telescopic servo cylinder 3.3 and a feeding servo cylinder 3.4, wherein the four parts are connected with a first hydraulic pump station 1 through a first main loop A;
the swing motor unit 5 is composed of three parts with the same interior, and comprises: the hydraulic system comprises a horizontal swing motor 5.1, a rolling swing motor 5.2 and a lifting motor 5.3 which are all connected with a first hydraulic pump station 1 through a first main loop A;
the rotary motor unit 6 is composed of two parts which are completely the same inside, and comprises: a first swing motor 6.1 and a second swing motor 6.2, both of which are connected to the first hydraulic pump station 1 via a first main circuit a and to the second hydraulic pump station 2 via a second main circuit B.
The first main loop A comprises a first main oil outlet pipe A1 and a first main oil return pipe A2, and is used for transferring hydraulic oil among the servo cylinder unit 3, the gripper hydraulic cylinder 4, the swing motor unit 5, the rotary motor unit 6 and the first hydraulic pump station 1; the second main circuit B includes a second main oil outlet pipe B18 and a second main oil return pipe B19 for transferring hydraulic oil between the swing motor unit 6 and the second hydraulic pump station 2.
The first hydraulic pump station 1 is respectively connected with the first main loop A and the oil tank 7, provides high-pressure oil with certain pressure and flow for a hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm, and is designed into an integrated structure.
And the second hydraulic pump station 2 is respectively connected with a second main loop B and an oil tank 7, provides high-pressure oil with certain pressure and flow for a hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm, and is designed into an integrated structure.
As shown in fig. 2 and fig. 9, the first amplitude servo cylinder 3.1 and the second amplitude servo cylinder 3.2 belong to an amplitude servo cylinder control valve group together, and are used for driving a pitch joint G2 in fig. 9; the telescopic servo cylinder 3.3 belongs to a telescopic servo cylinder control valve group and is used for driving a telescopic joint G3 in the graph 9; the feeding servo cylinder 3.4 belongs to a feeding and retreating servo cylinder control valve group and is used for driving a feeding and retreating joint G5 in the figure 9;
the gripper hydraulic cylinder 4 belongs to a gripper cylinder control valve group and is used for realizing the gripping action of the mechanical arm;
the horizontal swing motor 5.1 belongs to a swing motor control valve group and is used for driving a horizontal swing joint G4 in the figure 9; the rolling and swinging motor 5.2 belongs to a swinging motor control valve group and is used for driving a rolling and swinging joint G6 in the figure 9; the lifting motor 5.3 belongs to a swing motor control valve group and is used for driving a lifting and swinging joint G7 in the fig. 9;
the first swing motor 6.1 and the second swing motor 6.2 are both of a large arm swing motor control valve group, and are used for driving a swing joint G1 in fig. 9.
The oil tank 7 is used for storing hydraulic oil.
As shown in fig. 3, the first hydraulic pump station 1 includes: a first servo motor 107, a first variable intelligent pump 103, a first coupler 105, a first shock pad 106, a proportional overflow valve 114, a first check valve 104, a first shock absorption throat 102, a first oil absorption ball valve 101, a second servo motor 116, a second variable intelligent pump 119, a second coupler 118, a second shock pad 117, a second check valve 115, a second shock absorption throat 120, a second oil absorption ball valve 121, a first high-pressure ball valve 110, a second high-pressure ball valve 112, a first diaphragm accumulator 111, a second diaphragm accumulator 113, a first belt bypass valve and blockage alarm pressure oil filter 109, a first belt bypass valve and blockage alarm oil return valve 123, an air cooler 122 and a first pressure sensor 108; a first shock absorption pad 106 is arranged below the first servo motor 107, and the first servo motor 107 is connected with the first variable intelligent pump 103 through a first coupler 105 and used for driving the first variable intelligent pump 103; an oil inlet of the first variable intelligent pump 103 is connected with a first damping throat 102, the first damping throat 102 is connected with a first oil suction ball valve 101, the first oil suction ball valve 101 is connected with an oil tank 7, an oil outlet of the first variable intelligent pump 103 is connected with an inlet of a first one-way valve 104, a second damping pad 117 is arranged below the second servo motor 116, and the second servo motor 116 is connected with a second variable intelligent pump 119 through a second coupling 118 and used for driving the second variable intelligent pump 119; the oil inlet of the second variable intelligent pump 119 is connected with a second damping throat 120, the second damping throat 120 is connected with a second oil suction ball valve 121, the second oil suction ball valve 121 is connected with the oil tank 7, the oil outlet of the second variable intelligent pump 119 is connected with the inlet of a second one-way valve 115, the outlet of the second one-way valve 115 is connected with the outlet of a first one-way valve 104, the outlets of the first one-way valve 104 and the second one-way valve 115 are connected with the inlets of a first belt-bypass valve and a blockage alarm pressure oil filter 109, the outlets of the first belt-bypass valve and the blockage alarm pressure oil filter 109 are connected with a first high-pressure ball valve 110 and a second high-pressure ball valve 112, the first high-pressure ball valve 110 is connected with a first membrane accumulator 111, the second high-pressure ball valve 112 is connected with a second membrane accumulator 113, the outlets of the first belt-bypass valve and the blockage alarm pressure oil filter, the outlet of the first one-way valve 104 and the outlet of the second one-way valve 115 are connected with the first pressure sensor 108, the outlets of the first one-way valve 104 and the second one-way valve 115 are connected with a proportional overflow valve 114, the proportional overflow valve 114 is connected with a system first main oil return pipe A2, the first main oil return pipe A2 is connected with an air cooler 122, the air cooler 122 is connected with a first belt bypass valve and the inlet of a blockage alarm oil filter 123, and the outlets of the first belt bypass valve and the blockage alarm oil filter 123 are connected with the oil tank 7.
As shown in fig. 4, the second hydraulic pump station 2 includes: a pilot electromagnetic spill valve 208, a motor 206, a hydraulic pump 203, a third coupling 204, a third cushion 205, a third high-pressure ball valve 210, a third diaphragm accumulator 211, a second bypass valve and occlusion alarm pressure filter 209, a second bypass valve and occlusion alarm return oil filter 212, a third check valve 207, a third damping throat 202, and a third suction ball valve 201; a third shock absorption pad 205 is arranged below the motor 206, and the motor 206 is connected with the hydraulic pump 203 through a third coupler 204 and is used for driving the hydraulic pump 203; the oil inlet of the hydraulic pump 203 is connected with a third damping throat 202, the third damping throat 202 is connected with a third oil suction ball valve 201, the third oil suction ball valve 201 is connected with an oil tank 7, the oil outlet of the hydraulic pump 203 is connected with the inlet of a third one-way valve 207, the outlet of the third one-way valve 207 is connected with the inlet of a second bypass valve and a blockage alarm pressure oil filter 209, the outlet of the second bypass valve and the blockage alarm pressure oil filter 209 is connected with a third high-pressure ball valve 210, the third high-pressure ball valve 210 is connected with a third diaphragm accumulator 211, the outlet of the second bypass valve and the blockage alarm pressure oil filter 209 is connected with a second main oil outlet pipe B18, the outlet of the third one-way valve 207 is connected with a pilot electromagnetic overflow valve 208, the pilot electromagnetic overflow valve 208 is connected with a second main oil return pipe B19, the second main oil return pipe B19 is connected with the second bypass valve and the inlet of the blockage alarm, the second bypass valve and the blockage alarm return oil filter 212 are connected with the oil tank 7.
As shown in fig. 5, the servo cylinder unit 3 includes four identical parts inside, each of which includes: a first leakless electromagnetic directional stop valve 301, a first electro-hydraulic servo valve 302, a first pilot operated check valve 303, a second pilot operated check valve 304, a second pressure sensor 305, a third pressure sensor 307 and a servo cylinder 306; the first main oil outlet pipe A1 is connected with a first non-leakage electromagnetic reversing stop valve 301, the first non-leakage electromagnetic reversing stop valve 301 is respectively connected with control oil ports of a first hydraulic control one-way valve 304 and a second hydraulic control one-way valve 303, the first main oil outlet pipe A1 is connected with a P port of the first electro-hydraulic servo valve 302, an A port of the first electro-hydraulic servo valve 302 is connected with an inlet of the first hydraulic control one-way valve 304, an outlet of the first hydraulic control one-way valve 304 is connected with a second pressure sensor 305, an outlet of the first hydraulic control one-way valve 304 is connected with an oil inlet of a servo cylinder 306, an oil outlet of the servo cylinder 306 is connected with an outlet of the second hydraulic control one-way valve 303, an oil outlet of the servo cylinder 306 is connected with a third pressure sensor 307, an inlet of the second hydraulic control one-way valve 303 is connected with an B port of the first electro-hydraulic servo valve 302, and a T port of the first electro.
As shown in fig. 6, the gripper hydraulic cylinder 4 includes: the three-position four-way reversing valve 401, the third hydraulic control one-way valve 403, the fourth pressure sensor 405, the one-way throttle valve 402 and the gripper servo cylinder 404; the first main oil outlet pipe A1 is connected with a P port of the three-position four-way reversing valve 401, the A port of the three-position four-way reversing valve 401 is connected with a one-way throttle valve 402, the one-way throttle valve 402 is connected with an inlet of a third hydraulic control one-way valve 403, an outlet of the third hydraulic control one-way valve 403 is connected with an oil inlet of a gripper servo cylinder 404, an oil outlet of the gripper servo cylinder 404 is connected with a fourth pressure sensor 405, an oil outlet of the gripper servo cylinder 404 is connected with a control oil port of the third hydraulic control one-way valve 403, an oil outlet of the gripper servo cylinder 404 is connected with a B port of the three-position four-way reversing valve 401, and a T port of the three-.
As shown in fig. 7, the swing motor unit 5 includes three portions having the same inside, each of which includes: a second non-leakage electromagnetic directional stop valve 501, a second electro-hydraulic servo valve 502, a fourth pilot-controlled check valve 513, a fifth pressure sensor 503, a first high-pressure hose 505, a first overflow valve 507, a swing motor 512, a fourth check valve 506, a fifth check valve 508, a second overflow valve 509, a second high-pressure hose 511, a sixth pressure sensor 510 and a fifth pilot-controlled check valve 504; the first main oil outlet pipe A1 is connected with a second non-leakage electromagnetic directional stop valve 501, the second non-leakage electromagnetic directional stop valve 501 is respectively connected with control oil ports of a fourth hydraulic control one-way valve 513 and a fifth hydraulic control one-way valve 504, the first main oil outlet pipe A1 is connected with a P port of a second electro-hydraulic servo valve 502, the A port of the second electro-hydraulic servo valve 502 is connected with an inlet of the fourth hydraulic control one-way valve 513, an outlet of the fourth hydraulic control one-way valve 513 is connected with a fifth pressure sensor 503, an outlet of the fourth hydraulic control one-way valve 513 is connected with a first high-pressure hose 505, the first high-pressure hose 505 is connected with an inlet of a motor safety valve C formed by connecting a fourth one-way valve 506 and a first overflow valve 507 in parallel, the first high-pressure hose 505 is connected with an inlet of a swing motor 512, an outlet of the swing motor 512 is connected with an inlet of a motor safety valve D formed by, the outlet of the motor safety valve C and the outlet of the motor safety valve D are connected with an oil tank 7, the inlet of the motor safety valve D is connected with a second high-pressure hose 511, the second high-pressure hose 511 is connected with a sixth pressure sensor 510, the second high-pressure hose 511 is connected with the outlet of a fifth hydraulic control one-way valve 504, the inlet of the fifth hydraulic control one-way valve 504 is connected with the port B of the second electro-hydraulic servo valve 502, and the port T of the second electro-hydraulic servo valve 502 is connected with a first main oil return pipe A2.
As shown in fig. 8, the swing motor unit 6 includes two portions having the same inside, each of which includes: a third leakless electromagnetic directional stop valve 601, a third electro-hydraulic servo valve 602, a sixth pilot-controlled check valve 603, a seventh pilot-controlled check valve 604, a seventh pressure sensor 605, a third high-pressure hose 606, a sixth check valve 607, a third overflow valve 608, a seventh check valve 609, a fourth overflow valve 610, a rotary motor 611, a fourth high-pressure hose 612, a motor brake 613, an eighth pressure sensor 614, a fifth high-pressure hose 615, a ninth pressure sensor 616, a fourth leakless electromagnetic directional stop valve 617 and a pilot-operated pressure reducing valve 618; the first main oil outlet pipe A1 is connected with a third non-leakage electromagnetic directional stop valve 601, the third non-leakage electromagnetic directional stop valve 601 is respectively connected with control oil ports of a sixth hydraulic control one-way valve 603 and a seventh hydraulic control one-way valve 604, the first main oil outlet pipe A1 is connected with a P port of a third electro-hydraulic servo valve 602, the A port of the third electro-hydraulic servo valve 602 is connected with an inlet of the sixth hydraulic control one-way valve 603, an outlet of the sixth hydraulic control one-way valve 603 is connected with a seventh pressure sensor 605, an outlet of the sixth hydraulic control one-way valve 603 is connected with a third high-pressure hose 606, the third high-pressure hose 606 is connected with an inlet of a motor safety valve E formed by connecting a sixth one-way valve 607 and a third overflow valve 608 in parallel, the third high-pressure hose 606 is connected with an inlet of a rotary motor 611, an outlet of the rotary motor 611 is connected with an inlet of a motor safety valve F formed by connecting a seventh one-, the outlet of the motor safety valve E and the outlet of the motor safety valve F are connected with an oil tank 7, the inlet of the motor safety valve F is connected with a fourth high-pressure hose 612, the fourth high-pressure hose 612 is connected with a ninth pressure sensor 616, the fourth high-pressure hose 612 is connected with the outlet of a seventh hydraulic control one-way valve 604, the inlet of the seventh hydraulic control one-way valve 604 is connected with the port B of a third electro-hydraulic servo valve 602, and the port T of the third electro-hydraulic servo valve 602 is connected with a first main oil return pipe A2. The second main oil outlet pipe B18 is connected with a pilot-operated pressure reducing valve 618, the pilot-operated pressure reducing valve 618 is connected with a fourth non-leakage electromagnetic directional stop valve 617, the fourth non-leakage electromagnetic directional stop valve 617 is connected with an eighth pressure sensor 614, the fourth non-leakage electromagnetic directional stop valve 617 is connected with a fifth high-pressure hose 615, the fifth high-pressure hose 615 is connected with a motor brake 613, and the fourth non-leakage electromagnetic directional stop valve 617 is connected with a second main oil return pipe B19.
As shown in fig. 9, the swing joint G1 mainly realizes forward and backward swing motion of the robot arm, and the first swing motor 6.1 and the second swing motor 6.2 realize gapless forward and backward swing motion of the swing support, so as to realize rotation (360 degrees) of the whole robot arm; the pitching joint G2 is synchronously driven by two high-precision single-rod double-acting servo oil cylinders, namely a first amplitude-varying servo cylinder 3.1 and a second amplitude-varying servo cylinder 3.2, so that amplitude-varying pitching motion of the mechanical arm is realized; the telescopic joint G3 realizes the front and back extension of the telescopic arm by a single-rod double-acting servo oil cylinder of the telescopic servo cylinder 3.3; the horizontal swing joint G4 realizes the horizontal swing of the wrist of the mechanical arm by a horizontal swing motor 5.1; the advancing and retreating joint G5 realizes the advancing and retreating movement of the wrist by the single-rod double-acting servo oil cylinder of the feeding servo cylinder 3.4; the wrist swing joint G6 realizes the rolling and swinging movement of the wrist by a rolling and swinging motor 5.2; the lifting and swinging joint G7 realizes the pitching motion of the wrist by a lifting motor 5.3.
Compared with the prior art, the seven-degree-of-freedom heavy-load mechanical arm hydraulic servo system provided by the invention has the following working principle and advantages:
1) the hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm provided by the invention adopts the mode shown in FIG. 1, can automatically adjust the rotating speed and the discharge capacity of the first servo motor 107, the second servo motor 116, the second variable intelligent pump 119 and the first variable intelligent pump 103 according to different actual loads, and realizes flexible control of the loads; the system efficiency provided by the invention is improved by 10% compared with the system efficiency without the technology; the power can be provided for seven-freedom-degree 10 execution mechanisms of the heavy-duty mechanical arm, the maximum clamping load can reach 3000kg, the execution mechanisms shown in the figure 7 are coordinately controlled according to the instruction of the system, the specified action track is realized, the maximum movement speed under the rated load is not less than 0.2m/s, and the repeated positioning precision of the tail end reaches 0.4 mm.
2) The first hydraulic pump station 1 greatly ensures the stability, reliability and safety of the system, the first hydraulic pump station 1 adopts the mode shown in fig. 3, and two motor pump sets of a servo motor, namely a first servo motor 107, a first variable intelligent pump 103, a second servo motor 116 and a second variable intelligent pump 119, are arranged as power sources of the system, so that the advantages are as follows: the two motor pump sets are mutually hot standby, when the two motor pump sets work simultaneously, the requirements of the speed and the load characteristic of the system are met, when one motor pump set breaks down, the other motor pump set continues to work to complete the current operation, the load characteristic is unchanged, and the speed is halved; the servo motor and the intelligent pump are adopted, so that the functions of controlling a constant-pressure variable, a constant-power variable, an electric proportion control variable and a load sensitive variable of the whole system under different working conditions can be realized; the proportional overflow valve 114 is arranged as a safety valve of the system, and the signal magnitude is adjusted, so that the system can be started in a no-load manner, and the service lives of the first variable intelligent pump 103 and the second variable intelligent pump 119 are prolonged; the first check valve 104 is arranged at the oil outlets of the first variable intelligent pump 103 and the second variable intelligent pump 119, the reverse rotation of the pumps caused by backflow between the two intelligent pumps is avoided, and meanwhile, the manual first oil suction ball valve (101) and the manual second oil suction ball valve (121) are arranged at the oil suction port of each intelligent pump, so that the system is convenient to maintain. The lower parts of the servo motors are provided with shock absorption pads, so that the influence of vibration on the reliability of the system can be reduced; a first main oil return pipe A2 of the system is provided with a first bypass valve and a blockage alarm oil return filter 123 to filter hydraulic oil, so that the reliability of the system is improved; an air cooler 122 is arranged to cool the system; a first main oil outlet pipe A1 of the system is provided with a first bypass valve and a blockage alarm pressure oil filter 109, so that the operation reliability of an electro-hydraulic servo valve and a non-leakage electromagnetic reversing stop valve is ensured; and a first diaphragm accumulator 111 and a second diaphragm accumulator 113 are arranged at the outlet of the first check valve 104 and are used for supplementing hydraulic oil to the system, so that the oil supplementation and the pressure stabilization of the system are ensured when the electro-hydraulic servo valve and the non-leakage electromagnetic reversing stop valve are controlled.
3) The second hydraulic pump station 2 greatly ensures the stability, reliability and safety of the system, the second hydraulic pump station 2 adopts the mode shown in figure 4, and a motor pump assembly consisting of a motor 206 and a hydraulic pump 203 is provided with a third shock pad 205, so that the influence of vibration on the reliability of the system can be reduced; the second main oil return pipeline B19 of the system is provided with a second bypass valve and a blockage alarm oil return filter 212 to filter the hydraulic oil, so that the reliability of the system can be improved; the second main oil outlet pipe B18 of the system is arranged to ensure the operation reliability of the non-leakage electromagnetic directional stop valve; a third diaphragm energy accumulator 211 is arranged at the outlet of the third one-way valve 207 and is used for supplementing hydraulic oil to the system, so that the oil supplementation and the pressure stability of the system are ensured when the non-leakage electromagnetic reversing stop valve is controlled; the motor brake 613 is powered by a separate low voltage motor pump "electric motor 206+ hydraulic pump 203", a third check valve 207 is provided at the outlet of the hydraulic pump 203 to prevent damage to the pump from reverse impacts, and a third diaphragm accumulator 211 is provided to absorb pressure pulsations.
4) In the invention, a servo cylinder unit 3 adopts a mode shown in FIG. 5, a hydraulic lock and a first non-leakage electromagnetic reversing stop valve 301 which are composed of a first hydraulic control one-way valve 303 and a second hydraulic control one-way valve 304 are arranged in two cavities of an oil cylinder, but the dynamic characteristic of the hydraulic lock can influence the frequency response of a first electro-hydraulic servo valve 302 for controlling a servo oil cylinder 306, so that the control oil path of the hydraulic lock is directly connected with a first main oil outlet pipe A1, when the system is pressurized, the hydraulic lock is in an open state, the servo oil cylinder 306 is controlled by the first electro-hydraulic servo valve 302, and the hydraulic lock is used as a passage and does not participate in work; when the system is unloaded, the hydraulic lock is locked, and the servo oil cylinder 306 keeps the current position, so that the safety and the reliability of the equipment are improved; the second pressure sensor 305 and the third pressure sensor 307 are respectively arranged in two cavities of the servo cylinder 306, and are used for detecting the pressure difference between the two cavities of the servo cylinder 306 in real time to perform force closed-loop servo control on the servo cylinder 306, so that the controllability of the system is improved.
5) In the invention, the gripper hydraulic cylinder 4 adopts the mode shown in FIG. 6, and is provided with the hydraulic lock consisting of the third hydraulic control one-way valve 403, so that when an object is gripped, the pressure is reliably maintained, and the object cannot accidentally slide down; a fourth pressure sensor 405 is arranged at an oil outlet of the gripper servo oil cylinder 404, the force when the object is gripped is detected, and the gripping action is stopped when the preset force is reached, so that the object is not dropped off, and the gripped object is not damaged.
6) In the invention, a swing motor unit 5 adopts a mode shown in fig. 7, a hydraulic lock and a second non-leakage electromagnetic reversing stop valve 501 which are composed of a fourth hydraulic control one-way valve 513 and a fifth hydraulic control one-way valve 504 are arranged in two cavities of each swing motor, but the dynamic characteristic of the hydraulic lock can influence the frequency response of a swing motor 512 controlled by a second electro-hydraulic servo valve 502, so that the control oil path of the hydraulic lock is directly connected with a first main oil outlet pipe A1, when the system is pressurized, the hydraulic lock is in an open state, the swing motor 512 is controlled by the second electro-hydraulic servo valve 502, and the hydraulic lock is used as a passage and does not participate in work; when the system is unloaded, the hydraulic lock is locked, and the swing motor 512 keeps the current position, so that the safety and the reliability of the equipment are improved; a fifth pressure sensor 503 and a sixth pressure sensor 510 are respectively arranged in two cavities of the swing motor 512 and are used for detecting the pressure difference between the two cavities of the swing motor 512 in real time, so that the force closed-loop servo control of the swing motor 512 is performed, and the controllability of the system is improved; a motor safety valve C, D formed by combining a fourth check valve 506 and a fifth check valve 508 as well as a first overflow valve 507 and a second overflow valve 509 is arranged in two cavities of each swing motor 512, so that damage to the swing motor 512 caused by unexpected force build-up and rotation blockage is avoided.
7) The rotary motor unit 6 of the present invention is implemented by using two rotary motors 611 through a speed reducing mechanism including a motor brake 613 of a controllable braking device in the manner shown in fig. 8. The two rotary motors 611 drive the speed reducing mechanism in a reverse control mode to eliminate the influence of backlash on the control precision, that is, one rotary motor always drives the load to move, and the other rotary motor makes a reverse resistance motion, thereby providing a certain resistance force to completely eliminate backlash of the speed reducing mechanism. The two rotary motors 611 also reverse direction during the commutation of the device. The speed reduction mechanism adopts a large speed reduction ratio configuration to reduce the influence of low-speed instability of the swing motor 611 on the accuracy of the swing joint G1. The speed reducing mechanism also comprises a controllable braking device motor brake 613, whether the precision of the rotary joint G1 meets the requirement is detected in real time, and the precision braking is realized by matching with braking force, so that the precision of the rotary joint G1 is greatly improved; a hydraulic lock and a third non-leakage electromagnetic reversing stop valve 601 which are composed of a sixth hydraulic control one-way valve 603 and a seventh hydraulic control one-way valve 604 are arranged in two cavities of the rotary motor 611, but the dynamic characteristic of the hydraulic lock can influence the frequency response of the third electro-hydraulic servo valve 602 for controlling the rotary motor 611, so that the control oil path of the hydraulic lock is directly connected with a first main oil outlet pipe A1, when the system is pressurized, the hydraulic lock is in an open state, the rotary motor 611 is controlled by the third electro-hydraulic servo valve 602, and the hydraulic lock is used as a passage and does not participate in the work; when the system is unloaded, the hydraulic lock is locked, and the rotary motor 611 keeps the current position, so that the safety and the reliability of the equipment are improved; a seventh pressure sensor 605 and a ninth pressure sensor 616 are respectively arranged in two cavities of the rotary motor 611 and are used for detecting the pressure difference between the two cavities of the rotary motor 611 in real time, so as to perform closed-loop servo control on the force of the rotary motor 611 and improve the controllability of the system; a motor safety valve E, F composed of a sixth check valve 607, a seventh check valve 609, a third overflow valve 608 and a fourth overflow valve 610 is arranged in two cavities of each rotary motor 611, so that damage to the rotary motor 611 caused by unexpected power holding and rotation blocking can be avoided.

Claims (8)

1. The utility model provides a seven degree of freedom heavy load arm hydraulic servo which characterized in that: the seven-degree-of-freedom heavy-load mechanical arm hydraulic servo system comprises: the hydraulic control system comprises a first main loop (A), a second main loop (B), a first hydraulic pump station (1), a second hydraulic pump station (2), a servo cylinder unit (3), a gripper hydraulic cylinder (4), a swing motor unit (5), a rotary motor unit (6) and an oil tank (7); wherein: the first hydraulic pump station (1) is connected with the servo cylinder unit (3), the gripper hydraulic cylinder (4), the swing motor unit (5) and the rotary motor unit (6) through the first main loop (A), the second hydraulic pump station (2) is connected with the rotary motor unit (6) through the second main loop (B), and the oil tank (7) is connected with the first hydraulic pump station (1) and the second hydraulic pump station (2) respectively.
2. The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm according to claim 1, wherein: the first main loop (A) comprises a first main oil outlet pipe (A1) and a first main oil return pipe (A2) and is used for transferring hydraulic oil among the servo cylinder unit (3), the gripper hydraulic cylinder (4), the swing motor unit (5), the rotary motor unit (6) and the first hydraulic pump station (1); the second main circuit (B) includes a second main oil outlet pipe (B18) and a second main oil return pipe (B19) for transferring hydraulic oil between the swing motor unit (6) and the second hydraulic pump station (2).
3. The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm according to claim 1, wherein: the first hydraulic pump station (1) comprises: the device comprises a first servo motor (107), a first variable intelligent pump (103), a first coupler (105), a first shock pad (106), a proportional overflow valve (114), a first one-way valve (104), a first shock absorption throat (102), a first oil absorption ball valve (101), a second servo motor (116), a second variable intelligent pump (119), a second coupler (118), a second shock pad (117), a second one-way valve (115), a second shock absorption throat (120), a second oil absorption ball valve (121), a first high-pressure ball valve (110), a second high-pressure ball valve (112), a first diaphragm energy accumulator (111), a second diaphragm energy accumulator (113), a first belt bypass valve and blockage alarm pressure oil filter (109), a first belt bypass valve and blockage alarm oil filter (123), an air cooler (122) and a first pressure sensor (108); a first shock absorption pad (106) is arranged below the first servo motor (107), and the first servo motor (107) is connected with the first variable intelligent pump (103) through a first coupler (105) and used for driving the first variable intelligent pump (103); an oil inlet of the first variable intelligent pump (103) is connected with a first damping throat (102), the first damping throat (102) is connected with a first oil suction ball valve (101), the first oil suction ball valve (101) is connected with an oil tank (7), an oil outlet of the first variable intelligent pump (103) is connected with an inlet of a first one-way valve (104), a second damping pad (117) is arranged below the second servo motor (116), and the second servo motor (116) is connected with a second variable intelligent pump (119) through a second coupler (118) and used for driving the second variable intelligent pump (119); the oil inlet of the second variable intelligent pump (119) is connected with a second damping throat (120), the second damping throat (120) is connected with a second oil suction ball valve (121), the second oil suction ball valve (121) is connected with the oil tank (7), the oil outlet of the second variable intelligent pump (119) is connected with the inlet of a second one-way valve (115), the outlet of the second one-way valve (115) is connected with the outlet of a first one-way valve (104), the outlets of the first one-way valve (104) and the second one-way valve (115) are connected with a first bypass valve and the inlet of a blockage alarm pressure oil filter (109), the outlets of the first bypass valve and the blockage alarm pressure oil filter (109) are connected with a first high-pressure ball valve (110) and a second high-pressure ball valve (112), the first high-pressure ball valve (110) is connected with a first thin-film energy accumulator (111), and the second high-pressure ball valve (112) is connected with a second thin-film energy accumulator, the outlet of the first belt bypass valve and the blockage alarm pressure oil filter (109) is connected with a first main oil outlet pipe (A1) of the system, the outlet of the first one-way valve (104) and the outlet of the second one-way valve (115) are connected with a first pressure sensor (108), the outlet of the first one-way valve (104) and the outlet of the second one-way valve (115) are connected with a proportional overflow valve (114), the proportional overflow valve (114) is connected with a first main oil return pipe (A2) of the system, the first main oil return pipe (A2) is connected with an air cooler (122), the air cooler (122) is connected with the first belt bypass valve and the inlet of the blockage alarm oil return filter (123), and the outlet of the first belt bypass valve and the blockage alarm oil return filter (123) are connected with an oil tank (.
4. The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm according to claim 1, wherein: the second hydraulic pump station (2) comprises: the hydraulic control system comprises a pilot electromagnetic overflow valve (208), a motor (206), a hydraulic pump (203), a third coupler (204), a third shock pad (205), a third high-pressure ball valve (210), a third diaphragm accumulator (211), a second bypass valve and blockage alarm pressure oil filter (209), a second bypass valve and blockage alarm oil return oil filter (212), a third check valve (207), a third damping throat (202) and a third oil suction ball valve (201); a third shock absorption pad (205) is arranged below the motor (206), and the motor (206) is connected with the hydraulic pump (203) through a third coupling (204) and is used for driving the hydraulic pump (203); the oil inlet of the hydraulic pump (203) is connected with a third damping throat (202), the third damping throat (202) is connected with a third oil suction ball valve (201), the third oil suction ball valve (201) is connected with an oil tank (7), the oil outlet of the hydraulic pump (203) is connected with the inlet of a third one-way valve (207), the outlet of the third one-way valve (207) is connected with the inlet of a second bypass valve and a blockage alarm pressure oil filter (209), the outlet of the second bypass valve and the blockage alarm pressure oil filter (209) is connected with a third high-pressure ball valve (210), the third high-pressure ball valve (210) is connected with a third diaphragm accumulator (211), the outlet of the second bypass valve and the blockage alarm pressure oil filter (209) is connected with a second main oil outlet pipe (B18), the outlet of the third one-way valve (207) is connected with a pilot electromagnetic overflow valve (208), and the pilot electromagnetic overflow valve (208) is connected with a second main oil return pipe (B35, the second main oil return pipe (B19) is connected with a second bypass valve and an inlet of the blockage alarm oil return filter (212), and the second bypass valve and an outlet of the blockage alarm oil return filter (212) are connected with the oil tank (7).
5. The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm according to claim 1, wherein: the servo cylinder unit (3) comprises four parts which are completely identical in the inside and comprise a first amplitude servo cylinder (3.1), a second amplitude servo cylinder (3.2), a telescopic servo cylinder (3.3) and a feeding servo cylinder (3.4), and each part comprises: the hydraulic control system comprises a first non-leakage electromagnetic directional stop valve (301), a first electro-hydraulic servo valve (302), a first hydraulic control one-way valve (303), a second hydraulic control one-way valve (304), a second pressure sensor (305), a third pressure sensor (307) and a servo oil cylinder (306); the first main oil outlet pipe (A1) is connected with a first non-leakage electromagnetic reversing stop valve (301), the first non-leakage electromagnetic reversing stop valve (301) is respectively connected with control oil ports of a first hydraulic control one-way valve (304) and a second hydraulic control one-way valve (303), the first main oil outlet pipe (A1) is connected with a P port of a first electro-hydraulic servo valve (302), the A port of the first electro-hydraulic servo valve (302) is connected with an inlet of the first hydraulic control one-way valve (304), an outlet of the first hydraulic control one-way valve (304) is connected with a second pressure sensor (305), an outlet of the first hydraulic control one-way valve (304) is connected with an oil inlet of a servo oil cylinder (306), an oil outlet of the servo oil cylinder (306) is connected with an outlet of the second hydraulic control one-way valve (303), the servo oil cylinder (306) is connected with a third pressure sensor (307), an inlet of the second hydraulic control one-way valve (303) is connected with an oil outlet of the first electro, the T port of the first electro-hydraulic servo valve (302) is connected with a first main oil return pipe (A2).
6. The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm according to claim 1, wherein: the gripper hydraulic cylinder (4) comprises: the hydraulic control system comprises a three-position four-way reversing valve (401), a third hydraulic control one-way valve (403), a fourth pressure sensor (405), a one-way throttle valve (402) and a gripper servo oil cylinder (404); the oil outlet of the gripper servo oil cylinder (404) is connected with a port B of the three-position four-way reversing valve (401), and a port T of the three-position four-way reversing valve (401) is connected with a port P of the three-position four-way reversing valve (401), the port A of the three-position four-way reversing valve (401) is connected with a one-way throttle valve (402), the one-way throttle valve (402) is connected with an inlet of a third hydraulic control one-way valve (403), an outlet of the third hydraulic control one-way valve (403) is connected with an oil inlet of the gripper servo oil cylinder (404), an oil outlet of the gripper servo oil cylinder (404) is connected with a port B of the three-position four-way reversing valve (401), and a port T of the three-position four-way reversing valve (401) is connected with a first main oil return pipe (A.
7. The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm according to claim 1, wherein: the swing motor unit (5) comprises three parts which are completely identical inside and comprise a horizontal swing motor (5.1), a rolling swing motor (5.2) and a lifting motor (5.3), and each part comprises: the hydraulic control system comprises a second non-leakage electromagnetic reversing stop valve (501), a second electro-hydraulic servo valve (502), a fourth hydraulic control one-way valve (513), a fifth pressure sensor (503), a first high-pressure hose (505), a first overflow valve (507), a swing motor (512), a fourth one-way valve (506), a fifth one-way valve (508), a second overflow valve (509), a second high-pressure hose (511), a sixth pressure sensor (510) and a fifth hydraulic control one-way valve (504); the first main oil outlet pipe (A1) is connected with a second non-leakage electromagnetic reversing stop valve (501), the second non-leakage electromagnetic reversing stop valve (501) is respectively connected with a fourth hydraulic control one-way valve (513) and a fifth hydraulic control one-way valve (504) to control oil ports, the first main oil outlet pipe (A1) is connected with a P port of a second electro-hydraulic servo valve (502), the A port of the second electro-hydraulic servo valve (502) is connected with an inlet of a fourth hydraulic control one-way valve (513), an outlet of the fourth hydraulic control one-way valve (513) is connected with a fifth pressure sensor (503), an outlet of the fourth hydraulic control one-way valve (513) is connected with a first high-pressure hose (505), the first high-pressure hose (505) is connected with a motor safety valve C inlet formed by connecting the fourth one-way valve (506) and a first overflow valve (507) in parallel, the first high-pressure hose (505) is connected with an inlet of a swing motor (512), and an outlet of the swing motor (512) is formed by connecting the fifth one-way valve (508) and the The motor safety valve D entrance, motor safety valve C export and motor safety valve D export connection oil tank (7), motor safety valve D entry connection second high-pressure hose (511), sixth pressure sensor (510) are connected in second high-pressure hose (511), fifth pilot operated check valve (504) export is connected in second high-pressure hose (511), the B mouth of second electrohydraulic servo valve (502) is connected in fifth pilot operated check valve (504) entry, first main oil return pipe (A2) is connected to the T mouth of second electrohydraulic servo valve (502).
8. The hydraulic servo system of the seven-degree-of-freedom heavy-duty mechanical arm according to claim 1, wherein: the swing motor unit (6) comprises two identical internal parts, a first swing motor (6.1) and a second swing motor (6.2), each part comprising: a third non-leakage electromagnetic directional stop valve (601), a third electro-hydraulic servo valve (602), a sixth hydraulic control one-way valve (603), a seventh hydraulic control one-way valve (604), a seventh pressure sensor (605), a third high-pressure hose (606), a sixth one-way valve (607), a third overflow valve (608), a seventh one-way valve (609), a fourth overflow valve (610), a rotary motor (611), a fourth high-pressure hose (612), a motor brake (613), an eighth pressure sensor (614), a fifth high-pressure hose (615), a ninth pressure sensor (616), a fourth non-leakage electromagnetic directional stop valve (617) and a pilot type pressure reducing valve (618); the first main oil outlet pipe (A1) is connected with a third non-leakage electromagnetic directional stop valve (601), the third non-leakage electromagnetic directional stop valve (601) is respectively connected with a sixth hydraulic control one-way valve (603) and a control oil port of a seventh hydraulic control one-way valve (604), the first main oil outlet pipe (A1) is connected with a P port of a third electro-hydraulic servo valve (602), the A port of the third electro-hydraulic servo valve (602) is connected with an inlet of the sixth hydraulic control one-way valve (603), an outlet of the sixth hydraulic control one-way valve (603) is connected with a seventh pressure sensor (605), an outlet of the sixth hydraulic control one-way valve (603) is connected with a third high-pressure hose (606), the third high-pressure hose (606) is connected with an inlet of a motor safety valve E formed by connecting the sixth one-way valve (607) and a third overflow valve (608) in parallel, the third high-pressure hose (606) is connected with an inlet of a rotary motor (611), and an outlet of the rotary motor (611) is connected with a seventh one-way valve (609) and a fourth overflow valve ( The outlet of the motor safety valve E and the outlet of the motor safety valve F are connected with an oil tank (7), the inlet of the motor safety valve F is connected with a fourth high-pressure hose (612), the fourth high-pressure hose (612) is connected with a ninth pressure sensor (616), the fourth high-pressure hose (612) is connected with the outlet of a seventh hydraulic control one-way valve (604), the inlet of the seventh hydraulic control one-way valve (604) is connected with a port B of a third electro-hydraulic servo valve (602), and a port T of the third electro-hydraulic servo valve (602) is connected with a first main oil return pipe (A2); the second main oil outlet pipe (B18) is connected with a pilot-operated type pressure reducing valve (618), the pilot-operated type pressure reducing valve (618) is connected with a fourth non-leakage electromagnetic reversing stop valve (617), the fourth non-leakage electromagnetic reversing stop valve (617) is connected with an eighth pressure sensor (614), the fourth non-leakage electromagnetic reversing stop valve (617) is connected with a fifth high-pressure hose (615), the fifth high-pressure hose (615) is connected with a motor brake (613), and the fourth non-leakage electromagnetic reversing stop valve (617) is connected with a second main oil return pipe (B19).
CN201911409003.XA 2019-12-31 2019-12-31 Seven-degree-of-freedom heavy-load mechanical arm hydraulic servo system Pending CN110953201A (en)

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CN114688108B (en) * 2022-04-13 2023-02-28 浙江大学 Multi-margin pump valve combined hydraulic system for electro-hydraulic servo six-degree-of-freedom parallel robot

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