The Study And Exploration Of Excavator Robotization Experimental System

Excavators is a kind of earth-machinery,which mining bucket is higher or lower than the surface material for aircraft and transport vehicles loaded or unloaded to the turkish market. Its main structure includes turning part, walking and working part regarded as tandem-type three-degrees of freedom robot arm joints. Due to the nature of the excavator, with higher labor intensity, such as for mining in the mined rock, the personal safety for Operators cannot be ensured therefore, at home and abroad, many academics and experts are trying to invent a kind of intelligent excavator, so that security incidents can be avoided, but also the more dangerous region of operation can be reached. Based on this consideration, Komatsu PC02-1mini excavator as the model was researched, its hydraulic system was changed, with the original control system of manually replaced into electro-hydraulic proportional system, controlling platform by the use of MATLAB in Toolbox xPC target structures of the host/target machine, the initial separation of the man-machine was achieved.In the transformation process of the ratio of the hydraulic system, electro-hydraulic proportional valve with proportional solenoid which was based on the flow control spool position feedback was selected, the displacement between inner valve and the central valve was controlled by controlling the input electromagnet current, and ultimately the speed of the robot arm was controlled. And position control was completed by the inclination sensor. The inclination angle sensor installed in the robot arm collected information and ultimately feedback to the host, forming a closed-loop control on attitude, with the proportion of electro-hydraulic closed-loop control system in terms of speed, and forming a double closed-loop control, with greatly improving the control of accuracy.Electromagnet current signal is given by the ratio of amplifier, while the signal of the ratio of amplifier is from the host/target machine controlling platform of the target machine, which is loaded with Advantech PCL-726data acquisition card, used to control the ratio of amplifier output voltage, and run xPC target kernel procedures. Serial connection and TCP/ IP can access to the Internet, the remote control was carried on. The target signal was transmitted to the target machine by mathematical model and pre-set types of interfaces.The good platform of attitude control and speed control accuracy was examined and verified by the system of the input-output analysis of experimental data. In addition, this study also conducted a three-DOF manipulator dynamics analysis and simulation, but also the modeling and simulation of hydraulic system for the valve cylinder, valve-controlled motor system will lead to some insightful results for future research.