Master-slave hydraulic mechanical arm controller

A hydraulic machinery and controller technology, applied in the field of master-slave hydraulic mechanical arm controllers, can solve problems such as low precision, poor operational flexibility, and difficult control procedures, and achieve high-voltage insulation, stable and reliable performance, and flexible and convenient operation Effect

CN102615646AActive Publication Date: 2012-08-01STATE GRID INTELLIGENCE TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2012-08-01

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Abstract

The invention relates to a master-slave hydraulic mechanical arm controller. A handheld terminal of the master-slave hydraulic mechanical arm controller comprises a microprocessor I which is respectively connected with a man-machine interface unit and an embedded master-hand controller, wherein the embedded master-hand controller comprises a microprocessor II which is respectively connected with the microprocessor I, an A / D (Analog to Digital) converter I and a serial to fiber module; and the A / D converter I is connected with a plurality of potentiometers (at each joint motion axis) of the main hand. The mechanical arm controller also comprises a microprocessor III which is respectively connected with an A / D converter II, a D / A (Digital to Analog) converter and an electromagnetic valve; and the microprocessor III is communicated with the serial to fiber module through a fiber to serial module; the A / D converter II is connected with a plurality of potentiometers (at each joint motion axis) on the mechanical arm; the D / A converter is connected with a hydraulic amplifier, a plurality of servo valves and a corresponding hydraulic cylinder; and the output shaft of the hydraulic cylinder is connected with the mechanical arm. The master-slave hydraulic mechanical arm controller has the advantages of high processing speed, low cost and stable and reliable performance.
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Description

Technical field:

[0001] The invention relates to a robot control technology, in particular to a master-slave hydraulic mechanical arm controller. Background technique:

[0002] In order to improve the automation level and safety of live work, reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to operators, many countries have carried out research on live work robots since the 1980s, such as Japan, Spain, the United States, Canada, France and other countries have successively carried out research on live working robots. In 2002, my country also carried out the development of a prototype of a high-voltage live working robot.

[0003] At present, there are three main driving modes of the mechanical arm: pneumatic drive, hydraulic drive and motor drive. Disadvantages of pneumatically driven manipulators: large gas compressibility, low precision, poor damping effect, difficult to control at low speed, difficult to achieve servo cont...

Examples

Embodiment Construction

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] see figure 1 , a master-slave hydraulic manipulator controller, including a connected hand-held terminal 1, an embedded master hand controller 2 and a manipulator controller 3, the hand-held terminal 1 includes a microprocessor I11, and the microprocessor I11 is respectively Link to each other with the microprocessor II21 of man-machine interface unit and master controller 2; Described master controller 2 comprises microprocessor II21, and microprocessor II21 is connected with A / D converter I23, serial port to optical fiber module 22 respectively; A / D converter I21 is connected with the potentiometer 24 of main hand; Microprocessor III301 of mechanical arm controller 3 is connected with A / D converter II304, D / A converter 305, electromagnetic valve 303 respectively; A / D converter II304 is connected with the potentiometer 306 of the mechanical ar...