CN203077287U - Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot - Google Patents
Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot Download PDFInfo
- Publication number
- CN203077287U CN203077287U CN 201320046975 CN201320046975U CN203077287U CN 203077287 U CN203077287 U CN 203077287U CN 201320046975 CN201320046975 CN 201320046975 CN 201320046975 U CN201320046975 U CN 201320046975U CN 203077287 U CN203077287 U CN 203077287U
- Authority
- CN
- China
- Prior art keywords
- microprocessor
- mechanical arm
- module
- converter
- iii
- 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
Abstract
The utility model relates to a master-slave mode hydraulic pressure feedback mechanical arm controlling system of a charged repair robot, and the master-slave mode hydraulic pressure feedback mechanical arm controlling system of the charged repair robot is fast in processing speed, low in cost and stable and reliable in performance. A handheld terminal comprises a microprocessor I, and the microprocessor I is connected with a human-machine interface unit and en embedded type main hand controller. The embedded type main hand controller comprises a microprocessor II, the microprocessor II is connected with the microprocessor I through a serial port, the microprocessor II is connected with an analog/digital (A/D) converter I and a wireless module I, and the A/D converter is connected with a potentionmeter. The microprocessor II drives a torque motor through a motor driver. A wireless module II is communicated with the wireless module I. A microprocessor III is connected with a A/D converter II and the potentionmeter. Meanwhile, the microprocessor III is further connected with a digital/analog (D/A) converter, the D/A converter is connected with a hydraulic amplifier, the hydraulic amplifier is connected with a plurality of servo valves, an oil inlet and an oil return port of each servo valve are provided with pressure sensors, and the pressure sensors are connected with the microprocessor III. Each servo valve is connected with a corresponding hydraulic cylinder, and output shafts of the hydraulic cylinder are connected with a mechanical arm.
Description
Technical field
The utility model relates to a kind of Robot Control Technology, especially a kind of charged repairing robot master-slave mode hydraulic coupling feedback mechanical arm control system.
Background technology
Chinese society economy constantly develops, people's living standard improves constantly, and distribution network will be realized uninterrupted transmission of electricity, just must carry out livewire work.Artificial livewire work has its difficulty and limitation, therefore development has stronger security and adaptive robot for high-voltage hot-line work, overcome the difficulty and the limitation of artificial livewire work, it is very necessary to replace manually carrying out livewire work, and abreast of the times requirement.For automatization level and the security that improves livewire work, alleviate the person threat of labor intensity of operating personnel and strong-electromagnetic field to operating personnel, many countries have all successively carried out the research of livewire work robot from the eighties, have carried out research to the livewire work robot as countries such as Japan, Spain, the U.S., Canada, France priority.
Domestic Shandong Research Inst. of Electric Power has carried out the research of three generations's robot for high-voltage hot-line work:
1. first generation robot for high-voltage hot-line work adopts two MOTOMAN mechanical arms, by the Keyboard Control manipulator motion, because control system is not open, can not realize that the principal and subordinate controls when operating personnel carry out operation.Inconvenient operation.
2. second generation robot for high-voltage hot-line work adopts the electromechanics arm of two independent researches, and control system adopts principal and subordinate's control mode.When carrying out operation, operating personnel, realized the principal and subordinate of robot system/from main control by main hand and Keyboard Control manipulator motion.But, can not be fit to the aerial lift device with insulated arm job requirements because own wt is big.
3. third generation robot for high-voltage hot-line work, Changzhi, Shanxi robot for high-voltage hot-line work project adopts two hydraulic pressure not to be with force feedback type mechanical arm, and is from heavy and light, prudent big.Can finish job contents such as charged broken string, charged wiring, charged for replacement insulator, realize the application of livewire work robot site.But, can not finish the work of elaborate owing to there is not perception.
Robot for high-voltage hot-line work has formed the ability of conventional livewire work through first three research for model machine, and drops into The field.But mechanical arm does not have force feedback function, and the operator can't the perception operating environment, and the job content and the operating efficiency of robot are very limited.
The utility model content
The purpose of this utility model is to address the above problem, a kind of charged repairing robot master-slave mode hydraulic coupling feedback mechanical arm control system is provided, this charged repairing robot master-slave mode hydraulic coupling feedback mechanical arm control system adopts position, force servo double circle controling mode, and pass through wireless with high voltage electric field and people's isolation, control accuracy height, real-time are good, stable and reliable for performance, more convenient to operate, satisfy the requirement of electrification in high voltage robot manipulating task task.
For achieving the above object, the utility model adopts following technical scheme:
A kind of charged repairing robot master-slave mode hydraulic coupling feedback mechanical arm control system, comprise handheld terminal, embedded main hand controls and mechanical arm controller, described handheld terminal comprises microprocessor I, and it links to each other with embedded main hand controls with the man-machine interface unit respectively; Described embedded main hand controls comprises microprocessor II, it is connected with microprocessor I by serial ports, microprocessor II communicates by letter with A/D converter I by data/address bus, address bus, control bus, and A/D converter I is connected with the potentiometer of each joint of the master of robot hand; Microprocessor II also is connected by the torque-motor of motor driver with main each joint of hand; Microprocessor II is connected with wireless module I; Described mechanical arm controller comprises microprocessor III, and microprocessor III communicates by letter with wireless module I by wireless module II; Microprocessor III also is connected with A/D converter II with control bus by address bus, data/address bus simultaneously, and A/D converter II then is connected with the potentiometer of each joint of mechanical arm; Microprocessor III also is connected with D/A converter by data/address bus, clock bus simultaneously, D/A converter is connected with hydraulic amplifier, hydraulic amplifier is connected with some servo valves, and the oil inlet and oil return mouth of each servo valve is equipped with pressure sensor, and pressure sensor is connected with A/D converter II; Each servo valve is connected with corresponding hydraulic cylinder, and the hydraulic cylinder output shaft is connected with mechanical arm.
What described mechanical arm adopted is the hydraulic machinery arm that U.S. kraft Telerobotics company produces, and in existing sale on the market, does not just describe in detail at this.
Described mechanical arm is 7 degree-of-freedom manipulators, and pressure sensor is measured the differential pressure of oil-in and oil return opening, reflects the size and Orientation of mechanical arm to environmental pressure; Hydraulic power source is provided with magnetic valve and is used for switch hydraulic source.
The main hand of described mechanical arm is a 6DOF master hand, and each joint rotating shaft place on it all has potentiometer, is with 5 torque motors, comprises waist revolution, big arm pitching, forearm pitching, wrist pitching, wrist nosing force torque motor.
The microprocessor I of described handheld terminal is connected with serial ports by serial ports receiver transmitter MAX3232 chip, and microprocessor I also is connected with voltage stabilizing chip I, voltage stabilizing chip I I simultaneously; Microprocessor I is connected with the keyboard administration module with Liquid Crystal Module by logic level translator, and the keyboard administration module is connected with keyboard.
The microprocessor II of described embedded main hand controls is connected with serial ports by MAX3232I, be connected with wireless module I by MAX3232II, be connected with motor drive module by motion-control module, motor drive module is connected with splicing ear I, splicing ear I is connected with the light-coupled isolation module I through module I, and the light-coupled isolation module I is connected with microprocessor II; Microprocessor II is connected with the light-coupled isolation module ii, the light-coupled isolation module ii is connected with the O module, and the O module is connected with splicing ear II, and splicing ear II is connected with the A/D modular converter, the A/D modular converter is connected with multiplexer, and multiplexer is connected with microprocessor II.
The microprocessor III of described mechanical arm controller is connected with wireless module II by MAX3232III; Microprocessor III is connected with the servo valve amplifier by the D/A modular converter, and the servo valve amplifier is connected with the servo valve of mechanical arm; Microprocessor III is connected with the O module by the light-coupled isolation module, and the O module is connected with magnetic valve; Each pressure sensor of mechanical arm is connected with microprocessor III by A/D modular converter II; Each potentiometer of mechanical arm is connected with microprocessor III by A/D modular converter II.
Adopt such scheme, the utlity model has following advantage:
The one, adopt the force feedback technology, have perception to environment, can greatly improve flexibility, the accuracy of operation, increase substantially operating efficiency, finish and repair lead, change complex job projects such as cross-arm, fall insurance;
The 2nd, adopt master slave control mode mechanical arm system flexible and convenient operation, do not need compound movement algorithms such as complicated linear interpolation, circular interpolation;
The 3rd, system adopts modularized design, has opening, readability, extensibility, maintainability, so that continue exploitation;
The 4th, principal and subordinate's control system communication modes adopts radio communication, is convenient to charged repairing robot wiring, can realize High-Voltage Insulation;
The 5th, control system has various standard interfaces, mechanical position limitation, software limit, and is multiple functional, the positional precision height.
Description of drawings
Fig. 1 is the utility model general diagram;
Fig. 2 is the circuit diagram of the utility model master hand controls;
Fig. 3 is the utility model handheld terminal circuit diagram;
Fig. 4 is the utility model mechanical arm controller circuitry figure;
Fig. 5 is the utility model mechanical arm circuit diagram;
Fig. 6 is the utility model overview flow chart;
Fig. 7 is the automatic corresponding flow chart of the utility model principal and subordinate hand;
Fig. 8 is the utility model principal and subordinate control flow chart.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment utility model is described further.
Among Fig. 1, a kind of charged repairing robot master-slave mode force feedback hydraulic machinery arm controller comprises handheld terminal, embedded main hand controls and mechanical arm controller, it is characterized in that, described handheld terminal comprises microprocessor I, and it links to each other with embedded main hand controls with the man-machine interface unit respectively; Described embedded main hand controls comprises microprocessor II, and it is connected with microprocessor I, wireless module I respectively; Simultaneously, microprocessor II communicates by letter with data/address bus, address bus, the control bus of A/D converter I by data/address bus, address bus, control bus, communicates by letter with power bus by data/address bus between some potentiometers of A/D converter I and main hand; The torque-motor driver links to each other with several torque-motors (at each articulating shaft place) of main hand; Described mechanical arm controller comprises microprocessor III, it is connected with D/A converter with clock bus by data/address bus, be connected with A/D converter II by address bus, data/address bus and control bus, microprocessor III also is connected with magnetic valve, wireless module II; Simultaneously, some potentiometers at each articulating shaft place are connected on A/D converter II and the mechanical arm; A/D converter II links to each other with some pressure sensors; D/A converter is connected with hydraulic amplifier; Hydraulic amplifier is connected with some servo valves, and each servo valve is connected with corresponding hydraulic cylinder, and the hydraulic cylinder output shaft is connected with mechanical arm.
Stepping motor controller adopts X7083, controls 8 simultaneously, inside have straight line add/deceleration, parabola add/functions such as deceleration, acceleration-deceleration setting, maximum speed setting.
Microprocessor I, microprocessor II and microprocessor III all adopt the TMS320F28335 chip, have the floating-point processing capacity; Described A/D converter I, A/D converter II all adopt the MAX1312 chip; Described D/A converter adopts the DAC7678 chip.
Torque-motor adopts step-by-step movement torque-motor, torque range 0.061-0.123N.m, locked rotor current 0.3A, torque sensitivity 0.028N.m; Described each potentiometer adopts the 360 degree rotational potentiometers of 5K Ω, sensor accuracy 1 ‰, and output signal-10V～+ 10V.
Microprocessor II is as main frame, and it takes on system management, the compiling of mechanical arm language and human interface function, and periodically operation result is delivered to public internal memory as the increment of joint motions, reads it for microprocessor III.
Microprocessor III finishes whole joint positions, power is digital control.It reads set-point from public internal memory, also each joint physical location is sent back in the public internal memory, and microprocessor II uses.
Mechanical arm is 7 degree-of-freedom manipulators, and the corresponding hydraulic actuator that moves through in each joint of mechanical arm is carried out; Each actuator is controlled by a corresponding hydraulic efficiency servo-valve; Oil inlet and oil return mouth at each servo valve is equipped with pressure sensor, measures the differential pressure of oil-in and oil return opening, reflects the size and Orientation of mechanical arm to environmental pressure, except hydraulic efficiency servo-valve, has also increased pressure-reducing valve and magnetic valve; Magnetic valve is used for switch hydraulic source; The oil outer hydraulic coupling can not surpass 3000PSI; Valve plate is provided with control module and is connected with the hydraulic servo driver by control bus, and upper arm is connected with the hydraulic servo driver by the position signalling bus with potentiometer on the forearm, and the hydraulic servo driver is powered by power bus.
Supplied the parallel paw of band force feedback.Because parallel paw unique control method allows the operator to change the speed of paw folding and the size of grasping force.
Mechanical arm is installed on the oil inlet and oil return mouth of servo valve with pressure sensor, precision: ± 2.5%, output signal-10V～+ 10V, pressure sensor is through accurate temperature-compensating, stainless steel seal welding structure and perfect assembly technology, makes it have characteristics such as high accuracy, high anti-interference, overload and shock resistance.
Servo valve is the MOOG aviation with jet tubular type electricity flow quantity servo valve, model: MOD211-135, and pressure 1500psi, drive signal and be-20mA～+ 20mA.
The communication distance 1000m of wireless module, communication frequency 900MHz, antijamming capability is strong, and communication distance is far away.
Main hand is a 6DOF master hand, and each joint rotating shaft place on it all has potentiometer, is with 5 torque motors, comprises waist revolution, big arm pitching, forearm pitching, wrist pitching, wrist nosing force torque motor.
Among Fig. 2, main manual making sheet is made up of microprocessor I, motion-control module, electrical driver, I module, light-coupled isolation module, A/D modular converter, multiplexer, O module, MAX3232 module etc.The input and output of microprocessor I are connected with the input and output of motion-control module, light-coupled isolation module, multiplexer, MAX3232 respectively; The input of motion-control module is connected with motor-driven input, and motor-driven output is connected with splicing ear I, and the output of splicing ear I is connected with the input of I module, and the output of I module is connected with the input of light-coupled isolation module; The input and output of splicing ear II are connected with the input and output of A/D modular converter, O module, and the output of A/D modular converter is connected with the input of multiplexer, and the output of light-coupled isolation module is connected with the input of O module; The output of two MAX3232 is connected with serial ports, wireless module respectively; Power supply offers main hand, main manual making sheet, wireless module respectively.
Among Fig. 3, handheld terminal is made up of microprocessor I, Liquid Crystal Module, logic level translator, keyboard administration module, keyboard, voltage stabilizing chip I, voltage stabilizing chip I I, serial ports receiver transmitter and serial ports.Voltage stabilizing chip I, voltage stabilizing chip I I give microprocessor I power supply.The GIPIOB1 of microprocessor I is connected with 2 pin of logic level translator ADG3308, and GPIOB5 is connected with 5 pin, and XINT2 is connected with 6 pin, GPIOA0-7 is connected with the DB0-7 of Liquid Crystal Module, GPIOB0 is connected with REQ, and GPIOB2 is connected with CS, and Liquid Crystal Module obtains the 5V power supply.16 pin of logic level translator ADG3308 are connected with the DATA pin of keyboard administration module HD7279, and the keyboard administration module is connected with the KEY pin.The GPIOB3 of microprocessor I is connected with the CS pin of keyboard administration module HD7279, and GPIOB4 is connected with the CLK pin.The output of keyboard meets DIG0-7, the DP-SG of keyboard administration module HD7279.The SCITXDA of microprocessor I connects 11 pin of serial ports receiver transmitter I MAX3232, and SCIRXDA connects 12 pin, and 13,14 pin of serial ports receiver transmitter MAX3232 are received serial ports.
Among Fig. 4, the mechanical arm control panel comprises compositions such as D/A modular converter, servo amplifier, light-coupled isolation module, O module, A/D modular converter I, A/D modular converter II, MAX3232, wireless module.The input and output of microprocessor III are connected with the input and output of D/A modular converter, light-coupled isolation module, A/D modular converter I, A/D modular converter II, MAX3232 respectively; The output of D/A modular converter is connected with the input of servo amplifier, and the output of servo amplifier is connected with the input of servo valve 1-7; The output of light-coupled isolation module is connected with the input of O module, and the output of O module is connected with the input of magnetic valve; The output of pressure sensor 1-6 is connected with the input of A/D modular converter I, and the output of potentiometer 1-7 is connected with the input of A/D modular converter II; The input and output of MAX3232 are connected with the input and output of wireless module; Power supply is respectively and connects mechanical arm, mechanical arm control panel, wireless module power supply is provided.
Among Fig. 5,2 pin of servo valve 1-7 are connected with 19 of mechanical arm cable, and 1 pin of servo valve 1-7 is connected with 1,4,7,10,13,16,18 of mechanical arm cable respectively; 1 pin of pressure sensor 1-6 is connected with 21 pin of mechanical arm cable, and 3 pin of pressure sensor 1-6 are connected with 22 pin of mechanical arm cable, and 2 pin of pressure sensor 1-6 are connected with 2,5,811,14,20 of mechanical arm cable respectively; 1 pin of potentiometer 1-7 is connected with 21 pin of mechanical arm cable, and 3 pin of potentiometer 1-7 are connected with 22 pin of mechanical arm cable, and 2 pin of potentiometer 1-7 are connected with 3,6,9,12,15,17,23 pin of mechanical arm cable respectively; 1,2 pin of electromagnetism are connected with 24,24 pin of mechanical arm cable respectively.
Referring to Fig. 6, executive program is the core of robot software's systematic order control, is the starting point of entire machine people software systems.It is operated in microprocessor II, is used to control the work of whole mechanical arm software systems, task such as system initialization, input and output read in, system state monitoring that it is mainly finished.Executive program just brings into operation after microprocessor II powers on automatically, has only when power supply disconnects, and is just out of service.It adopts the mechanism of cycle detection that the timing detection is carried out in each input port, comes sequential control and carries out the corresponding module function according to input control signal.
Referring to Fig. 7, in master-slave mode force feedback manipulator system, open the hydraulic pressure power supply after, main hand and must return to a definite correspondence position from hand just can carry out principal and subordinate's controlled motion.The mechanical arm controller is gathered joint position information, and sending to main hand controls, main hand controls corresponds to the position and attitude of mechanical arm automatically according to the positional information of main hand, from the difference driving moment motor of the positional information of hand, when difference was zero, correspondence was finished.
Concrete steps are as follows:
(1) potentiometer of described main hand is gathered the position signalling of main hand;
(2) potentiometer of described mechanical arm is gathered the position signalling of mechanical arm clamper, and this position signalling is sent to main hand controls by wireless sending module;
(3) main hand controls judges whether to receive the position signalling of mechanical arm, if receive, forwards step (4) to, if do not receive, continues to wait for;
(4) position signalling of the more main hand of main hand controls and the position signalling of mechanical arm if error is non-vanishing, then drive the torque-motor of main hand; If error is zero, then forward step (5) to;
(5) handheld device receives the information that main hand controls sends, and the handheld device end shows.
Referring to Fig. 8, master-slave mode force feedback manipulator control system software is divided into main end and from end two parts.The operator operates main hands movement, and main hand controls is gathered the positional information of main hand potentiometer and in real time positional information sent to the mechanical arm controller, and the mechanical arm controller is by following the tracks of the motion of finishing mechanical arm to the position of main hand; Mechanical arm also feeds back to main hand controls by radio communication by the detected positional information of potentiometer, the detected force information of pressure sensor in motion process on the other hand, main hand controls sends this information Moment Motor Controller driving moment motor again and sends to handheld terminal, for showing.
Concrete steps are as follows:
(1) the main hand controls of main end sends sign on, simultaneously from the pressure sensor and the potentiometer of the mechanical arm controller initialization mechanical arm of end;
(2) described main hand controls is created main hand position and is detected thread and described mechanical arm controller establishment clamper Position Control thread, forwards step (3) to; Thread is set described main hand controls establishment power and described mechanical arm controller establishment pressure is held power detection thread with adding, and forwards step (5) to;
(3) described main hand position detects thread and sends position command to main hand position detection and to the mechanical arm controller from end, and position probing constantly circulates;
(4) the mechanical arm controller from end receives main position signalling instruction of holding, the position of mechanical arm controller control clamper;
(5) pressure sensor of mechanical arm is gathered force signal, and sends to the mechanical arm controller, and described mechanical arm master controller sends to main hand controls by wireless communication module; Described main hand controls passes to torque-motor with force signal, and described torque-motor power output signal is given the operator, and main hand controls sends to handheld terminal with force signal.
Claims (6)
1. charged repairing robot master-slave mode hydraulic coupling feedback mechanical arm control system, comprise handheld terminal, embedded main hand controls and mechanical arm controller, it is characterized in that described handheld terminal comprises microprocessor I, it links to each other with embedded main hand controls with the man-machine interface unit respectively; Described embedded main hand controls comprises microprocessor II, it is connected with microprocessor I by serial ports, microprocessor II communicates by letter with A/D converter I by data/address bus, address bus, control bus, and A/D converter I is connected with the potentiometer of each joint of the master of robot hand; Microprocessor II also is connected by the torque-motor of motor driver with main each joint of hand; Microprocessor II is connected with wireless module I; Described mechanical arm controller comprises microprocessor III, and microprocessor III communicates by letter with wireless module I by wireless module II; Microprocessor III also is connected with A/D converter II with control bus by address bus, data/address bus simultaneously, and A/D converter II then is connected with the potentiometer of each joint of mechanical arm; Microprocessor III also is connected with D/A converter by data/address bus, clock bus simultaneously, D/A converter is connected with hydraulic amplifier, hydraulic amplifier is connected with some servo valves, and the oil inlet and oil return mouth of each servo valve is equipped with pressure sensor, and pressure sensor is connected with A/D converter II; Each servo valve is connected with corresponding hydraulic cylinder, and the hydraulic cylinder output shaft is connected with mechanical arm.
2. charged repairing as claimed in claim 1 robot master-slave mode hydraulic coupling feedback mechanical arm control system, it is characterized in that, described mechanical arm is 7 degree-of-freedom manipulators, and pressure sensor is measured the differential pressure of oil-in and oil return opening, reflects the size and Orientation of mechanical arm to environmental pressure; Hydraulic power source is provided with magnetic valve and is used for switch hydraulic source.
3. charged repairing as claimed in claim 1 robot master-slave mode hydraulic coupling feedback mechanical arm control system, it is characterized in that, described main hand is a 6DOF master hand, each joint rotating shaft place on it all has potentiometer, be with 5 torque motors, comprise waist revolution, big arm pitching, forearm pitching, wrist pitching, wrist nosing force torque motor.
4. charged repairing as claimed in claim 1 robot master-slave mode hydraulic coupling feedback mechanical arm control system, it is characterized in that, the microprocessor I of described handheld terminal is connected with serial ports by serial ports receiver transmitter MAX3232 chip, and microprocessor I also is connected with voltage stabilizing chip I, voltage stabilizing chip I I simultaneously; Microprocessor I is connected with the keyboard administration module with Liquid Crystal Module by logic level translator, and the keyboard administration module is connected with keyboard.
5. charged repairing as claimed in claim 1 robot master-slave mode hydraulic coupling feedback mechanical arm control system, it is characterized in that, the microprocessor II of described embedded main hand controls is connected with serial ports by MAX3232I, be connected with wireless module I by MAX3232II, be connected with motor drive module by motion-control module, motor drive module is connected with splicing ear I, and splicing ear I is connected with the light-coupled isolation module I through module I, and the light-coupled isolation module I is connected with microprocessor II; Microprocessor II is connected with the light-coupled isolation module ii, the light-coupled isolation module ii is connected with the O module, and the O module is connected with splicing ear II, and splicing ear II is connected with the A/D modular converter, the A/D modular converter is connected with multiplexer, and multiplexer is connected with microprocessor II.
6. charged repairing as claimed in claim 1 robot master-slave mode hydraulic coupling feedback mechanical arm control system is characterized in that the microprocessor III of described mechanical arm controller is connected with wireless module II by MAX3232III; Microprocessor III is connected with the servo valve amplifier by the D/A modular converter, and the servo valve amplifier is connected with the servo valve of mechanical arm; Microprocessor III is connected with the O module by the light-coupled isolation module, and the O module is connected with magnetic valve; Each pressure sensor of mechanical arm is connected with microprocessor III by A/D modular converter II; Each potentiometer of mechanical arm is connected with microprocessor III by A/D modular converter II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320046975 CN203077287U (en) | 2013-01-29 | 2013-01-29 | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320046975 CN203077287U (en) | 2013-01-29 | 2013-01-29 | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203077287U true CN203077287U (en) | 2013-07-24 |
Family
ID=48823159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320046975 Expired - Lifetime CN203077287U (en) | 2013-01-29 | 2013-01-29 | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203077287U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085054A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof |
| WO2014207299A1 (en) * | 2013-06-25 | 2014-12-31 | Tekno-Ants Oy | Method and guidance system for use of robot |
| CN104827458A (en) * | 2015-04-28 | 2015-08-12 | 山东鲁能智能技术有限公司 | System and method for controlling master and slave teleoperation of robot arm force reflecting telepresence |
| CN105234942A (en) * | 2015-11-02 | 2016-01-13 | 国网山东省电力公司电力科学研究院 | Control system and control method for heavy-weight hydraulic small boom |
| US9417944B2 (en) | 2011-10-05 | 2016-08-16 | Analog Devices, Inc. | Two-wire communication system for high-speed data and power distribution |
| US9772665B2 (en) | 2012-10-05 | 2017-09-26 | Analog Devices, Inc. | Power switching in a two-wire conductor system |
| CN107511826A (en) * | 2017-09-08 | 2017-12-26 | 国机智能技术研究院有限公司 | The control method and system of a kind of hydraulic robot |
| US9946679B2 (en) | 2011-10-05 | 2018-04-17 | Analog Devices, Inc. | Distributed audio coordination over a two-wire communication bus |
-
2013
- 2013-01-29 CN CN 201320046975 patent/CN203077287U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9417944B2 (en) | 2011-10-05 | 2016-08-16 | Analog Devices, Inc. | Two-wire communication system for high-speed data and power distribution |
| US10311010B2 (en) | 2011-10-05 | 2019-06-04 | Analog Devices, Inc. | Two-wire communication systems and applications |
| US9946679B2 (en) | 2011-10-05 | 2018-04-17 | Analog Devices, Inc. | Distributed audio coordination over a two-wire communication bus |
| US9875152B2 (en) | 2011-10-05 | 2018-01-23 | Analog Devices, Inc. | Methods for discovery, configuration, and coordinating data communications between master and slave devices in a communication system |
| US9772665B2 (en) | 2012-10-05 | 2017-09-26 | Analog Devices, Inc. | Power switching in a two-wire conductor system |
| US9946680B2 (en) | 2012-10-05 | 2018-04-17 | Analog Devices, Inc. | Peripheral device diagnostics and control over a two-wire communication bus |
| CN103085054B (en) * | 2013-01-29 | 2016-02-03 | 山东电力集团公司电力科学研究院 | Hot-line repair robot master-slave mode hydraulic coupling feedback mechanical arm control system and method |
| CN103085054A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof |
| WO2014207299A1 (en) * | 2013-06-25 | 2014-12-31 | Tekno-Ants Oy | Method and guidance system for use of robot |
| CN104827458A (en) * | 2015-04-28 | 2015-08-12 | 山东鲁能智能技术有限公司 | System and method for controlling master and slave teleoperation of robot arm force reflecting telepresence |
| CN105234942A (en) * | 2015-11-02 | 2016-01-13 | 国网山东省电力公司电力科学研究院 | Control system and control method for heavy-weight hydraulic small boom |
| CN105234942B (en) * | 2015-11-02 | 2018-08-10 | 国网山东省电力公司电力科学研究院 | The control system and its control method of the big prudent small arm of hydraulic pressure |
| CN107511826A (en) * | 2017-09-08 | 2017-12-26 | 国机智能技术研究院有限公司 | The control method and system of a kind of hydraulic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203077287U (en) | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot | |
| CN103085054B (en) | Hot-line repair robot master-slave mode hydraulic coupling feedback mechanical arm control system and method | |
| CN102615638B (en) | Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot | |
| CN104589367B (en) | Modularization robot driver based on EtherCAT and control method | |
| CN201689302U (en) | Integrated intelligent servo driver | |
| CN105700465A (en) | Robot compliance control system and method based on EtherCAT bus | |
| CN201903440U (en) | High-speed wind tunnel angle attacking control system | |
| CN203366073U (en) | A motion control system of a live working double-arm robot | |
| CN102402201A (en) | Multi-axis motion control system | |
| CN101396689B (en) | Three-dimensional glue spreading system and method | |
| CN102615646A (en) | Master-slave hydraulic mechanical arm controller | |
| CN204832853U (en) | Many interfaces motion control ware | |
| CN103488126A (en) | Multi-axis motion control system development platform | |
| CN103056883B (en) | Double-manipulator coordination control system and double-manipulator coordination control method | |
| CN108845543A (en) | A kind of four axis punching press feeding robot electric control systems | |
| CN203250190U (en) | Controller of industrial robot | |
| CN201754241U (en) | Embedded valve remote control device | |
| CN105171746A (en) | Robot dexterous hand driving module and control method | |
| CN103085055B (en) | Hot-line repair robot position feedback master system | |
| CN106292543A (en) | Multi-axis motion controller based on FPGA and application thereof | |
| CN202491238U (en) | Master-slave mode hydraulic mechanical arm system of high-pressure hot-line work robot | |
| CN102705085A (en) | Accelerator control device and engineering plant | |
| CN102183894A (en) | A bypass adapter and a rapid prototyping control method of an aeroengine based on the bypass adapter | |
| CN203228236U (en) | Manipulator positioning control system with remote monitoring function | |
| CN105373080A (en) | Collaborative numerical control system based on soft bus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee after: STATE GRID CORPORATION OF CHINA Patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee before: State Grid Corporation of China Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF SHANDONG ELECTRIC POWER Corp. |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Denomination of utility model: Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof Granted publication date: 20130724 License type: Exclusive License Record date: 20191014 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201106 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130724 |