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Digital-analog hybrid valve-controlled hydraulic robot system

A hybrid technology of hydraulic robot and simulation, which is applied in the direction of program control manipulator, manipulator, liquid distribution, conveying or transfer device, etc. It can solve the problems of insufficient control precision and achieve slender body, compact structure, high stability and motion precision Effect

Active Publication Date: 2021-06-25
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] The purpose of the present invention is to provide a digital-analog hybrid valve-controlled hydraulic robot system for the problem of insufficient control precision of existing hydraulic robots and control methods

Method used

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  • Digital-analog hybrid valve-controlled hydraulic robot system

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Embodiment Construction

[0040] The present invention will be described in detail below in conjunction with the accompanying drawings, and it is stated here that the present invention is explained with the exemplary embodiment, but not as a limitation of the present invention.

[0041] see figure 1 and figure 2 , a digital-analog hybrid valve-controlled hydraulic robot system proposed by the present invention includes a robot mechanical body 1, a power system, and a sensor detection and control system. Wherein, the mechanical arm body includes a robot base 110, a robot waist part 120 is connected with the robot base 110 through a rotating pair, a robot arm part 130 is connected with the robot waist part 120 through a rotating pair, and a robot middle arm part 140 is connected with the robot through a rotating pair. The big arm part 130 is connected, the robot small arm part 150 is connected with the middle arm part 140 of the robot through a rotating pair, the robot wrist part 160 is connected with ...

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Abstract

The invention discloses a digital-analog hybrid valve-controlled hydraulic robot system. The digital-analog hybrid valve-controlled hydraulic robot system comprises a robot mechanical body, a power system and a sensor detection and control system; the robot mechanical body comprises a robot base, a robot waist part, a first joint hydraulic cylinder, a second joint hydraulic cylinder, a robot large arm part, a robot middle arm part, a third joint hydraulic cylinder, a fourth joint hydraulic cylinder, a robot small arm part, a fifth joint hydraulic cylinder, a robot wrist part, a sixth joint hydraulic cylinder and a robot tail end flange part; the power system is used for providing a power source for the robot mechanical body; and the sensor detection and control system is used for detecting the rotating angles of the six hydraulic cylinders correspondingly and controlling the six hydraulic cylinders to act correspondingly. According to the digital-analog hybrid valve-controlled hydraulic robot system, a hydraulic swing cylinder is adopted as an execution element for rotation of all joints of a six-degree-of-freedom mechanical arm, hybrid control over the rotating hydraulic cylinders is conducted through an electro-hydraulic servo valve and a high-speed switch valve at the same time, and high-precision control over the robot hydraulic system is achieved.

Description

technical field [0001] The invention belongs to the technical field of hydraulic system control, in particular to a multi-joint robot system controlled by digital and analog solenoid valves. Background technique [0002] Industrial robots are generally composed of manipulator body, control system, sensor and drive system. The body of the robot arm is usually an articulated robot arm with 6 degrees of freedom, which can have high flexibility in the accessible space. Sensors usually include rotary encoders, displacement sensors, etc., to detect the current rotation angle or stroke of each joint of the robot. The control system performs joint angle forward and reverse calculations according to the commanded target pose, and performs feedback and closed-loop control in combination with the current pose of the manipulator measured by the sensor. After the drive receives the instructions from the control system, it drives the joints of the robot to move. Commonly used power sour...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J11/00B67D7/04B67D7/08
CPCB25J9/00B25J9/0009B25J11/00B67D7/04B67D7/0401B67D7/08B67D2007/0403
Inventor 徐海波陈家豪刘旭阳沈翁炀薛海洋温利涛
Owner XI AN JIAOTONG UNIV
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