CN104867394A - Real-virtual interactive comprehensive experiment platform for hydraulic mechanical arm - Google Patents
Real-virtual interactive comprehensive experiment platform for hydraulic mechanical arm Download PDFInfo
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- CN104867394A CN104867394A CN201510208628.5A CN201510208628A CN104867394A CN 104867394 A CN104867394 A CN 104867394A CN 201510208628 A CN201510208628 A CN 201510208628A CN 104867394 A CN104867394 A CN 104867394A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention discloses a real-virtual interactive comprehensive experiment platform for a hydraulic mechanism arm, which comprises an upper computer master control system, a motion control system and a hydraulic servo experiment table; wherein the upper computer master control system receives the input control instruction of a user and is connected with the motion control system. Furthermore the upper computer master control system transmits a calculation result to the motion control system. The motion control system receives the instruction of the upper computer mater control system and drives the hydraulic servo experiment table to perform a corresponding action. The real-virtual interactive comprehensive experiment platform performs modular design on an execution mechanism and facilitates detachment. Three-dimensional virtual reality interaction technology is used for realizing real-virtual interaction between the hydraulic experiment table and the mechanical arm. Response characteristics of the servo valve and the execution mechanism can be tested. Execution accuracy of the control algorithm can be verified. The real-virtual interactive comprehensive experiment platform is suitable for research and development of the hydraulic mechanical arm.
Description
Technical field
The present invention relates to the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality.
Background technology
The type of drive of mechanical arm has motor driving, hydraulic-driven, pneumatic three kinds of modes, main flow be motor drive and hydraulic-driven.Hydraulic system has very large power-mass ratio, is suitable for the situation of heavy load.Its advantage is its high precision, high sensitivity and security.Such as in a few thing region to the charged occasion being pressed with requirement.In order to reach the object of testing various element, it is necessary for having an integrated hydraulic experiment table to complete the experimental work of multiple Hydraulic Elements.
At present, China's high-voltage hot-line work technology is in the transition stage of aerial lift device with insulated arm and Robotics.Utilize robot assisted or replace people to carry out operation, not only ensure that the personal safety of operating personnel, and the standardization greatly reducing labour intensity, raise labour efficiency and operate, can also all-weather hot-line work be accomplished.But, due to the defect of the hydraulic technique of robot for high-voltage hot-line work, hinder the propelling of high-voltage hot-line work technology to the Robotics stage.
Summary of the invention
The present invention is in order to solve the problem, propose the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality, this device can realize the quick-replaceable of tested components and parts, hydropress mechanical arm is moved/static analysis and three-dimensional reality virtual interactive emulation experiment, meet type selecting and the performance test of components and parts in the manufacture of hydropress mechanical arm, contribute to the research of hydropress mechanical arm Kinematic Algorithms, effectively reduce R&D costs, shorten the construction cycle.
To achieve these goals, the present invention adopts following technical scheme:
The interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality, comprise host computer master control system, kinetic control system and Hydraulic Servo Valve Laboratory Device, wherein, described host computer master control system receives the input control order of user, be connected with kinetic control system, result of calculation is sent to kinetic control system, and described kinetic control system receives the instruction of host computer master control system, drives hydraulic servocontrol experiment table to perform corresponding actions;
Described Hydraulic Servo Valve Laboratory Device, comprise support, servo integrated oil sources, topworks and temperature control system, described topworks, in order to simulate the structure of 6DOF hydropress mechanical arm, comprise oscillating oil cylinder, linear oil cylinder and oil motor, oscillating oil cylinder is positioned over pedestal upper end, and oil motor and linear oil cylinder are arranged at support middle-end; Described servo integrated oil sources provides voltage stabilizing oil sources to export for whole hydraulic test platform, and its output pipe connects oscillating oil cylinder and oil motor; Described temperature control system, connects servo integrated oil sources and topworks, carries out radiating and cooling to hydraulic oil.
Described host computer master control system comprises the first industrial computer, display module and input equipment, wherein, display module connects the first industrial computer, and the first industrial computer connects input equipment, and described display module is used for each degree of freedom positional information of display machines mechanical arm and mechanical arm 3 d pose; Described first industrial computer, receives the steering order that user is inputted by input equipment, converts movement instruction sequence to and be sent to kinetic control system by ether interface after analytical calculation;
Described kinetic control system, comprise the second industrial computer, Hydraulic servo drive device, angular-rate sensor and displacement transducer, second industrial computer receives the movement instruction sequence of host computer master control system transmission, produce servo-control signal, Hydraulic servo drive device and oil motor is driven to perform corresponding sports, the kinematic parameter of oscillating oil cylinder and telescopic oil cylinder and oil motor measured in real time by angular-rate sensor, displacement transducer, measurement result is sent to the second industrial computer, the second industrial computer is transferred to the first industrial computer by interface.
Described temperature control system comprises hydraulic oil filtration system and hydraulic oil cooling system, and wherein, hydraulic oil cooling system, hydraulic oil filtration system are all connected with servo integrated oil sources, topworks.
Described host computer master control system display Current mechanical each degree of freedom positional information of arm and mechanical arm 3 d pose.
The information of angular-rate sensor, displacement transducer collection is uploaded to host computer master control system by network by described kinetic control system.
Described 6DOF hydropress mechanical arm is for can move along X, Y, Z-direction, and the hydropress mechanical arm with 6 degree of freedom that can rotate around X, Y, Z.
Described hydraulic servo testing table comprises 5 oscillating oil cylinders, 1 linear oil cylinder and 1 oil motor, wherein said 5 oscillating oil cylinders are X, Y, Z of simulated solution press mechanical arm and 5 swing degree of freedom around X, Z rotation respectively, the degree of freedom rotated around Y-axis of described 1 oil motor simulated solution press mechanical arm, the hand of described 1 linear oil cylinder simulated solution press mechanical arm grabs folding degree of freedom.
Beneficial effect of the present invention is:
(1) the present invention carries out modular design to topworks, easy disassembly, the virtual reality utilizing three-dimension virtual reality interaction technique to realize between hydraulic test bench and mechanical arm is interactive, the response characteristic of servo-valve and topworks can be tested, the accuracy that access control algorithm performs, is applicable to the research and development of hydropress mechanical arm;
(2) the interactive synthesis experiment platform of hydropress mechanical arm virtual reality have topworks fast assembling-disassembling, servo-valve carried out to specificity analysis and by functions such as the correctness of 3-D display virtual interactive display verification algorithm, type selecting and the performance test of components and parts in the manufacture of hydropress mechanical arm can be met, contribute to the research of hydropress mechanical arm Kinematic Algorithms, effectively reduce R&D costs, shorten the construction cycle.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is Control system architecture schematic diagram of the present invention;
Wherein, 1, hydraulic oil filtering cooling system, 2, rack-and-pinion oscillating oil cylinder, 3, oil motor, 4, telescopic oil cylinder, 5, servo integrated oil sources, 6, host computer master control system, 7, kinetic control system, 8, angular displacement sensor, 9, servo-valve I, 10, servo-valve II, 11, displacement transducer.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1 and Figure 2, the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality, its structure composition comprises hydraulic oil filtering cooling system 1, rack-and-pinion oscillating oil cylinder 2, oil motor 3, telescopic oil cylinder 4, servo integrated oil sources 5.
Described hydraulic oil filtering cooling system 1 comprises hydraulic oil filtration system and hydraulic oil cooling system, and its series connection, with the loop of whole hydraulic system, plays the effect of to filter hydraulic oil and cooling.
Described servo integrated oil sources 5 comprises electro-motor, hydraulic pump, tensimeter etc., for whole hydraulic test platform provides voltage stabilizing oil sources to export, be installed on the bottom of the interactive synthesis experiment platform of described hydropress mechanical arm virtual reality, its output pipe and described rack-and-pinion oscillating oil cylinder 2, oil motor 3, telescopic oil cylinder 4 is connected with servo-valve II by described servo-valve I.
The interactive synthesis experiment platform control system of described hydropress mechanical arm virtual reality comprises host computer master control system 6, kinetic control system 7, angular-rate sensor and displacement transducer 11, servo-valve I and servo-valve II.
Described host computer master control system comprises display and the industrial computer of corresponding control software design is housed, be connected with described kinetic control system by netting twine, described angular-rate sensor is connected with described kinetic control system 7 with displacement transducer 11, for detecting the current positional information of oil cylinder.
Below in conjunction with accompanying drawing, use of the present invention is described in detail:
According to the present invention, system electrification, each equipment instrumentation is normal.
On the one hand, operating personnel operate host computer master control system 6, servo-valve I and servo-valve II is controlled by Internet Transmission steering order to kinetic control system 7, thus control gear tooth bar oscillating oil cylinder 2, oil motor 3, telescopic oil cylinder 4 arrives assigned address, the current location of detection is uploaded to kinetic control system 7 by angular displacement sensor and displacement transducer 11, is sent to host computer master control system 6 shows after kinetic control system 7 pairs of data process by network.By many experiments, the contrast of the actual position information that the position command information send host computer master control system 7 and angular displacement sensor 8 and displacement transducer 11 feed backs, the family curve of drafting servo-valve and hydraulic cylinder.
On the other hand, operating personnel operate host computer master control system 6, servo-valve I and servo-valve II is controlled by Internet Transmission steering order to kinetic control system 7, thus control gear tooth bar oscillating oil cylinder 2, oil motor 3, telescopic oil cylinder 4 arrives assigned address, host computer carries out forward kinematics solution computing to the positional information issued, solve the attitude of post exercise dummy fluid press mechanical arm, and shown by the virtual software for display that host computer is installed, meanwhile, the current actual positions information that angular displacement sensor 8 and displacement transducer 11 are uploaded by host computer contrasts with the forward kinematics solution operation result calculated, the accuracy of checking forward kinematics solution algorithm.Simultaneously, operating personnel can by the control inerface of host computer master control system 6, the terminal position of input dummy fluid press mechanical arm, host computer master control system calls the kinematic parameter that Inverse Kinematics Solution algorithm calculates each joint, result of calculation is utilized to control virtual machine mechanical arm and control gear tooth bar oscillating oil cylinder 2, oil motor 3, the motion of telescopic oil cylinder 4, the information of the hydraulic test bench fed back by virtual machine mechanical arm and real angular displacement sensor 8 and displacement transducer 11 is contrasted, the accuracy of checking Inverse Kinematics Solution algorithm.
6DOF hydropress mechanical arm is for can move along X, Y, Z-direction, and the hydropress mechanical arm with 6 degree of freedom that can rotate around X, Y, Z.End hand is grabbed folding and is had one degree of freedom.Described hydraulic servo testing table comprises 5 oscillating oil cylinders, 1 linear oil cylinder and 1 oil motor, the X of wherein said 5 oscillating oil cylinders difference simulated solution press mechanical arm, Y, Z, X ＇, Z ＇ 5 swings degree of freedom, the Y ＇ degree of freedom of described 1 oil motor simulated solution press mechanical arm, and the hand of described 1 linear oil cylinder simulated solution press mechanical arm grabs folding degree of freedom.
The angular displacement sensor 8 be connected with 5 oscillating oil cylinders 2 in Fig. 2, is used for the current angular displacement of measurement 5 oscillating oil cylinders 2, the displacement transducer 11 be connected with linear oil cylinder 4, is used for measuring the current location of telescopic oil cylinder 4, totally 6 position transducers.
Have 5 oscillating oil cylinders 2 in Fig. 2,5 the servo-valve I9 be connected with five oscillating oil cylinders 2, the hydraulic efficiency servo-valve II10 be connected with telescopic oil cylinder 4, another one hydraulic efficiency servo-valve is connected with oil motor 3.
Servo integrated oil sources provides the hydraulic oil with pressure, by integrated hydraulic oil circuit, the hydraulic oil with pressure is divided into 7 tunnels, is assigned to 5 oscillating oil cylinders, 1 linear oil cylinder and 1 oil motor respectively through 7 servo-valves by hydraulic oil pipe.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (8)
1. the interactive synthesis experiment platform of hydropress mechanical arm virtual reality, it is characterized in that: comprise host computer master control system, kinetic control system and Hydraulic Servo Valve Laboratory Device, wherein, described host computer master control system receives the input control order of user, be connected with kinetic control system, result of calculation is sent to kinetic control system, and described kinetic control system receives the instruction of host computer master control system, drives hydraulic servocontrol experiment table to perform corresponding actions;
Described Hydraulic Servo Valve Laboratory Device, comprise support, servo integrated oil sources, topworks and temperature control system, described topworks, in order to simulate the structure of 6DOF hydropress mechanical arm, comprise oscillating oil cylinder, linear oil cylinder and oil motor, oscillating oil cylinder is positioned over pedestal upper end, and oil motor and linear oil cylinder are arranged at support middle-end; Described servo integrated oil sources provides voltage stabilizing oil sources to export for whole hydraulic test platform, and its output pipe connects oscillating oil cylinder and oil motor; Described temperature control system, connects servo integrated oil sources and topworks, carries out radiating and cooling to hydraulic oil.
2. the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality as claimed in claim 1, it is characterized in that: described host computer master control system comprises the first industrial computer, display module and input equipment, wherein, display module connects the first industrial computer, first industrial computer connects input equipment, and described display module is used for each degree of freedom positional information of display machines mechanical arm and mechanical arm 3 d pose; Described first industrial computer, receives the steering order that user is inputted by input equipment, converts movement instruction sequence to and be sent to kinetic control system by ether interface after analytical calculation.
3. the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality as claimed in claim 1, it is characterized in that: described kinetic control system, comprise the second industrial computer, Hydraulic servo drive device, angular displacement sensor and displacement transducer, second industrial computer receives the movement instruction sequence of host computer master control system transmission, produce servo-control signal, Hydraulic servo drive device and oil motor is driven to perform corresponding sports, angular displacement sensor, the kinematic parameter of oscillating oil cylinder and telescopic oil cylinder and oil motor measured in real time by displacement transducer, measurement result is sent to the second industrial computer, second industrial computer is transferred to the first industrial computer by interface.
4. the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality as claimed in claim 1, it is characterized in that: described temperature control system comprises hydraulic oil filtration system and hydraulic oil cooling system, wherein, hydraulic oil cooling system, hydraulic oil filtration system are all connected with servo integrated oil sources, topworks.
5. the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality as claimed in claim 1, is characterized in that: described host computer master control system display Current mechanical each degree of freedom positional information of arm and mechanical arm 3 d pose.
6. the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality as claimed in claim 1, is characterized in that: the information of angular displacement sensor, displacement transducer collection is uploaded to host computer master control system by network by described kinetic control system.
7. the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality as claimed in claim 1, is characterized in that: described 6DOF hydropress mechanical arm is for can move along X, Y, Z-direction, and the hydropress mechanical arm with 6 degree of freedom that can rotate around X, Y, Z.
8. the interactive synthesis experiment platform of a kind of hydropress mechanical arm virtual reality as claimed in claim 1, it is characterized in that: described hydraulic servo testing table comprises 5 oscillating oil cylinders, 1 linear oil cylinder and 1 oil motor, wherein said 5 oscillating oil cylinders are X, Y, Z of simulated solution press mechanical arm and 5 swing degree of freedom around X, Z rotation respectively, the degree of freedom rotated around Y-axis of described 1 oil motor simulated solution press mechanical arm, the hand of described 1 linear oil cylinder simulated solution press mechanical arm grabs folding degree of freedom.
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| CN201510208628.5A CN104867394A (en) | 2015-04-28 | 2015-04-28 | Real-virtual interactive comprehensive experiment platform for hydraulic mechanical arm |
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| CN201510208628.5A CN104867394A (en) | 2015-04-28 | 2015-04-28 | Real-virtual interactive comprehensive experiment platform for hydraulic mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107123350A (en) * | 2017-07-13 | 2017-09-01 | 郑州工业应用技术学院 | A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm |
| CN108648599A (en) * | 2018-05-08 | 2018-10-12 | 同济大学 | A kind of mechanical arm 3D pseudo operation experiment porch based on voice control |
| CN108665781A (en) * | 2018-05-08 | 2018-10-16 | 浙江大学 | A kind of industry servo robot experiment porch |
| CN110952613A (en) * | 2019-12-12 | 2020-04-03 | 长安大学 | System and method for virtual visual display of excavator posture |
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| WO1993000488A1 (en) * | 1991-06-25 | 1993-01-07 | The University Of British Columbia | Hydraulic control system |
| US6294891B1 (en) * | 1997-08-15 | 2001-09-25 | Iowa State University Research Foundation, Inc. | Systems and methods for robust vibration suppression in a motion control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107123350A (en) * | 2017-07-13 | 2017-09-01 | 郑州工业应用技术学院 | A kind of automatic Control Theory Experiment tutoring system based on portable mechanical arm |
| CN108648599A (en) * | 2018-05-08 | 2018-10-12 | 同济大学 | A kind of mechanical arm 3D pseudo operation experiment porch based on voice control |
| CN108665781A (en) * | 2018-05-08 | 2018-10-16 | 浙江大学 | A kind of industry servo robot experiment porch |
| CN110952613A (en) * | 2019-12-12 | 2020-04-03 | 长安大学 | System and method for virtual visual display of excavator posture |
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