CN112045685B - Multi-oil-cylinder cooperative control device and working method thereof - Google Patents
Multi-oil-cylinder cooperative control device and working method thereof Download PDFInfo
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- CN112045685B CN112045685B CN202010928073.2A CN202010928073A CN112045685B CN 112045685 B CN112045685 B CN 112045685B CN 202010928073 A CN202010928073 A CN 202010928073A CN 112045685 B CN112045685 B CN 112045685B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention provides a multi-oil-cylinder cooperative control device and a working method thereof, and the multi-oil-cylinder cooperative control device comprises a large swing mechanism, wherein a mechanical arm is movably arranged on the large swing mechanism and is connected with a power mechanism, a plurality of slave station control boxes are uniformly distributed on the large swing mechanism, and the plurality of slave station control boxes are connected with a master station control box; two groups of mechanical arms are movably and symmetrically arranged on two sides of the slave station control box and on the large swing mechanism, a pressure detection assembly and an adjusting assembly are arranged on the power mechanism, and the pressure detection assembly and the adjusting assembly are connected with the slave station control box. The invention adopts a control mode of one master station and a plurality of slaves, each slave station control box is positioned between two groups of mechanical arms, the connection is convenient, the slave station control box can rotate along with a large slewing mechanism, the coordinated movement of a plurality of oil cylinders along a preset track is realized, and the working condition requirements are met.
Description
Technical Field
The invention relates to the technical field of multi-oil-cylinder cooperation, in particular to a multi-oil-cylinder cooperation control device and a working method thereof.
Background
In the field of shield or industry, when multiple oil cylinders are arranged on an actuating mechanism and the actuating mechanism needs to rotate, it is difficult to lead wires from a controller to the actuating mechanism directly; when a plurality of actuators are to be rotated, too many wires need to be connected from the controller to the plurality of actuators.
In the patent application number of '20130347490.8' and the patent name of 'multi-platform multi-cylinder cooperative automatic leveling system', the controller collects the signals of an inclination angle sensor and then carries out operation, outputs a control signal to control the opening size and direction of a proportional directional valve, and realizes the automatic leveling of the supporting platform and the leveled object; namely, a specific control mode related to multi-oil-cylinder leveling movement is essentially disclosed;
the patent application number of 201520886455.8 and the patent name of 'multi-oil-cylinder synchronous controller' disclose that one main control module and corresponding multiple groups of auxiliary control modules are used for realizing synchronous control on multiple groups of oil cylinders, but each auxiliary control module only controls one oil cylinder;
in the patent application number of '201510679558.1', the patent name of 'a multi-cylinder jacking synchronous control system, method and device and tower crane', the method detects the current displacement of each cylinder through each displacement sensor in the system, judges whether the displacement difference between the two cylinders exceeds a set threshold value to serve as a control point, and changes the displacement difference between the cylinders by adjusting the opening or closing of electromagnetic valves corresponding to the cylinders, thereby realizing the synchronous motion of the multiple cylinders.
All move through detecting the hydro-cylinder in above-mentioned patent, control hydro-cylinder oil feed action and realize many hydro-cylinders synchronization action when involving a plurality of hydro-cylinder motion, control a plurality of hydro-cylinders and move to the terminal point from the starting point and do not difficult to realize, but from the motion process of starting point to terminal point, can't control the real-time displacement of a plurality of hydro-cylinders certainly. Particularly for certain high precision controls, proportional valve control of each cylinder requires the actuator tip to move along a fixed path. At this point, higher demands are placed on the multiple cylinders that control the end motion of the mechanism. Besides the multiple oil cylinders need to move from a starting point to an end point, a certain relation is kept in real time in the moving process so as to realize that the execution tail end of the mechanism always moves along a fixed path.
Disclosure of Invention
The invention provides a multi-oil-cylinder cooperative control device and a working method thereof, aiming at the technical problems that the control wiring of a plurality of oil cylinders in equipment is disordered, and when the plurality of oil cylinders need to rotate along with a rotating mechanism, the equipment mechanism can not move according to a preset track.
In order to solve the above problems, the technical solution of the present invention is realized as follows:
a multi-oil-cylinder cooperative control device comprises a large swing mechanism, wherein a mechanical arm is movably arranged on the large swing mechanism and is connected with a power mechanism, a plurality of slave station control boxes are uniformly distributed on the large swing mechanism, and the plurality of slave station control boxes are connected with a master station control box; two groups of mechanical arms are symmetrically and movably arranged on two sides of the slave station control box and on the large swing mechanism, a pressure detection assembly and an adjusting assembly are arranged on the power mechanism, and the pressure detection assembly and the adjusting assembly are connected with the slave station control box.
Preferably, the front end of the mechanical arm is movably provided with a clamping jaw, the power mechanism comprises a propulsion oil cylinder and a clamping jaw oil cylinder, the propulsion oil cylinder is fixed on the large slewing mechanism and is connected with the mechanical arm, the clamping jaw oil cylinder is fixed on the mechanical arm and is connected with the clamping jaw; and the pushing oil cylinder and the clamping jaw oil cylinder are both provided with an adjusting assembly and a pressure detection assembly.
Preferably, the adjusting assembly comprises a telescopic displacement sensor and a proportional adjusting valve, the proportional adjusting valve is respectively arranged on oil inlet pipelines of the propulsion oil cylinder and the clamping jaw oil cylinder, and the telescopic displacement sensor is internally arranged in the propulsion oil cylinder and the clamping jaw oil cylinder; the pressure detection assembly comprises a first pressure sensor, and the first pressure sensor is arranged on one side of the clamping jaw oil cylinder; and the oil inlet pipelines of the propulsion oil cylinder and the clamping jaw oil cylinder are respectively provided with a second pressure sensor, and the telescopic displacement sensor, the proportion regulating valve, the first pressure sensor and the second pressure sensor are respectively connected with the slave station control box.
Preferably, the large slewing mechanism is provided with a drag chain, and communication cables between the master station control box and the slave station control boxes are arranged on the drag chain.
A working method of a multi-cylinder cooperative control device comprises the following steps:
s1, selecting a proper position on the ground to install a master station control box, uniformly arranging a plurality of slave station control boxes on a large rotary structure, symmetrically installing two groups of mechanical arms on two sides of each slave station control box, and installing a propulsion oil cylinder and a clamping jaw oil cylinder on each group of mechanical arms;
s2, arranging a drag chain on the large slewing mechanism, and arranging communication cables between the master station control box and the slave station control boxes on the drag chain; telescopic displacement sensors are arranged in each group of the propulsion oil cylinder and the clamping jaw oil cylinder, and a proportion regulating valve and a pressure sensor are arranged on oil inlet pipelines of the propulsion oil cylinder and the clamping jaw oil cylinder;
s3, sequentially naming the slave station control boxes as a slave station control box 1, a slave station control box 2, a slave station control box … … and a slave station control box n, sequentially naming the mechanical arms as a mechanical arm 1, a mechanical arm 2, a mechanical arm 3, a mechanical arm … … and a mechanical arm m, symmetrically arranging the mechanical arm 1 and the mechanical arm 2 at two sides of the slave station control box 1, and so on, and finishing a workpiece grabbing action by every two groups of mechanical arms;
s4, job preparation: the mechanical arm 1 and the mechanical arm 2 are driven by a large swing mechanism to clamp the workpiece placed on the position to be clamped;
s5, path planning: planning the motion paths of the mechanical arm 1 and the mechanical arm 2 according to the working condition requirement, calling a Robotics System Toolbox function library for inverse solution in simulation software MATLAB according to the planned motion paths of the mechanical arm 1 and the mechanical arm 2, and calculating the running distance L of each oil cylinder in the mechanical arm 1 and the mechanical arm 2 from a starting point to a terminal point;
s6, dividing a path L into L1, L2, L3, … … and LN sections by an interpolation method according to the running distance L from the starting point to the end point of each oil cylinder calculated in the step S5;
s7, lifting process: the master station control box controls the opening degree of proportional regulating valves of oil cylinders in the mechanical arm 1 and the mechanical arm 2, so that the oil cylinders complete displacement of L1 section and reach a position T1; then, each oil cylinder is controlled to continue to move to complete displacement of the L2 section, the position T2 is reached, and the rest is done in the same way, until each oil cylinder completes displacement of the LN section, the mechanical arm 1 and the mechanical arm 2 drive the workpiece to be lifted to the designated position;
s8, grabbing the next workpiece: after the mechanical arm 1 and the mechanical arm 2 are matched to grab and lift the workpiece, the master station control box controls the large swing mechanism to rotate 360/n degrees, so that the mechanical arm 3 and the mechanical arm 4 move to positions to be clamped, and the steps S5-S7 are repeated to finish workpiece grabbing actions of the mechanical arm 3 and the mechanical arm 4;
s9, repeating the step S8, and sequentially completing the workpiece grabbing and lifting actions of the rest of the mechanical arms 5 to m;
and S10, after the step S9 is finished, the master station control box controls the large slewing mechanism to rotate 360/n degrees, so that the mechanical arms are reset.
Preferably, in the process of the telescopic action of each oil cylinder in step S7, after the master station control box receives the displacement value fed back from the telescopic displacement sensor in each oil cylinder in real time, the master station control box controls the opening of the proportional control valve in the oil inlet pipeline of each oil cylinder, so as to implement closed-loop control and accurately control the action position of each oil cylinder.
Preferably, in step S7, when the cylinder completes LN section displacement, the master station control box receives pressure values fed back from pressure sensors in oil inlet pipelines of the cylinders in real time, and determines whether the clamping jaws on the mechanical arm clamp the workpiece according to the pressure values.
Preferably, in the step S6, in the segmental motion process, if the action position of a certain oil cylinder is different from the preset action threshold value, that is, the master station control box receives that the feedback displacement values of the telescopic displacement sensors are different from the preset action threshold value, the master station control box adjusts the opening of the proportional control valve in the oil inlet pipeline of the corresponding oil cylinder to increase or decrease the extending speed of the oil cylinder, so that the oil cylinders synchronously reach the specified end position.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the master station control box is cooperated with the plurality of slave station control boxes, two groups of mechanical arms are symmetrically arranged on two sides of each group of slave station control box, so that the actions of a plurality of groups of oil cylinders on the two groups of mechanical arms can be conveniently controlled, and the wiring is convenient;
2. the large swing mechanism rotates to drive the two corresponding mechanical arms to complete the grabbing work in sequence, so that the grabbing is convenient and the efficiency is high;
3. according to the invention, displacement paths of all oil cylinders are planned, the extension amount of each oil cylinder is divided into a plurality of sections, one section is operated, and a displacement curve of the oil cylinder of the mechanical arm is fitted, so that the aim that the tail end of the robot can operate along a fixed track is achieved, under the control action of the master station control box and the slave station control box, the oil cylinders on two corresponding groups of mechanical arms move coordinately and respectively move along a preset track, and the requirements of working conditions are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a communication diagram of the present invention.
Fig. 2 is a schematic diagram of the slave station control box and robot arm distribution in the present invention.
FIG. 3 is a flow chart of the control logic of the present invention.
In the figure, 1 is a large swing mechanism, 2 is a propulsion oil cylinder, 3 is a clamping jaw, 4 is a clamping jaw oil cylinder, and 5 is a slave station control box.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1: as shown in fig. 2, the multi-cylinder cooperative control device comprises a large swing mechanism 1, wherein a mechanical arm is movably arranged on the large swing mechanism 1 and is connected with a power mechanism, a plurality of slave station control boxes 5 are uniformly distributed on the large swing mechanism 1, each slave station control box adopts an I/O module with a small volume, so that the space is saved, and the plurality of slave station control boxes 5 are all connected with a master station control box; the large slewing mechanism is provided with a drag chain, communication cables between the master station control box and the slave station control boxes 5 are arranged on the drag chain, wiring and simultaneous control are facilitated through the arrangement form of one master station and multiple slave stations, and the structural form can also be applied to multi-cylinder cooperative control.
Two groups of mechanical arms are symmetrically and movably arranged on two sides of the slave station control box 5 and on the large swing mechanism 1, namely oil cylinders on the two groups of mechanical arms are controlled by each group of slave station control box, the slave station control box is located between the two groups of mechanical arms, the coordination change of postures and positions of the two groups of mechanical arms is realized by simultaneously controlling the oil cylinders on the two groups of mechanical arms by the slave station control box, a pressure detection assembly and an adjusting assembly are arranged on the power mechanism, and the pressure detection assembly and the adjusting assembly are both connected with the slave station control box 5.
The front end of the mechanical arm is movably provided with a clamping jaw 3, a power mechanism comprises pushing cylinders 2 and clamping jaw cylinders 4, the pushing cylinders 2 are fixed on a large slewing mechanism 1, and the pushing cylinders 2 are connected with the mechanical arm, the number of the pushing cylinders in the embodiment is preferably three, one group of the pushing cylinders is used as a main pushing cylinder to control the action of the mechanical arm, the other two groups of the pushing cylinders are used as auxiliary pushing cylinders to finely adjust the mechanical arm, the clamping jaw cylinders 4 are fixed on the mechanical arm, and the clamping jaw cylinders 4 are connected with the clamping jaw 3; and the pushing oil cylinder 2 and the clamping jaw oil cylinder 4 are both provided with an adjusting assembly and a pressure detection assembly.
The adjusting assembly comprises a telescopic displacement sensor and a proportional adjusting valve, the proportional adjusting valve is respectively arranged on oil inlet pipelines of the propulsion oil cylinder and the clamping jaw oil cylinder, the telescopic displacement sensor is arranged in the propulsion oil cylinder and the clamping jaw oil cylinder, the controller feeds back the position through the displacement sensor, the opening degree of the proportional valve is controlled, closed-loop control is realized, and the purpose of accurately controlling the position of the oil cylinder is achieved; the pressure detection assembly comprises a first pressure sensor, the first pressure sensor is arranged on one side of the clamping jaw oil cylinder 4, the mechanical arm and the clamping jaw are controlled to be clamped and closed through the clamping jaw oil cylinder, the clamping jaw oil cylinder is provided with the pressure sensor, and whether the clamping jaw clamps a workpiece or not is judged; and the oil inlet pipelines of the propulsion oil cylinder 2 and the clamping jaw oil cylinder 4 are respectively provided with a second pressure sensor, when the second pressure sensors are used for measuring the force borne by each oil cylinder when grabbing the workpiece to move, the telescopic displacement sensors, the proportional control valve, the first pressure sensors and the second pressure sensors are all connected with the slave station control box 5.
Example 2: as shown in fig. 1 and 3, the working method of the multi-cylinder cooperative control device comprises the following steps:
s1, selecting a proper position on the ground to install a master station control box, uniformly arranging a plurality of slave station control boxes 5 on a large slewing mechanism 1, symmetrically installing two groups of mechanical arms on two sides of each slave station control box 5, and installing a propulsion oil cylinder 2 and a clamping jaw oil cylinder 4 on each group of mechanical arms;
s2, arranging a drag chain on the large slewing mechanism 1, and arranging communication cables between the master station control box and the slave station control boxes 5 on the drag chain; telescopic displacement sensors are arranged in each group of the propulsion oil cylinder 2 and the clamping jaw oil cylinder 4, and a proportion regulating valve and a pressure sensor are arranged on oil inlet pipelines of the propulsion oil cylinder 2 and the clamping jaw oil cylinder 4; each oil cylinder is controlled by a proportional valve and is internally provided with a telescopic displacement sensor, a controller feeds back a position through the displacement sensor to control the opening of the proportional valve, closed-loop control is realized, and the aim of accurately controlling the position of the oil cylinder is fulfilled; clamping and loosening are controlled by a clamping jaw oil cylinder on the mechanical arm, a first pressure sensor is configured for the clamping jaw oil cylinder, and whether the clamping jaw clamps a workpiece or not is judged;
s3, sequentially naming each slave station control box 5 as a slave station control box 1, a slave station control box 2, … … and a slave station control box n, preferably selecting n =5 in the present embodiment, sequentially naming each mechanical arm as a mechanical arm 1, a mechanical arm 2, a mechanical arm 3, … … and a mechanical arm m, preferably selecting m =10 in the present embodiment, that is, each slave station control box correspondingly controls two groups of mechanical arms, wherein the mechanical arm 1 and the mechanical arm 2 are symmetrically arranged at two sides of the slave station control box 1, and so on, each two groups of mechanical arms complete a workpiece grabbing and lifting action;
s4, job preparation: the mechanical arm 1 and the mechanical arm 2 need to clamp a steel arch and lift upwards, the steel arch cannot slide relative to the mechanical arms 1 and 2 in the lifting process, the tail ends of the two mechanical arms need to move along a fixed track to achieve the purpose, the mechanical arm 1 and the mechanical arm 2 are driven by a large swing mechanism to clamp a workpiece placed on a position to be clamped, the steel arch is fixed at the same position each time through a clamp, and the steel arches 1 and 2 rotate to the same position each time;
s5, path planning: in the process of lifting the grabbing steel arch, the tail ends of the mechanical arms 1 and 2 need to keep fixed motion tracks to meet grabbing requirements, motion paths of the mechanical arms 1 and 2 are planned according to working condition requirements, a Robotics System Toolbox function library is called for inverse solution in simulation software MATLAB according to the planned motion paths of the mechanical arms 1 and 2, and the running distance L of each oil cylinder in the mechanical arms 1 and 2 from a starting point to a terminal point is calculated;
s6, dividing a path L into L1, L2, L3, … … and LN sections by an interpolation method according to the running distance L from the starting point to the end point of each oil cylinder calculated in the step S5, wherein N =10 is preferable in the embodiment; the displacement curve of the oil cylinder of the mechanical arm is fitted by dividing the elongation of each oil cylinder into a plurality of sections and operating one section at a time so as to realize the purpose that the tail end of the robot can operate along a fixed track;
s7, lifting process: the master station control box controls the opening degree of proportional regulating valves in oil inlet pipelines of each propulsion oil cylinder and each clamping jaw oil cylinder in the mechanical arm 1 and the mechanical arm 2 to enable each oil cylinder to finish displacement of section L1, and the mechanical arm 1 and the mechanical arm 2 reach a position T1; then, each oil cylinder is controlled to continue to move to complete displacement of the L2 section, the position T2 is reached, and the rest is done in the same way, until each oil cylinder completes displacement of the LN section, the mechanical arm 1 and the mechanical arm 2 drive the workpiece to be lifted to the designated position;
s8, grabbing the next workpiece: after the mechanical arm 1 and the mechanical arm 2 are matched to grab and lift a workpiece, the master station control box controls the large swing mechanism to rotate 360/n degrees, so that the mechanical arm 3 and the mechanical arm 4 move to positions to be clamped, and the steps S5-S7 are repeated to complete the grabbing steel arch frame lifting action of the mechanical arm 3 and the mechanical arm 4;
s9, repeating the step S8, and sequentially completing the workpiece grabbing and lifting actions of the rest of the mechanical arms 5 to m;
and S10, after the step S9 is finished, the master station control box controls the large slewing mechanism to rotate 360/n degrees, so that the mechanical arms are reset.
Example 3: in the working method of the multi-cylinder cooperative control device, in the process of stretching and retracting of each cylinder in the step S7, after the master station control box receives the displacement value fed back from the stretching and retracting displacement sensor in each cylinder in real time, the master station control box controls the opening of the proportional control valve in the oil inlet pipeline of each cylinder, so that closed-loop control is realized, and the action position of each cylinder is accurately controlled.
The rest of the working method is the same as that of the example 2.
Example 4: in the working method of the multi-cylinder cooperative control device, when each cylinder completes LN section displacement in step S7, the master station control box receives pressure values fed back by the pressure sensors in the oil inlet pipelines of each cylinder in real time, and judges whether the clamping jaw on the mechanical arm clamps the workpiece or not according to the pressure values.
The rest of the working method is the same as that of the example 2.
Example 5: in the step S6, if the action position of a certain oil cylinder is different from the preset action threshold value, that is, the feedback displacement value received by each telescopic displacement sensor is different from the preset action threshold value, the master station control box adjusts the opening of the proportional regulating valve in the oil inlet pipeline of the corresponding oil cylinder to adjust the extending speed of the oil cylinder to accelerate or reduce so that each oil cylinder synchronously reaches the specified end position.
The rest of the working method is the same as that of the example 2.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A multi-oil-cylinder cooperative control device comprises a large swing mechanism (1), wherein a mechanical arm is movably arranged on the large swing mechanism (1) and is connected with a power mechanism, and the multi-oil-cylinder cooperative control device is characterized in that a plurality of slave station control boxes (5) are uniformly distributed on the large swing mechanism (1), and the plurality of slave station control boxes (5) are connected with a master station control box; two groups of mechanical arms are movably and symmetrically arranged on two sides of the slave station control box (5) and the large swing mechanism (1), and the slave station control box simultaneously controls oil cylinders on the two groups of mechanical arms to act so as to realize the coordinated change of the postures and the positions of the two groups of mechanical arms; the power mechanism is provided with a pressure detection assembly and an adjusting assembly which are both connected with the slave station control box (5);
a tow chain is arranged on the large swing mechanism, and communication cables between the master station control box and the slave station control boxes (5) are arranged on the tow chain;
the adjusting assembly comprises a telescopic displacement sensor and a proportional adjusting valve, the proportional adjusting valve is respectively arranged on oil inlet pipelines of the propulsion oil cylinder and the clamping jaw oil cylinder, and the telescopic displacement sensor is internally arranged in the propulsion oil cylinder and the clamping jaw oil cylinder; the telescopic displacement sensor and the proportional regulating valve are connected with the slave station control box;
and planning displacement paths of all the oil cylinders, dividing the elongation of each oil cylinder into a plurality of sections, after the plurality of oil cylinders complete the first section of elongation, displacing the plurality of oil cylinders for the second section of elongation, sequentially completing the plurality of sections, fitting an oil cylinder displacement curve of the mechanical arm, and realizing that the tail end of the robot can move along a fixed track.
2. The multi-cylinder cooperative control device according to claim 1, wherein the front end of the mechanical arm is movably provided with the clamping jaw (3), the power mechanism comprises a propulsion cylinder (2) and a clamping jaw cylinder (4), the propulsion cylinder (2) is fixed on the large swing mechanism (1) and the propulsion cylinder (2) is connected with the mechanical arm, the clamping jaw cylinder (4) is fixed on the mechanical arm and the clamping jaw cylinder (4) is connected with the clamping jaw (3); and the pushing oil cylinder (2) and the clamping jaw oil cylinder (4) are both provided with an adjusting assembly and a pressure detection assembly.
3. The multi-cylinder cooperative control device according to claim 1 or 2, wherein the pressure detection assembly comprises a first pressure sensor installed at one side of the jaw cylinder (4); and the oil inlet pipelines of the propulsion oil cylinder (2) and the clamping jaw oil cylinder (4) are respectively provided with a second pressure sensor, and the telescopic displacement sensor, the proportion regulating valve, the first pressure sensor and the second pressure sensor are respectively connected with the slave station control box (5).
4. The working method of the multi-oil-cylinder cooperative control device is characterized by comprising the following steps of:
s1, selecting a proper position on the ground to install a master station control box, uniformly arranging a plurality of slave station control boxes (5) on a large slewing mechanism (1), symmetrically installing two groups of mechanical arms on two sides of each slave station control box (5), and installing a propulsion oil cylinder (2) and a clamping jaw oil cylinder (4) on each group of mechanical arms;
s2, arranging a drag chain on the large slewing mechanism (1), and arranging communication cables between the master station control box and the slave station control boxes (5) on the drag chain; a telescopic displacement sensor is arranged in each group of the propulsion oil cylinder (2) and the clamping jaw oil cylinder (4), and a proportion regulating valve and a pressure sensor are arranged on oil inlet pipelines of the propulsion oil cylinder (2) and the clamping jaw oil cylinder (4);
s3, sequentially naming each slave station control box (5) as a slave station control box 1, a slave station control box 2, a slave station control box … … and a slave station control box n, sequentially naming each mechanical arm as a mechanical arm 1, a mechanical arm 2, mechanical arms 3, … … and a mechanical arm m, symmetrically arranging the mechanical arms 1 and the mechanical arms 2 at two sides of the slave station control box 1, and so on, and finishing a workpiece grabbing and lifting action by every two groups of mechanical arms;
s4, job preparation: the mechanical arm 1 and the mechanical arm 2 are driven by a large swing mechanism to clamp the workpiece placed on the position to be clamped;
s5, path planning: planning the motion paths of the mechanical arm 1 and the mechanical arm 2 according to the working condition requirement, calling a Robotics System Toolbox function library for inverse solution in simulation software MATLAB according to the planned motion paths of the mechanical arm 1 and the mechanical arm 2, and calculating the running distance L of each oil cylinder in the mechanical arm 1 and the mechanical arm 2 from a starting point to a terminal point;
s6, dividing a path L into L1, L2, L3, … … and LN sections by an interpolation method according to the running distance L from the starting point to the end point of each oil cylinder calculated in the step S5;
s7, lifting process: the master station control box controls the opening degree of proportional regulating valves in oil inlet pipelines of each propulsion oil cylinder and each clamping jaw oil cylinder in the mechanical arm 1 and the mechanical arm 2, so that each oil cylinder can finish displacement of L1 section and reach a position T1; then, each oil cylinder is controlled to continue to move to complete displacement of the L2 section, the position T2 is reached, and the rest is done in the same way, until each oil cylinder completes displacement of the LN section, the mechanical arm 1 and the mechanical arm 2 drive the workpiece to be lifted to the designated position;
s8, grabbing the next workpiece: after the mechanical arm 1 and the mechanical arm 2 are matched to grab and lift the workpiece, the master station control box controls the large swing mechanism to rotate 360/n degrees, so that the mechanical arm 3 and the mechanical arm 4 move to positions to be clamped, and the steps S5-S7 are repeated to complete the grabbing and workpiece lifting actions of the mechanical arm 3 and the mechanical arm 4;
s9, repeating the step S8, and sequentially completing the workpiece grabbing and lifting actions of the rest of the mechanical arms 5 to m;
and S10, after the step S9 is finished, the master station control box controls the large slewing mechanism to rotate 360/n degrees, so that the mechanical arms are reset.
5. The operating method of the multi-cylinder cooperative control device according to claim 4, wherein in the process of the telescopic action of each cylinder in step S7, after the master station control box receives the displacement value fed back from the telescopic displacement sensor in each cylinder in real time, the master station control box controls the opening of the proportional control valve in the oil inlet pipeline of each cylinder to realize closed-loop control and accurately control the action position of each cylinder.
6. The operating method of the multi-cylinder cooperative control device according to claim 4, wherein in step S7, when the cylinders complete LN segment displacement, the master station control box receives pressure values fed back from the pressure sensors in the oil inlet pipelines of the cylinders in real time, and determines whether the clamping jaws on the robot arm clamp the workpiece according to the pressure values.
7. The operating method of the multi-cylinder cooperative control device according to claim 4 or 5, wherein in the step S6, if the action position of a certain cylinder is different from the preset action threshold value, that is, if the feedback displacement value received by the master station control box is different from the preset action threshold value, the master station control box adjusts the opening of the proportional control valve in the oil inlet pipeline of the corresponding cylinder to adjust the extending speed of the cylinder so as to enable each cylinder to reach the designated end point synchronously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010928073.2A CN112045685B (en) | 2020-09-07 | 2020-09-07 | Multi-oil-cylinder cooperative control device and working method thereof |
Applications Claiming Priority (1)
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| US7860609B2 (en) * | 2005-05-06 | 2010-12-28 | Fanuc Robotics America, Inc. | Robot multi-arm control system |
| CN106522987A (en) * | 2016-12-16 | 2017-03-22 | 上海隧道工程有限公司 | Telescopic single mechanical arm duct piece splicing machine for rectangular shield |
| CN111002308A (en) * | 2019-12-05 | 2020-04-14 | 南京理工大学 | Industrial mechanical arm path planning method based on segmented multistage polynomial interpolation |
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| GB892845A (en) * | 1957-10-14 | 1962-04-04 | Dowty Rotol Ltd | Improvements in or relating to electrical systems for synchronising rotary members |
| CN103821528A (en) * | 2014-03-12 | 2014-05-28 | 上海市机械施工集团有限公司 | Cutterhead system of rectangular shield tunneling machine and telescopic control method of cutterhead system |
| CN105351264A (en) * | 2015-11-25 | 2016-02-24 | 日照海卓液压有限公司 | Multi-oil-cylinder rigid passive synchronous hydraulic control system |
| CN111102257A (en) * | 2018-10-29 | 2020-05-05 | 株洲中车时代电气股份有限公司 | Hydraulic cylinder synchronous control method and system for controlling synchronous action of multiple hydraulic cylinders |
| CN111456772A (en) * | 2020-04-30 | 2020-07-28 | 中铁工程装备集团有限公司 | Intelligent supporting robot with functions of erecting arch, spraying and welding |
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