CN102535852A - Operating and controlling system and method of mechanical arm, and engineering machinery - Google Patents
Operating and controlling system and method of mechanical arm, and engineering machinery Download PDFInfo
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- CN102535852A CN102535852A CN2012100130580A CN201210013058A CN102535852A CN 102535852 A CN102535852 A CN 102535852A CN 2012100130580 A CN2012100130580 A CN 2012100130580A CN 201210013058 A CN201210013058 A CN 201210013058A CN 102535852 A CN102535852 A CN 102535852A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses an operating and controlling system of a mechanical arm, and further relates to an operating and controlling method of the mechanical arm, and engineering machinery. In the operating and controlling system of the mechanical arm, an acquiring device is used for acquiring a positional relation signal of a first coordinate system where an operating and controlling member is located and a second coordinate system where a tail end of the mechanical arm is located, an action direction signal of the operating and controlling member, and an inclination angle parameter signal of a construction reference surface; and a controller sends a control instruction according to each said signal, so that a drive device can control the tail end of the mechanical arm to move in parallel with the construction reference surface. The control system can realize movement in a three-dimensional space of the mechanical arm through simple operation, thereby not only increasing control efficiency of the mechanical arm but also controlling more intuitively and visually. In this way, an operator can judge a control direction conveniently.
Description
Technical field
The present invention relates to a kind of engineering machinery control technology, particularly a kind of mechanical arm control system, method and engineering machinery.
Background technology
Concrete mixer is current application one of engineering machinery very widely.This pump truck equipment mainly is to utilize pumping power that concrete is pumped to the assigned work position along the carrier pipe that is arranged on the jib.
Usually, in order to satisfy the needs of concrete pumping position, the position of carrier pipe can change along with the adjustment of jib, in the prior art to the adjustment of jib mainly by following dual mode.
First kind of mode is primarily aimed at the ordinary concrete pump truck, and this adjustment mode is all carried out independent adjustment to every joint jib of concrete mixer, and operating personnel need be to first jib; Second jib, the 3rd jib, the expansion of the 4th jib etc. and gathering action are controlled respectively; Operator needs to coordinate simultaneously control first jib; Second jib, the 3rd jib, the action of the 4th jib etc.Operate not intuitively, operation easier is very big, and operation skill requires very high, and operation labour intensity is big, is easy to generate fatigue, and it is low to move efficient simultaneously.
The second way is primarily aimed at the concrete mixer that possesses the intelligent arm support technology, can be under the situation of given pump truck mechanical arm end hose translational speed and direction, and pump truck is planned the attitude and the movement velocity of every joint jib voluntarily according to the control method that prestores.That is to say; Operating personnel only need provide the translational speed instruction of the terminal x of jib, y, z direction through remote controller; The attitude of the every joint jib of boom system will be regulated automatically; To guarantee that end goes motion according to the speed of x, y, z, this regulative mode greatly reduces labor intensity of operating personnel.
The general employing remote controller of controlling of intelligent arm support pump truck is controlled at present; Remote controller generally comprises a handle; Handle can produce the analog signal of all around both direction, controls movement velocity and the direction of end hose on horizontal plane of pumping vehicle arm rack respectively.
Please refer to Fig. 1 and Fig. 2, set a coordinate system O '
0X '
0Y '
0Z '
0Be consolidated on the jib turntable 1 ', when rotate on the relative chassis 2 ' of turntable 1 ', jib also with turntable 1 ' around axle O '
0Y '
0Rotate.Set another coordinate system OX ' Y ' Z ', origin of coordinates O ' is fixed on the end of pumping vehicle arm rack, OX ', OY ', three axles of OZ ' all the time with OX '
0, OY '
0, OZ '
0Keeping parallelism.Coordinate system on the remote controller is that the origin of coordinates is set up with the turned position of handle generally; A direction is used for controlling terminal along ox direction translational speed; Another direction is used for controlling the speed of gyration of turntable 1 ', thereby realizes that the jib end moves in OX ' Z ' plane.
But; When the working face of mechanical arm was the inclined-plane, the control ratio of the direction of motion that jib is terminal is difficulty, should control its motion in horizontal plane; Control its motion on short transverse again;, need repeatedly the athleticism of regulating handle to make jib move to desired location, control efficiency is lower.
Therefore, how a kind of control system to jib class mechanical arm being provided, helping improving the control efficiency of mechanical arm, and the operator is controlled directly perceived, vivid, is the technical problem that those skilled in that art need to be resolved hurrily.
Summary of the invention
First purpose of the present invention is, a kind of mechanical arm control system is provided, and helps improving the control efficiency of mechanical arm, and as far as the operator, controls directly perceived, vivid.Second purpose of the present invention is to provide a kind of mechanical arm control method and engineering machinery.
In order to realize above-mentioned first purpose; The invention provides a kind of mechanical arm control system; A kind of mechanical arm control system comprises the mechanical arm with at least two joint arm joints, and the initial end of said mechanical arm is articulated in turntable; Comprise that also driving each said arm saves the remote controller that relative turntable or other arms save rotating drive unit and control the end motion of said mechanical arm, also comprises:
Deriving means, the position of second coordinate system terminal of living in that is used to obtain control member first coordinate system of living in and the said mechanical arm of said remote controller concerns signal, and the dip angle parameter signal of the direction of action signal of said control member, the construction plane of reference;
Controller comprises the direction adjustment unit, is used to receive said position and concerns signal, said dip angle parameter signal and said direction of action signal, and send the direction control instruction of the end action of the said mechanical arm of control;
Drive unit is used to receive said direction control instruction and controls each said arm joint motion, so that make the terminal parallel construction plane of reference motion of said mechanical arm.
Preferably, said deriving means comprises first deriving means, second deriving means and the 3rd deriving means; First deriving means is used to obtain the angle signal of specified coordinate axle relative reference direction in horizontal plane of said first coordinate system; Second deriving means is used to obtain the angle signal of the said relatively reference direction of respective coordinates axle in horizontal plane of said second coordinate system; The 3rd deriving means is used to obtain said dip angle parameter signal; The direction adjustment unit of controller receives above-mentioned each signal, and the direction of motion of the end of control mechanical arm is parallel with the projection of direction of action in horizontal plane of said control member.
Preferably, said reference direction is the magnetic field of the earth direction, and said first deriving means and second deriving means are the magnetic azimuth sensor.
Preferably, two said magnetic azimuth sensors are installed on respectively on said remote controller and the said turntable.
Preferably, said second deriving means comprises and is arranged at the angular transducer that is used to detect its rotational angle in horizontal plane on the said mechanical arm, and is arranged at the magnetic azimuth sensor on the chassis of supporting said turntable;
The angle signal of the said relatively reference direction of the respective coordinates axle of said second coordinate system in horizontal plane comprises the detection signal of said angular transducer and the detection signal of said magnetic azimuth sensor.
Preferably, the operating element on the said remote controller is universal handle.
Preferably, said the 3rd deriving means is the three axial rake sensors that are arranged on the said remote controller.
Preferably; Said deriving means also comprises the 4th deriving means of the movement range signal that detects said universal handle; Said controller also comprises the speed regulation module of the movement range signal that receives said universal handle, and said speed regulation module is according to the speed of the end action of the said mechanical arm of said handle movement range signal controlling.
For realizing second purpose; The present invention also provides a kind of engineering machinery; The control system that comprises the chassis, is located at turntable on the said chassis, is connected in boom device on the said turntable and is used to control said boom device action, the control system of said boom device is the control system of above-mentioned each described mechanical arm.
In addition, the present invention also provides a kind of control method of mechanical arm, comprises mechanical arm, and the remote controller of controlling the end motion of said mechanical arm, and concrete steps are following:
Step S101) position of second coordinate system terminal of living in that obtains control member first coordinate system of living in and the said mechanical arm of said remote controller concerns signal, and the dip angle parameter signal of the direction of action signal of said control member, the construction plane of reference;
Step S102): receive said position and concern signal, said dip angle parameter signal and said direction of action signal, and send the direction control instruction of the end action of the said mechanical arm of control;
Step S103): receive said direction control instruction and control each said arm joint motion, so that make the terminal parallel construction plane of reference motion of said mechanical arm.
Preferably, said control member is universal handle, said step S101) in can also obtain the movement range signal of universal handle; Said step S102) also receives said movement range signal in, and send rate control instruction according to said movement range signal and default control strategy; Said step S103) also controls the movement velocity of the end of said mechanical arm in according to said rate control instruction.
The position that deriving means not only can obtain first coordinate system and second coordinate system in the mechanical arm control system that is provided among the present invention concerns signal; The direction of motion of the end of control mechanical arm is corresponding with the control direction of operating element; And can obtain the dip angle parameter signal of the construction plane of reference, and the motion of the parallel all the time construction plane of reference of the mechanical arm end of control, this control system can be through simple operations; Realize that mechanical arm is in three-dimensional motion; Not only can improve the mechanical arm control efficiency, and control ratio is more directly perceived, vivid, is convenient to the judgement of operating personnel the control direction.
Equally, comprise that the engineering machinery of above-mentioned mechanical arm control system and mechanical arm control method also have the corresponding techniques effect, realize above-mentioned corresponding purpose.
Description of drawings
The coordinate system sketch map of Fig. 1 for setting up on the concrete mixer in the prior art;
The coordinate system sketch map of Fig. 2 for setting up on the remote controller in the prior art;
The coordinate system sketch map of Fig. 3 for setting up on a kind of remote controller in the mechanical arm control system provided by the present invention;
Fig. 4 is the schematic top plan view of Fig. 3;
The coordinate system sketch map of Fig. 5 for setting up on a kind of mechanical arm in the mechanical arm control system provided by the present invention;
Fig. 6 is the schematic top plan view of Fig. 5; +
Fig. 7 is in the state diagram of working face top work for mechanical arm provided by the present invention;
Fig. 8 is the structured flowchart sketch map of first kind of mechanical arm control system provided by the present invention;
Fig. 9 is the flow chart of first kind of mechanical arm control method provided by the present invention;
Figure 10 is the structured flowchart sketch map of second kind of mechanical arm control system provided by the present invention;
Figure 11 is the flow chart of second kind of mechanical arm control method provided by the present invention.
The specific embodiment
Be without loss of generality; This paper is that example is introduced technical scheme of the present invention with the intelligent concrete pump truck with jib; The jib of intelligent concrete pump truck just is equivalent to mechanical arm; Certainly, it will be appreciated by those skilled in the art that technical scheme of the present invention is applied to other types engineering machinery also in the protection domain of this paper.
Please refer to Fig. 3 and Fig. 4, the coordinate system sketch map of Fig. 3 for setting up on a kind of remote controller in the mechanical arm control system provided by the present invention; Fig. 4 is the schematic top plan view of Fig. 3.
Intelligent concrete pump truck to have five joint jibs is an example; So-called intelligent concrete pump truck is meant that concrete mixer is when carrying out concrete pumping; As long as provide the translational speed instruction of the end of jib; The attitude of other joint jibs in the boom system will be adjusted automatically, moves towards the direction of expection regulation with the end that guarantees jib.
Generally comprise hinged successively some joint jibs in the boom system in the concrete mixer; Top through basic arm is connected on the turntable 22; Be basic arm with the jib that is connected with turntable 22 among this paper; Wherein for satisfying the demand of pumpdown multidirectional, turntable 22 can drive the chassis 23 of the relative concrete mixer of boom system and rotate.
The invention provides a kind of mechanical arm control system; Comprise mechanical arm with at least two joint arm joints; The initial end of mechanical arm is articulated on the turntable 22, and mechanical arm comprises that also each arm of driving saves relative turntable 22 or other arms save rotating drive unit, usually; Drive unit can be telescopic oil cylinder, and controller can be regulated the start point of dissimilar arm joint through the flow of controlling each oil cylinder; This mechanical arm control system also comprises the remote controller of the end motion of controlling mechanical arm, and this mechanical arm just is equivalent to boom system in concrete mixer, and mechanical arm control system also comprises deriving means, controller and drive unit.
Wherein, The position of second coordinate system terminal of living in that deriving means is used to obtain control member first coordinate system of living in and the said mechanical arm of said remote controller concerns the direction of action signal of signal, said control member and the dip angle parameter signal of the relative horizontal plane of the construction plane of reference; Need to prove; The construction plane of reference among this paper is the operation planar of remote controller, and it also can be working face itself, also can be other planes through the virtual setting of computer simulation; Remote controller can be wired control mode, also can be the controlled in wireless mode.
Controller; Comprise and be used to receive the direction adjustment module that direction of action signal, position concern signal and dip angle parameter signal; And send the direction control instruction of the end action of the said mechanical arm of control according to the default control strategy, the direction adjustment module can according to the dip angle parameter signal judge the construction plane of reference angle of inclination and the construction plane of reference towards etc. parameter.
Drive unit in this mechanical arm control system is used for the terminal parallel construction plane of reference motion of receive direction control instruction control mechanical arm; Drive unit is just controlled and is respectively saved the flexible relatively telescopic oil cylinders at different levels of jib in concrete mixer, flows through the direction of motion of end of Flow-rate adjustment mechanical arm of the hydraulic oil of telescopic oil cylinder through adjusting.
The position that deriving means not only can obtain first coordinate system and second coordinate system in the mechanical arm control system that is provided among the present invention concerns signal; The direction of motion of the end of control mechanical arm is corresponding with the control direction of operating element; And can obtain the dip angle parameter signal of the construction plane of reference, and the motion of the parallel all the time construction plane of reference of the mechanical arm end direction of control, this control system can be through simple operations; Realize that mechanical arm is in three-dimensional motion; Not only can improve the mechanical arm control efficiency, and control ratio is more directly perceived, vivid, is convenient to the judgement of operating personnel the control direction.
Position described herein concerns that signal can be concrete coordinate figure, also can be deflection angle value between the two coordinate system corresponding coordinate axles.
The judgement of first coordinate system and second coordinate system position relation has multiple mode, can be reference frame with a coordinate system wherein, calculates its variation relatively of another coordinate system in real time, obtains two coordinate systems position relation at a time; Also can utilize changeless three-coordinate; Calculate first coordinate system and second coordinate system position relation of relative three-coordinate respectively; Thereby obtain the position relation between first coordinate system and second coordinate system; Provided the preferred decision method of several kinds first coordinate systems and second coordinate system below, particular content is described below.
A kind of preferred embodiment in, choosing a certain direction is reference direction, this reference direction can be the line between two fixed objects on the ground, deriving means comprises first deriving means and second deriving means; First deriving means is used to obtain the angle signal of specified coordinate axle relative reference direction in horizontal plane of said first coordinate system; Second deriving means is used for obtaining the angle signal of specified coordinate axle respective coordinates axle relative reference direction in horizontal plane of second coordinate system and said first coordinate system; Deriving means also comprises the 3rd deriving means that is used to obtain said dip angle parameter signal; The 4th deriving means; Be used to obtain the direction of action signal of said control member; This deriving means can be for being arranged at the sensor on the remote controller; The direction adjustment unit of controller receives above-mentioned each signal, and the direction of motion of the end of control mechanical arm is parallel with the projection of direction of action in horizontal plane of said control member.
Choose the judgement of the third party as two coordinate system positions relation, this mode is fairly simple, and the direction of motion of the end of control mechanical arm is parallel with the projection of direction of action in horizontal plane of said control member, helps simplifying the program composition of controller.
In a kind of concrete embodiment; Above-mentioned reference direction can be the magnetic field of the earth direction; First deriving means and second deriving means are the magnetic azimuth sensor, and the corresponding coordinate axle that two magnetic azimuth sensors are used for detecting first coordinate system and second coordinate system respectively is the angle signal of signal magnetic field direction relatively, for the convenience of describing; The two magnetic azimuth sensors that are installed on remote controller and the mechanical arm become the first magnetic azimuth sensor 11 and the second magnetic azimuth sensor 21 respectively; Thereby controller is judged the position relation between first coordinate system and second coordinate system, detects the initial position of control member and the final position after the action, judges its direction of motion in reference frame; When operating personnel control component movement; First deriving means can be detected the direction of motion of this control assembly in reference frame in real time, and remote controller is sent to controller with this bearing signal, and this bearing signal can be a plurality of parameters; Also can be one the parameter of handling, analyzing, judge through remote controller, concrete judgement, control be as follows.
Remote controller self coordinate system such as Fig. 3 and shown in Figure 4; Center of rotation with the operating grip of remote controller in this embodiment is set up the first coordinate system OXYZ; Remote controller is under the situation of horizontal positioned; For first coordinate system; Directions X be remote controller the place ahead to; The Z direction be remote controller right-hand to; The Y direction is a vertical direction, and when operating personnel move the control member of remote controller when the OF direction moves, first deriving means can also detect three coordinate axes relative position relations of three coordinate axes relative reference coordinate systems of first coordinate system; I.e. deflection angle between the corresponding axis in two coordinate systems; In the present embodiment with the Z direction in first coordinate system relatively the deflection angle of the arctic of signal magnetic field (hereinafter to be referred as the N direction) be that example is introduced, suppose that the relative N direction of Z direction in first coordinate system is α, the α angle that is to say magnetic field of the earth coordinate system deflection that the coordinate system of remote controller is relative; This angle parameter is obtained by the first magnetic azimuth sensor 11; Controller can be judged the position relation of remote controller coordinate system and magnetic field of the earth coordinate system through this angle signal, and then through the 3rd deriving means obtain control member in first coordinate system relatively the deflection angle of Z direction be that this angle parameter of angle
among Fig. 4 can be obtained by the sensor of the universal handle of being located at remote controller, controller can obtain control member direction of action of the N utmost point relatively in the coordinate system of magnetic field of the earth.
Please refer to Fig. 5 to Fig. 8, the coordinate system sketch map of Fig. 5 for setting up on a kind of mechanical arm in the mechanical arm control system provided by the present invention; Fig. 6 is the schematic top plan view of Fig. 5; Fig. 7 is in the state diagram of working face top work for mechanical arm provided by the present invention; Fig. 8 is the structured flowchart sketch map of first kind of mechanical arm control system provided by the present invention.
In like manner, set up the second coordinate system O like Fig. 5 and Fig. 6
2X
2Y
2Z
2, can also set up turntable 22 coordinate system O in order to control conveniently
0X
0Y
0Z
0The corresponding axis of two coordinate systems can be for parallel; Second deriving means can detect the coordinate axes relative reference coordinate system coordinate axes relative position relation of second coordinate system this moment, can detect the variation of corresponding coordinate axle in relative another coordinate system of a coordinate axes, also can detect the variation of a plurality of corresponding coordinate between centers; I.e. deflection angle between the corresponding axis in two coordinate systems, in the present embodiment to obtain X
2The direction relatively deflection angle of the arctic of signal magnetic field (hereinafter to be referred as the N direction) is that example is introduced, and in a kind of specific embodiment, obtains X
2The deflection angle of the relative N direction of direction is η; Just obtained the locus signal of the end of jib with respect to reference direction; In conjunction with of the judgement of above-mentioned controller, can realize the judgement of second coordinate system position relation of first coordinate system and the jib of remote controller to remote controller coordinate system and coordinate system position, magnetic field of the earth.
Can certainly be Z
2The deflection angle of relative N direction; And reference direction is not limited to the magnetic field of the earth; Also can be the earth or ground certain object; For example the objects such as support with fixing certain position are the reference position, perhaps can also be certain the specific object in the space again, and for example satellite or other celestial bodies etc. are as a reference.
The dip angle parameter signal of the construction plane of reference can manually be input in the remote controller by operating personnel, sends to controller, and the dip angle parameter that detecting sensor detects the construction plane of reference also can be set; Three axial rake sensors 13 for example are set; For easy to operate, three axial rake sensors 13 can be arranged on the remote controller, before the mechanical arm work; Remote controller is placed the dip angle parameter of measuring working face on the working face earlier, please refer to Fig. 7.
In a kind of specific embodiment; First deriving means and the 3rd deriving means that are arranged on the remote controller can detect the location parameter of handling the plane in real time; Thereby construction plane of reference direction parameter and dip angle parameter in can the real-time update controller; Keep the terminal direction of motion of mechanical arm parallel with the construction plane of reference all the time, can accomplish the curved surface construction.
Please refer to Fig. 9, Fig. 9 is the flow chart of first kind of mechanical arm control method provided by the present invention.
The control method of above-mentioned mechanical arm control system can be carried out as follows:
Step S101): the position of second coordinate system terminal of living in that obtains control member first coordinate system of living in and the said mechanical arm of said remote controller concerns signal, and the dip angle parameter signal of the direction of action signal of said control member, the construction plane of reference;
Step S102): receive said position and concern signal, said dip angle parameter signal and said direction of action signal, and send the direction control instruction of the end action of the said mechanical arm of control;
Step S103): receive said direction control instruction and control each said arm joint motion, so that make the terminal parallel construction plane of reference motion of said mechanical arm.
A kind of preferred embodiment in; First deriving means and second deriving means can include the magnetic azimuth sensor; Be called respectively for convenience that the first magnetic azimuth sensor 11 and the second magnetic azimuth sensor, 21, two orientation Magnetic Sensors are respectively applied for residing first coordinate system of control member that detects remote controller and terminal residing second coordinate system of mechanical arm relatively concerns signal in the position of signal magnetic field; In this set-up mode directly with the magnetic field of the earth coordinate system as a reference coordinate system help detecting the accuracy of data, control program is fairly simple.
Below will specifically introduce the mounting means of several kinds of magnetic azimuth sensors, particular content is following.
In a kind of specific embodiment; The first magnetic azimuth sensor 11 and the second magnetic azimuth sensor 21 can be installed on remote controller and the jib respectively; Because jib can rotate with turntable 22 synchronously; The second magnetic azimuth sensor 21 also can be arranged on the turntable 22, and this set-up mode is fairly simple, can further reduce the difficulty of the program composition of controller.
In the another kind of specific embodiment; Second deriving means comprises the angular transducer that is arranged on mechanical arm or the turntable 22 and is used to detect its rotational angle in horizontal plane; And be arranged at the magnetic azimuth sensor on the chassis of fixing turntable; The position relation of terminal residing second coordinate system of mechanical arm comprises the detection signal of above-mentioned two sensors, and controller is according to the locus signal of the terminal relative reference direction of the detection signal judgement mechanical arm of the detection signal of angular transducer and magnetic azimuth sensor; Can calculate the azimuth of turntable 22 and mechanical arm relative reference direction in this mode through magnetic azimuth sensor and angular transducer, the installation site of two detection parts relatively flexibly, conveniently in this mode.
In a kind of preferred implementation, the control assembly on the remote controller can be universal handle 12, and universal handle 12 actions are more flexible, and the end that can freely control jib moves to a plurality of directions.
Please refer to Figure 10 and Figure 11, Figure 10 is the structured flowchart sketch map of second kind of mechanical arm control system provided by the present invention; Figure 11 is the flow chart of second kind of mechanical arm control method provided by the present invention.
In another preferred embodiment; The 4th deriving means also comprises the movement range signal that detects universal handle 12; Controller can also comprise the speed regulation module that receives the movement range signal; The speed regulation module is according to the movement velocity of the end action of movement range signal controlling machinery arm, when handle movement range when smaller, speed regulation module controls mechanical arm is terminal to move along a certain direction slowly; When handle movement range when bigger, speed regulation module controls mechanical arm is terminal to move along a certain direction fast; Adjustment module can not only can be increased work efficiency, and can increase working security according to the movement velocity of the control mechanical arm of actual condition through gathering way.
The control method of the foregoing description is as follows:
Step S201): the position of second coordinate system terminal of living in that obtains control member first coordinate system of living in and the said mechanical arm of said remote controller concerns the direction of action signal of signal, said control member, the dip angle parameter signal of the construction plane of reference, the direction of action signal of universal handle 12;
Step S202): receiving position concerns signal, dip angle parameter signal, handle movement range signal and direction of action signal, and sends control instruction according to above-mentioned each signal;
Direction of action signal and position concern that signal direction of passage adjustment module adjusts, and the controller sender is to control instruction; After the speed regulation module analysis of movement range signal via controller, judgement, the processing, controller sends rate control instruction;
Step S203): according to the direction control instruction that controller sends, drive unit is regulated the terminal parallel construction plane of reference motion of mechanical arm; According to the rate control instruction that controller sends, drive unit can be regulated the terminal movement velocity of mechanical arm.
When universal handle motion amplitude is bigger, the terminal rapid movement of controller control mechanical arm; When universal handle motion amplitude is smaller, the terminal slowly motion of controller control mechanical arm.
Control method based on above-mentioned mechanical arm control system and mechanical arm; The present invention also provides a kind of engineering machinery that comprises above-mentioned mechanical arm control system; The control system that comprises chassis 23, is located at turntable 22 on the chassis 23, is connected in boom device on the said turntable 22 and is used to control said boom device action; It is characterized in that; The control system of said boom device is the control system of the described mechanical arm of above-mentioned arbitrary embodiment, because mechanical arm control system has above-mentioned technique effect, the mechanical arm control system of the engineering machinery that provides also has corresponding technique effect.
In a kind of preferred embodiment, the engineering machinery described in this paper is a pump truck, also can be the executing agency that boom, more piece mechanical arm are connected in series, and the data of other parts of respective work machine please refer to prior art, repeats no more at this.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (11)
1. mechanical arm control system; Comprise mechanical arm with at least two joint arm joints; The initial end of said mechanical arm is articulated in turntable; Comprise that also driving each said arm saves the remote controller that relative turntable or other arms save rotating drive unit and control the end motion of said mechanical arm, it is characterized in that, also comprise:
Deriving means, the position of second coordinate system terminal of living in that is used to obtain control member first coordinate system of living in and the said mechanical arm of said remote controller concerns signal, and the dip angle parameter signal of the direction of action signal of said control member, the construction plane of reference;
Controller comprises the direction adjustment unit, is used to receive said position and concerns signal, said dip angle parameter signal and said direction of action signal, and send the direction control instruction of the end action of the said mechanical arm of control;
Drive unit is used to receive said direction control instruction and controls each said arm joint motion, so that make the terminal parallel construction plane of reference motion of said mechanical arm.
2. mechanical arm control system according to claim 1 is characterized in that, said deriving means comprises first deriving means, second deriving means and the 3rd deriving means;
First deriving means is used to obtain the angle signal of specified coordinate axle relative reference direction in horizontal plane of said first coordinate system;
Second deriving means is used to obtain the angle signal of the said relatively reference direction of respective coordinates axle in horizontal plane of said second coordinate system;
The 3rd deriving means is used to obtain said dip angle parameter signal;
The 4th deriving means is used to obtain the direction of action signal of said control member;
The direction adjustment unit of controller receives above-mentioned each signal, and the direction of motion of the end of control mechanical arm is parallel with the projection of direction of action in horizontal plane of said control member.
3. mechanical arm control system according to claim 2 is characterized in that, said reference direction is the magnetic field of the earth direction, and said first deriving means and second deriving means are the magnetic azimuth sensor.
4. mechanical arm control system according to claim 3 is characterized in that, two said magnetic azimuth sensors are installed on respectively on said remote controller and the said turntable.
5. mechanical arm control system according to claim 2; It is characterized in that; Said second deriving means comprises and is arranged at the angular transducer that is used to detect its rotational angle in horizontal plane on the said mechanical arm, and is arranged at the magnetic azimuth sensor on the chassis of supporting said turntable;
The angle signal of the said relatively reference direction of the respective coordinates axle of said second coordinate system in horizontal plane comprises the detection signal of said angular transducer and the detection signal of said magnetic azimuth sensor.
6. according to each described mechanical arm control system of claim 1 to 5, it is characterized in that the control assembly on the said remote controller is universal handle (12).
7. according to each described mechanical arm control system of claim 1 to 5, it is characterized in that said the 3rd deriving means is the three axial rake sensors that are arranged on the said remote controller.
8. mechanical arm control system according to claim 5; It is characterized in that; Said the 4th deriving means also obtains the movement range signal of said universal handle; Said controller also comprises the speed regulation module that receives said movement range signal, and said speed regulation module is according to the movement velocity of the end action of the said mechanical arm of said movement range signal controlling.
9. engineering machinery; The control system that comprises chassis (23), is located at turntable (22) on the said chassis, is connected in boom device on the said turntable and is used to control said boom device action; It is characterized in that the control system of said boom device is the control system of each described mechanical arm of claim 1 to 8.
10. the control method of a mechanical arm comprises mechanical arm, and the remote controller of controlling the end motion of said mechanical arm, it is characterized in that concrete steps are following:
The position of second coordinate system terminal of living in of S101, control member first coordinate system of living in that obtains said remote controller and said mechanical arm concerns signal, and the direction of action signal of said control member, the construction plane of reference the dip angle parameter signal;
S102, the said position of reception concern signal, said dip angle parameter signal and said direction of action signal, and send the direction control instruction of the end action of the said mechanical arm of control;
S103, the said direction control instruction of reception are also controlled each said arm joint motion, so that make the terminal parallel construction plane of reference motion of said mechanical arm.
11. the control method of mechanical arm according to claim 10 is characterized in that, said control member is universal handle (12),
Can also obtain the movement range signal of universal handle among the said step S101;
Also receive said movement range signal among the said step S102, and send rate control instruction according to said movement range signal;
Also control the movement velocity of the end of said mechanical arm among the said step S103 according to said rate control instruction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013058.0A CN102535852B (en) | 2012-01-16 | 2012-01-16 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| PCT/CN2012/074323 WO2013107124A1 (en) | 2012-01-16 | 2012-04-19 | System and method for operation and control of mechanical arm and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013058.0A CN102535852B (en) | 2012-01-16 | 2012-01-16 | Operating and controlling system and method of mechanical arm, and engineering machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102535852A true CN102535852A (en) | 2012-07-04 |
| CN102535852B CN102535852B (en) | 2014-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210013058.0A Expired - Fee Related CN102535852B (en) | 2012-01-16 | 2012-01-16 | Operating and controlling system and method of mechanical arm, and engineering machinery |
Country Status (2)
| Country | Link |
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| CN (1) | CN102535852B (en) |
| WO (1) | WO2013107124A1 (en) |
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| CN103049006A (en) * | 2012-12-27 | 2013-04-17 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Intelligent jib control system of concrete pump car |
| CN103114727A (en) * | 2013-02-05 | 2013-05-22 | 中联重科股份有限公司 | Method, device and system for controlling motion of tail end of boom and multi-section boom vehicle |
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| WO2015070696A1 (en) * | 2013-11-13 | 2015-05-21 | 三一汽车制造有限公司 | Boom control method and apparatus and concrete pump truck and spreader |
| CN103628687A (en) * | 2013-12-09 | 2014-03-12 | 湖南三一智能控制设备有限公司 | Concrete pouring method and system, and pouring equipment |
| CN103914082A (en) * | 2014-03-27 | 2014-07-09 | 三一汽车制造有限公司 | Intelligent arm space motion control method and device |
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| CN108297091A (en) * | 2017-01-12 | 2018-07-20 | 上银科技股份有限公司 | The method of auto-changing directional type position control |
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| CN107263469A (en) * | 2017-05-25 | 2017-10-20 | 深圳市越疆科技有限公司 | mechanical arm posture compensation method, device, storage medium and mechanical arm |
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| CN113445752A (en) * | 2021-05-25 | 2021-09-28 | 中联重科股份有限公司 | Method, device and system for controlling movement of tail end of arm support, medium and engineering machinery |
| CN113445752B (en) * | 2021-05-25 | 2022-03-25 | 中联重科股份有限公司 | Method, device and system for controlling movement of tail end of arm support, medium and engineering machinery |
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| CN114115014A (en) * | 2021-11-22 | 2022-03-01 | 上海徐工智能科技有限公司 | Universal and intuitive engineering machinery control system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2013107124A1 (en) | 2013-07-25 |
| CN102535852B (en) | 2014-04-16 |
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