CN111283673B - Hydraulic system and mechanical arm - Google Patents

Hydraulic system and mechanical arm Download PDF

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Publication number
CN111283673B
CN111283673B CN202010096732.0A CN202010096732A CN111283673B CN 111283673 B CN111283673 B CN 111283673B CN 202010096732 A CN202010096732 A CN 202010096732A CN 111283673 B CN111283673 B CN 111283673B
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China
Prior art keywords
oil
valve
hydraulic
path
proportional
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CN202010096732.0A
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Chinese (zh)
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CN111283673A (en
Inventor
赵岳
李雷
闫礼强
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • 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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • 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
    • 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
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7052—Single-acting output members
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/765—Control of position or angle of the output member

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

Abstract

The invention provides a hydraulic system which comprises a hydraulic oil cylinder, an oil tank, a proportional reversing valve, a four-way electromagnetic ball valve, a proportional overflow valve and a one-way valve. An oil inlet path and an oil return path are arranged between the oil tank and the hydraulic oil cylinder; the proportional reversing valve is arranged on the oil inlet path and the oil return path and is connected between the oil tank and the hydraulic oil cylinder; the four-way electromagnetic ball valve is arranged on the oil inlet path and the oil return path and is connected between the proportional reversing valve and the hydraulic oil cylinder; the proportional overflow valve is arranged on the oil return path and is connected between the oil tank and the proportional reversing valve; the one-way valve and the proportional overflow valve are arranged on the oil return path in parallel and used for allowing the hydraulic oil cylinder to be communicated with the oil tank in one way when the proportional reversing valve does not work and the four-way electromagnetic ball valve works. The hydraulic system provided by the invention realizes the driven control of the hydraulic system under the action of a small external force by controlling the working states of the proportional reversing valve, the four-way electromagnetic ball valve and the proportional overflow valve, and has stronger impact resistance compared with other mechanical arms.

Description

Hydraulic system and mechanical arm
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a hydraulic system and a mechanical arm.
Background
Along with the popularization of the application of modern industrial robots, the requirements of various industries on the tail end load capacity of the articulated robot are higher and higher, especially in the field of equipment such as heavy-duty industrial robots, military robots and engineering machinery. The mechanical arm of the existing control industrial robot is mainly realized by driving a gear rack and a gear rack through an electric push rod or a motor, however, the mechanical arm is controlled through the electric push rod or the motor, the electric push rod or the motor is rigidly connected with the gear rack, the bearing capacity is small, and large-load action is difficult to realize. When the received external force exceeds the rated working condition, the damage condition possibly exists, and the shock resistance of the mechanical arm is insufficient.
Disclosure of Invention
The present invention provides a hydraulic system and a robot arm to solve the above problems. The embodiment of the invention achieves the aim through the following technical scheme.
In a first aspect, the invention provides a hydraulic system which comprises a hydraulic oil cylinder, an oil tank, a proportional reversing valve, a four-way electromagnetic ball valve, a proportional overflow valve and a one-way valve. An oil inlet path and an oil return path are arranged between the oil tank and the hydraulic oil cylinder; the proportional reversing valve is arranged on the oil inlet path and the oil return path and is connected between the oil tank and the hydraulic oil cylinder; the four-way electromagnetic ball valve is arranged on the oil inlet path and the oil return path and is connected between the proportional reversing valve and the hydraulic oil cylinder; the proportional overflow valve is arranged on the oil return path, is connected between the oil tank and the proportional reversing valve and is used for setting the pressure of the oil return path; the one-way valve and the proportional overflow valve are arranged on the oil return path in parallel and used for allowing the hydraulic oil cylinder to be communicated with the oil tank in one way when the proportional reversing valve does not work and the four-way electromagnetic ball valve works.
In one embodiment, the hydraulic system further comprises a controller connected to the proportional directional valve for controlling the flow and direction of the oil inlet and the oil return respectively through the proportional directional valve.
In an embodiment, hydraulic cylinder is including thick stick chamber and nos thick stick chamber, hydraulic system still includes first pressure sensor and second pressure sensor, first pressure sensor and second pressure sensor all with controller signal connection, first pressure sensor installs in the oil inlet way, and connect between cross electromagnetic ball valve and nos thick stick chamber, a pressure value and the feedback to the controller for detecting no thick stick chamber, second pressure sensor installs in oil return way, and connect between thick stick chamber and cross electromagnetic ball valve, a pressure value and the feedback to the controller for detecting there is thick stick chamber, the controller is used for obtaining hydraulic cylinder's load according to the pressure value that there is thick stick chamber in no thick stick chamber.
In one embodiment, the hydraulic system further comprises a displacement sensor, the displacement sensor is arranged in the hydraulic oil cylinder and is in signal connection with the controller, and the displacement sensor is used for detecting real-time displacement of the hydraulic oil cylinder and feeding back the real-time displacement to the controller.
In one embodiment, the controller is further in signal connection with the four-way electromagnetic ball valve, target displacement is stored in the controller, the controller compares the real-time displacement with the target displacement after receiving the real-time displacement fed back by the displacement sensor, and when the real-time displacement is equal to the target displacement, the controller controls the four-way electromagnetic ball valve and the proportional reversing valve to be powered off.
In an embodiment, hydraulic system still includes the hydraulic pump, hydraulic cylinder is including thick stick chamber and no thick stick chamber, the proportional reversing valve includes the first working fluid port with no thick stick chamber intercommunication, with the second working fluid port that has thick stick chamber intercommunication, the oil inlet that communicates with the hydraulic pump and the oil return opening that communicates with the check valve, the proportional reversing valve has outage protection position and at least one work position, when the proportional reversing valve is out of work, oil inlet way and oil return way are in the outage protection position of proportional reversing valve, first working fluid port and second working fluid port all communicate with the oil return opening, the oil inlet ends, hydraulic cylinder is through first working fluid port, the oil return opening, the one-way intercommunication oil tank of check valve.
In one embodiment, the at least one working position comprises a first working position, a second working position and a third working position, when the oil inlet path and the oil return path are located at the first working position of the proportional reversing valve, the first working oil port is communicated with the oil inlet, and the second working oil port is communicated with the oil return port; when the oil inlet path and the oil return path are positioned at a second working position of the proportional reversing valve, the first working oil port, the second working oil port, the oil inlet and the oil return port are all cut off; when the oil inlet path and the oil return path are located at a third working position of the proportional reversing valve, the first working oil port is communicated with the oil return port, and the second working oil port is communicated with the oil inlet.
In one embodiment, the hydraulic system further comprises a hydraulic pump and a filter, both the hydraulic pump and the filter are installed on the oil inlet path, the hydraulic pump is adjacent to the oil tank, and the filter is connected between the hydraulic pump and the proportional reversing valve.
In one embodiment, the hydraulic system further comprises an electromagnetic ball valve and an overflow valve, and the overflow valve and the electromagnetic ball valve are installed between the oil inlet path and the oil return path in parallel.
In a second aspect, the invention further provides a mechanical arm, which includes a fixed arm, a telescopic arm and the hydraulic system of any of the above embodiments, wherein the telescopic arm is slidably disposed on the fixed arm, the hydraulic cylinder includes a piston rod, the telescopic arm is mechanically connected to the piston rod, and the fixed arm is mechanically connected to one end of the hydraulic cylinder, which is far away from the piston rod.
Compared with the prior art, the hydraulic system provided by the invention realizes the driven control of the hydraulic system under the action of a small external force by controlling the working states of the proportional reversing valve, the four-way electromagnetic ball valve and the proportional overflow valve, and has stronger impact resistance compared with other mechanical arms.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.
Drawings
In order to more clearly illustrate the technical solution in the present embodiment, the drawings needed to be used in the description of the embodiment will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a hydraulic system provided in an embodiment of the present invention in one state.
Fig. 2 is a schematic structural diagram of a hydraulic system provided by an embodiment of the invention in another state.
Fig. 3 is a schematic structural diagram of a hydraulic system provided by an embodiment of the invention in still another state.
Fig. 4 is a schematic structural diagram of a hydraulic system provided in an embodiment of the present invention in still another state.
Fig. 5 is a schematic structural diagram of a hydraulic system provided by an embodiment of the invention in yet another state.
Fig. 6 is a schematic structural diagram of a robot arm in a retracted state according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a hydraulic system provided by an embodiment of the invention in an extended state.
Detailed Description
To facilitate an understanding of the present embodiments, the present embodiments will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the present examples is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1, the present invention provides a hydraulic system 10, which includes a hydraulic cylinder 11, an oil tank 12, a proportional directional valve 13, a four-way electromagnetic ball valve 14, a proportional overflow valve 15, and a check valve 16. An oil inlet path and an oil return path are arranged between the oil tank 12 and the hydraulic oil cylinder 11; the proportional reversing valve 13 is arranged on the oil inlet path and the oil return path and is connected between the oil tank 12 and the hydraulic oil cylinder 11; the four-way electromagnetic ball valve 14 is arranged on the oil inlet path and the oil return path and is connected between the proportional reversing valve 13 and the hydraulic oil cylinder 11; the proportional overflow valve 15 is installed on the oil return path, connected between the oil tank 12 and the proportional reversing valve 13, and used for setting the pressure of the oil return path; the check valve 16 and the proportional overflow valve 15 are installed in parallel on the oil return path and are used for allowing the hydraulic oil cylinder 11 to be communicated with the oil tank 12 in a one-way mode when the proportional reversing valve 13 does not work and the four-way electromagnetic ball valve 14 works.
Referring to fig. 1 and 2, the hydraulic cylinder 11 includes a cylinder 112, a piston 114 movably disposed in the cylinder 112, and a piston rod 116 fixedly connected to the piston 114, wherein the piston 114 divides the cylinder 112 into a rod cavity 1121 and a rod-less cavity 1123, and the rod cavity 1121 refers to an end having the piston rod 116.
In this embodiment, the hydraulic system 10 further includes elements such as a hydraulic pump 17, an electromagnetic ball valve 18, a relief valve 19, and a filter 106, and the oil inlet path refers to an oil path from the oil tank 12 to the rodless chamber 1123 of the hydraulic cylinder 11 through the filter 106, the proportional directional valve 13, and the four-way electromagnetic ball valve 14 in this order. The oil return path refers to an oil path from a rod cavity 1121 of the hydraulic oil cylinder 11 to the oil tank 12 through the four-way electromagnetic ball valve 14, the proportional reversing valve 13 and the proportional overflow valve 15 in sequence.
The hydraulic pump 17 is installed in the oil inlet path, and the hydraulic pump 17 is adjacent to the oil tank 12. Hydraulic pump 17 is configured to deliver pressurized oil from tank 12 into hydraulic ram 11 to effect movement of piston rod 116 of hydraulic ram 11. In other embodiments, the hydraulic system 10 may further include a driving motor in transmission cooperation with the hydraulic pump 17, and the driving motor is used for providing a driving force to drive the hydraulic pump 17 to provide pressure oil for the hydraulic cylinder 11. The drive motor may also drive the hydraulic pump 17 at variable speeds to precisely control the flow of pressurized oil provided to the hydraulic rams 11.
The relief valve 19 and the electromagnetic ball valve 18 are installed in parallel between the oil inlet path and the oil return path. The relief valve 19 may be used to set a maximum pressure of the hydraulic system 10, and when the hydraulic pressure exceeds the set maximum pressure value, the relief valve 19 may be unloaded to reduce the hydraulic pressure, protect the hydraulic system 10, and ensure the working stability of the hydraulic system 10. The electromagnetic ball valve 18 is located away from the hydraulic pump 17 with respect to the relief valve 19 and is connected to both ends of the relief valve 19. The electromagnetic ball valve 18 may be used for unloading the hydraulic system 10, and as an example, when the hydraulic cylinder 11 is not in motion, the electromagnetic ball valve 18 may unload the pressure oil in the hydraulic system 10 back to the oil tank 12 to reduce energy consumption.
The filter 106 is installed in the oil feed path and connected between the hydraulic pump 17 and the proportional directional valve 13. The filter 106 may be used to filter impurities in the pressure oil, ensure cleanliness of the pressure oil, reduce damage of the impurities to other components, and improve stability of the hydraulic system 10.
In this embodiment, the proportional directional valve 13 is a four-position four-way proportional directional valve 13, and includes a first working oil port a communicated with the rodless cavity 1123, a second working oil port B communicated with the rod cavity 1121, an oil inlet P communicated with the hydraulic pump 17, and an oil return port T communicated with the check valve 16.
Referring to fig. 2, the proportional directional valve 13 has at least one working position, and in the present embodiment, the at least one working position includes a first working position 131, a second working position 132, and a third working position 133. In the present embodiment, the proportional directional valve 13 can detect the position of the valve core, thereby ensuring the fine stepless adjustment of the flow rate of the proportional directional valve 13 from zero to the maximum flow rate. The proportional directional valve 13 also includes a high frequency response proportional valve therein to increase the response speed of the control, thereby accurately adjusting the flow through the proportional directional valve 13 in real time.
When the oil inlet path and the oil return path are located at the first working position 131 of the proportional reversing valve 13, the first working oil port a is communicated with the oil inlet P, the second working oil port B is communicated with the oil return port T, and the hydraulic oil cylinder 11 is communicated with the oil tank 12 in a one-way mode through the second working oil port B, the oil return port T and the check valve 16. Specifically, the pressure oil sequentially passes through the hydraulic pump 17, the filter 106, the proportional reversing valve 13 and the four-way electromagnetic ball valve 14 to enter the rodless cavity 1123 of the hydraulic oil cylinder 11, the piston 114 of the hydraulic oil cylinder 11 is pushed to extend, and the pressure oil in the rod cavity 1121 of the hydraulic oil cylinder 11 sequentially passes through the four-way electromagnetic ball valve 14, the proportional reversing valve 13 and the proportional overflow valve 15 and returns to the oil tank 12.
With continued reference to fig. 1 and fig. 2, when the oil inlet path and the oil return path are at the second working position 132 of the proportional directional valve 13, the first working oil port a, the second working oil port B, the oil inlet P, and the oil outlet T are all blocked.
Referring to fig. 3, when the oil inlet path and the oil return path are located at the third working position 133 of the proportional directional valve 13, the first working oil port a is communicated with the oil outlet T, the second working oil port B is communicated with the oil inlet P, and the hydraulic oil cylinder 11 is communicated with the oil tank 12 in one way through the first working oil port a, the oil return port P and the check valve 16. Specifically, the pressure oil enters the rod cavity 1121 of the hydraulic oil cylinder 11 through the hydraulic pump 17, the filter 106, the proportional reversing valve 13 and the four-way electromagnetic ball valve 14 in sequence, the piston 114 of the hydraulic oil cylinder 11 is pushed to retract, and the pressure oil in the rod cavity 1121 of the hydraulic oil cylinder 11 passes through the four-way electromagnetic ball, the proportional reversing valve 13 and the proportional overflow valve 15 in sequence and returns to the oil tank 12.
Referring to fig. 4, the proportional directional valve 13 has a power-off protection position 134, when the proportional directional valve 13 does not work, the oil inlet path and the oil return path are located at the power-off protection position 134 of the proportional directional valve 13, the first working oil port a and the second working oil port B are both communicated with the oil return port T, the oil inlet P is closed, and the hydraulic oil cylinder 11 is communicated with the oil tank in one way through the first working oil port a, the oil return port T and the check valve 16. At this time, the hydraulic pump 17 communicates with both the rodless chamber 1123 and the rod chamber 1121, and the oil supply path is cut off. The rodless cavity 1123 of the hydraulic ram 11 may draw oil from the tank 12 through the check valve 16, thereby ensuring that the hydraulic ram 11 and the hydraulic system 10 are always filled with pressurized oil.
The proportional overflow valve 15 is arranged between the overflow valve 19 and the proportional reversing valve 13, the proportional overflow valve 15 can be used for controlling the pressure of an oil return path, and unloading can be performed when the pressure of the oil return path is higher, so that the functions of constant-pressure overflow, pressure stabilization, system unloading and safety protection can be achieved. Proportional relief valve 15 is fully open when not energized, i.e., no adjustment of the pressure oil is performed when not energized.
A check valve 16 for drawing oil from the tank 12 when the hydraulic system 10 is in the driven mode. Where the driven mode refers to a condition where the hydraulic system 10 is not operating, the piston rod 116 may be pushed to move by hand or other external force, thereby increasing the shock resistance of the hydraulic system 10.
Referring to fig. 5, the hydraulic system 10 is driven in the following mode:
in the driven mode, the hydraulic pump 17 does not work, the electromagnetic ball valve 18 does not work, the four-way electromagnetic ball valve 14 works, the proportional reversing valve 13 does not work, namely, the proportional reversing valve 13 is located at the fourth position, the oil inlet P is cut off, and the first working oil port A and the second working oil port B are both communicated with the oil outlet T. The proportional overflow valve 15 works, at this time, the proportional overflow valve 15 can be controlled by a program to set the system pressure, so that the oil return path generates a certain back pressure, and the resistance of the movement of the hydraulic oil cylinder 11 during passive working is set, wherein the system pressure can be set according to actual conditions. When piston rod 116 is pushed by hand to retract, the pressure oil in rodless cavity 1123 of hydraulic cylinder 11 can return to tank 12 through proportional relief valve 15. When piston rod 116 is pulled by hand to extend, the pressure oil in rod cavity 1121 of hydraulic cylinder 11 can be returned to tank 12 through proportional relief valve 15. When the piston rod 116 is required to stop at a certain position, as long as the four-way electromagnetic ball valve 14 is powered off, the hydraulic oil cylinder 11 can be locked at the moment. That is to say, when the hydraulic pump 17, the electromagnetic ball valve 18 and the proportional reversing valve 13 do not work, the hydraulic system 10 can extend and retract under the action of external force by controlling the proportional overflow valve 15 and the four-way electromagnetic ball valve 14, so that the damage of external impact force to the hydraulic oil cylinder 11 is reduced, and the impact resistance of the hydraulic system 10 is improved.
In this embodiment, when the mechanical arm 1 is driven to extend, the rodless cavity 1123 of the hydraulic cylinder 11 may suck oil from the oil tank 12 through the check valve 16, so as to ensure that the hydraulic cylinder 11 and the hydraulic system 10 are always full of pressure oil, and avoid air mixing in the hydraulic cylinder 11, thereby avoiding a phenomenon that the hydraulic cylinder 11 cannot be completely locked due to air compression.
The hydraulic system 10 further includes a first pressure sensor 101, a second pressure sensor 102, and a controller 103. The controller 103 is connected with the proportional directional valve 13, and the controller 103 is used for controlling the flow and the flow direction of the oil inlet circuit and the oil return circuit respectively when the oil inlet circuit and the oil return circuit flow through the proportional directional valve 13. The first pressure sensor 101 and the second pressure sensor 102 are in signal connection with the controller 103, and the first pressure sensor 101 is installed on an oil inlet path, connected between the four-way electromagnetic ball valve 14 and the rodless cavity 1123, and used for detecting a pressure value of the rodless cavity 1123 and feeding back the pressure value to the controller 103. The second pressure sensor 102 is installed on the oil return path, is connected between the lever cavity 1121 and the four-way electromagnetic ball valve 14, and is used for detecting a pressure value of the lever cavity 1121 and feeding back the pressure value to the controller 103, and the controller 103 is used for obtaining a load of the hydraulic oil cylinder 11 according to the pressure values of the rodless cavity 1123 and the lever cavity 1121. In the present embodiment, the detection ranges of the first pressure sensor 101 and the second pressure sensor 102 are both between 0-40 MPa. The first pressure sensor 101 and the second pressure sensor 102 may cooperate to detect the jacking force of the piston rod 116, and specifically, the first pressure sensor 101 and the second pressure sensor 102 respectively detect the pressures of the rodless cavity 1123 and the rod cavity 1121, and calculate a difference between the two pressure values according to the two detected pressure values, and the difference is multiplied by the action area of the rodless cavity 1123, that is, the jacking force of the piston rod 116 extending in real time.
The controller 103 controls the switching direction and the opening size of the proportional directional valve 13 according to the pressures detected by the first pressure sensor 101 and the second pressure sensor 102, thereby realizing closed-loop control of the jacking force. In the implementation, the hydraulic oil cylinder 11 can be charged with oil and pressurized or discharged with oil and depressurized by controlling the flow rate of the oil entering and flowing out of the oil cylinder, so that the jacking force is controlled. As an example, during the extension of the piston rod 116, when the end of the piston rod 116 is subjected to a load reaction force, the piston rod 116 is in the extended state but the actual stroke is not changed, the rodless cavity 1123 of the hydraulic cylinder 11 has continuous pressure oil entering, so that the pressure in the rodless cavity 1123 is increased, the controller 103 calculates the jacking force of the piston rod 116 according to the pressure detected by the pressure sensor 102, and when the actual required jacking force is reached, the extension action of the hydraulic cylinder 11 is stopped, and the piston rod 116 keeps the thrust operation. When the thrust of the piston rod 116 needs to be reduced, the proportional directional valve 13 controls the piston rod 116 to retract, so that the jacking force is reduced. Since the flow rate of the proportional directional valve 13 is finely adjustable, fine adjustment of the force can be achieved by fine opening adjustment of the proportional directional valve 13.
The controller 103 is further in signal connection with the four-way electromagnetic ball valve 14, a target displacement is stored in the controller 103, the controller 103 compares the real-time displacement with the target displacement after receiving the real-time displacement fed back by the displacement sensor 104, and when the real-time displacement is equal to the target displacement, the controller 103 controls the four-way electromagnetic ball valve 14 and the proportional directional valve 13 to be powered off, and at the moment, the position of the hydraulic oil cylinder 11 is unchanged.
In the present embodiment, the four-way electromagnetic ball valve 14 includes an on potential 141 and an off potential 143, and the controller 103 controls the oil inlet path and the oil return path to be at the on potential 141 or the off potential 143 of the four-way electromagnetic ball valve 14. The proportional directional valve 13 is communicated with the hydraulic oil cylinder 11 through a current-carrying potential 141, that is, when the controller 103 controls the oil inlet path and the oil return path to be at the current-carrying potential 141 of the four-way electromagnetic ball valve 14, the oil inlet path and the oil return path may form a path to achieve the extension and retraction of the piston rod 116 of the hydraulic oil cylinder 11. The breaking potential 143 cuts off an oil path between the proportional directional valve 13 and the hydraulic cylinder 11, that is, when the controller 103 controls the oil inlet path and the oil return path to be at the breaking potential 143 of the four-way electromagnetic ball valve 14, the hydraulic cylinder 11 is in a locked state due to no flow of pressure oil, and the hydraulic cylinder 11 cannot be actuated even by a large external force unless the mechanical structure of the hydraulic cylinder 11 is damaged, so the breaking potential 143 of the four-way electromagnetic ball valve 14 can ensure that the piston rod 116 of the hydraulic cylinder 11 is in a fixed position.
The hydraulic system 10 further comprises a displacement sensor 104, the displacement sensor 104 is arranged in the hydraulic oil cylinder 11 and is in signal connection with the controller 103, the displacement sensor 104 is used for detecting real-time displacement of the hydraulic oil cylinder 11 and feeding back the real-time displacement to the controller 103, and the controller 103 compares the real-time displacement with a target displacement and controls displacement of the hydraulic oil cylinder 11 according to a comparison result.
Through cooperation of the controller 103 and the displacement sensor 104 with the components, closed-loop precise control of the position of the piston rod 116 can be achieved. As an example, when the electromagnetic ball valve 18 is powered, the proportional reversing valve 13 is in the first working position 131, and the proportional overflow valve 15 is not powered, pressure oil passes through the proportional reversing valve 13, enters the rodless cavity 1123 of the hydraulic oil cylinder 11, and pushes the piston 114 of the hydraulic oil cylinder 11 to extend. In the extending process of the piston rod 116, the displacement sensor 104 arranged in the oil hydraulic cylinder detects the displacement of the piston rod 116 in real time and feeds data back to the controller 103, and the controller 103 compares the received data with target position data to control the cylinder to extend in real time. When the target position is reached, the controller 103 controls the electromagnetic ball valve 18, the proportional directional valve 13 and the four-way electromagnetic ball valve 14 to be powered off, and the piston rod 116 stops moving, so that the closed-loop accurate control of the position of the piston rod 116 is realized. It will be appreciated that closed loop precision control of the position of the piston rod 116 is also possible when the piston rod 116 is retracted.
In this embodiment, the controller 103 may also decrease the opening of the proportional directional valve 13 before the real-time displacement reaches the target displacement. The opening of the proportional valve is reduced by controlling the hydraulic oil cylinder 11 through the controller 103 before the hydraulic oil cylinder reaches the target displacement, for example, the proportional valve is decelerated in advance when the distance is 10mm from the preset position, the positioning accuracy of the hydraulic oil cylinder 11 can be improved, the impact when the hydraulic oil cylinder stops is reduced, and the service life of the hydraulic oil cylinder 11 is prolonged. It can be understood that the opening of the proportional directional valve 13 can be controlled to gradually increase when the hydraulic oil cylinder 11 starts to act, so that the extending speed of the piston rod 116 is controlled to be uniformly increased, and the smooth start of the hydraulic oil cylinder 11 is realized.
In summary, the hydraulic system 10 provided by the invention realizes the driven control of the hydraulic system 10 under the action of a small external force by controlling the working positions of the proportional reversing valve 13, the four-way electromagnetic ball valve 14 and the proportional overflow valve 15, and compared with other mechanical arms, the hydraulic mechanical arm 1 has stronger impact resistance. .
Referring to fig. 2, fig. 6 and fig. 7, the present invention further provides a mechanical arm 1, which includes a fixed arm 20, a telescopic arm 30 and a hydraulic system 10, wherein the telescopic arm 30 is slidably disposed on the fixed arm 20, the telescopic arm 30 is mechanically connected to a piston rod 116, and the fixed arm 20 is mechanically connected to an end of the hydraulic cylinder 11 away from the piston rod 116. The through hole controls the extension or retraction of the piston rod 116, which controls the extension length of the telescopic arm 30. The robot arm 1 according to this embodiment can also realize closed-loop control of the lift force, closed-loop precise control of the position of the telescopic arm 30, and the slave mode of the robot arm 1.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A hydraulic system, comprising:
a hydraulic cylinder;
an oil inlet path and an oil return path are arranged between the oil tank and the hydraulic oil cylinder;
the proportional reversing valve is arranged on the oil inlet path and the oil return path and is connected between the oil tank and the hydraulic oil cylinder;
the four-way electromagnetic ball valve is arranged on the oil inlet path and the oil return path and is connected between the proportional reversing valve and the hydraulic oil cylinder, and the four-way electromagnetic ball valve comprises a power-on position and a power-off position;
the controller is in signal connection with the four-way electromagnetic ball valve and is used for controlling the oil inlet path and the oil return path to be at the power-on position or the power-off position of the four-way electromagnetic ball valve, and when the controller controls the oil inlet path and the oil return path to be at the power-on position of the four-way electromagnetic ball valve, the oil path between the proportional reversing valve and the hydraulic oil cylinder is communicated; when the controller controls the oil inlet path and the oil return path to be in the power-off position of the four-way electromagnetic ball valve, the oil path between the proportional reversing valve and the hydraulic oil cylinder is cut off;
the proportional overflow valve is arranged on the oil return path, is connected between the oil tank and the proportional reversing valve and is used for setting the pressure of the oil return path; and
and the check valve is arranged on the oil return path in parallel with the proportional overflow valve and is used for allowing the hydraulic oil cylinder to be communicated with the oil tank in a one-way mode when the proportional reversing valve does not work and the four-way electromagnetic ball valve works.
2. The hydraulic system of claim 1, wherein the controller is coupled to the proportional reversing valve for controlling the flow and direction of the oil inlet and the oil return, respectively, through the proportional reversing valve.
3. The hydraulic system according to claim 2, wherein the hydraulic cylinder comprises a lever cavity and a non-lever cavity, the hydraulic system further comprises a first pressure sensor and a second pressure sensor, the first pressure sensor and the second pressure sensor are both in signal connection with the controller, the first pressure sensor is installed on the oil inlet path and connected between the four-way electromagnetic ball valve and the non-lever cavity for detecting a pressure value of the non-lever cavity and feeding back the pressure value to the controller, the second pressure sensor is installed on the oil return path and connected between the lever cavity and the four-way electromagnetic ball valve for detecting a pressure value of the lever cavity and feeding back the pressure value to the controller, and the controller is used for obtaining the load of the hydraulic cylinder according to the pressure values of the non-lever cavity and the lever cavity.
4. The hydraulic system of claim 2, further comprising a displacement sensor disposed within the hydraulic cylinder and in signal communication with the controller, the displacement sensor configured to detect real-time displacement of the hydraulic cylinder and feed back to the controller.
5. The hydraulic system as claimed in claim 4, wherein a target displacement is stored in the controller, the controller compares the real-time displacement with the target displacement after receiving the real-time displacement fed back by the displacement sensor, and when the real-time displacement is equal to the target displacement, the controller controls the four-way electromagnetic ball valve and the proportional reversing valve to be powered off.
6. The hydraulic system according to claim 1, further comprising a hydraulic pump, wherein the hydraulic cylinder comprises a lever cavity and a non-lever cavity, the proportional directional valve comprises a first working oil port communicated with the non-lever cavity, a second working oil port communicated with the lever cavity, an oil inlet communicated with the hydraulic pump, and an oil return port communicated with the check valve, the proportional directional valve has a power-off protection position and at least one working position, when the proportional directional valve does not work, the oil inlet path and the oil return path are in the power-off protection position of the proportional directional valve, the first working oil port and the second working oil port are both communicated with the oil return port, the oil inlet is closed, and the hydraulic cylinder is communicated with the oil tank through the first working oil port, the oil return port and the check valve in a one-way manner.
7. The hydraulic system according to claim 6, wherein the at least one working position comprises a first working position, a second working position and a third working position, and when the oil inlet path and the oil return path are in the first working position of the proportional reversing valve, the first working oil port is communicated with the oil inlet, and the second working oil port is communicated with the oil return port; when the oil inlet path and the oil return path are positioned at a second working position of the proportional reversing valve, the first working oil port, the second working oil port, the oil inlet and the oil return port are all cut off; when the oil inlet path and the oil return path are located at a third working position of the proportional reversing valve, the first working oil port is communicated with the oil return port, and the second working oil port is communicated with the oil inlet.
8. The hydraulic system of claim 1, further comprising a hydraulic pump and a filter, both mounted to the oil inlet path, the hydraulic pump being adjacent the oil tank, the filter being connected between the hydraulic pump and the proportional reversing valve.
9. The hydraulic system according to claim 1, further comprising an electromagnetic ball valve and an overflow valve, the overflow valve and the electromagnetic ball valve being mounted in parallel between the oil inlet path and the oil return path.
10. A robotic arm comprising a fixed arm, a telescoping arm, and a hydraulic system according to any of claims 1-9, wherein the telescoping arm is slidably disposed on the fixed arm, the hydraulic cylinder comprises a piston rod, the telescoping arm is mechanically coupled to the piston rod, and the fixed arm is mechanically coupled to an end of the hydraulic cylinder remote from the piston rod.
CN202010096732.0A 2020-02-17 2020-02-17 Hydraulic system and mechanical arm Active CN111283673B (en)

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