Master-slave hydraulic mechanical arm controller

Abstract

The invention relates to a master-slave hydraulic mechanical arm controller. A handheld terminal of the master-slave hydraulic mechanical arm controller comprises a microprocessor I which is respectively connected with a man-machine interface unit and an embedded master-hand controller, wherein the embedded master-hand controller comprises a microprocessor II which is respectively connected with the microprocessor I, an A / D (Analog to Digital) converter I and a serial to fiber module; and the A / D converter I is connected with a plurality of potentiometers (at each joint motion axis) of the main hand. The mechanical arm controller also comprises a microprocessor III which is respectively connected with an A / D converter II, a D / A (Digital to Analog) converter and an electromagnetic valve; and the microprocessor III is communicated with the serial to fiber module through a fiber to serial module; the A / D converter II is connected with a plurality of potentiometers (at each joint motion axis) on the mechanical arm; the D / A converter is connected with a hydraulic amplifier, a plurality of servo valves and a corresponding hydraulic cylinder; and the output shaft of the hydraulic cylinder is connected with the mechanical arm. The master-slave hydraulic mechanical arm controller has the advantages of high processing speed, low cost and stable and reliable performance.

Description

Technical field: [0001] The invention relates to a robot control technology, in particular to a master-slave hydraulic mechanical arm controller. Background technique: [0002] In order to improve the automation level and safety of live work, reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to operators, many countries have carried out research on live work robots since the 1980s, such as Japan, Spain, the United States, Canada, France and other countries have successively carried out research on live working robots. In 2002, my country also carried out the development of a prototype of a high-voltage live working robot. [0003] At present, there are three main driving modes of the mechanical arm: pneumatic drive, hydraulic drive and motor drive. Disadvantages of pneumatically driven manipulators: large gas compressibility, low precision, poor damping effect, difficult to control at low speed, difficult to achieve servo cont...

AI Technical Summary

Problems solved by technology

Disadvantages of pneumatically driven manipulators: large gas compressibility, low precision, poor damping effect, difficult to control at low speed, difficult to achieve servo control, and noise when exhausting, low efficiency, suitable for small and medium loads, low precision requirements and limited points program controlled robotic arm

[0004] Disadvantages of motor-driven manipulators: DC brush motors have sparks when commutating, poor explosion-proof performance to the environment, high cost, complex structural design, suitable for small and medium loads, require high position control accuracy, and high speed robotic arm

[0005] Disadvantages of hydraulically driven robotic arms: oil leakage, hydraulic transmission is sensitive to changes in oil temperature, and failures are not easy to check and eliminate. It is suitable for large loads and requires low control precision.

Among them, the teaching and reproduction mode has poor operation flexibility and low motion speed, and the programming of robot motion trajectory algorithm is complicated and difficult to develop

The master-slave control method is used in occasions where the control is flexible but the control precision is low

At present, the master-slave control system of the manipulator is generally divided into two categories: one type uses industrial computer and control card, which is highly specific and expensive in terms of equipment and control technology, which limits the further development of master-slave technology; the other The class uses PLC, which has large volume, high power consumption, slow control speed, difficulty in changing the control program, and poor reliability when the control is complex.

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