基于压力反馈控制的车间机械手智能防碰撞监测系统设计

Design of Intelligent Anti-collision Monitoring System for Workshop Manipulator Based on Pressure Feedback Control

摘要:

针对目前提出的车间机械手智能防碰撞监测系统监测精准度低，防碰撞效果较差的问题，提出基于压力反馈控制的车间机械手智能防碰撞监测系统。硬件系统引入自动调心装置，在机械手内部加入两个避碰开关，将避碰开关与报警器相连接，如果出现碰撞，则发出警报，引用JCQ1工作监测器与机械手串联，确定机械手的工作状态和动作次数。软件部分依据机械臂运动的特点，设置机械手双动式液压缸和臂架单活塞杆双动式液压缸，通过压力反馈计算活塞直径得到液压缸直径，判断最大流量，将判断结果与阈值进行对比，完成防碰撞软件监测。实验结果表明，基于压力反馈控制的车间机械手智能防碰撞监测系统能够更加精准地控制机械手智能防碰撞监测数据，防碰撞控制精度较高，说明所设计系统能够有效实现间机械手智能防碰撞。

Abstract:

Aiming at the problems of low monitoring accuracy and poor anti-collision effect of the proposed intelligent anti-collision monitoring system for workshop manipulator, a workshop manipulator intelligent anti-collision monitoring system based on pressure feedback control is proposed. The hardware system introduces an automatic centering device. Two collision avoidance switches are added inside the manipulator to connect the collision avoidance switch with the alarm. If there is a collision, an alarm will be sent out. Jcq1 work monitor is used in series with the manipulator to determine the working state and action times of the manipulator. In the software part, according to the characteristics of the manipulator movement, the manipulator double acting hydraulic cylinder and the boom single piston rod double acting hydraulic cylinder are set. Through the pressure feedback, the piston diameter is calculated to obtain the hydraulic cylinder diameter, and the maximum flow rate is judged. The judgment result is compared with the threshold value to complete the anti-collision software monitoring. The experimental results show that the intelligent anti-collision monitoring system of workshop manipulator based on pressure feedback control can control the intelligent anti-collision monitoring data of manipulator more accurately, and the anti-collision control precision is high, which indicates that the designed system can effectively realize the intelligent anti-collision of manipulator.