Synchronous keeping control system and method for forcible entry mechanical arm

Abstract

The invention relates to the field of forcible entry robots, in particular to a synchronous maintaining control system for forcible entry mechanical arms. The first arm, the second arm, the third arm, the breaking hammer and the controller are configured to judge whether alpha and beta are equal or not when the first arm and the second arm need to move synchronously and horizontally, and if not, the oil supply amount of the first oil cylinder is kept unchanged, and the oil supply amount of the second oil cylinder is adjusted so that alpha can be equal to beta; the included angle alpha between the first arm and the rotary table and the included angle beta between the second arm and the first arm are detected in real time, and according to the real-time comparison result of the included angle alpha and the included angle beta, the oil supply amount of the first oil cylinder used for driving the first arm and the oil supply amount of the second oil cylinder used for driving the second arm are subjected to feedback adjustment; therefore, automatic control and adjustment of synchronous horizontal movement and synchronous inclined movement are achieved, and the aim of flexibly adapting to different real working conditions facing the forcible entry mechanical arm is achieved.

Description

Technical Field

[0001] The present invention relates to the field of demolition robots, and particularly to a synchronous holding control system for a demolition robotic arm. Background Art

[0002] After disasters such as earthquakes, typhoons, and mine accidents, survivors are generally trapped in narrow rubble spaces. Therefore, building materials such as steel bars and cement blocks on the surface of the rubble must be completely broken and removed before effective rescue work can be carried out. Traditional construction machinery rescue equipment has a single function, cannot adapt to the diversity of disaster rescue tasks, and cannot meet the rescue needs. China has clearly stated that it focuses on the development of rescue robots to meet the needs of disaster reconnaissance and rapid handling at the scenes of natural disasters and serious accidents; the National Safety Production Emergency Rescue Center has proposed to encourage teams to actively trial advanced technology and new equipment, including remotely controlled demolition robots for narrow and high-risk areas. For early post-disaster rescue, it is used to cut collapsed beams and columns of buildings, break and grab floor slabs, and strip residues to clear obstacles for life rescue, taking into account diverse rescue needs and demolition needs in the metallurgical industry. Therefore, demolition robots with remote control operation, multi-functional operation, strong mobility, and high efficiency have been introduced to the market.

[0003] The existing demolition robotic arms are difficult to achieve horizontal synchronization maintenance under different slope working conditions and oblique up / down synchronization maintenance under different slope working conditions. For example, Chinese Patent Publication No. CN115476354B discloses a synchronous coordination control system, method, and robotic arm for a demolition robot. This technical solution installs an angular displacement sensor on the second arm to detect the parallelism between the second arm and the horizontal ground to maintain the synchronization of the boom. The synchronization maintenance function can only be achieved when the second arm is parallel to the horizontal ground. In addition, when using this function, it is also necessary to manually adjust the third arm and the breaker to be parallel to the second arm to achieve this function. One-key adjustment cannot be achieved, the operation is cumbersome, and the boom attitude is manually adjusted by visual judgment, which cannot ensure parallelism and operation accuracy, and it is even more impossible to achieve precise strikes at different angles of the boom under different slope conditions, whether on a horizontal ground or a slope working condition. Combining Figure 1 with this, the existing demolition robotic arms can only perform operations parallel to the reference ground in a single manner, which is an ineffective operation during slope operations and cannot truly meet the actual working conditions faced by the demolition robotic arms, let alone improve the operation efficiency. Summary of the Invention

[0004] The object of the present invention is to provide a synchronous holding control system for a demolition manipulator. By real-time detecting the angle α between the first arm and the turntable and the angle β between the second arm and the first arm, and according to the real-time comparison result of the angle α and the angle β, the oil supply amounts of the first oil cylinder for driving the first arm and the second oil cylinder for driving the second arm are feedback-adjusted to achieve the automatic control adjustment of synchronous horizontal movement and synchronous oblique movement, so as to achieve the purpose of flexibly adapting to different actual working conditions faced by the demolition manipulator.

[0005] The present invention is solved by adopting the following technical solutions: In a first aspect, the present invention provides a synchronous holding control system for a demolition manipulator, which includes: A first arm, the bottom end of which is hinged to the turntable, and the first arm can be driven by a first oil cylinder to rotate relative to the turntable around the hinge point at its bottom end; A second arm, the first end of which is hinged to the top end of the first arm, the second arm can be driven by a second oil cylinder to rotate relative to the first arm around the hinge point at its first end, the second end is movably connected with a third arm, and the end of the third arm is movably connected with a breaker; A sensor assembly for detecting the angle α between the first arm and the turntable and the angle β between the second arm and the first arm; A main pump for supplying oil to the first oil cylinder and the second oil cylinder; A controller configured to, when the first arm and the second arm need to move synchronously horizontally, judge whether α and β are equal. If they are not equal, keep the oil supply amount of the first oil cylinder unchanged and adjust the oil supply amount of the second oil cylinder to make α = β; The controller is further configured to, when the first arm and the second arm need to move synchronously obliquely, obtain the set deviation angle σ between the first arm and the second arm specified during the oblique movement, judge whether α and β ± σ are equal. If they are not equal, keep the oil supply amount of the first oil cylinder unchanged and adjust the oil supply amount of the second oil cylinder to make α = β ± σ.

[0006] Optionally, it further includes: A first reversing valve, the oil inlet of which is connected to the main pump, the first working oil port is connected to the rod chamber of the first oil cylinder, and the second working oil port is connected to the rodless chamber of the first oil cylinder; by switching the spool position of the first reversing valve, the telescopic direction of the first oil cylinder can be controlled, and by adjusting the control current of the first reversing valve, the oil supply amount of the first oil cylinder can be controlled; A second reversing valve, the oil inlet of which is connected to the main pump and is in parallel with the oil inlet of the first reversing valve, the first working oil port is connected to the rod chamber of the second oil cylinder, and the second working oil port is connected to the rodless chamber of the second oil cylinder; by switching the spool position of the second reversing valve, the telescopic direction of the second oil cylinder can be controlled, and by adjusting the control current of the second reversing valve, the oil supply amount of the second oil cylinder can be controlled.

[0007] Optionally, the sensor assembly includes: A first displacement sensor disposed on the cylinder block of the first oil cylinder, and the controller is configured to determine the included angle α according to the signal of the first displacement sensor; A second displacement sensor disposed on the cylinder block of the second oil cylinder, and the controller is configured to obtain the included angle β according to the signal of the second displacement sensor.

[0008] Optionally, it further includes: A third oil cylinder, the telescopic end of which is connected to the third arm, and the third arm can be driven by the third oil cylinder to rotate around the second end of the second arm; A third reversing valve, the oil inlet of which is connected to the main pump, the first working oil port is connected to the rod chamber of the third oil cylinder, and the second working oil port is connected to the rodless chamber of the third oil cylinder; by switching the spool position of the third reversing valve, the telescopic direction of the third oil cylinder can be controlled, and by adjusting the control current of the third reversing valve, the oil supply amount of the third oil cylinder can be controlled.

[0009] Optionally, the sensor assembly further includes: A first angular displacement sensor configured to detect the real-time included angle β1 between the third arm and the turntable.

[0010] Optionally, the controller is further configured to, when the third arm 10 and the second arm 5 need to be kept parallel, obtain the set included angle α1 between the second arm 5 and the turntable, determine whether α1 and β1 are equal, and if they are not equal, keep the oil supply amount of the second oil cylinder unchanged and adjust the oil supply amount of the third oil cylinder so that α1 = β1.

[0011] Optionally, it further includes: A fourth oil cylinder, the telescopic end of which is connected to the breaker, and the breaker can be driven by the fourth oil cylinder to rotate around the end of the third arm 10; A fourth reversing valve, the oil inlet of which is connected to the main pump, the first working oil port is connected to the rod chamber of the fourth oil cylinder, and the second working oil port is connected to the rodless chamber of the fourth oil cylinder; by switching the spool position of the fourth reversing valve, the telescopic direction of the third oil cylinder can be controlled, and by adjusting the control current of the fourth reversing valve, the oil supply amount of the fourth oil cylinder can be controlled.

[0012] Optionally, the sensor assembly further includes: A second angular displacement sensor configured to detect the real-time included angle σ1 between the breaker and the turntable; The controller is further configured to, when the breaker and the second arm need to be kept parallel, obtain the set included angle α1 between the second arm and the turntable, determine whether α1 and σ1 are equal, and if they are not equal, keep the oil supply amount of the second oil cylinder unchanged and adjust the oil supply amount of the fourth oil cylinder so that α1 = σ1.

[0013] In a second aspect, the present invention provides a control method for a synchronization maintaining control system of a demolition manipulator, which is carried out based on the synchronization maintaining control system of the demolition manipulator. The control method includes: In response to the synchronous horizontal movement instructions of the first arm and the second arm, obtain the included angle α between the first arm and the turntable and the included angle β between the second arm and the first arm; determine whether α and β are equal. If they are not equal, keep the fuel supply of the first oil cylinder unchanged and adjust the fuel supply of the second oil cylinder so that α = β; In response to the synchronous oblique movement instructions of the first arm and the second arm, obtain the set deviation angle σ between the first arm and the second arm specified by the oblique movement instructions, and determine whether α is equal to β ± σ. If they are not equal, keep the fuel supply of the first oil cylinder unchanged and adjust the fuel supply of the second oil cylinder so that α = β ± σ.

[0014] Optionally, the third arm can be driven by a third oil cylinder to rotate around the second end of the second arm, and the breaker can be driven by a fourth oil cylinder to rotate around the end of the third arm; the control method further includes: In response to the parallel one-key activation instruction of the third arm and the second arm, obtain the set included angle α1 between the second arm and the turntable and the real-time included angle β1 between the third arm and the turntable, and determine whether α1 and β1 are equal. If they are not equal, keep the fuel supply of the second oil cylinder unchanged and adjust the fuel supply of the third oil cylinder so that α1 = β1; In response to the parallel one-key activation instruction of the breaker and the second arm, obtain the set included angle α1 between the second arm and the turntable and the real-time included angle σ1 between the third arm and the turntable, and determine whether α1 and σ1 are equal. If they are not equal, keep the fuel supply of the second oil cylinder unchanged and adjust the fuel supply of the third oil cylinder so that α1 = σ1.

[0015] Compared with the prior art, the present invention has the following beneficial effects: By detecting in real time the included angle α between the first arm and the turntable and the included angle β between the second arm and the first arm, when the first arm and the second arm need to move synchronously horizontally, according to the real-time comparison result of the included angle α and the included angle β, the fuel supplies of the first oil cylinder for driving the first arm and the second oil cylinder for driving the second arm are feedback-adjusted to achieve the automatic control adjustment of the synchronous horizontal movement; when the first arm and the second arm need to move synchronously obliquely, obtain the set deviation angle σ between the first arm and the second arm specified during the oblique movement, and according to the real-time comparison result of the included angle α and β ± σ, the fuel supplies of the first oil cylinder for driving the first arm and the second oil cylinder for driving the second arm are feedback-adjusted to achieve the automatic control adjustment of the synchronous oblique movement; thus achieving the purpose of flexibly adapting to the actual working conditions faced by the demolition manipulator. Description of the Drawings

[0016] Figure 1Schematic diagram of the ineffective operation of the demolition robot for the prior art solution on the slope; Figure 2 Schematic diagram of the structure of the synchronous holding control system of the demolition manipulator in Embodiment 1; Figure 3 Schematic diagram of the motion law of the demolition manipulator of the synchronous holding control system of the demolition manipulator in Embodiment 1; Figure 4 Schematic diagram of the synchronous holding control of the first arm and the second arm of the demolition manipulator of the synchronous holding control system of the demolition manipulator in Embodiment 1; Figure 5 Schematic diagram of the synchronous oblique movement of the first arm and the second arm of the demolition manipulator of the synchronous holding control system of the demolition manipulator in Embodiment 1; Figure 6 Principle block diagram of the control system of the synchronous holding control system of the demolition manipulator in Embodiment 1; Figure 7 Control flowchart of the synchronous holding control of the first arm and the second arm of the synchronous holding control system of the demolition manipulator in Embodiment 1; Figure 8 Control flowchart of the synchronous oblique movement of the first arm and the second arm of the synchronous holding control system of the demolition manipulator in Embodiment 1; Figure 9 Control flowchart of the one-key activation of the third arm parallel to the second arm and the one-key activation of the breaker parallel to the second arm of the synchronous holding control system of the demolition manipulator in Embodiment 1.

[0017] Reference numerals in the figure: 1. First oil cylinder; 2. First arm; 3. First displacement sensor; 4. Second oil cylinder; 5. Second arm; 6. Second displacement sensor; 7. First angular displacement sensor; 8. Third oil cylinder; 9. Second angular displacement sensor; 10. Third arm; 11. Fourth oil cylinder; 12. Breaker; 13. Turntable; 14. Main pump; 15. First reversing valve; 16. Second reversing valve; 17. Third reversing valve; 18. Fourth reversing valve. Detailed implementation manner

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more. In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0019] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention. Embodiment 1

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] Combined with Figures 2 - 5, this embodiment provides a synchronous holding control system for a demolition manipulator, which includes a first arm 2, a second arm 5, a sensor assembly, a main pump 14 and a controller. The bottom end of the first arm 2 is hinged to a turntable 13, and the first arm 2 can be driven by a first oil cylinder 1 to rotate relative to the turntable 13 around the hinge point at its bottom end; the first end of the second arm 5 is hinged to the top end of the first arm 2, and the second arm 5 can be driven by a second oil cylinder 4 to rotate relative to the first arm 2 around the hinge point at its first end. The second end of the second arm 5 is movably connected to a third arm 10, and the end of the third arm 10 is movably connected to a breaker 12; the sensor assembly is used to detect the angle α between the first arm 2 and the turntable 13 and the angle β between the second arm 5 and the first arm 2; the main pump 14 is used to supply oil to the first oil cylinder 1 and the second oil cylinder 4; the controller is configured to, when the first arm 2 and the second arm 5 need to move horizontally synchronously (if the working condition is on the ground, the synchronous horizontal movement here is to keep horizontal relative to the ground; if the working condition is on a slope, the synchronous horizontal movement here is to keep parallel relative to the slope), determine whether α and β are equal. If they are not equal, keep the oil supply amount of the first oil cylinder 1 unchanged and adjust the oil supply amount of the second oil cylinder 4 to make α = β; the controller is further configured to, when the first arm 2 and the second arm 5 need to move obliquely synchronously, obtain the set deviation angle σ between the first arm 2 and the second arm 5 specified during the oblique movement, and determine whether α and β ± σ are equal. If they are not equal, keep the oil supply amount of the first oil cylinder 1 unchanged and adjust the oil supply amount of the second oil cylinder 4 to make α = β ± σ.

[0022] Combined with Figure 6 , the control system of this embodiment further includes a first reversing valve 15 and a second reversing valve 16. The oil inlet of the first reversing valve 15 is connected to the main pump 14, the first working oil port is connected to the rod chamber of the first oil cylinder 1, and the second working oil port is connected to the rodless chamber of the first oil cylinder 1; by switching the spool position of the first reversing valve 15, the telescopic direction of the first oil cylinder 1 can be controlled, and by adjusting the control current of the first reversing valve 15, the oil supply amount of the first oil cylinder 1 can be controlled; the oil inlet of the second reversing valve 16 is connected to the main pump 14 and is in parallel with the oil inlet of the first reversing valve 15. The first working oil port is connected to the rod chamber of the second oil cylinder 4, and the second working oil port is connected to the rodless chamber of the second oil cylinder 4; by switching the spool position of the second reversing valve 16, the telescopic direction of the second oil cylinder 4 can be controlled, and by adjusting the control current of the second reversing valve 16, the oil supply amount of the second oil cylinder 4 can be controlled.

[0023] The sensor assembly includes a first displacement sensor 3 and a second displacement sensor 6. The first displacement sensor 3 is provided on the cylinder block of the first oil cylinder 1 (in this embodiment, the first displacement sensor 3 is installed at the root of the large chamber or the rodless chamber of the first oil cylinder). The controller is configured to obtain the included angle α according to the signal of the first displacement sensor 3. The second displacement sensor 6 is provided on the cylinder block of the second oil cylinder 4 (in this embodiment, the second displacement sensor 6 is installed at the root of the large chamber or the rodless chamber of the second oil cylinder). The controller is configured to obtain the included angle β according to the signal of the second displacement sensor 6.

[0024] This will be described in combination with the specific actual operation process: Combined with Figures 2 - 4 and Figure 7 , when the first arm 2 and the second arm 5 of the demolition robot need to perform synchronous holding control, the control method is as follows: First, the controller determines the swinging direction of the operation handle. If the handle swings forward, it indicates that the first arm 2 and the second arm 5 are to perform synchronous horizontal extension actions at this time. At this time, the controller outputs control signals to make the solenoid valve Y1.1 at the left end of the first reversing valve 15 and the solenoid valve Y2.1 at the left end of the second reversing valve 16 energized. At this time, the first oil cylinder 1 extends to drive the extension of the first arm 2, and the second oil cylinder 4 extends to drive the extension of the second arm 5. Further, the controller collects the signals of the first displacement sensor 3 and the second displacement sensor 6, and can know the included angle α between the first arm 2 and the turntable 13 and the included angle β between the second arm 5 and the first arm 2, and determines whether the angle values α and β are equal. If α and β are equal, it indicates that the first arm 2 and the second arm 5 achieve synchronous holding for horizontal extension. If α and β are not equal, it indicates that the first arm 2 and the second arm 5 do not reach synchronous holding for horizontal extension. The controller further judges the comparison of the magnitudes of the angles α and β. If α > β, the controller keeps the current I1 of the solenoid valve Y1.1 unchanged, and increases the current I2 of the solenoid valve Y2.1. In this way, the oil supply amount or the oil inlet amount of the first oil cylinder 1 can be kept unchanged, while the oil supply amount of the second arm 5 increases, making the action speed of the second arm 5 faster than that of the first arm. If α < β, the controller keeps the current I1 of the solenoid valve Y1.1 unchanged, and decreases the current I2 of the solenoid valve Y2.1. Similarly, this can make the action speed of the second arm 5 slower than that of the first arm. This process continues until the controller collects the angle value α = β. Subsequently, the controller outputs the given current I1 for controlling the solenoid valve Y1.1 and the given current I2 for controlling the solenoid valve Y2.1, thus completing the synchronous holding horizontal extension action of the first arm 2 and the second arm 5 of the demolition robot.

[0025] Combined with Figure 2 , Figure 3 , Figure 5 and Figure 8, further, when the first arm 2 and the second arm 5 need to move obliquely synchronously (synchronously keep extending obliquely up and down), it is necessary to specify the set deviation angle σ between the first arm 2 and the second arm 5, and judge whether α = β ± σ. If α is equal to β ± σ, it indicates that the first arm 2 and the second arm 5 are synchronously keeping extending obliquely up or down. If α is not equal to β ± σ, it indicates that the first arm 2 and the second arm 5 have not reached synchronous extension. The controller further judges the size comparison between α and β ± σ. If α > β ± σ, the controller keeps the current I1 of the solenoid valve Y1.1 at the left end of the first directional valve 15 unchanged, and increases the current I2 of the solenoid valve Y2.1 at the right end of the second directional valve 16. In this way, the action speed of the second arm 5 can be increased. If α < β ± σ, the controller keeps the current I1 of the solenoid valve Y1.1 unchanged, and decreases the current I2 of the solenoid valve Y2.1. In this way, the action speed of the second arm 5 can be slowed down relative to the first arm 2. This process continues until the controller determines that α = β ± σ. The controller outputs the given current I1 for controlling the solenoid valve Y1.1 and outputs the given current I2 for controlling the solenoid valve Y2.1. In this way, the synchronous extension action of the first arm 2 and the second arm 5 of the demolition robot obliquely up or down is completed.

[0026] Further, if the handle swings backward, it indicates that the first arm 2 and the second arm 5 need to perform synchronous horizontal retraction at this time. At this time, the controller outputs to control the solenoid valves Y1.2 at the right end of the first directional valve 15 and Y2.2 at the right end of the second directional valve 16 to be energized. At this time, the first oil cylinder 1 retracts to drive the backward movement of the first arm 2, and the second oil cylinder 4 retracts to drive the backward movement of the second arm 5. Further, the controller collects the signals of the first displacement sensor and the second displacement sensor, and can know the angle α between the first arm 2 and the turntable 13 and the angle β between the second arm 5 and the first arm 2, and determines whether the angle values α and β are equal. If α and β are equal, it indicates that the first arm 2 and the second arm 5 are synchronously keeping horizontal retraction. If α and β are not equal, it indicates that the first arm 2 and the second arm 5 have not reached synchronous horizontal retraction. The controller further judges the size comparison between α and β. If the alternate interior angle α > β, the controller keeps the current I1 of the solenoid valve Y1.2 unchanged, and decreases the current I2 of the solenoid valve Y2.2. In this way, the action speed of the second arm 5 can be slowed down relative to the first arm 2. If the alternate interior angle α < β, the controller keeps the current I1 of the solenoid valve Y1.2 unchanged, and increases the current I2 of the solenoid valve Y2.2. In this way, the action speed of the second arm 5 can be increased. This process continues until the controller determines that the angle value α = β. The controller outputs the given current I1 for controlling the solenoid valve Y1.2 and outputs the given current I2 for controlling the solenoid valve Y2.2. In this way, the synchronous horizontal extension action of the first arm 2 and the second arm 5 of the demolition robot is completed.

[0027] Furthermore, to achieve the synchronous and inclined up-and-down retraction of the first arm 2 and the second arm 5, it is necessary to specify the set deviation angle σ between the first arm 2 and the second arm 5, and determine whether α = β ± σ. If α is equal to β ± σ, it indicates that the first arm 2 and the second arm 5 achieve synchronous and inclined up or down retraction. If α is not equal to β ± σ, it indicates that the first arm 2 and the second arm 5 do not achieve synchronous retraction. The controller further determines the comparison of the magnitudes of the angles α and β ± σ. If α > β ± σ, the controller keeps the current I1 of the electromagnetic valve Y1.2 at the right end of the first reversing valve 15 unchanged, and reduces the current I2 of the electromagnetic valve Y2.2 at the right end of the second reversing valve 16, so as to slow down the movement speed of the second arm 5. If α < β ± σ, the controller keeps the current I1 of the electromagnetic valve Y1.2 unchanged, and increases the current I2 of the electromagnetic valve Y2.2, so as to speed up the movement speed of the second arm 5. This process continues until the controller determines that the angle value α = β ± σ, and the controller outputs the given current I1 for controlling the electromagnetic valve Y1.2 and the given current I2 for controlling the electromagnetic valve Y2.2, thus completing the synchronous and inclined up or down retraction movement of the first arm 2 and the second arm 5 of the demolition robot.

[0028] Combined with Figure 9 , further, in addition to the automatic control functions of the synchronous horizontal movement of the first arm 2 and the second arm 5 and the synchronous inclined movement of the first arm 2 and the second arm 5, the synchronous holding control system of the demolition robot arm in this embodiment also has a one-key activation function for the third arm 10 to be parallel to the second arm 5 and a one-key activation function for the breaker 12 to be parallel to the second arm 5.

[0029] The synchronous holding control system of the demolition robot arm in this embodiment further includes a third oil cylinder 8 and a third reversing valve 17. The telescopic end of the third oil cylinder 8 is connected to the third arm 10, and the third arm 10 can be driven by the third oil cylinder 8 to rotate around the second end of the second arm 5. The oil inlet of the third reversing valve 17 is connected to the main pump 14, the first working oil port is connected to the rodless cavity of the third oil cylinder 8, and the second working oil port is connected to the rod cavity of the third oil cylinder 8; by switching the spool position of the third reversing valve 17, the telescopic direction of the third oil cylinder 8 can be controlled, and by adjusting the control current of the third reversing valve 17, the oil supply amount of the third oil cylinder 8 can be controlled. The sensor further includes a first angular displacement sensor 7, which is configured to detect the real-time included angle β1 between the third arm 10 and the turntable 13, and the first angular displacement sensor 7 is installed on the boom of the third arm 10. The controller is further configured to, when the third arm 10 and the second arm 5 need to be kept parallel, obtain the set included angle α1 between the second arm 5 and the turntable 13, determine whether α1 and β1 are equal, and if they are not equal, keep the oil supply amount of the second oil cylinder 4 unchanged and adjust the oil supply amount of the third oil cylinder 8 to make α1 = β1.

[0030] Specifically, in combination with the specific operation process, for example, to achieve one-key activation of the parallelism between the third arm 10 and the second arm 5, it is necessary to specify the set angle α1 between the second arm 5 and the turntable 13. The first angle sensor is used to determine whether the third arm 10 and the second arm 5 are parallel. Let the real-time angle between the third arm 10 and the turntable 13 be β1. If α1 is equal to β1, it indicates that the third arm 10 and the second arm 5 are in a parallel state. If α1 and β1 are not equal, it indicates that the third arm 10 and the second arm 5 are not in a parallel state. The controller further judges the comparison of the magnitudes of the angles α1 and β1. The controller increases or decreases the current of the electromagnetic valves Y3.1 / Y3.2 of the third reversing valve 17 (determine the energization of the electromagnetic valves Y3.1 / Y3.2 according to the telescopic direction), so that the movement speed of the third arm 10 can be accelerated or decelerated, and the parallelism between the third arm 10 and the second arm 5 is achieved.

[0031] The synchronization and retention control system of the demolition manipulator in this embodiment further includes a fourth oil cylinder 11 and a fourth reversing valve 18. The telescopic end of the fourth oil cylinder 11 is connected to the breaker 12, and the breaker 12 can be driven by the fourth oil cylinder 11 to rotate around the end of the third arm 10. The fourth reversing valve 18 has an oil inlet connected to the main pump 14, a first working oil port connected to the rodless cavity of the fourth oil cylinder 11, and a second working oil port connected to the rodless cavity of the fourth oil cylinder 11; by switching the spool position of the fourth reversing valve 18, the telescopic direction of the fourth oil cylinder 11 can be controlled, and by adjusting the control current of the fourth reversing valve 18, the oil supply amount of the fourth oil cylinder 11 can be controlled. The sensor further includes a second angular displacement sensor 9, which is configured to detect the real-time angle σ1 between the breaker 12 and the turntable 13; the second angular displacement sensor 9 is installed on the breaker 12; the controller is further configured to, when the breaker 12 and the second arm 5 need to be kept parallel, obtain the set angle α1 between the second arm 5 and the turntable 13, judge whether α1 and σ1 are equal, and if they are not equal, keep the oil supply amount of the second oil cylinder 4 unchanged and adjust the oil supply amount of the fourth oil cylinder 11 so that α1 = σ1.

[0032] Further in combination with the figure, for example, to achieve one-key activation of the parallelism between the breaker 12 and the second arm 5, it is necessary to specify the set angle α1 between the second arm 5 and the turntable 13. The second angle sensor is used to determine whether the breaker 12 and the second arm 5 are parallel. Let the real-time angle between the breaker 12 and the turntable 13 be σ1. If α1 is equal to σ1, it indicates that the breaker 12 and the second arm 5 are in a parallel state. If α1 and σ1 are not equal, it indicates that the breaker 12 and the second arm 2 are not in a parallel state. The controller further judges the comparison of the magnitudes of the angles α1 and σ1. The controller increases or decreases the current of the electromagnetic valves Y4.1 / Y4.2 of the fourth reversing valve 18 (determine the energization of the electromagnetic valve Y4.1 or Y4.2 according to the telescopic direction), so that the movement speed of the breaker 12 can be accelerated or decelerated, and the parallelism between the breaker 12 and the second arm 5 is achieved. Embodiment 2

[0033] Based on the same inventive concept as in Embodiment 1, this embodiment provides a control method for the synchronization maintenance control system of a demolition manipulator, which is carried out based on the synchronization maintenance control system of the demolition manipulator described in Embodiment 1. The control method includes: In response to the synchronous horizontal movement instructions of the first arm 2 and the second arm 5, obtain the included angle α between the first arm 2 and the turntable 13 and the included angle β between the second arm 5 and the first arm 2; determine whether α and β are equal. If they are not equal, keep the fuel supply of the first oil cylinder 1 unchanged and adjust the fuel supply of the second oil cylinder 4 to make α = β; In response to the synchronous oblique movement instructions of the first arm 2 and the second arm 5, obtain the set deviation angle σ between the first arm 2 and the second arm 5 specified by the oblique movement instructions, and determine whether α is equal to β ± σ. If they are not equal, keep the fuel supply of the first oil cylinder 1 unchanged and adjust the fuel supply of the second oil cylinder 4 to make α = β ± σ.

[0034] In response to the parallel one-key activation instruction of the third arm 10 and the second arm 5, obtain the set included angle α1 between the second arm 5 and the turntable 13 and the real-time included angle β1 between the third arm 10 and the turntable 13, and determine whether α1 and β1 are equal. If they are not equal, keep the fuel supply of the second oil cylinder 4 unchanged and adjust the fuel supply of the third oil cylinder 8 to make α1 = β1; In response to the parallel one-key activation instruction of the breaker 12 and the second arm 5, obtain the set included angle α1 between the second arm 5 and the turntable 13 and the real-time included angle σ1 between the third arm 10 and the turntable 13, and determine whether α1 and σ1 are equal. If they are not equal, keep the fuel supply of the second oil cylinder 4 unchanged and adjust the fuel supply of the third oil cylinder 8 to make α1 = σ1.

[0035] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A synchronous holding control system for a demolition robotic arm, characterized in that, Comprising: A first arm (2) whose bottom end is hinged to a turntable (13), and the first arm (2) can be driven by a first oil cylinder (1) to rotate relative to the turntable (13) about the hinge point at its bottom end; A second arm (5) whose first end is hinged to the top end of the first arm (2), the second arm (5) can be driven by a second oil cylinder (4) to rotate relative to the first arm (2) about the hinge point at its first end, a third arm (10) is movably connected to the second end, and a breaker (12) is movably connected to the end of the third arm (10); A sensor assembly for detecting the angle α between the first arm (2) and the turntable (13) and the angle β between the second arm (5) and the first arm (2); A main pump (14) for supplying oil to the first oil cylinder (1) and the second oil cylinder (4); A controller configured to, when the first arm (2) and the second arm (5) need to move horizontally synchronously, determine whether α and β are equal, and if not, keep the oil supply amount of the first oil cylinder (1) unchanged and adjust the oil supply amount of the second oil cylinder (4) so that α = β; The controller is further configured to, when the first arm (2) and the second arm (5) need to move obliquely synchronously, obtain a set deviation angle σ between the first arm (2) and the second arm (5) specified during the oblique movement, determine whether α and β ± σ are equal, and if not, keep the oil supply amount of the first oil cylinder (1) unchanged and adjust the oil supply amount of the second oil cylinder (4) so that α = β ± σ.

2. The synchronized holding control system of the demolition manipulator according to claim 1, wherein Further comprising: A first reversing valve (15) whose oil inlet is connected to the main pump (14), the first working oil port is connected to the rod chamber of the first oil cylinder (1), and the second working oil port is connected to the rodless chamber of the first oil cylinder (1); by switching the spool position of the first reversing valve (15), the telescopic direction of the first oil cylinder (1) can be controlled, and by adjusting the control current of the first reversing valve (15), the oil supply amount of the first oil cylinder (1) can be controlled; A second reversing valve (16) whose oil inlet is connected to the main pump (14) and is in parallel with the oil inlet of the first reversing valve (15), the first working oil port is connected to the rod chamber of the second oil cylinder (4), and the second working oil port is connected to the rodless chamber of the second oil cylinder (4); by switching the spool position of the second reversing valve (16), the telescopic direction of the second oil cylinder (4) can be controlled, and by adjusting the control current of the second reversing valve (16), the oil supply amount of the second oil cylinder (4) can be controlled.

3. The simultaneous holding control system of the demolition manipulator according to claim 2, wherein The sensor assembly includes: A first displacement sensor (3) provided on the cylinder block of the first oil cylinder (1), and the controller is configured to determine the angle α according to the signal of the first displacement sensor (3); A second displacement sensor (6) provided on the cylinder block of the second oil cylinder (4), and the controller is configured to obtain the angle β according to the signal of the second displacement sensor (6).

4. The synchronization maintaining control system of the demolition manipulator according to claim 1, characterized in that Further comprising: A third oil cylinder (8) whose telescopic end is connected to the third arm (10), and the third arm (10) can be driven by the third oil cylinder (8) to rotate about the second end of the second arm (5); The third reversing valve (17) has an oil inlet connected to the main pump (14), a first working oil port connected to the rod chamber of the third oil cylinder (8), and a second working oil port connected to the rodless chamber of the third oil cylinder (8); by switching the spool position of the third reversing valve (17), the telescopic direction of the third oil cylinder (8) can be controlled, and by adjusting the control current of the third reversing valve (17), the oil supply amount of the third oil cylinder (8) can be controlled.

5. The simultaneous holding control system of the demolition manipulator according to claim 4, characterized in that, The sensor assembly further includes: A first angular displacement sensor (7) configured to detect the real-time included angle β1 between the third arm (10) and the turntable (13).

6. The synchronization maintaining control system of the demolition manipulator according to claim 5, wherein The controller is further configured to, when the third arm (10) and the second arm (5) need to be kept parallel, obtain the set included angle α1 between the second arm (5) and the turntable (13), determine whether α1 and β1 are equal, and if not, keep the oil supply amount of the second oil cylinder (4) unchanged and adjust the oil supply amount of the third oil cylinder (8) to make α1 = β1.

7. The synchronous holding control system of the demolition manipulator according to claim 1, characterized in that It further includes: A fourth oil cylinder (11) whose telescopic end is connected to the breaker (12), and the breaker (12) can be driven by the fourth oil cylinder (11) to rotate around the end of the third arm (10); A fourth reversing valve (18) has an oil inlet connected to the main pump (14), a first working oil port connected to the rod chamber of the fourth oil cylinder (11), and a second working oil port connected to the rodless chamber of the fourth oil cylinder (11); by switching the spool position of the fourth reversing valve (18), the telescopic direction of the fourth oil cylinder (11) can be controlled, and by adjusting the control current of the fourth reversing valve (18), the oil supply amount of the fourth oil cylinder (11) can be controlled.

8. The synchronization maintenance control system of the demolition robotic arm according to claim 1, characterized in that, The sensor assembly further includes: A second angular displacement sensor (9) configured to detect the real-time included angle σ1 between the breaker (12) and the turntable (13); The controller is further configured to, when the breaker (12) and the second arm (5) need to be kept parallel, obtain the set included angle α1 between the second arm (5) and the turntable (13), determine whether α1 and σ1 are equal, and if not, keep the oil supply amount of the second oil cylinder (4) unchanged and adjust the oil supply amount of the fourth oil cylinder (11) to make α1 = σ1.

9. A control method for a synchronization maintaining control system of a demolition manipulator, characterized in that, Based on any one of claims 1-8, the demolition manipulator synchronous holding control system is carried out, and the control method includes: In response to the synchronous horizontal movement instruction of the first arm (2) and the second arm (5), obtain the included angle α between the first arm (2) and the turntable (13) and the included angle β between the second arm (5) and the first arm (2); determine whether α and β are equal, and if not, keep the oil supply amount of the first oil cylinder (1) unchanged and adjust the oil supply amount of the second oil cylinder (4) to make α = β; In response to the synchronous oblique movement instruction of the first arm (2) and the second arm (5), obtain the set deviation angle σ between the first arm (2) and the second arm (5) specified by the oblique movement instruction, determine whether α and β ± σ are equal, and if not, keep the oil supply amount of the first oil cylinder (1) unchanged and adjust the oil supply amount of the second oil cylinder (4) to make α = β ± σ.

10. The control method of a synchronization maintaining control system for a demolition manipulator according to claim 9, characterized in that, The third arm (10) can be driven by the third oil cylinder (8) to rotate around the second end of the second arm (5), and the breaker (12) can be driven by the fourth oil cylinder (11) to rotate around the end of the third arm (10); The control method further includes: In response to the parallel one-key activation instruction of the third arm (10) and the second arm (5), obtain the set angle α1 between the second arm (5) and the turntable (13) and the real-time angle β1 between the third arm (10) and the turntable (13), and judge whether α1 and β1 are equal. If they are not equal, keep the oil supply of the second oil cylinder (4) unchanged and adjust the oil supply of the third oil cylinder (8) to make α1 = β1; In response to the parallel one-key activation instruction of the breaker (12) and the second arm (5), obtain the set angle α1 between the second arm (5) and the turntable (13) and the real-time angle σ1 between the third arm (10) and the turntable (13), and judge whether α1 and σ1 are equal. If they are not equal, keep the oil supply of the second oil cylinder (4) unchanged and adjust the oil supply of the third oil cylinder (8) to make α1 = σ1.

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