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A platform for research: civil engineering, architecture and urbanism
Intelligent searching and trash cleaning system of grabbing arm type trash cleaning robot
The invention discloses an intelligent searching and trash cleaning system of a grabbing arm type trash cleaning robot. An intelligent searching and trash cleaning control system of the trash cleaningrobot is operated in an unmanned state, a shaft hinged between trash cleaning robot supporting arms is generally a connecting pin shaft and is also a load sensor capable of detecting axial shearing force, a rod cavity and a rodless cavity of each oil cylinder are each provided with a pressure sensor. and a control module calculates the stress of the pin shaft and the pressure curve of the oil cylinder according to the motion trail of a grab bucket, and sets the overload, underload and fault operation range. In the operation process of the trash cleaning robot, the load sensor and the pressuresensors feed stress and oil pressure data back to the control module in real time, a program integrated load signal, oil pressure and an oil cylinder encoder stroke signal are controlled, the load, underload and fault operation range values set in a database are compared, and the operation state of the trash cleaning robot is intelligently judged.
本发明公开了一种抓臂式清污机器人智能搜索清污系统，用于提供一种无人状态的清污机器人智能搜索清污控制体系，通常清污机器人支臂之间铰接的轴既是连接销轴又是能检测轴向剪切力的荷载传感器。每只油缸有杆腔和无杆腔都安装有压力传感器。控制模块按抓斗运动轨迹，计算出销轴受力和油缸的压力曲线，设定超载、欠载、故障运行范围。清污机器人在运行过程中，荷载传感器和压力传感器实时将受力和油压数据反馈给控制模块，控制程序综合荷重信号、油压和油缸编码器行程信号，比对数据库中设定的载、欠载、故障运行范围值，智能判断清污机器人的运行状态。
Intelligent searching and trash cleaning system of grabbing arm type trash cleaning robot
The invention discloses an intelligent searching and trash cleaning system of a grabbing arm type trash cleaning robot. An intelligent searching and trash cleaning control system of the trash cleaningrobot is operated in an unmanned state, a shaft hinged between trash cleaning robot supporting arms is generally a connecting pin shaft and is also a load sensor capable of detecting axial shearing force, a rod cavity and a rodless cavity of each oil cylinder are each provided with a pressure sensor. and a control module calculates the stress of the pin shaft and the pressure curve of the oil cylinder according to the motion trail of a grab bucket, and sets the overload, underload and fault operation range. In the operation process of the trash cleaning robot, the load sensor and the pressuresensors feed stress and oil pressure data back to the control module in real time, a program integrated load signal, oil pressure and an oil cylinder encoder stroke signal are controlled, the load, underload and fault operation range values set in a database are compared, and the operation state of the trash cleaning robot is intelligently judged.
本发明公开了一种抓臂式清污机器人智能搜索清污系统，用于提供一种无人状态的清污机器人智能搜索清污控制体系，通常清污机器人支臂之间铰接的轴既是连接销轴又是能检测轴向剪切力的荷载传感器。每只油缸有杆腔和无杆腔都安装有压力传感器。控制模块按抓斗运动轨迹，计算出销轴受力和油缸的压力曲线，设定超载、欠载、故障运行范围。清污机器人在运行过程中，荷载传感器和压力传感器实时将受力和油压数据反馈给控制模块，控制程序综合荷重信号、油压和油缸编码器行程信号，比对数据库中设定的载、欠载、故障运行范围值，智能判断清污机器人的运行状态。
Intelligent searching and trash cleaning system of grabbing arm type trash cleaning robot
一种抓臂式清污机器人智能搜索清污系统
CHEN RONGNA (author) / HUANG ZHENDONG (author) / YUAN JIABAO (author) / SHEN JINJUN (author) / LIU XIANDONG (author) / PAN MINGCHENG (author)
2021-02-19
Patent
Electronic Resource
Chinese
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