CN205521364U - Be used for manipulator joint driven pure water hydraulic system - Google Patents
Be used for manipulator joint driven pure water hydraulic system Download PDFInfo
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- CN205521364U CN205521364U CN201620051424.5U CN201620051424U CN205521364U CN 205521364 U CN205521364 U CN 205521364U CN 201620051424 U CN201620051424 U CN 201620051424U CN 205521364 U CN205521364 U CN 205521364U
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- hydraulic pressure
- frequency electromagnetic
- electromagnetic switch
- switch valve
- water
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Abstract
The utility model provides a be used for manipulator joint driven pure water hydraulic system, it is main including the water pressure power supply, water pressure high frequency electric magnetic switch valves, water pressure gyration execute component and several parts of monitoring accuse system, wherein the water pressure control valves is become by four identical high frequency response water pressure electromagnetic switch valvess of structure, water pressure gyration execute component adopts the actuating mechanism who installs the angle encoder, the communication is realized with the preface controller to the industrial computer, the time control of opening and closing four water pressure high frequency electric magnetic switch valves is realized to the pulse width modulation signal that sends through program controller, thereby realize water pressure swing jar or motor position, the accurate digital control of speed. This pure water hydraulic system simple structure to the pure water is working medium, and entire system is open return circuit, absorbs water and the drainage in the direct slave system environment, can avoid oil pressure machinery hand hydraulic system must establish to closed loop, system need set up pressure compensation device, the leakage can lead to the fact the environmental pollution scheduling problem.
Description
Technical field
This utility model belongs to Fluid Transmission and Control field, relates to the hydraulic system of hydraulic efficiency manipulator with pure water as working media, particularly relates to one
Plant pure water hydraulics system and control method thereof that the manipulator joint used under water drives.
Background technology
The use that the underwater high-speed propulsion fields such as Water hydraulics technology power tool under water, underwater robot, latent device buoyancy adjustment have uniqueness is excellent
Gesture, the most uniquely selects in some occasion.This is because traditional hydraulic system with hydraulic oil as working media, it is necessary to it is designed to enclosed and follows
Ring structure also configures pressure compensator, and along with the increase of the depth of water, compensator needs the back pressure born the highest, causes system bulky complex all the more.Especially
It is pointed out that hydraulic oil once leaks and underwater environment can be caused severe contamination.Water hydraulic system, using pure water as working media, utilizes hydraulic pressure
Pump directly sucks water from surrounding body, and system the most directly drains back to surrounding enviroment after finishing merit, it is not necessary to consider the problems such as encapsulation, pressure compensation, system
Configuration is simple, free from environmental pollution, is therefore suitable in the biggest degree of depth marine environment applying.
The features such as to have control accuracy high due to hydraulic efficiency manipulator, fast response time, so the hydraulic system that matches is in volumetric efficiency, leakage, quiet dynamic
The aspects such as state property energy will have higher requirements.But compared with hydraulic oil, the viscosity of pure water (including fresh water, sea water) is low, poor lubricity, same
Increase nearly 30 times by the leakage flow of pure water (including fresh water, sea water) during identical friction pair gap than hydraulic oil etc. under operating mode, thus cause appearance
Long-pending efficiency, the significantly reducing of control accuracy.At present, the hydraulic efficiency manipulator developed both at home and abroad mainly based on oil pressure for working media oil hydraulic system,
Control element therein is mainly oil pressure proportioning valve or servo valve, has higher requirement the dustiness of driving medium.Due to water hydraulic ratio
Valve or servo valve develop and immature so far, limit the application in hydraulic efficiency manipulator of the water hydraulic system.But, the cone with water as working media
Between valve type games parts, fit tolerance is little, be active in one's movements, and can realize small or zero leakage, equally meet mechanical hand in control accuracy and speed
The requirement of aspect.How to overcome existing water hydraulic element in the deficiency of the aspects such as sealing, reliability, and develop for elementary cell with water hydraulic element
Meet the water hydraulic system of hydraulic efficiency manipulator needs, for extending the application places of mechanical hand, it is to avoid the problems such as environmental pollution are the most significant.
Utility model content
This utility model provides a kind of hydraulic pressure mechanical hand hydraulic system, can apply to the hydraulic efficiency manipulator of water working media, it is to avoid oil pressure mechanical hand
Need the problems such as pressure compensator, leakage can pollute.For reaching above-mentioned purpose, the technical solution adopted in the utility model is:
A kind of pure water hydraulics system driven for manipulator joint, mainly includes hydraulic pressure power source, hydraulic pressure high-frequency electromagnetic switch valve group, hydraulic gyration
Executive component and the monitoring several part of Ore-controlling Role, it is characterised in that: filter (3) is installed and by submersible motor (2) in water pressure plunger pump (1) porch
Driving, the outlet of water pressure plunger pump (1) has been arranged in parallel the second hydraulic pressure high-frequency electromagnetic switch valve (7), the 3rd hydraulic pressure high-frequency electromagnetic switch valve (8)
With water hydraulic relief valve (4), wherein the entrance of water hydraulic relief valve (4) is provided with Pressure gauge (5)；Going out of second hydraulic pressure high-frequency electromagnetic switch valve (7)
Mouth is divided into two-way: a road is connected with the intake-outlet I of actuator (10), and another road is connected to entering of first hydraulic pressure high-frequency electromagnetic switch valve (6)
Mouthful；The outlet of the 3rd hydraulic pressure high-frequency electromagnetic switch valve (8) is divided into two-way: a road is connected with the intake-outlet II of actuator (10), and another road is even
Receive the entrance of the 4th hydraulic pressure high-frequency electromagnetic switch valve (9)；Actuator (10) interior setting angle encoder (11), and by power transmission shaft with negative
Carry (12) to connect；The signal output part of hydraulic pressure high-frequency electromagnetic switch valve (6,7,8,9) is respectively by watertight cable and cyclelog (13)
Connecting, the signal input of angular encoder (11), outfan Tong Guo not be connected with cyclelog (13) by watertight cable, cyclelog (13)
Communication is realized by cable with industrial computer (14).
Described actuator (10) is hydraulic swing cylinder or motor.
Described a kind of pure water hydraulics system driven for manipulator joint, hydraulic pressure high-frequency electromagnetic switch valve group is by four completely identical in structure hydraulic pressure
High-frequency electromagnetic switch valve (6,7,8,9) forms, and the spool of each hydraulic pressure high-frequency electromagnetic switch valve uses cone valve to seal structure.
The control method of a kind of pure water hydraulics driven for manipulator joint, according to hydraulic pressure Robot joint positions, the control needs of speed, by journey
Sequence controller (13) and industrial computer (14) send pulse width modulating signal, it is achieved hydraulic pressure high-frequency electromagnetic switch valve (6,7,8,9) open with
The time closed controls, thus the precise figures realizing hydraulic swing cylinder or motor (10) position, speed control.
Compared with background technology, this utility model is had the beneficial effect that
(1) this hydraulic pressure mechanical hand hydraulic system structure is simple, and with pure water as working media, whole system is open circuit, directly from system building ring
Water suction and draining in border, it is possible to avoid oil pressure mechanical hand hydraulic system must be set to closed circuit, system needs to set up pressure compensator, leakage meeting
Cause the problems such as environmental pollution；
(2) utilize cyclelog and industrial computer to send pulse width modulating signal, control the open and close time of high-frequency electromagnetic switch valve group, from
And the precise figures realizing hydraulic swing cylinder or motor control, meet the high accuracy of hydraulic efficiency manipulator, high frequency sound control requirement.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present utility model；
Being labeled as in Fig. 1: 1-water pressure plunger pump, 2-submersible motor, 3-filter, 4-water hydraulic relief valve, 5-Pressure gauge, 6-the first hydraulic pressure high frequency
Electromagnetic switch valve, 7-the second hydraulic pressure high-frequency electromagnetic switch valve, 8-the 3rd hydraulic pressure high-frequency electromagnetic switch valve, 9-the 4th hydraulic pressure high-frequency electromagnetic switch valve, 10-
Actuator, 11-angular encoder, 12-loads, 13-cyclelog, 14-industrial computer, I-hydraulic swing cylinder or motor intake-outlet, II-hydraulic pressure
Oscillating cylinder or motor intake-outlet.
Detailed description of the invention
This utility model provides a kind of hydraulic pressure mechanical hand hydraulic system, is described further specific embodiment below in conjunction with accompanying drawing.Such as Fig. 1
Shown in, mainly include hydraulic pressure power source, hydraulic pressure high-frequency electromagnetic switch valve group, hydraulic gyration executive component and the monitoring several part of Ore-controlling Role, hydraulic pressure post
Plug pump (1) porch is installed filter (3) and is driven by submersible motor (2), the outlet of water pressure plunger pump (1) the second hydraulic pressure high-frequency electrical in parallel
Magnetic switch valve (7), the 3rd hydraulic pressure high-frequency electromagnetic switch valve (8) and water hydraulic relief valve (4), wherein the entrance of water hydraulic relief valve installs Pressure gauge (5)；
The outlet of the second hydraulic pressure high-frequency electromagnetic switch valve (7) is divided into two-way: a road is connected with the intake-outlet I of actuator (10), and another road is connected to
The entrance of the first hydraulic pressure high-frequency electromagnetic switch valve (6)；The outlet of hydraulic pressure high-frequency electromagnetic switch valve (8) is also classified into two-way: a road and hydraulic swing cylinder
Or the intake-outlet II of motor (10) connects, another road is connected to the entrance of hydraulic pressure high-frequency electromagnetic switch valve (9)；Install in actuator (10)
Angular encoder (11), and be connected with load (12) by power transmission shaft；The signal output part of hydraulic pressure high-frequency electromagnetic switch valve (6,7,8,9) divides
Tong Guo not be connected with cyclelog (13) by watertight cable, the signal of angular encoder (11) inputs, outfan Tong Guo watertight cable and program
Controller (13) connects, and cyclelog (13) and industrial computer (14) realize communication by cable.
Hydraulic swing cylinder or motor are single blade or twayblade or multiple-blade hydraulic swing cylinder or the hydraulic motor of continuous rotary.
Hydraulic pressure high-frequency electromagnetic switch valve group is made up of four completely identical in structure hydraulic pressure high-frequency electromagnetic switch valve (6,7,8,9), and each hydraulic pressure is high
Frequently the spool of electromagnetic switch valve uses cone valve to seal structure.
According to hydraulic pressure Robot joint positions, the control needs of speed, cyclelog (13) and industrial computer (14) send pulse width modulation
Signal, it is achieved time that hydraulic pressure high-frequency electromagnetic switch valve (6,7,8,9) opens and closes controls, thus realize actuator (10) position,
The precise figures of speed control.
Cyclelog (13) in this utility model, industrial computer (14), converter (15) are placed in more than the water surface, and other all components and parts all exist
I.e. it is immersed in the water below the water surface, by being also integrally placed under water after water tight enclosure.
The pure water hydraulics system being previously mentioned in this utility model and control method thereof are not limited to underwater manipulator joint drive, it is also possible to be applied to waterborne,
Wait other position, the application places of speed controlling under water.
Claims (3)
1. the pure water hydraulics system driven for manipulator joint, mainly includes that hydraulic pressure power source, hydraulic pressure high-frequency electromagnetic switch valve group, hydraulic pressure return
Turn executive component and the monitoring several part of Ore-controlling Role, it is characterised in that: filter (3) is installed and by submersible motor in water pressure plunger pump (1) porch
(2) driving, the outlet of water pressure plunger pump (1) has been arranged in parallel the second hydraulic pressure high-frequency electromagnetic switch valve (7), the 3rd hydraulic pressure high-frequency electromagnetic switch valve
(8) and water hydraulic relief valve (4), wherein the entrance of water hydraulic relief valve (4) is provided with Pressure gauge (5)；Second hydraulic pressure high-frequency electromagnetic switch valve (7)
Outlet be divided into two-way: a road is connected with the intake-outlet I of actuator (10), and another road is connected to the first hydraulic pressure high-frequency electromagnetic switch valve (6)
Entrance；The outlet of the 3rd hydraulic pressure high-frequency electromagnetic switch valve (8) is divided into two-way: a road is connected with the intake-outlet II of actuator (10), another
Road is connected to the entrance of the 4th hydraulic pressure high-frequency electromagnetic switch valve (9)；Actuator (10) interior setting angle encoder (11), and pass through power transmission shaft
It is connected with load (12)；The signal output part of hydraulic pressure high-frequency electromagnetic switch valve (6,7,8,9) is respectively by watertight cable and cyclelog (13)
Connecting, the signal input of angular encoder (11), outfan Tong Guo not be connected with cyclelog (13) by watertight cable, cyclelog (13)
Communication is realized by cable with industrial computer (14).
A kind of pure water hydraulics system driven for manipulator joint the most according to claim 1, it is characterised in that: described actuator (10)
For hydraulic swing cylinder or motor.
A kind of pure water hydraulics system driven for manipulator joint the most according to claim 1, it is characterised in that: hydraulic pressure high-frequency electromagnetic switchs
Valve group is made up of four completely identical in structure hydraulic pressure high-frequency electromagnetic switch valve (6,7,8,9), and the spool of each hydraulic pressure high-frequency electromagnetic switch valve is adopted
Structure is sealed with cone valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620051424.5U CN205521364U (en) | 2016-01-19 | 2016-01-19 | Be used for manipulator joint driven pure water hydraulic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620051424.5U CN205521364U (en) | 2016-01-19 | 2016-01-19 | Be used for manipulator joint driven pure water hydraulic system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205521364U true CN205521364U (en) | 2016-08-31 |
Family
ID=56765552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620051424.5U Withdrawn - After Issue CN205521364U (en) | 2016-01-19 | 2016-01-19 | Be used for manipulator joint driven pure water hydraulic system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205521364U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479442A (en) * | 2016-01-19 | 2016-04-13 | 北京工业大学 | Pure water hydraulic system for driving of mechanical arm joint and control method of pure water hydraulic system |
| CN109109012A (en) * | 2018-09-26 | 2019-01-01 | 上海埃曼流体技术有限公司 | A kind of environment-friendly type hydraulic efficiency manipulator |
| CN109944843A (en) * | 2016-11-22 | 2019-06-28 | 北京航空航天大学 | A kind of robot hydraulic-driven cradle head closed-loop control system |
-
2016
- 2016-01-19 CN CN201620051424.5U patent/CN205521364U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479442A (en) * | 2016-01-19 | 2016-04-13 | 北京工业大学 | Pure water hydraulic system for driving of mechanical arm joint and control method of pure water hydraulic system |
| CN109944843A (en) * | 2016-11-22 | 2019-06-28 | 北京航空航天大学 | A kind of robot hydraulic-driven cradle head closed-loop control system |
| CN109109012A (en) * | 2018-09-26 | 2019-01-01 | 上海埃曼流体技术有限公司 | A kind of environment-friendly type hydraulic efficiency manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160831 Effective date of abandoning: 20180119 |
|
| AV01 | Patent right actively abandoned |