CN116163351A - Three-section arm engineering robot and control method - Google Patents

Abstract

The invention discloses a three-section arm engineering robot and a control method thereof, comprising a remote control device, a vehicle-mounted end device and a wireless remote control method, and is characterized in that: the remote control device comprises a handle, a button, a mode selection switch and a hydraulic shear switch; the vehicle-mounted end device comprises a controller, an electromagnetic valve, a working device, an oil cylinder, a crawler belt, a rotary motor and supporting legs; the wireless remote control method selects different working modes by operating the mode selection switch, and then the control handle and the button send control instructions to the vehicle-mounted end controller, and the vehicle-mounted end controller controls and executes the actions of all the mechanisms so as to achieve the target operation. In the invention, the same handle outputs different signals to control different electromagnetic valves under different working modes. The buttons arranged on the handle can enable the handle to execute different actions in the same mode, so that the remote controller is small in size, light in weight and portable are met, and operators feel more comfortable and labor-saving when using the remote controller.

Description

Three-section arm engineering robot and control method

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a three-section arm engineering robot and a control method.

Background

The wireless remote control engineering robot is equipment capable of performing operations such as excavation, crushing, clamping and grabbing in a long distance by quickly changing various operation devices under a dangerous environment endangering the life safety of personnel. The equipment can be used for rescue operation in a narrow space, such as tunnel rescue and underground engineering collapse rescue. Because the operation space is narrow and small, in order to make equipment more nimble, consequently engineering robot's arm has used three section arm structures, has simulated people's arm activity, can be more quick accurate during the operation.

The operating personnel are in a severe working environment, and are not suitable to use a large-scale operating platform, and are often operated through a portable remote controller. Because of adopting the three-section arm structure, the operation and control of the working device are more complicated, ten actuating mechanisms are controlled during remote control, and if 3-4 rockers are arranged on a remote controller panel to control action output, the volume and the weight of the remote controller do not meet the comfort of operators during long-time working.

According to the invention, 3 control modes are set according to actual use situations, and the action output is controlled through the mode selection switch and the handle. Under different working modes, the same handle outputs different signals to control different electromagnetic valves. In addition, the handle is provided with a button, so that the handle can execute different actions in the same mode. Because only two handles are used, the remote controller is reduced in size, and is favorable for meeting the requirements of light weight and portability, and operators are more comfortable and labor-saving in use.

Disclosure of Invention

In order to solve the above problems, the present invention provides a three-arm engineering robot and a control method thereof,

in order to achieve the above purpose, the present invention adopts the following technical scheme:

the utility model provides a three-section arm engineering robot and control method, includes remote control unit, on-vehicle end device and wireless remote control method, its characterized in that: the remote control device comprises a handle, a button, a mode selection switch and a hydraulic shear switch; the vehicle-mounted end device comprises a controller, an electromagnetic valve, a working device, an oil cylinder, a crawler belt, a rotary motor and supporting legs; the wireless remote control method selects different working modes by operating the mode selection switch, and then the control handle and the button send control instructions to the vehicle-mounted end controller, and the vehicle-mounted end controller controls and executes the actions of all the mechanisms so as to achieve the target operation.

The remote control device is a portable remote control, and the remote control is composed of a left handle, a left button and a right button at the top end of the left handle, a right handle, a left button and a right button at the top end of the right handle, a mode selection switch and a hydraulic shear switch.

The mode selection switch comprises a first mode, a second mode and a third mode, wherein the first mode can operate the crawler belt and the upper part of the machine body, and the crawler belt and the working arm move simultaneously for accurately adjusting the working device; the second mode can operate the upper part of the machine body, and the breaking and dismantling operation is carried out after the second mode reaches the designated position; the third mode may operate the lower portion of the fuselage for quick transfer of the tamper robot.

The press shear mode is only active in the second mode.

In the three modes, the handle direction, the button and the action executed by the cooperation of the button and the hand lever are all different.

The vehicle-mounted terminal device comprises; the hydraulic device comprises a controller, an electromagnetic valve, a working device, a first oil cylinder, a second oil cylinder, a third oil cylinder, a fourth oil cylinder, a left crawler, a right crawler, a rotary motor, a left supporting leg and a right supporting leg.

The electromagnetic valve is provided with 10 circuits which are respectively in one-to-one correspondence with 10 mechanisms of the vehicle-mounted end so as to control each part of the vehicle-mounted end to execute different actions.

The wireless control method is characterized in that different working modes are selected on the remote controller, and then the operation handle is operated to control each part to execute different actions so as to finish the operation.

In the first mode:

the specific operation of the left handle is as follows: the forward/backward execution action is that the third oil cylinder stretches out and retracts, the leftward/rightward execution action is that the machine body revolves left/right, and the execution action of pressing the left button of the right handle while pressing the left button of the left handle is that the crawler advances/retreats;

the specific operation of the right handle is as follows: the forward/backward execution action is the retraction/extension of the second oil cylinder, the leftward/rightward execution action is the retraction/extension of the fourth oil cylinder, the left button is pressed to be added forward and backward to be extended/retracted for the first oil cylinder, and the execution action of pressing the left/right button of the left handle is the track advancing/retreating.

In the second mode:

the specific operation of the left handle (14) is as follows: the forward/backward execution action is that the third oil cylinder stretches out/retracts, the leftward/rightward execution action is that the machine body revolves left/right, the left button is pressed, the hydraulic manuscript is in a working state when the hydraulic shear switch is closed, and the hydraulic shear switch is opened and closed when the left/right button is pressed;

the specific operation of the right handle is as follows: the forward/backward execution action is retraction/extension of the second oil cylinder, the leftward/rightward execution action is retraction/extension of the fourth oil cylinder, the forward/backward execution action is extension/retraction of the first oil cylinder when the left button is pressed, the forward/backward execution action is that the first oil cylinder and the second oil cylinder are jointly extended/retracted when the right button is pressed and the right handle is pressed when the hydraulic shear switch is closed, and the leftward/rightward execution action is that the hydraulic shear is left-handed/right-handed when the right button is pressed and the right handle is pressed when the hydraulic shear switch is opened.

In the third mode:

the specific operation of the left handle is as follows: the forward/backward execution action is left track forward/backward, and the leftward/rightward execution action is left leg extension/retraction;

the specific operation of the right handle is as follows: the forward/backward execution action is the right track advancing/retreating, and the left/right leg is retracting/extending.

The hydraulic shear switch only takes effect in the second mode, and when the hydraulic shear switch is opened and the left/right button on the left handle is pressed, the hydraulic shear A/B oil port is opened/closed. When a right button on the right handle is pressed, the left-right movement of the right handle controls the left-hand/right-hand movement of the hydraulic shear;

when the hydraulic shear switch is closed, the hydraulic pick works when the left button on the left handle is pressed. When a right button on the right handle is pressed, the front-back displacement of the right handle controls the first oil cylinder and the second oil cylinder to extend/retract simultaneously.

The remote control device is controlled to select the first mode, the second mode or the third mode according to the mode selection switch.

In the first mode: the operation handle is operated, the handle button is pressed to perform action output or the button is not pressed to only operate the handle to output action, the action is ended, and the operation is stopped, otherwise, the operation handle is returned to the operation handle step;

in the second mode: the hydraulic shear switch (16) is opened, then the handle button is pressed to output the motion, or the handle button is not pressed to only operate the handle to output the motion, otherwise, the hydraulic shear switch (16) is closed, only operates the handle to output the motion, the motion is finished, and the operation is finished, and if not, the hydraulic shear switch returns to the step of operating the handle;

in the third mode: and outputting the action of the operating handle, ending the action and stopping the operation, and otherwise, returning to the step of the operating handle.

Compared with the prior art, the invention has the following advantages: the same handle outputs different signals to control different electromagnetic valves under different working modes. The buttons arranged on the handle can enable the handle to execute different actions in the same mode, so that the remote controller is small in size, light in weight and portable are met, and operators feel more comfortable and labor-saving when using the remote controller.

Drawings

In order to more clearly illustrate the technical solutions of specific embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

FIG. 1 is a diagram of a remote control composition in the present invention;

FIG. 2 is a schematic diagram of a remote control arrangement in accordance with the present invention;

FIG. 3 is a schematic diagram of a remote control handle control strategy according to the present invention;

in the figure, a 1-remote controller; 2-a controller; 3-an electromagnetic valve; 4-a working device; 5-a first oil cylinder; 6-a second oil cylinder; 7-a third oil cylinder; 8-a fourth oil cylinder; 9-left crawler belt; 10-right track; 11-a rotary motor; 12-left leg; 13-right leg; 14-left rocker; 14' -left handle left button; 14 "-right handle right button; 15-a mode selection switch; 16-hydraulic shear switch. 17-right handle; a left button at the top of the 17' -right handle; 17 "-right handle top right button.

Detailed Description

The present invention will be further described with reference to the drawings and the specific embodiments, but it should not be construed that the scope of the subject matter of the present invention is limited to the following embodiments, and various modifications, substitutions and alterations made according to the ordinary skill and familiar means of the art to which this invention pertains are included within the scope of the present invention without departing from the above technical idea of the invention.

With reference to figures 1-3 of the drawings,

the utility model provides a three-section arm engineering robot and control method, includes remote control unit, on-vehicle end device and wireless remote control method, its characterized in that: the remote control device comprises a handle, a button, a mode selection switch 15 and a hydraulic shear switch 16; the vehicle-mounted end device comprises a controller 2, an electromagnetic valve 3, a working device 4, an oil cylinder, a track, a rotary motor and supporting legs; the wireless remote control method selects different working modes by operating the mode selection switch 15, and then the control handle and the buttons send control instructions to the vehicle-mounted end controller 2, and the vehicle-mounted end controller 2 controls and executes the actions of all the mechanisms so as to achieve the target operation.

In fig. 2, the remote control device is a portable remote control, and the remote control is composed of a left handle 14, a left button 14 'and a right button 14' at the top end of the left handle, a right handle 17, a left button 17 'and a right button 17' at the top end of the right handle, a mode selection switch 15 and a hydraulic shear switch 16.

The mode selection switch 15 comprises a first mode, a second mode and a third mode, wherein the first mode can operate the crawler belt and the upper part of the machine body and comprises a rotary platform, a first oil cylinder 5, a second oil cylinder 6, a third oil cylinder 7 and a fourth oil cylinder 8, and is used for accurately adjusting an operation device; the second mode can operate the upper part of the machine body and comprises a working device 4, a first oil cylinder 5, a second oil cylinder 6, a third oil cylinder 7 and a fourth oil cylinder 8, and the breaking and dismantling operation is carried out after the working device reaches a specified position; the third mode can operate the lower part of the machine body, comprising a left crawler 9, a right crawler 10, a left leg 12 and a right leg 13, for quick transfer of the breaking robot.

The press shear mode is only active in the second mode.

In the three modes, the remote sensing direction, the button and the action executed by the cooperation of the button and the hand lever are all different.

In fig. 1, the vehicle-mounted terminal device includes; the hydraulic control device comprises a controller 2, an electromagnetic valve 3, a working device 4, a first oil cylinder 5, a second oil cylinder 6, a third oil cylinder 7, a fourth oil cylinder 8, a left crawler 9, a right crawler 10, a rotary motor 11, a left supporting leg 12 and a right supporting leg 13.

The electromagnetic valve 3 is provided with 10 circuits which are respectively in one-to-one correspondence with 10 mechanisms of the vehicle-mounted end so as to control each part of the vehicle-mounted end to execute different actions.

The wireless control method is characterized in that different working modes are selected on the remote controller, and then the operation handle is operated to control each part to execute different actions so as to finish the operation.

In the first mode:

the left handle 14 is specifically operated as: the forward/backward execution action is the extension and retraction of the third oil cylinder 7, the leftward/rightward execution action is the left/right rotation of the machine body, and the execution action of pressing the left/right button of the left handle 14 while pressing the left button 17' of the right handle is the track forward/backward movement;

the specific operation of the right handle 15 is: the forward/backward execution action is the retraction/extension of the second oil cylinder 6, the leftward/rightward execution action is the retraction/extension of the fourth oil cylinder 8, the forward/backward extension/retraction of the first oil cylinder 5 is added by pressing the left button 17', and the execution action of pressing the left/right button of the left handle 14 while pressing the right button 17″ is the track advancing/retracting.

In the second mode:

the left handle 14 is specifically operated as: the forward/backward execution action is the extension/retraction of the third oil cylinder 7, the leftward/rightward execution action is the left/right revolution of the machine body, the hydraulic manuscript is in the working state when the left button 14' is pressed and the hydraulic shear switch 16 is closed, and the hydraulic shear switch 16 is opened/closed when the left/right button is pressed;

the specific operation of the right handle 15 is: the forward/backward execution action is the retraction/extension of the second cylinder 6, the leftward/rightward execution action is the retraction/extension of the fourth cylinder 8, the forward/backward execution action added by the left button 17' is the extension/retraction of the first cylinder 5, the forward/backward execution action added by the right button added by the right handle 15 when the hydraulic shear switch 16 is closed is the common extension/retraction of the first cylinder 5 and the second cylinder 6, and the leftward/rightward execution action added by the right button added by the right handle 15 when the hydraulic shear switch 16 is opened is the hydraulic shear left/right rotation.

In the third mode:

the left handle 14 is specifically operated as: the forward/backward execution action is the forward/backward movement of the left crawler 9, and the leftward/rightward execution action is the extension/retraction of the left leg 12;

the right handle 14 is specifically operated as: the forward/backward performing action is the advancing/retreating of the right crawler 10, and the retracting/extending of the right leg 13 to the left/right.

The hydraulic shear switch 16 is only activated in the second mode, and when the hydraulic shear switch 16 is turned on, the hydraulic shear a/B port is turned on/off when the left/right button on the left handle 14 is pressed. When the right button 17' on the right handle is pressed, the left-right movement of the right handle 17 controls the left-hand/right-hand movement of the hydraulic shear;

when the hydraulic shear switch 16 is closed, the hydraulic pick works when the left button 14' on the left handle is pressed. When the right button 17' on the right handle is pressed, the front-back displacement of the right handle 17 controls the first cylinder 5 and the second cylinder 6 to extend/retract simultaneously.

The remote control is controlled to first select the first mode, the second mode or the third mode according to the mode selection switch 15.

In the first mode: the operation handle is operated, the handle button is pressed to perform action output or the button is not pressed to only operate the handle to output action, the action is ended, and the operation is stopped, otherwise, the operation handle is returned to the operation handle step;

in the second mode: the operation handle is operated, after the hydraulic shear switch 16 is opened, the handle button is pressed down to output the motion, or the handle button is not pressed down to only operate the handle to output the motion, otherwise, the operation is finished after the motion output is finished, and if not, the operator returns to the operation handle step;

in the third mode: and outputting the action of the operating handle, ending the action and stopping the operation, and otherwise, returning to the step of the operating handle.

The three-arm engineering robot and the control method provided by the invention are described in detail, and specific examples are applied to illustrate the structure and the working principle of the invention, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention. It should be noted that it will be apparent to those skilled in the art that various improvements and modifications can be made to the present invention without departing from the principles of the invention, and such improvements and modifications fall within the scope of the appended claims.

Claims (10)

1. The utility model provides a three-section arm engineering robot and control method, includes remote control unit, on-vehicle end device and wireless remote control method, its characterized in that: the remote control device comprises a handle, a button, a mode selection switch (15) and a hydraulic shear switch (16); the vehicle-mounted end device comprises a controller (2), an electromagnetic valve (3), a working device (4), an oil cylinder, a crawler belt, a rotary motor and supporting legs; the wireless remote control method selects different working modes by operating a mode selection switch (15), then a control handle and a button send control instructions to the vehicle-mounted end controller (2), and the vehicle-mounted end controller (2) controls and executes actions of all mechanisms so as to achieve target operation.

2. The three-arm engineering robot and the control method according to claim 1, wherein: the remote control device is a portable remote control, and the remote control comprises a left handle (14), a left button (14 ') and a right button (14) at the top end of the left handle, a right handle (17), a left button (17') and a right button (17) at the top end of the right handle, a mode selection switch (15) and a hydraulic shear switch (16).

3. The three-arm engineering robot and the control method according to claim 2, characterized in that: the mode selection switch (15) comprises a first mode, a second mode and a third mode, wherein the first mode can operate the crawler belt and the upper part of the machine body, and the crawler belt and the working arm move simultaneously for accurately adjusting the working device; the second mode can operate the upper part of the machine body, and the breaking and dismantling operation is carried out after the second mode reaches the designated position; the third mode may operate the lower portion of the fuselage for quick transfer of the tamper robot.

4. The three-arm engineering robot and the control method according to claim 2, characterized in that: the press shear mode is only active in the second mode.

5. The three-arm engineering robot and the control method according to claims 2-4, characterized in that: in the three modes, the remote sensing direction, the button and the action executed by the cooperation of the button and the hand lever are all different.

6. The three-arm engineering robot and the control method according to claim 1, wherein: the vehicle-mounted terminal device comprises; the device comprises a controller (2), an electromagnetic valve (3), a working device (4), a first oil cylinder (5), a second oil cylinder (6), a third oil cylinder (7), a fourth oil cylinder (8), a left crawler belt (9), a right crawler belt (10), a rotary motor (11), a left supporting leg (12) and a right supporting leg (13).

7. The three-arm engineering robot and the control method according to claim 6, wherein: the electromagnetic valve (3) is provided with 10 circuits which are respectively in one-to-one correspondence with 10 mechanisms of the vehicle-mounted end so as to control each part of the vehicle-mounted end to execute different actions.

8. The three-arm engineering robot and the control method according to claim 1, wherein: the wireless control method is characterized in that different working modes are selected on the remote controller, and then the operation handle is operated to control each part to execute different actions so as to finish the operation.

In the first mode:

the specific operation of the left handle (14) is as follows: the forward/backward execution action is that the third oil cylinder (7) stretches out and retracts, the leftward/rightward execution action is that the machine body turns left/right, the execution action of pressing the left/right button of the left handle (14) while pressing the left button (17') of the right handle is that the crawler advances/retreats;

the specific operation of the right handle (15) is as follows: the forward/backward execution action is the retraction/extension of the second oil cylinder (6), the leftward/rightward execution action is the retraction/extension of the fourth oil cylinder (8), the forward/backward execution action is the extension/retraction of the first oil cylinder (5) by pressing the left button (17 '), and the execution action is the track advancing/retreating by pressing the right button (17') while pressing the left/right button of the left handle (14).

In the second mode:

the specific operation of the left handle (14) is as follows: the forward/backward execution action is that the third oil cylinder (7) stretches out/retracts, the leftward/rightward execution action is that the machine body turns left/right, the left button (14') is pressed, the hydraulic manuscript is in a working state when the hydraulic shear switch (16) is closed, and the hydraulic shear switch (16) is opened and pressed to open/close the hydraulic shear;

the specific operation of the right handle (15) is as follows: the forward/backward execution action is that the second oil cylinder (6) is retracted/extended, the leftward/rightward execution action is that the fourth oil cylinder (8) is retracted/extended, the forward/backward execution action added by the left button (17') is that the first oil cylinder (5) is extended/retracted, the forward/backward execution action added by the right button added by the right handle (15) when the hydraulic shear switch (16) is closed is that the first oil cylinder (5) and the second oil cylinder (6) are jointly extended/retracted, and the leftward/rightward execution action added by the right button added by the right handle (15) when the hydraulic shear switch (16) is opened is that the hydraulic shear is left-handed/right-handed.

In the third mode:

the specific operation of the left handle (14) is as follows: forward/backward execution acts as left crawler belt (9) forward/backward, leftward/rightward execution acts as left leg (12) extension/retraction;

the specific operation of the right handle (14) is as follows: the forward/backward execution action is the forward/backward movement of the right crawler belt (10), and the leftward/rightward right leg (13) is the retraction/extension.

9. The three-arm engineering robot and the control method according to claim 8, wherein: the hydraulic shear switch (16) is only effective in the second mode, and when the hydraulic shear switch (16) is opened and a left/right button on the left handle (14) is pressed, an oil port of the hydraulic shear A/B is opened/closed. When a right button (17') on the right handle is pressed, the left-right movement of the right handle (17) controls the left-hand/right-hand movement of the hydraulic shear;

when the hydraulic shear switch (16) is closed, the hydraulic pick works when the left button (14') on the left handle is pressed. When a right button (17') on the right handle is pressed, the front-back displacement of the right handle (17) controls the first oil cylinder (5) and the second oil cylinder (6) to extend/retract simultaneously.

10. The three-arm engineering robot and the control method according to claims 1 to 9, characterized in that: the remote control device is controlled to select the first mode, the second mode or the third mode according to the mode selection switch (15).

In the first mode: the operation handle is operated, the handle button is pressed to perform action output or the button is not pressed to only operate the handle to output action, the action is ended, and the operation is stopped, otherwise, the operation handle is returned to the operation handle step;

in the second mode: the hydraulic shear switch (16) is opened, then the handle button is pressed to output the motion, or the handle button is not pressed to only operate the handle to output the motion, otherwise, the hydraulic shear switch (16) is closed, only operates the handle to output the motion, the motion is finished, and the operation is finished, and if not, the hydraulic shear switch returns to the step of operating the handle;

in the third mode: and outputting the action of the operating handle, ending the action and stopping the operation, and otherwise, returning to the step of the operating handle.

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