基于单片机控制的管道施工机械手控制系统研究

目的研究管道施工机械手控制系统，解决管道施工机械手按照预定要求实现定位安装操作的工程问题．方法采用单片机控制系统，通过上住PC机的VB界面控制编程，实现对下位机单片机的输入控制，单片机控制系统输出的信号通过放大器输入给管道施工机械手液压驱动装置上的电磁阀，电磁阀接收到电压信号再控制液压缸执行相应的动作．运用KeiluVision2和TopWin两个软件对单片机控制系统进行程序的控制和调试，使单片机控制系统能输出控制电磁阀的准确电压信号，从而使管道施工机械手按照预定的工作要求完成施工埋设中对管道的定位安装操作．结果对控制系统进行了实验，实验结果表明，根据放大器的电流信号，电磁阀控制液压缸作往复运动，当放大器输出电流为＋8mA时，液压缸作正向运动；当放大器输出电流为-8mA时，液压缸作逆向运动．结论通过对管道施工机械手控制系统的设计，能够达到预定的运动要求，完成液压缸的正逆向运动，实现管道施工机械手的自动控制，保障了管道埋设中的施工安全，提高施工效率．

Research of Pipeline Construction Manipulator Control System Based on Single Chip Microprocessor Control

This paper studies pipeline construction robot control system. The engineering practical problems have been solved about pipeline construction manipulator achieving the pipeline installation according to a predetermined position . In this paper, the single-chip microcomputer control system is mainly adopted to control pipe construction manipulator in accordance with requirements of the manipulator scheduled to achieve the pipe positioning installation operation. Through the VB interface control programming of the PC computer,the single chip microcomputer＇s input control is realized. And then the output signal in single-chip microcomputer control system is input to the electromagnetic valve of manipulator hydraulic drive device by an amplifier. Then electromagnetic valve controls hydraulic cylinder to perform some actions through the accepting voltage signal. According to a current signal amplifier, solenoid valve controls cylinder to reciprocate. Using the two softwares of Keil uVision2 and TopWin to control and commission procedures for single-chip microcomputer control system, the microcontroller control system can output the accurate voltage signal to control electromagnetic valve, so that to operate manipulator in accordance with requirements of pipeline buried in fight positioning and installation. The experimental results show that pipeline construction manipulator can complete the appointed action according to requirements in the single-chip microcomputer control system. The control system design makes that pipeline construction manipulator can be set to complete the construction requirements of hydraulic cylinder reciprocating motion. When the amplifier output current is ＋ 8 mA, the hydraulic cylinder is for forward movement. When the amplifier output current is -8 mA,the hydraulic cylinder is for reverse movement. Through the design of the pipeline robot control system, the desired movement requirements can be achieved, forward and reverse motion of the hydraulic cylinder can be completed, and pipeline construction automatic control of the robot can be achieved to ensure safety of buffed pipeline construction and improve construction efficiency.