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Automatic tuning of valve for remote controlled demolition robot

A robot and controller technology, applied in control/regulation systems, instruments, program control, etc., to solve problems such as operator interference, irregular operation, and sudden stop and sudden movement of robots

Active Publication Date: 2018-06-08
HUSQVARNA AB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This will cause the robot to stop and go and operate irregularly
Also, a dead zone in the control switch would be interpreted as a disturbance to the operator

Method used

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  • Automatic tuning of valve for remote controlled demolition robot
  • Automatic tuning of valve for remote controlled demolition robot
  • Automatic tuning of valve for remote controlled demolition robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] figure 1 A remote-controlled disassembly robot 10 is shown, hereinafter simply referred to as robot 10 . The robot 10 comprises one or more robot parts, such as an arm 11, which may constitute one (or more) robot arm parts. A component can be used to hold the accessory 11b (in figure 1 not shown, see image 3 ) accessory fixture 11a. The accessory lib can be a tool such as a ram, a cutting tool, a saw, a bucket arrangement, etc., to mention a few examples. The accessory 11 b can also be a payload carried by the robot 10 . The arms 11 are movably operable through at least one cylinder 12 of each arm 11 . The cylinders are preferably hydraulic and are controlled by a hydraulic valve module 10 housed in the robot 10 .

[0026] The hydraulic valve module 13 includes one or more valves 13 a for controlling the amount of hydraulic fluid (oil) supplied to, for example, the respective cylinder 12 . Valve 13a is a proportional hydraulic valve.

[0027] The valve module 1...

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PUM

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Abstract

The present invention relates to a remote controlled demolition robot (10). The remote controlled demolition robot (10) comprises a controller (17) and at least one control switch (24, 25, 26) for providing a control signal that is received by the controller (17), wherein the controller (17) is configured to control the operation of a corresponding robot part (10a, 11, 14, 15). The controller (17)is further configured to: receive a pressure sensor reading from a pressure sensor (13b) for a proportional hydraulic valve (13a), the pressure sensor reading indicating a standby pressure; provide the control signal to the valve (13a); and increase a signal level of the control signal provided to the valve (13a) until a change in the pressure is detected; determine a starting offset for the valve (13a), the starting offset corresponding to the current signal level of the control signal.

Description

technical field [0001] The present invention relates to the control of a remote-controlled demolition robot, in particular, the present invention relates to the automatic adjustment of the demolition robot to account for irregularities in the arrangement of proportional valves. Background technique [0002] Current remote-controlled demolition robots suffer from the problem that the mechanical force required to open the valve is different for different robots and may change over time. This can be due to, for example, hysteresis, where mechanical friction increases the required mechanical force. A given control signal will therefore not indicate enough power to provide the mechanical force required to open the valve. The operator will then need to push the control switch, such as a joystick, even further to obtain the desired response. This will cause the robot to stop and go and operate irregularly. Also, a dead zone in the control switch would be perceived as a disturban...

Claims

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Application Information

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IPC IPC(8): F15B19/00E02F9/22E04G23/08
CPCE02F3/966E02F9/2267E02F9/268F15B19/002F15B2211/6306E02F9/265E02F9/205E02F9/2228E02F9/2285E04G23/08G05B2219/41099G05B2219/41098F15B2211/6313F15B2211/855F15B13/0416F15B2211/851F15B2211/853
Inventor T·奥尔松F·迪安德
Owner HUSQVARNA AB