CN115635422B - Control system of robot linkage particulate matter recovery device - Google Patents
Control system of robot linkage particulate matter recovery device Download PDFInfo
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- CN115635422B CN115635422B CN202211670316.2A CN202211670316A CN115635422B CN 115635422 B CN115635422 B CN 115635422B CN 202211670316 A CN202211670316 A CN 202211670316A CN 115635422 B CN115635422 B CN 115635422B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
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Abstract
The application relates to the technical field of robot systems, in particular to a control system of a robot linkage particulate matter recovery device, which comprises a robot, a flow valve, a sand blasting gun with a swinging mechanism, a PLC (programmable logic controller) and a pressure transmitter, wherein the robot is provided with a recovery bin, the sand blasting gun is arranged on the recovery bin and is communicated with the flow valve through a pipeline, the flow valve is in signal connection with the PLC, the PLC is in signal connection with the pressure transmitter, and the pressure transmitter is used for acquiring pressure information of an air outlet of the flow valve. The automatic system is controlled by introducing fuzzy control into the PLC controller, and the control system can accurately adjust the angle change of the sand blasting surface by accurately adjusting the position of the recovery bin and the pressure of the sand blasting machine, so that the recovery problem of sand and dust in the high-altitude sand blasting process in the open air environment is solved.
Description
Technical Field
The application relates to the technical field of robot systems, in particular to a control system of a robot linkage particulate matter recovery device.
Background
The problem of sand and dust recovery in the high-altitude sand blasting process under the open air environment is the problem that outdoor construction such as boats and ships, oil tank, bridge trade is difficult to solve always, take the boats and ships trade as an example, in order to prolong the life of boats and ships, guarantee the safe navigation of boats and ships, the boats and ships must regularly dock and repair, and the essential one is that surface cleaning is just carried out to the boats and ships in dock repair process, remove oxide skin, cast layer and impurity on the hull surface steel sheet through the sandblast promptly, do surface pretreatment for improving spraying quality, in the clearance process, fail to retrieve the abrasive material in time, the cost of purchasing the sand material has been increased, in addition the change in position of sandblast face also has great negative effect to the recovery of sand material.
At present, more than 90% of ship surface cleaning work in China is still realized by traditional manual sand blasting cleaning, aiming at the defects of low efficiency, damage to human health and the like of the traditional manual sand blasting cleaning, the adoption of an automatic control system as an executing mechanism of a cleaning system to replace workers to execute heavy and dangerous tasks is a trend, and in the automatic control system, the promotion of sand recycling by controlling the angle change of a sand blasting surface has not been reported yet.
Disclosure of Invention
The application aims to provide a control system of a robot linkage particulate matter recovery device, which is used for solving the problem of recovery of sand and dust in the high-altitude sand blasting process in an open air environment by accurately controlling the angle change of a sand blasting surface and the position of a recovery bin.
The application is realized by the following technical scheme:
the control system of the robot linkage particulate matter recovery device comprises a robot, a flow valve and a sand blasting gun with a swinging mechanism, wherein a recovery bin is arranged on the robot, the robot further comprises a PLC and a pressure transmitter, the sand blasting gun is arranged on the recovery bin and is communicated with the flow valve through a pipeline, the flow valve is in signal connection with the PLC, the PLC is in signal connection with the pressure transmitter, and the pressure transmitter is used for acquiring pressure information of an air outlet of the flow valve; the robot comprises a driving unit, the PLC controller is in signal connection with the driving unit and the swinging mechanism, the PLC controller comprises a PID controller and a fuzzy regulator, the PID controller is in signal connection with the fuzzy regulator and can realize PID parameter self-adjustment through the fuzzy regulator, and the PLC controller after self-adjustment can control the rotation angle of the sand blasting gun and the position of the recycling bin.
The automatic sand blasting equipment in the prior art mostly adopts an industrial automatic control system to perform automatic operation, and can achieve the expected effect, but has long delay time and long fluctuation time, and the angle change of the sand blasting gun has no definite regulation and strict requirements, so that the sand blasting effect is not unified, and a large amount of sand generated in the sand blasting process is splashed and cannot be recovered. If the sand spraying gun is used for carrying out sand spraying operation vertically to the sand spraying surface, the sand spraying degree generated by the sand spraying operation obliquely to the sand spraying gun is obviously different, and the outlet pressure of the sand spraying machine corresponding to the vertical state and the oblique state is also different.
Therefore, a control system of a robot linkage particulate matter recovery device is provided, a recovery bin is arranged outside a sand blasting gun to recover splashed sand materials, on the basis, the problems that the sand blasting effect and the sand material rebound splashing degree are frequently changed due to the change of outlet pressure of the sand blasting machine are solved, the control system is controlled by introducing fuzzy control into a PLC (programmable logic controller), and although the fuzzy control is commonly used in the industrial modernization process, the problems of long delay time and long fluctuation time exist, PID parameters are set through fuzzy self-adjustment, and the problems of long delay time and long fluctuation time can be effectively solved. In other words, the control system can accurately adjust the angle change of the sand blasting surface by accurately adjusting the position of the recovery bin and the pressure of the sand blaster, thereby solving the recovery problem of sand and dust in the high-altitude sand blasting process in the open air environment. The pressure transmitter can completely replace the function of the pressure sensor, so that the pressure information of the air outlet of the sand blasting machine is monitored in real time; for the flow valve, a numerical control particulate flow valve is preferable, which has a digital regulation function and can be connected with a PLC controller. The PID parameters comprise three parameters of proportion, integration and differentiation, and before the sand blasting operation, the initial parameters of the PID controller are selected, and are determined by on-site repeated test adjustment, and the sand blasting operation is not changed after the determination.
Further, the pressure information comprises deviation and deviation change rate of a given value of the pressure of the air outlet of the flow valve and an actual feedback value, the pressure information is used as input quantity of the fuzzy regulator, the output quantity of the fuzzy regulator is an opening signal of the flow valve, the fuzzy regulator adjusts PID parameters according to fuzzy rules through the input quantity, and the fuzzy rules are a fuzzy control rule table. It should be noted that in the particulate matter recovery device, an automatic development trend has become a necessity, but for an automatic sand blasting process, quick response is required for detection of various disturbances and problems, that is, for sand blasting recovery operation, a PID parameter tuning principle is summarized according to actual conditions on site, so as to establish a fuzzy control rule table, and tuning and self-adjusting are performed on the PID parameters according to the fuzzy control rule table.
Further, the driving unit includes: the device comprises a first driving arm, a second driving arm, a transmission part, a base and a rotating part, wherein the transmission part is arranged in the base, the output end of the transmission part is connected with the first driving arm, the first driving arm is connected with the second driving arm, and the free end of the second driving arm is connected with the recycling bin through the rotating part. Based on the structure, the position and the orientation of the recovery bin can be adjusted, and good adhesion between the sand blasting opening and the surface of the workpiece is ensured.
Further, the transmission piece and the rotation piece are in signal connection with another PID controller, and the position of the recovery bin is adjusted by the other PID controller through the other fuzzy adjuster. It should be noted that the basic principles of the PID controller and the fuzzy regulator are the same as those of the processing procedure, and the precise control procedure can be realized.
Further, a ranging sensor for monitoring the position of the recovery bin in real time is arranged on the recovery bin, the ranging sensor is in signal connection with the further fuzzy regulator, the input quantity of the further fuzzy regulator is the offset and the offset change rate of the actual position and the given position of the recovery bin, and the output quantity is the stepping signal of the transmission piece or the rotation piece. It should be noted that, the travel of the recovery bin can be precisely adjusted by the driving unit which is controlled to freely rotate, specifically, the transmission member controls the movement process of the first driving arm; the rotating piece controls the movement process of the second driving arm.
Compared with the prior art, the application has the following advantages and beneficial effects:
1. according to the application, the fuzzy control is introduced into the PLC controller to control an automatic system, and the control system can accurately adjust the angle change of the sand blasting surface by accurately adjusting the position of the recovery bin and the pressure of the sand blaster, so that the recovery problem of sand and dust in the high-altitude sand blasting process in an open air environment is solved;
2. the high-speed fluid exists in the recycling bin, namely the internal pressure of the recycling bin is smaller than the external pressure, and external air can enter the recycling bin through gaps among the layered structures of the sealing mechanism, so that the overflow of sand blasting materials and dust can be effectively prevented, and the recycling rate of the sand blasting materials and the dust can be promoted;
3. according to the application, the sand blasting material and dust are recovered by utilizing the recovery bin, and in addition, the recovery bin is used for coating the sand blasting surface of a workpiece, but the sand blasting process is a high-pressure scouring process, a certain uncontrollable factor still exists for rebound splashing of the sand material, based on the steps, the rebound splashing of the sand material can be effectively reduced by adjusting the change of the sand blasting surface, the recovery process of the sand material is further promoted, the stability of the sand blasting pressure can be effectively maintained, and the improvement of the sand blasting effect is facilitated.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic flow diagram of one embodiment of a control system of the present application;
FIG. 2 is a schematic structural view of the recovery device;
FIG. 3 is a schematic view of the structure of the recovery bin;
fig. 4 is a schematic diagram for assisting in explaining the influence of the angle change of the sand blasting face on the sand sputtering.
In the drawings, the reference numerals and corresponding part names:
1-base, 2-drive unit, 21-first actuating arm, 22-second actuating arm, 23-driving piece, 24-rotating piece, 3-recovery storehouse, 31-sand blasting mouth, 32-recovery mouth, 33-sealing mechanism, 331-inner panel, 332-planking, 34-sand blasting rifle, 35-swing mechanism.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present application, the present application will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present application and the descriptions thereof are for illustrating the present application only and are not to be construed as limiting the present application. It should be noted that the present application is already in a practical development and use stage.
Example 1:
as shown in fig. 1, a control system of a robot linked particulate matter recovery device comprises a robot, a flow valve, a sand blasting gun 34 with a swing mechanism 35, wherein a recovery bin 3 is arranged on the robot, the robot further comprises a PLC controller and a pressure transmitter, the sand blasting gun 34 is arranged on the recovery bin 3 and is communicated with the flow valve through a pipeline, the flow valve is in signal connection with the PLC controller, the PLC controller is in signal connection with the pressure transmitter, and the pressure transmitter is used for collecting pressure information of an air outlet of the flow valve; the robot comprises a driving unit 2, the PLC controller is in signal connection with the driving unit 2 and the swinging mechanism 35, the PLC controller comprises a PID controller and a fuzzy regulator, the PID controller is in signal connection with the fuzzy regulator and can realize the self-adjustment of PID parameters through the fuzzy regulator, and the PLC controller after self-adjustment can control the rotation angle of the sand blasting gun 34 and the position of the recycling bin 3.
The automatic sand blasting equipment in the prior art adopts an industrial automatic control system to perform automatic operation, and can achieve the expected effect, but has long delay time and long fluctuation time, and the angle change of the sand blasting gun 34 has no definite regulation and strict requirements, so that the sand blasting effect is not unified, and a large amount of sand generated in the sand blasting process is splashed and cannot be recovered. As shown in fig. 4, the degree of splashing of the sand generated by the blasting operation of the blasting gun 34 perpendicular to the blasting surface and the blasting operation of the blasting gun 34 inclined is significantly different, and the outlet pressure of the blasting machine corresponding to the perpendicular state and the inclined state is also different.
Therefore, a control system of a robot linkage particulate matter recovery device is provided, the recovery bin 3 is arranged outside the sand blasting gun 34 to recover splashed sand, on the basis, the problems of sand blasting effect and frequent change of the rebound splashing degree of the sand caused by the change of the outlet pressure of the sand blasting machine are also existed, and the problems of long delay time and long fluctuation time can be effectively solved by introducing fuzzy control into a PLC controller to control an automation system, and although the fuzzy control is commonly used in the industrial modernization process, the problems of long delay time and long fluctuation time exist and the PID parameter is set through fuzzy self-adjustment. In other words, the control system can accurately adjust the angle change of the sand blasting surface by accurately adjusting the position of the recovery bin 3 and the pressure of the sand blaster, thereby solving the recovery problem of sand and dust in the high-altitude sand blasting process in the open air environment. The pressure transmitter can completely replace the function of the pressure sensor, so that the pressure information of the air outlet of the sand blasting machine is monitored in real time; for the flow valve, a numerical control particulate flow valve is preferable, which has a digital regulation function and can be connected with a PLC controller. The PID parameters comprise three parameters of proportion, integration and differentiation, and before the sand blasting operation, the initial parameters of the PID controller are selected, and are determined by on-site repeated test adjustment, and the sand blasting operation is not changed after the determination.
The pressure information comprises deviation and deviation change rate of a given value of the pressure of the air outlet of the flow valve and an actual feedback value, the pressure information is used as input quantity of the fuzzy regulator, output quantity of the fuzzy regulator is an opening signal of the flow valve, the fuzzy regulator adjusts PID parameters according to fuzzy rules through the input quantity, and the fuzzy rules are a fuzzy control rule table. It should be noted that in the particulate matter recovery device, an automatic development trend has become a necessity, but for an automatic sand blasting process, quick response is required for detection of various disturbances and problems, that is, for sand blasting recovery operation, a PID parameter tuning principle is summarized according to actual conditions on site, so as to establish a fuzzy control rule table, and tuning and self-adjusting are performed on the PID parameters according to the fuzzy control rule table.
The driving unit 2 includes: the device comprises a first driving arm 21, a second driving arm 22, a transmission member 23, a base 1 and a rotating member 24, wherein the transmission member 23 is arranged in the base 1, the output end of the transmission member is connected with the first driving arm 21, the first driving arm 21 is connected with the second driving arm 22, and the free end of the second driving arm 22 is connected with the recycling bin 3 through the rotating member 24. Based on the above configuration, the position and orientation of the recovery bin 3 can be adjusted, and good adhesion between the blasting port 31 and the workpiece surface can be ensured.
The driving member 23 and the rotating member 24 are in signal connection with a further PID controller, and the further PID controller performs the position adjustment of the recovery bin 3 through a further fuzzy adjuster. It should be noted that the basic principles of the PID controller and the fuzzy regulator are the same as those of the processing procedure, and the precise control procedure can be realized.
The recovery bin 3 is provided with a ranging sensor for monitoring the position of the recovery bin 3 in real time, the ranging sensor is in signal connection with the further fuzzy regulator, the input quantity of the further fuzzy regulator is the offset and the offset change rate of the actual position and the given position of the recovery bin 3, and the output quantity is the stepping signal of the transmission member 23 or the rotation member 24. It should be noted that the travel of the recovery bin 3 can be precisely adjusted by the controlled freely rotating drive unit 2, in particular, the transmission member 23 controls the movement process of the first drive arm 21; the rotary member 24 controls the movement of the second drive arm 22.
Example 2:
to robot linkage particulate matter recovery unit, as shown in fig. 2 to 3, including base 1, recovery plant, sand blasting machine, the rotation is provided with drive unit 2 on the base 1, drive unit 2's tip is provided with retrieves storehouse 3, retrieve and seted up sand blasting mouth 31 and recovery mouth 32 on the storehouse 3, recovery mouth 32 is located sand blasting mouth 31's below and communicates recovery plant through the pipeline, sand blasting mouth 31 is laminated with work piece sand blasting face and the periphery is provided with sealing mechanism 33, be provided with sand blasting rifle 34 in retrieving storehouse 3, sand blasting rifle 34's tip is provided with swing mechanism 35, sand blasting rifle 34 passes through swing mechanism 35 adjusts the sand blasting angle.
As described in embodiment 1, the driving unit 2 includes a first driving arm 21, a second driving arm 22, a transmission member 23, and a rotating member 24, wherein the transmission member 23 is disposed in the base 1, and an output end of the transmission member is connected to the first driving arm 21, the first driving arm 21 is connected to the second driving arm 22, and a free end of the second driving arm 22 is connected to the recovery bin 3 through the rotating member 24.
It should be noted that, the sealing mechanism 33 includes a plurality of inner plates 331 and outer plates 332, a plurality of inner plates 331 are uniformly distributed along the outer edge of the sandblasting opening 31, and a plurality of outer plates 332 are disposed outside the inner plates 331 and cover the interval between two adjacent inner plates 331. The sealing mechanism 33 is preferably a laminated structure formed by a plurality of inner plates 331 and outer plates 332, and gaps exist between each inner plate 331 and each outer plate 332, so that the overflow of sand blaster and dust can be effectively prevented, and the recovery rate of sand blaster and dust can be promoted. The sealing mechanism 33 is preferably made of an impact-resistant material such as a wire brush or polyurethane. The sand-blasting gun 34 is arranged in the recovery bin 3, the rebound sand materials all directly fall in the recovery bin 3, and the sand-blasting opening 31 of the recovery bin 3 is also provided with a sealing mechanism 33, the sealing mechanism 33 does not realize the complete sealing of the sand-blasting opening 31 and the surface of a workpiece, but adjusts the rebound of the sand-blasting materials, in particular, during sand-blasting operation, since high-speed fluid exists in the recovery bin 3, namely, the internal pressure of the recovery bin 3 is smaller than the external pressure, the external air can enter the recovery bin 3 through the gap between the layered structures of the sealing mechanism 33, the overflow of the sand-blasting materials and dust can be effectively prevented, and the recovery rate of the sand-blasting materials and dust can be promoted.
Example 3:
this example describes only the portions different from example 2, specifically:
a further preferred embodiment of the present application is: the control system further comprises a running mechanism, the running mechanism comprises a chassis and a power supply assembly, a plurality of mechanical feet are symmetrically arranged on the periphery of the chassis, electromagnets are arranged at the end parts of the mechanical feet, the base 1 is arranged on the chassis, and the electromagnets are electrically connected with the power supply assembly. Considering the severe environment of the sandblasting operation, it is proposed to provide a running mechanism to replace devices such as a high-altitude operation vehicle, namely, the base 1 is mounted on a chassis of the running mechanism, the movement of the mechanical foot is controlled by a control unit, and an electromagnet is arranged at the end of the mechanical foot, so that the mechanical foot can be fixed and moved on a special-shaped sandblasting surface of a ship or the like.
Example 4:
the control method for the robot linked particulate matter recovery device specifically comprises the following steps:
step 1, setting coordinates, inputting surface information to be processed into a PLC controller, and establishing a coordinate system by taking an initial position of a sand blasting gun 34 as a coordinate origin;
step 2, angle control, namely performing sand blasting operation on the surface to be processed after the step 1 is completed, adjusting the PID controller according to the fuzzy regulator, and further controlling the angle of the sand blasted surface by controlling the swinging mechanism 35;
and 3, position control, namely, in the continuous process of the step 2, changing the position of the recovery bin 3 in real time through the driving of the driving unit 2, and continuously recovering the sand blasting materials by utilizing the recovery bin 3, wherein the movement of the driving unit 2 is precisely controlled according to the rotating member 24 and the transmission member 23.
The specific blurring process of the blurring regulator to the PID controller is as follows: initializing PID parameters, and reading the deviation and deviation change rate of a given value and an actual feedback value of the current pressure or the offset and offset change rate of the actual position and the given position of the recovery bin 3 by a fuzzy regulator; the fuzzy regulator adjusts PID parameters according to fuzzy rules; the fuzzy regulator exchanges data with the PID controller according to the OPC technology; the PID controller implements control of the flow valve or rotary member 24 or the driving member 23 in accordance with MATLAB control algorithm.
For the fuzzy control process, since the principle of the sand blaster pressure adjusting process is substantially the same as that of the recovery bin 3 displacement adjusting process, the present embodiment only discusses the sand blaster outlet pressure adjusting process, specifically:
the input quantity of the fuzzy regulator is the deviation E and the deviation change rate ec of the given value and the actual feedback value of the outlet pressure of the sand blasting machine, the change range of the deviation E is [ 1.5,1.5 ] in a fuzzy control area for the deviation E, the fuzzy argument of the deviation E is E= { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, the quantization factor of the deviation E is KE=6/(1.5) =4, the fuzzy set is { NB, NM, NS, ZO, PS, PM, PB }, and the elements in the fuzzy set respectively represent negative large, negative medium, negative small, zero, positive small, positive medium and positive large; for the deviation change rate EC, in the fuzzy control area, the change range of the deviation change rate EC is [ 0.5,0.5 ], the fuzzy argument ec= { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, the quantization factor KEC=6/(0.5) =12 of the deviation change rate EC, and the fuzzy set is { NB, NM, NS, ZO, PS, PM, PB }; for output, the control amount was varied in an incremental manner [ 1.2,0.2 ].
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (1)
1. The utility model provides a robot linkage particulate matter recovery unit's control system, includes robot, flow valve and has sand blasting rifle (34) of swing mechanism (35), be provided with on the robot and retrieve storehouse (3), its characterized in that: the sand blasting device is characterized by further comprising a PLC controller and a pressure transmitter, wherein the sand blasting gun (34) is arranged on the recycling bin (3) and is communicated with the flow valve through a pipeline, the flow valve is in signal connection with the PLC controller, the PLC controller is in signal connection with the pressure transmitter, and the pressure transmitter is used for collecting pressure information of an air outlet of the flow valve;
the robot comprises a driving unit (2), wherein the PLC is in signal connection with the driving unit (2) and a swinging mechanism (35), the PLC comprises a PID controller and a fuzzy regulator, the PID controller is in signal connection with the fuzzy regulator and can realize the self-adjustment of PID parameters through the fuzzy regulator, and the self-adjusted PLC can control the rotation angle of the sand blasting gun (34) and the position of the recycling bin (3);
the sand blasting machine is characterized in that a sealing mechanism (33) for promoting sand blasting material recovery is arranged at the opening end of the recovery bin (3), the sealing mechanism (33) comprises a plurality of inner plates (331) and outer plates (332), the inner plates (331) are uniformly distributed along the outer edge of the opening end of the recovery bin (3) at intervals, and the outer plates (332) are arranged outside the inner plates (331) and cover the interval between two adjacent inner plates (331);
when the device is used, the surface information to be processed is input into a PLC controller, and a coordinate system is established by taking the initial position of a sand blasting gun (34) as a coordinate origin; then carrying out sand blasting operation on the surface to be processed, adjusting the PID controller according to the fuzzy regulator, and controlling the angle of the sand blasting surface by controlling the swinging mechanism (35); finally, the position of the recovery bin (3) is changed in real time through the driving of the driving unit (2), and the sand blasting material is continuously recovered by utilizing the recovery bin (3);
the pressure information comprises deviation and deviation change rate of a given value of the pressure of an air outlet of the flow valve and an actual feedback value, the pressure information is used as input quantity of the fuzzy regulator, the output quantity of the fuzzy regulator is an opening signal of the flow valve, the fuzzy regulator adjusts PID parameters according to fuzzy rules through the input quantity, and the fuzzy rules are a fuzzy control rule table;
the drive unit (2) comprises: the device comprises a first driving arm (21), a second driving arm (22), a transmission piece (23), a base (1) and a rotating piece (24), wherein the transmission piece (23) is arranged in the base (1) and the output end of the transmission piece is connected with the first driving arm (21), the first driving arm (21) is connected with the second driving arm (22), and the free end of the second driving arm (22) is connected with the recycling bin (3) through the rotating piece (24);
the transmission piece (23) and the rotating piece (24) are in signal connection with a further PID controller, and the further PID controller is used for adjusting the position of the recovery bin (3) through a further fuzzy regulator;
the recovery bin (3) is provided with a ranging sensor for monitoring the position of the recovery bin (3) in real time, the ranging sensor is in signal connection with the further fuzzy regulator, the input quantity of the further fuzzy regulator is the offset and the offset change rate of the actual position and the given position of the recovery bin (3), and the output quantity is the stepping signal of the transmission piece (23) or the rotation piece (24).
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| CN202211670316.2A CN115635422B (en) | 2022-12-26 | 2022-12-26 | Control system of robot linkage particulate matter recovery device |
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