Hydraulic drive methods are mostly used in applications that require a large output force, and the speed is lower than that of pneumatic drive under low pressure drive conditions.
The output force and power of the hydraulic drive are very large, and it can form a servo mechanism, which is often used to drive the joints of large robots.
The hydraulic drive system is mainly composed of hydraulic cylinders and hydraulic valves. A hydraulic cylinder is a hydraulic actuator that converts hydraulic energy into mechanical energy and does linear reciprocating motion or swinging motion. It has a simple structure and reliable operation. When the reciprocating motion is realized by the hydraulic cylinder, the deceleration equipment can be dispensed with, and there is no transmission clearance, and the movement is stable, so it is widely used in various hydraulic systems.
Reciprocating linear motion cylinders (referred to as linear cylinders) operated by solenoid valves are the simplest and cheapest open-loop hydraulic drive equipment. Linear cylinders regulate the flow through a controlled throttle and can be decelerated at the end of the movement, allowing the aborted process to be controlled. The large-diameter hydraulic cylinder itself is expensive and needs to be equipped with expensive electro-hydraulic servo valves, but it can get a larger output, and the operating pressure is usually up to 14MPa.
Whether it is a linear hydraulic cylinder or a vane hydraulic motor (later known as a rotary hydraulic motor), they operate according to the effect of high-pressure oil on the piston or on the blades. The hydraulic oil is fed to one end of the cylinder through the control valve. In the open-loop system, it is controlled by a solenoid valve; In the closed-loop system, it is controlled by an electro-hydraulic servo valve or a manual valve.
Hydraulic valves are further divided into check valves and reversing valves. A check valve allows the oil to move in only one direction and the reverse shut-off, also known as a check valve. Reversing valves are divided into spool valve reversing valves, manual reversing valves, motorized reversing valves and solenoid reversing valves. Spool valve type reversing valve is a reversing valve that relies on the valve core to do axial movement in the valve body to make the corresponding oil circuit connected or disconnected. Manual directional valves are used for manual reversing. Motorized directional valves are used in mechanical movements, as limit equipment limit reversing. Solenoid directional valves are used to change the direction of the fluid and then change the mechanical movement when the electrical equipment or control equipment gives a reversing command.
Hydraulically driven robots have a much greater gripping capacity than force drives, up to hundreds of kilograms. However, the hydraulic drive system has high requirements for sealing, and it is not suitable for operation in high or low temperature occasions, and the manufacturing accuracy required is high, and the cost is also high.
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Robot architecture refers to the structural method of information processing and manipulation logic of one or several robots that specify the guidelines for completion.
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According to the architecture of functional differentiation in artificial intelligence, it is attributed to traditional deliberative intelligence in artificial intelligence.
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