Digital-analog hybrid valve-controlled hydraulic robot system

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...

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