CN103538070B - A kind of five-freedom-degree hydraulic servo manipulator - Google Patents
A kind of five-freedom-degree hydraulic servo manipulator Download PDFInfo
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Abstract
The invention discloses a kind of five-freedom-degree hydraulic servo manipulator, current existing manipulator, because of the restriction of its type of drive and control system, is difficult to realize under high temperature heavy load operating mode, realizes accurately capturing.The present invention is a kind of manipulator with five degree of freedom pose adjustment; That one has the synchronously driven manipulator of twin-tub electro-hydraulic servo; There is the synchronously driven manipulator of double motor electro-hydraulic servo; It is a kind of manipulator with electro-hydraulic servo driving rotary hand grip; It is the electro-hydraulic servo driving device hand that a kind of using PLC realizes Motion trajectory.Five-freedom-degree hydraulic servo manipulator of the present invention can realize five free degree pose adjustment, accurate positioning, captures flexibly; Twin-tub electro-hydraulic servo synchronously drives, and ensures the steady of motion and synchronism; Double motor electro-hydraulic servo drives can reduce physical dimension, improves entire system performance; Electro-hydraulic servo drives rotary hand grip can realize multi-angle gripping, is applicable to high temperature heavy load working environment.
Description
Technical field
The present invention relates to a kind of high-power five-freedom-degree hydraulic servo manipulator, particularly relate to and be a kind ofly applicable to the five degree of freedom Hydraulic servo drive manipulator of material handling under heavy duty and high temperature production operating mode.
Background technology
Multi-freedom-degreemanipulator manipulator is a kind of imitation human arm shape and function, automatically complete the mechanical device of object (material, workpiece, part or instrument etc.) transmission or operation task according to given program or requirement, it can replace people to carry out the handworks such as heavy, dangerous to a certain extent.Can realize the gripping of the high temperature workpiece to different size, shape with it, the feature that flexibility ratio is high and endurance is strong, is widely used in the industries such as machinery, metallurgy, electronics, and can carries out work under severe working environment.Because the impact of the type of drive of manipulator own and material, general manipulator has been difficult to the work under high temperature heavy load environment, so need to improve the type of drive of manipulator and material and Technology for Heating Processing make manipulator can complete high temperature heavy load under task, realize effective crawl of prestissimo, also improve the efficiency of work piece production simultaneously to a certain extent.
Existing Multi-freedom-degreemanipulator manipulator, if 200620084565 patents are a kind of manipulators using synchronous pulley, turning to and rotating the number of turns by control synchronization belt wheel, come comparatively accurately control synchronization belt wheel along the distance of Timing Belt movement, thus control manipulator cantilever move forward and backward distance.201080035328 is a kind of medical manipulators with the bend that can bend, and it comprises arm, insertion section, operating portion and transmission member, can flexible Application in doctor field.As a kind of multiple degrees of freedom self adaptation flexibility manipulator of the patent No. involved by 201120338279 patents, the dynamics of the dangers such as multiple degrees of freedom self-adapting flexible mechanical finger holding workpiece can be ensured simply accurately, avoid handling the danger accidentally produced.Multi-freedom-degreemanipulator manipulator fixture involved by 201220280897 patents, handgrip can do the rectilinear motion of Y-axis, the requirement of fine setting when meeting workpiece holding and place, 180 degree of upsets to workpiece can be realized, can also regulate in the district of family of handgrip, the requirement to different gripping power when meeting different workpieces gripping.201210269579 patents are a kind of manipulators be made up of support bar, left gathering cylinder, right gathering cylinder, left manipulator, right manipulator, manipulator is utilized to grasp welding rod, make the dress bag of welding rod convenient, structure is simple, easy to operate, automaticity is high, production efficiency advantages of higher.If but the patent No. is do not have the manipulator of a type can the environment of simultaneous adaptation high temperature heavy load.This patent, for above technical deficiency, provides a kind of by all-hydraulic device Synchronization Control, can adapt to the Multi-freedom-degreemanipulator manipulator grabbing device worked under high temperature heavy load environment.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of five-freedom-degree hydraulic servo manipulator is provided.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of five-freedom-degree hydraulic servo manipulator comprises gripping body, the first hydraulic cylinder, the first hydraulic motor, swing mechanism, first connecting rod, connecting plate, clamping plate, second connecting rod, lifting mechanism, the second hydraulic cylinder, cantilever, fuselage, the 3rd hydraulic cylinder, the second hydraulic motor, slew gear, base, the 3rd hydraulic motor and the 4th hydraulic cylinder;
Described gripping body is a pincerlike handgrip, is driven the folding of the pincerlike handgrip of the extension and contraction control of piston rod by the first hydraulic cylinder; The end of gripping body is connected by the output shaft of shaft coupling with the first hydraulic motor in rotating mechanism, and the first hydraulic motor can drive gripping body to be that axis rotates with shaft coupling by output shaft.
Described swing mechanism is the parallel-crank mechanism of four end to end connecting rod compositions, the both sides of swing mechanism first hinged end respectively successively with a drift angle of one piece of triangle connecting plate, one end chain connection that one piece of clamping plate is gone up along its length, the both sides of a hinged end on the minor face that swing mechanism is adjacent with the first hinged end respectively with another drift angle chain connection of one piece of connecting plate, away from the middle and upper part, long limit of fuselage side and first connecting rod one end chain connection in swing mechanism parallel-crank mechanism, the first connecting rod other end is connected with the piston rod of the second hydraulic cylinder, second hydraulic cylinder end schedules on fuselage by hinges fixing, hydraulic cylinder drives swing mechanism to do stretching motion by connecting rod.First hydraulic motor and support are connected, the hinged end points hinge-coupled of support two pin joints and swing mechanism lower end;
Described lifting mechanism is by clamping plate, the parallel-crank mechanism that on second connecting rod and connecting plate and fuselage, a fixing point forms, second connecting rod one end is connected with last drift angle of triangle connecting plate, the other end of second connecting rod and some chain connections of fuselage roof, another chain connection on the other end that clamping plate are gone up along its length and fuselage, lifting mechanism is by the 3rd Driven by Hydraulic Cylinder, five Along ent places of the other end that close clamping plate are gone up along its length are by connecting rod and the 3rd hydraulic cylinder, the piston rod chain connection of the 4th hydraulic cylinder, hydraulic cylinder drives lifting mechanism to move up and down, fuselage is scheduled by hinges fixing bottom 3rd hydraulic cylinder.One end of cantilever is fixed on fuselage, is provided with limited block outside the clamping plate of lifting mechanism, and when lifting mechanism drops to extreme lower position, cantilever withstands limited block, plays position-limiting action; Fuselage is placed on slew gear, and slew gear is driven by the second hydraulic motor and the 3rd hydraulic motor and does gyration.Second hydraulic cylinder motor and the 3rd hydraulic motor are fixed on slew gear, drive slew gear to do gyration relative to base.Base is fixed on level ground by fot screw.
Fluid power system comprises the first rotary fluid motor, second rotary fluid motor, 3rd rotary fluid motor, first telescopic hydraulic cylinder, second telescopic hydraulic cylinder, 3rd telescopic hydraulic cylinder, 4th telescopic hydraulic cylinder, first pinched valve, second pinched valve, 3rd pinched valve, 4th pinched valve, first multiple directional control valve group, second multiple directional control valve group, first servo valve, second servo valve, 3rd servo valve, 4th servo valve, 5th servo valve, 6th servo valve and the 7th servo valve,
Second hydraulic motor, the 3rd hydraulic motor, the first servo valve and the second servo valve composition drives the hydraulic system of slew gear; Second hydraulic cylinder, the first pinched valve and the 3rd servo valve composition drives the hydraulic system of swing mechanism 4; Twin-tub electro-hydraulic servo synchronous driving system in 3rd hydraulic cylinder, the 4th hydraulic cylinder, the second pinched valve, the 3rd pinched valve, the 4th servo valve and the 5th servo valve composition lifting mechanism; First hydraulic cylinder, the 4th pinched valve and the 6th servo valve composition drive the hydraulic system in the gripping body of handgrip; The hydraulic system of the rotating mechanism of the first hydraulic motor and the 7th servo valve composition handgrip.
The hydraulic system oil circuit of slew gear and rotating mechanism is: an oil circuit is from the access of servo valve P mouth, and servo valve A mouth connects hydraulic motor one end, and another termination servo valve of hydraulic motor B mouth, servo valve T mouth connects another oil circuit.The hydraulic system oil circuit of swing mechanism, lifting mechanism and gripping body is: an oil circuit accesses from servo valve P mouth, servo valve A mouth connects hydraulic cylinder rod chamber, hydraulic motor rodless cavity connects the entrance of pinched valve, and the outlet of pinched valve connects servo valve B mouth, and servo valve T mouth connects another oil circuit.
The present invention has following gain effect: five-freedom-degree hydraulic servo manipulator of the present invention can realize five free degree pose adjustment, accurate positioning, captures flexibly; Twin-tub electro-hydraulic servo synchronously drives, and ensures the steady of motion and synchronism; Double motor electro-hydraulic servo drives can reduce physical dimension, improves entire system performance; Electro-hydraulic servo drives rotary hand grip can realize multi-angle gripping, is applicable to high temperature heavy load working environment.
Accompanying drawing explanation
Fig. 1-hydraulic efficiency manipulator schematic diagram;
Fig. 2-hydraulic efficiency manipulator schematic diagram of mechanism;
Fig. 3-mechanical hand hydraulic system diagram.
Detailed description of the invention
As shown in Figure 1 and Figure 2, a kind of five-freedom-degree hydraulic servo manipulator comprises gripping body 1, first hydraulic cylinder 2, first hydraulic motor 3, swing mechanism 4, first connecting rod 5, connecting plate 6, clamping plate 7, second connecting rod 8, lifting mechanism 9, second hydraulic cylinder 10, cantilever 11, fuselage 12, the 3rd hydraulic cylinder 13, second hydraulic motor 14, slew gear 15, base 16, the 3rd hydraulic motor 17 and the 4th hydraulic cylinder 18;
Described gripping body 1 is a pincerlike handgrip, is driven the folding of the pincerlike handgrip of the extension and contraction control of piston rod by the first hydraulic cylinder 2; The end of gripping body 1 is connected by the output shaft of shaft coupling with the first hydraulic motor 3 in rotating mechanism, and the first hydraulic motor can drive gripping body to be that axis rotates with shaft coupling by output shaft,
Described swing mechanism 4 is the parallel-crank mechanism of four end to end connecting rod compositions, the both sides of swing mechanism 4 first hinged end respectively successively with a drift angle of one piece of triangle connecting plate 6, one end chain connection that one piece of clamping plate 7 is gone up along its length, the both sides of a hinged end on the minor face that swing mechanism 4 is adjacent with the first hinged end respectively with another drift angle chain connection of one piece of connecting plate 6, away from the middle and upper part, long limit of fuselage side and first connecting rod 5 one end chain connection in swing mechanism 4 parallel-crank mechanism, first connecting rod 5 other end is connected with the piston rod of the second hydraulic cylinder 10, second hydraulic cylinder 10 end schedules on fuselage 12 by hinges fixing, hydraulic cylinder 10 drives swing mechanism to do stretching motion by connecting rod.First hydraulic motor 3 is connected with support, the hinged end points hinge-coupled of support two pin joints and swing mechanism lower end;
Described lifting mechanism 9 is by clamping plate 7, the parallel-crank mechanism that second connecting rod 8 and connecting plate 6 form with a fixing point on fuselage, second connecting rod 8 one end is connected with last drift angle of triangle connecting plate 6, some chain connections of the other end and fuselage 12 top of second connecting rod 8, another chain connection on the other end that clamping plate 7 are gone up along its length and fuselage 12, lifting mechanism 9 is driven by the 3rd hydraulic cylinder 13, five Along ent places of the other end that close clamping plate 7 are gone up along its length are by connecting rod and the 3rd hydraulic cylinder 13, the piston rod chain connection of the 4th hydraulic cylinder 18, hydraulic cylinder 13 drives lifting mechanism to move up and down, fuselage 12 is scheduled by hinges fixing bottom 3rd hydraulic cylinder 13.One end of cantilever 11 is fixed on fuselage, is provided with limited block outside the clamping plate of lifting mechanism, and when lifting mechanism drops to extreme lower position, cantilever 11 withstands limited block, plays position-limiting action;
Fuselage 12 is placed on slew gear 15, and slew gear 15 is driven by the second hydraulic motor 14 and the 3rd hydraulic motor 17 and does gyration.Second hydraulic cylinder motor 14 and the 3rd hydraulic motor 17 are fixed on slew gear, drive slew gear to do gyration relative to base.Base 16 is fixed on level ground by fot screw.
As shown in Figure 3, fluid power system comprises the first rotary fluid motor 3, second rotary fluid motor 14, 3rd rotary fluid motor 17, first telescopic hydraulic cylinder 2, second telescopic hydraulic cylinder 10, 3rd telescopic hydraulic cylinder 13, 4th telescopic hydraulic cylinder 18, first pinched valve 21, second pinched valve 22, 3rd pinched valve 23, 4th pinched valve 24, first multiple directional control valve group 19, second multiple directional control valve group 20, first servo valve 25, second servo valve 26, 3rd servo valve 27, 4th servo valve 28, 5th servo valve 29, 6th servo valve 30 and the 7th servo valve 31,
Second hydraulic motor 14, the 3rd hydraulic motor 17, first servo valve 25 and second are watched
Take valve 26 and form the hydraulic system driving slew gear 15; Second hydraulic cylinder 10, first pinched valve 21 and the 3rd servo valve 27 composition drive the hydraulic system of swing mechanism 4; 3rd hydraulic cylinder 13, the 4th hydraulic cylinder 18, second pinched valve 22, the 3rd pinched valve 23, the 4th servo valve 28 and the 5th servo valve 29 form the twin-tub electro-hydraulic servo synchronous driving system in lifting mechanism 9; First hydraulic cylinder the 2, four pinched valve 24 and the 6th servo valve 30 composition drive the hydraulic system in the gripping body 1 of handgrip; First hydraulic motor 3 and the 7th servo valve 31 form the hydraulic system of the rotating mechanism of handgrip.
The hydraulic system oil circuit of slew gear 15 and rotating mechanism (the first hydraulic motor 3) is: an oil circuit is from the access of servo valve P mouth, and servo valve A mouth connects hydraulic motor one end, and another termination servo valve of hydraulic motor B mouth, servo valve T mouth connects another oil circuit.The hydraulic system oil circuit of swing mechanism 4, lifting mechanism 9 and gripping body 1 is: an oil circuit accesses from servo valve P mouth, servo valve A mouth connects hydraulic cylinder rod chamber, hydraulic motor rodless cavity connects the entrance of pinched valve, and the outlet of pinched valve connects servo valve B mouth, and servo valve T mouth connects another oil circuit.
The hydraulic work system situation of slew gear 15 and rotating mechanism (hydraulic motor 3) is: time initial, servo valve P mouth T mouth flow is equal, system in balance.When input instruction signal promotes valve core of servo valve towards movement on one side.The displacement of spool opens the oil circuit between oil-in (P) and a load port, has linked up the passage between oil return opening (T) and another load port.Oil, through servo valve, enters one end of hydraulic motor, and drive hydraulic motor to rotate, hydraulic motor driven rotary mechanism or slew gear do the gyration in a direction.When input instruction shift onto servo valve move to another side time, hydraulic motor rotates to other direction.
Swing mechanism 4, lifting mechanism 9 and gripping body 1 hydraulic work system situation are: time initial, servo valve P mouth T mouth flow is equal, system in balance.When input instruction signal promotes valve core of servo valve towards movement on one side.The displacement of spool opens the oil circuit between oil-in (P) and a load port, has linked up the passage between oil return opening (T) and another load port.Oil, through servo valve, enters one end of hydraulic cylinder rod chamber, drives the piston rod of hydraulic cylinder to shrink, and the reaction respectively in each mechanism corresponding is the decline of the retrogressing of swing mechanism, lifting mechanism, the clamping of gripping body.When input instruction shift onto servo valve move to another side time, the motion of each mechanism corresponding is the advance of swing mechanism, the rising of lifting mechanism, loosening of gripping body.
Be applicable to the five degree of freedom Hydraulic servo drive manipulator of material handling under heavy duty and high temperature production operating mode, wherein five degree of freedom mechanism is made up of the attitude-adjusting system of Three Degree Of Freedom and the rotary hand grip of two-freedom.Three Degree Of Freedom attitude-adjusting system synchronously drives lifting mechanism, single-cylinder electric liquid servo-drive swing mechanism and double motor electro-hydraulic servo synchronous drive mechanism to form by twin-tub electro-hydraulic servo.The rotary hand grip of two-freedom drives rotating mechanism to form by single-cylinder electric liquid servo-drive gripping body and single motor electro-hydraulic servo.Hydraulic efficiency manipulator adopts PLP control system, uses SETP7 to write control program.
Five described frees degree are the gripping free degree and the rotary freedom of described gripping body respectively; The lifting free degree of described lifting mechanism; The flexible free degree of described swing mechanism and the revolution free degree of described slew gear.
Described twin-tub electro-hydraulic servo synchronously drives lifting mechanism primarily of compositions such as two hydraulic cylinders, connecting rod, connecting plate, displacement transducer, pressure sensor, servo valve and oil sources.Described lifting mechanism is driven by electric liquid, is changed the position of hydraulic stem by the oil mass of servo valve control hydraulic cylinder rod chamber and rodless cavity.The oil circuit control of two hydraulic cylinders is identical, and inputs identical controlled quentity controlled variable, ensures the synchronism that twin-tub electricity liquid drives.Described displacement transducer is for monitoring the operating position synchronous error of hydraulic cylinder, and described pressure sensor is for monitoring the run location of hydraulic cylinder.
Described single-cylinder electric liquid servo-drive swing mechanism is primarily of compositions such as hydraulic cylinder, connecting rod, connecting plate, displacement transducer, pressure sensor, servo valve and oil sources.Described swing mechanism is driven by electric liquid, is changed the position of hydraulic stem by the oil mass of servo valve control hydraulic cylinder rod chamber and rodless cavity.Described pressure sensor is for monitoring the run location of hydraulic cylinder.
Described double motor electro-hydraulic servo synchronously drives slew gear primarily of compositions such as two hydraulic motors, oil sources, servo valve and base plates.Double motor electro-hydraulic servo synchronously drives slew gear to be driven by electric liquid, by servo valve control hydraulic motor, drives hydraulic motor to rotate, through multistage transmission, rotation is passed to turntable shaft, realize the rotation of manipulator entirety.When capturing successfully, it rotates to utilize electric hydraulic control, transfer institute clamping high temperature workpiece.
Described electro-hydraulic servo drives gripping body to be made up of hydraulic cylinder, connecting rod, servo valve and oil sources etc.Primary structure in gripping body is a parallel-crank mechanism, is driven by electric liquid, by the motion of expansion link in servo valve control hydraulic cylinder, changes the shape of parallel-crank mechanism, thus realizes the clamping of handgrip and loosen.
Described single motor electro-hydraulic servo drives rotating mechanism primarily of compositions such as hydraulic motor, connecting rod, servo valve and oil sources.Rotating part by electric liquid rotating band hydrodynamic pressure motor movement, because motor and gripping body are coaxial, can by this Movement transmit to gripping body, thus the adjustment of workpiece circumferential position after realizing multi-angle gripping workpiece or gripping.Gripping body central shaft is connected by shaft coupling with the hydraulic motor of rotating mechanism, and hydraulic motor is fixed on flat board.
Described PLP control system part is primarily of the modules such as PPU, signal, function, interface and communication processor, programming device composition, it is a class programmable controller, for its internally stored program, actuating logic computing, sequential control, regularly, the user oriented instructions such as counting and arithmetical operation, and control five-freedom-degree hydraulic servo manipulator and motion process thereof by numeral or analog pattern input/output.The weave control of manipulator and lifting control to realize Motion trajectory by application PLP, drive the motion of swing mechanism and lifting mechanism, drive whole manipulator, stable movement is realized for making transmission, two described hydraulic cylinders should have two middle parts being placed in mechanical arm, and be synchronized with the movement, seesawing up and down of one horizontal one vertical control manipulator, thus realize effective crawl of manipulator.
Claims (1)
1. a five-freedom-degree hydraulic servo manipulator comprises gripping body, the first hydraulic cylinder, the first hydraulic motor, swing mechanism, first connecting rod, connecting plate, clamping plate, second connecting rod, lifting mechanism, the second hydraulic cylinder, cantilever, fuselage, the 3rd hydraulic cylinder, the second hydraulic motor, slew gear, base, the 3rd hydraulic motor and the 4th hydraulic cylinder;
It is characterized in that: described gripping body is a pincerlike handgrip, driven the folding of the pincerlike handgrip of the extension and contraction control of piston rod by the first hydraulic cylinder; The end of gripping body is connected by the output shaft of shaft coupling with the first hydraulic motor in rotating mechanism, and the first hydraulic motor can drive gripping body to be that axis rotates with shaft coupling by output shaft;
Described swing mechanism is the parallel-crank mechanism of four end to end connecting rod compositions, the both sides of swing mechanism first hinged end respectively successively with a drift angle of one piece of triangle connecting plate, one end chain connection that one piece of clamping plate is gone up along its length, the both sides of a hinged end on the minor face that swing mechanism is adjacent with the first hinged end respectively with another drift angle chain connection of one piece of connecting plate, away from the middle and upper part, long limit of fuselage side and first connecting rod one end chain connection in swing mechanism parallel-crank mechanism, the first connecting rod other end is connected with the piston rod of the second hydraulic cylinder, second hydraulic cylinder end schedules on fuselage by hinges fixing, hydraulic cylinder drives swing mechanism to do stretching motion by connecting rod, first hydraulic motor and support are connected, the hinged end points hinge-coupled of support two pin joints and swing mechanism lower end,
Described lifting mechanism is by clamping plate, the parallel-crank mechanism that on second connecting rod and connecting plate and fuselage, a fixing point forms, second connecting rod one end is connected with last drift angle of triangle connecting plate, the other end of second connecting rod and some chain connections of fuselage roof, another chain connection on the other end that clamping plate are gone up along its length and fuselage, lifting mechanism is by the 3rd Driven by Hydraulic Cylinder, five Along ent places of the other end that close clamping plate are gone up along its length are by connecting rod and the 3rd hydraulic cylinder, the piston rod chain connection of the 4th hydraulic cylinder, hydraulic cylinder drives lifting mechanism to move up and down, fuselage is scheduled by hinges fixing bottom 3rd hydraulic cylinder, one end of cantilever is fixed on fuselage, is provided with limited block outside the clamping plate of lifting mechanism, and when lifting mechanism drops to extreme lower position, cantilever withstands limited block, plays position-limiting action, fuselage is placed on slew gear, and slew gear is driven by the second hydraulic motor and the 3rd hydraulic motor and does gyration, second hydraulic cylinder motor and the 3rd hydraulic motor are fixed on slew gear, drive slew gear to do gyration relative to base, base is fixed on level ground by fot screw,
Fluid power system comprises the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the first hydraulic cylinder, the second hydraulic cylinder, the 3rd hydraulic cylinder, the 4th hydraulic cylinder, the first pinched valve, the second pinched valve, the 3rd pinched valve, the 4th pinched valve, the first multiple directional control valve group, the second multiple directional control valve group, the first servo valve, the second servo valve, the 3rd servo valve, the 4th servo valve, the 5th servo valve, the 6th servo valve and the 7th servo valve;
Second hydraulic motor, the 3rd hydraulic motor, the first servo valve and the second servo valve composition drives the hydraulic system of slew gear; Second hydraulic cylinder, the first pinched valve and the 3rd servo valve composition drives the hydraulic system of swing mechanism; Twin-tub electro-hydraulic servo synchronous driving system in 3rd hydraulic cylinder, the 4th hydraulic cylinder, the second pinched valve, the 3rd pinched valve, the 4th servo valve and the 5th servo valve composition lifting mechanism; First hydraulic cylinder, the 4th pinched valve and the 6th servo valve composition drive the hydraulic system in the gripping body of handgrip; The hydraulic system of the rotating mechanism of the first hydraulic motor and the 7th servo valve composition handgrip;
The hydraulic system oil circuit of slew gear and rotating mechanism is: an oil circuit is from the access of servo valve P mouth, and servo valve A mouth connects hydraulic motor one end, another termination servo valve of hydraulic motor B mouth, and servo valve T mouth connects another oil circuit; The hydraulic system oil circuit of swing mechanism, lifting mechanism and gripping body is: an oil circuit accesses from servo valve P mouth, servo valve A mouth connects hydraulic cylinder rod chamber, hydraulic motor rodless cavity connects the entrance of pinched valve, and the outlet of pinched valve connects servo valve B mouth, and servo valve T mouth connects another oil circuit.
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| CN103538070A (en) | 2014-01-29 |
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Denomination of invention: A 5-DOF hydraulic servo manipulator Effective date of registration: 20220727 Granted publication date: 20151021 Pledgee: Zhejiang Pinghu Rural Commercial Bank Co.,Ltd. Guangchen sub branch Pledgor: Pinghu Zuoyue Machinery Manufacturing Co.,Ltd. Registration number: Y2022330001531 |
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