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一、引言为了使喷漆机器人完全模拟人的工作姿态,采用了六个自由度的控制方式。这六个自由度均为液压控制系统,而液压控制系统的关键部分就是执行机构——伺服液压缸。一个液压缸的性能优劣,直接关系到整体系统的性能及整机的寿命和经济效益。各种伺服液压缸的原理相差无几,但形式多种多样,其性能大多取决于密封性能的优劣及结构刚度。尤其是在高频率和长期工作要求无泄漏以及在有大量粉尘需要防爆的情况下,密封问题就显得更为突出了。传统上所采用的密封有许多缺点:寿命短、泄漏严
First, the introduction In order to make the painting robot fully simulate the work attitude of people, using a six degrees of freedom control. These six degrees of freedom are hydraulic control systems, and hydraulic control system is the key part of the actuator - servo hydraulic cylinder. A hydraulic cylinder performance advantages and disadvantages, directly related to the overall system performance and machine life and economic benefits. A variety of servo hydraulic cylinder principle is almost the same, but a variety of forms, most of its performance depends on the performance of the sealing performance and structural rigidity. Especially in the high frequency and long-term work requires no leakage and in the case of large amounts of dust need explosion-proof, the sealing problem becomes even more prominent. Traditionally the seals used have many disadvantages: short life, tight leaks