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[CN 202110304061.7] A Digital-Analog Hybrid Valve-Controlled Hydraulic Robot System
[CN 202110304061.7] A digital-analog hybrid valve-controlled hydraulic robot system Title: A digital-analog hybrid valve-controlled hydraulic robot system Application Number: CN 202110304061.7 Applicant: Xi 'an Jiaotong University Application Date: 2021-3-22 Patent Type: Invention Application The present invention discloses a digital-analog hybrid valve-controlled hydraulic robot system, including a robot mechanical body, a power system and a sensor detection and control system; the robot mechanical body includes robot base, robot waist part, joint 1 hydraulic cylinder, joint 2 hydraulic cylinder, robot boom part, robot middle arm part, joint 3 hydraulic cylinder, joint 4 hydraulic cylinder, robot arm part, joint 5 hydraulic cylinder, robot wrist part, joint 6 hydraulic cylinder and robot end flange part. The power system is used to provide power source for the robot mechanical body, the sensor detection and control system is used to detect the rotation angle of the six hydraulic cylinders and control the actions of the six hydraulic cylinders respectively. The invention adopts a hydraulic swing cylinder as an executive element for the rotation of each joint of a 6-degree-of-freedom mechanical arm, and simultaneously controls the rotary hydraulic cylinder with an electro-hydraulic servo valve and a high-speed on-off valve, thus realizing the high-precision control of the robot hydraulic system.
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