Electro-hydraulic Servo System Structure Of Servo Manipulator

The driving circuit of the slewing mechanism is mainly composed of two hydraulic motors, two proportional valves and electric ball valves. Two proportional valves control two hydraulic motors to achieve precise positioning of the rotary motion of the mechanical handpiece body. When the mechanical handpiece body is in the braking state, the system cuts off the main oil supply circuit through the electric ball valve, and replaces the brake oil source to supply oil to the hydraulic motor in the opposite direction, so that the two motors produce opposite rotational power, so that the body is stable. Stop at the control point to realize the braking of the mechanical handpiece. The driving circuit of the pitch mechanism is mainly composed of two proportional valves, two hydraulic cylinders, and a back pressure valve. The driving mechanism adopts the hydraulic synchronous driving mode of "one valve control one cylinder" to control the two hydraulic cylinders to realize the lifting action of the manipulator. At the same time, the oil circuit also adds a back pressure valve to the manipulator down circuit to ensure the stability of the vertical position of the manipulator. The driving circuit of the push-pull mechanism is mainly composed of a hydraulic cylinder, an electro-hydraulic proportional valve, and a back pressure valve. One hydraulic cylinder is controlled by a proportional valve to realize the push-pull movement of the manipulator. The driving circuit of the hand grasping mechanism is mainly composed of hydraulic cylinder, hydraulic motor, two electro-hydraulic proportional valves, electric ball valve, and back pressure valve. Two proportional valves control the hydraulic cylinder and hydraulic motor respectively to realize the rotation and grasping of the manipulator hand grasp. movement.