Multi-degree-of-freedom cloth manipulator and control method thereof

Abstract

The invention discloses a multi-degree-of-freedom material distribution manipulator and a control method thereof, relates to the technical field of roadway filling manipulators, and aims to solve the problems that an existing material distribution manipulator cannot fully complete the filling task in an inner narrow goaf, and the manipulator is inconvenient to change the angle. According to the technical scheme, the mechanical arm is characterized by comprising a base and a control system, the upper end of the base is fixedly connected with a rotary storage device used for storing slurry, the upper end of the rotary storage device is rotationally connected with a mechanical arm body, one end of the rotary storage device is fixedly connected with a feeding pipe, and the other end of the rotary storage device is fixedly connected with a discharging pipe; a mounting chuck is fixedly connected to the end, away from the rotary storage device, of the discharging pipe, and a guniting head is detachably connected to the outer side of the mounting chuck. And the effects that the flexibility of the guniting equipment is improved, and the movement range of the mechanical arm is enlarged are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel filling manipulators, and in particular to a multi-degree-of-freedom material distribution manipulator and a control method thereof. Background Art

[0002] A manipulator refers to an automatic operating device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It is mainly composed of three parts: an actuator, a drive mechanism and a control system. It can replace people in heavy labor to achieve mechanization and automation of production. It is widely used in machinery manufacturing, light industry, atomic energy and other departments. A manipulator is also needed to operate during the tunnel filling process.

[0003] For example, an underground narrow tunnel manipulator arm system with application number CN202021321696.5 provides the ability to adjust the height of the telescopic arm through the cooperation of the main arm, connecting rod and cylinder while keeping the telescopic arm level with the ground. When the height of the telescopic arm is low, the manipulator can clear the water tank below the ground, thereby completing the coal slime clearing work.

[0004] The above-mentioned existing technical solutions have the following defects: the existing material distribution robot cannot fully complete the filling task in the inner narrow goaf, that is, the narrow space is too small to be convenient for the existing robot to operate, and the robot is not convenient to change the angle, thereby reducing the overall material distribution and filling effect. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom material distribution robot and a driving method thereof which has high flexibility, fast filling speed, safety, high efficiency and economic rationality.

[0006] To achieve the above object, the present invention provides the following technical solutions: A multi-degree-of-freedom material distribution robot comprises a base and a control system, wherein a rotary storage device for storing slurry is fixedly connected to the upper end of the base, a robot arm body is rotatably connected to the upper end of the rotary storage device, a slewing bearing for rotation adjustment of the robot arm body is arranged between the rotary storage device and the robot arm body, a feed pipe is fixedly connected to one end of the rotary storage device, a discharge pipe is fixedly connected to the other end of the rotary storage device, a mounting chuck is fixedly connected to the end of the discharge pipe away from the rotary storage device, and a spray head is detachably connected to the outer side of the mounting chuck.

[0007] By adopting the above technical solution, the material distribution robot can achieve a wide range of angle adjustment and long-distance displacement of the spray head, can be applied to a variety of goaf area layouts, and has high filling efficiency.

[0008] Furthermore, the mechanical arm body includes a mounting seat, the upper end of the mounting seat is hingedly connected to a boom, the end of the boom away from the mounting seat is hingedly connected to a telescopic arm, the upper end of the mounting seat is fixedly connected to a first pitch cylinder for driving the boom to change its angle and orientation, the telescopic end of the first pitch cylinder is hingedly connected to the boom, the upper end of the boom is fixedly connected to a second pitch cylinder for driving the telescopic arm to change its angle and orientation, the telescopic end of the second pitch cylinder is hingedly connected to the telescopic arm.

[0009] By adopting the above technical solution, the boom pitch cylinder and the telescopic arm pitch cylinder are respectively rotatably connected to the boom and the telescopic arm to adjust the filling angle and orientation. The claw spraying device is installed at the front end of the telescopic arm to spray the slurry.

[0010] Furthermore, the upper arm is provided with a slide groove structure on the inner surface, the telescopic arm is an outer hinged slider structure, the outer slider of the telescopic arm is adapted to the slide groove on the inner surface of the upper arm, and the telescopic arm is movably connected to the upper arm through the slider.

[0011] By adopting the above technical scheme, a slide groove is provided on the inner surface of the boom, and the slider is slidably connected to the boom through the cooperation of its own slide rail and the slide groove. The slider is rotatably connected to the telescopic arm, and is used for the telescopic arm to complete the forward and backward telescopic operation, thereby expanding the longitudinal movement range of the mechanical arm. When the space in the goaf to be filled is narrow, the telescopic arm is contracted to a contracted state, with a compact structure and strong practicality.

[0012] Furthermore, a mounting mechanism is provided between the mounting chuck and the spray head, the mounting mechanism includes a fixed plate arranged at the mounting end of the spray head, a connecting block is provided at the bottom of the fixed plate, a pair of fixing blocks are provided on the mounting chuck, and the fixing block and the connecting block are fixed by fixing bolts.

[0013] By adopting the above technical solution and the application of the installation chuck, the robotic arm can complete the variable-caliber spraying task. By changing the caliber of the spraying head, the speed of the spraying can be adjusted. At the same time, it is convenient for the staff to install and disassemble the spraying head, and it is convenient to repair or replace the spraying head.

[0014] Furthermore, the control system includes integrated sensors, actuators, controllers and communication modules. The control system communicates and exchanges data with several data acquisition card slaves as a master station through an extended communication module, and controls the movement of the motor and cylinder through an intermediate relay.

[0015] By adopting the above technical solution, different slave stations are responsible for different functions. The control of the boom pitch cylinder and the telescopic arm pitch cylinder is relatively complicated. It is necessary to consider the realization of automatic mode, manual mode and logical control of emergency stop timeout when a fault occurs. The number of slave stations required for data signal collection is determined according to the number of input signals and output signals required.

[0016] Furthermore, the control system adopts Siemens PLC system as the core of the entire control system.

[0017] By adopting the above technical solutions, the Siemens PLC system has the following characteristics: it supports a variety of digital quantities, analog quantities and functional modules, has a compact design and strong scalability.

[0018] Furthermore, a control method for a multi-degree-of-freedom cloth manipulator is provided, wherein the control method is: A1: Set up the system. The control system solution integrates sensors, actuators, controllers and communication modules to achieve precise control of the joints of the manipulator, as well as real-time monitoring and adjustment of the filling process. The entire system uses the ET200SP distributed IO system as the data communication center, and uses the extended communication module CNPtP as the master station to communicate and exchange data with several data acquisition card TD4055 slave stations. The movement of the motor and cylinder is controlled through the intermediate relay. Different slave stations have different functions. The control of the boom pitch cylinder and telescopic arm pitch cylinder is relatively complex. It is necessary to consider the realization of automatic mode, manual mode and logic control of emergency stop timeout when a fault occurs. The number of slave stations required for data signal collection is determined according to the number of input signals and output signals required; A2: System composition. This system uses Siemens PLC system as the core system of the entire control system. CPU1512SP-1PN is selected as the core controller. TIA Portal V15.1 is used for system hardware configuration. The expansion modules include data communication, data input and output modules, etc. This system is installed with 5 serial communication modules CMPtP, which supports multiple protocols including Modbus master-slave protocol and can be used for multiple common interfaces. It is installed with 4 digital input modules DI, 4 digital output modules DQ, 1 analog input module AI and 1 server module. The server module is used to create and run input and output modules for ET200SP. A3: Control drive. During the use of the material distribution robot, the driving motor and the controller are started to drive the robot arm body to perform filling operations on the area to be filled. When the position of the spray head needs to be adjusted, the motor can be started first to drive the slewing bearing to rotate, so as to complete the operation of rotating the robot arm as a whole around the Z axis. The motor of the upper arm drives the piston of the first pitch cylinder to extend and retract, and the slider moves in the slide slot to realize the operation of extending and retracting the telescopic arm along the X axis. At the same time, the angle of the first rotating joint of the robot arm is increased to realize the operation of rotating the robot arm along the Y axis. The motor of the telescopic arm drives the piston of the second pitch cylinder to extend and retract, so as to realize the rotation of the telescopic arm around the Y axis when working.

[0019] By adopting the above technical solution, the advantage of adopting structured programming is that it is convenient to call sub-program blocks in the main program block, making the program structure level clear.

[0020] In summary, the beneficial technical effects of the present invention are: 1. When the goaf needs to be filled, the material distribution manipulator drives the pistons of each oil cylinder to extend and retract under the coordination of the controller, thereby driving the rotation shaft at each joint to rotate. The mechanical arm rotates along the Z-axis and Y-axis directions, and the mechanical telescopic arm rotates along the Y-axis direction and moves along the X-axis direction. According to the orientation of the filling area, the slewing bearing drive motor, the arm drive motor, and the telescopic arm drive motor drive the slewing bearing to rotate respectively, and the pistons of the arm pitch cylinder and the telescopic arm pitch cylinder are extended and retracted, so that the spray head reaches the specified orientation, which not only increases the flexibility of the spraying equipment, but also increases the range of motion of the manipulator. 2. The material distribution manipulator, through the mutual cooperation between the fixed plate, the connecting block, the fixed block and the fixing bolts, enables the spray head to be installed on the mounting chuck, which not only enables the retractable filling material distribution manipulator arm to realize variable-caliber spraying work, thereby making the filling speed adjustable, but also facilitates the installation and disassembly of the spray head by the staff, and facilitates the maintenance or replacement of the spray head; 3. The material distribution robot is suitable for the harsh working environment in coal mines. Temperature and humidity changes, dust, vibration, and electromagnetic interference will pose challenges to the equipment control system. Common mining equipment control cores include single-chip microcomputers, PLCs, and industrial PCs. This system uses Siemens PLC system as the core of the entire control system. The system has the following characteristics: it supports a variety of digital quantities, analog quantities, and functional modules, has a compact design, and is highly scalable. Compared with the other two types of control cores, PLC is easier to develop, and has stronger equipment reliability and anti-interference capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the control flow of the present invention; Figure 3 It is a schematic diagram of the control program of the present invention; Figure 4 It is a schematic diagram of the work flow structure of the present invention.

[0022] In the figure, 1, base; 2, rotary storage device; 3, robot arm body; 4, rotary bearing; 5, control system; 21, feed pipe; 22, discharge pipe; 23, mounting chuck; 24, spray head; 25, mounting mechanism; 26, fixed plate; 27, connecting block; 28, fixed block; 31, mounting seat; 32, upper arm; 33, telescopic arm; 34, first pitch cylinder; 35, second pitch cylinder; 36, slide groove; 37, slider. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0024] Reference Figure 1A multi-degree-of-freedom material distribution manipulator comprises a base 1 and a control system 5. A rotary storage device 2 for slurry storage is fixedly connected to the upper end of the base 1. A mechanical arm body 3 is rotatably connected to the upper end of the rotary storage device 2. A slewing bearing 4 for rotation adjustment of the mechanical arm body 3 is arranged between the rotary storage device 2 and the mechanical arm body 3. A feed pipe 21 is fixedly connected to one end of the rotary storage device 2. A discharge pipe 22 is fixedly connected to the other end of the rotary storage device 2. An end of the discharge pipe 22 away from the rotary storage device 2 is fixedly connected to a mounting chuck 23. The mounting chuck 23 is fixedly connected to the mounting chuck 23. The outer side of the mechanical arm 3 is detachably connected with a spray head 24, which can realize wide-range angle adjustment and long-distance displacement of the spray head, can be applied to various goaf layouts, and has high filling efficiency. The mechanical arm body 3 includes a mounting seat 31 inside, and the upper end of the mounting seat 31 is hingedly connected to a large arm 32, and the end of the large arm 32 away from the mounting seat 31 is hingedly connected to a telescopic arm 33, and the upper end of the mounting seat 31 is fixedly connected to a first pitch cylinder 34 for driving the large arm 32 to change its angle and azimuth, and the telescopic end of the first pitch cylinder 34 is hingedly connected to the large arm 32, and the upper end of the large arm 32 is fixedly connected There is a second pitch cylinder 35 for driving the telescopic arm 33 to change its angle and azimuth. The telescopic end of the second pitch cylinder 35 is hingedly connected to the telescopic arm 33, which expands the longitudinal movement range of the mechanical arm. When the space of the goaf to be filled is narrow, the telescopic arm is retracted to a retracted state. The structure is compact and practical. The inner surface of the big arm 32 is provided with a slide groove 36 structure, and the telescopic arm 33 is an outer hinged slider 37 structure. The outer slider 37 of the telescopic arm 33 is adapted to the inner surface slide groove 36 of the big arm 32. The telescopic arm 33 is movably connected to the big arm 32 through the slider 36, and the installation card A mounting mechanism 25 is provided between the disk 23 and the spray head 24. The mounting mechanism 25 includes a fixed disk 26 arranged at the mounting end of the spray head 24. A connecting block 27 is provided at the bottom of the fixed disk 26. A pair of fixing blocks 28 are provided on the mounting chuck 23. The fixing blocks 28 and the connecting blocks 27 are fixed by fixing bolts. The application of the mounting chuck 23 enables the robot arm to complete the variable-caliber spraying task. By changing the caliber of the spray head 24, the speed of the spraying can be adjusted. At the same time, it is convenient for the staff to install and disassemble the spray head, and it is convenient to repair or replace the spray head.

[0025] Reference Figure 2 , Figure 3 and Figure 4The control system 5 includes integrated sensors, actuators, controllers and communication modules. The control system 5 communicates and exchanges data with several data acquisition card slaves as the master station through the extended communication module, and controls the movement of the motor and the cylinder through the intermediate relay. Different slaves are responsible for different functions. The control of the boom pitch cylinder and the telescopic arm pitch cylinder is relatively complex. It is necessary to consider the realization of automatic mode, manual mode and logical control of emergency stop timeout when a fault occurs. The number of slaves required for data signal collection is determined according to the number of input signals and output signals required. The control system 5 uses the Siemens PLC system as the core of the entire control system. The system has the following characteristics: it supports a variety of digital quantities, analog quantities and functional modules, has a compact design and strong scalability.

[0026] Working principle, control system 5 realizes precise control of each joint of the manipulator and real-time monitoring and adjustment of the filling process by integrating sensors, actuators, controllers and communication modules. The whole system uses ET200SP distributed IO system as the data communication center, and uses the extended communication module CNPtP as the master station to communicate and exchange data with several data acquisition card TD4055 slave stations, and controls the movement of the motor and cylinder through the intermediate relay. Different slave stations are responsible for different functions. The control of the boom pitch cylinder and the telescopic arm pitch cylinder is relatively complex. It is necessary to consider the realization of automatic mode, manual mode and logical control of emergency stop timeout when a fault occurs. The number of slave stations required for data signal collection is determined according to the number of input signals and output signals required. This system uses Siemens PLC system as the core system of the entire control system, selects CPU1512SP-1PN as the core controller, and uses TIAPortalV15.1 for system hardware configuration. The expansion modules include data communication, data input and output Output module, etc. This system is installed with 5 serial communication modules CMPtP, which supports multiple protocols including Modbus master-slave protocol, and can be used for multiple common interfaces. It is installed with 4 digital input modules DI, 4 digital output modules DQ, 1 analog input module AI and 1 server module. The server module is used to create and run input and output modules for ET200SP. The cloth manipulator can drive the manipulator body to fill the area to be filled by starting the drive motor and the controller during use. When the position of the spray head 6 needs to be adjusted, the motor can be started first to drive the slewing bearing 4 to rotate, and the operation of the whole manipulator rotating around the Z axis can be completed. The big arm motor drives the piston of the first pitch cylinder 34 to extend and retract, and the slider 37 moves in the slide groove 36 to realize the operation of extending and retracting the telescopic arm 33 along the X-axis direction. At the same time, the angle of the first rotating joint of the manipulator is adjusted to realize the operation of rotating the manipulator along the Y axis. The telescopic arm motor drives the piston of the second pitch cylinder 35 to extend and retract, and realizes the rotation of the telescopic arm 33 around the Y axis when working.

[0027] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom material distribution robot, comprising a base (1) and a control system (5), characterized in that: A rotary storage device (2) for slurry storage is fixedly connected to the upper end of the base (1); a mechanical arm body (3) is rotatably connected to the upper end of the rotary storage device (2); a slewing bearing (4) for rotational adjustment of the mechanical arm body (3) is arranged between the rotary storage device (2) and the mechanical arm body (3); a feed pipe (21) is fixedly connected to one end of the rotary storage device (2); a discharge pipe (22) is fixedly connected to the other end of the rotary storage device (2); an end of the discharge pipe (22) away from the rotary storage device (2) is fixedly connected to a mounting chuck (23); and a spray head (24) is detachably connected to the outer side of the mounting chuck (23).

2. A multi-degree-of-freedom cloth manipulator according to claim 1, characterized in that: The mechanical arm body (3) comprises a mounting seat (31) inside, the upper end of the mounting seat (31) is hingedly connected to a boom (32), one end of the boom (32) away from the mounting seat (31) is hingedly connected to a telescopic arm (33), the upper end of the mounting seat (31) is fixedly connected to a first pitch cylinder (34) for driving the boom (32) to change its angle and orientation, the telescopic end of the first pitch cylinder (34) is hingedly connected to the boom (32), the upper end of the boom (32) is fixedly connected to a second pitch cylinder (35) for driving the telescopic arm (33) to change its angle and orientation, the telescopic end of the second pitch cylinder (35) is hingedly connected to the telescopic arm (33).

3. A multi-degree-of-freedom cloth manipulator according to claim 2, characterized in that: The upper arm (32) is provided with a slide groove (36) structure on the inner surface, and the telescopic arm (33) is provided with a slider (37) structure on the outer side thereof. The slider (37) on the outer side of the telescopic arm (33) is adapted to the slide groove (36) on the inner surface of the upper arm (32), and the telescopic arm (33) is movably connected to the upper arm (32) via the slider (36).

4. The multi-degree-of-freedom cloth manipulator according to claim 3, characterized in that: A mounting mechanism (25) is provided between the mounting chuck (23) and the spray head (24), the mounting mechanism (25) comprising a fixing plate (26) arranged at the mounting end of the spray head (24), a connecting block (27) being provided at the bottom of the fixing plate (26), a pair of fixing blocks (28) being provided on the mounting chuck (23), and the fixing blocks (28) and the connecting blocks (27) being fixed by fixing bolts.

5. A multi-degree-of-freedom cloth manipulator according to claim 4, characterized in that: The control system (5) internally includes an integrated sensor, an actuator, a controller and a communication module. The control system (5) communicates and exchanges data with a plurality of data acquisition card slave stations as a master station through an extended communication module, and controls the movement of the motor and the oil cylinder through an intermediate relay.

6. A multi-degree-of-freedom cloth manipulator according to claim 5, characterized in that: The control system (5) uses the Siemens PLC system as the core of the entire control system.

7. A control method for a multi-degree-of-freedom cloth manipulator. The multi-degree-of-freedom cloth manipulator according to claim 6 is characterized in that: The control method is: A1: Set up the system, control system (5) Through the integration of sensors, actuators, controllers and communication modules, precise control of the joints of the manipulator and real-time monitoring and adjustment of the filling process are achieved. The entire system uses the ET200SP distributed IO system as the data communication center, and uses the extended communication module CNPtP as the master station to communicate and exchange data with several data acquisition card TD4055 slave stations. The movement of the motor and cylinder is controlled through the intermediate relay. Different slave stations have different functions. The control of the boom pitch cylinder and telescopic arm pitch cylinder is relatively complex. It is necessary to consider the realization of automatic mode, manual mode and emergency stop timeout logic control when a fault occurs. The number of slave stations required for data signal collection is determined according to the number of input signals and output signals required; A2: System composition. This system uses Siemens PLC system as the core system of the entire control system. CPU1512SP-1PN is selected as the core controller. TIA Portal V15.1 is used for system hardware configuration. The expansion modules include data communication, data input and output modules, etc. This system is installed with 5 serial communication modules CMPtP, which supports multiple protocols including Modbus master-slave protocol and can be used for multiple common interfaces. It is installed with 4 digital input modules DI, 4 digital output modules DQ, 1 analog input module AI and 1 server module. The server module is used to create and run input and output modules for ET200SP. A3: Control drive. During the use of the material distribution robot, the driving motor and the controller are started to drive the robot arm body to perform the filling operation on the area to be filled. When the position of the spray head 6 needs to be adjusted, the motor can be started first to drive the slewing bearing (4) to rotate, so as to complete the operation of rotating the robot arm as a whole around the Z axis. The arm motor drives the piston of the first pitch cylinder (34) to extend and retract, and the slider (37) moves in the slide groove (36) to realize the operation of extending and retracting the telescopic arm (33) along the X axis. At the same time, the angle of the first rotating joint of the robot arm is increased to realize the operation of rotating the robot arm along the Y axis. The telescopic arm motor drives the piston of the second pitch cylinder (35) to extend and retract, so as to realize the rotation of the telescopic arm (33) around the Y axis during operation.

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