CN202200298U - Engineering machine and remote controller for controlling mechanical arm of engineering machine - Google Patents
Engineering machine and remote controller for controlling mechanical arm of engineering machine Download PDFInfo
- Publication number
- CN202200298U CN202200298U CN2011202485795U CN201120248579U CN202200298U CN 202200298 U CN202200298 U CN 202200298U CN 2011202485795 U CN2011202485795 U CN 2011202485795U CN 201120248579 U CN201120248579 U CN 201120248579U CN 202200298 U CN202200298 U CN 202200298U
- Authority
- CN
- China
- Prior art keywords
- information
- coordinate
- engineering machinery
- operation information
- confirmation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Selective Calling Equipment (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an engineering machine and a remote controller for controlling a mechanical arm of the engineering machine; and the remote controller is used for solving the problem that the remote controller in the prior art is inconvenient for operating the mechanical arm of the engineering machine. The remote controller comprises a control handle, a coordinate synchronous switch and a transmitting device, wherein the coordinate synchronous switch is connected with the transmitting device and is used for outputting confirmation information to the transmitting device; and the transmitting device is used for receiving the directional information transmitted by the control handle and is also used for transmitting the confirmation information and the directional information in a wireless manner. By adopting the technical scheme of the remote controller, a remote controller operator can intuitively operate the mechanical arm according to the own current position; and the operation mode is more convenient.
Description
Technical field
The utility model relates to engineering machinery field, relates in particular to the remote controller of the mechanical arm of a kind of engineering machinery and Control Engineering machinery.
Background technology
At present for example the mechanical arm attitude of pump truck is usually by operating personnel's realizations that use a teleswitch for engineering machinery, and its mode of operation is shown among Fig. 1, and Fig. 1 is the sketch map of the mode of controlling mechanical arm according to using a teleswitch of prior art.
As shown in Figure 1, the joystick 121 of operating personnel's 11 hand-held remote controllers 12 is operated, and mechanical arm 131 along continuous straight runs of pump truck 13 are rotated, thereby cloth point 132 is moved.The rotation of joystick 121 zero driving direction is the Y axle forward among the figure; Being joystick 121 when Y axle forward is stirred, mechanical arm 131 does not turn round (along continuous straight runs rotation); But stretch; When joystick was stirred deviation in driction Y axle forward and for example deflected into the OM direction, mechanical arm 131 was done gyration, and the direction that cloth point 132 is moved is vectorial OM.Like this; In operating process; Operating personnel 11 are positioned at position A, and in the time of cloth being put 132 directions by arrow 14 and moved, operating personnel 11 need be positioned at oneself be imagined as in position B; And the imagination is own, and B operates according to the direction of the arrow 15 identical with the direction of arrow 14 in the position; So operating personnel 11 are positioned at position A and press the direction operating control handle 121 of arrow OM in reality, and can not operate according to the direction of the arrow 16 consistent with arrow 15 directions, it is different that the direction of operating that can find out 11 pairs of joysticks 121 of operating personnel's this moment is put the 132 actual directions that will move with cloth.Certainly,, then need not the above-mentioned imagination if operating personnel 11 in fact have been positioned at position B, but in practical operation because the restriction of construction environment, operating personnel 11 often can't be positioned at position B.
In the prior art; Use a teleswitch when the mechanical arm of engineering machinery operated, often need operating personnel that the position of oneself is imagined and change, operate according to the position of the imagination then; This mode of operation is directly perceived inadequately, makes troubles to operating personnel.
In the prior art, the comparatively inconvenience of mode that uses a teleswitch the mechanical arm of engineering machinery is operated for this problem, does not propose effective solution at present as yet.
The utility model content
The main purpose of the utility model provides the remote controller of the mechanical arm of a kind of engineering machinery and Control Engineering machinery, to solve the comparatively inconvenient problem of mode that uses a teleswitch in the prior art mechanical arm of engineering machinery is operated.
To achieve these goals, according to an aspect of the utility model, a kind of remote controller of mechanical arm of Control Engineering machinery is provided.
The remote controller of the mechanical arm of this Control Engineering machinery in the utility model comprises joystick; Said remote controller also comprises coordinate synchro switch and emitter; Wherein: said coordinate synchro switch, be connected with said emitter, be used for to said emitter output coordinate synchronizing information; Said emitter is used for: receive said coordinate synchronizing information; And when receiving said coordinate synchronizing information, obtain first operation information; Generate confirmation then; Said confirmation and said first operation information are sent to engineering machinery in the lump, confirm the control prime direction according to the information of the direction of operating that comprises in said confirmation and this first operation information of said first operation information affirmation for said engineering machinery; And after sending said confirmation and said operation information in the lump to said engineering machinery; Receive second operation information that said joystick sends; This second operation information is sent to said engineering machinery, confirm the remote control driving direction according to the information of the direction of operating in said control prime direction and said second operation information for said engineering machinery.
A kind of remote controller of mechanical arm of Control Engineering machinery is provided according to the utility model on the other hand.
The remote controller of the mechanical arm of this Control Engineering machinery in the utility model comprises joystick; Also comprise coordinate synchro switch and emitter; Wherein: said coordinate synchro switch; Be connected with said emitter, be used for successively exporting the first coordinate synchronizing information and the second coordinate synchronizing information to said emitter; Said emitter is used for: successively receive the said first coordinate synchronizing information and the second coordinate synchronizing information; And between the said first coordinate synchronizing information of reception and the second coordinate synchronizing information, obtain first operation information; After receiving the said second coordinate synchronizing information, generate confirmation; Said confirmation and said first operation information are sent to engineering machinery in the lump, confirm the control prime direction according to the information of the direction of operating that comprises in said confirmation and this first operation information of said first operation information affirmation for said engineering machinery; And after sending said confirmation and said operation information in the lump to said engineering machinery; Receive second operation information that said joystick sends; This second operation information is sent to said engineering machinery, confirm the remote control driving direction according to the information of the direction of operating in said control prime direction and said second operation information for said engineering machinery.
According to the another aspect of the utility model, a kind of remote controller of mechanical arm of Control Engineering machinery is provided.
The remote controller of the mechanical arm of this Control Engineering machinery in the utility model comprises joystick; Also comprise coordinate synchro switch and emitter; Wherein: said coordinate synchro switch, be connected with said emitter, be used for to said emitter output coordinate synchronizing information; Said emitter is used for: receive said coordinate synchronizing information, and when receiving said coordinate synchronizing information, obtain first operation information, generate confirmation then, said confirmation and said first operation information are sent to engineering machinery in the lump; And after sending said confirmation and said operation information in the lump, receive second operation information that said joystick sends to said engineering machinery, this second operation information is sent to said engineering machinery.
According to the another aspect of the utility model, a kind of remote controller of mechanical arm of Control Engineering machinery is provided.
The remote controller of the mechanical arm of this Control Engineering machinery in the utility model comprises joystick; Also comprise coordinate synchro switch and emitter; Wherein: said coordinate synchro switch; Be connected with said emitter, be used for successively exporting the first coordinate synchronizing information and the second coordinate synchronizing information to said emitter; Said emitter is used for: successively receive the said first coordinate synchronizing information and the second coordinate synchronizing information; And between the said first coordinate synchronizing information of reception and the second coordinate synchronizing information, obtain first operation information; After receiving the said second coordinate synchronizing information, generate confirmation, said confirmation and said first operation information are sent to engineering machinery in the lump; And after sending said confirmation and said operation information in the lump, receive second operation information that said joystick sends to said engineering machinery, this second operation information is sent to said engineering machinery.
Another aspect according to the utility model provides a kind of engineering machinery, and this project machinery has mechanical arm; And comprise receiving system and controller; Wherein: receiving system is used for receiving the information that remote controller sent of the utility model, and this information is sent to said controller; Controller is connected with said receiving system, is used for according to the information that said receiving system sends the mechanical arm of said engineering machinery being controlled.
According to the technical scheme of the utility model, switch the function of information that remote controller sends through the coordinate synchro switch, when the coordinate synchro switch sent confirmation, the directional information that remote controller sends supplied engineering machinery to confirm the control prime direction; When the coordinate synchro switch did not send confirmation, the directional information that remote controller sends supplied engineering machinery to confirm the remote control driving direction; The operating personnel that can make remote controller like this are according to the own current position arm of operating machine intuitively, and mode of operation is comparatively convenient.
Description of drawings
Figure of description is used to provide the further understanding to the utility model, constitutes the application's a part, and illustrative examples of the utility model and explanation thereof are used to explain the utility model, do not constitute the improper qualification to the utility model.In the accompanying drawings:
Fig. 1 is the sketch map according to the mode of the control mechanical arm that uses a teleswitch of prior art;
Fig. 2 is the sketch map according to the operational scenarios of the mechanical arm of the Control Engineering machinery of the utility model embodiment;
Fig. 3 is the flow chart according to the key step of the method for the mechanical arm of the Control Engineering machinery of the utility model embodiment;
Fig. 4 is the sketch map according to the remote control driving direction of the utility model embodiment;
Fig. 5 is the sketch map according to the device main modular of the mechanical arm of the Control Engineering machinery of the utility model embodiment;
Fig. 6 is the sketch map according to the remote controller chief component of the utility model embodiment;
Fig. 7 is the optional structural representation according to the emitter in the remote controller of the utility model embodiment;
Fig. 8 is the sketch map according to a kind of structure of the emitter in the remote controller of the embodiment of the invention;
Fig. 9 is the sketch map according to the another kind of part of the remote controller of the embodiment of the invention;
Figure 10 is the sketch map according to a kind of structure of the emitter of the embodiment of the invention;
Figure 11 is the sketch map according to a kind of structure of the emitter of the embodiment of the invention; And
Figure 12 is the sketch map according to the chief component of the engineering machinery of the embodiment of the invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the utility model.
For the ease of understanding, below earlier the use of the remote controller in the present embodiment and remote controller and engineering machinery basic handling principle of processing signals in this use are explained.Fig. 2 is the sketch map according to the operational scenarios of the mechanical arm of the Control Engineering machinery of the utility model embodiment.The part assembly of remote controller 20 only is shown among Fig. 2, comprises: coordinate synchro switch 21 and joystick 22.When operation; Operating personnel 11 pin coordinate synchro switch 21; This moment, the processor (not shown) of coordinate synchro switch 21 to remote controller 20 in sent the coordinate synchronizing information, and this moment according to the direction (as shown in arrow 26) of the mechanical arm 131 of pump truck 13, with 22 groups of joysticks to mechanical arm 131 on ground orthographic projection to belong to the identical direction of the direction of ray (as shown in arrow 27; Arrow 26 is parallel with arrow 27); Decontrol coordinate synchro switch 21 then, the processor for recording in this moment remote controller 20 direction of operating of joystick 22 this moment, and with the operation information (information that comprises direction of operating in the operation information of joystick 22; Down with) and confirmation send to engineering machinery; Engineering machinery is when this operation information of receiving the remote controller transmission and above-mentioned confirmation, and as the control prime direction, operating personnel 11 stir joystick 22 by the direction that the cloth point under the own visual angle 132 need move during each later on the operation with this direction.Can find out that this mode of operation need not operating personnel and imagines the position of oneself, the comparison that operates is directly perceived, convenient.The effect of above-mentioned affirmation information is, the remote control directional information that engineering machinery is learnt receive in the lump with this confirmation (be above-mentioned dial to information) be not to be used for controlling immediately manipulator motion, but this remote control direction is write down as controlling prime direction.After the processor in the remote controller 20 is received above-mentioned coordinate synchronizing information and operation information, generate confirmation, and this confirmation and this operation information are sent (can be placed in the same packet) to engineering machinery in the lump.When operating personnel 11 pin coordinate synchro switch 21 and operating control handle 22; May operate more than once; To revise the control prime direction last time provided, the processors in the remote controller 20 are just decontroled coordinate synchro switch 21 last operating control handle 22 before with operating personnel and are as the criterion like this.
Top definite control prime direction can also be to click coordinate synchro switch 21 earlier to lift (this moment, coordinate synchro switch 21 sent the first coordinate synchronizing information to the processor of remote controller) then; Thereby stirring joystick 22 again sends direction of operating information and provides the control prime direction; At last click coordinate synchro switch 21 again and send the second coordinate synchronizing information with processor to remote controller; The processor of remote controller generates confirmation according to the above-mentioned first coordinate synchronizing information that receives, the second coordinate synchronizing information like this, and will receive the direction of operating information that receives between the time point of the first coordinate synchronizing information, the second coordinate synchronizing information and above-mentioned affirmation information is sent to engineering machinery in the lump.Similar with last mode, successively receive between the first coordinate synchronizing information, the second coordinate synchronizing information at the processor of remote controller, joystick 22 possibly is as the criterion with last operation by operating personnel's 11 multi-pass operations equally.
In above two kinds of processes of confirming the control prime directions, all need 11 pairs of joysticks 22 of operating personnel to operate and send operation information so that the control prime direction to be provided.The processor of remote controller can be preserved a control prime direction; Replace the direction of operating that receives from joystick 22 to read this control prime direction; Particularly, the control prime direction of (above-mentioned first kind of mode of confirming the control prime direction) reading and saving when receiving the coordinate synchronizing information; Receiving (above-mentioned second kind of mode of confirming the control prime direction) between the first coordinate synchronizing information and the second coordinate synchronizing information, the control prime direction of reading and saving.
Below explain for the course of work of engineering machinery in the aforesaid operations process.Fig. 3 is the flow chart according to the key step of the method for the mechanical arm of the Control Engineering machinery of the utility model embodiment.As shown in Figure 3, this method can be carried out by the controller of engineering machinery body, mainly comprises the steps:
Step S31: the control prime direction of confirming mechanical arm;
Step S33: the information of the direction of operating when reception is carried out straighforward operation to mechanical arm; The packets of information of this direction of operating is contained in the operation information;
Step S35: the angle according to control prime direction and direction of operating is confirmed the remote control driving direction;
Step S37: information from the remote control driving direction to the driving mechanism of engineering machinery that export.
Among the step S31; Confirm that the control prime direction of mechanical arm promptly carries out according to the described mode of preamble; Affirmation information and operation information that mechanical arm promptly sends according to the remote controller that receives, the information of the direction of operating that obtains comprising in this operation information, with this direction of operating as the control prime direction.
Among the step S33, transmit operation directional information when joystick is struck, direction of operating can laterally stirring coordinate and vertically stirring the coordinate amount combination that coordinate is formed by joystick.Among the step S35; Confirm that the remote control driving direction specifically can be from the control prime direction; Driving direction is rotated by predetermined positive direction; The angular dimension of rotation is the size of control prime direction to direction of operating by the angle of said positive direction, with the driving direction of this moment as remote control driving direction (being control prime direction and the corner dimension of the direction of operating among the step S33 among the step S31); The predetermined positive direction here can be also can be counterclockwise clockwise, has illustrated among the figure being the situation of positive direction clockwise.When processor processes; The remote control driving direction that processor calculates is to be original position with the Y axle forward among Fig. 1; Rotate the direction of indication behind the above-mentioned angle, the information of the remote control driving direction that therefore in step S37, sends is the information of this remote control driving direction.Fig. 4 is the sketch map according to the remote control driving direction of the embodiment of the invention.In conjunction with Fig. 4; After handling according to flow process shown in Figure 3, for example belong to directions (as shown in arrow 40) as the control prime direction with mechanical arm 131, it is as shown in arrow 41 that (arrow 41 is parallel with arrow 40; In the process of the described control prime direction of preamble; Thereby operating personnel provide control prime direction information by arrow 41 operating control handles), when operating personnel stir joystick by arrow 42, for example clockwise by predetermined rotation positive direction; Controller obtains turning to arrow 42 from the Y axle and obtains angle, and this angle is an angle with the difference that turns to the angle of arrow 42 from arrow 41.Angle is actually the control prime direction and turns to the angle that direction of operating obtains by above-mentioned positive direction.At this moment, rotated this angle and obtained a driving direction from control prime direction (arrow 40), as shown in arrow 44, with this driving direction as the remote control driving direction.Drive unit on the body of pump truck 13 is just by this remote control driving direction driving device arm 131 like this, and mechanical arm 131 motions make cloth point 132 move by arrow 44, and are parallel with arrow 42, arrow 44 and arrow 40 angle, as shown in Figure 4.
Among the step S33, transmit operation directional information when joystick is struck, direction of operating can laterally stirring coordinate and vertically stirring the coordinate amount combination that coordinate is formed by joystick.Among the step S35; Confirm that the remote control driving direction specifically can be from the control prime direction; Driving direction is rotated by predetermined positive direction; The angular dimension of rotation is the size of control prime direction to direction of operating by the angle of said positive direction, with the driving direction of this moment as remote control driving direction (being control prime direction and the corner dimension of the direction of operating among the step S33 among the step S31); The predetermined positive direction here can be also can be counterclockwise clockwise, has illustrated among the figure being the situation of positive direction clockwise.When processor processes; The remote control driving direction that processor calculates is to be original position with the Y axle forward among Fig. 1; Rotate the direction of indication behind the above-mentioned angle, the information of the remote control driving direction that therefore in step S37, sends is the information of this remote control driving direction.Fig. 4 is the sketch map according to the remote control driving direction of the embodiment of the invention.In conjunction with Fig. 4; Belong to directions (as shown in arrow 40) as the control prime direction with mechanical arm 131; (arrow 41 is parallel with arrow 40, and in the process of the described control prime direction of preamble, thereby operating personnel provide control prime direction information by arrow 41 operating control handles) as shown in arrow 41; When operating personnel stir joystick by arrow 42; Rotation positive direction by predetermined is for example clockwise, and controller obtains turning to arrow 42 from the Y axle and obtains angle, and this angle is an angle with the difference that turns to the angle of arrow 42 from arrow 41.Angle is actually the control prime direction and turns to the angle that direction of operating obtains by above-mentioned positive direction.At this moment, rotated this angle and obtained a driving direction from control prime direction (arrow 40), as shown in arrow 44, with this driving direction as the remote control driving direction.Drive unit on the body of pump truck 13 is just by this remote control driving direction driving device arm 131 like this, and mechanical arm 131 motions make cloth point 132 move by arrow 44, and are parallel with arrow 42, arrow 44 and arrow 40 angle, as shown in Figure 4.
From step shown in Figure 3, can find out; In the mechanical arm control mode of present embodiment; At first confirm the control prime direction of mechanical arm; When receiving the information of direction of operating, the remote control driving direction is to confirm according to the angle of this control prime direction and direction of operating after this, and this control mode can help operating personnel intuitively mechanical arm to be carried out straighforward operation.With reference to figure 4, arrow 41 is as the control prime directions, this direction consistent with the mechanical arm direction (promptly with mechanical arm on ground orthographic projection to belong to ray parallel); This moment is if press the direction operating control handle of arrow 42; Then by the angle shown in the figure, the direction of arrow 43 becomes the remote control driving direction, can find out in conjunction with Fig. 1; The direction of when direction of arrow 43 is equivalent to operating personnel with the position B that oneself is imagined as among Fig. 1 operating grip being operated makes cloth point 132 move by the direction of arrow 44.As can beappreciated from fig. 4, when control prime direction (arrow 41) was parallel with mechanical arm direction (arrow 40), the direction that joystick is struck (arrow 42) was just parallel with the direction (arrow 44) of cloth point actual motion, thereby has realized operating personnel's intuitive operation.In actual job; Cloth point stops after moving; Can again through operation coordinate synchro switch and joystick confirm control prime direction if need to move once more this moment, if but cloth point amount of movement is little; Also can handle by original control prime direction that is the remote controller processor has been preserved, also basically be intuitively In the view of operating personnel this moment.
Can find out from above analysis, use the technical scheme of present embodiment, can make the moving direction of cloth point and the consistent or basically identical of direction of operating of remote controller joystick, help the intuitive operation of remote controller, it is more convenient that operating personnel are operated.
Fig. 5 is the sketch map according to the device chief component of the mechanical arm of the Control Engineering machinery of the utility model embodiment.As shown in Figure 5, the device 50 of the mechanical arm of Control Engineering machinery mainly comprises following equipment:
Computing equipment 53 is used for confirming that according to the angle of said control prime direction and said direction of operating the remote control driving direction is specially: computing equipment 53 is used for from the control prime direction; Driving direction is rotated the corner dimension of said control prime direction and said direction of operating by predetermined positive direction, with the driving direction of this moment as the remote control driving direction.
Alternatively, the device 50 of the mechanical arm of Control Engineering machinery also can comprise (not shown): confirm module, be used for confirmation of receipt information; Like this, reference device 51 specifically is used for: after receiving confirmation, obtain straighforward operation information, the straighforward operation direction that this straighforward operation information is comprised is as the control prime direction of said mechanical arm.
Fig. 6 is the part sketch map according to a kind of remote controller of the mechanical arm of the Control Engineering machinery of the utility model embodiment.As shown in Figure 6, the remote controller 60 among the utility model embodiment mainly comprises joystick 61, coordinate synchro switch 62 and emitter 63.Coordinate synchro switch 62 is connected with emitter 63, is used for to emitter 63 output coordinate synchronizing informations.Emitter 63 is used for: receive the coordinate synchronizing information; And when receiving the coordinate synchronizing information, obtain first operation information; Generate confirmation then; The confirmation and first operation information are sent to engineering machinery in the lump, confirm the control prime direction according to the information of the direction of operating that comprises in confirmation and this first operation information of said first operation information affirmation for engineering machinery; And after sending confirmation and operation information in the lump to engineering machinery; Receive second operation information that joystick 61 sends; This second operation information is sent to engineering machinery, confirm the remote control driving direction according to the information of the direction of operating in the control prime direction and second operation information for engineering machinery.
Fig. 9 is the sketch map according to the another kind of part of the remote controller of the embodiment of the invention.As shown in Figure 9; Remote controller 90 mainly comprises joystick 91, coordinate synchro switch 92 and emitter 93; Wherein coordinate synchro switch 92 is connected with emitter 93, is used for successively to the emitter 93 output first coordinate synchronizing information and the second coordinate synchronizing informations; Emitter 93 is used for: successively receive the first coordinate synchronizing information and the second coordinate synchronizing information; And between the reception first coordinate synchronizing information and the second coordinate synchronizing information, obtain first operation information; After receiving the second coordinate synchronizing information, generate confirmation; The confirmation and first operation information are sent to engineering machinery in the lump, confirm the control prime direction according to the information of the direction of operating that comprises in confirmation and this first operation information of first operation information affirmation for engineering machinery; And after sending confirmation and operation information in the lump to engineering machinery; Receive second operation information that joystick 91 sends; This second operation information is sent to engineering machinery, confirm the remote control driving direction according to the information of the direction of operating in the control prime direction and second operation information for engineering machinery.
Emitter 93 can adopt the structure of the emitter 100 among Figure 10.Figure 10 is the sketch map according to a kind of structure of the emitter of the embodiment of the invention; Shown in figure 10; Comprise in the emitter 100: processor 101; Be used for successively receiving the first coordinate synchronizing information, the second coordinate synchronizing information, and between the reception first coordinate synchronizing information and the second coordinate synchronizing information, obtain first operation information, after receiving the second coordinate synchronizing information, generate confirmation; Transmitter 102 is connected with processor 101, is used for the confirmation and first operation information are sent to engineering machinery in the lump.
Emitter 93 also can adopt the structure of the emitter 110 among Figure 11.Figure 11 is the sketch map according to a kind of structure of the emitter of the embodiment of the invention.Shown in figure 11, emitter 110 comprises: memory 111 is used to preserve joystick and sends 91 first operation information; Processor 112 is used to receive the coordinate synchronizing information, and between the reception first coordinate synchronizing information and the second coordinate synchronizing information, from memory 111, reads first operation information, after receiving the second coordinate synchronizing information, generates confirmation; Transmitter 113 is connected with processor 112, is used for the confirmation and first operation information are sent to engineering machinery in the lump.
Figure 12 is the sketch map according to the chief component of the engineering machinery of the embodiment of the invention, and is shown in figure 12, and engineering machinery 120 has mechanical arm 121, and comprises receiving system 122 and controller 123.Receiving system 122 is used for receiving the information that remote controller sent of the embodiment of the invention, and this information is sent to controller 123.Controller 123 is connected with receiving system 122, is used for according to the information that receiving system 122 sends the mechanical arm of engineering machinery being controlled.
According to the technical scheme of the utility model embodiment, switch the function of information that remote controller sends through the coordinate synchro switch, when the coordinate synchro switch sent confirmation, the directional information that remote controller sends supplied engineering machinery to confirm the control prime direction; When the coordinate synchro switch did not send confirmation, the directional information that remote controller sends supplied engineering machinery to confirm the remote control driving direction; The operating personnel that can make remote controller like this are according to the own current position arm of operating machine intuitively, and mode of operation is comparatively convenient.
The preferred embodiment that the above is merely the utility model is not limited to the utility model, and for a person skilled in the art, the utility model can have various changes and variation.All within the spirit and principle of the utility model, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the utility model.
Claims (9)
1. the remote controller of the mechanical arm of a Control Engineering machinery comprises joystick, it is characterized in that said remote controller also comprises coordinate synchro switch and emitter, wherein:
Said coordinate synchro switch is connected with said emitter, is used for to said emitter output coordinate synchronizing information;
Said emitter is used for:
Receive said coordinate synchronizing information; And when receiving said coordinate synchronizing information, obtain first operation information; Generate confirmation then; Said confirmation and said first operation information are sent to engineering machinery in the lump, confirm the control prime direction according to the information of the direction of operating that comprises in said confirmation and this first operation information of said first operation information affirmation for said engineering machinery; And
After sending said confirmation and said operation information in the lump to said engineering machinery; Receive second operation information that said joystick sends; This second operation information is sent to said engineering machinery, confirm the remote control driving direction according to the information of the direction of operating in said control prime direction and said second operation information for said engineering machinery.
2. remote controller according to claim 1 is characterized in that, said emitter comprises:
Processor is used to receive said coordinate synchronizing information, and when receiving said coordinate synchronizing information, receives first operation information, generates confirmation then;
Transmitter is connected with said processor, is used for said confirmation and said first operation information are sent to said engineering machinery in the lump.
3. remote controller according to claim 1 is characterized in that, said emitter comprises:
Memory is used to preserve first operation information that said joystick sends;
Processor is used to receive said coordinate synchronizing information, and when receiving said coordinate synchronizing information, from said memory, reads said first operation information, generates confirmation then;
Transmitter is connected with said processor, is used for said confirmation and said first operation information are sent to said engineering machinery in the lump.
4. the remote controller of the mechanical arm of a Control Engineering machinery comprises joystick, it is characterized in that said remote controller also comprises coordinate synchro switch and emitter, wherein:
Said coordinate synchro switch is connected with said emitter, is used for successively exporting the first coordinate synchronizing information and the second coordinate synchronizing information to said emitter;
Said emitter is used for:
Successively receive the said first coordinate synchronizing information and the second coordinate synchronizing information; And between the said first coordinate synchronizing information of reception and the second coordinate synchronizing information, obtain first operation information; After receiving the said second coordinate synchronizing information, generate confirmation; Said confirmation and said first operation information are sent to engineering machinery in the lump, confirm the control prime direction according to the information of the direction of operating that comprises in said confirmation and this first operation information of said first operation information affirmation for said engineering machinery; And
After sending said confirmation and said operation information in the lump to said engineering machinery; Receive second operation information that said joystick sends; This second operation information is sent to said engineering machinery, confirm the remote control driving direction according to the information of the direction of operating in said control prime direction and said second operation information for said engineering machinery.
5. remote controller according to claim 4 is characterized in that, said emitter comprises:
Processor; Be used for successively receiving the said first coordinate synchronizing information, the second coordinate synchronizing information; And between the said first coordinate synchronizing information of reception and the second coordinate synchronizing information, obtain first operation information, after receiving the said second coordinate synchronizing information, generate confirmation;
Transmitter is connected with said processor, is used for said confirmation and said first operation information are sent to said engineering machinery in the lump.
6. remote controller according to claim 4 is characterized in that, said emitter comprises:
Memory is used to preserve first operation information that said joystick sends;
Processor; Be used to receive said coordinate synchronizing information; And between the said first coordinate synchronizing information of reception and the second coordinate synchronizing information, from said memory, read said first operation information, after receiving the said second coordinate synchronizing information, generate confirmation;
Transmitter is connected with said processor, is used for said confirmation and said first operation information are sent to said engineering machinery in the lump.
7. the remote controller of the mechanical arm of a Control Engineering machinery comprises joystick, it is characterized in that said remote controller also comprises coordinate synchro switch and emitter, wherein:
Said coordinate synchro switch is connected with said emitter, is used for to said emitter output coordinate synchronizing information;
Said emitter is used for:
Receive said coordinate synchronizing information, and when receiving said coordinate synchronizing information, obtain first operation information, generate confirmation then, said confirmation and said first operation information are sent to engineering machinery in the lump; And
After sending said confirmation and said operation information in the lump to said engineering machinery, receive second operation information that said joystick sends, this second operation information is sent to said engineering machinery.
8. the remote controller of the mechanical arm of a Control Engineering machinery comprises joystick, it is characterized in that said remote controller also comprises coordinate synchro switch and emitter, wherein:
Said coordinate synchro switch is connected with said emitter, is used for successively exporting the first coordinate synchronizing information and the second coordinate synchronizing information to said emitter;
Said emitter is used for:
Successively receive the said first coordinate synchronizing information and the second coordinate synchronizing information; And between the said first coordinate synchronizing information of reception and the second coordinate synchronizing information, obtain first operation information; After receiving the said second coordinate synchronizing information, generate confirmation, said confirmation and said first operation information are sent to engineering machinery in the lump; And
After sending said confirmation and said operation information in the lump to said engineering machinery, receive second operation information that said joystick sends, this second operation information is sent to said engineering machinery.
9. engineering machinery, said engineering machinery has mechanical arm, it is characterized in that, and said engineering machinery comprises receiving system and controller, wherein:
Receiving system is used for receiving the information that each described remote controller of claim 1 to 8 is sent, and this information is sent to said controller;
Controller is connected with said receiving system, is used for according to the information that said receiving system sends the mechanical arm of said engineering machinery being controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202485795U CN202200298U (en) | 2011-07-14 | 2011-07-14 | Engineering machine and remote controller for controlling mechanical arm of engineering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202485795U CN202200298U (en) | 2011-07-14 | 2011-07-14 | Engineering machine and remote controller for controlling mechanical arm of engineering machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202200298U true CN202200298U (en) | 2012-04-25 |
Family
ID=45964435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202485795U Expired - Lifetime CN202200298U (en) | 2011-07-14 | 2011-07-14 | Engineering machine and remote controller for controlling mechanical arm of engineering machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202200298U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360222A (en) * | 2011-07-14 | 2012-02-22 | 长沙中联重工科技发展股份有限公司 | Method, device and remote controller for controlling mechanical arm of construction machine |
| CN103809595A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Engineering machinery operation method, operation terminal, control device and operation system |
-
2011
- 2011-07-14 CN CN2011202485795U patent/CN202200298U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360222A (en) * | 2011-07-14 | 2012-02-22 | 长沙中联重工科技发展股份有限公司 | Method, device and remote controller for controlling mechanical arm of construction machine |
| CN103809595A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Engineering machinery operation method, operation terminal, control device and operation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8412379B2 (en) | Robot system | |
| CN102360222B (en) | Method, device and remote controller for controlling mechanical arm of construction machine | |
| US10960543B2 (en) | Robotic point capture and motion control | |
| CN110465935B (en) | Method, apparatus and system for robot programming | |
| CN104699122A (en) | Robot motion control system | |
| CN102581852B (en) | Attitude and position adjustment system for robot in heavy load assembly and handling | |
| CN103737602B (en) | Industrial robot is wireless teaching device for carrying out said and method thereof | |
| CN105364934A (en) | Remote operation control system and method of hydraulic mechanical arm | |
| US20170028549A1 (en) | Robotic navigation system and method | |
| CN108214445A (en) | A kind of principal and subordinate's isomery remote operating control system based on ROS | |
| CN108356796A (en) | A kind of teaching system being adapted to a variety of industrial robots | |
| CN101149608A (en) | Hand-held robot movement monitoring and control platform based on embedded type system | |
| CN202200298U (en) | Engineering machine and remote controller for controlling mechanical arm of engineering machine | |
| CN102360221A (en) | Engineering machine, method for controlling mechanical arm of engineering machine, apparatus thereof, and system thereof | |
| WO2019046559A1 (en) | Using augmented reality for controlling intelligent devices | |
| CN108527320A (en) | A kind of cooperation robot guiding teaching method based on 3D mouse | |
| CN204819528U (en) | Remote control robot based on WEB | |
| JP2011101915A (en) | Robot system | |
| CN108466266A (en) | Mechanical arm motion control method and system | |
| US20220063098A1 (en) | Remote robotic welding with a handheld controller | |
| CN203973550U (en) | A kind of non-contact gesture control | |
| CN103809595A (en) | Engineering machinery operation method, operation terminal, control device and operation system | |
| CN103978324A (en) | Double-core five-shaft welding robot control system | |
| CN104492093A (en) | Multi-mode airplane model and car model touch remote-control unit and implementation method | |
| CN202200299U (en) | Engineering machinery and device for controlling mechanical arm of engineering machinery and system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120425 |