CN111360849A - Grid cleaning heavy-load intelligent manipulator and control method thereof - Google Patents

Grid cleaning heavy-load intelligent manipulator and control method thereof Download PDF

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Publication number
CN111360849A
CN111360849A CN202010315340.9A CN202010315340A CN111360849A CN 111360849 A CN111360849 A CN 111360849A CN 202010315340 A CN202010315340 A CN 202010315340A CN 111360849 A CN111360849 A CN 111360849A
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CN
China
Prior art keywords
arm
oil cylinder
hinged
working
mechanical
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CN202010315340.9A
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Chinese (zh)
Inventor
徐志春
罗铭
吴孝红
石英
沈铭顺
鲍晋普
詹晟
葛俊敏
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Giant Hydraulic Tech Co ltd
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Giant Hydraulic Tech Co ltd
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Priority to CN202010315340.9A priority Critical patent/CN111360849A/en
Publication of CN111360849A publication Critical patent/CN111360849A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0062—Lubrication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/146—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses a grid cleaning heavy-load intelligent manipulator and a control method thereof. The invention discloses a grid cleaning heavy-load intelligent manipulator which comprises a mechanical body system, a hydraulic system, a control system, a communication system and a video system, wherein the mechanical body system comprises a mechanical base, a swing frame, a swing oil cylinder and a working arm group; the working arm group comprises a large arm, a second arm, a telescopic arm, a cleaning bucket, a large arm oil cylinder, a second arm oil cylinder and a telescopic arm oil cylinder, two ends of the swing frame are respectively connected with the mechanical base and the working arm group, and the swing oil cylinder is connected with the mechanical base and the swing frame. The grid cleaning heavy-duty intelligent manipulator can clean coal ash in an environment with limited operation space.

Description

Grid cleaning heavy-load intelligent manipulator and control method thereof
Technical Field
The invention relates to a manipulator and a control method thereof, in particular to a grid cleaning heavy-load intelligent manipulator and a control method thereof, and belongs to the field of mechanical equipment.
Background
The angle of repose of the coal powder of the grid platform of the coal powder tipper is 35-40 degrees, the angle of the grid is 16 degrees, the position of a basement of a working place is-3.26 meters, and the height of a working space is 3.2m at most and 2.4m at most; the operation is characterized in that: the space is narrow and the operation range is very long.
At present, the cleaning of places with complex working conditions is mainly carried out by using a manipulator, but the common manipulator only aims at the general open-air and underground working conditions, and the common manipulator cannot be normally used under the limitation of the complex working space of a grid platform of a pulverized coal tipper; but the manual driving equipment is adopted for cleaning, and safety accidents are easy to happen. Therefore, it is urgently needed to design a manipulator for cleaning coal ash.
Disclosure of Invention
The invention aims to solve the problem of providing a grid cleaning heavy-load intelligent manipulator and a control method thereof. The grid cleaning heavy-duty intelligent manipulator can clean coal ash in an environment with limited operation space. Meanwhile, the method has multiple control modes, ensures a larger coal dust cleaning range on the premise of ensuring the personal safety of personnel, and improves the operation efficiency.
The invention discloses a grid cleaning heavy-load intelligent manipulator which comprises a mechanical body system, a hydraulic system, a control system, a communication system and a video system, wherein the mechanical body system comprises a mechanical base, a swing frame, a swing oil cylinder and a working arm group; the working arm group comprises a large arm, a second arm, a telescopic arm, a cleaning bucket, a large arm oil cylinder, a second arm oil cylinder and a telescopic arm oil cylinder, two ends of the swing frame are respectively connected with the mechanical base and the working arm group, and the swing oil cylinder is connected with the mechanical base and the swing frame.
Furthermore, the left end of the big arm is hinged with the swing frame, and the right end of the big arm is hinged with the two arms; the cylinder end of the large arm oil cylinder is hinged on the swing frame, and the rod end of the large arm oil cylinder is hinged on the supporting seat below the large arm; the cylinder end of the two-arm oil cylinder is hinged on the supporting seat below the large arm, and the rod end is hinged on the left end of the two arms; the telescopic arm oil cylinder is arranged in the two arms, the cylinder end of the telescopic arm oil cylinder is hinged with the two arms, the rod end of the telescopic arm oil cylinder is hinged with the left end of the telescopic arm, and the right end of the telescopic arm is hinged with the cleaning bucket.
Furthermore, the working arm group also comprises a rotating oil cylinder and a four-bar mechanism; the cylinder end of the rotary oil cylinder is hinged on the supporting seat on the upper surface of the telescopic arm, and the rod end of the rotary oil cylinder is hinged with the four-connecting-rod mechanism; four tie points of four link mechanism are the pin joint of connecting rod I and flexible arm, the pin joint of clearance fill and flexible arm, the pin joint of connecting rod II and clearance fill, the common pin joint of connecting rod I and connecting rod II and rotation hydro-cylinder three respectively.
Further, the swing frame is a frame structure formed by welding high-strength steel plates and is subjected to annealing and shot blasting treatment; the center hole of the left end of the swing frame is connected with the right end of the base through a pin shaft and a hinge bearing, the cylinder end of the swing oil cylinder is fixedly connected to the base, the rod end of the swing oil cylinder is hinged to the swing frame, and the upper hinge hole and the lower hinge hole of the right end of the swing frame are respectively hinged to the large arm oil cylinder and the large arm oil cylinder.
Furthermore, the base is a frame structure formed by welding high-strength steel plates, the bottom of the base is provided with a damping block and a damping bottom plate, and the base is fixed on the ground through foundation bolts and nuts; rubber shock absorption pads and rubber springs are respectively arranged between the base and the ground and at the connecting sections of the foundation bolts and the nuts; the base is also provided with a hydraulic main valve, a balance valve and the like, and the valve body is connected with the oil cylinder and the swing oil cylinder on the working arm set through a hydraulic rubber pipe, a joint body and the like.
Furthermore, the large arm oil cylinder, the two-arm oil cylinder, the telescopic arm oil cylinder and the rotating oil cylinder are all provided with mechanical standard hydraulic cylinders and are provided with buffer devices; the swing frame, the large arm, the two arms and the cleaning bucket are all provided with angle sensors, and displacement sensors are arranged in the telescopic arm oil cylinders.
Furthermore, all pin joints are connected through a pin shaft, a sinking port is arranged in each hinged hole along the radial direction, and an oil cup is arranged in each sinking port.
Furthermore, the hydraulic system and the control system are connected with the mechanical body system; the hydraulic system comprises a hydraulic pump station, an electro-hydraulic proportional valve group and pipeline parts arranged on each working arm, wherein the hydraulic pump station comprises a motor, a hydraulic pump, a hydraulic oil tank, a radiator, oil tank accessories and corresponding pipelines; the control system comprises a remote operation table, an electric control cabinet, a sensor, a corresponding circuit and a corresponding program; the remote control console is arranged in the operating room and is provided with an electric control handle, a controller, a human-computer interface, a video display, a switch button and the like; the communication system and the video system are both connected with the control system.
The invention discloses a control method of a grid cleaning heavy-load intelligent manipulator, which is characterized by comprising the following steps: an operator remotely controls command signals such as an electric control handle, a button switch and the like of an operation platform in a control room, the command signals are sent to a controller, the controller transmits the signals to a field electric control cabinet controller through a network, and the electric control cabinet controller sends action commands to a hydraulic pump station and a proportional valve to drive a mechanical body system to move; the video system video recorder receives a video signal transmitted by the camera and then transmits the video signal to the display screen to display a working environment image in real time, and the camera can acquire the surrounding field video information of the mechanical body system in an all-round way at 360 degrees; the human-computer interface receives the manipulator pose state information transmitted by the electric control cabinet controller through the network, displays the manipulator pose state information in a graph-text mode in real time, and can calibrate and modify the relevant parameters of the mechanical body system; the manipulator pose state sensing system comprises sensors for oil temperature, pressure, position, distance measurement and the like, and all pose state information is accessed to the controller; the control system has three working modes of remote control, remote control and automatic track running; aiming at the oblique grids, two automatic track planning operation algorithm programs are designed in advance in the controller, the mechanical arm can automatically operate according to a preset track, and a human-computer interface can modify automatic track operation parameters on line.
Furthermore, when the two manipulators work simultaneously, in order to avoid the interference of the external space of the working arm group, an anti-collision redundancy design is adopted, a position sensor is installed on a rotating part of the working arm group, soft limit is arranged in a program, and hard limit is arranged on a mechanism; meanwhile, a double-arm cooperative control anti-collision algorithm is designed, so that the working arm groups in the two mechanical arm body systems can not collide with each other when working simultaneously.
The manipulator of the invention has the advantages that: the swing frame is connected with the base through a swing oil cylinder, and under the action of the swing oil cylinder, the swing frame rotates +/-60 degrees along the axis of the central hole to drive a working arm group connected with the swing frame to rotate +/-60 degrees, so that the working range is enlarged; the working arm arranged in the two arms is designed to be a telescopic arm in a telescopic mode, so that the working arm is suitable for the working condition of a low space; the bucket type accessory is adopted, pushing and raking actions can be carried out, and the operation efficiency is greatly improved; meanwhile, the bucket adopts a flat opening design, and a knife edge can be attached to the surface of the grid mesh, so that the grid mesh is better protected; the coal cleaning operation in a narrow space and an ultra-long operation range is realized by adopting the structural design of the series arm, the telescopic arm and the swing seat; thirdly, a position sensor is arranged at a rotating part of the mechanical arm, soft limit is arranged in a program, hard limit is made on a mechanism, and the anti-collision redundant design avoids interference of the external space of the mechanical arm; the manipulator has three working modes of remote control, remote control and automatic track operation; the remote control ensures the personal safety of personnel, the automatic track operation ensures a larger coal powder cleaning range, and the operation efficiency is improved.
The grid cleaning heavy-duty intelligent manipulator can realize the function of cleaning coal ash in an environment with limited operation space, and the automatic cleaning range of the manipulator covers more than 95% of the grid. Meanwhile, the invention is a remote-control high-power operation manipulator which is essentially different from common engineering machinery, integrates a bionic technology, a communication technology, a control technology, a sensing technology and an electromechanical-hydraulic integration technology, is the development and spanning of a manipulator technology from the pure kinematics field to the engineering dynamics field, belongs to the technical integration of the specific field, and ensures the personal safety of personnel through remote control.
Drawings
FIG. 1 is a front view of a grid cleaning heavy duty intelligent robot mechanical body system of the present invention;
FIG. 2 is a schematic diagram of a hydraulic power unit;
FIG. 3 is a schematic view of the spatial arrangement of the grid cleaning heavy-duty intelligent manipulator of the present invention;
FIG. 4 is a schematic layout of the overall apparatus for grid cleaning a heavy-duty intelligent robot of the present invention;
FIG. 5 is a first perspective view (furthest position of the cleaning bucket) of the grid automated cleaning robot mechanical body system of the present invention;
FIG. 6 is a second perspective view of the mechanical body system of the grid automated cleaning robot of the present invention (closest position of the cleaning bucket);
fig. 7 is a schematic view of a remote console.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1
As can be seen from fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, the intelligent grid cleaning manipulator of the present invention includes a mechanical body system, a hydraulic system, a control system, a communication system, and a wireless video system, where the mechanical body system includes a mechanical base 1, a swing frame 2, a swing cylinder 8, and a working arm group; the working arm group comprises a large arm 3, a second arm 4, a telescopic arm 5, a cleaning bucket 7, a large arm oil cylinder 9, a second arm oil cylinder 10 and a telescopic arm oil cylinder 11, two ends of the swing frame 2 are respectively connected with the mechanical base 1 and the working arm group, and the swing oil cylinder 8 is connected with the mechanical base 1 and the swing frame 2.
Wherein, the left end of the big arm 3 is hinged with the swing frame 2, and the right end is hinged with the second arm 4; the cylinder end of the large arm oil cylinder 9 is hinged on the swing frame 2, and the rod end is hinged on the supporting seat below the large arm 3; the cylinder end of the two-arm oil cylinder 10 is hinged on the supporting seat below the large arm 3, and the rod end is hinged on the left end of the two-arm 4; the telescopic arm oil cylinder 11 is arranged in the two arms 4, the cylinder end of the telescopic arm oil cylinder is hinged with the two arms 4, the rod end of the telescopic arm oil cylinder is hinged with the left end of the telescopic arm 5, and the right end of the telescopic arm 5 is hinged with the cleaning bucket 7.
The manipulator of the invention: the swing frame is connected with the base through a swing oil cylinder, and under the action of the swing oil cylinder, the swing frame rotates +/-60 degrees along the axis of the central hole to drive a working arm group connected with the swing frame to rotate +/-60 degrees, so that the working range is enlarged; secondly, the large arm realizes the lifting and descending of the whole working arm group through a large arm oil cylinder; the two arms realize the lifting and descending of the two arms, the telescopic arms, the cleaning bucket and the like through the two-arm oil cylinder; the telescopic arms in the two arms extend and retract through telescopic arm oil cylinders, so that the cleaning bucket is driven to extend and retract; the design of the telescopic arm is suitable for the working condition of low space; thirdly, the bucket type accessory can perform pushing and raking actions, so that the operation efficiency is greatly improved; meanwhile, the bucket adopts a flat opening design, and a knife edge can be attached to the grid surface, so that the grid is better protected. The manipulator has a large operation range, and can better meet the requirement of the working space of the grid platform of the pulverized coal tippler.
Example 2
The invention discloses a grid cleaning heavy-load intelligent manipulator which comprises the following steps: the working arm group also comprises a rotating oil cylinder 12 and a four-bar mechanism 6; the cylinder end of the rotary oil cylinder 12 is hinged on the supporting seat on the telescopic arm 5, and the rod end is hinged with the four-connecting-rod mechanism 6; four connecting points of the four-bar linkage 6 are respectively the common hinge point of the connecting bar I25 and the hinge point of the telescopic arm 5, the hinge point of the cleaning bucket 7 and the telescopic arm 5, the hinge point of the connecting bar II 26 and the cleaning bucket 7, the connecting bar I25 and the connecting bar II 26 and the rotating oil cylinder 12.
In the invention: the cleaning bucket 7 can complete the rotation of the cleaning bucket under the action of the rotating oil cylinder 12 and the connecting rod and the rocker of the four-bar mechanism 6, so that the action range of the cleaning bucket is expanded. The cleaning bucket is a bucket-shaped structure welded by carbon steel, can rotate under the action of a rotary oil cylinder to achieve the aim of digging coal at different angles, and has a volume of 0.08m3。
Example 3
The invention discloses a grid cleaning heavy-load intelligent manipulator which comprises the following steps: the swing frame 2 is a frame structure formed by welding high-strength steel plates and is subjected to annealing and shot blasting treatment; the center hole of the left end of the swing frame 2 is connected with the right end of the base 1 through a pin shaft 23 and a hinge bearing 24, the cylinder end of the swing oil cylinder 8 is fixedly connected on the base 1, the rod end is hinged on the swing frame 2, and the upper hinge hole and the lower hinge hole of the right end of the swing frame 2 are respectively hinged with the large arm 3 and the large arm oil cylinder 9.
In the invention: the swing frame 2 is a pivot type component for connecting the base 1 and the working arm group, and the requirement on strength is high. The swing frame 2 can rotate at an angle of +/-60 degrees along the axis of the central hole under the action of the swing oil cylinder 8, so that the working arm group connected with the swing frame is driven to rotate at an angle of +/-60 degrees, and the operation range of the manipulator is enlarged.
Example 4
The invention discloses a grid cleaning heavy-load intelligent manipulator which comprises the following steps: the base 1 is a frame structure formed by welding high-strength steel plates, the bottom of the base is provided with a damping block 27 and a damping bottom plate 28, and the base is fixed on the ground through foundation bolts 21 and nuts 22; rubber shock pads and rubber springs are respectively arranged between the base 1 and the ground and at the connecting sections of the foundation bolts 21 and the nuts 22; the base 1 is also provided with a hydraulic main valve, a balance valve and the like, and the valve body is connected with the oil cylinder and the swing oil cylinder on the working arm group through a hydraulic rubber pipe, a joint body and the like.
The valve body on the base is connected with the oil cylinder and the swing cylinder on the working arm group through a hydraulic rubber tube, a joint body and the like, and the whole machine is driven to work according to actual requirements through a hydraulic pump station and a hydraulic control system, so that the operation under complex working conditions is met.
Example 5
The invention discloses a grid cleaning heavy-load intelligent manipulator which comprises the following steps: the large arm oil cylinder 9, the two-arm oil cylinder 10, the telescopic arm oil cylinder 11 and the rotating oil cylinder 12 are all provided with mechanical standard hydraulic cylinders and are provided with buffer devices; the swing frame 2, the large arm 3, the two arms 4 and the cleaning bucket 7 are all provided with angle sensors, and the telescopic arm oil cylinder 11 is internally provided with a displacement sensor.
In the invention: in order to avoid interference of the external space of the mechanical arm, an angle sensor is arranged at the rotating part of the working arm group, soft limit is arranged in a program, hard limit is made on a mechanism, and an anti-collision redundant design is adopted, so that the safety of the mechanical arm during working is ensured; the telescopic boom oil cylinder 11 is internally provided with a displacement sensor, and the extending displacement of the telescopic boom can be measured through a corresponding sensor circuit part, so that the operation precision of the manipulator is ensured.
Example 6
The invention discloses a grid cleaning heavy-load intelligent manipulator which comprises the following steps: all the hinged points are connected through a pin shaft, a sinking port is arranged in each hinged hole along the radial direction, and an oil cup is arranged in each sinking port.
The oil cups are arranged at all the hinge points where the hinge holes are connected with the pin shafts, so that the full lubrication of the rotating part is ensured.
Example 7
As can be seen from fig. 3, 4 and 7, the grid cleaning heavy-load intelligent manipulator of the invention: the hydraulic system and the control system are connected with the mechanical body system; the hydraulic system comprises a hydraulic pump station 30, an electro-hydraulic proportional valve group and pipeline components arranged on each working arm, wherein the hydraulic pump station 30 comprises a motor 31, a hydraulic pump 32, a hydraulic oil tank 33, a radiator 34, an oil tank accessory 35 and corresponding pipelines; the control system comprises a remote operation table 41, an electric control cabinet 40, a sensor, a corresponding circuit and a corresponding program; the remote control console 41 is installed in an operation room 47 and is provided with an electric control handle 42, a controller 43, a human-computer interface 44, a video display 45, a switch button 46 and the like; the communication system and the video system are both connected with the control system.
Example 8
As can be seen from fig. 4, the control method for grid cleaning of the heavy-duty intelligent manipulator of the present invention comprises: an operator remotely controls command signals such as an electric control handle, a button switch and the like of an operation platform in a control room, the command signals are sent to a controller, the controller transmits the signals to a field electric control cabinet controller through a network, and the electric control cabinet controller sends action commands to a hydraulic pump station and a proportional valve to drive a mechanical body system to move; the video system video recorder receives a video signal transmitted by the camera and then transmits the video signal to the display screen to display a working environment image in real time, and the camera can acquire the surrounding field video information of the mechanical body system in an all-round way at 360 degrees; the human-computer interface receives the manipulator pose state information transmitted by the electric control cabinet controller through the network, displays the manipulator pose state information in a graph-text mode in real time, and can calibrate and modify the relevant parameters of the mechanical body system; the manipulator pose state sensing system comprises sensors for oil temperature, pressure, position, distance measurement and the like, and all pose state information is accessed to the controller; the control system has three working modes of remote control, remote control and automatic track running; aiming at the oblique grids, two automatic track planning operation algorithm programs are designed in advance in the controller, the mechanical arm can automatically operate according to a preset track, and a human-computer interface can modify automatic track operation parameters on line.
When the two manipulators work simultaneously, in order to avoid the interference of the external space of the working arm group, an anti-collision redundancy design is adopted, a position sensor is installed on a rotating part of the working arm group, soft limit is arranged in a program, and hard limit is made on a mechanism; meanwhile, a double-arm cooperative control anti-collision algorithm is designed, so that the working arm groups in the two mechanical arm body systems can not collide with each other when working simultaneously.
The manipulator of the invention has the advantages that: the swing frame is connected with the base through a swing oil cylinder, and under the action of the swing oil cylinder, the swing frame rotates +/-60 degrees along the axis of the central hole to drive a working arm group connected with the swing frame to rotate +/-60 degrees, so that the working range is enlarged; the working arm arranged in the two arms is designed to be a telescopic arm in a telescopic mode, so that the working arm is suitable for the working condition of a low space; the bucket type accessory is adopted, pushing and raking actions can be carried out, and the operation efficiency is greatly improved; meanwhile, the bucket adopts a flat opening design, and a knife edge can be attached to the surface of the grid mesh, so that the grid mesh is better protected; namely, the invention adopts the structural design of the series arm, the telescopic arm and the swing seat to realize the coal cleaning operation in a narrow space and an ultra-long operation range, as shown in fig. 5 and 6; the manipulator has three working modes of remote control, remote control and automatic track operation; thirdly, in order to avoid interference of the external space of the mechanical arm, a position sensor is arranged at a rotating part of the mechanical arm, soft limit is arranged in a program, hard limit is made on a mechanism, and an anti-collision redundant design is adopted; fourthly, designing and realizing an automatic trajectory planning algorithm of the inclined grid mechanical arm; and the design of the double-arm cooperative control anti-collision algorithm is realized.
The grid cleaning heavy-duty intelligent manipulator can realize the function of cleaning coal ash in an environment with limited operation space, and the automatic cleaning range of the manipulator covers more than 95% of the grid. Meanwhile, the invention is a remote-control high-power operation manipulator which is essentially different from common engineering machinery, integrates a bionic technology, a communication technology, a control technology, a sensing technology and an electromechanical-hydraulic integration technology, is the development and spanning of a manipulator technology from the pure kinematics field to the engineering dynamics field, belongs to the technical integration of the specific field, and ensures the personal safety of personnel through remote control.

Claims (10)

1. The utility model provides a graticule mesh clearance heavy load intelligent mechanical hand, includes mechanical body system, hydraulic system, control system, communication system, video system, characterized by: the mechanical body system (20) comprises a mechanical base (1), a swing frame (2), a swing oil cylinder (8) and a working arm group; the working arm group comprises a large arm (3), a double arm (4), a telescopic arm (5), a cleaning bucket (7), a large arm oil cylinder (9), a double arm oil cylinder (10) and a telescopic arm oil cylinder (11), two ends of the swing frame (2) are respectively connected with the mechanical base (1) and the working arm group, and the swing oil cylinder (8) is connected with the mechanical base (1) and the swing frame (2).
2. The grid cleaning heavy-duty intelligent manipulator of claim 1, characterized in that: the left end of the big arm (3) is hinged with the swing frame (2), and the right end is hinged with the two arms (4); the end of the large arm oil cylinder (9) is hinged on the swing frame (2), and the end of the rod is hinged on the supporting seat under the large arm (3); the cylinder end of the two-arm oil cylinder (10) is hinged on the supporting seat below the large arm (3), and the rod end is hinged on the left end of the two-arm (4); the telescopic arm oil cylinder (11) is arranged in the two arms (4), the cylinder end of the telescopic arm oil cylinder is hinged with the two arms (4), the rod end of the telescopic arm oil cylinder is hinged with the left end of the telescopic arm (5), and the right end of the telescopic arm (5) is hinged with the cleaning bucket (7).
3. The grid cleaning heavy-duty intelligent manipulator of claim 1, characterized in that: the working arm group also comprises a rotating oil cylinder (12) and a four-bar mechanism (6); the cylinder end of the rotary oil cylinder (12) is hinged on the supporting seat on the telescopic arm (5), and the rod end is hinged with the four-connecting-rod mechanism (6); four connecting points of the four-bar mechanism (6) are respectively a hinge point of the connecting bar I (25) and the telescopic arm (5), a hinge point of the cleaning bucket (7) and the telescopic arm (5), a hinge point of the connecting bar II (26) and the cleaning bucket (7), and a common hinge point of the connecting bar I (25), the connecting bar II (26) and the rotating oil cylinder (12).
4. The grid cleaning heavy-duty intelligent manipulator of claim 1, characterized in that: the swing frame (2) is a frame structure formed by welding high-strength steel plates and is subjected to annealing and shot blasting treatment; the center hole of the left end of the swing frame (2) is connected with the right end of the base (1) through a pin shaft (23) and a hinge bearing (24), the cylinder end of the swing oil cylinder (8) is fixedly connected to the base (1), the rod end of the swing oil cylinder is hinged to the swing frame (2), and the upper hinge hole and the lower hinge hole of the right end of the swing frame (2) are respectively hinged to the large arm (3) and the large arm oil cylinder (9).
5. The grid cleaning heavy-duty intelligent manipulator of claim 1, characterized in that: the base (1) is a frame structure formed by welding high-strength steel plates, the bottom of the base is provided with a damping block (27) and a damping bottom plate (28), and the base is fixed on the ground through foundation bolts (21) and nuts (22); rubber shock absorption pads and rubber springs are respectively arranged between the base (1) and the ground and at the connecting sections of the foundation bolts (21) and the nuts (22); the base (1) is also provided with a hydraulic main valve, a balance valve and the like, and the valve body is connected with the oil cylinder and the swing oil cylinder on the working arm group through a hydraulic rubber tube, a joint body and the like.
6. The grid cleaning heavy-duty intelligent manipulator of claim 2, characterized in that: the large arm oil cylinder (9), the two-arm oil cylinder (10), the telescopic arm oil cylinder (11) and the rotating oil cylinder (12) are all provided with mechanical standard hydraulic cylinders and are provided with buffer devices; the swing frame (2), the big arm (3), the two arms (4) and the cleaning bucket (7) are all provided with angle sensors, and displacement sensors are arranged in telescopic arm oil cylinders (11).
7. The grid cleaning heavy-duty intelligent manipulator of claim 1, characterized in that: all the hinged points are connected through a pin shaft, a sinking port is arranged in each hinged hole along the radial direction, and an oil cup is arranged in each sinking port.
8. The grid cleaning heavy-duty intelligent manipulator of claim 1, characterized in that: the hydraulic system and the control system are both connected with the mechanical body system (20); the hydraulic system comprises a hydraulic pump station (30), an electro-hydraulic proportional valve group and pipeline components arranged on each working arm, wherein the hydraulic pump station (30) comprises a motor (31), a hydraulic pump (32), a hydraulic oil tank (33), a radiator (34), an oil tank accessory (35) and corresponding pipelines; the control system comprises a remote operation table (41), an electric control cabinet (40), a sensor, a corresponding circuit and a corresponding program; the remote control console (41) is arranged in an operation room (47) and is provided with an electric control handle (42), a controller (43), a human-computer interface (44), a video display (45), a switch button (46) and the like; the communication system and the video system are both connected with the control system.
9. The control method of grid cleaning heavy-duty intelligent manipulator of claim 8, characterized by: an operator remotely controls command signals such as an electric control handle, a button switch and the like of an operation platform in a control room, the command signals are sent to a controller, the controller transmits the signals to a field electric control cabinet controller through a network, and the electric control cabinet controller sends action commands to a hydraulic pump station and a proportional valve to drive a mechanical body system to move; the video system video recorder receives a video signal transmitted by the camera (48) and then transmits the video signal to the display screen to display a working environment image in real time, and the camera can acquire the surrounding field video information of the mechanical body system in an all-round way at 360 degrees; the human-computer interface receives the manipulator pose state information transmitted by the electric control cabinet controller through the network, displays the manipulator pose state information in a graph-text mode in real time, and can calibrate and modify the relevant parameters of the mechanical body system; the manipulator pose state sensing system comprises sensors for oil temperature, pressure, position, distance measurement and the like, and all pose state information is accessed to the controller; the control system has three working modes of remote control, remote control and automatic track running; aiming at the oblique grids, two automatic track planning operation algorithm programs are designed in advance in the controller, the mechanical arm can automatically operate according to a preset track, and a human-computer interface can modify automatic track operation parameters on line.
10. The control method according to claim 9, wherein: when the two manipulators work simultaneously, in order to avoid the interference of the external space of the working arm group, an anti-collision redundancy design is adopted, a position sensor is installed on a rotating part of the working arm group, soft limit is arranged in a program, and hard limit is made on a mechanism; meanwhile, a double-arm cooperative control anti-collision algorithm is designed, so that the working arm groups in the two mechanical arm body systems can not collide with each other when working simultaneously.
CN202010315340.9A 2020-04-21 2020-04-21 Grid cleaning heavy-load intelligent manipulator and control method thereof Pending CN111360849A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111930062A (en) * 2020-07-30 2020-11-13 中信重工机械股份有限公司 Automatic control system of cement silo cleaning equipment
CN112554255A (en) * 2020-12-28 2021-03-26 智动时代(北京)科技有限公司 Multi-sensor fusion positioning space coordinate algorithm

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111930062A (en) * 2020-07-30 2020-11-13 中信重工机械股份有限公司 Automatic control system of cement silo cleaning equipment
CN112554255A (en) * 2020-12-28 2021-03-26 智动时代(北京)科技有限公司 Multi-sensor fusion positioning space coordinate algorithm

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