CN102615638B - Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot - Google Patents
Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot Download PDFInfo
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- CN102615638B CN102615638B CN201210096179.6A CN201210096179A CN102615638B CN 102615638 B CN102615638 B CN 102615638B CN 201210096179 A CN201210096179 A CN 201210096179A CN 102615638 B CN102615638 B CN 102615638B
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Abstract
The invention relates to a master-slave hydraulic mechanical arm system of a high-voltage hot-line operation robot, which comprises a hydraulic oil source, mechanical arm bodies, hydraulic servo drivers, optical fibers, master arm controllers, master arms, handheld terminals and the like. The mechanical arm bodies are connected with the hydraulic servo drivers and the hydraulic oil source respectively. The hydraulic servo drivers are connected with the master arm controllers which are connected with the master arms. The master arms are connected with the handheld terminals. The hydraulic servo drivers and the master arm controllers are respectively connected with a power source. The master-slave hydraulic mechanical arm system is fast in processing speed, low in cost and stable and reliable in performance.
Description
Technical field:
The present invention relates to a kind of Robot Control Technology, especially a kind of robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system.
Background technology:
In order to improve the gentle security of Automated water of livewire work, the labour intensity and the strong-electromagnetic field that alleviate operating personnel threaten operating personnel's the person, from the eighties, many countries have all successively carried out the research of hot line robot, as the countries such as Japan, Spain, the U.S., Canada, France have successively carried out the research to hot line robot.China in 2002 have also carried out the development of robot for high-voltage hot-line work commercialization model machine.
The type of drive of mechanical arm mainly contains three kinds at present: air pressure driving, hydraulic-driven and motor drive.The shortcoming of air pressure driving device arm: gas compressibility is large, and precision is low, and damping is poor, and low speed is wayward, is difficult to realize SERVO CONTROL, and has noise when exhaust, and efficiency is low, is applicable to medium and small load, the lower finite point of required precision position sequence controlled machine arm.
The shortcoming of motor driving device arm: have spark when DC electromotor with brush commutation, poor to the explosion-proof performance of environment, cost is high, and complex structural designs is applicable to medium and small load, requires to have higher position control accuracy, the mechanical arm that speed is higher.
The shortcoming of fro hydraulic driving machinery arm: have that leakage of oil, hydraulic drive are more responsive to the variation of oil temperature, breaking down is difficult for checking and getting rid of, and is applicable to heavy load, requires the mechanical arm that control accuracy is not too high.
The control mode of mechanical arm mainly contains two kinds at present: GUIDANCE FOR AUTONOMIC GUIDED VEHICLES and master-slave mode mode.Wherein GUIDANCE FOR AUTONOMIC GUIDED VEHICLES operating flexibility is poor, movement velocity is lower, and the programming of robot motion's Trajectory Arithmetic is complicated, development difficulty.Master-slave control method is applied in to be controlled flexibly, but the low occasion of control accuracy.Mechanical arm principal and subordinate control system is generally divided into two classes at present: a class adopts industrial computer and control card, and from equipment and control technology, specificity is very strong and price is comparatively expensive, has limited further developing of principal and subordinate's technology; Another kind of employing PLC, volume is large, power consumption is large, control rate is slow, change control program difficulty, control poor reliability when complicated.How more convenient, control principal and subordinate's mechanical arm fast, at an easy rate, become an outstanding problem of principal and subordinate's mechanical arm technology.
Summary of the invention:
The object of the invention is to solve following problems, a kind of robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system is provided, this robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system adopts position servo close-loop control mode, and by optical fiber, high voltage electric field and people are isolated, control accuracy is high, real-time good, stable and reliable for performance, more convenient to operate, meet the requirement of electrification in high voltage robot manipulating task task.
For achieving the above object, the present invention adopts following technical scheme:
A kind of robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system, it comprises hydraulic oil source, mechanical arm, Hydraulic servo drive device, optical fiber, main hand controls, main hand, handheld terminal and power supply; Described mechanical arm is connected with Hydraulic servo drive device by control bus, power bus and position signalling bus, is connected with oil inlet pipe by oil return pipe with hydraulic oil source; Hydraulic servo drive device is communicated by letter with main hand controls by optical fiber; Main hand controls is connected with main hand by control bus, power bus, status signal bus in addition; Main hand is connected with handheld terminal by status signal bus in addition, command signal bus; Hydraulic servo drive device is also connected with power supply respectively with main hand controls,
Described main hand controls comprises microprocessor II, and the data/address bus of microprocessor II, address bus, control bus are connected with data/address bus, address bus, the control bus of A/D converter I; A/D converter I is connected with the potentiometer of each joint rotating shaft place of main hand; Microprocessor II is connected with serial ports receiver transmitter II, and serial ports receiver transmitter II is by communicating by letter with Hydraulic servo drive device;
Described Hydraulic servo drive device comprises microprocessor III, the data/address bus of microprocessor III, address bus, control bus are connected with data/address bus, address bus, the control bus of A/D converter II, and data/address bus, the clock bus of microprocessor III are connected with data/address bus, the clock bus of D/A converter; A/D converter II is connected with the potentiometer of each joint rotating shaft place of mechanical arm; D/A converter is connected with hydraulic amplifier;
The microprocessor I of described handheld terminal is connected with Liquid Crystal Module and Keyboard management module by logic level translator, and keyboard pipeline module is connected with keyboard; Microprocessor I is also connected with voltage stabilizing chip I, voltage stabilizing chip I I and serial ports receiver transmitter I respectively, between serial ports receiver transmitter I and serial ports receiver transmitter II, is connected by serial ports, realizes communicating by letter between microprocessor I and microprocessor II.
Described microprocessor I, microprocessor II and microprocessor III all adopt TMS320F2812 chip; Described A/D converter I, A/D converter II all adopt MAX1312 chip; Described D/A converter adopts DAC7678 chip.
Described servo valve is jet pipe type electricity flow quantity servo valve; Described each potentiometer adopts the 360 degree rotational potentiometers of 5K Ω, sensor accuracy 1 ‰.
Described microprocessor II is as main frame, and it takes on system management, the compiling of mechanical arm language and human interface function, and periodically the increment using operation result as joint motions is delivered to public internal memory, reads it for microprocessor III.
It is digital control that described microprocessor III completes whole joint positions.It reads set-point from public internal memory, also each joint physical location is sent back in public internal memory, and microprocessor II uses.
Described mechanical arm is 7 degree-of-freedom manipulators, is divided into two essential parts of upper arm and forearm; Upper arm parts is divided and is comprised the large arm pitch axis of lower end, the forearm pitch axis of upper end, and large arm pitch axis is arranged on valve plate, and large arm pitch axis place is also provided with hydraulic cylinder; Valve plate is arranged on waist gyroaxis, and the motion of waist revolution, large arm pitching and forearm pitching is provided;
Forethiga divides and comprises the wrist pitch axis, wrist swinging shaft, the wrist rotating shaft that set gradually, provides wrist pitching, wrist to wave the motion of rotating with wrist;
The corresponding hydraulic actuator that moves through in the each joint of mechanical arm is carried out; Each actuator is controlled by a corresponding hydraulic efficiency servo-valve; Except hydraulic efficiency servo-valve, pressure-reducing valve and magnetic valve are also increased; Magnetic valve is used for switch hydraulic source; Oil outer hydraulic coupling can not exceed 3000PSI; Valve plate is provided with control module and is connected with Hydraulic servo drive device by control bus, and upper arm is connected with Hydraulic servo drive device by position signalling bus with the potentiometer on forearm, and Hydraulic servo drive device is powered by power bus.
Described waist gyroaxis scope of activities is 180 degree, maximum movement speed 80 spends/second; The scope of activities 120 of large arm pitch axis is spent, and maximum movement speed 65 spends/second; The scope of activities 110 of forearm pitch axis is spent, and maximum movement speed 50 spends/second; The scope of activities 100 of wrist pitch axis is spent, and maximum movement speed 100 spends/second; The scope of activities 105 of wrist swinging shaft is spent, and maximum movement speed 115 spends/second.
Described main hand is the main hand of 6DOF, and each joint rotating shaft place on it is all with potentiometer, main on hand with paw locking press button, wrist rotation rocking bar, wrist model selection button, stop/SR, paw spreading-retracting button, hydraulic selector button; On the base panel of main hand, be with some LED lights; Main hand comprises large arm, forearm, and large arm lower end is provided with large arm pitch axis, and upper end is provided with forearm pitch axis, is arranged on valve plate at large arm pitch axis, and large arm pitch axis place is also provided with hydraulic cylinder; Valve plate is arranged on waist gyroaxis, and the motion of waist revolution, large arm pitching and forearm pitching is provided;
Forearm part comprises the wrist pitch axis, wrist swinging shaft, the wrist rotating shaft that set gradually, provides wrist pitching, wrist to wave the motion of rotating with wrist;
Main hand strap also has with self-balancing module, and adjustable damping is installed in each joint;
Main each button, sensor on hand communicated by letter with main hand controls by control bus, status signal bus in addition, and main hands movement is passed to mechanical arm, and mechanical arm is followed main hands movement.
The scope of activities 180 of described waist gyroaxis is spent, and the scope of activities 120 of large arm pitching is spent, and the scope of activities 120 of forearm pitching is spent, and the scope of activities 120 of wrist pitching is spent, and the scope of activities 120 that wrist waves is spent, and the scope of activities 120 of wrist rotation is spent.
Adopt such scheme, the present invention has the following advantages:
The one, master-slave mode hydraulic machinery arm system, through experimental verification, can meet robot for high-voltage hot-line work requirement, control accuracy is high, real-time good, prudent large, conduct oneself with dignity little, stable and reliable for performance more convenient to operate reliable;
The 2nd, this systems control division divides and adopts embedded Control mode, from heavy and light, size is little, control system is low in energy consumption, is applicable to the application needs of robot for high-voltage hot-line work.
The 3rd, adopt master slave control mode mechanical arm system flexible and convenient operation, do not need the complicated compound movement such as linear interpolation, circular interpolation algorithm;
The 4th, system adopts modularized design, has opening, readability, extensibility, maintainability, to continue exploitation.
The 5th, principal and subordinate's control system communication modes adopts fiber optic communication, and communication speed is fast, can realize High-Voltage Insulation.
The 6th, control system is with various standard interfaces, mechanical position limitation, software limit, multiple functional, and positional precision is high.
Brief description of the drawings
Fig. 1 is general diagram of the present invention;
Fig. 2 is the structure chart of mechanical arm body of the present invention;
Fig. 3 is the structure chart of the main hand of the present invention;
Fig. 4 is the main hand controls circuit diagram of the present invention;
Fig. 5 is Hydraulic servo drive device circuit diagram of the present invention;
Fig. 6 is handheld terminal circuit diagram of the present invention;
Fig. 7 is handheld terminal schematic diagram of the present invention;
Fig. 8 is software flow pattern of the present invention.
Wherein, 1. hydraulic oil source, 2. mechanical arm, 3. Hydraulic servo drive device, 301. microprocessor III, 302. optical fiber turn serial port module, 303. magnetic valve, 304.A/D converter II, 305.D/A converter, the potentiometer of each joint rotating shaft place of 306. mechanical arm, 307. mechanical arm, 308. hydraulic cylinder, 309. servo valve, 310. hydraulic amplifier, 4. main hand controls, 401. microprocessor II, 402. serial-port/optical-fiber conversion module, 403.A/D converter I, the potentiometer of each joint rotating shaft place of 404. main hand, 405. serial ports receiver transmitter II, 5. main hand, 6. handheld terminal, 601. microprocessor I, 602. Liquid Crystal Module, 603. keyboard, 604. logic level translator, 605. Keyboard management modules, 606. voltage stabilizing chip I, 607. voltage stabilizing chip I I, 608. serial ports receiver transmitter I, 609. serial ports, 7. power supply, 8. waist gyroaxis, 9. valve plate, 10. hydraulic cylinder, 11. large arm pitch axis, 12. upper arm, 13. 4 connecting rods, 14. forearm pitch axis, 15. forearms, 16. wrist pitch axis, 17. wrist swinging shafts, 18. wrist rotating shafts, 19. parallel paws, 20. damping rings, 21. paw locking press buttons, 22. wrist rotation rocking bars, 23. wrist model selection buttons, 24. stop and SR, 25. paw spreading-retracting buttons, 26. hydraulic selector status indicator lamps, 27. hydraulic selector buttons, 28. stop mode status indicator lamps, 29. continuous rotation mode state indicator lamps, 30. lock-out state indicator lamps.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the utility model is described further.
In Fig. 1, a kind of robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system, it comprises hydraulic oil source 1, mechanical arm 2, Hydraulic servo drive device 3, optical fiber, main hand controls 4, main hand 5, handheld terminal 6 and power supply 7; Described mechanical arm 2 is connected with Hydraulic servo drive device 3 by control bus, power bus and position signalling bus, is connected with oil inlet pipe by oil return pipe with hydraulic oil source 1; Hydraulic servo drive device 3 is communicated by letter with main hand controls 4 by optical fiber; Main hand controls 4 is connected with main hand 5 by control bus, power bus, status signal bus in addition; Main hand 5 is connected with handheld terminal 6 by status signal bus in addition, command signal bus; Hydraulic servo drive device 3 is also connected with power supply 7 respectively with main hand controls 4.
In Fig. 2, mechanical arm 2 is 7 degree-of-freedom manipulators, is divided into 15 two essential parts of upper arm 12 and forearm; Upper arm 12 parts comprise the large arm pitch axis 11 of lower end, the forearm pitch axis 14 of upper end, and large arm pitch axis 11 is arranged on valve plate 9, and large arm pitch axis place 11 is also provided with hydraulic cylinder 308; Valve plate 9 is arranged on waist gyroaxis 8, and the motion of waist revolution, large arm pitching and forearm pitching is provided;
Forearm 15 parts comprise the wrist pitch axis 16, wrist swinging shaft 17, the wrist rotating shaft 18 that set gradually, provide wrist pitching, wrist to wave the motion of rotating with wrist;
The corresponding hydraulic actuator that moves through in the each joint of mechanical arm is carried out; Each actuator is controlled by a corresponding hydraulic efficiency servo-valve 309; Except hydraulic efficiency servo-valve 309, pressure-reducing valve and magnetic valve are also increased; Magnetic valve is used for switch hydraulic source; Oil outer hydraulic coupling can not exceed 3000PSI; Valve plate 9 is provided with control module and is connected with Hydraulic servo drive device 3 by control bus, the potentiometer 306 of upper arm 12 and each joint rotating shaft place of mechanical arm on forearm 15 is connected with Hydraulic servo drive device 3 by position signalling bus, and Hydraulic servo drive device 3 is powered by power bus.
Wherein, waist gyroaxis 8 scopes of activities are 180 degree, maximum movement speed 80 spends/second; The scope of activities 120 of large arm pitch axis 11 is spent, and maximum movement speed 65 spends/second; The scope of activities 110 of forearm pitch axis 14 is spent, and maximum movement speed 50 spends/second; The scope of activities 100 of wrist pitch axis 16 is spent, and maximum movement speed 100 spends/second; The scope of activities 105 of wrist swinging shaft 17 is spent, and maximum movement speed 115 spends/second.
In Fig. 3, main hand 5 is the main hand of 6DOF, identical with the frame for movement of mechanical arm; , rotate rocking bar 22, wrist model selection button 23, stop and SR 24, paw spreading-retracting button 25 with paw locking press button 21, wrist in the forearm part of main hand 5 all with potentiometer in its each joint rotating shaft place; On the base panel of main hand 5 large arm lower ends, be provided with hydraulic selector status indicator lamp 26, hydraulic selector button 27, stop mode status indicator lamp 28, continuous rotation mode state indicator lamp 29, lock-out state indicator lamp 30.
The upper arm lower end of main hand 5 is provided with large arm pitch axis, and upper end is provided with forearm pitch axis, is arranged on valve plate at large arm pitch axis, and large arm pitch axis place is also provided with hydraulic cylinder; Valve plate is arranged on waist gyroaxis, and the motion of waist revolution, large arm pitching and forearm pitching is provided;
Forearm part comprises the wrist pitch axis, wrist swinging shaft, the wrist rotating shaft that set gradually, provides wrist pitching, wrist to wave the motion of rotating with wrist;
Main hand 5 with also with self-balancing module, and each joint install damping ring 20;
Each button, potentiometer on main hand 5 are communicated by letter with main hand controls 4 by control bus, status signal bus in addition, and main hand 5 motions are passed to mechanical arm 2, and mechanical arm 2 is followed main hand 5 and moved.
Wherein, the scope of activities 180 of the waist gyroaxis of main hand 5 is spent, and the scope of activities 120 of large arm pitching is spent, and the scope of activities 120 of forearm pitching is spent, and the scope of activities 120 of wrist pitching is spent, and the scope of activities 120 that wrist waves is spent, and the scope of activities 120 of wrist rotation is spent.
In Fig. 4, main hand controls comprises microprocessor II401, and the data/address bus of microprocessor II401, address bus, control bus are connected with data/address bus, address bus, the control bus of A/D converter I403; A/D converter I403 is connected with the potentiometer 404 of each joint rotating shaft place of main hand; Microprocessor II401 is connected with serial ports receiver transmitter II405, and serial ports receiver transmitter II405 communicates by letter with Hydraulic servo drive device 3 by optical fiber;
The D0-11 ,/OEL of A/D converter I403MAX1312 ,/WR ,/RD, connect/RD of/CS ,/XWE meet XD0-11 ,/XINT2 ,/XWE ,/the XRD ,/XZCS2 of microprocessor II401.Each potentiometer connects the CH0-7 pin of microprocessor II401.The SCITXDA of microprocessor II401 connects 11 pin of serial ports receiver transmitter II405 MAX3232, and SCIRXDA connects 12 pin, and 13,14 pin of serial ports receiver transmitter II405 are received serial-port/optical-fiber conversion module 402.
In Fig. 5, Hydraulic servo drive device 3 comprises microprocessor III301, the data/address bus of microprocessor III301, address bus, control bus are connected with data/address bus, address bus, the control bus of A/D converter II304, and data/address bus, the clock bus of microprocessor III301 are connected with data/address bus, the clock bus of D/A converter 305; A/D converter II304 is connected with the potentiometer 306 of each joint rotating shaft place of mechanical arm; D/A converter 305 is connected with hydraulic amplifier 310;
The D0-11 ,/OEL of A/D converter II304 ,/WR ,/RD ,/CS connect XD0-11 ,/XINT2 ,/XWE ,/the XRD ,/XZCS2 pin of microprocessor III301.Each potentiometer connects the CH0-7 pin of A/D converter II304.SDA, GPIOA1 that the GPIOA0 of microprocessor III301 connects D/A converter 305 meet SCL.The Vout0-7 of D/A converter 305 connects hydraulic amplifier 310.
In Fig. 6, Fig. 7, the microprocessor I601 of handheld terminal 6 is connected with Liquid Crystal Module 602 and Keyboard management module 605 by logic level translator 604, and keyboard pipeline module 605 is connected with keyboard 603; Microprocessor I601 is also connected with voltage stabilizing chip I 606, voltage stabilizing chip I I607 and serial ports receiver transmitter I608 respectively, between serial ports receiver transmitter I608 and serial ports receiver transmitter II405, be connected by serial ports 609, realize communicating by letter between microprocessor I601 and microprocessor II401.
The GIPIOB1 of microprocessor I601 is connected with 2 pin of ADG3308, and GPIOB5 is connected with 5 pin, and XINT2 is connected with 6 pin.GPIOA0-7 is connected with the DB0-7 of Liquid Crystal Module 602, and GPIOB0 is connected with REQ, and GPIOB2 is connected with CS, and Liquid Crystal Module 12 obtains 5V power supply.16 pin of ADG3308 are connected with the DATA pin of HD7279, and 15 are connected with KEY pin.The GPIOB3 of microprocessor I601 is connected with the CS pin of HD7279, and GPIOB4 is connected with CLK pin.The output of keyboard 603 meets DIG0-7, the DP-SG of HD7279.The SCITXDA of microprocessor I601 connects 11 pin of serial ports receiver transmitter I608MAX3232, and SCIRXDA connects 12 pin, and 13,14 pin of MAX3232 are received serial ports 609.
Microprocessor I601, microprocessor II401 and microprocessor III301 all adopt TMS320F2812 chip;
A/D converter I403, A/D converter II304 all adopt MAX1312 chip;
D/A converter 305 adopts DAC7678 chip.
Servo valve 309 is jet pipe type electricity flow quantity servo valve;
Each potentiometer adopts the 360 degree rotational potentiometers of 5K Ω, sensor accuracy 1 ‰.
Referring to Fig. 7, handheld terminal 6 is low-power consumption, with the module of liquid crystal display.Liquid Crystal Module 602 can show 4 row, 20 characters of every row.Liquid Crystal Module 602, from albescent bias light, can be applied in the environment that mixes secretly or there is no light.Background light intensity can have 7 kinds of selections.Select light intensity by parameters.
Handheld terminal 6 has 16 buttons, is 4 × 4 matrix forms and arranges.Carry buzzer button chimes of doom is provided.Can know whether and correctly press certain button.
Referring to Fig. 8, master-slave mode hydraulic machinery arm Control System Software is divided into main and slave terminal two parts.Operator operates main hands movement, and main hand controls gathers the positional information of main hand potentiometer and in real time positional information sent to mechanical arm controller, and mechanical arm controller is by having followed the tracks of the motion of mechanical arm to the position of main hand; The positional information that mechanical arm is detected by potentiometer in motion process on the other hand also feeds back to main hand controls by fiber optic communication, and main hand controls sends to handheld terminal by this positional information again, for showing.
Claims (6)
1. a robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system, it comprises hydraulic oil source, mechanical arm, Hydraulic servo drive device, optical fiber, main hand controls, main hand, handheld terminal and power supply; Described mechanical arm is connected with Hydraulic servo drive device by control bus, power bus and position signalling bus, is connected with oil inlet pipe by oil return pipe with hydraulic oil source; Hydraulic servo drive device is communicated by letter with main hand controls by optical fiber; Main hand controls is connected with main hand by control bus, power bus, status signal bus in addition; Main hand is connected with handheld terminal by status signal bus in addition, command signal bus; Hydraulic servo drive device is also connected with power supply respectively with main hand controls, it is characterized in that, described main hand controls comprises microprocessor II, and the data/address bus of microprocessor II, address bus, control bus are connected with data/address bus, address bus, the control bus of A/D converter I; A/D converter I is connected with the potentiometer of each joint rotating shaft place of main hand; Microprocessor II is connected with serial ports receiver transmitter II, and serial ports receiver transmitter II communicates by letter with Hydraulic servo drive device by optical fiber;
Described Hydraulic servo drive device comprises microprocessor III, the data/address bus of microprocessor III, address bus, control bus are connected with data/address bus, address bus, the control bus of A/D converter II, and data/address bus, the clock bus of microprocessor III are connected with data/address bus, the clock bus of D/A converter; A/D converter II is connected with the potentiometer of each joint rotating shaft place of mechanical arm; D/A converter is connected with hydraulic amplifier;
Hydraulic amplifier is connected with some corresponding servo valves, and each servo valve is connected with a corresponding hydraulic cylinder, and each hydraulic cylinder output shaft is connected with mechanical arm;
Described main hand is the main hand of 6DOF, and each joint rotating shaft place on it is all with potentiometer, main on hand with paw locking press button, wrist rotation rocking bar, wrist model selection button, stop/SR, paw spreading-retracting button, hydraulic selector button; On the base panel of main hand, be with some LED lights; Main hand comprises large arm, forearm, and large arm lower end is provided with large arm pitch axis, and upper end is provided with forearm pitch axis, and large arm pitch axis is arranged on valve plate, and large arm pitch axis place is also provided with hydraulic cylinder; Valve plate is arranged on waist gyroaxis, and waist revolution, large arm pitching and forearm elevating movement are provided;
Forearm part comprises the wrist pitch axis, wrist swinging shaft, the wrist rotating shaft that set gradually, provides wrist pitching, wrist to wave the motion of rotating with wrist; Main hand is also with self-balancing module, and adjustable damping is installed in each joint; Main each button, sensor on hand communicated by letter with main hand controls by control bus, status signal bus in addition, and main hands movement is passed to mechanical arm, and mechanical arm is followed the motion of main hand;
Described mechanical arm is 7 degree-of-freedom manipulators, is divided into two essential parts of upper arm and forearm; Upper arm parts is divided and is comprised the large arm pitch axis of lower end, the forearm pitch axis of upper end, and large arm pitch axis is arranged on valve plate, and large arm pitch axis place is also provided with hydraulic cylinder; Valve plate is arranged on waist gyroaxis, and the motion of waist revolution, large arm pitching and forearm pitching is provided;
Forethiga divides and comprises the wrist pitch axis, wrist swinging shaft, the wrist rotating shaft that set gradually, provides wrist pitching, wrist to wave the motion of rotating with wrist;
The corresponding hydraulic actuator that moves through in the each joint of mechanical arm is carried out; Each actuator is controlled by a corresponding hydraulic efficiency servo-valve; Except hydraulic efficiency servo-valve, pressure-reducing valve and magnetic valve are also increased; Magnetic valve is used for switch hydraulic source; Oil outer hydraulic coupling can not exceed 3000PSI; Valve plate is provided with control module and is connected with Hydraulic servo drive device by control bus, and upper arm is connected with Hydraulic servo drive device by position signalling bus with the potentiometer on forearm, and Hydraulic servo drive device is powered by power bus;
Operator operates main hands movement, and main hand controls gathers the positional information of main hand potentiometer and in real time positional information sent to mechanical arm controller, and mechanical arm controller is by having followed the tracks of the motion of mechanical arm to the position of main hand; The positional information that mechanical arm is detected by potentiometer in motion process on the other hand also feeds back to main hand controls by fiber optic communication, and main hand controls sends to handheld terminal by this positional information again, for showing.
2. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 1, it is characterized in that, the microprocessor I of described handheld terminal is connected with Liquid Crystal Module and Keyboard management module by logic level translator, and Keyboard management module is connected with keyboard; Microprocessor I is also connected with voltage stabilizing chip I, voltage stabilizing chip I I and serial ports receiver transmitter I respectively, between receiver transmitter I and serial ports receiver transmitter II, is connected by serial ports, realizes communicating by letter between microprocessor I and microprocessor II.
3. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 1, is characterized in that, described microprocessor I, microprocessor II and microprocessor III all adopt TMS320F2812 chip; Described A/D converter I, A/D converter II all adopt MAX1312 chip; Described D/A converter adopts DAC7678 chip.
4. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 1, is characterized in that, described servo valve is jet pipe type electricity flow quantity servo valve; Described each potentiometer adopts the 360 degree rotational potentiometers of 5K Ω, sensor accuracy 1 ‰.
5. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 1, is characterized in that, described waist gyroaxis scope of activities is 180 degree, maximum movement speed 80 spends/second; The scope of activities 120 of large arm pitch axis is spent, and maximum movement speed 65 spends/second; The scope of activities 110 of forearm pitch axis is spent, and maximum movement speed 50 spends/second; The scope of activities 100 of wrist pitch axis is spent, and maximum movement speed 100 spends/second; The scope of activities 105 of wrist swinging shaft is spent, and maximum movement speed 115 spends/second.
6. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 1, it is characterized in that, the scope of activities 180 of described waist gyroaxis is spent, the scope of activities 120 of large arm pitching is spent; the scope of activities 120 of forearm pitching is spent; the scope of activities 120 of wrist pitching is spent, and the scope of activities 120 that wrist waves is spent, and the scope of activities 120 of wrist rotation is spent.
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| CN201210096179.6A CN102615638B (en) | 2012-04-01 | 2012-04-01 | Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot |
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| CN201210096179.6A CN102615638B (en) | 2012-04-01 | 2012-04-01 | Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot |
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