A control system and method for a hydraulic mechanical arm for mining

Abstract

The application provides a control system and method of a mine-used hydraulic mechanical arm. The system comprises a remote control device, a plurality of rotary transformers, an explosion-proof control device and a hydraulic control assembly. The remote control device is used to send a trajectory parameter of a terminal end of the hydraulic mechanical arm to the explosion-proof control device. The plurality of rotary transformers are respectively installed at each joint of the hydraulic mechanical arm. The rotary transformers are used to collect an angle and a speed value of each joint of the hydraulic mechanical arm. The explosion-proof control device is used to generate a control target value of each joint of the hydraulic mechanical arm based on the trajectory parameter of the terminal end of the hydraulic mechanical arm, to determine a control reference value of each joint based on the control target value, the angle and the speed value of each joint, and to control the hydraulic control assembly to work based on the control reference value of each joint. The hydraulic control assembly is used to execute the control of the explosion-proof control device and to realize the operation of the hydraulic mechanical arm. The technical scheme provided by the application has high anti-interference capability and high control precision.

Description

Technical Field

[0001] This application relates to the field of robotic arm control, and more particularly to a control system and method for a mining hydraulic robotic arm. Background Technology

[0002] With the increasing demand for intelligent coal mine construction, coal mining enterprises have a strong need for operational robots and urgently need to solve the problem of robots replacing humans in hazardous operations, including typical application scenarios such as monitoring, shotcreting, pipeline installation, and heavy object handling.

[0003] Currently, most robots on the market are industrial robots, suitable for ground operations, but there is a lack of robots for underground operations, and a lack of explosion-proof designs suitable for underground use. Existing robotic arms, including electric arms, hydraulic robotic arms for construction machinery, and master-slave teleoperated hydraulic robotic arms from both domestic and international sources, all have their own limitations. Electric arms and hydraulic robotic arms for construction machinery are bulky, heavy, and occupy a large space. Electric arms are difficult to design for explosion protection, have a low load-to-weight ratio, and are limited to underground space operations. Although domestic and international master-slave teleoperated hydraulic robotic arms are small in size and light in weight, their bodies are made of lightweight aluminum alloy or titanium alloy, their control valves are not explosion-proof, and their control precision does not meet current practical requirements, making them unsuitable for the coal mining industry. Summary of the Invention

[0004] This application provides a control system and method for a mining hydraulic robotic arm, which at least solves the technical problems of the control valve not being explosion-proof and the control accuracy not meeting current practical needs.

[0005] The first aspect of this application provides a control system for a mining hydraulic robotic arm, comprising: a remote control device, multiple rotary transformers, an explosion-proof control device, and a hydraulic control assembly;

[0006] The remote control device is used to send the trajectory parameters of the hydraulic robotic arm end to the explosion-proof control device;

[0007] Multiple rotary transformers are respectively installed at each joint of the hydraulic robotic arm. The rotary transformers are used to collect the angle and speed values ​​of the joints of the hydraulic robotic arm.

[0008] The explosion-proof control device is used to generate control target values ​​for each joint of the hydraulic robotic arm based on the trajectory parameters of the end of the hydraulic robotic arm, and to determine control reference values ​​for each joint based on the control target values, angle and speed values ​​of each joint, and then to control the hydraulic control components to work based on the control reference values ​​of each joint.

[0009] The hydraulic control component is used to execute the control of the explosion-proof control device, drive the hydraulic actuators in the hydraulic robotic arm to move, and realize the operation of the hydraulic robotic arm.

[0010] Preferably, the control system further includes: a decoder;

[0011] The decoder is used to decode the angle and speed values ​​of the hydraulic robotic arm joints and send the decoded angle and speed values ​​to the explosion-proof control device.

[0012] Furthermore, the remote control device is connected to the explosion-proof control device via a wireless connection.

[0013] Furthermore, the control system also includes: a vision component;

[0014] The vision component is mounted on the wrist deflection joint of the hydraulic robotic arm;

[0015] The vision component is used to acquire the location information of the work object and send the location information to the explosion-proof control device;

[0016] The explosion-proof control device is also used to generate control target values ​​for each joint of the hydraulic robotic arm based on the position information of the work object, determine control reference values ​​for each joint based on the control target values, angle and speed values, and control the hydraulic control components to work based on the control reference values ​​for each joint.

[0017] Furthermore, the control system also includes: a CAN bus;

[0018] The decoder sends the decoded angle and speed values ​​to the explosion-proof control device via the CAN bus.

[0019] Furthermore, the hydraulic control assembly includes: an intrinsically safe CAN bus electro-hydraulic proportional valve and a multi-valve assembly;

[0020] The intrinsically safe CAN bus electro-hydraulic proportional valve integrates a temperature sensor and a displacement sensor.

[0021] The intrinsically safe CAN bus electro-hydraulic proportional valve is used to monitor the status of the hydraulic robotic arm;

[0022] The intrinsically safe CAN bus electro-hydraulic proportional valve is also used for fault diagnosis of hydraulic robotic arms.

[0023] The multi-valve assembly is used to control the movement of each joint of the hydraulic robotic arm.

[0024] Furthermore, the explosion-proof control device is also used to control the output flow of the intrinsically safe CAN bus electro-hydraulic proportional valve based on the control reference value.

[0025] Furthermore, when the hydraulic robotic arm is in a structured environment, the position information of the work object obtained by the vision component is used to generate the control target value of each joint of the hydraulic robotic arm, and the control reference value of each joint is determined based on the control target value, angle and speed value.

[0026] When the hydraulic robotic arm is in an unstructured environment, the trajectory parameters of the hydraulic robotic arm end effector sent to the explosion-proof control device by the remote control device are used to generate the control target values ​​of each joint of the hydraulic robotic arm, and the control reference values ​​of each joint are determined based on the control target values, angle and speed values.

[0027] A second aspect of this application provides a control method for a mining hydraulic robotic arm, the method comprising:

[0028] Obtain the trajectory parameters of the end effector of the hydraulic robotic arm, as well as the angles and speeds of each joint of the hydraulic robotic arm;

[0029] The control target values ​​for each joint of the hydraulic manipulator are generated based on the trajectory parameters at the end of the hydraulic manipulator.

[0030] Determine the control reference values ​​for each joint based on the control target values, angle values, and velocity values ​​of each joint;

[0031] The hydraulic robotic arm is controlled based on the control reference values ​​of each joint.

[0032] A third aspect of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the second aspect.

[0033] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0034] This application proposes a control system and method for a mining hydraulic robotic arm. The system includes: a remote control device, multiple rotary transformers, an explosion-proof control device, and a hydraulic control assembly. The remote control device transmits trajectory parameters of the hydraulic robotic arm's end effector to the explosion-proof control device. The multiple rotary transformers are respectively installed at each joint of the hydraulic robotic arm, and are used to collect angle and speed values ​​of the joints. The explosion-proof control device generates control target values ​​for each joint of the hydraulic robotic arm based on the trajectory parameters of the end effector, determines control reference values ​​for each joint based on the control target values, angles, and speed values, and then controls the hydraulic control assembly based on the control reference values ​​of each joint. The hydraulic control assembly executes the control of the explosion-proof control device, drives the hydraulic actuators in the hydraulic robotic arm to move, and realizes the operation of the hydraulic robotic arm. The technical solution proposed in this application has explosion-proof performance, strong anti-interference ability, and high control precision.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0036] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0037] Figure 1 This is a first structural diagram of a control system for a mining hydraulic robotic arm according to an embodiment of this application;

[0038] Figure 2 This is a second structural diagram of a control system for a mining hydraulic robotic arm according to an embodiment of this application;

[0039] Figure 3 This is a physical diagram of a second structure of a control system for a mining hydraulic robotic arm according to an embodiment of this application;

[0040] Figure 4 This is a structural diagram of a hydraulic control assembly provided according to an embodiment of this application;

[0041] Figure 5 This is a schematic diagram of the control principle of a control system for a mining hydraulic robotic arm according to an embodiment of this application;

[0042] Figure 6 This is a flowchart of a control method for a mining hydraulic robotic arm according to an embodiment of this application;

[0043] Figure 7 This is a control flowchart of a mining hydraulic robotic arm with a seven-valve assembly according to an embodiment of this application;

[0044] Figure Labels

[0045] 1. Remote control device; 2. Multiple rotary transformers; 3. Explosion-proof control device; 4. Hydraulic control components; 5. Decoder; 6. Vision components; 7. CAN bus; 8. Intrinsically safe CAN bus electro-hydraulic proportional valve; 9. Valve group; 10. Valve group. Detailed Implementation

[0046] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0047] This application proposes a control system and method for a mining hydraulic robotic arm. The system includes: a remote control device, multiple rotary transformers, an explosion-proof control device, and a hydraulic control assembly. The remote control device transmits trajectory parameters of the hydraulic robotic arm's end effector to the explosion-proof control device. The multiple rotary transformers are respectively installed at each joint of the hydraulic robotic arm, and are used to collect angle and speed values ​​of the joints. The explosion-proof control device generates control target values ​​for each joint based on the trajectory parameters of the hydraulic robotic arm's end effector, determines control reference values ​​for each joint based on the control target values, angles, and speed values, and then controls the hydraulic control assembly based on the control reference values. The hydraulic control assembly executes the control from the explosion-proof control device, driving the hydraulic actuators in the hydraulic robotic arm to operate, thus realizing the operation of the hydraulic robotic arm. The technical solution proposed in this application has explosion-proof performance, strong anti-interference ability, and high control precision.

[0048] The following description, with reference to the accompanying drawings, illustrates a control system and method for a mining hydraulic robotic arm according to an embodiment of this application.

[0049] Example 1

[0050] Figure 1 This is a structural diagram of a control system for a mining hydraulic robotic arm according to an embodiment of this application, as shown below. Figure 1 As shown, the system includes: a remote control device 1, multiple rotary transformers 2, an explosion-proof control device 3, and a hydraulic control assembly 4;

[0051] The remote control device 1 is used to send the trajectory parameters of the end of the hydraulic robotic arm to the explosion-proof control device 3;

[0052] Multiple rotary transformers 2 are respectively installed at each joint of the hydraulic robotic arm. The rotary transformers 2 are used to collect the angle and speed values ​​of the joints of the hydraulic robotic arm.

[0053] The explosion-proof control device 3 is used to generate control target values ​​for each joint of the hydraulic robotic arm based on the trajectory parameters of the end of the hydraulic robotic arm, and to determine control reference values ​​for each joint based on the control target values, angle and speed values ​​of each joint, and then to control the hydraulic control component 4 to work based on the control reference values ​​of each joint.

[0054] The hydraulic control component 4 is used to execute the control of the explosion-proof control device 3, drive the hydraulic actuators in the hydraulic robotic arm to move, and realize the operation of the hydraulic robotic arm.

[0055] It should be noted that the hydraulic robotic arm can be a mining hydraulic robotic arm, and the remote control device is connected to the explosion-proof control device wirelessly.

[0056] In the embodiments disclosed herein, such as Figure 2 As shown, the control system further includes: decoder 5;

[0057] The decoder 5 is used to decode the angle and speed values ​​of the hydraulic robotic arm joints and send the decoded angle and speed values ​​to the explosion-proof control device 3.

[0058] The decoder 5 is installed inside the explosion-proof junction box on the hydraulic robotic arm, and the decoder 5 can be a CAN bus resolver decoder.

[0059] In the embodiments disclosed herein, such as Figure 2 As shown, the control system further includes: vision component 6;

[0060] The vision component 6 is mounted on the wrist deflection joint of the hydraulic robotic arm.

[0061] The vision component 6 is used to acquire the location information of the work object and send the location information to the explosion-proof control device 3;

[0062] The explosion-proof control device 3 is also used to generate control target values ​​for each joint of the hydraulic robotic arm based on the position information of the work object, and to determine control reference values ​​for each joint based on the control target values, angle and speed values, and to control the hydraulic control component 4 to work based on the control reference values ​​for each joint.

[0063] It should be noted that when the hydraulic robotic arm is in a structured environment, the position information of the work object obtained by the vision component 6 is used to generate the control target value of each joint of the hydraulic robotic arm, and the control reference value of each joint is determined based on the control target value, angle and speed value.

[0064] When the hydraulic robotic arm is in an unstructured environment, the trajectory parameters sent from the remote control device 1 to the end of the hydraulic robotic arm to the explosion-proof control device 3 are used to generate the control target values ​​of each joint of the hydraulic robotic arm, and the control reference values ​​of each joint are determined based on the control target values, angle and speed values.

[0065] It should be noted that, as Figure 2 As shown, the control system also includes: CAN bus 7;

[0066] The decoder 5 sends the decoded angle and speed values ​​to the explosion-proof control device 3 via the CAN bus 7;

[0067] The explosion-proof control device 3 sends control commands to the hydraulic control component 4 via the CAN bus 7, so that the hydraulic control component 4 executes the control of the explosion-proof control device 3 to realize the movement of the hydraulic robotic arm.

[0068] It should be noted that the physical diagram of the control system for the mining hydraulic robotic arm, including remote control device 1, multiple rotary transformers 2, explosion-proof control device 3, hydraulic control components 4, decoder 5, vision components 6, and CAN bus 7, can be seen as follows: Figure 3 As shown.

[0069] Furthermore, such as Figure 4 As shown, the hydraulic control component 4 includes: an intrinsically safe CAN bus electro-hydraulic proportional valve 4-1 and a multi-valve assembly 4-2;

[0070] The intrinsically safe CAN bus electro-hydraulic proportional valve 4-1 integrates a temperature sensor and a displacement sensor.

[0071] The intrinsically safe CAN bus electro-hydraulic proportional valve 4-1 is used to monitor the status of the hydraulic robotic arm.

[0072] The intrinsically safe CAN bus electro-hydraulic proportional valve 4-1 is also used for fault diagnosis of hydraulic robotic arms.

[0073] The multi-valve assembly 4-2 is used to control the movement of each joint of the hydraulic robotic arm.

[0074] The intrinsically safe CAN bus electro-hydraulic proportional valve 4-1 integrates diagnostic functions such as self-test fault detection, equipment disconnection, overheating limitation, and valve core position misalignment.

[0075] It should be noted that the explosion-proof control device 3 is also used to control the output flow of the intrinsically safe CAN bus electro-hydraulic proportional valve 4-1 based on the control reference value.

[0076] For example, when the multi-valve assembly 4-2 includes a seven-valve assembly:

[0077] When the first valve group receives the control command from the explosion-proof control device 3, it supplies hydraulic oil with a certain pressure, flow rate and direction to the swing cylinder through the balance valve. This drives the outer ring of the swing cylinder and the components connected to the outer ring (boom, shoulder rotary transformer stator, valve group mounting plate and subsequent joints) to generate corresponding rotational motion relative to the inner shaft of the swing cylinder. The relative motion of the shoulder rotary transformer rotor and stator is detected in real time, and the angle and speed values ​​of the shoulder deflection joint around the base are fed back to the explosion-proof control device 3, forming an angle and position closed-loop control.

[0078] When the second valve group receives the command from the explosion-proof control device 3, it supplies hydraulic oil with a certain pressure, flow rate and direction to the linear cylinder through the balance valve, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder drive the boom around the shoulder pitch joint and the boom shaft, pin shaft, boom rotary transformer rotor and other components connected to it to produce corresponding rotational movements relative to the boom rotary transformer stator on the boom around the base deflection joint. The relative movement of the boom rotary transformer rotor and stator is detected in real time, and the angle and speed values ​​of the boom around the shoulder pitch joint are fed back to the explosion-proof control device 3, forming an angle and position closed-loop control.

[0079] When the third valve group receives the instruction from the explosion-proof control device 3, it supplies hydraulic oil with a certain pressure, flow rate and direction to the linear cylinder through the balance valve, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder drive the boom around the boom pitch joint and the shaft connected to it, the rotor of the boom rotary transformer, etc., to produce corresponding rotational movements relative to the stator of the boom rotary transformer on the boom around the shoulder pitch joint. The relative movement of the boom rotary transformer rotor and stator is detected in real time, and the angle and speed values ​​of the boom around the boom pitch joint are fed back to the explosion-proof control device 3, forming an angle and position closed-loop control.

[0080] When the fourth valve group receives the instruction from the explosion-proof control device 3, it supplies hydraulic oil with a certain pressure, flow rate and direction to the linear cylinder through the balance valve, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder cause the intermediate frame, upper frame, lower frame, left frame, right frame and the rotating shaft connected to them, the rotor of the wrist pitch rotary transformer, etc., to produce corresponding rotational movements relative to the stator of the wrist pitch rotary transformer on the boom frame of the forearm pitch joint. The relative movement of the rotor and stator of the wrist pitch rotary transformer is detected in real time to measure the angle and speed values ​​of the wrist pitch joint and fed back to the explosion-proof control device 3, forming a closed-loop control of angle and position.

[0081] When the fifth valve group receives the instruction from the explosion-proof control device 3, it supplies hydraulic oil with a certain pressure, flow rate and direction to the linear cylinder through the balance valve, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder drive the wrist deflection joint and the rotating shaft connected to it, the wrist deflection rotary transformer rotor, etc., to produce corresponding rotational movements relative to the wrist deflection joint on the boom. The relative movement of the wrist deflection rotary transformer rotor and stator is detected in real time, and the angle and speed values ​​of the wrist deflection joint are fed back to the explosion-proof control device 3, forming an angle and position closed-loop control.

[0082] When the sixth valve group receives the instruction from the explosion-proof control device 3, it supplies hydraulic oil with a certain pressure, flow rate and direction to the cycloidal motor assembly through the bidirectional lock. The motor output shaft drives the piston rod and the gripper to rotate. The rotation of the cycloidal motor assembly drives the motor output shaft, the rotor of the wrist rotary transformer, etc. to generate corresponding rotational motion relative to the stator of the upper wrist rotary transformer in the lower section of the wrist. The relative motion between the rotor and the stator of the wrist rotary transformer is detected in real time, and the angle and speed values ​​of the wrist rotary joint 27 are fed back to the explosion-proof control device 3 to form an angle and position closed-loop control.

[0083] When the seventh valve group receives the instruction from the explosion-proof control device 3, it supplies hydraulic oil with a certain pressure, flow rate and direction to the gripper cylinder through the balance valve. The gripper cylinder extends and retracts, driving the gripper to open and close.

[0084] In the embodiments disclosed herein, such as Figure 5 The diagram shows the control principle of the control system for the mining hydraulic robotic arm provided by this invention. In the diagram, θi represents the target value of the i-th joint. This command can be obtained from the angles of each joint after trajectory planning by the control system, or from the input of the remote controller, i.e., remote control device 1. Since the actuators of each joint of the hydraulic robotic arm are a swing cylinder, a hydraulic cylinder, and a cycloidal motor, when the digital quantity Dq of the multi-valve group 4-2 corresponding to the intrinsically safe CAN bus valve, i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve 4-1, is given, this value has a linear relationship with the output flow rate Q of the CAN bus valve (the CAN bus valve integrates a valve core displacement closed loop). Pressure oil enters the different chambers of the hydraulic actuators, i.e., the hydraulic control component 4, of each joint, driving the swing cylinder to rotate, the hydraulic cylinder to extend and retract, and the cycloidal motor to rotate, thus obtaining the linear displacement X of the hydraulic cylinder. P The angle θ of each joint is used to control the corresponding movement of each joint, and the angle ai after the joint movement is detected. The joint angle detected by the rotary transformer 2 installed on each joint is fed back to the controller, i.e., the explosion-proof control device 3, through the CAN bus and the difference is calculated with the target value input. The difference is then used as the input of the control system to control the output flow of the intrinsically safe CAN bus electro-hydraulic proportional valve 4-1, driving the hydraulic actuator, until the angle of each joint is equal to the target value, at which point the control system stops working.

[0085] In this embodiment of the disclosure, control target values ​​for each joint of the hydraulic robotic arm are generated based on the trajectory parameters of the end effector of the hydraulic robotic arm, and control reference values ​​for each joint are determined based on the control target values, angles, and speed values ​​of each joint. Then, the hydraulic control component 4 is controlled to operate based on the control reference values ​​of each joint, including:

[0086] (1) The remote control device 1 is used to specify the trajectory form of the end of the hydraulic robotic arm, the coordinate values ​​of specific points on the trajectory, and the specific parameters of the typical trajectory in the base coordinate system, and a series of characteristic parameters are transmitted to the explosion-proof control device 3 through the signal sending and receiving device.

[0087] (2) The explosion-proof control device 3 uses its computing function to calculate and give the equations of the straight line trajectory and the curve trajectory of the characteristic parameters, and defines them uniformly as the trajectory curve equation.

[0088] (3) After obtaining the trajectory curve equation, the trajectory curve is discretized in the controller to obtain the coordinate values ​​of all discrete trajectory points. The values ​​of each joint variable corresponding to all discrete points are obtained in the explosion-proof control device 3 using trajectory planning and inverse solution algorithms, i.e., the control target values ​​of each joint.

[0089] (4) After all preparations are completed, the explosion-proof control device 3 starts to automatically travel along the designated trajectory curve according to the command transmitted by the remote control device 1.

[0090] (5) During the automatic operation of the hydraulic robotic arm, the explosion-proof control device 3 determines the control reference value of each joint according to the control target value of each joint and the angle and speed value at the current moment, and controls the action of the corresponding hydraulic robotic arm joint based on the reference value to realize the operation of a specific trajectory curve;

[0091] (6) During the operation of the hydraulic robotic arm, the explosion-proof control device 3 calculates the position coordinates of the trajectory points in real time based on the values ​​fed back by all sensors, and transmits the calculation results to the explosion-proof control device 3 through the signal sending and receiving device, so as to realize the real-time detection and control of the typical trajectory operation process and prevent unexpected situations from occurring during operation.

[0092] In this embodiment of the disclosure, generating control target values ​​for each joint of the hydraulic robotic arm based on the position information of the work object includes:

[0093] The vision component 6 identifies and locates the target object, transmits its spatial coordinates to the explosion-proof control device 3, and the explosion-proof control device 3 plans the end trajectory based on the target coordinates, plans the control target values ​​for each hydraulic joint, and performs closed-loop control.

[0094] In summary, the control system for a mining hydraulic robotic arm proposed in this embodiment has explosion-proof performance, strong anti-interference ability, high control precision, and status monitoring and fault diagnosis functions. It also has a control mode that combines remote operation corresponding to the remote control device and autonomous operation corresponding to the vision component. Remote operation is used in unstructured environments, while vision positioning and trajectory planning are used in structured environments. Autonomous operation is achieved, and the control mode is diversified.

[0095] Example 2

[0096] Figure 6 Here is a flowchart of a control method for a mining hydraulic robotic arm according to an embodiment of this application, as shown below. Figure 5As shown, the method includes:

[0097] Step 1: Obtain the trajectory parameters of the hydraulic robotic arm's end effector, as well as the angles and speeds of each joint of the hydraulic robotic arm;

[0098] Step 2: Generate control target values ​​for each joint of the hydraulic robotic arm based on the trajectory parameters at the end of the hydraulic robotic arm;

[0099] Step 3: Determine the control reference values ​​for each joint based on the control target values, angles, and speed values ​​of each joint;

[0100] Step 4: Control the hydraulic robotic arm based on the control reference values ​​of each joint.

[0101] In this embodiment of the disclosure, the method further includes: generating control target values ​​for each joint of the hydraulic robotic arm based on the obtained position information of the work object, and determining control reference values ​​for each joint based on the control target values, angle and speed values;

[0102] It should be noted that when the hydraulic robotic arm is in a structured environment, the position information of the work object obtained by the vision component is used to generate the control target value of each joint of the hydraulic robotic arm, and the control reference value of each joint is determined based on the control target value, angle and speed value.

[0103] When the hydraulic robotic arm is in an unstructured environment, the trajectory parameters of the hydraulic robotic arm end effector sent to the explosion-proof control device by the remote control device are used to generate the control target values ​​of each joint of the hydraulic robotic arm, and the control reference values ​​of each joint are determined based on the control target values, angle and speed values.

[0104] For example, such as Figure 7 As shown, when the multi-valve assembly includes a seven-valve assembly:

[0105] In this embodiment of the disclosure, the control target values ​​for the first valve group are θ1, ω1, the control target values ​​for the second valve group are θ2, ω2, the control target values ​​for the third valve group are θ3, ω3, the control target values ​​for the fourth valve group are θ4, ω4, the control target values ​​for the fifth valve group are θ5, ω5, and the control target values ​​for the sixth valve group are θ6, ω6.

[0106] The control reference value for the first joint is Δθ1, the control reference value for the second joint is Δθ2, the control reference value for the third joint is Δθ3, the control reference value for the fourth joint is Δθ4, the control reference value for the fifth joint is Δθ5, and the control reference value for the sixth joint is Δθ6.

[0107] When the first valve group receives the control command Δθ1 from the explosion-proof control device, it assigns the digital value Dq to the first valve group corresponding to the intrinsically safe CAN bus valve (i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve). This value is linearly related to the output flow rate Q of the CAN bus valve (the CAN bus valve has an integrated valve core displacement closed loop). The pressure oil supplies hydraulic oil with a certain pressure, flow rate, and direction to the swing cylinder through the balance valve. This drives the outer ring of the swing cylinder and the components connected to the outer ring (arm, shoulder rotary transformer stator, valve group mounting plate, and subsequent joints) to generate corresponding rotational motion relative to the inner shaft of the swing cylinder. This causes the shoulder to rotate around the base deflection joint by an angle of θ1. At the same time, the relative motion of the shoulder rotary transformer rotor and stator is detected in real time, and the current angle a1 and speed value of the shoulder around the base deflection joint are fed back to the explosion-proof control device. The control system stops working when the angle equals the target value.

[0108] When the second valve group receives the command Δθ2 from the explosion-proof control device, it assigns the digital value Dq to the second valve group corresponding to the intrinsically safe CAN bus valve (i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve). This value has a linear relationship with the output flow rate Q of the CAN bus valve (the CAN bus valve integrates a valve core displacement closed loop). Pressure oil is supplied to the linear cylinder via the balance valve with hydraulic oil of a certain pressure, flow rate, and direction, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder cause the boom around the shoulder pitch joint and its connected shafts, pins, and boom rotary transformer rotor to rotate relative to the boom rotary transformer stator on the boom around the base deflection joint. The linear displacement of the cylinder is x. p2 The relative motion between the rotor and stator of the boom rotary transformer is detected in real time, and the current angle a2 and velocity value of the boom pitch joint around the shoulder are fed back to the explosion-proof control device to form a closed-loop control of angle and position.

[0109] When the third valve group receives the command Δθ3 from the explosion-proof control device, it assigns the digital value Dq to the third valve group corresponding to the intrinsically safe CAN bus valve (i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve). This value has a linear relationship with the output flow rate Q of the CAN bus valve (the CAN bus valve integrates a valve core displacement closed loop). Pressure oil is supplied to the linear cylinder via the balance valve with hydraulic oil of a certain pressure, flow rate, and direction, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder cause the boom of the forearm around the boom pitch joint and the subsequently connected rotating shaft, forearm rotary transformer rotor, etc., to produce corresponding rotational movements relative to the forearm rotary transformer stator on the boom of the boom around the shoulder pitch joint. The linear displacement of the cylinder is x. p3 The relative motion between the rotor and stator of the arm rotary transformer is detected in real time, and the angle and speed of the forearm pitch joint around the upper arm are fed back to the explosion-proof control device to form a closed-loop control of angle and position.

[0110] When the fourth valve group receives the command Δθ4 from the explosion-proof control device, it assigns the digital value Dq to the fourth valve group corresponding to the intrinsically safe CAN bus valve (i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve). This value has a linear relationship with the output flow rate Q of the CAN bus valve (the CAN bus valve integrates a valve core displacement closed loop). Pressure oil is supplied to the linear cylinder via the balance valve with hydraulic oil of a certain pressure, flow rate, and direction, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder cause the intermediate frame, upper frame, lower frame, left frame, and right frame of the wrist around the forearm pitch joint, as well as the rotating shafts and wrist pitch rotary transformer rotor connected to them, to rotate relative to the stator of the wrist pitch rotary transformer on the boom frame around the forearm pitch joint. The linear displacement of the cylinder is x. p4 The relative motion between the rotor and stator of the wrist pitch rotary transformer is detected in real time, and the wrist pitch joint angle and speed value are fed back to the explosion-proof control device to form a closed-loop control of angle and position.

[0111] When the fifth valve group receives the command Δθ5 from the explosion-proof control device, it assigns the digital value Dq to the fifth valve group corresponding to the intrinsically safe CAN bus valve (i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve). This value has a linear relationship with the output flow rate Q of the CAN bus valve (the CAN bus valve integrates a valve core displacement closed loop). Pressure oil is supplied to the linear cylinder with a certain pressure, flow rate, and direction through the balance valve, driving the linear cylinder to produce corresponding extension and retraction movements. The extension and retraction movements of the linear cylinder cause the wrist deflection joint and its connected shafts, wrist deflection rotary transformer rotor, etc., to produce corresponding rotational movements relative to the wrist deflection joint on the boom, with the linear displacement of the cylinder being x. p5 The relative motion between the rotor and stator of the wrist-wrinkled rotary transformer is detected in real time, and the wrist-wrinkled joint angle and speed values ​​are fed back to the explosion-proof control device to form a closed-loop control of angle and position.

[0112] When the sixth valve group receives the command Δθ6 from the explosion-proof control device, it assigns the digital value Dq to the sixth valve group corresponding to the intrinsically safe CAN bus valve (i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve). This value is linearly related to the output flow rate Q of the CAN bus valve (the CAN bus valve integrates a valve core displacement closed loop). The pressurized oil is supplied with hydraulic oil of a certain pressure, flow rate, and direction to the cycloidal motor assembly through the bidirectional lock. The motor output shaft drives the piston rod and gripper to rotate. The rotation of the cycloidal motor assembly drives the motor output shaft, the rotor of the wrist rotation rotary transformer, etc., to rotate relative to the stator of the upper wrist rotation rotary transformer in the lower section of the wrist. The rotation angle is θ6. The relative motion between the rotor and stator of the wrist rotation rotary transformer is detected in real time, and the angle and speed values ​​of the wrist rotation joint 27 are fed back to the explosion-proof control device to form an angle and position closed-loop control.

[0113] When the seventh valve group receives a command from the explosion-proof control device, it moves based on the end trajectory. It assigns a digital value Dq to the seventh valve group corresponding to the intrinsically safe CAN bus valve (i.e., the intrinsically safe CAN bus electro-hydraulic proportional valve). This value has a linear relationship with the output flow rate Q of the CAN bus valve (the CAN bus valve integrates a valve core displacement closed loop). Pressure oil is supplied to the linear cylinder via the balance valve, providing hydraulic oil with a certain pressure, flow rate, and direction, driving the linear cylinder to produce corresponding extension and retraction movements. The linear displacement of the cylinder is x. p7 The extension and retraction motion of the linear hydraulic cylinder drives the opening and closing of the gripper.

[0114] In summary, the control method for a mining hydraulic robotic arm proposed in this embodiment has explosion-proof performance, strong anti-interference ability, and high control accuracy.

[0115] Example 3

[0116] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in Embodiment 2.

[0117] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0118] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0119] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A control system for a mining hydraulic robotic arm, characterized in that, include: Remote control device, multiple rotary transformers, explosion-proof control device and hydraulic control components; The remote control device is used to send the trajectory parameters of the end of the hydraulic robotic arm to the explosion-proof control device; Multiple rotary transformers are respectively installed at each joint of the hydraulic robotic arm. The rotary transformers are used to collect the angle and speed values ​​of the joints of the hydraulic robotic arm. The explosion-proof control device is used to generate control target values ​​for each joint of the hydraulic robotic arm based on the trajectory parameters of the end of the hydraulic robotic arm, and to determine control reference values ​​for each joint based on the control target values, angle and speed values ​​of each joint, and then to control the hydraulic control components to work based on the control reference values ​​of each joint. The hydraulic control component is used to execute the control of the explosion-proof control device, drive the hydraulic actuators in the hydraulic robotic arm to move, and realize the operation of the hydraulic robotic arm; The hydraulic control component includes: an intrinsically safe CAN bus electro-hydraulic proportional valve and a multi-valve assembly; the multi-valve assembly is used to control the movement of each joint of the hydraulic robotic arm; the multi-valve assembly includes a seven-valve assembly; the first valve assembly controls the shoulder pivot joint around the base, supplying hydraulic oil to the swing cylinder through a balance valve to drive the joint's rotational movement; the second valve assembly controls the upper arm pitch joint around the shoulder, the third valve assembly controls the forearm pitch joint around the upper arm, the fourth valve assembly controls the wrist pitch joint around the forearm, the fifth valve assembly controls the wrist pivot joint, and so on. The second, third, fourth, and fifth valves all supply hydraulic oil to the corresponding linear cylinders through balance valves, driving the rotational movement of each joint; the sixth valve controls the wrist rotation joint, supplying hydraulic oil to the cycloidal motor assembly through a bidirectional lock, driving the joint to rotate; the seventh valve controls the opening and closing of the gripper, supplying hydraulic oil to the gripper cylinder through a balance valve, driving the gripper to move; when each valve controls the movement of the corresponding joint or gripper, the rotary transformer configured in the corresponding joint detects the angle and speed values ​​of the joint in real time and feeds them back to the explosion-proof control device, forming a closed-loop control of the angle position of the corresponding joint; The control target values ​​of each joint generated by the explosion-proof control device, or the control commands input by the remote control device, are output to the intrinsically safe CAN bus electro-hydraulic proportional valve to give the digital quantity Dq of the corresponding valve of the multi-valve group. The actuators of each joint of the hydraulic robotic arm are a swing cylinder, a hydraulic cylinder, and a cycloidal motor. The intrinsically safe CAN bus electro-hydraulic proportional valve integrates a valve core displacement closed loop. The digital quantity Dq is linearly related to the output flow rate Q of the intrinsically safe CAN bus electro-hydraulic proportional valve. The corresponding valve drives the actuator through the hydraulic oil with flow rate Q to obtain the actual angle of the corresponding joint. The rotary transformers at each joint collect the actual angle and speed values ​​of that joint and feed them back to the explosion-proof control device via the CAN bus. The explosion-proof control device calculates the difference between the actual angle and the control target value, and uses the difference as an input to adjust the output flow of the intrinsically safe CAN bus electro-hydraulic proportional valve until the actual angle of the corresponding joint matches the control target value, thus completing the adjustment of the joint.

2. The control system as described in claim 1, characterized in that, The control system further includes: a decoder; The decoder is used to decode the angle and speed values ​​of the hydraulic robotic arm joints and send the decoded angle and speed values ​​to the explosion-proof control device.

3. The control system as described in claim 2, characterized in that, The remote control device is connected to the explosion-proof control device via a wireless connection.

4. The control system as described in claim 3, characterized in that, The control system further includes: a vision component; The vision component is mounted on the wrist deflection joint of the hydraulic robotic arm; The vision component is used to acquire the location information of the work object and send the location information to the explosion-proof control device; The explosion-proof control device is also used to generate control target values ​​for each joint of the hydraulic robotic arm based on the position information of the work object, determine control reference values ​​for each joint based on the control target values, angle and speed values, and control the hydraulic control components to work based on the control reference values ​​for each joint.

5. The control system as described in claim 4, characterized in that, The control system also includes: a CAN bus; The decoder sends the decoded angle and speed values ​​to the explosion-proof control device via the CAN bus.

6. The control system as described in claim 5, characterized in that, The intrinsically safe CAN bus electro-hydraulic proportional valve integrates a temperature sensor and a displacement sensor. The intrinsically safe CAN bus electro-hydraulic proportional valve is used to monitor the status of the hydraulic robotic arm; The intrinsically safe CAN bus electro-hydraulic proportional valve is also used for fault diagnosis of hydraulic robotic arms.

7. The control system as described in claim 6, characterized in that, The explosion-proof control device is also used to control the output flow of the intrinsically safe CAN bus electro-hydraulic proportional valve based on the control reference value.

8. The control system as described in claim 4, characterized in that, When the hydraulic robotic arm is in a structured environment, the position information of the work object obtained by the vision component is used to generate the control target value of each joint of the hydraulic robotic arm, and the control reference value of each joint is determined based on the control target value, angle and speed value. When the hydraulic robotic arm is in an unstructured environment, the trajectory parameters of the hydraulic robotic arm end effector sent to the explosion-proof control device by the remote control device are used to generate the control target values ​​of each joint of the hydraulic robotic arm, and the control reference values ​​of each joint are determined based on the control target values, angle and speed values.

9. A control method for a mining hydraulic manipulator based on the control system of any one of claims 1-8, characterized in that, The method includes: Obtain the trajectory parameters of the end effector of the hydraulic robotic arm, as well as the angles and speeds of each joint of the hydraulic robotic arm; The control target values ​​for each joint of the hydraulic manipulator are generated based on the trajectory parameters at the end of the hydraulic manipulator. Determine the control reference values ​​for each joint based on the control target values, angle values, and velocity values ​​of each joint; The hydraulic robotic arm is controlled based on the control reference values ​​of each joint.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in claim 9.

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