喷浆机械手比例型无线遥控系统的研究
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摘要
单轨吊喷浆机械手是一种用于井下喷浆作业的的新型施工设备,应用于特殊的工业环境,该设备主要由单轨吊轨道和喷浆机械手组成,通过无线遥控来进行巷道的喷浆作业,本论文以山东科技大学机器人中心承担的课题项目“井下喷湿作业线“为背景,分析机械手的结构和液压系统,运用单片机控制技术,无线通信技术等,研究开发了单轨吊喷浆机械手的无线遥控系统。
机械手遥控系统的研究主要包括硬件设计分析和软件开发分析,本文是针对控制机械手六个运动关节自由度来进行研究的。硬件设计研究主要包括硬件的选择和系统控制电路的设计,选定了XC164单片机控制芯片,ZF02型无线数传模块,普通型直控式比例方向阀,利用Prote199Se设计电路和电路板,考虑到应用于井下,硬件电路要保证其安全性和可靠性;软件开发研究要根据系统所要实现的功能进行编程,利用XC164数字应用可视化工程师DAVE、软件开发工具KEIL,利用C语言进行编程,软件设计完成后使用下载工具下载到单片机控制系统中,进行软硬件调试,验证我们设计的遥控系统的可行性。
本文研究的主要内容就是使用遥控系统来控制比例方向阀。通过分析比例方向阀控制方法,分析了比例放大器和PWM两种控制方法,采用了单片机输出PWM方式,利用控制单片机输出PWM的占空比来控制输出信号的电压,经过隔离放大后送到比例方向阀,实现机械手速度和方向的精确控制,实现所研究的目的。
The shotcreting Mechanical Arm on monorail is a new construction equipment and used underground, it is applied to the particular industrial environment and mainly include of Monorail and shotcreting Mechanical Arm. It carrys out shotcreting through the wireless remote control system under ground. This paper takes Shotcreting operation line of Robot Center as the background, and analyzes structure and hydraulic system of Mechanical Arm. Through the use of MCU technology、wireless communication technology, we research and develop the system.
The content of this paper is that design remote control system to control the Mechanical Arm. The mechanical Arm is driven by a hydraulic system and controlled by the proportional valves. So that we can control Accurately in direction and speed.The designs of the Mechanical Arm is mainly including of hardware and software design, control the six movement joints of the Mechanical Arm. The hardware designs consist of the choice of hardware and system control circuit design. We select XC164 singled-chip controller, ZF02 wireless communication module and direct control proportional directional valve. We design circuit and circuit board by Protel99Se. In hardware design, the system is safe and reliable because it is used underground. In software design, it is to achieve the system function by programming. We use DAVE、KEIL and program by C. After software design, we download it to MCU by the download tool. Then we can verify the actual function of the whole system.
The main content of this paper is that it designs the wireless remote control system to control the proportional valves. There are many ways of controlling the proportional valves. We introduce two of them. One is method of proportional amplifier, another is the method of PWM. We use the method of PWM by MCU and control the output signal voltage by changing "duty cycle" of PWM. The signal is sent to the proportional valve after isolation and amplification. It precisely achieves the control in speed and direction of the Mechanical Arm, and realizes the objective of the study.
机械手遥控系统的研究主要包括硬件设计分析和软件开发分析,本文是针对控制机械手六个运动关节自由度来进行研究的。硬件设计研究主要包括硬件的选择和系统控制电路的设计,选定了XC164单片机控制芯片,ZF02型无线数传模块,普通型直控式比例方向阀,利用Prote199Se设计电路和电路板,考虑到应用于井下,硬件电路要保证其安全性和可靠性;软件开发研究要根据系统所要实现的功能进行编程,利用XC164数字应用可视化工程师DAVE、软件开发工具KEIL,利用C语言进行编程,软件设计完成后使用下载工具下载到单片机控制系统中,进行软硬件调试,验证我们设计的遥控系统的可行性。
本文研究的主要内容就是使用遥控系统来控制比例方向阀。通过分析比例方向阀控制方法,分析了比例放大器和PWM两种控制方法,采用了单片机输出PWM方式,利用控制单片机输出PWM的占空比来控制输出信号的电压,经过隔离放大后送到比例方向阀,实现机械手速度和方向的精确控制,实现所研究的目的。
The shotcreting Mechanical Arm on monorail is a new construction equipment and used underground, it is applied to the particular industrial environment and mainly include of Monorail and shotcreting Mechanical Arm. It carrys out shotcreting through the wireless remote control system under ground. This paper takes Shotcreting operation line of Robot Center as the background, and analyzes structure and hydraulic system of Mechanical Arm. Through the use of MCU technology、wireless communication technology, we research and develop the system.
The content of this paper is that design remote control system to control the Mechanical Arm. The mechanical Arm is driven by a hydraulic system and controlled by the proportional valves. So that we can control Accurately in direction and speed.The designs of the Mechanical Arm is mainly including of hardware and software design, control the six movement joints of the Mechanical Arm. The hardware designs consist of the choice of hardware and system control circuit design. We select XC164 singled-chip controller, ZF02 wireless communication module and direct control proportional directional valve. We design circuit and circuit board by Protel99Se. In hardware design, the system is safe and reliable because it is used underground. In software design, it is to achieve the system function by programming. We use DAVE、KEIL and program by C. After software design, we download it to MCU by the download tool. Then we can verify the actual function of the whole system.
The main content of this paper is that it designs the wireless remote control system to control the proportional valves. There are many ways of controlling the proportional valves. We introduce two of them. One is method of proportional amplifier, another is the method of PWM. We use the method of PWM by MCU and control the output signal voltage by changing "duty cycle" of PWM. The signal is sent to the proportional valve after isolation and amplification. It precisely achieves the control in speed and direction of the Mechanical Arm, and realizes the objective of the study.
引文
1.董增寿.基于单片机的多路无线遥控开关[[J],机械管理开发,2004(04):32-34
2.高波,等.单轨吊机械手的设计[J],现代制造工程,2007(9),134-136
3.李世杰,等.无线遥控系统在塔式起重机上的应用[J],河北建筑工程学院报,2005(12):79-81
4.吴志红,等.英飞凌16位单片机XC164CS的原理与基础应用[M].上海:同济大学出版社,2006
5.崔光照,等.一种工业无线遥控系统设计[J],起重运输机械,2009(2):26-28
6.辛友顺,等.单片机应用系统设计与实现[M].福州:福建科学技术出社,2005,128-131
7.彭为,等.单片机典型系统设计实例精讲[M].北京:电子工业出版社,2006,37-40
8.欧阳长月.遥测遥控原理[M].北京:电子工业出版社,1985
9.英德康通讯设备有限公司.工业无线遥控系统[[J],工业制造.2001(01):28-32
10.冯开林,等。巷道喷浆中物料抓取装置的设计与研究[J],煤矿机械,2002(7),4-5
11.詹俊江,等.微机控制的直流PWM调速系统[J],广西轻工业,2007(04):35-37
12.刘晓燕,等.基于STC系列单片机的比例遥控系统[J],甘肃科技纵横,2008(02):14-15
13.彭旭军,等.机电控制系统原理及工程应用[M].机械工业出版社,2007,
14.张红娟.基于PIC单片机的直流电机PWM调速系统[[J],上海大学学报2005,22(2):10-12
15.徐烨.无线电遥控[M].北京:人民邮电出版社,1991
16.童诗白.模拟电子技术基础(第三版)[M].北京:高等教育出版社,2000,347-348.
17.阎石.数字电子技术基础(第四版)[M].北京:高等教育出版社,1997,475-480.
18.胡寿松.自动控制原理(第四版)[M].北京:高等教育出版社,2001,11-12
19.李朝青.无线发送/接收IC芯片及其数据通信技术选编1[M],北京:北京航空航天大学出版社,2003:180-181.
20.肖景和,等.实用遥控电路.北京:人民邮电出版社,2001:121-123.
21.蔡凡弟.多路无线遥控电路[J],电子世界,1994(12):54-55.
22.程军.亿恒(西门子)C166系列16位单片机原理与开发[M],北京:北京航空航天大学出版社,2001:293-297.
23.潘景照.一种无线遥控系统设计方案[J].电子产品世界,2002(13):123-125
24.李东生,等.编著,Protel99SE电路设计技术入门与应用(第一版)[M],北京:电子工业出版社,2002,6-8.
25.赵震初,等.无线电技术基础[M],北京:北京理工大学出版社,2004,25-30
26.曾兴雯,等.高频电路原理与分析[M],西安:西安电子科技大学出版社.2003,14-15
27.陈佩青,等.数字信号处理教程[M],北京:清华大学出版社,1998,150-156
28.王世一,等.数字信号处理[M],北京:北京理工大学出版社,1997,200-202
29.秦和,等.实用电子元器件手册(第一版),上海:上海科学技术出版社,1998,12-25
30.高波,等.基于PLC的工业机械手无线遥控系统[J],微计算机信息,2008,46-61
31.姚兴太,等.一种无线智能报警系统[J],电子工程师,2002(6),40-42
32.王晶.PJI型混凝土喷射机械手[J],矿山机械,1999(2),30-31
33.路甬祥,等.电液比例控制技术[M].北京:机械工业出版社,1988,123-150
34.宁波华液机器制造有限公司,华液产品样本[M].宁波,5-20
35.吴根茂,等.新编实用电液比例技术(第1版)[M].杭州:浙江大学出版社,2006,189-458
36.上海兆富通信技术有限公司,新型ZF02无线数传模块手册[M].上海,2-4
37.北京乾勤科技发展有限公司,XC164CS_评估套件说明书[M].北京,3-10
38.Infineon Thchnology AG,XC164 16-Bit Single-Chip Microcontroller with C166SV2 Core Volume 1(of2):system Units[D].German:Infineon Technology AG,2004,33-36
39.http://www.nautilus-intl.com/nautilus_products_mining.htm,加拿大 nautilus公司网站
2.高波,等.单轨吊机械手的设计[J],现代制造工程,2007(9),134-136
3.李世杰,等.无线遥控系统在塔式起重机上的应用[J],河北建筑工程学院报,2005(12):79-81
4.吴志红,等.英飞凌16位单片机XC164CS的原理与基础应用[M].上海:同济大学出版社,2006
5.崔光照,等.一种工业无线遥控系统设计[J],起重运输机械,2009(2):26-28
6.辛友顺,等.单片机应用系统设计与实现[M].福州:福建科学技术出社,2005,128-131
7.彭为,等.单片机典型系统设计实例精讲[M].北京:电子工业出版社,2006,37-40
8.欧阳长月.遥测遥控原理[M].北京:电子工业出版社,1985
9.英德康通讯设备有限公司.工业无线遥控系统[[J],工业制造.2001(01):28-32
10.冯开林,等。巷道喷浆中物料抓取装置的设计与研究[J],煤矿机械,2002(7),4-5
11.詹俊江,等.微机控制的直流PWM调速系统[J],广西轻工业,2007(04):35-37
12.刘晓燕,等.基于STC系列单片机的比例遥控系统[J],甘肃科技纵横,2008(02):14-15
13.彭旭军,等.机电控制系统原理及工程应用[M].机械工业出版社,2007,
14.张红娟.基于PIC单片机的直流电机PWM调速系统[[J],上海大学学报2005,22(2):10-12
15.徐烨.无线电遥控[M].北京:人民邮电出版社,1991
16.童诗白.模拟电子技术基础(第三版)[M].北京:高等教育出版社,2000,347-348.
17.阎石.数字电子技术基础(第四版)[M].北京:高等教育出版社,1997,475-480.
18.胡寿松.自动控制原理(第四版)[M].北京:高等教育出版社,2001,11-12
19.李朝青.无线发送/接收IC芯片及其数据通信技术选编1[M],北京:北京航空航天大学出版社,2003:180-181.
20.肖景和,等.实用遥控电路.北京:人民邮电出版社,2001:121-123.
21.蔡凡弟.多路无线遥控电路[J],电子世界,1994(12):54-55.
22.程军.亿恒(西门子)C166系列16位单片机原理与开发[M],北京:北京航空航天大学出版社,2001:293-297.
23.潘景照.一种无线遥控系统设计方案[J].电子产品世界,2002(13):123-125
24.李东生,等.编著,Protel99SE电路设计技术入门与应用(第一版)[M],北京:电子工业出版社,2002,6-8.
25.赵震初,等.无线电技术基础[M],北京:北京理工大学出版社,2004,25-30
26.曾兴雯,等.高频电路原理与分析[M],西安:西安电子科技大学出版社.2003,14-15
27.陈佩青,等.数字信号处理教程[M],北京:清华大学出版社,1998,150-156
28.王世一,等.数字信号处理[M],北京:北京理工大学出版社,1997,200-202
29.秦和,等.实用电子元器件手册(第一版),上海:上海科学技术出版社,1998,12-25
30.高波,等.基于PLC的工业机械手无线遥控系统[J],微计算机信息,2008,46-61
31.姚兴太,等.一种无线智能报警系统[J],电子工程师,2002(6),40-42
32.王晶.PJI型混凝土喷射机械手[J],矿山机械,1999(2),30-31
33.路甬祥,等.电液比例控制技术[M].北京:机械工业出版社,1988,123-150
34.宁波华液机器制造有限公司,华液产品样本[M].宁波,5-20
35.吴根茂,等.新编实用电液比例技术(第1版)[M].杭州:浙江大学出版社,2006,189-458
36.上海兆富通信技术有限公司,新型ZF02无线数传模块手册[M].上海,2-4
37.北京乾勤科技发展有限公司,XC164CS_评估套件说明书[M].北京,3-10
38.Infineon Thchnology AG,XC164 16-Bit Single-Chip Microcontroller with C166SV2 Core Volume 1(of2):system Units[D].German:Infineon Technology AG,2004,33-36
39.http://www.nautilus-intl.com/nautilus_products_mining.htm,加拿大 nautilus公司网站