CN111043004A - Intelligent pump power matching system of mechanical arm - Google Patents
Intelligent pump power matching system of mechanical arm Download PDFInfo
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- CN111043004A CN111043004A CN201911403605.4A CN201911403605A CN111043004A CN 111043004 A CN111043004 A CN 111043004A CN 201911403605 A CN201911403605 A CN 201911403605A CN 111043004 A CN111043004 A CN 111043004A
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 239000002131 composite material Substances 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B23/00—Pumping installations or systems
- F04B23/04—Combinations of two or more pumps
- F04B23/06—Combinations of two or more pumps the pumps being all of reciprocating positive-displacement type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/08—Regulating by delivery pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B51/00—Testing machines, pumps, or pumping installations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Reciprocating Pumps (AREA)
Abstract
An intelligent pump power matching system of a mechanical arm. The intelligent pump control system comprises an intelligent pump VPVS control unit, an intelligent pump driving motor rotating speed control unit, an intelligent pump variable mechanism control unit, a servo motor unit and an intelligent pump unit; the invention has the following effects: the system is powered by servo motor, intelligent pump and outlet power closed-loop control, the intelligent pump VPVS control unit receives a multi-actuator movement speed signal sent by an upper computer, comprehensively gives the control angle of an intelligent pump swash plate and the rotating speed of the servo motor, feeds back the actual state through an intelligent pump sensor assembly, and can automatically adjust the rotating speed and the discharge capacity of the intelligent pump according to different actual loads to realize flexible control of the loads; by an EHA-VSVP double PID composite control mode, the output pressure of the system is ensured to be matched with the maximum load pressure, and simultaneously, the flow output matched with the speed of each actuating mechanism is provided, so that the optimal load matching performance is achieved; the efficiency is improved by 10% compared with the efficiency without adopting the technology.
Description
Technical Field
The invention belongs to the technical field of mechanical arm hydraulic systems, and particularly relates to an intelligent pump power matching system of a mechanical arm.
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 manual work to complete almost all heavy and dangerous work in the process of replacing operation. The working efficiency is high, and the safety of people/machines is guaranteed. Therefore, the Chinese medicinal composition is popular with 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 an intelligent pump power matching system of a robot arm, which has high efficiency and low energy consumption and can realize flexible control of load.
In order to achieve the above object, the present invention provides an intelligent pump power matching system for a robot arm, comprising: the intelligent pump control system comprises an intelligent pump VPVS control unit, an intelligent pump driving motor rotating speed control unit, an intelligent pump variable mechanism control unit, a servo motor unit and an intelligent pump unit; the intelligent pump VPVS control unit is used for receiving an adjusting instruction of the upper computer and comprehensively giving the adjusting quantity of the servo motor and the intelligent pump through operation; the intelligent pump VPVS control unit is respectively connected with the intelligent pump driving motor rotating speed control unit and the intelligent pump variable mechanism control unit and used for transmitting respective adjusting signals, and the communication mode is 485 communication; the intelligent pump driving motor rotating speed control unit is connected with the servo motor unit and used for sending a rotating speed and torque adjusting signal to the servo motor unit and receiving a rotating speed and torque feedback signal; the intelligent pump variable mechanism control unit is connected with the intelligent pump unit and used for sending a pressure flow regulation signal to the intelligent pump unit and receiving a pressure flow feedback signal; the servo motor unit is connected with the intelligent pump unit and used for driving the intelligent pump unit so as to provide hydraulic oil with quick response and stable flow for the system actuating mechanism; the outlet of the intelligent pump unit is provided with a pressure sensor, is connected with the intelligent pump VPVS control unit and is used for feeding back a pressure detection value of the outlet of the intelligent pump unit to the intelligent pump VPVS control unit, the intelligent pump VPVS control unit detects whether a system execution mechanism obtains required hydraulic oil or not through the pressure detection value, and if the pressure detection value does not obtain the required hydraulic oil, the intelligent pump VPVS control unit continues to send an adjusting signal to the sub-control unit; the intelligent pump unit is connected with the mechanical arm actuating mechanism.
The upper computer is a manual control device and is used for sending a control command to the intelligent pump VPVS control unit, and the intelligent pump VPVS control unit is communicated with the upper computer in a 485 communication mode.
The servo motor unit is composed of two servo motors.
The intelligent pump unit is composed of two swash plate type axial plunger pumps.
Compared with the prior art, the intelligent pump power matching system of the mechanical arm has the following beneficial effects:
1. the system adopts servo motor, intelligent pump and outlet power closed-loop control to provide power for the system, the intelligent pump VPVS control unit receives a multi-actuator movement speed signal sent by an upper computer, comprehensively gives the control angle of an intelligent pump swash plate and the rotating speed of the servo motor, feeds back the actual state through an intelligent pump sensor assembly, and can automatically adjust the rotating speed and the discharge capacity of the intelligent pump according to different actual loads to realize flexible control of the loads;
2. through a control mode of EHA (electro-hydrostatic actuator) -VSVP double PID composite control, the matching of the system output pressure and the maximum load pressure is ensured, and meanwhile, flow output matched with the speed of each actuating mechanism is provided, so that the optimal load matching performance is achieved;
3. after the intelligent pump power matching technology is adopted, the efficiency is improved by 10 percent compared with the efficiency without the technology.
Drawings
Fig. 1 is a control schematic diagram of an intelligent pump power matching system of a robot arm provided by the invention.
Detailed Description
The following describes the intelligent pump power matching system of the robot arm in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the intelligent pump power matching system of the robot arm provided by the invention comprises:
the intelligent pump control system comprises an intelligent pump VPVS control unit 1, an intelligent pump driving motor rotating speed control unit (VS)2, an intelligent pump variable mechanism control unit (VP)3(VPVS is a general name for the intelligent pump driving motor rotating speed control unit 2 and the intelligent pump variable mechanism control unit), a servo motor unit 4 and an intelligent pump unit 5; the intelligent pump VPVS control unit 1 is used for receiving an adjusting instruction of an upper computer and comprehensively giving the adjusting quantity of the servo motor and the intelligent pump through operation; the intelligent pump VPVS control unit 1 is respectively connected with the intelligent pump driving motor rotating speed control unit 2 and the intelligent pump variable mechanism control unit 3 and used for transmitting respective adjusting signals, and the communication mode is 485 communication; the intelligent pump driving motor rotating speed control unit 2 is connected with the servo motor unit 4 and is used for sending a rotating speed and torque adjusting signal to the servo motor unit 4 and receiving a rotating speed and torque feedback signal; the intelligent pump variable mechanism control unit 3 is connected with the intelligent pump unit 5 and is used for sending a pressure flow regulation signal to the intelligent pump unit 5 and receiving a pressure flow feedback signal; the servo motor unit 4 is connected with the intelligent pump unit 5 and used for driving the intelligent pump unit 5, so that hydraulic oil with quick response and stable flow is provided for a system actuating mechanism; the outlet of the intelligent pump unit 5 is provided with a pressure sensor, is connected with the intelligent pump VPVS control unit 1 and is used for feeding back a pressure detection value of the outlet of the intelligent pump unit 5 to the intelligent pump VPVS control unit 1, the intelligent pump VPVS control unit 1 detects whether a system execution mechanism obtains required hydraulic oil through the pressure detection value, and if the pressure detection value does not obtain the required hydraulic oil, the intelligent pump VPVS control unit continues to send an adjusting signal to a sub-control unit; the intelligent pump unit 5 is connected with a mechanical arm actuating mechanism.
The upper computer is a manual control device and is used for sending an operation instruction to the intelligent pump VPVS control unit 1, and the communication mode between the intelligent pump VPVS control unit 1 and the upper computer is 485 communication.
The intelligent pump VPVS control unit 1 is a control mechanism, the best intelligent pump swash plate control angle and the best servo motor rotating speed are obtained through calculation after an action instruction is received, the intelligent pump driving motor rotating speed control unit 2 is a servo motor controller and used for controlling the rotating speed of a servo motor, the intelligent pump variable mechanism control unit 3 is a control mechanism and controls the angle of the intelligent pump swash plate by controlling a servo piston in the intelligent pump, the servo motor unit 4 is composed of two servo motors, and the intelligent pump unit 5 is composed of two swash plate type axial plunger pumps.
The system adopts servo motor, intelligent pump and outlet power closed-loop control to provide power for the system, the intelligent pump VPVS control unit 1 receives a multi-actuator movement speed signal sent by an upper computer, comprehensively gives a swash plate control angle of the intelligent pump unit 5 and a rotating speed of the servo motor unit 4, feeds back an actual state through an intelligent pump sensor assembly, and can automatically adjust the rotating speed and the discharge capacity of the intelligent pump unit 5 according to different actual loads to realize flexible control of the loads; through EHA (electro-hydrostatic actuator) -VSVP double PID composite control, the output pressure of the system is ensured to be matched with the maximum load pressure, and simultaneously, the flow output matched with the speed of each actuating mechanism is provided, so that the optimal load matching performance is achieved; after the intelligent pump power matching technology is adopted, the efficiency is improved by 10 percent compared with the efficiency without the technology.
Claims (4)
1. The utility model provides an intelligent pump power matching system of arm which characterized in that: the intelligent pump power matching system of arm include:
the intelligent pump control system comprises an intelligent pump VPVS control unit (1), an intelligent pump driving motor rotating speed control unit (2), an intelligent pump variable mechanism control unit (3), a servo motor unit (4) and an intelligent pump unit (5); the intelligent pump VPVS control unit (1) is used for receiving an adjusting instruction of an upper computer and comprehensively giving the adjusting quantity of the servo motor and the intelligent pump through operation; the intelligent pump VPVS control unit (1) is respectively connected with the intelligent pump driving motor rotating speed control unit (2) and the intelligent pump variable mechanism control unit (3) and used for transmitting respective adjusting signals, and the communication mode is 485 communication; the intelligent pump driving motor rotating speed control unit (2) is connected with the servo motor unit (4) and is used for sending a rotating speed and torque adjusting signal to the servo motor unit (4) and receiving a rotating speed and torque feedback signal; the intelligent pump variable mechanism control unit (3) is connected with the intelligent pump unit (5) and is used for sending a pressure flow regulation signal to the intelligent pump unit (5) and receiving a pressure flow feedback signal; the servo motor unit (4) is connected with the intelligent pump unit (5) and is used for driving the intelligent pump unit (5), so that hydraulic oil with quick response and stable flow is provided for a system execution mechanism; the outlet of the intelligent pump unit (5) is provided with a pressure sensor, is connected with the intelligent pump VPVS control unit (1) and is used for feeding back a pressure detection value of the outlet of the intelligent pump unit (5) to the intelligent pump VPVS control unit (1), the intelligent pump VPVS control unit (1) detects whether a system execution mechanism obtains required hydraulic oil through the pressure detection value, and if the pressure detection value does not obtain the required hydraulic oil, an adjusting signal is continuously sent to a sub-control unit of the intelligent pump VPVS control unit; the intelligent pump unit (5) is connected with the mechanical arm actuating mechanism.
2. The smart pump power matching system of a robotic arm of claim 1, wherein: the upper computer is a manual control device and is used for sending a control command to the intelligent pump VPVS control unit (1), and the communication mode between the intelligent pump VPVS control unit (1) and the upper computer is 485 communication.
3. The smart pump power matching system of a robotic arm of claim 1, wherein: the servo motor unit (4) is composed of two servo motors.
4. The smart pump power matching system of a robotic arm of claim 1, wherein: the intelligent pump unit (5) is composed of two swash plate type axial plunger pumps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911403605.4A CN111043004A (en) | 2019-12-31 | 2019-12-31 | Intelligent pump power matching system of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911403605.4A CN111043004A (en) | 2019-12-31 | 2019-12-31 | Intelligent pump power matching system of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111043004A true CN111043004A (en) | 2020-04-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911403605.4A Pending CN111043004A (en) | 2019-12-31 | 2019-12-31 | Intelligent pump power matching system of mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN111043004A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101100105A (en) * | 2007-07-12 | 2008-01-09 | 昌盛达机械(浙江)有限公司 | Injection moulding machine servo energy-saving control system |
| CN102358019A (en) * | 2011-07-27 | 2012-02-22 | 深圳大学 | Double-servo control system and energy-saving injection molding machine comprising same |
| CN102734277A (en) * | 2012-07-04 | 2012-10-17 | 宁波巴斯顿机械科技有限公司 | High-accuracy and high-efficiency intelligent closed loop servo pump control system |
| CN103790874A (en) * | 2014-02-28 | 2014-05-14 | 南通大学 | Valveless hydraulic servo system and control method thereof |
| CN104122034A (en) * | 2013-04-24 | 2014-10-29 | 哈尔滨飞机工业集团有限责任公司 | Helicopter main blade dynamic balancing test bed hydraulic drive system |
| CN206111702U (en) * | 2016-08-31 | 2017-04-19 | 深圳职业技术学院 | Electro -hydraulic servo control system |
| US20190383285A1 (en) * | 2018-06-15 | 2019-12-19 | Itt Manufacturing Enterprises Llc | Smart pump |
| CN211648382U (en) * | 2019-12-31 | 2020-10-09 | 天津理工大学 | Intelligent pump power matching system of mechanical arm |
-
2019
- 2019-12-31 CN CN201911403605.4A patent/CN111043004A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101100105A (en) * | 2007-07-12 | 2008-01-09 | 昌盛达机械(浙江)有限公司 | Injection moulding machine servo energy-saving control system |
| CN102358019A (en) * | 2011-07-27 | 2012-02-22 | 深圳大学 | Double-servo control system and energy-saving injection molding machine comprising same |
| CN102734277A (en) * | 2012-07-04 | 2012-10-17 | 宁波巴斯顿机械科技有限公司 | High-accuracy and high-efficiency intelligent closed loop servo pump control system |
| CN104122034A (en) * | 2013-04-24 | 2014-10-29 | 哈尔滨飞机工业集团有限责任公司 | Helicopter main blade dynamic balancing test bed hydraulic drive system |
| CN103790874A (en) * | 2014-02-28 | 2014-05-14 | 南通大学 | Valveless hydraulic servo system and control method thereof |
| CN206111702U (en) * | 2016-08-31 | 2017-04-19 | 深圳职业技术学院 | Electro -hydraulic servo control system |
| US20190383285A1 (en) * | 2018-06-15 | 2019-12-19 | Itt Manufacturing Enterprises Llc | Smart pump |
| CN211648382U (en) * | 2019-12-31 | 2020-10-09 | 天津理工大学 | Intelligent pump power matching system of mechanical arm |
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