关键词: 腿履复合, 电控比例液压阀, 机器人, 无线遥控

Abstract:

Using the wireless telecontrol technology and builtin control algorithm, a novel wireless intelligent telecontrol system of leg-track complex robots was constructed to complete the hoisting tasks in the narrow space or abominable road. The control system adopted a special motion controller as the core component for the control and the wireless telecontrol module as the interactive interface. By the builtin control algorithm and CAN bus technology, the hoisting tasks in different types of sites could be done while the engine speed and the vehicle balance was adjusted in real time according to the actual task requirements, the weight and the flatness of robot body. The control system was applied for fully automatic remotecontrol operation, such as engine start or stop, posture adjustment, adjusting the balance of the vehicle body, robot motion control, the output power optimization et al. The system improves the convenience of the operation of the lifting robot and the reliability in the working process. The hoisting task can be finished while the operator is far away from the robot.

Key words: robots, electro-hydraulic proportional valves, leg-track complex, wireless telecontrol