CN203765628U - Manipulator control system for underwater operation - Google Patents
Manipulator control system for underwater operation Download PDFInfo
- Publication number
- CN203765628U CN203765628U CN201420082769.8U CN201420082769U CN203765628U CN 203765628 U CN203765628 U CN 203765628U CN 201420082769 U CN201420082769 U CN 201420082769U CN 203765628 U CN203765628 U CN 203765628U
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- control
- manipulator
- control chip
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- controller
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Abstract
The utility model relates to the technical field of automatic control devices, particularly to a manipulator control system for underwater operation. The manipulator control system comprises a cabin control component and an outboard control component, wherein the cabin control component comprises an operating handle, a first sensor and a main control chip sequentially connected; the main control chip is connected with a touch control PC; the outboard control component comprises a secondary control chip, an electric-hydraulic proportional regulating valve, an oil cylinder and a motor controller sequentially connected; the secondary control chip is connected with the main control chip; the oil cylinder and the motor controller are connected with a manipulator body; the oil cylinder and the motor controller control the swing or rotation of the manipulator body; a second sensor is mounted on the manipulator body. According to the utility model, the respective advantages of bang-bang control and master-slave control are combined, so that the manipulator can be operated through the operating handle and the touch control PC, and the changeability of the control ways is increased; the structure is simple, the safety and the accuracy of the manipulator are improved, and high practicality is realized.
Description
Technical field
The utility model relates to automaton technical field, especially a kind of Controller of Underwater Manipulator control system.
Background technology
Controller of Underwater Manipulator, it is in fact a kind of specialized robot, it is in order to replace the mankind to go some underwater operation tasks, especially in deep-sea detecting field, be widely used, because working environment is very severe, therefore, the control system of manipulator is had to higher requirement, to guarantee manipulator safety, to work accurately.
The control of existing Controller of Underwater Manipulator mainly adopts bang-bang control or master slave control mode.Bang-bang control refers to what the action in each joint of manipulator realized with console switch key, it relies on case or button to carry out point driving switch control to the operation of manipulator, it is simple in structure, with low cost, but can to the oil cylinder of executing agency on manipulator and motor, cause the impact of increasing like this, reduce the accuracy of manipulator operation.Master slave control refers to that two manipulators are by multicore cable or steel wire rope, make servo-actuated another manipulator of manipulator, it can realize the action of the various attitudes of manipulator quickly and easily, also avoided on & off switch operations a large amount of in bang-bang control operation, the accuracy of work is higher, but its system architecture is comparatively complicated, cause and control difficulty increase, also can cause to a certain extent between multitask and lag behind accordingly, the synchronism of control is poor, and cost is relatively high.
Utility model content
For above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide that a kind of control structure is simple, reliability is high, highly versatile, easy to use, the Controller of Underwater Manipulator control system that merges the advantage separately that has bang-bang control and master slave control.
To achieve these goals, the utility model adopts following technical scheme:
A kind of Controller of Underwater Manipulator control system, it comprises in cabin Control Component and Control Component out of my cabin, in described cabin, Control Component comprises successively the operating grip that connects and for monitoring first sensor and the main control chip of the operating grip anglec of rotation, described main control chip is also connected with touch-control PC;
Described Control Component out of my cabin comprise successively connect from control chip, electric-hydraulic proportion control valve and oil cylinder and motor controller, described from control chip connection main control chip, described oil cylinder and motor controller connect manipulator main body, and described oil cylinder and motor controller are controlled swing or the spinning movement of manipulator main body;
In described manipulator main body, be provided with from control chip be connected, for detection of the straight-line displacement of manipulator main body and the second sensor of angle displacement.
Preferably, described Control Component out of my cabin also comprises hydraulic pressure fuel feeding and recharging oil device, and described hydraulic pressure fuel feeding and recharging oil device are connected with oil cylinder and motor controller with electro-hydraulic proportional valve respectively.
Preferably, described main control chip is also connected with direct current supply module, described direct current supply module by main control chip to first sensor, power from control chip and electro-hydraulic proportional valve.
Preferably, described main control chip connects from control chip by RS-485 bus.
Preferably, described main control chip connects touch-control PC by RS-232-C bus.
Preferably, described main control chip and from control chip be 16 single-chip microcomputers of MSP430 type.
Owing to having adopted such scheme, the utility model has merged the advantage separately of bang-bang control and master slave control, using the control chips such as single-chip microcomputer as signal processor, using sensor as signal detection and closed loop feedback medium, using hydraulic pressure fuel feeding and recharging oil device and electro-hydraulic proportional valve as drive unit, using oil cylinder and the motor controller direct control system as manipulator main body action; Meanwhile, the operation that not only can carry out manipulator by operating grip also can utilize touch-control PC to operate, and has increased the changeability of control mode; The accuracy of security and work that it is simple in structure, improved manipulator, has very strong practicality.
Accompanying drawing explanation
Fig. 1 is the control principle drawing of the utility model embodiment.
The specific embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.
As shown in Figure 1, the Controller of Underwater Manipulator control system of the present embodiment, it comprises that the manipulator being used to out of my cabin provides Control Component in the cabin in control source and receives the control instruction of Control Component in cabin and the manual Control Component out of my cabin of work of direct control unit tool.
Wherein,
In cabin, Control Component comprises operating grip 1, first sensor 2 and the main control chip 3 connecting successively;
Operating grip 1 carries out manual manipulation for operating personnel;
First sensor 2 adopts angular transducers, in order to detect the anglec of rotation of operating grip 1 and by data information transfer to main control chip 3;
Main control chip 3 adopts 16 single-chip microcomputers of MSP430 type, is mainly responsible for all control signals and the collection of actual signal and the execution of order, as straight line and the angle controlled quentity controlled variable of the output required swing of manipulator and rotation;
For avoiding operating personnel's long-time operation operating grip 1, main control chip 3 is also connected with touch-control PC4 by RS-232-C bus simultaneously.
Out of my cabin Control Component comprise successively connect from control chip 5, electric-hydraulic proportion control valve 6 and oil cylinder and motor controller 7;
From control chip 5, adopt 16 single-chip microcomputers of MSP430 type, it is connected with main control chip 3 by RS-485 bus, its role is to: be used on the one hand quick obtaining manipulator at joint angles and the arm attitude information of operation process, and feed back to main control chip 3, the control signal information transmitting for receiving main control chip 3 on the other hand, as the switch controlling signal to electric-hydraulic proportion control valve 6, utilize from control chip 6 settling signal D/A and transform and drive 6 actions of electric-hydraulic proportion control valve;
Meanwhile, on oil cylinder and motor controller 7, also connect manipulator main body 8, the swing or the spinning movement that finally by oil cylinder and motor controller 7, complete manipulator main body 8 are controlled; In addition, in manipulator main body 8, be also provided with from control chip 5 that be connected, for detection of the straight-line displacement of manipulator main body and the second sensor 9 of angle displacement; So, when 8 action of manipulator main body, the motion change signal producing can detect feedback through the second sensor 9, be transmitted to from control chip 5 and obtain arm position and the attitude information of manipulator with this, by from control chip 5 for the closed-loop control of the gripper pose information such as displacement and angle ready.By the second sensor 9, can realize the closed-loop control of robot movement position, make up the deficiency that adopts bang-bang control, improve the precision of motion control, reduce the error of Position Control.
For rational driving electric-hydraulic proportion control valve 6, guarantee the normal flexible of oil cylinder and motor and rotate, Control Component also comprises hydraulic pressure fuel feeding and recharging oil device 10 out of my cabin, hydraulic pressure fuel feeding and recharging oil device 10 are connected with oil cylinder and motor controller 7 with electro-hydraulic proportional valve 6 respectively.
Simultaneously, main control chip 3 is also connected with direct current supply module 11, utilize direct current supply module 11 by main control chip 3 to first sensor 2, power from the power supply 6 of control chip 5 and electro-hydraulic proportional valve and other control systems, realize from cabin to the object of power supply out of my cabin.
The foregoing is only preferred embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (6)
1. a Controller of Underwater Manipulator control system, it comprises in cabin Control Component and Control Component out of my cabin, it is characterized in that:
In described cabin, Control Component comprises successively the operating grip that connects and for monitoring first sensor and the main control chip of the operating grip anglec of rotation, described main control chip is also connected with touch-control PC;
Described Control Component out of my cabin comprise successively connect from control chip, electric-hydraulic proportion control valve and oil cylinder and motor controller, described from control chip connection main control chip, described oil cylinder and motor controller connect manipulator main body, and described oil cylinder and motor controller are controlled swing or the spinning movement of manipulator main body;
In described manipulator main body, be provided with from control chip be connected, for detection of the straight-line displacement of manipulator main body and the second sensor of angle displacement.
2. a kind of Controller of Underwater Manipulator control system as claimed in claim 1, it is characterized in that: described Control Component out of my cabin also comprises hydraulic pressure fuel feeding and recharging oil device, described hydraulic pressure fuel feeding and recharging oil device are connected with oil cylinder and motor controller with electro-hydraulic proportional valve respectively.
3. a kind of Controller of Underwater Manipulator control system as claimed in claim 2, is characterized in that: described main control chip is also connected with direct current supply module, described direct current supply module by main control chip to first sensor, power from control chip and electro-hydraulic proportional valve.
4. a kind of Controller of Underwater Manipulator control system as described in any one in claim 1-3, is characterized in that: described main control chip connects from control chip by RS-485 bus.
5. a kind of Controller of Underwater Manipulator control system as claimed in claim 4, is characterized in that: described main control chip connects touch-control PC by RS-232-C bus.
6. a kind of Controller of Underwater Manipulator control system as claimed in claim 5, is characterized in that: described main control chip and be 16 single-chip microcomputers of MSP430 type from control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420082769.8U CN203765628U (en) | 2014-02-26 | 2014-02-26 | Manipulator control system for underwater operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420082769.8U CN203765628U (en) | 2014-02-26 | 2014-02-26 | Manipulator control system for underwater operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203765628U true CN203765628U (en) | 2014-08-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420082769.8U Expired - Fee Related CN203765628U (en) | 2014-02-26 | 2014-02-26 | Manipulator control system for underwater operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203765628U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953350A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | It is a kind of to be used to detect the underwater robot control system with operation |
| CN107957727A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | Underwater robot control system and dynamic localization method |
-
2014
- 2014-02-26 CN CN201420082769.8U patent/CN203765628U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953350A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | It is a kind of to be used to detect the underwater robot control system with operation |
| CN107957727A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | Underwater robot control system and dynamic localization method |
| CN107957727B (en) * | 2016-10-17 | 2020-04-14 | 江苏舾普泰克自动化科技有限公司 | Underwater robot control system and dynamic positioning method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140813 Termination date: 20150226 |
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| EXPY | Termination of patent right or utility model |