WO2023173976A1 - Manipulateur de machinerie d'ingénierie hydraulique - Google Patents

Manipulateur de machinerie d'ingénierie hydraulique Download PDF

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Publication number
WO2023173976A1
WO2023173976A1 PCT/CN2023/075795 CN2023075795W WO2023173976A1 WO 2023173976 A1 WO2023173976 A1 WO 2023173976A1 CN 2023075795 W CN2023075795 W CN 2023075795W WO 2023173976 A1 WO2023173976 A1 WO 2023173976A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
forearm
hydraulic engineering
engineering machine
sensor
Prior art date
Application number
PCT/CN2023/075795
Other languages
English (en)
Chinese (zh)
Inventor
徐航
Original Assignee
宿州赛尔沃德物联网科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 宿州赛尔沃德物联网科技有限公司 filed Critical 宿州赛尔沃德物联网科技有限公司
Publication of WO2023173976A1 publication Critical patent/WO2023173976A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/16—Cabins, platforms, or the like, for drivers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives

Definitions

  • the invention discloses a hydraulic engineering machinery controller, which belongs to the technical field of hydraulic control.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a grab switch is provided on the handle to control the mechanical grab cylinder at the end of the bionic engineering machine.
  • 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.
  • 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.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of the present invention (corresponding to a bionic engineering machine);
  • FIG. 2 is a schematic diagram of operator control in Embodiment 1 of the present invention.
  • FIG. 3 is a schematic structural diagram of the bionic engineering machine controlled in Embodiment 1 of the present invention.
  • FIG. 4 is a schematic structural diagram of Embodiment 2 of the present invention (corresponding to an ordinary excavator);
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a hydraulic engineering machinery controller as shown in Figure 4 corresponds to the hydraulic engineering machine in Figure 6.
  • the arm structure is designed to imitate the control skeleton of the excavator structure.
  • 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.
  • 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.
  • the controller can be slid to the right side of the seat and locked.
  • the controller 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.
  • 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.
  • the present invention is easy to operate, flexible, and quick to use.
  • some relatively simple construction machinery such as excavators, disabled people with only one hand can operate it.
  • Hydraulic construction machines with robotic arms can be operated freely by ordinary people with able-bodied limbs.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un manipulateur de machinerie d'ingénierie hydraulique comprenant un dispositif de commande de système et un squelette de manipulation. Une pluralité de capteurs est disposée sur le squelette de manipulation pour correspondre respectivement à différents cylindres d'une machine d'ingénierie hydraulique ; des potentiomètres rotatifs sont disposés sur le squelette de manipulation pour correspondre à des joints rotatifs de la machine d'ingénierie hydraulique ; des bras humains portent le squelette de manipulation et la pluralité de capteurs est entraînée au moyen de mouvements des bras humains ; le dispositif de commande de système commande, en fonction des positions des capteurs, la quantité d'entrée d'huile de chaque cylindre correspondant en temps réel et commande la pluralité de cylindres de la machine d'ingénierie hydraulique pour qu'ils agissent en même temps ; un capteur d'écoulement est disposé entre un tuyau d'entrée d'huile ou un tuyau de sortie d'huile de chaque cylindre de la machine d'ingénierie hydraulique et une soupape électromagnétique pour réaliser une rétroaction de position du cylindre pour commander un mouvement précis de chaque cylindre. La présente invention présente un fonctionnement simple, pratique et flexible et un apprentissage facile ; une personne handicapée n'ayant qu'une seule main peut également opérer une machine d'ingénierie simple et une personne sans handicap peut opérer librement une machine d'ingénierie hydraulique présentant de nombreux joints ou une machine d'ingénierie hydraulique nécessitant une coopération à double bras mécanique.
PCT/CN2023/075795 2022-03-18 2023-02-14 Manipulateur de machinerie d'ingénierie hydraulique WO2023173976A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210266828.6 2022-03-18
CN202210266828.6A CN114370083B (zh) 2022-03-18 2022-03-18 一种液压工程机械操控器

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WO2023173976A1 true WO2023173976A1 (fr) 2023-09-21

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114370083B (zh) * 2022-03-18 2023-03-24 宿州赛尔沃德物联网科技有限公司 一种液压工程机械操控器

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JP2003176553A (ja) * 2001-12-07 2003-06-24 Hitachi Constr Mach Co Ltd 建設機械の操作装置
CN205712244U (zh) * 2015-11-05 2016-11-23 斗山工程机械（中国）有限公司 一种挖掘机动作控制系统和挖掘机
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CN113199458A (zh) * 2021-05-13 2021-08-03 宿州赛尔沃德物联网科技有限公司 一种用于随动控制的穿戴式机器人控制器
CN114370083A (zh) * 2022-03-18 2022-04-19 宿州赛尔沃德物联网科技有限公司 一种液压工程机械操控器

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003176553A (ja) * 2001-12-07 2003-06-24 Hitachi Constr Mach Co Ltd 建設機械の操作装置
CN205712244U (zh) * 2015-11-05 2016-11-23 斗山工程机械（中国）有限公司 一种挖掘机动作控制系统和挖掘机
CN110039518A (zh) * 2019-03-21 2019-07-23 北京精密机电控制设备研究所 一种上肢机电助力搬抬托举外骨骼机器人
KR102237661B1 (ko) * 2021-01-28 2021-04-08 김태형 로봇 제어를 위한 착용형 리모트 컨트롤러
CN113199458A (zh) * 2021-05-13 2021-08-03 宿州赛尔沃德物联网科技有限公司 一种用于随动控制的穿戴式机器人控制器
CN114370083A (zh) * 2022-03-18 2022-04-19 宿州赛尔沃德物联网科技有限公司 一种液压工程机械操控器

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