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Grabbing arm type trash remover robot hydraulic control system
The invention discloses a grabbing arm type trash remover robot hydraulic control system. A main motion structure of a trash removing robot in the system is divided into a rail moving vehicle and a grabbing arm, and the rail moving vehicle is driven by a servo motor and used for conveying the grabbing arm to a trash removing position. The grabbing arm is driven by a hydraulic system, namely, threerotary joints of a large arm, a small arm and a grab bucket. The scheme of pump control and valve control is introduced, each oil cylinder is independently provided with a hydraulic pump set, the flow of a motor rotating speed control pump is changed in the manner that a variable-frequency or servo motor drives a hydraulic pump, the control system calculates the required flow of the oil cylindersin real time according to track planning, the variable-frequency or servo motor drives the hydraulic pump to set the flow according to the flow slightly larger than the required flow, and the movement direction and speed of the hydraulic cylinder are accurately controlled through a servo proportional valve. The problem of accurate control over the hydraulic oil cylinders is solved, meanwhile, theproblems of large heating and large energy losses of a servo pump station are solved, and therefore energy saving of the system is achieved.
本发明公开了一种抓臂式清污机机器人液压控制系统，本发明中清污机器人的主要运动结构分为轨道移动车和抓臂，轨道移动车由伺服电机驱动，用于将抓臂运送至清污位置；抓臂由液压系统驱动，即大臂、小臂、抓斗三个旋转关节；本发明引入泵控+阀控的方案，每只油缸单独配一个液压泵组，通过变频或伺服电机驱动液压泵的形式改变电机转速控制泵的流量，控制系统按轨迹规划实时计算出油缸的需求流量，变频或伺服电机驱动液压泵按略大于需求流量给定流量，再通过伺服比例阀精确控液压缸的运动方向和速度。解决了液压油缸精确控制问题，同时也解决伺服泵站发热大、能量损耗大的问题，从而实现系统的节能。
Grabbing arm type trash remover robot hydraulic control system
The invention discloses a grabbing arm type trash remover robot hydraulic control system. A main motion structure of a trash removing robot in the system is divided into a rail moving vehicle and a grabbing arm, and the rail moving vehicle is driven by a servo motor and used for conveying the grabbing arm to a trash removing position. The grabbing arm is driven by a hydraulic system, namely, threerotary joints of a large arm, a small arm and a grab bucket. The scheme of pump control and valve control is introduced, each oil cylinder is independently provided with a hydraulic pump set, the flow of a motor rotating speed control pump is changed in the manner that a variable-frequency or servo motor drives a hydraulic pump, the control system calculates the required flow of the oil cylindersin real time according to track planning, the variable-frequency or servo motor drives the hydraulic pump to set the flow according to the flow slightly larger than the required flow, and the movement direction and speed of the hydraulic cylinder are accurately controlled through a servo proportional valve. The problem of accurate control over the hydraulic oil cylinders is solved, meanwhile, theproblems of large heating and large energy losses of a servo pump station are solved, and therefore energy saving of the system is achieved.
本发明公开了一种抓臂式清污机机器人液压控制系统，本发明中清污机器人的主要运动结构分为轨道移动车和抓臂，轨道移动车由伺服电机驱动，用于将抓臂运送至清污位置；抓臂由液压系统驱动，即大臂、小臂、抓斗三个旋转关节；本发明引入泵控+阀控的方案，每只油缸单独配一个液压泵组，通过变频或伺服电机驱动液压泵的形式改变电机转速控制泵的流量，控制系统按轨迹规划实时计算出油缸的需求流量，变频或伺服电机驱动液压泵按略大于需求流量给定流量，再通过伺服比例阀精确控液压缸的运动方向和速度。解决了液压油缸精确控制问题，同时也解决伺服泵站发热大、能量损耗大的问题，从而实现系统的节能。
Grabbing arm type trash remover robot hydraulic control system
一种抓臂式清污机机器人液压控制系统
CHEN RONGNA (author) / HUANG ZHENDONG (author) / YUAN JIABAO (author) / DU HUISHENG (author) / FANG RUI (author) / LI WEI (author)
2021-02-02
Patent
Electronic Resource
Chinese
Hydraulic grabbing arm type trash cleaning robot and using method
| European Patent Office | 2023