CN102615638A - 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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- CN102615638A CN102615638A CN2012100961796A CN201210096179A CN102615638A CN 102615638 A CN102615638 A CN 102615638A CN 2012100961796 A CN2012100961796 A CN 2012100961796A CN 201210096179 A CN201210096179 A CN 201210096179A CN 102615638 A CN102615638 A CN 102615638A
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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:
For automatization level and the security that improves livewire work; Alleviate the person threat of labor intensity of operating personnel and strong-electromagnetic field to operating personnel; Many countries have all successively carried out the research of livewire work robot from the eighties, have carried out the research to the livewire work robot like countries such as Japan, Spain, the U.S., Canada, France priority.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-driven.The shortcoming of air pressure driving device arm: gas compressibility is big, and precision is low, and damping is poor, and low speed is wayward, is difficult to realize SERVO CONTROL, and noise is arranged during exhaust, and efficient is low, is applicable to medium and small load, the low finite point position of required precision sequence controlled machine arm.
The shortcoming of motor-driven mechanical arm: during the DC electromotor with brush switching-over spark is arranged, relatively 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 leakage of oil, hydraulic drive, break down difficult inspection and eliminating relatively more responsive, be applicable to heavy load, require the not too high mechanical arm of control accuracy to the variation of oily temperature.
The control mode of mechanical arm mainly contains two kinds at present: GUIDANCE FOR AUTONOMIC GUIDED VEHICLES and master-slave mode mode.Wherein the GUIDANCE FOR AUTONOMIC GUIDED VEHICLES operating flexibility is relatively poor, movement velocity is lower, and the programming of robot motion's track algorithm is complicated, development difficulty.Principal and subordinate's control mode is applied in control flexibly, but the low occasion of control accuracy.Present mechanical arm principal and subordinate controls system and generally is divided into two types: one type is adopted 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 big, power consumption is big, control rate is slow, the change control program is difficult, poor reliability when control is 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 objective 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 the position servo close-loop control mode; And pass through optical fiber high voltage electric field and people are isolated, control accuracy is high, real-time is good, stable and reliable for performance, more convenient to operate, satisfies the requirement of electrification in high voltage robot manipulating task task.
For realizing above-mentioned purpose, 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 driver, optical fiber, main hand controls, main hand, handheld terminal and power supply; Said mechanical arm is connected with the hydraulic servo driver through control bus, power bus and position signalling bus, is connected with hydraulic oil source with oil inlet pipe through oil return pipe; The hydraulic servo driver is communicated by letter with main hand controls through optical fiber; Main hand controls is connected with main hand through control bus, power bus, status signal bus in addition; Main hand links to each other with handheld terminal through status signal bus in addition, command signal bus; The hydraulic servo driver also links to each other with power supply respectively with main hand controls,
Said main hand controls comprises microprocessor II, and the data/address bus of microprocessor II, address bus, control bus link to each other with data/address bus, address bus, the control bus of A/D converter I; A/D converter I links to each other with the potentiometer of main each joint rotating shaft place of hand; Microprocessor II is connected with serial ports receiver transmitter II, serial ports receiver transmitter II through with the hydraulic servo drive communication;
Said hydraulic servo driver comprises microprocessor III; The data/address bus of microprocessor III, address bus, control bus link to each other with data/address bus, address bus, the control bus of A/D converter II, and the data/address bus of microprocessor III, clock bus link to each other 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 said handheld terminal is connected with the keyboard administration module with Liquid Crystal Module through logic level translator, and keyboard pipeline module is connected with keyboard; Microprocessor I also is connected with voltage stabilizing chip I, voltage stabilizing chip I I and serial ports receiver transmitter I respectively, is connected through serial ports between serial ports receiver transmitter I and serial ports receiver transmitter II, realizes communicating by letter between microprocessor I and microprocessor II.
Said microprocessor I, microprocessor II and microprocessor III all adopt the TMS320F2812 chip; Said A/D converter I, A/D converter II all adopt the MAX1312 chip; Said D/A converter adopts the DAC7678 chip.
Said servo valve is a jet tubular type electricity flow quantity servo valve; Said each potentiometer adopts the 360 degree rotational potentiometers of 5K Ω, sensor accuracy 1 ‰.
Said microprocessor II is as main frame, and it takes on system management, the compiling of mechanical arm language and human interface function, and periodically delivers to public internal memory to operation result as the increment of joint motions, supplies microprocessor III to read it.
It is digital control that said microprocessor III accomplishes whole joint positions.It reads set-point from public internal memory, also sends each joint physical location in the public internal memory back to, and microprocessor II uses.
Said mechanical arm is 7 degree-of-freedom manipulators, is divided into two essential parts of upper arm and forearm; The upper arm parts branch comprises the big arm pitch axis of lower end, the forearm pitch axis of upper end, and big arm pitch axis is arranged on the valve plate, and big arm pitch axis place also is provided with hydraulic cylinder; Valve plate is arranged on the waist gyroaxis, and the motion of waist revolution, big arm pitching and forearm pitching is provided;
The forethiga branch comprises that the wrist pitch axis, the wrist that set gradually wave axle, wrist rotating shaft, provides wrist pitching, wrist to wave the motion of rotating with wrist;
The corresponding hydraulic actuator that moves through in 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 have also been increased; Magnetic valve is used for switch hydraulic source; The oil outer hydraulic coupling can not surpass 3000PSI; Valve plate is provided with control module and is connected with the hydraulic servo driver through control bus, and upper arm is connected with the hydraulic servo driver through the position signalling bus with potentiometer on the forearm, and the hydraulic servo driver passes through power bus and supplies power.
Said waist gyroaxis scope of activities is 180 degree, 80 degree/seconds of maximum movement speed; Scope of activities 120 degree of big arm pitch axis, 65 degree/seconds of maximum movement speed; Scope of activities 110 degree of forearm pitch axis, 50 degree/seconds of maximum movement speed; Scope of activities 100 degree of wrist pitch axis, 100 degree/seconds of maximum movement speed; Wrist waves scope of activities 105 degree of axle, 115 degree/seconds of maximum movement speed.
Said main hand is a 6DOF master hand, and each joint rotating shaft place on it all has potentiometer, main has paw locking press button, wrist rotation rocking bar, wrist model selection button on hand, stops/SR, paw folding button, hydraulic selector button; On the base panel of main hand, be with some LED lights; Main hand comprises big arm, forearm, and big arm lower end is provided with big arm pitch axis, and the upper end is provided with the forearm pitch axis, is arranged on the valve plate at big arm pitch axis, and big arm pitch axis place also is provided with hydraulic cylinder; Valve plate is arranged on the waist gyroaxis, and the motion of waist revolution, big arm pitching and forearm pitching is provided;
Little arm portion comprises that the wrist pitch axis, the wrist that set gradually wave axle, wrist rotating shaft, provides wrist pitching, wrist to wave the motion of rotating with wrist;
Main hand has and also has the self-balancing module, and adjustable damping is installed in each joint;
Main each button, sensor on hand communicated by letter with main hand controls through control bus, status signal bus in addition, and main hands movement is passed to mechanical arm, and mechanical arm is followed main hands movement.
Scope of activities 180 degree of said waist gyroaxis, scope of activities 120 degree of big arm pitching, scope of activities 120 degree of forearm pitching, scope of activities 120 degree of wrist pitching, scope of activities 120 degree that wrist waves, scope of activities 120 degree of wrist rotation.
Adopt such scheme, the present invention has the following advantages:
The one, master-slave mode hydraulic machinery arm system can satisfy the robot for high-voltage hot-line work requirement through experimental verification, and control accuracy is high, real-time is good, prudent greatly, deadweight is little, stable and reliable for performance more convenient to operate reliable;
The 2nd, this systems control division divides the embedded Control mode that adopts, from heavy and light, size is little, the control system power dissipation is low, is fit to the application need 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 compound movement algorithms such as complicated linear interpolation, circular interpolation;
The 4th, system adopts modularized design, has opening, readability, extensibility, maintainability, so that continue exploitation.
The 5th, the principal and subordinate controls the system communication mode and adopts fiber optic communication, and communication speed is fast, can realize High-Voltage Insulation.
The 6th, the control system has various standard interfaces, mechanical position limitation, software limit, and is multiple functional, and positional precision is high.
Description of drawings
Fig. 1 is a general diagram of the present invention;
Fig. 2 is mechanical arm main body structure figure of the present invention;
Fig. 3 is the structure chart of master's hand of the present invention;
Fig. 4 is master's hand controls circuit diagram of the present invention;
Fig. 5 is hydraulic servo drive circuit figure of the present invention;
Fig. 6 is a handheld terminal circuit diagram of the present invention;
Fig. 7 is a handheld terminal sketch map of the present invention;
Fig. 8 is a software flow pattern of the present invention.
Wherein, 1. hydraulic oil source, 2. mechanical arm, 3. hydraulic servo driver, 301. microprocessor III, 302. optical fiber change serial port module; 303. magnetic valve, 304.A/D converter II, 305.D/A converter, the potentiometer of 306. each joint rotating shaft place of mechanical arm, 307. mechanical arms, 308. hydraulic cylinders; 309. servo valve, 310. hydraulic amplifiers, 4. main hand controls, 401. microprocessor II, 402. serial ports change optic module, 403.A/D converter I; 404. the potentiometer of main each joint rotating shaft place of hand, 405. serial ports receiver transmitter II, 5. main hand, 6. handheld terminal, 601. microprocessor I, 602. Liquid Crystal Modules; 603. keyboard, 604. logic level translators, 605. keyboard administration 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. big arm pitch axis, 12. upper arm, 13. 4 connecting rods, 14. forearm pitch axis, 15. forearms; 16. the wrist pitch axis, 17. wrists wave axle, 18. wrist rotating shafts, 19. parallel paws, 20. damping rings; 21. the paw locking press button, 22. wrists rotation rocking bar, 23. wrist model selection buttons, 24. stop and SR, 25. paw folding buttons; 26. the hydraulic selector status indicator lamp, 27. hydraulic selector buttons, 28. stop mode status indicator lamps, 29. continuous rotary mode status indicator lamps, 30. lock-out state indicator lamps.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Among 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 driver 3, optical fiber, main hand controls 4, main hand 5, handheld terminal 6 and power supply 7; Said mechanical arm 2 is connected with hydraulic servo driver 3 through control bus, power bus and position signalling bus, is connected with hydraulic oil source 1 with oil inlet pipe through oil return pipe; Hydraulic servo driver 3 is communicated by letter with main hand controls 4 through optical fiber; Main hand controls 4 is connected with main hand 5 through control bus, power bus, status signal bus in addition; Main hand 5 links to each other with handheld terminal 6 through status signal bus in addition, command signal bus; Hydraulic servo driver 3 also links to each other with power supply 7 respectively with main hand controls 4.
Among Fig. 2, mechanical arm 2 is 7 degree-of-freedom manipulators, is divided into upper arm 12 and 15 two essential parts of forearm; Upper arm 12 parts comprise the big arm pitch axis 11 of lower end, the forearm pitch axis 14 of upper end, and big arm pitch axis 11 is arranged on the valve plate 9, and big arm pitch axis place 11 also is provided with hydraulic cylinder 308; Valve plate 9 is arranged on the waist gyroaxis 8, and the motion of waist revolution, big arm pitching and forearm pitching is provided;
The corresponding hydraulic actuator that moves through in 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 have also been increased; Magnetic valve is used for switch hydraulic source; The oil outer hydraulic coupling can not surpass 3000PSI; Valve plate 9 is provided with control module and is connected with hydraulic servo driver 3 through control bus; The potentiometer 306 of each joint rotating shaft place of mechanical arm on upper arm 12 and the forearm 15 is connected with hydraulic servo driver 3 through the position signalling bus, and hydraulic servo driver 3 is through the power bus power supply.
Wherein, waist gyroaxis 8 scopes of activities are 180 degree, 80 degree/seconds of maximum movement speed; Scope of activities 120 degree of big arm pitch axis 11,65 degree/seconds of maximum movement speed; Scope of activities 110 degree of forearm pitch axis 14,50 degree/seconds of maximum movement speed; Scope of activities 100 degree of wrist pitch axis 16,100 degree/seconds of maximum movement speed; Wrist waves axle 17 scope of activities 105 degree, 115 degree/seconds of maximum movement speed.
Among Fig. 3, main hand 5 is 6DOF master hand, and is identical with the frame for movement of mechanical arm; All have potentiometer in its each joint rotating shaft place, have paw locking press button 21, wrist rotation rocking bar 22, wrist model selection button 23 on the little arm portion of main hand 5, stop and SR 24, paw folding button 25; On the base panel of main hand 5 big arm lower ends, be provided with hydraulic selector status indicator lamp 26, hydraulic selector button 27, stop mode status indicator lamp 28, continuous rotary mode status indicator lamp 29, lock-out state indicator lamp 30.
The upper arm lower end of main hand 5 is provided with big arm pitch axis, and the upper end is provided with the forearm pitch axis, is arranged on the valve plate at big arm pitch axis, and big arm pitch axis place also is provided with hydraulic cylinder; Valve plate is arranged on the waist gyroaxis, and the motion of waist revolution, big arm pitching and forearm pitching is provided;
Little arm portion comprises that the wrist pitch axis, the wrist that set gradually wave axle, wrist rotating shaft, provides wrist pitching, wrist to wave the motion of rotating with wrist;
Each button on the main hand 5, potentiometer are communicated by letter with main hand controls 4 through 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 motions.
Wherein, scope of activities 180 degree of the waist gyroaxis of main hand 5, scope of activities 120 degree of big arm pitching; scope of activities 120 degree of forearm pitching; scope of activities 120 degree of wrist pitching, scope of activities 120 degree that wrist waves, scope of activities 120 degree of wrist rotation.
Among Fig. 4, main hand controls comprises microprocessor II401, and the data/address bus of microprocessor II401, address bus, control bus link to each other with data/address bus, address bus, the control bus of A/D converter I403; A/D converter I403 links to each other with the potentiometer 404 of main each joint rotating shaft place of hand; Microprocessor II401 is connected with serial ports receiver transmitter II405, and serial ports receiver transmitter II405 communicates by letter with hydraulic servo driver 3 through optical fiber;
The D0-11 of A/D converter I403MAX1312 ,/OEL ,/WR ,/RD ,/CS connects/RD ,/XWE connect microprocessor II401 XD0-11 ,/XINT2 ,/XWE ,/XRD ,/XZCS2.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 ports changes optic module 402.
Among Fig. 5; Hydraulic servo driver 3 comprises microprocessor III301; The data/address bus of microprocessor III301, address bus, control bus link to each other with data/address bus, address bus, the control bus of A/D converter II304, and the data/address bus of microprocessor III301, clock bus link to each other 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 of A/D converter II304 ,/OEL ,/WR ,/RD ,/CS connect microprocessor III301 XD0-11 ,/XINT2 ,/XWE ,/XRD ,/the XZCS2 pin.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.
Among Fig. 6, Fig. 7, the microprocessor I601 of handheld terminal 6 is connected with keyboard administration module 605 with Liquid Crystal Module 602 through logic level translator 604, and keyboard pipeline module 605 is connected with keyboard 603; Microprocessor I601 also is connected with voltage stabilizing chip I 606, voltage stabilizing chip I I607 and serial ports receiver transmitter I608 respectively; Be connected through serial ports 609 between serial ports receiver transmitter I608 and serial ports receiver transmitter II405, 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 the 5V power supply.16 pin of ADG3308 are connected with the DATA pin of HD7279, and 15 are connected with the KEY pin.The GPIOB3 of microprocessor I601 is connected with the CS pin of HD7279, and GPIOB4 is connected with the 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 the TMS320F2812 chip;
A/D converter I403, A/D converter II304 all adopt the MAX1312 chip;
D/A converter 305 adopts the DAC7678 chip.
Servo valve 309 is a jet tubular 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, the module of band liquid crystal display.Liquid Crystal Module 602 can show 4 row, 20 characters of every row.Liquid Crystal Module 602 carries the bias light of white, can be applied in the environment that mixes secretly or do not have light.The background light intensity can have 7 kinds of selections.Through being set, parameter selects light intensity.
Referring to Fig. 8, master-slave mode hydraulic machinery arm control systems soft ware is divided into main end and from end two parts.The operator operates main hands movement, and main hand controls is gathered the positional information of main hand potentiometer and in real time positional information sent to the mechanical arm controller, and the mechanical arm controller is through accomplishing the motion of mechanical arm to the Position Tracking of main hand; Mechanical arm also feeds back to main hand controls through fiber optic communication by the detected positional information of potentiometer in motion process on the other hand, and main hand controls sends to handheld terminal with this positional information again, supplies to show.
Claims (8)
1. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system, it comprises hydraulic oil source, mechanical arm, hydraulic servo driver, optical fiber, main hand controls, main hand, handheld terminal and power supply; Said mechanical arm is connected with the hydraulic servo driver through control bus, power bus and position signalling bus, is connected with hydraulic oil source with oil inlet pipe through oil return pipe; The hydraulic servo driver is communicated by letter with main hand controls through optical fiber; Main hand controls is connected with main hand through control bus, power bus, status signal bus in addition; Main hand links to each other with handheld terminal through status signal bus in addition, command signal bus; The hydraulic servo driver also links to each other with power supply respectively with main hand controls, it is characterized in that,
Said main hand controls comprises microprocessor II, and the data/address bus of microprocessor II, address bus, control bus link to each other with data/address bus, address bus, the control bus of A/D converter I; A/D converter I links to each other with the potentiometer of main each joint rotating shaft place of hand; Microprocessor II is connected with serial ports receiver transmitter II, and serial ports receiver transmitter II is through optical fiber and hydraulic servo drive communication;
Said hydraulic servo driver comprises microprocessor III; The data/address bus of microprocessor III, address bus, control bus link to each other with data/address bus, address bus, the control bus of A/D converter II, and the data/address bus of microprocessor III, clock bus link to each other 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.
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 said handheld terminal is connected with the keyboard administration module with Liquid Crystal Module through logic level translator, and keyboard pipeline module is connected with keyboard; Microprocessor I also is connected with voltage stabilizing chip I, voltage stabilizing chip I I and serial ports receiver transmitter I respectively, is connected through serial ports between receiver transmitter I and serial ports receiver transmitter II, 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 said microprocessor I, microprocessor II and microprocessor III all adopt the TMS320F2812 chip; Said A/D converter I, A/D converter II all adopt the MAX1312 chip; Said D/A converter adopts the 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, said servo valve is a jet tubular type electricity flow quantity servo valve; Said 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 said mechanical arm is 7 degree-of-freedom manipulators, is divided into two essential parts of upper arm and forearm; The upper arm parts branch comprises the big arm pitch axis of lower end, the forearm pitch axis of upper end, and big arm pitch axis is arranged on the valve plate, and big arm pitch axis place also is provided with hydraulic cylinder; Valve plate is arranged on the waist gyroaxis, and the motion of waist revolution, big arm pitching and forearm pitching is provided;
The forethiga branch comprises that the wrist pitch axis, the wrist that set gradually wave axle, wrist rotating shaft, provides wrist pitching, wrist to wave the motion of rotating with wrist;
The corresponding hydraulic actuator that moves through in 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 have also been increased; Magnetic valve is used for switch hydraulic source; The oil outer hydraulic coupling can not surpass 3000PSI; Valve plate is provided with control module and is connected with the hydraulic servo driver through control bus, and upper arm is connected with the hydraulic servo driver through the position signalling bus with potentiometer on the forearm, and the hydraulic servo driver passes through power bus and supplies power.
6. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 5 is characterized in that, said waist gyroaxis scope of activities is 180 degree, 80 degree/seconds of maximum movement speed; Scope of activities 120 degree of big arm pitch axis, 65 degree/seconds of maximum movement speed; Scope of activities 110 degree of forearm pitch axis, 50 degree/seconds of maximum movement speed; Scope of activities 100 degree of wrist pitch axis, 100 degree/seconds of maximum movement speed; Wrist waves scope of activities 105 degree of axle, 115 degree/seconds of maximum movement speed.
7. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 1; It is characterized in that; Said main hand is a 6DOF master hand; Each joint rotating shaft place on it all has potentiometer, main has paw locking press button, wrist rotation rocking bar, wrist model selection button on hand, stops/SR, paw folding button, hydraulic selector button; On the base panel of main hand, be with some LED lights; Main hand comprises big arm, forearm, and big arm lower end is provided with big arm pitch axis, and the upper end is provided with the forearm pitch axis, is arranged on the valve plate at big arm pitch axis, and big arm pitch axis place also is provided with hydraulic cylinder; Valve plate is arranged on the waist gyroaxis, and waist revolution, big arm pitching and forearm elevating movement are provided;
Little arm portion comprises that the wrist pitch axis, the wrist that set gradually wave axle, wrist rotating shaft, provides wrist pitching, wrist to wave the motion of rotating with wrist;
Main hand has and also has the self-balancing module, and adjustable damping is installed in each joint;
Main each button, sensor on hand communicated by letter with main hand controls through 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.
8. robot for high-voltage hot-line work master-slave mode hydraulic machinery arm system as claimed in claim 7; It is characterized in that scope of activities 180 degree of said waist gyroaxis, scope of activities 120 degree of big arm pitching; scope of activities 120 degree of forearm pitching; scope of activities 120 degree of wrist pitching, scope of activities 120 degree that wrist waves, scope of activities 120 degree of wrist rotation.
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