CN203031597U - Electrification repair robot position feedback master manipulator system - Google Patents

Abstract

The utility model relates to a position feedback main hand system of a live repair robot, which adopts a position and force servo double closed-loop control mode, has high control precision, good real-time performance, stable and reliable performance, and more convenient operation, and meets the requirements of high-voltage live robot work tasks . It includes a hand-held terminal, a main hand controller and a robotic arm controller; the hand-held terminal includes a microprocessor I, which is respectively connected to a liquid crystal module and a keyboard; the main hand controller adopts a microprocessor II and a microprocessor III, and the microprocessor II is connected to microprocessor I through serial ports, and to microprocessor III through dual-port RAM. Microprocessor II is also connected to A/D converter I and wireless module I. The potential of A/D converter I and the main hand The wireless module I communicates with the wireless module II, and the wireless module II is connected with the robotic arm controller; the microprocessor III is connected with the motion controller, and the motion controller is connected with the motor driver, which drives the torque motor of the main hand.

Description

Position Feedback Master Hand System of Live Repair Robot

Technical field:

The utility model relates to a robot control technology, in particular to a position feedback main hand system of a live repair robot.

Background technique:

With the continuous development of our country's social economy and the continuous improvement of people's living quality, live work must be carried out in order to realize uninterrupted power transmission in the power distribution network. Artificial live work has its difficulties and limitations. Therefore, it is necessary to develop a high-voltage live work robot with stronger safety and adaptability to overcome the difficulties and limitations of manual live work, and to replace manual live work. It also meets the requirements of the times. . 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.

Domestic Shandong Electric Power Research Institute has carried out research on three generations of high-voltage live working robots:

① The first-generation high-voltage live working robot uses two MOTOMAN robotic arms. The operator controls the movement of the robotic arms through the keyboard when performing operations. Since the control system is not open, master-slave control cannot be realized. Inconvenient to operate.

②The second-generation high-voltage live working robot adopts two self-developed motor manipulators, and the control system adopts master-slave control mode. The operator controls the movement of the mechanical arm through the master hand and the keyboard when performing operations, realizing the master-slave/autonomous control of the robot system. However, due to its heavy weight, it cannot be suitable for the operation requirements of the insulated bucket arm truck.

③The third-generation high-voltage live working robot—Shanxi Changzhi high-voltage live working robot project uses two hydraulic mechanical arms without force feedback, which are light in weight and heavy in weight. It can complete live disconnection, live connection, live insulator replacement and other operations, and realize the field application of live working robots. However, due to the lack of perception ability, it cannot complete delicate and complicated work.

After the research of the first three generations of prototypes, the high-voltage live working robot has formed the ability of routine live working and put it into field application. However, the mechanical arm has no force feedback function, the operator cannot perceive the working environment, and the working content and working efficiency of the robot are greatly limited.

Utility model content

The purpose of this utility model is to solve the above problems and provide a live repair robot position feedback master hand system. The live repair robot position feedback master hand system adopts a position and force servo double closed-loop control mode, and isolates the high-voltage electric field from people through wireless , high control precision, good real-time performance, stable and reliable performance, and more convenient operation, meeting the requirements of high-voltage live robot tasks.

In order to achieve the above object, the utility model adopts the following technical solutions:

A kind of live repair robot position feedback main hand system, it comprises hand-held terminal, main hand controller and mechanical arm controller; Hand-held terminal comprises microprocessor 1, and it is connected with liquid crystal module, keyboard respectively; Described main hand controller adopts Embedded microprocessor II and microprocessor III, described microprocessor II is connected with microprocessor I by serial port, is connected with microprocessor III by dual-port RAM, and microprocessor II is also connected with A/D converter I, The wireless module I is connected, the A/D converter I is connected with the potentiometer of the main hand of the manipulator, the wireless module I communicates with the wireless module II, and the wireless module II is connected with the manipulator controller; the microprocessor III is connected with the motion controller , the motion controller is connected with the motor driver, and the motor driver drives the torque motor of the main hand.

The manipulator described above is a hydraulic manipulator produced by Kraft Telerobotics in the United States, which has already been sold on the market, and will not be described in detail here.

The potentiometer and torque motor are installed at each joint of the main hand of the mechanical arm to realize waist rotation, big arm pitch, forearm pitch, wrist pitch and wrist swing of the main hand.

Static or dynamic forces from the distal slave hand are reflected to the master hand through these torque motors, which automatically set the master hand upon initial power-up.

Described microprocessor II is connected with serial port, wireless module 1 and A/D converter 1 respectively by MAX3232I, II, three chips of III, and serial port is connected with microprocessor 1;

The microprocessor III is connected with the motion controller, and the motion controller includes motion control chips I and II, and the two motion control chips I and II are respectively connected with their respective 16M active crystal oscillators, and the motion control chip I is interfaced with four main hand motor drivers Connection, the motion control chip II is connected with two main hand motor driver interfaces, and each driver interface receives positive and negative pulses respectively.

The microprocessor I is also connected with the voltage stabilizing chips I and II; the microprocessor I is connected with the serial port through the MAX3232IV, and is connected with the liquid crystal module and the keyboard management module respectively through the logic level converter, and the keyboard management module is connected with the keyboard.

Described microprocessor I, microprocessor II and microprocessor III all adopt TMS320F28335 chip, have floating-point processing function; Described A/D converter I adopts MAX1312 chip, gathers 8 road analog quantities simultaneously, acquisition range-10V ~+10V, 12-bit precision.

The motor controller adopts MCX314 control chip. It can control multiple axes at the same time, and has functions such as linear acceleration/deceleration drive, parabolic acceleration/deceleration drive, acceleration and deceleration setting, and maximum speed setting.

The torque motor adopts a stepping torque motor, the torque range is 0.061-0.123N.m, the stall current is 0.3A, and the torque sensitivity is 0.028N.m; the potentiometers are 5KΩ 360-degree rotary potentiometers, and the sensor accuracy is 1‰. Output signal -10V～+10V.

The communication distance of the wireless modules I and II is 1000m, and the communication frequency is 900MHz.

Microprocessor II acts as the host computer, and it takes on the functions of system management, manipulator language compilation and man-machine interface, and regularly sends calculation results as joint movement increments to the public memory for microprocessor III to read it.

Microprocessor III completes digital control of all joint positions and forces. It reads the given value from the common memory, and also sends the actual position of each joint back to the common memory, which is used by the microprocessor II.

The control method of the position feedback main hand system of the live emergency repair robot includes the following steps:

(1) The potentiometer of the main hand collects the position signal of the main hand;

(2) The potentiometer of the robotic arm collects the position signal of the gripper of the robotic arm, compares it with the signal in step (1), and sends the compared signal to the microprocessor II;

(3) Microprocessor II sends to microprocessor I through the serial port;

(4) The microprocessor I sends to the motion controller, the motion controller controls the motor driver, the motor driver drives the torque motor of the main hand to move, and the torque motor controls the movement of the main hand;

(5) Go back to step (1) and perform a loop.

By adopting the scheme, the utility model has the following advantages:

One is the use of force feedback technology, which has the ability to perceive the environment, which can greatly improve the flexibility and accuracy of the operation, greatly improve the operation efficiency, and complete complex operations such as repairing wires, replacing cross arms, and dropping insurance;

The second is to adopt the master-slave control mode to operate flexibly and conveniently, without complex kinematic algorithms such as linear interpolation and circular interpolation;

The third is that the system adopts modular design, which is open, readable, expandable and maintainable, so as to facilitate continuous development;

Fourth, the communication method of the master-slave control system adopts wireless communication, which is convenient for the wiring of live emergency repair robots and can realize high-voltage insulation.

Description of drawings

Fig. 1 is a general block diagram of the utility model;

Fig. 2 is the structural diagram of main hand of the present utility model;

Fig. 3 is the hardware interface connection diagram of the main control board of the main hand of the utility model;

Fig. 4 is a connection diagram of the hardware interface of the master and slave control boards of the utility model;

Fig. 5 is a circuit diagram of the handheld terminal of the present invention;

Fig. 6 is a block diagram of the utility model position control;

Among them, 1 base, 2 torque motor, 3 balance weight, 4 shoulder joint, 5 upper arm, 6 elbow joint, 7 forearm, 8 wrist joint, 9 potentiometer, 10 handle.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described further.

In Fig. 1, a kind of live repair robot position feedback main hand system, its handheld terminal includes microprocessor I, and it is connected with keyboard and liquid crystal display screen and main hand controller respectively; Main hand controller adopts DSP chip, includes microprocessor Device II and microprocessor III, and microprocessor II is connected with microprocessor I and dual-port RAM respectively, and dual-port RAM is connected with microprocessor III; Microprocessor III is connected with motion controller respectively, and motion controller is connected with motor The driver is connected, and the motor driver is connected with the torque motor 2 of the main hand; the A/D converter I is connected with several potentiometers (at each joint movement axis) of the main hand, and the microprocessor II is connected with the A/D converter I, The wireless module I is connected, and the wireless module I is connected with the controller of the mechanical arm through the wireless module II.

The motor driver adopts MCX314 control chip, which can control 4 axes at the same time. It has functions such as linear acceleration/deceleration drive, parabolic acceleration/deceleration drive, acceleration and deceleration setting, and maximum speed setting.

Microprocessor I, Microprocessor II and Microprocessor III all adopt TMS320F28335 chip, which has floating-point processing function; the A/D converter I adopts MAX1312 chip, and collects 8 channels of analog quantities at the same time, and the collection range is -10V～+ 10V, 12-bit precision.

The torque motor 2 adopts a stepping torque motor, the torque range is 0.061-0.123N.m, the stall current is 0.3A, and the torque sensitivity is 0.028N.m; each potentiometer is a 5KΩ 360-degree rotary potentiometer, the sensor accuracy is 1‰, and the output Signal -10V～+10V.

In Figure 2, the main hand is a 6-DOF main hand, including a base 1, a support arm is installed on the base 1, a torque motor 2 is installed on the bottom of the support arm, the upper end of the support arm is used as the shoulder joint 4, and the upper arm 5 is installed on the shoulder joint 4, the rear end of the upper arm 5 is a balance weight 3; the front end of the upper arm 5 is connected to the elbow joint 6, the elbow joint 6 is connected to the forearm 7, the end of the forearm 7 is the wrist joint 8, and the wrist joint 8 is connected to one end of the wrist arm. The other end of the arm is connected with the handle 10, and each joint is equipped with a potentiometer 9 and a torque motor 2 to realize waist rotation, big arm pitch, forearm pitch, wrist pitch, and wrist swing. The static or dynamic force of the distal slave hand is reflected to the master hand through these torque motors 2 . Upon initial power up, these torque motors 2 automatically set the master hand.

The communication distance of wireless modules I and II is 1000m, the communication frequency is 900MHz, the anti-interference ability is strong, and the communication distance is long.

Microprocessor II acts as the host computer, and it takes on the functions of system management, manipulator language compilation and man-machine interface, and regularly sends calculation results as joint movement increments to the public memory for microprocessor III to read it.

Microprocessor III completes digital control of all joint positions and forces. It reads the given value from the common memory, and also sends the actual position of each joint back to the common memory, which is used by the microprocessor II.

In Fig. 3, the embedded master controller includes dual-port RAM, microprocessor II, serial port receiver transmitter, serial port, and slave controller interface. XD0-15 of microprocessor II is connected to IO0-15L of dual-port RAM, /XRD is connected to /OEL, /XWE is connected to R//WL, /XZCS1 is connected to /CEL, XA0-11 is connected to A0-11L. The M//S of the dual-port RAM is connected to 3.3V and set to the master mode. IO0-15R, /OER, R//WR, /CER, A0-11R of the dual-port RAM are connected to the interface of the slave controller. The SCITXDA of the microprocessor II is connected to the 11 pins of MAX3232I and II, the SCIRXDA is connected to the 12 pins, and the 13 and 14 pins of the MAX3232 are connected to the serial port and the wireless module. XD0-11, XINT2, /XWE, /XRD, /XZCS2 of microprocessor II are connected to D0-11, /OEL, /WR, /RD, /CS pins of A/D converter II304MAX1312. The potentiometer of the main hand is connected to the CH0-7 pin of the A/D converter MAX1312.

In Figure 4, the embedded slave control board includes dual-port RAM interface, microprocessor III, 16M active crystal oscillator, motion control chip I, motion control chip II, and driver interface. IO0-15R, /OER, R//WR, /CER, A0-11R of the dual-port RAM interface are connected to XD0-15, /XRD, /XWE, /XZCS2, XA0-11 of the microprocessor III. XD0-15, /XRD, /XWE, XA14, and XA0-2 of the microprocessor III are respectively connected to D0-15, RDN, WRN, CSN, and A0-2 of the motion control chip I. XD0-15, /XRD, /XWE, XA13, and XA0-2 of the microprocessor III are respectively connected to D0-15, RDN, WRN, CSN, and A0-2 of the motion controller. The output port of the 16M active crystal oscillator is connected to the motion control 53 pins of chips I and II. Pins 35 and 36 of the motion control chip I are respectively connected to the positive pulse and negative pulse input port of the driver I; pins 38 and 39 of the motion control chip I are respectively connected to the positive pulse and negative pulse input ports of the driver II; 40 pins of the motion control chip I Pins 1 and 41 are respectively connected to the positive pulse and negative pulse input ports of the driver III; pins 42 and 43 of the motion control chip I are respectively connected to the positive pulse and negative pulse input ports of the driver IV. Pins 35 and 36 of the motion control chip II are respectively connected to the positive pulse and negative pulse input ports of the driver V; pins 38 and 39 of the motion control chip II are respectively connected to the positive pulse and negative pulse input ports of the driver VI.

In Fig. 5, the handheld terminal is composed of a microprocessor I, a liquid crystal module, a logic level converter, a keyboard management module, a keyboard, a voltage regulator chip I, a voltage regulator chip II, a serial port receiver transmitter, and a serial port. The voltage stabilizing chip 1 and the voltage stabilizing chip 1 supply power to the microprocessor 1. GIPIOB1 of the microprocessor is connected with 2 pins of ADG3308, GPIOB5 is connected with 5 pins, and XINT2 is connected with 6 pins. GPIOA0-7 is connected to DB0-7 of the liquid crystal module, GPIOB0 is connected to REQ, GPIOB2 is connected to CS, and the liquid crystal module is powered by 5V. The 16 feet of ADG3308 are connected with the DATA feet of HD7279, and the 15 feet are connected with the KEY feet. GPIOB3 of microprocessor 1 is connected with CS pin of HD7279, and GPIOB4 is connected with CLK pin. The output of the keyboard is connected to DIG0-7 and DP-SG of HD7279. SCITXDA of microprocessor I is connected to 11 pins of MAX3232, SCIRXDA is connected to 12 pins, and 13 and 14 pins of MAX3232 are connected to the serial port.

In Fig. 6, the control method of the position feedback main hand system of the live emergency repair robot is given:

The specific method includes the following steps:

(1) The potentiometer of the main hand collects the position signal of the main hand;

(2) The potentiometer of the robotic arm collects the position signal of the gripper of the robotic arm, compares it with the signal in step (1), and sends the compared signal to the microprocessor II;

(3) Microprocessor II sends to microprocessor I through the serial port;

(4) Microprocessor 1 sends to the motion controller, and the motion controller controls the motor driver, which drives the torque motor 2 of the main hand to move, and the torque motor 2 controls the movement of the main hand;

(5) Go back to step (1) and perform a loop.

Claims (8)

1. a live repair robot position feedback main hand system is characterized in that it comprises a hand-held terminal, a main hand controller and a mechanical arm controller; the hand-held terminal comprises a microprocessor 1, which is connected with a liquid crystal module and a keyboard respectively; Said main hand controller adopts embedded microprocessor II and microprocessor III, said microprocessor II is connected with microprocessor I through serial port, is connected with microprocessor III through dual-port RAM, and microprocessor II is also connected with A The /D converter I and the wireless module I are connected, the A/D converter I is connected with the potentiometer of the main hand of the mechanical arm, the wireless module I communicates with the wireless module II, and the wireless module II is connected with the mechanical arm controller; the microprocessor III is connected with the motion controller, and the motion controller is connected with the motor driver, and the motor driver drives the torque motor of the main hand. 2. The position feedback main hand system of the live emergency repair robot according to claim 1, wherein the potentiometer and the torque motor are respectively arranged at each joint of the main hand of the mechanical arm to realize the rotation of the waist and the pitching of the big arm , forearm pitch, wrist pitch, wrist swing. 3. the live repair robot position feedback main hand system as claimed in claim 1, is characterized in that, described microprocessor II is respectively connected with serial port, wireless module I and A/D converter I by MAX3232I, II, three chips of III Connect, serial port is connected with microprocessor 1; The microprocessor III is connected with the motion controller, and the motion controller includes motion control chips I and II, and the two motion control chips I and II are respectively connected with their respective 16M active crystal oscillators, and the motion control chip I is interfaced with four main hand motor drivers Connection, the motion control chip II is connected with two main hand motor driver interfaces, and each driver interface receives positive and negative pulses respectively. 4. the live repair robot position feedback main hand system as claimed in claim 1, is characterized in that, described microprocessor I is also connected with voltage stabilizing chip I, II; Microprocessor I is connected with serial port by MAX3232IV, by logic The level converter is respectively connected with the liquid crystal module and the keyboard management module, and the keyboard management module is connected with the keyboard. 5. the live repair robot position feedback main hand system as claimed in claim 1, is characterized in that, described microprocessor I, microprocessor II and microprocessor III all adopt TMS320F28335 chip, have floating-point processing function; The above-mentioned A/D converter I adopts MAX1312 chip to collect 8 analog quantities at the same time, the collection range is -10V ~ +10V, and the precision is 12 bits. 6. The main hand system for position feedback of live emergency repair robot according to claim 1, wherein the motor controller adopts MCX314 control chip. 7. The position feedback main hand system of live emergency repair robot according to claim 1 or 2, characterized in that, the torque motor is a stepping torque motor with a torque range of 0.061-0.123N.m, a locked-rotor current of 0.3A, and The moment sensitivity is 0.028N.m; each potentiometer is a 5KΩ 360-degree rotary potentiometer, the sensor accuracy is 1‰, and the output signal is -10V～+10V. 8. The live repair robot position feedback main hand system as claimed in claim 1, characterized in that, the communication distance of the wireless modules I and II is 1000m, and the communication frequency is 900MHz.

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