CN107544403B - Control system and control method for diesel power crawler-type robot - Google Patents
Control system and control method for diesel power crawler-type robot Download PDFInfo
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- CN107544403B CN107544403B CN201610480828.0A CN201610480828A CN107544403B CN 107544403 B CN107544403 B CN 107544403B CN 201610480828 A CN201610480828 A CN 201610480828A CN 107544403 B CN107544403 B CN 107544403B
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Abstract
The invention discloses a control system and a control method of a diesel power crawler-type robot, wherein the control system consists of a control box and a hydraulic device, wherein the control box comprises a PLC (programmable logic controller), a state indicator lamp, an operation knob, an emergency stop button, a control handle and an intermediate relay; the hydraulic device comprises a proportional valve and an electromagnetic valve. The system realizes the control of a proportional valve and an electromagnetic valve of a hydraulic device through a PLC, thereby adjusting oil pressure and realizing the control of the action of the robot. The control system is simple in structure, can realize automatic control and protection of the diesel power crawler-type robot, reduces the cost of manpower and material resources, lightens the labor intensity of operators, and improves the working efficiency.
Description
Technical Field
The invention relates to the field of hydraulic power robot control, in particular to a diesel power crawler-type robot control system and a control method.
Background
In some industrial production processes, the operation environment is complex, the labor intensity of personnel is high, the danger is high, the robot is urgently needed to replace manual operation, the existing robot is mostly driven by electric power, a power supply cable needs to be connected on the spot, the flexibility of the robot is greatly limited, and the cost is high. In an environment with complex working conditions, a new power driving mode and a new control device are needed to ensure that the robot can flexibly and smoothly operate and improve the working efficiency.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a control system and a control method of a diesel power crawler-type robot, and aims to provide guarantee for flexible operation of the robot, improvement of working efficiency, reduction of cost and personal risks.
The technical scheme adopted by the invention is as follows: the utility model provides a diesel power crawler-type robot control system which characterized in that: the control system is composed of a control box (1) and a hydraulic device (3), wherein the control box comprises: the emergency stop control system comprises a PLC (2), a first state indicator lamp (8), a second state indicator lamp (9), an operation knob (4), an emergency stop button (5), a control handle (10), a first intermediate relay (6) and a second intermediate relay (7); the hydraulic device (3) comprises: proportional valve (31), solenoid valve one (32) and solenoid valve two (33).
The first status indicator lamp (8), the second status indicator lamp (9), the operating knob (4), the emergency stop button (5) and the control handle (10) are arranged on a panel of the control box (1) and are used for operation and status display; the PLC (2), the first intermediate relay (6) and the second intermediate relay (7) are installed on a bottom plate inside the control box (1) and used for controlling the hydraulic device (3).
A first analog quantity output end (11) of the control handle (10) is connected with an analog quantity input end (21) of the PLC (2), and a second analog quantity output end (22) of the PLC (2) is connected with a proportional valve (31) of the hydraulic device (3).
A first normally open contact (41) of an operation knob (4) is connected with a first digital input end (23) of a PLC (2), a first digital output end (25) of the PLC (2) is connected with a first intermediate relay (6), a second normally open contact (42) of the operation knob (4) is connected with a second digital input end (24) of the PLC (2), a second digital output end (26) of the PLC (2) is connected with a second intermediate relay (7), a first normally closed contact (51) of an emergency stop button (5) is connected with one end of a third normally open contact (61) of the first intermediate relay (6), the other end of the third normally open contact (61) of the first intermediate relay (6) is connected with one end of a second normally closed contact (71) of the second intermediate relay (7), and the other end of the second normally closed contact (71) of the second intermediate relay (7) is connected with a first electromagnetic valve (32) of a hydraulic device (3); the third normally closed contact (52) of the emergency stop button (5) is connected with one end of the fourth normally closed contact (62) of the first intermediate relay (6), the other end of the fourth normally closed contact (62) of the first intermediate relay (6) is connected with one end of the fourth normally open contact (72) of the second intermediate relay (7), the other end of the fourth normally open contact (72) of the second intermediate relay (7) is connected with the second electromagnetic valve (33) of the hydraulic device (3), one end of the fifth normally open contact (63) of the first intermediate relay (6) is connected with the first status indicator lamp (8), and one end of the sixth normally open contact (73) of the second intermediate relay (7) is connected with the second status indicator lamp (9).
The invention also provides a control method based on the diesel power crawler-type robot control system, which comprises the following steps:
the control method of the diesel powered tracked robot control system comprises controlling the hydraulic device proportional valve and the solenoid valve.
Control of the hydraulic proportional valve: the analog quantity output of the control handle is adjusted through the displacement and the angle of the control handle operating lever, the PLC carries out operation according to the analog quantity and then converts the analog quantity into an analog quantity signal which can be identified by the proportional valve, so that the oil pressure of the hydraulic device and the flow direction of oil are adjusted, and the traveling speed and the traveling direction of the robot traveling motor are further controlled.
Control of the hydraulic device solenoid valve: action command signals are input to the PLC through the operation knob, the PLC carries out logic and locking processing on the received signals and then controls the corresponding relay, and according to the action of the relay, the corresponding state display lamp is lightened, the corresponding electromagnetic valve is electrified, and the stretching of the action arm is achieved.
The technical scheme provided by the invention has the beneficial effects that: the operation of the diesel power crawler-type robot can be controlled safely and reliably, the robot can work more flexibly in a complex working environment, the working efficiency is improved, and the manpower and material resource cost is reduced.
Drawings
FIG. 1 is a schematic view of the constitution of the present invention.
Fig. 2 is a schematic diagram of the proportional valve control principle.
Fig. 3 is a schematic diagram of the control principle of the solenoid valve.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the control system is composed of a control box (1) and a hydraulic device (3), wherein the control box (1) comprises: the emergency stop control system comprises a PLC (2), a first state indicator lamp (8), a second state indicator lamp (9), an operation knob (4), an emergency stop button (5), a control handle (10), a first intermediate relay (6) and a second intermediate relay (7); the hydraulic device (3) comprises: proportional valve (31), solenoid valve one (32) and solenoid valve two (33).
The first status indicator lamp (8), the second status indicator lamp (9), the operating knob (4), the emergency stop button (5) and the control handle (10) are arranged on a panel of the control box (1) and are used for operation and status display; the PLC (2), the first intermediate relay (6) and the second intermediate relay (7) are installed on a bottom plate inside the control box (1) and used for controlling the hydraulic device (3).
As shown in fig. 2, the first analog output terminal (11) of the control handle (10) is connected to the analog input terminal (21) of the PLC (2), and the second analog output terminal (22) of the PLC (2) is connected to the proportional valve (31) of the hydraulic device (3).
As shown in fig. 3, a first normally open contact (41) of the operation knob (4) is connected with a first digital input end (23) of the PLC (2), a first digital output end (25) of the PLC (2) is connected with a first intermediate relay (6), a second normally open contact (42) of the operation knob (4) is connected with a second digital input end (24) of the PLC (2), a second digital output end (26) of the PLC (2) is connected with a second intermediate relay (7), a first normally closed contact (51) of the emergency stop button (5) is connected with one end of a third normally open contact (61) of the first intermediate relay (6), the other end of the third normally open contact (61) of the first intermediate relay (6) is connected with one end of a second normally closed contact (71) of the second intermediate relay (7), and the other end of the second normally closed contact (71) of the second intermediate relay (7) is connected with a first electromagnetic valve (32) of the hydraulic device (3); the third normally closed contact (52) of the emergency stop button (5) is connected with one end of the fourth normally closed contact (62) of the first intermediate relay (6), the other end of the fourth normally closed contact (62) of the first intermediate relay (6) is connected with one end of the fourth normally open contact (72) of the second intermediate relay (7), the other end of the fourth normally open contact (72) of the second intermediate relay (7) is connected with the second electromagnetic valve (33) of the hydraulic device (3), one end of the fifth normally open contact (63) of the first intermediate relay (6) is connected with the first status indicator lamp (8), and one end of the sixth normally open contact (73) of the second intermediate relay (7) is connected with the second status indicator lamp (9).
The control method based on the diesel power crawler-type robot control system provided by the invention comprises the following steps:
the control method of the diesel powered tracked robot control system comprises controlling the hydraulic device proportional valve and the solenoid valve.
Control of the hydraulic proportional valve: the control handle (10) is operated, according to different displacement and angles of the operating lever, a first analog quantity output end (11) of the control handle (10) outputs corresponding different analog quantity values to an analog quantity input end (21) of the PLC (2), the PLC (2) carries out internal operation on the analog quantity and converts the analog quantity into an analog quantity signal which can be identified by the proportional valve (31), and the proportional valve (31) adjusts the oil pressure of a hydraulic system and the flow direction of oil according to the obtained signal so as to control the traveling speed and the traveling direction of a robot traveling motor.
Control of the hydraulic device solenoid valve: when the gear of operating knob (4) selects "action arm stretches", first normally open contact (41) are closed, action command signal input gives first digital quantity input (23) of PLC (2), PLC (2) carry out logic with received input signal, carry out output to intermediate relay (6) by first digital quantity output (25) after the blocking processing, intermediate relay (6) are electrified, intermediate relay two (7) are the state of losing the electricity this moment, consequently, fifth normally open contact (63) of intermediate relay (6) are closed, state pilot lamp (8) are electrified and are lighted, instruct "action arm to stretch" state. Meanwhile, a fourth normally closed contact (62) of the first intermediate relay (6) is disconnected, the second electromagnetic valve (33) loses power, a third normally open contact (61) of the first intermediate relay (6) is closed, the first electromagnetic valve (32) is powered, the oil pressure of the corresponding action arm of the robot rises, and the arm extension instruction action is achieved.
When the gear of operating knob (4) selects "action arm contracts", second normally open contact (42) are closed, action command signal input gives second digital quantity input (24) of PLC (2), PLC (2) carry out logic, carry out output to intermediate relay two (7) by second digital quantity output (26) after the blocking processing to the input signal received, intermediate relay two (7) are electrified, intermediate relay one (6) are the state of losing power this moment, sixth normally open contact (73) of intermediate relay two (7) are closed, state indicator lamp two (9) are electrified and are lighted, indicate "action arm contracts". Meanwhile, a second normally closed contact (71) of the second intermediate relay (7) is disconnected, the first electromagnetic valve (32) loses power, a fourth normally open contact (72) of the second intermediate relay (7) is closed, the second electromagnetic valve (33) is powered, the oil pressure of the corresponding action arm of the robot is reduced, and the arm contraction instruction action is realized.
And a third normally open contact (61) of the first intermediate relay (6) and a second normally closed contact (71) of the second intermediate relay (7) are mutually locked, and a fourth normally closed contact (62) of the first intermediate relay (6) and a fourth normally open contact (72) of the second intermediate relay (7) are mutually locked. When the emergency occurs in the system, the emergency stop button (5) is pressed, the first normally closed contact (51) and the third normally closed contact (52) of the emergency stop button (5) are disconnected, the first electromagnetic valve (32) and the second electromagnetic valve (33) are powered off, and the system stops working, so that the protection function is realized.
Claims (1)
1. The utility model provides a diesel power crawler-type robot control system which characterized in that: the control system is composed of a control box (1) and a hydraulic device (3), wherein the control box comprises: the emergency stop control system comprises a PLC (2), a first state indicator lamp (8), a second state indicator lamp (9), an operation knob (4), an emergency stop button (5), a control handle (10), a first intermediate relay (6) and a second intermediate relay (7); the hydraulic device (3) comprises: a proportional valve (31), a first electromagnetic valve (32) and a second electromagnetic valve (33); the first status indicator lamp (8), the second status indicator lamp (9), the operating knob (4), the emergency stop button (5) and the control handle (10) are arranged on a panel of the control box (1) and are used for operation and status display; the PLC (2), the first intermediate relay (6) and the second intermediate relay (7) are arranged on a bottom plate in the control box (1) and are used for controlling the hydraulic device (3); the control handle (10) is provided with a first analog quantity output end (11), and the PLC (2) is provided with an analog quantity input end (21), a second analog quantity output end (22), a first digital quantity input end (23), a second digital quantity input end (24), a first digital quantity output end (25) and a second digital quantity output end (26); the operation knob (4) is provided with a first normally open contact (41) and a second normally open contact (42); the emergency stop button (5) is provided with a first normally closed contact (51) and a third normally closed contact (52); the intermediate relay I (6) is provided with a third normally open contact (61), a fourth normally closed contact (62) and a fifth normally open contact (63); the second intermediate relay (7) is provided with a second normally closed contact (71), a fourth normally open contact (72) and a sixth normally open contact (73);
a first analog quantity output end (11) of the control handle (10) is connected with an analog quantity input end (21) of the PLC (2), and a second analog quantity output end (22) of the PLC (2) is connected with a proportional valve (31) of the hydraulic device (3); a first normally open contact (41) of an operation knob (4) is connected with a first digital input end (23) of a PLC (2), a first digital output end (25) of the PLC (2) is connected with a first intermediate relay (6), a second normally open contact (42) of the operation knob (4) is connected with a second digital input end (24) of the PLC (2), a second digital output end (26) of the PLC (2) is connected with a second intermediate relay (7), a first normally closed contact (51) of an emergency stop button (5) is connected with one end of a third normally open contact (61) of the first intermediate relay (6), the other end of the third normally open contact (61) of the first intermediate relay (6) is connected with one end of a second normally closed contact (71) of the second intermediate relay (7), and the other end of the second normally closed contact (71) of the second intermediate relay (7) is connected with a first electromagnetic valve (32) of a hydraulic device (3); a third normally closed contact (52) of the emergency stop button (5) is connected with one end of a fourth normally closed contact (62) of the first intermediate relay (6), the other end of the fourth normally closed contact (62) of the first intermediate relay (6) is connected with one end of a fourth normally open contact (72) of the second intermediate relay (7), the other end of the fourth normally open contact (72) of the second intermediate relay (7) is connected with a second electromagnetic valve (33) of the hydraulic device (3), one end of a fifth normally open contact (63) of the first intermediate relay (6) is connected with a first status indicator lamp (8), and one end of a sixth normally open contact (73) of the second intermediate relay (7) is connected with a second status indicator lamp (9);
control of the hydraulic device solenoid valve: when the gear of the operation knob (4) selects the action arm to extend, the first normally open contact (41) is closed, the action instruction signal is input to the first digital quantity input end (23) of the PLC (2), the PLC (2) carries out logic and locking processing on the received input signal and outputs the input signal to the first intermediate relay (6) through the first digital quantity output end (25), the first intermediate relay (6) is powered on, and the second intermediate relay (7) is in a power-off state at the moment, so that the fifth normally open contact (63) of the first intermediate relay (6) is closed, the first state indicator lamp (8) is powered on and is lightened, and the action arm extending state is indicated; meanwhile, a fourth normally closed contact (62) of the first intermediate relay (6) is disconnected, the second electromagnetic valve (33) loses power, a third normally open contact (61) of the first intermediate relay (6) is closed, the first electromagnetic valve (32) is powered on, the oil pressure of the corresponding action arm of the robot is increased, and the arm extension instruction action is realized;
when the gear of the operation knob (4) selects the action arm to shrink, the second normally open contact (42) is closed, the action instruction signal is input to the second digital quantity input end (24) of the PLC (2), the PLC (2) carries out logic and locking processing on the received input signal and outputs the processed signal to the second digital quantity output end (26) to the second intermediate relay (7), the second intermediate relay (7) is powered on, at the moment, the first intermediate relay (6) is in a power-off state, the sixth normally open contact (73) of the second intermediate relay (7) is closed, the second state indicator lamp (9) is powered on and is lightened, and the action arm is indicated to shrink; meanwhile, a second normally closed contact (71) of the second intermediate relay (7) is disconnected, the first electromagnetic valve (32) loses power, a fourth normally open contact (72) of the second intermediate relay (7) is closed, the second electromagnetic valve (33) is powered, the oil pressure of the corresponding action arm of the robot is reduced, and the arm contraction instruction action is realized;
a third normally open contact (61) of the first intermediate relay (6) and a second normally closed contact (71) of the second intermediate relay (7) are mutually locked, and a fourth normally closed contact (62) of the first intermediate relay (6) and a fourth normally open contact (72) of the second intermediate relay (7) are mutually locked; when the emergency occurs in the system, the emergency stop button (5) is pressed, the first normally closed contact (51) and the third normally closed contact (52) of the emergency stop button (5) are disconnected, the first electromagnetic valve (32) and the second electromagnetic valve (33) are powered off, and the system stops working, so that the protection function is realized.
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| CN201610480828.0A CN107544403B (en) | 2016-06-28 | 2016-06-28 | Control system and control method for diesel power crawler-type robot |
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| CN201610480828.0A CN107544403B (en) | 2016-06-28 | 2016-06-28 | Control system and control method for diesel power crawler-type robot |
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| CN107544403B true CN107544403B (en) | 2020-03-13 |
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