WO2023173976A1

WO2023173976A1 - Hydraulic engineering machinery manipulator

Info

Publication number: WO2023173976A1
Application number: PCT/CN2023/075795
Authority: WO
Inventors: 徐航
Original assignee: 宿州赛尔沃德物联网科技有限公司
Priority date: 2022-03-18
Filing date: 2023-02-14
Publication date: 2023-09-21
Also published as: CN114370083A; CN114370083B

Abstract

The present invention provides a hydraulic engineering machinery manipulator, comprising a system controller and a manipulation skeleton. A plurality of sensors are provided on the manipulation skeleton to respectively correspond to different cylinders of a hydraulic engineering machine; rotary potentiometers are provided on the manipulation skeleton to correspond to rotary joints of the hydraulic engineering machine; human arms wear the manipulation skeleton, and the plurality of sensors are driven by means of movements of the human arms; the system controller controls, according to positions of the sensors, the oil inlet amount of each corresponding cylinder in real time, and controls the plurality of cylinders of the hydraulic engineering machine to act at the same time; a flow sensor is provided between an oil inlet pipe or an oil outlet pipe of each cylinder of the hydraulic engineering machine and an electromagnetic valve to perform position feedback of the cylinder to control accurate movement of each cylinder. The present invention is simple, convenient, and flexible to operate and quick to learn; for some simple engineering machinery, a disabled person having only one hand can also operate, and for a hydraulic engineering machine having many joints or a hydraulic engineering machine needing double-mechanical-arm cooperation, an able-bodied normal person can freely operate.

Description

A hydraulic engineering machinery controller

Technical field

The invention discloses a hydraulic engineering machinery controller, which belongs to the technical field of hydraulic control.

Background technique

Existing hydraulic engineering machinery is mainly controlled by gear levers, with multiple gear levers operating different functions.

technical problem

Multiple gear levers operate different functions, requiring the operator to memorize the function of each gear lever and to cooperate with both hands. For operators, it takes a long time of practice to complete complex and precise operations. If you are a disabled person with one missing arm, you will lose one job opportunity. Once the moving joints of construction machinery increase or the two arms of the robotic arm need to work together, the hands of able-bodied people will not be enough. These problems all illustrate that the existing Gear lever manipulation is not a good approach.

Technical solutions

A hydraulic engineering machinery controller includes a system controller and a control skeleton. The control skeleton is constructed based on the mechanical arm structure of the hydraulic engineering machine. Several sensors are set on the control frame to correspond to different oil cylinders of the hydraulic engineering machine. Two of each sensor The movement extreme positions respectively correspond to the extreme positions of the hydraulic engineering machine's oil cylinders. A rotary potentiometer is set on the control frame to correspond to the rotating joint of the hydraulic engineering machine. The human arm wears the control frame, and the movement of the human arm drives multiple sensors at the same time. The system controller The sensor position controls the oil inlet volume of each corresponding cylinder in real time, and controls the simultaneous action of multiple cylinders of the hydraulic engineering machine. A flow sensor is installed between the oil inlet pipe or oil outlet pipe of each cylinder of the hydraulic engineering machine and the solenoid valve, or a flow sensor is installed between the oil cylinder and the solenoid valve. A cylinder stroke sensor is installed on the machine as a position feedback of the cylinder to control the precise movement of each cylinder.

Further, the hydraulic engineering machine controller also includes a back chair for the operator to rely on. The headrest is plugged into the back chair and fixed by adjusting bolts. The control skeleton is installed on one or both sides of the headrest; or the control skeleton is installed. On one or both sides of the seat of a wingback chair.

Further, the control frame includes a shoulder base, a big arm frame, a forearm frame, a forearm front frame, a big arm displacement sensor, a forearm displacement sensor, a big arm spin angle sensor, a forearm spin angle sensor, a handle, and The switch button, the shoulder base, the big arm frame, and the forearm frame are articulated in sequence. The shoulder base and the big arm frame are pulled by the big arm displacement sensor, the big arm frame and the forearm frame are pulled by the forearm displacement sensor, and the big arm spin angle sensor is installed. In the pipe frame, one end of the forearm frame is rotatably connected to one end of the forearm frame by a hollow ring. The handle is hinged at the other end of the forearm frame. The hinge axis is located at the operator's wrist, which facilitates wrist swing and rotation with the hollow ring. The central axis of the surface is vertical, and the rotation axis of the forearm front frame corresponds to the spin axis of the operator's forearm. The operator's arm passes through the hollow ring to hold the handle; one end of the wrist displacement sensor is installed on the forearm front frame, and the other end Installed on the side where the handle connects to the front frame of the forearm.

Further, the control frame includes a shoulder base, a big arm frame, a forearm frame, a big arm displacement sensor, a forearm displacement sensor, a big arm spin angle sensor, a forearm spin angle sensor, a handle and a switch button. The shoulder seat , the big arm frame, and the forearm frame are articulated in sequence. The big arm rotation angle sensor is connected to the shoulder seat and the base. The front end of the forearm frame is rotated and connected to the forearm bend rod, and is locked by a locking nut. The other end of the forearm bend rod rotates. Connect the sliding rod, and the lower end of the sliding rod is fixed with the forearm rotation angle sensor. The forearm rotation angle sensor is a single-turn angle sensor. The handle is rotationally connected to the lower end of the sliding rod and directly drives the single-turn angle sensor.

Further, the system controller calculates the actual stroke of the oil cylinder based on the effective cross-sectional area of the oil cylinder corresponding to each flow sensor on the hydraulic engineering machine and the measured actual oil volume; and compares the stroke of the sensor on the control frame with the stroke corresponding to the hydraulic engineering machine. The stroke of the oil cylinder forms a corresponding action relationship, and the system controller controls the movement of the oil cylinder in real time based on the displacement data of the sensor on the control frame to realize the stroke of the mechanical arm of the hydraulic engineering machine; or a displacement sensor is installed on the oil cylinder of the hydraulic engineering machine as a position feedback signal, and the system controls The controller performs closed-loop control by comparing the displacement sensor signal on the oil cylinder with the displacement sensor on the control frame.

Furthermore, an external ring gear is provided on the forearm front frame close to the forearm frame, a single-turn angle sensor or a multi-turn angle sensor is installed on the forearm frame, and a pinion is set on the sensor shaft, which is connected to the forearm front frame. The external ring gear meshes. When a person holds the handle and spins, it will drive the pinion on the multi-turn angle sensor to rotate, thereby collecting the spin angle of the human arm, and controlling the oil flow and direction of the corresponding hydraulic motor on the hydraulic engineering machine through the system controller. Control the front end of the mechanical arm of the hydraulic engineering machine to rotate at the corresponding angle.

Furthermore, a brake is provided at the joint of the control skeleton, and a brake release switch is provided on the control handle. Press and hold the brake release switch to release the brake. The arm drives the skeleton to move flexibly, and the brake is released to release the movement. switch, the control skeleton joints are locked by the brake, the control skeleton maintains a fixed posture, and the hydraulic engineering machine connected to it maintains a corresponding fixed posture.

Furthermore, a grab switch is provided on the handle to control the mechanical grab cylinder at the end of the bionic engineering machine.

Further, the system controller calculates and simulates the attitude of the engineering machine model based on the oil quantity sensor or the oil cylinder stroke sensor, and then calculates and simulates the attitude of the control skeleton model based on the control end displacement sensor data, and displays the three-dimensional or two-dimensional model on the display screen. It will be displayed to the user in real time, and the two postures will be compared in real time. When the system detects that the posture of the engineering machine model is inconsistent with the posture of the control skeleton model, it will trigger the alarm switch and stop the actuator action. The user needs to start the limit position comparison reset. Continue execution.

beneficial effects

It is easy to operate, flexible and quick to get started. For some relatively simple construction machinery such as excavators, people with disabilities with only one hand can operate it. For hydraulic construction machines with many joints or those that require the cooperation of two manipulators, people with sound limbs can operate them. Ordinary people can operate it freely.

Description of the drawings

Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention (corresponding to a bionic engineering machine);

Figure 2 is a schematic diagram of operator control in Embodiment 1 of the present invention;

Figure 3 is a schematic structural diagram of the bionic engineering machine controlled in Embodiment 1 of the present invention;

Figure 4 is a schematic structural diagram of Embodiment 2 of the present invention (corresponding to an ordinary excavator);

Figure 5 is a schematic diagram of the excavator type control according to Embodiment 2 of the present invention;

Figure 6 is a schematic structural diagram of an excavator according to Embodiment 2 of the present invention.

In the picture: 1. Backrest chair, 2. Forearm frame, 3. Forearm rotation angle sensor, 4. Big arm frame, 5. Forearm displacement sensor, 6. Big arm displacement sensor, 7. Brake, 8. Shoulder seat, 9. Big arm rotation angle sensor, 10. Pipe frame, 11. Headrest, 12. Pinion, 13. Forearm front frame, 14. Grab switch, 15. Brake release switch, 16. Handle, 17. Wrist displacement sensor, 18. Mechanical gripper cylinder; 23. Base, 24. Slide rod, 25. Forearm bending rod, 26. Locking nut.

Best Mode of Carrying Out the Invention

A hydraulic engineering machinery controller as shown in Figure 1 corresponds to the bionic engineering machine in Figure 3. A reduced model skeleton designed based on the dual manipulator structure of the bionic engineering machine is used as the control skeleton.

As shown in Figures 1 and 2, the hydraulic engineering machine controller includes a backrest chair 1 for the operator to rely on. The headrest 11 is plugged into the backrest chair 1 and fixed by adjusting bolts. The control skeleton is installed on both sides of the headrest 11; the backrest The chair 1 puts the operator in a comfortable and stable sitting position. The headrest 11 can be adjusted up and down. The headrest 11 drives the control frame to be adjusted up and down to adapt to different body types of operators.

The control frame includes a shoulder seat 8, a big arm frame 4, a forearm frame 2, a forearm front frame 13, a big arm displacement sensor 6, a forearm displacement sensor 5, a big arm spin angle sensor 9, and a forearm spin angle. Sensor 3, handle 16 and switch button, shoulder seat 8, big arm frame 4, and forearm frame 2 are articulated in sequence. The arm rotation angle sensor 9 is installed between the shoulder seat 8 and the pipe frame 10, and the other end of the pipe frame 10 is connected Headrest. The shoulder seat 8 and the big arm frame 4 are pulled by corresponding linear displacement sensors. The big arm frame 4 and the forearm frame 2 are pulled by corresponding linear sensors. One end of the forearm front frame 13 and the other end of the forearm frame 2 are connected by a hollow ring. The handle 16 is hinged at the other end of the forearm front frame 13 and is parallel to the central axis of the hollow ring's rotation surface. The rotation axis corresponds to the spin axis of the operator's forearm, and the operator's arm passes through the hollow ring to hold the handle 16; One end of the wrist displacement sensor 17 is installed on the forearm front frame 13, and the other end is installed on one side of the connection end between the handle 16 and the forearm front frame 13.

An external ring gear is provided on the forearm front frame 13 close to the forearm frame 2. A multi-turn angle sensor is installed on the forearm frame 2. A pinion gear 12 is set on the sensor shaft and meshes with the external ring gear of the forearm front frame 13. When holding the handle and spinning, it will drive the pinion 12 on the multi-turn angle sensor to rotate, thereby collecting the spin angle of the human arm, and controlling the oil flow and direction of the corresponding hydraulic motor on the hydraulic engineering machine through the system controller to control the hydraulic engineering machine machinery. The front end of the arm realizes rotation at the corresponding angle.

A brake 7 is provided at the joint of the control skeleton. A brake release switch 15 is provided on the control handle 16. Press and hold the brake release switch 15 to release the brake. The arm drives the skeleton to move flexibly. Release the brake release switch 15. , the control skeleton joints are locked by the brake, the control skeleton maintains a fixed posture, and the bionic engineering machine connected to it maintains a corresponding fixed posture.

A grab switch 14 is provided on the handle 16 to control the mechanical grab cylinder 18 at the end of the bionic engineering machine.

These sensors set on the control skeleton correspond to different cylinders of the bionic engineering machine respectively. The two movement limit positions of each sensor correspond to the limit positions of the hydraulic engineering machine cylinders. A rotary potentiometer is set on the control frame to correspond to the rotation of the hydraulic engineering machine. Joints, two arms of the human body are worn to control the skeleton, and the movement of the human arms drives multiple sensors at the same time. The system controller controls the oil inlet volume of each cylinder in real time based on the sensor position. In the oil inlet pipe or pipe of each cylinder of the hydraulic engineering machine A flow sensor is installed between the oil outlet pipe and the solenoid valve as a position feedback of the oil cylinder, thereby controlling the precise movement of each oil cylinder in real time and controlling the simultaneous action of multiple oil cylinders of the hydraulic engineering machine.

The system controller calculates the actual stroke of the cylinder based on the effective cross-sectional area of the cylinder corresponding to each flow sensor on the bionic engineering machine and the measured actual oil volume; it forms a corresponding action between the stroke of the sensor on the control frame and the corresponding cylinder stroke of the hydraulic engineering machine. Relationship, the system controller controls the movement of the oil cylinder in real time based on the displacement data of the sensor on the control skeleton to realize the stroke of the bionic engineering machine's mechanical arm; or a displacement sensor is installed on the oil cylinder of the bionic engineering machine. As a position feedback signal, the system controller passes the The displacement sensor signal is compared with the displacement sensor on the control frame for closed-loop control.

The system controller calculates and simulates the attitude of the engineering machine model based on the oil quantity sensor or cylinder stroke sensor, and then calculates and simulates the attitude of the control skeleton model based on the control end displacement sensor data, and displays the three-dimensional or two-dimensional model to the user in real time on the display screen. , and compare the two postures in real time. When the system detects that the posture of the engineering machine model is inconsistent with the posture of the control skeleton model, it will trigger the alarm switch and stop the actuator action. The user needs to start the limit position comparison reset before continuing the execution.

Embodiments of the invention

A hydraulic engineering machinery controller as shown in Figure 4 corresponds to the hydraulic engineering machine in Figure 6. For the excavator and other models with a rotating bucket with such a simple motion structure in Figure 6, according to the mechanical structure of the engineering machine The arm structure is designed to imitate the control skeleton of the excavator structure.

As shown in Figures 4 and 5, the hydraulic engineering machine controller includes a back chair 1 for the operator to lean on. The headrest 11 is plugged into the back chair 1 and fixed by adjusting bolts. The control frame is installed on the back chair through the base 23. On one side of the seat; the backrest chair 1 puts the operator in a comfortable and stable sitting position, and the headrest 11 can be adjusted up and down to adapt to the body shape of different operators.

There is a bracket with a slide or guide rail on the seat. For right-handed operators, the controller can be slid to the right side of the seat and locked. For left-handed operators, it can be installed in a mirror image.

The control frame includes a shoulder seat 8, a big arm frame 4, a forearm frame 2, a big arm displacement sensor 6, a forearm displacement sensor 5, a big arm rotation angle sensor 9, a forearm rotation angle sensor 3, a handle 16 and The switch button, the shoulder base 8, the big arm frame 4, and the forearm frame 2 are hinged in sequence, and the big arm rotation angle sensor 9 is installed between the shoulder base 8 and the base 23. The front end of the forearm frame 2 is rotatably connected to the forearm bending rod 25 and is locked by a locking nut 26. The other end of the forearm bending rod 25 is rotatably connected to the sliding rod 24. The lower end of the sliding rod 24 is fixed with the forearm rotation angle sensor 3. The forearm The spin angle sensor 3 is a single-turn angle sensor, and the handle 16 is rotationally connected to the lower end of the slide rod 24 to directly drive the single-turn angle sensor.

The shoulder seat 8 and the big arm frame 4 are pulled by corresponding linear displacement sensors. The big arm frame 4 and the forearm frame 2 are pulled by corresponding linear sensors. The handle 16 is directly connected to the single-turn angle sensor, and the operator holds the handle 16 for control. The operator holds the handle 16 and swings the wrist to drive the movement of the single-turn angle sensor. The system controller controls the movement of the wrist cylinder of the hydraulic engineering machine based on the signal of this sensor to drive the movement of the bucket connected to the wrist of the robotic arm.

As an expanded design of Embodiment 1, remote operations are realized through the Internet of Things platform or a one-to-one remote connection module in conjunction with VR glasses.

Industrial applicability

It can be seen from the above embodiments that the present invention is easy to operate, flexible, and quick to use. For some relatively simple construction machinery such as excavators, disabled people with only one hand can operate it. For hydraulic construction machines with many joints or requiring both hands, Hydraulic construction machines with robotic arms can be operated freely by ordinary people with able-bodied limbs.

Sequence Listing Free Content

Type the sequence listing free content description paragraph here.

Claims

A hydraulic engineering machinery controller, which is characterized by: including a system controller and a control skeleton. The control skeleton is constructed according to the mechanical arm structure of the hydraulic engineering machine. Several sensors are provided on the control frame to correspond to different oil cylinders of the hydraulic engineering machine. Each The two movement extreme positions of the sensor correspond to the extreme positions of the hydraulic engineering machine's cylinder respectively. A rotary potentiometer is set on the control frame to correspond to the rotating joint of the hydraulic engineering machine. The human arm wears the control frame and drives multiple sensors at the same time through the movement of the human arm. The system controller controls the oil inlet volume of each corresponding cylinder in real time according to the sensor position, controls the simultaneous action of multiple cylinders of the hydraulic engineering machine, and sets the flow rate between the oil inlet pipe or oil outlet pipe of each oil cylinder of the hydraulic engineering machine and the solenoid valve. Sensor or cylinder stroke sensor is installed on the oil cylinder, which serves as position feedback of the oil cylinder and controls the precise movement of each oil cylinder. It also includes a back chair for the operator to rely on. The headrest is plugged into the back chair and fixed by adjusting bolts to control the installation of the skeleton. On one side or both sides of the headrest; or the control frame is installed on one side or both sides of the seat of the backrest chair.
The hydraulic engineering machinery controller according to claim 1, characterized in that: the control frame includes a shoulder seat, a big arm frame, a small arm frame, a small arm front frame, a large arm displacement sensor, a small arm displacement sensor, a large arm Spin angle sensor, forearm spin angle sensor, handle and switch button. The shoulder base, big arm frame, and forearm frame are articulated in sequence. The shoulder base and the big arm frame are pulled by the big arm displacement sensor, and the big arm frame and the forearm frame are It is pulled by the forearm displacement sensor, and the big arm spin angle sensor is installed in the pipe frame. One end of the forearm front frame is rotatably connected to one end of the forearm frame by a hollow ring. The handle is hinged on the other end of the forearm front frame. The hinge axis is located at the operating position. The operator's wrist position is convenient for wrist swing and is perpendicular to the central axis of the hollow ring's rotation surface. The rotation axis of the forearm's front frame corresponds to the spin axis of the operator's forearm. The operator's arm passes through the hollow ring to hold the handle; One end of the displacement sensor is installed on the front frame of the forearm, and the other end is installed on one side of the connection end between the handle and the front frame of the forearm.
The hydraulic engineering machinery controller according to claim 1, characterized in that: the control frame includes a shoulder base, a big arm frame, a small arm frame, a big arm displacement sensor, a small arm displacement sensor, and a big arm spin angle sensor. The forearm rotation angle sensor, handle and switch button, the shoulder base, the big arm frame, and the forearm frame are articulated in sequence, the big arm rotation angle sensor is connected to the shoulder base and the base, the front end of the forearm frame is rotated and connected to the forearm curved rod, and Locked by the locking nut, the other end of the forearm curved rod is connected to the sliding rod by rotation. The lower end of the sliding rod is fixed with the forearm rotation angle sensor. The forearm rotation angle sensor is a single-turn angle sensor. The handle is rotationally connected to the lower end of the sliding rod, directly Drive single turn angle sensor.
The hydraulic engineering machinery controller according to claim 2, characterized in that: an external ring gear is provided on the front frame of the forearm close to the forearm frame, a multi-turn angle sensor is installed on the forearm frame, and a small angle sensor is installed on the sensor shaft. The gear meshes with the external ring gear of the front frame of the forearm. When a person holds the handle and spins the forearm, it will drive the pinion on the multi-turn angle sensor to rotate, thereby collecting the spin angle of the human arm and controlling the hydraulic engineering machine through the system controller. Corresponding to the oil flow and direction of the hydraulic motor, the front end of the mechanical arm of the hydraulic engineering machine is controlled to rotate at the corresponding angle.
The hydraulic engineering machinery controller according to claim 2, characterized in that: a brake is provided at the joint of the control frame, a brake release switch is provided on the control handle, and the brake release switch is pressed to release the brake. , the arm drives the skeleton to move flexibly, release the brake release switch, the joints of the control skeleton are locked by the brake, the control skeleton maintains a fixed posture, and the hydraulic engineering machine connected to it maintains a corresponding fixed posture.
The hydraulic engineering machine controller according to claim 2, characterized in that: a grab switch is provided on the handle to control the mechanical grab cylinder at the end of the bionic engineering machine.
The hydraulic engineering machine controller according to claim 1, characterized in that: the system controller calculates the actual stroke of the oil cylinder based on the effective cross-sectional area of the oil cylinder corresponding to each flow sensor on the hydraulic engineering machine and the measured actual working oil amount. ; Form a corresponding action relationship between the stroke of the sensor on the control frame and the corresponding oil cylinder stroke of the hydraulic engineering machine. The system controller controls the movement of the oil cylinder in real time based on the displacement data of the sensor on the control frame to realize the stroke of the mechanical arm of the hydraulic engineering machine; or hydraulic engineering machine A displacement sensor is installed on the oil cylinder. As a position feedback signal, the system controller performs closed-loop control by comparing the displacement sensor signal on the oil cylinder with the displacement sensor on the control frame.
The hydraulic engineering machinery controller according to claim 1, characterized in that: the system controller calculates and simulates the attitude of the engineering machine model based on the oil quantity sensor or the oil cylinder stroke sensor, and then calculates and simulates the attitude of the engineering machine model based on the control end displacement sensor data. The posture of the control skeleton model is displayed to the user in real time on the display screen as a three-dimensional or two-dimensional model, and the two postures are compared in real time. When the system detects that the posture of the engineering machine model is inconsistent with the posture of the control skeleton model, the alarm switch will be triggered and To stop the actuator action, the user needs to start the limit position comparison reset before the execution can continue.