채광로봇 유압시스템 제어 및 모니터링

Abstract

KIOST has developed the pilot mining robot, named MineRo ΙΙ from early-2011 to mid-2012. The robot consists of two unit-modules having an identical mechanical structure and hydraulic system. One unit module has two track systems, two pick-up devices, two crushers, one lifting pump and one thruster. The pick-up device is fitted on the frame of the track device. All actuators are driven by hydraulic motors, which are manipulated by valves and the controllers. Each unit module is equipped with one dual HPU of 250kW, 4,000V. PWM-16 (INNOVA AS) as hydraulic valve controller is adopted, which outputs PWM signals of 16 channels and can be used in oil-filled box. To measure angular velocity or displacement of hydraulic actuator, turbine flow-meters are adopted. The flow-meter has RF (Radio Frequency) type pulse detector, which extends the flow range by eliminating drag on the rotor. Two track motors, two crusher motors, lifting pump, one thruster can be controlled their velocities through feedback of the measured flow-rates. As well as the flow-rates, the states of the hydraulic system such as hydraulic pressures, temperatures, leakages are measured by the self-developed flow-pressure housing. In the housing, multi-channel amplifier boards are installed, through which the vast amount of data is acquired and transmitted to the main controller using serial communication.-up devices, two crushers, one lifting pump and one thruster. The pick-up device is fitted on the frame of the track device. All actuators are driven by hydraulic motors, which are manipulated by valves and the controllers. Each unit module is equipped with one dual HPU of 250kW, 4,000V. PWM-16 (INNOVA AS) as hydraulic valve controller is adopted, which outputs PWM signals of 16 channels and can be used in oil-filled box. To measure angular velocity or displacement of hydraulic actuator, turbine flow-meters are adopted. The flow-meter has RF (Radio Frequency) type pulse detector, which extends the flow range by eliminating drag on the rotor. Two track motors, two crusher motors, lifting pump, one thruster can be controlled their velocities through feedback of the measured flow-rates. As well as the flow-rates, the states of the hydraulic system such as hydraulic pressures, temperatures, leakages are measured by the self-developed flow-pressure housing. In the housing, multi-channel amplifier boards are installed, through which the vast amount of data is acquired and transmitted to the main controller using serial communication.