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A 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, transportation 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: 2022-07-12
XI AN JIAOTONG UNIV
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  • Summary
  • 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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  • A digital-analog hybrid valve-controlled hydraulic robot system
  • A digital-analog hybrid valve-controlled hydraulic robot system
  • A digital-analog hybrid valve-controlled hydraulic robot system

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Embodiment Construction

[0040] The present invention will be described in detail below with reference to the accompanying drawings, and it is hereby stated that the present invention will be explained by this exemplary embodiment, but it is not intended to limit 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. The robot arm body includes the robot base 110, the robot waist part 120 is connected to the robot base 110 through the rotating pair, the robot arm part 130 is connected to the robot waist part 120 through the rotating pair, and the robot middle arm part 140 is connected to the robot through the rotating pair. The big arm part 130 is connected, the robot small arm part 150 is connected with the robot middle arm part 140 through the rotating pair, the robot wrist part 160 is connected with the...

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Abstract

The invention discloses a digital-analog hybrid valve-controlled hydraulic robot system, comprising a robot mechanical body, a power system and a sensor detection and control system; the robot mechanical body includes a robot base, a robot waist part, a No. 1 joint hydraulic cylinder, a No. Joint Hydraulic Cylinder, Robot Arm Part, Robot Middle Arm Part, Joint No. 3 Hydraulic Cylinder, No. 4 Joint Hydraulic Cylinder, Robot Small Arm Part, No. 5 Joint Hydraulic Cylinder, Robot Wrist Part, No. 6 Joint Hydraulic Cylinder and Robot End Method The power system is used to provide the power source for the mechanical body of the robot, and the sensor detection and control system is used to detect the rotation angles of the six hydraulic cylinders and control the movements of the six hydraulic cylinders respectively. The invention adopts the hydraulic pendulum cylinder as the rotating actuator of each joint of the 6-degree-of-freedom manipulator, and uses the electro-hydraulic servo valve and the high-speed switch valve to simultaneously control the rotary hydraulic cylinder to realize the high-precision control of the robot hydraulic system.

Description

technical field [0001] The invention belongs to the technical field of hydraulic system control, and in particular relates 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 manipulator is usually an articulated manipulator 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 forward and inverse solutions of the joint angle according to the commanded target pose, and performs feedback and closed-loop control combined with the current pose of the manipulator measured by the sensor. The drive drives the joints of the robot to move after receiving the command from the control system. The power sources ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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