CN102830699B - Robot single joint hydraulic pressure and position control test platform - Google Patents
Robot single joint hydraulic pressure and position control test platform Download PDFInfo
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- CN102830699B CN102830699B CN201210359633.2A CN201210359633A CN102830699B CN 102830699 B CN102830699 B CN 102830699B CN 201210359633 A CN201210359633 A CN 201210359633A CN 102830699 B CN102830699 B CN 102830699B
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Abstract
The invention discloses a robot single joint hydraulic pressure and position control test platform which comprises a cantilever bracket, a first hydraulic servo drive unit, a torque motor and a matching controller, an angular displacement sensor bracket, an angular displacement sensor, a swing unit and multiple sleeves, wherein a base of the cantilever bracket is fixed on the ground; the angular displacement sensor bracket, the torque motor and the matching controller are fixed at the cantilever end of the cantilever bracket; the angular displacement sensor is fixed on the angular displacement sensor bracket and connected with an output shaft of the torque motor; the swing unit and the sleeves are connected in series on the output shaft of the torque motor; and one end of the first hydraulic servo drive unit is connected with a support lug of the cantilever bracket, and the other end is connected with the swing unit. With a simple, stable and reliable structure, the robot single joint hydraulic pressure and position control test platform disclosed by the invention can simulate the joint rotary inertia of a robot operation arm in different positions and form displacement tracking closed-loop and force control closed-loop motion, simulates the robot joint control function and verifies the control strategy.
Description
Technical field
The present invention relates to a kind of hydraulic coupling and position control test platform, relate in particular to a kind of robot simple joint hydraulic coupling and position control test platform.
Background technology
Robot system is multivariable, redundancy and a nonlinear advanced dynamic coupled system, is made up of multiple joints and multiple connecting rod, has multiple inputs and multiple output, exists serious non-linear.Control exploitation and the test of robot are mostly software emulations, and emulation of the computer software need be set up robot kinematics and kinetic model, and needs verification experimental verification, and control is developed, test period is long, and expense is high.Bench test methods has overcome the shortcoming of emulation of the computer software to a great extent, in robot control exploitation and research, has a wide range of applications.Stressed and the range of movement of joint of robot is the basis of robot Design of Mechanical Structure, the basis of Ye Shi robot control.But the current test platform there are no shut down people's simple joint hydraulic coupling and position control.
Summary of the invention
Object of the present invention is exactly in order to address the above problem, and a kind of robot simple joint hydraulic coupling and position control test platform are provided, and it has simple in structure, advantage compact, easy to use.
To achieve these goals, the present invention adopts following technical scheme:
A kind of robot simple joint hydraulic coupling and position control experiment porch, it comprises a pole bracket, the first Hydraulic servo drive unit, a torque motor and supporting controller, angular displacement sensor support, angular displacement sensor, swing unit, some sleeves, described pole bracket comprises pole bracket base, pole bracket journal stirrup and cantilever end, described torque motor carries ring flange, the pole bracket base of described pole bracket is fixed on smooth ground, described torque motor and supporting controller are fixed on the cantilever end of pole bracket by ring flange, described angular displacement sensor support is also fixed on the cantilever end of pole bracket, described angular position pick up is fixed on angular displacement sensor support, described angular displacement sensor is connected with torque motor output shaft, described swing unit and sleeve are connected on the output shaft of torque motor, described first one end, Hydraulic servo drive unit is connected with pole bracket journal stirrup, the other end of described the first Hydraulic servo drive unit is connected with swing unit.
Described swing unit comprises a swing arm, the second Hydraulic servo drive unit, a mass; Wherein, described swing arm is provided with swing arm the first journal stirrup and swing arm the second journal stirrup, described swing arm the second journal stirrup is connected with the second Hydraulic servo drive unit, described the second Hydraulic servo drive unit is also connected with mass, the described both sides at swing arm are provided with swing arm gathering sill, described mass is provided with mass orienting lug, mass orienting lug is stuck in swing arm gathering sill, the piece of ensuring the quality of products is parallel with gathering sill, reduces the radial impact of mass to the second hydraulic servo unit piston rod.
Described Hydraulic servo drive unit comprises a hydraulic cylinder, a piston rod, an electrohydraulic servo valve, a linear movement pick-up and a power sensor; Wherein, on described linear movement pick-up, hydraulic cylinder is set, electrohydraulic servo valve is set on hydraulic cylinder, between hydraulic cylinder and power sensor, connect by piston rod.
Described pole bracket journal stirrup is connected with the hydraulic cylinder of the first Hydraulic servo drive unit, and the swing arm of described swing unit is connected with the piston rod of the first Hydraulic servo drive unit.
Described swing arm the second journal stirrup is connected with the hydraulic cylinder of the second Hydraulic servo drive unit, and described mass is connected with the piston rod of the second Hydraulic servo drive unit.
The internal diameter equal length difference of described sleeve.
When robot simple joint hydraulic coupling and the work of position control test platform, the first Hydraulic servo drive unit can adopt position control as the case may be, also can adopt power control, and the second Hydraulic servo drive unit adopts position control.The motion of the second Hydraulic servo drive unit controls mass, change the position of mass with respect to swing arm, change the moment of inertia of swing unit, be equivalent to change the moment of inertia of this articulated robot motion arm, dummy robot is the joint moment of inertia under coordination shape not; The output torque of Moment Motor Controller control moment motor, the variation of simulation joint loading moment; The first Hydraulic servo drive unit drives swing unit motion, the angular displacement of joint angle displacement sensor swing unit, the linear movement pick-up of the first Hydraulic servo drive unit is measured the output displacement of this driver element, the power output of this driver element of power sensor feedback of the first Hydraulic servo drive unit, dummy robot's joint control function.Measure the control of integrated hydraulic driver element power, position control performance index through information extraction.
Beneficial effect of the present invention:
1. the present invention can provide a simple joint hydraulic coupling and position control test platform, for exploitation and the test of joint of robot control method.
The present invention can dummy robot's motion arm the not variation of the joint moment of inertia under coordination shape.
3. the present invention proposes simple joint hydraulic coupling and position control test platform, simple in structure, stable, reliable, can form displacement tracking closed loop, the motion of power Control loop, dummy robot's joint control function, access control strategy.
Brief description of the drawings
Fig. 1 is robot simple joint hydraulic coupling and position control test platform schematic diagram;
Fig. 2 is pole bracket of the present invention;
Fig. 3 is swing unit of the present invention;
Fig. 4 is Hydraulic servo drive cell schematics;
Wherein: 1. pole bracket, 2. the first Hydraulic servo drive unit, 3. torque motor and supporting controller, 4. angular displacement sensor support, 5. angular displacement sensor, 6. swing unit, 7. pole bracket base, 8. pole bracket journal stirrup, 9. cantilever end, 10. swing arm, 11. swing arm gathering sills, 12. mass orienting lugs, 13. swing arm the first journal stirrups, 14. sleeves, 15. swing arm the second journal stirrups, 16. second Hydraulic servo drive unit, 17. masses, 18. power sensors, 19, piston rod, 20. linear movement pick-ups, 21. electrohydraulic servo valves, 22 hydraulic cylinders.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, 2, a kind of robot simple joint hydraulic coupling and position control test platform, comprise a pole bracket 1, the first Hydraulic servo drive unit 2, a torque motor and supporting controller 3, angular displacement sensor support 4, angular displacement sensor 5, swing unit 6, the sleeve 14 that some internal diameter equal length are different, described torque motor carries ring flange, described pole bracket 1 comprises a pole bracket base 7,8, one cantilever ends 9 of a pole bracket journal stirrup.As shown in Figure 4, described Hydraulic servo drive unit comprises, hydraulic cylinder 22, piston rod 19, electrohydraulic servo valve 21, linear movement pick-up 20, a power sensor 18.
As shown in Figure 3, described swing unit 6 comprises, two walls of a swing arm 10(swing arm have swing arm gathering sill 11), there are two mass orienting lugs 12 the second Hydraulic servo drive unit 16, mass 17(mass both sides).
When robot simple joint hydraulic coupling and the work of position control test platform, the first Hydraulic servo drive unit 2 can adopt position control as the case may be, also can adopt power control, and the second Hydraulic servo drive unit 16 adopts position control.The motion of mass 17 is controlled in the second Hydraulic servo drive unit 16, change the position of mass 17 with respect to swing arm 10, change the moment of inertia of swing unit 6, be equivalent to change the moment of inertia of this articulated robot motion arm, dummy robot is the joint moment of inertia under coordination shape not; The output torque of Moment Motor Controller control moment motor, the variation of simulation joint loading moment; The first Hydraulic servo drive unit 2 drives swing unit 6 to move, joint angle displacement transducer 5 is measured the angular displacement of swing unit 6, the linear movement pick-up 20 of the first Hydraulic servo drive unit 2 is measured the output displacement of this driver element, the power output of power sensor 18 these driver elements of feedback of the first Hydraulic servo drive unit 2, dummy robot's joint control function.Measure the control of integrated hydraulic driver element power, position control performance index through information extraction.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.
Claims (4)
1. a robot simple joint hydraulic coupling and position control experiment porch, it is characterized in that, it comprises a pole bracket, the first Hydraulic servo drive unit, a torque motor and supporting controller, angular displacement sensor support, angular displacement sensor, swing unit, some sleeves, described pole bracket comprises pole bracket base, pole bracket journal stirrup and cantilever end, described torque motor carries ring flange, the pole bracket base of described pole bracket is fixed on smooth ground, described torque motor and supporting controller are fixed on the cantilever end of pole bracket by ring flange, described angular displacement sensor support is also fixed on the cantilever end of pole bracket, described angular position pick up is fixed on angular displacement sensor support, described angular displacement sensor is connected with torque motor output shaft, described swing unit and sleeve are connected on the output shaft of torque motor, described first one end, Hydraulic servo drive unit is connected with pole bracket journal stirrup, the other end of described the first Hydraulic servo drive unit is connected with swing unit,
Described swing unit comprises a swing arm, the second Hydraulic servo drive unit, a mass; Wherein, described swing arm is provided with swing arm the first journal stirrup and swing arm the second journal stirrup, described swing arm the second journal stirrup is connected with the second Hydraulic servo drive unit, described the second Hydraulic servo drive unit is also connected with mass, a side at swing arm is provided with swing arm gathering sill, and described mass is provided with mass orienting lug, and mass orienting lug is stuck in swing arm gathering sill, the piece of ensuring the quality of products is parallel with gathering sill, reduces the radial impact of mass to the second hydraulic servo unit piston rod.
2. robot simple joint hydraulic coupling and position control experiment porch as claimed in claim 1, it is characterized in that, described pole bracket journal stirrup is connected with the hydraulic cylinder of the first Hydraulic servo drive unit, and the swing arm of described swing unit is connected with the piston rod of the first Hydraulic servo drive unit.
3. robot simple joint hydraulic coupling and position control experiment porch as claimed in claim 1, it is characterized in that, described swing arm the second journal stirrup is connected with the hydraulic cylinder of the second Hydraulic servo drive unit, and described mass is connected with the piston rod of the second Hydraulic servo drive unit.
4. robot simple joint hydraulic coupling and position control experiment porch as claimed in claim 1, is characterized in that the internal diameter equal length difference of described some sleeves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210359633.2A CN102830699B (en) | 2012-09-21 | 2012-09-21 | Robot single joint hydraulic pressure and position control test platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210359633.2A CN102830699B (en) | 2012-09-21 | 2012-09-21 | Robot single joint hydraulic pressure and position control test platform |
Publications (2)
| Publication Number | Publication Date |
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| CN102830699A CN102830699A (en) | 2012-12-19 |
| CN102830699B true CN102830699B (en) | 2014-06-18 |
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| CN201210359633.2A Expired - Fee Related CN102830699B (en) | 2012-09-21 | 2012-09-21 | Robot single joint hydraulic pressure and position control test platform |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103092193B (en) * | 2013-02-01 | 2015-11-18 | 山东交通学院 | Leg legged type robot integrated hydraulic servo-driver Testing Platform |
| CN110542548B (en) * | 2019-08-27 | 2020-12-08 | 杭州电子科技大学 | Soft arthropod robot joint testing device and testing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4124232B2 (en) * | 2006-01-10 | 2008-07-23 | 株式会社明電舎 | Robot with horizontal arm |
| CN101339701B (en) * | 2008-08-18 | 2011-06-08 | 吉林大学 | Three freedom degree movement simulation platform |
| CN101852229B (en) * | 2010-04-30 | 2012-09-05 | 清华大学 | Experiment table for kinetic control of hydraulic servo driving system |
| CN202815587U (en) * | 2012-09-21 | 2013-03-20 | 山东大学 | Robot single joint hydraulic pressure and position control test platform |
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