JPS58140082U

JPS58140082U - Robot drive control device

Info

Publication number: JPS58140082U
Application number: JP3721582U
Authority: JP
Inventors: 板津　誠; 轟木　正章; 龍一奈良
Original assignee: 日産自動車株式会社
Priority date: 1982-03-18
Filing date: 1982-03-18
Publication date: 1983-09-20

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

第１図は、油圧駆動方式のロボットの一例を示す構成図
、第２図は、ロボットの駆動制御装置の縦来例を示す構
成図、第３図は、この考案の一実施例を示す構成図、第
４図イ、町よ、夫々第３図の実施例の動作説明に供する
線図である。１・・・・・・基部、２・・・・・・第１の油圧シリン
ダ、３・・・・・・第１の可動部、４・・・・・・第２
の油圧シリンダ、５・・・・・・第２の可動部、６・・
・・・・第３の油圧シリンダ、７・・・・・・第３の可
動部、８・・・・・・油圧ユニット、９・・・・・・電
気油圧サーボ弁、１０・・・・・・位置検出器、１１・
・・・・・制御装置、１２．１３・・・・・・ソレノイ
ド方向切換弁、１１１・・・・・・コアメモリ、１１２
・・・：・・演算器、１１３・・・・・・レベル判定器
。Fig. 1 is a block diagram showing an example of a hydraulically driven robot, Fig. 2 is a block diagram showing a conventional example of a robot drive control device, and Fig. 3 is a block diagram showing an example of this invention. 4A and 4B are diagrams for explaining the operation of the embodiment of FIG. 3, respectively. DESCRIPTION OF SYMBOLS 1... Base, 2... First hydraulic cylinder, 3... First movable part, 4... Second
hydraulic cylinder, 5... second movable part, 6...
...Third hydraulic cylinder, 7...Third movable part, 8...Hydraulic unit, 9...Electro-hydraulic servo valve, 10...・Position detector, 11・
... Control device, 12.13 ... Solenoid directional control valve, 111 ... Core memory, 112
...: ... Arithmetic unit, 113 ... Level judger.

Claims

[Scope of utility model registration request]

In a hydraulically driven robot, a hydraulic cylinder that drives a movable part of the robot, a hydraulic unit that supplies pressure oil to the hydraulic cylinder, two ports of the hydraulic cylinder, a discharge port of the hydraulic unit, and a tank. A plurality of solenoid directional control valves connected in parallel and inserted between the two, and a position detector that detects the current position of the movable part of the robot based on the amount of deviation between the current position information and the command position information. and a control unit that selectively excites each solenoid of a plurality of solenoid directional control valves connected to the hydraulic cylinder to control the direction of oil supply to the two ports of the hydraulic cylinder and the amount of oil supplied per unit time. A robot drive control device featuring: