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Modularized hydraulic mechanical arm experimental platform and method based on interaction of virtual and reality

A technology of hydraulic machinery and experimental platform, which is applied in simulators, instruments, control/regulation systems, etc., can solve the problems of lack of hydraulic experimental platform and complex composition of hydraulic manipulator system, and achieve dynamic test conditions, cost saving, and strong The effect of scaling performance

Inactive Publication Date: 2014-08-20
SHANDONG JIANZHU UNIV
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Problems solved by technology

Due to the complex system composition and the lack of a powerful hydraulic test platform, the hydraulic manipulator is rarely used in the world, but some special occasions have a certain demand for the hydraulic manipulator

Method used

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  • Modularized hydraulic mechanical arm experimental platform and method based on interaction of virtual and reality
  • Modularized hydraulic mechanical arm experimental platform and method based on interaction of virtual and reality
  • Modularized hydraulic mechanical arm experimental platform and method based on interaction of virtual and reality

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Embodiment Construction

[0044] The present invention is described in detail below in conjunction with accompanying drawing:

[0045] Such as figure 1 As shown, the touch screen computer 1 is connected to the embedded industrial control computer 2, and the embedded industrial control computer 2 is connected to the motion controller 4 through the Ethernet 3. The industrial computer is the running platform of the main control program, and the touch flat console is used to display the main control The system interface is the window of human-computer interaction, such as figure 2 Shown includes a virtual simulated manipulator dynamic display area 15, a virtual measured manipulator dynamic display area 16, kinematics forward and reverse solution analysis windows 17, 18, a joint working state display area 19, a manipulator end pose display area 20 and a system control District 21 seven parts. The user inputs the motion parameters of each joint, calculates the theoretical end pose of the manipulator throu...

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Abstract

The invention discloses a modularized hydraulic mechanical arm experimental platform and method based on interaction of virtual and reality. An upper computer main control system, a motion control system and a hydraulic servo control experimental platform are included, and the upper computer main control system is used for controlling the motion control system mounted on the hydraulic servo control experimental platform. The motion control system provides the safety precautions such as manual scram protection and limiting trigger protection and comprises a work state indication and fault alarm system. In addition, a main control software system further has a software scram function and a mechanical arm initialization function.

Description

technical field [0001] The invention relates to a modular hydraulic manipulator experiment platform and method based on reality-virtual interaction. Background technique [0002] Judging from the products launched by the world's robots in recent years, industrial manipulators are currently the most widely used automated mechanical devices in the field of robotics, mainly used in the automotive industry, electronics, machining, plastics and rubber, food and beverage industries and medical treatment. , aerospace and other fields. [0003] Industrial robot technology is developing in the direction of intelligent machines and intelligent systems. Its development trend is mainly the modularization and reconfigurability of structure, the openness, PC and networking of control technology, and the digitization and decentralization of servo drive technology. The practical application of multi-sensor fusion technology, as well as the networking and intelligence of the system. [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
Inventor 高焕兵刘存根隋首钢刘真娜刘金存韩佳林
Owner SHANDONG JIANZHU UNIV
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