水下作业机械手根关节行程限位电路的设计

Circuit design for limiting the motion range of root joint of underwater dexterous hand

研制了采用液压驱动的水下作业灵巧手,3个手指在一个液压马达驱动下,同时张开或收拢.为了限定3个手指跟关节的运动范围,需要设计3个手指行程限位控制电路.从液压马达正反转、内外侧行程限位开关等输入信号入手,依据手指运动规律,列出4个输入信号和两个输出信号间关系的真值表,推导出输入和输出信号间逻辑表达式,并在此基础上设计出行程限位电路.为了便于修改电路的逻辑功能,减少电路板上集成电路数量,控制电路的逻辑运算功能借助可编程逻辑电路实现.

Underwater dexterous gripper adopting hydraulic drive has been developed by the research group.Driven by a hydraulic motor,three fingers open or close up at the same time.In order to limit the range of motion of three root joints,a control circuit need to be design to limit the range of motion of three root joints.Starting from the input signal,such as hydraulic motor＇s forward rotation and reverse rotation,internal and external limit switch,in accordance with the laws of finger movement,the paper lists the true value table about the relationship between four input signals and two output signals,derives the logic expressions of input signals and output signals,and design the trip limit circuit on this basis.In order to modify the logic function of circuit more easily,reduce the number of IC on the circuit board,logic function of control circuit can be realized by programmable circuit.