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介绍了穿地龙机器人的总体设计方案,进行了基于PWM高速开关阀控制的液压驱动系统的设计,建立了数学模型,进行了系统的动态响应仿真与分析,得出此液压系统能够保证冲击活塞以可以调整的冲击频率与冲击能进行稳定振动的结论。
The overall design scheme of Dilong robot is introduced, the design of hydraulic drive system based on PWM high-speed on-off valve is carried out, the mathematical model is established and the dynamic response simulation and analysis of the system is made. The conclusion is drawn that the hydraulic system can ensure the impact of the piston The result is a stable vibration with adjustable impact frequency and impact energy.