CN102029612A - Manipulator controller - Google Patents
Manipulator controller Download PDFInfo
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- CN102029612A CN102029612A CN201110026903.3A CN201110026903A CN102029612A CN 102029612 A CN102029612 A CN 102029612A CN 201110026903 A CN201110026903 A CN 201110026903A CN 102029612 A CN102029612 A CN 102029612A
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- 230000002457 bidirectional effect Effects 0.000 claims description 27
- 238000002955 isolation Methods 0.000 claims description 8
- 239000013078 crystal Substances 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000002347 injection Methods 0.000 description 2
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- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The invention relates to a manipulator controller which comprises a singlechip minimum system, an expansion input/output interface circuit, multiple paths of state signal isolating input circuits, multiple paths of control signal isolating output drive circuits, an input device and an output device, wherein a signal of the input device and a plurality of manipulator switching signals obtained by the multipath state signal isolating input circuit are input to the singlechip minimum system through the expansion input interface circuit, the singlechip minimum system outputs a control signal through the expansion output interface and transmits the control signal to the signal input end of each control signal isolating output drive circuit, and after amplifying and outputting a control signal, each control signal isolating output drive circuit is connected with a corresponding electric executing element of a manipulator. The manipulator controller has the characteristics of friendly human-machine interface and benefit of visually and conveniently operating by the operator. In addition, the controller has a programmable capacity and a certain generality, and ensures that manipulator can be adaptive to varied and flexible working tasks.
Description
Technical field
The invention belongs to the technical field of automatic control equipment, especially a kind of hand-held mechanical hand controls able to programme is applicable to the control of five degree of freedom manipulator.
Background technology
Along with improving constantly of production automation level and developing rapidly of plastic processing industry, increasing injection machine has been used manipulator.The manipulator controller can be controlled mechanical fingerprint apery body arm segment function, picks up the product that injection machine is produced automatically, places product to assigned address.The application of manipulator has reduced labor strength, has improved production of machinery efficient, has stablized product quality, has strengthened enterprise competitiveness.But present manipulator control aspect does not have to show in real time the device of manipulator duty, and controller does not have good man-machine interface, is unfavorable for that the operator intuitively, operate easily.In addition, existing controller does not have programmability and certain versatility, and the unit of adaptation task is narrow, flexibility is not good.
Summary of the invention
The objective of the invention is does not have to show in real time the device of manipulator duty at present manipulator control aspect, and controller does not have good man-machine interface, is unfavorable for that the operator intuitively, operate easily.In addition, existing controller does not have programmability and certain versatility, adapts to the problem that unit is narrow, flexibility is not good of task, proposes the mechanical hand controls hand-held able to programme that a kind of man-machine interface is good, hardware configuration is simple, reliable.
Technical scheme of the present invention is:
A kind of manipulator controller, it comprises single-chip minimum system, expansion input/output interface circuit, the multichannel status signal is isolated input circuit, multi-way control signals is isolated output driving circuit, input equipment and output equipment, described input apparatus signal and a plurality of manipulator switching signals that obtain by multichannel status signal isolation input circuit, through the expansion input interface circuit, be input to single-chip minimum system, single-chip minimum system is through expansion output interface circuit output control signal, transfer to the signal input part of respectively isolating output driving circuit, each control signal of isolating output driving circuit amplification output is connected with the corresponding electric execution element of manipulator afterwards.
Input equipment of the present invention is a keyboard, and keyboard is input as 6 * 4 keyboards.
Tool hand controls of the present invention also comprises output equipment, is used to show the duty of manipulator, and this output equipment is a LCD display, and described LCD display is 128 * 64 dot matrix.
Single-chip minimum system of the present invention comprises single-chip microcomputer U1, D-latch U2, external RAM U4, outside EEPROM S1 and crystal oscillating circuit, and described single-chip microcomputer U1 links to each other with the respective signal end of D-latch U2, external RAM U4, outside EEPROM S1 and crystal oscillating circuit respectively.
Expansion input/output interface circuit of the present invention comprises that bidirectional bus drives chip U3, GAL chip U6, drive chip U251 by bidirectional bus, the interface module that expands of d type flip flop U10 and 8 road d type flip flop U319 formation with reset function, one group of signal end of described bidirectional bus driving chip U3 links to each other with the respective extension signal end of single-chip microcomputer U1 as the spread signal input of expansion module, the expansion output signal end that bidirectional bus drives chip U3 is that bidirectional bus drives chip U251 with the interface module that expands, d type flip flop U10 links to each other with the respective extension signal end of 8 road d type flip flop U319 with reset function, input links to each other with the chip selection signal output of single-chip microcomputer U1 the signal input part of GAL chip U6 as chip selection signal, and the signal output part of GAL chip U6 drives chip U251 with bidirectional bus respectively, d type flip flop U10 selects signal input part to link to each other with the respective flap of 8 road d type flip flop U319 with reset function.
Manipulator controller of the present invention also comprises the relaying input/output board, and the input signal that status signal is isolated input circuit links to each other with electric execution element with the switching signal element of manipulator by the relaying input/output board respectively with the output signal that control signal is isolated output driving circuit.
Status signal of the present invention is isolated input circuit and is comprised photo-coupler P265 and peripheral circuit thereof, the input that the signal input part of described photo-coupler P265 is isolated input circuit as status signal links to each other with the status signal output of manipulator, and the signal output part of photo-coupler P265 and the interface module that expands accordingly are that the corresponding signal end of bidirectional bus driving chip U251 links to each other.
Control signal of the present invention is isolated output driving circuit and is comprised photo-coupler U310 and Darlington transistor Q5, the input that the signal input part of photo-coupler U310 is isolated output driving circuit as control signal links to each other with the corresponding signal end that the interface module that expands promptly has 8 road d type flip flop U319 of reset function, the signal output part of photo-coupler U310 links to each other with Darlington transistor Q5, exports the control signal input of manipulator after Darlington transistor Q5 amplifies to.
Beneficial effect of the present invention:
It is simple more, directly perceived that the application of LCD display of the present invention is operated the workman, improved production efficiency, helps production safety.
Procedure of the present invention can be edited, preserve and be selected by the operator, uses different procedures, flexibility height at different product.
Controller architecture of the present invention is simple, and is reliable, and market prospects are wide.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the circuit diagram of single-chip minimum system of the present invention.
Fig. 3 is that the present invention expands the input/output interface circuit diagram.
Fig. 4 is that status signal of the present invention is isolated the wherein circuit diagram of one road signal of input circuit.
Fig. 5 is that control signal of the present invention is isolated the wherein circuit diagram of one road signal of output driving circuit.
Fig. 6 is an operational flow diagram of the present invention.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
As shown in Figure 1, a kind of manipulator controller, it comprises single-chip minimum system, expansion input/output interface circuit, the multichannel status signal is isolated input circuit, multi-way control signals is isolated output driving circuit, input equipment and output equipment, described input apparatus signal and a plurality of manipulator switching signals that obtain by multichannel status signal isolation input circuit, through the expansion input interface circuit, be input to single-chip minimum system, single-chip minimum system is through expansion output interface circuit output control signal, transfer to the signal input part of respectively isolating output driving circuit, each control signal of isolating output driving circuit amplification output is connected with the corresponding electric execution element of manipulator afterwards.
Input equipment of the present invention is a keyboard, and keyboard is input as 6 * 4 keyboards.
Tool hand controls of the present invention also comprises output equipment, is used to show the duty of manipulator, and this output equipment is a LCD display, and described LCD display is 128 * 64 dot matrix.
As shown in Figure 2, single-chip minimum system of the present invention comprises single-chip microcomputer U1, D-latch U2, external RAM U4, outside EEPROM S1, crystal oscillating circuit, reset circuit, LED and auditory tone cues electric circuit etc., and described single-chip microcomputer U1 links to each other with the respective signal end of D-latch U2, external RAM U4, outside EEPROM S1 and crystal oscillating circuit respectively; Wherein single-chip microcomputer U1 model is AT89S52, and crystal oscillator Y1 frequency is 24MHZ, and 8 road D-latch U2 are HC573, and external RAM U4 model is UT62256, and outside EEPROM S1 model is AT24C256, and D2 is a light emitting diode, and B1 is a buzzer.
As shown in Figure 3, expansion input/output interface circuit of the present invention comprises that bidirectional bus drives chip U3, GAL chip U6, drive chip U251 by bidirectional bus, the interface module that expands of d type flip flop U10 and 8 road d type flip flop U319 formation with reset function, one group of signal end of described bidirectional bus driving chip U3 links to each other with the respective extension signal end of single-chip microcomputer U1 as the spread signal input of expansion module, the expansion output signal end that bidirectional bus drives chip U3 is that bidirectional bus drives chip U251 with the interface module that expands, d type flip flop U10 links to each other with the respective extension signal end of 8 road d type flip flop U319 with reset function, input links to each other with the chip selection signal output of single-chip microcomputer U1 the signal input part of GAL chip U6 as chip selection signal, and the signal output part of GAL chip U6 drives chip U251 with bidirectional bus respectively, d type flip flop U10 selects signal input part to link to each other with the respective flap of 8 road d type flip flop U319 with reset function.
Expansion input/output interface circuit is on the basis of single-chip minimum system, programmable universal array logic chip U6 produces chip selection signal, utilizes bidirectional bus to drive chip and trigger expansion LCD data output interface, LCD control output interface, digital input interface, control output interface and keystroke interface etc.Wherein generic logic array chip U6 model is GAL16V8D, and it is HC245 that bidirectional bus drives chip U3, U251, and common d type flip flop U10 is HC574, and 8 road d type flip flop U319 with reset function are HC273.
Wherein: programmable universal array logic chip U6 produces chip selection signal by single-chip microcomputer U1 control, selects bidirectional bus driving chip U251, common d type flip flop U10 simultaneously or has the break-make of 8 road d type flip flop U319 of reset function.
Bidirectional bus drives the output interface that chip U3 is used to expand single-chip microcomputer U1, as shown in Figure 2, is three the tunnel with one tunnel signal extension, and 8 road d type flip flop U319 that drive chip U251, common d type flip flop U10 with bidirectional bus respectively or have a reset function are connected.
Common d type flip flop U10 and 8 road d type flip flop U319 with reset function are the output module that expands; Be used for to manipulator output control signal.
It is the input module that expands that bidirectional bus drives chip U251, is used for the status signal to single-chip microcomputer U1 input manipulator.
Manipulator controller of the present invention also comprises the relaying input/output board, and the input signal that status signal is isolated input circuit links to each other with electric execution element with the switching signal element of manipulator by the relaying input/output board respectively with the output signal that control signal is isolated output driving circuit.
Status signal of the present invention is isolated input circuit and is comprised photo-coupler P265 and peripheral circuit thereof, the input that the signal input part of described photo-coupler P265 is isolated input circuit as status signal links to each other with the status signal output of manipulator, and the signal output part of photo-coupler P265 and the interface module that expands accordingly are that the corresponding signal end of bidirectional bus driving chip U251 links to each other.Utilize optocoupler that input signal is carried out electrical isolation, improved the reliability of system.Select for use thermistor as the overload protection element, guarantee that output overcurrent can not damage system yet.Wherein photo-coupler P265 model is TLP281.
Control signal of the present invention is isolated output driving circuit and is comprised photo-coupler U310 and Darlington transistor Q5, the input that the signal input part of photo-coupler U310 is isolated output driving circuit as control signal links to each other with the corresponding signal end that the interface module that expands promptly has 8 road d type flip flop U319 of reset function, the signal output part of photo-coupler U310 links to each other with Darlington transistor Q5, exports the control signal input of manipulator after Darlington transistor Q5 amplifies to.Utilize optocoupler that output signal is carried out electrical isolation, improved the reliability of system.Adopt Darlington transistor that output signal is amplified, improved the output driving force.Select for use thermistor as the overload protection element, guarantee that output overcurrent can not damage system yet.Wherein photo-coupler U310 model is TLP281, and Darlington transistor Q5 model is MJE801.
During concrete enforcement:
Control system software.The operator can be provided with machine parameter, the editting and processing program.Systems soft ware constantly detects button input and switch input signal, carries out manual operation instruction or selected procedure, refreshes LCD simultaneously and shows indication mechanism running status and fault message.Control system running software block diagram as shown in Figure 6.
Isolate structure control mainboards such as input circuit and control signal isolation output driving circuit by single-chip minimum system, expansion input/output interface circuit, status signal, connect LCD display, button and relaying input/output board, just constituted the hardware system of manipulator controller, as shown in Figure 1.In conjunction with control system software, just can realize the repertoire of manipulator controller.
Can be according to the following steps hand controls of operating machine:
1, after system starts, carries out self check and display screen and show the start interface, approximately behind the 3S, if unusually then enter the fault display interface; If normal, then enter manual interface.
2, under the manipulator halted state,, enter the function setting interface, control parameters such as " keypad tone ", " automatic cycle ", " single both arms formula " can be set by " function " key.
3, under the manipulator halted state, by " access " key once, enter the module interface, can select the program number of current automatic operation, the output of automatic operation is set simultaneously.By " access " key twice, enter module and duplicate the interface, can duplicate procedure, paste operation.
4, under the manipulator halted state, by " instruction " key, enter and instruct the interface, can make amendment and preserve the present procedure action code.
5, under the manipulator halted state, by " time " key, entry time is revised the page, can make amendment and preserves present procedure parameter actuation time.
6, under the manipulator halted state,, enter manual interface, can operate manipulator by each manual function button by " manually " key,
7, under the manipulator free position,, enter automatic factory interface, show parameters such as " current output ", " current action " by " automatically " key.
8, under the manipulator free position,, enter the I/O monitoring interface, can check the state of each input/output signal by " supervision " key.
The part that the present invention does not relate to prior art that maybe can adopt all same as the prior art is realized.
Claims (8)
1. manipulator controller, it is characterized in that it comprises single-chip minimum system, expansion input/output interface circuit, the multichannel status signal is isolated input circuit, multi-way control signals is isolated output driving circuit, input equipment and output equipment, described input apparatus signal and a plurality of manipulator switching signals that obtain by multichannel status signal isolation input circuit, through the expansion input interface circuit, be input to single-chip minimum system, single-chip minimum system is through expansion output interface circuit output control signal, transfer to the signal input part of respectively isolating output driving circuit, each control signal of isolating output driving circuit amplification output is connected with the corresponding electric execution element of manipulator afterwards.
2. manipulator controller according to claim 1 is characterized in that described input equipment is a keyboard, and keyboard is input as 6 * 4 keyboards.
3. manipulator controller according to claim 1 is characterized in that this manipulator controller also comprises output equipment, is used to show the duty of manipulator, and this output equipment is a LCD display, and described LCD display is 128 * 64 dot matrix.
4. manipulator controller according to claim 1, it is characterized in that described single-chip minimum system comprises single-chip microcomputer U1, D-latch U2, external RAM U4, outside EEPROM S1 and crystal oscillating circuit, described single-chip microcomputer U1 links to each other with the respective signal end of D-latch U2, external RAM U4, outside EEPROM S1 and crystal oscillating circuit respectively.
5. manipulator controller according to claim 1, it is characterized in that described expansion input/output interface circuit comprises that bidirectional bus drives chip U3, GAL chip U6, drive chip U251 by bidirectional bus, the interface module that expands of d type flip flop U10 and 8 road d type flip flop U319 formation with reset function, one group of signal end of described bidirectional bus driving chip U3 links to each other with the respective extension signal end of single-chip microcomputer U1 as the spread signal input of expansion module, the expansion output signal end that bidirectional bus drives chip U3 is that bidirectional bus drives chip U251 with the interface module that expands, d type flip flop U10 links to each other with the respective extension signal end of 8 road d type flip flop U319 with reset function, input links to each other with the chip selection signal output of single-chip microcomputer U1 the signal input part of GAL chip U6 as chip selection signal, and the signal output part of GAL chip U6 drives chip U251 with bidirectional bus respectively, d type flip flop U10 selects signal input part to link to each other with the respective flap of 8 road d type flip flop U319 with reset function.
6. manipulator controller according to claim 1, it is characterized in that this manipulator controller also comprises the relaying input/output board, the input signal that status signal is isolated input circuit links to each other with electric execution element with the switching signal element of manipulator by the relaying input/output board respectively with the output signal that control signal is isolated output driving circuit.
7. manipulator controller according to claim 1, it is characterized in that described status signal isolation input circuit comprises photo-coupler P265 and peripheral circuit thereof, the input that the signal input part of described photo-coupler P265 is isolated input circuit as status signal links to each other with the status signal output of manipulator, and the signal output part of photo-coupler P265 and the interface module that expands accordingly are that the corresponding signal end of bidirectional bus driving chip U251 links to each other.
8. manipulator controller according to claim 1, it is characterized in that described control signal isolation output driving circuit comprises photo-coupler U310 and Darlington transistor Q5, the input that the signal input part of photo-coupler U310 is isolated output driving circuit as control signal links to each other with the corresponding signal end that the interface module that expands promptly has 8 road d type flip flop U319 of reset function, the signal output part of photo-coupler U310 links to each other with Darlington transistor Q5, exports the control signal input of manipulator after Darlington transistor Q5 amplifies to.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110026903.3A CN102029612A (en) | 2011-01-25 | 2011-01-25 | Manipulator controller |
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| CN201110026903.3A CN102029612A (en) | 2011-01-25 | 2011-01-25 | Manipulator controller |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102189553A (en) * | 2011-05-18 | 2011-09-21 | 奇瑞汽车股份有限公司 | Manipulator control system and control method |
| CN103802115A (en) * | 2012-12-21 | 2014-05-21 | 常州先进制造技术研究所 | Hand-held controller system of mechanical arm of injection molding machine |
| CN106444473A (en) * | 2016-08-16 | 2017-02-22 | 中山微宇电器科技有限公司 | Multi-path control circuit system for vending machines |
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| CN102189553A (en) * | 2011-05-18 | 2011-09-21 | 奇瑞汽车股份有限公司 | Manipulator control system and control method |
| CN103802115A (en) * | 2012-12-21 | 2014-05-21 | 常州先进制造技术研究所 | Hand-held controller system of mechanical arm of injection molding machine |
| CN106444473A (en) * | 2016-08-16 | 2017-02-22 | 中山微宇电器科技有限公司 | Multi-path control circuit system for vending machines |
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Application publication date: 20110427 |