CN105904453A - Function-configurable carrying mechanical arm based on intelligent air cylinders and carrying method - Google Patents
Function-configurable carrying mechanical arm based on intelligent air cylinders and carrying method Download PDFInfo
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- CN105904453A CN105904453A CN201610256540.5A CN201610256540A CN105904453A CN 105904453 A CN105904453 A CN 105904453A CN 201610256540 A CN201610256540 A CN 201610256540A CN 105904453 A CN105904453 A CN 105904453A
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- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 238000003860 storage Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 16
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 101100441413 Caenorhabditis elegans cup-15 gene Proteins 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 241001212149 Cathetus Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a function-configurable carrying mechanical arm based on an intelligent air cylinder and a carrying method. The function-configurable carrying mechanical arm comprises an upper computer, the first linear intelligent air cylinder, the second linear intelligent air cylinder and the pressure controlled intelligent air cylinder. Each linear intelligent air cylinder comprises a magnetic air cylinder body with a piston, solenoid valves, magnetic sensors and a control module. The pressure controlled intelligent air cylinder comprises a vacuum generator, a vacuum suction cup, a pressure sensor, solenoid valves and the control module. The control module comprises a control unit, a serial port, a signal collecting unit, a wireless communication unit, a driving unit and a relay. According to the carrying method, the motion timing sequence of the carrying mechanical arm is shown through an input and output relation and a state table, the mechanical arm seeks and outputs a corresponding output state according to acquired information of an input state, then motion of the magnetic air cylinder bodies is controlled, and therefore the carrying function of the mechanical arm is achieved. The function of the designed carrying mechanical arm can be flexibly configured, and the carrying mechanical arm can be applied to different occasions.
Description
Technical field
The present invention relates to a kind of function based on intelligence cylinder and can configure conveying robot and method for carrying, belong to intelligence cylinder technical field.
Background technology
Mechanical hand is the product of social development and scientific and technological progress.On the one hand, mechanical hand can liberate labour force, it is simple to the industrialization of production with the even all of manual operation of Substitute For Partial；On the other hand, mechanical hand can overcome the poor working conditions such as high temperature, high pressure, contaminative, radioactivity to carry out operation, particularly applies the most extensive in some dangerous big industry production.Therefore, mechanical hand is suitable for the Production trend of modernization, has stronger vitality.
The driving of mechanical hand mainly has the driving of hydraulic-driven, air pressure, Mechanical Driven and motor to drive.Wherein Pneumatic Transmission is increasingly subject to people's attention in processing manufacturing industry field.On the one hand, pneumatics is the transmission being described as industrial automation " muscle " and control technology, and along with the fast development of automated control technology, pneumatics is also being constantly brought forth new ideas with practical implementation for target；On the other hand, pneumatics is as " cheap automatic technology ", and its components and parts performance improves constantly, and production cost the most constantly reduces.Therefore pneumatics application in commercial production is more and more extensive.
At present, domestic and international existing mechanical hand is applied in all trades and professions, has spray robot, spot welding robot, loading and unloading robot etc..After these robots once shape, according to the control program existed, movement locus and the partial act of technological requirement simulation staff, it is achieved be automatically brought into operation.But, these mechanical hands all have fixing occasion, and its function is the most single.Therefore study a kind of can be most important according to the mechanical hand of different application occasion flexible configuration function.
Summary of the invention
The technical problem to be solved is: providing a kind of function based on intelligence cylinder to can configure conveying robot and method for carrying, this conveying robot can realize freely configuring based on intelligence cylinder according to actual needs, and function is more flexible.
The present invention solves above-mentioned technical problem by the following technical solutions:
A kind of function based on intelligence cylinder can configure conveying robot, including host computer, the first ~ the second straight line intelligence cylinder, voltage-controlled intelligence cylinder, described the first ~ the second straight line intelligence cylinder and voltage-controlled intelligence cylinder are connected with host computer respectively, and first straight line intelligence cylinder connecting rod and the cylinder body of the second straight line intelligence cylinder connect, the connecting rod of the second straight line intelligence cylinder is connected with the cylinder body of voltage-controlled intelligent cylinder.
A preferred version as the present invention, described first, second straight line intelligence cylinder all includes magnetic air cylinder, control module, the first ~ the 4th electromagnetic valve, the first ~ the second magnetic sensor, in described first ~ the 4th electromagnetic valve, the circuit of each electromagnetic valve is connected with control module, gas circuit is connected with magnetic air cylinder, the first ~ the second magnetic sensor is connected with control module respectively, and the first ~ the second magnetic sensor is respectively arranged at magnetic air cylinder two ends.
A preferred version as the present invention, described voltage-controlled intelligence cylinder includes vacuum generator, vacuum cup, pressure transducer, the 5th ~ the 6th electromagnetic valve, control module, in described 5th ~ the 6th electromagnetic valve, the circuit of each electromagnetic valve is connected with control module, gas circuit is connected with vacuum generator, the two ends of pressure transducer link control module and vacuum generator respectively, vacuum generator is connected with vacuum cup.
A preferred version as the present invention, described control module includes signal gathering unit, control unit, driver element, relay, radio communication unit and serial ports, described signal gathering unit, driver element, radio communication unit, serial ports are connected with control unit respectively, driver element is connected with relay, and serial ports is connected with host computer；In the first ~ the second straight line intelligence cylinder, the signal gathering unit of control module is connected with the first ~ the second magnetic sensor respectively, and the relay of control module is connected with the first ~ the 4th electromagnetic valve respectively；In voltage-controlled intelligence cylinder, the signal gathering unit of control module is connected with the 5th ~ the 6th electromagnetic valve respectively, and the relay of control module is connected with pressure transducer.
A kind of method for carrying, utilizes function based on intelligence cylinder as mentioned above to can configure conveying robot and realizes, comprise the steps:
Step 1, utilizes host computer to write motion flow table and the intelligent cylinder of each action correspondence work of conveying robot, by serial ports by action to be done for each intelligence cylinder and process order, is sent to the control unit of correspondence and stores；
Step 2, when, after handling machinery hand starting, the control unit of each intelligence cylinder reads first flow process action of storage, through drive unit drives relay, and then controls the electromagnetic valve action that each intelligence cylinder is corresponding, makes conveying robot arrive initial position；
Step 3, the control unit of each intelligence cylinder searches whether that storage has second flow process action, if it has, then carry out step 4, otherwise, does not works；
Step 4, current process action is converted into corresponding voltage signal through driving module drive relay by the control unit of this intelligence cylinder, and then controls corresponding electromagnetic valve and make intelligence cylinder action；
Step 5, if the intelligent cylinder of step 4 is straight line intelligence cylinder, when the piston of straight line intelligence cylinder arrives magnetic sensor position, and magnetic sensor is connected and produces the signal of telecommunication, signal gathering unit gathers this signal of telecommunication and is sent to control unit, and control unit output signal makes electromagnetic valve dead electricity；If the intelligent cylinder of step 4 is voltage-controlled intelligence cylinder, pressure transducer is measured the force value in vacuum cup, and is sent to control unit through signal gathering unit, and control unit judges when force value reaches measured value, and output signal makes electromagnetic valve dead electricity；
Step 6, the intelligent cylinder of work at present carries out the instruction of next flow process work by radio communication unit to other intelligence cylinders transmissions, after other intelligence cylinders receive instruction, search whether that storage has next flow process to work, if it has, then carry out step 4, otherwise, do not work；
Step 7, repeats step 4-step 6, until completing last flow process action.
The present invention uses above technical scheme compared with prior art, has following technical effect that
The function modoularization of conveying robot, each functional module are controlled by the present invention by single control unit.The relation one_to_one corresponding of the characteristic of utilization state table, i.e. input and output, shows the form of the workflow state table of conveying robot.When user needs to realize mechanical hand function, robot work flow process is set by host computer and is configured to each intelligence cylinder.Therefore, the conveying robot of present invention design, it is suitable for batch production, reduces cost, it is possible to extensively apply in industrial automation.
Accompanying drawing explanation
Fig. 1 is the composition structural representation that present invention function based on intelligence cylinder can configure conveying robot.
Fig. 2 is cathetus intelligence structural representation of air cylinder of the present invention.
Fig. 3 is voltage-controlled intelligence structural representation of air cylinder in the present invention.
Wherein, 1 is air compressor, and 2 is control module, and 3 is acoustic filter, 4,5,6,7,11,12 being electromagnetic valve, 8,9 are magnetic sensor, and 10 is magnetic air cylinder, 13 is pressure transducer, and 14 is vacuum generator, and 15 is vacuum cup, 16,17 being straight line intelligence cylinder, 18 is voltage-controlled intelligence cylinder, and 19 is host computer, 201 is signal gathering unit, and 202 is control unit, and 203 is driver element, 204 is relay, and 205 is radio communication unit, and 206 is serial ports.
Fig. 4 is the host computer interface figure that present invention function based on intelligence cylinder can configure conveying robot.
Detailed description of the invention
Embodiments of the present invention are described below in detail, and the example of described embodiment is shown in the drawings, and the most same or similar label represents same or similar element or has the element of same or like function.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
As it is shown in figure 1, function based on intelligence cylinder can configure conveying robot, including host computer 19, straight line intelligence cylinder 16,17 and voltage-controlled intelligence cylinder 18.The connecting rod of straight line intelligence cylinder 16 is connected with the cylinder body of straight line intelligence cylinder 17, and the voltage-controlled intelligence cylinder body of cylinder 18 is connected with the connecting rod of straight line intelligence cylinder 17.
As in figure 2 it is shown, straight line intelligence cylinder includes the magnetic air cylinder 10 with piston, electromagnetic valve 4,5,6,7, magnetic sensor 8,9, control module 2, air compressor 1 and acoustic filter 3；Wherein electromagnetic valve 4,5,6,7 is connected with control module 2 with magnetic sensor 8,9, and control module 2 is connected with host computer 19 by serial ports 206, and electromagnetic valve 4,5,6,7 is connected with magnetic air cylinder 10, and magnetic sensor 8,9 is arranged on the two ends of magnetic air cylinder 10.
As it is shown on figure 3, voltage-controlled intelligence cylinder includes vacuum generator 14, vacuum cup 15, pressure transducer 13, electromagnetic valve 11,12 and control module 2, air compressor 1 and acoustic filter 3；Wherein electromagnetic valve 11,12 is connected with control module 2 with pressure transducer 13, and control module 2 is connected with host computer 19 by serial ports 206, and electromagnetic valve 11,12 is connected with vacuum generator 14 with vacuum cup 15.
Control module 2 includes signal gathering unit 201, control unit 202, driver element 203, relay 204, radio communication unit 205 and serial ports 206.Magnetic sensor 8,9 in Fig. 2 is connected with signal gathering unit 201, pressure transducer 13 in Fig. 3 is connected with signal gathering unit 201, signal gathering unit 201, driver element 203, radio communication unit 205 are connected with control unit 202 respectively with serial ports 206, relay 204 in Fig. 2 is connected with electromagnetic valve 4,5,6,7, relay 204 in Fig. 3 is connected with electromagnetic valve 11,12, and relay 204 is connected with driver element 203.
As shown in Figure 4, function based on intelligence cylinder can configure the state table configuration interface of conveying robot, host computer 19 write, and is sent to the control module 2 of each intelligence cylinder by serial ports 206.
The function based on intelligence cylinder that the present invention provides can configure conveying robot operation principle and comprises the following steps:
1) assembling three intelligent cylinders according to actual needs and form the structure of conveying robot, connect gas circuit, air inlet connects air compressor, and air vent accesses air through acoustic filter；
2) host computer is utilized to write the operating state table of conveying robot；
3) state table of each intelligence cylinder is sent to control module and stores in inside modules memory element by serial ports by host computer；
4) after obtaining enabling signal, the control unit of each intelligence cylinder reads the first element of the state table of storage, through drive unit drives relay, and then the electromagnetic valve of the electromagnetic valve and voltage-controlled intelligence cylinder controlling straight line intelligence cylinder makes conveying robot return to initial position；
5) state table that the control unit of each intelligence cylinder searches storage according to input state judges whether current process action exists, and does not exist and goes to 9)；
6) current process action exists, and current process action message is converted into corresponding voltage signal through drive unit drives relay by control unit, and then the electromagnetic valve of the electromagnetic valve and voltage-controlled intelligence cylinder controlling straight line intelligence cylinder makes magnetic air cylinder action；
7) piston of straight line intelligence cylinder arrives and specifies position, and magnetic sensor is connected the generation signal of telecommunication and is input to control unit through signal gathering unit, and control unit output signal makes electromagnetic valve dead electricity；The pressure that voltage-controlled intelligence cylinder utilizes pressure transducer to measure in vacuum cup is input to control unit through signal gathering unit, and when pressure reaches measured value, control unit output signal makes electromagnetic valve dead electricity；
8) control unit arranges radio communication unit is sending mode, sends downstream information to residue intelligence cylinder；
9) control unit arranges radio communication unit is reception pattern, waits the information that other intelligence cylinders to be received send, and the information received is input state；
10) 5 are repeated) to 9), until carrying end-of-job.
Above example is only the technological thought that the present invention is described, it is impossible to limiting protection scope of the present invention with this, every technological thought proposed according to the present invention, any change done on the basis of technical scheme, within each falling within scope.
Claims (5)
1. a function based on intelligence cylinder can configure conveying robot, it is characterized in that, including host computer (19), the first ~ the second straight line intelligence cylinder (16) ~ (17), voltage-controlled intelligence cylinder (18), described the first ~ the second straight line intelligence cylinder (16) ~ (17) and voltage-controlled intelligence cylinder (18) are connected with host computer (19) respectively, and first straight line intelligence cylinder (16) connecting rod and the second straight line intelligence cylinder (17) cylinder body connect, the connecting rod of the second straight line intelligence cylinder (17) is connected with the cylinder body of voltage-controlled intelligence cylinder (18).
2. according to claim1Described function based on intelligence cylinder can configure conveying robot, it is characterized in that, described first, second straight line intelligence cylinder (16), (17) magnetic air cylinder (10) is all included, control module (2), first ~ the 4th electromagnetic valve (4) ~ (7), the first ~ the second magnetic sensor (8) ~ (9), in described first ~ the 4th electromagnetic valve (4) ~ (7), the circuit of each electromagnetic valve is connected with control module (2), gas circuit is connected with magnetic air cylinder (10), the first ~ the second magnetic sensor (8) ~ (9) are connected with control module (2) respectively, and the first ~ the second magnetic sensor (8) ~ (9) be respectively arranged at magnetic air cylinder (10) two ends.
3. according to claim1Described function based on intelligence cylinder can configure conveying robot, it is characterized in that, described voltage-controlled intelligence cylinder (18) includes vacuum generator (14), vacuum cup (15), pressure transducer (13), 5th ~ the 6th electromagnetic valve (11) ~ (12), control module (2), in described 5th ~ the 6th electromagnetic valve (11) ~ (12), the circuit of each electromagnetic valve is connected with control module (2), gas circuit is connected with vacuum generator (14), the two ends of pressure transducer (13) link control module (2) and vacuum generator (14) respectively, vacuum generator (14) is connected with vacuum cup (15).
4. according to claim2Or3Described function based on intelligence cylinder can configure conveying robot, it is characterized in that, described control module (2) includes signal gathering unit (201), control unit (202), driver element (203), relay (204), radio communication unit (205) and serial ports (206), described signal gathering unit (201), driver element (203), radio communication unit (205), serial ports (206) is connected with control unit (202) respectively, driver element (203) is connected with relay (204), serial ports (206) is connected with host computer (19)；In the first ~ the second straight line intelligence cylinder (16) ~ (17), the signal gathering unit (201) of control module (2) is connected with the first ~ the second magnetic sensor (8) ~ (9) respectively, and the relay (204) of control module (2) is connected with the first ~ the 4th electromagnetic valve (4) ~ (7) respectively；In voltage-controlled intelligence cylinder (18), the signal gathering unit (201) of control module (2) is connected with the 5th ~ the 6th electromagnetic valve (11) ~ (12) respectively, and the relay (204) of control module (2) is connected with pressure transducer (13).
5. a method for carrying, utilizes claim4Described function based on intelligence cylinder can configure conveying robot and realizes, it is characterised in that comprise the steps:
Step 1, utilizes host computer to write motion flow table and the intelligent cylinder of each action correspondence work of conveying robot, by serial ports by action to be done for each intelligence cylinder and process order, is sent to the control unit of correspondence and stores；
Step 2, when, after handling machinery hand starting, the control unit of each intelligence cylinder reads first flow process action of storage, through drive unit drives relay, and then controls the electromagnetic valve action that each intelligence cylinder is corresponding, makes conveying robot arrive initial position；
Step 3, the control unit of each intelligence cylinder searches whether that storage has second flow process action, if it has, then carry out step 4, otherwise, does not works；
Step 4, current process action is converted into corresponding voltage signal through driving module drive relay by the control unit of this intelligence cylinder, and then controls corresponding electromagnetic valve and make intelligence cylinder action；
Step 5, if the intelligent cylinder of step 4 is straight line intelligence cylinder, when the piston of straight line intelligence cylinder arrives magnetic sensor position, and magnetic sensor is connected and produces the signal of telecommunication, signal gathering unit gathers this signal of telecommunication and is sent to control unit, and control unit output signal makes electromagnetic valve dead electricity；If the intelligent cylinder of step 4 is voltage-controlled intelligence cylinder, pressure transducer is measured the force value in vacuum cup, and is sent to control unit through signal gathering unit, and control unit judges when force value reaches measured value, and output signal makes electromagnetic valve dead electricity；
Step 6, the intelligent cylinder of work at present carries out the instruction of next flow process work by radio communication unit to other intelligence cylinders transmissions, after other intelligence cylinders receive instruction, search whether that storage has next flow process to work, if it has, then carry out step 4, otherwise, do not work；
Step 7, repeats step 4-step 6, until completing last flow process action.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107262639A (en) * | 2017-07-01 | 2017-10-20 | 南京理工大学 | A kind of automatic special equipment of snap clasp |
| CN111606178A (en) * | 2019-02-26 | 2020-09-01 | 费斯托股份两合公司 | Manipulator and method for operating a manipulator |
| CN112550510A (en) * | 2020-12-09 | 2021-03-26 | 北京理工大学重庆创新中心 | Wheel-legged robot and driving method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107262639A (en) * | 2017-07-01 | 2017-10-20 | 南京理工大学 | A kind of automatic special equipment of snap clasp |
| CN111606178A (en) * | 2019-02-26 | 2020-09-01 | 费斯托股份两合公司 | Manipulator and method for operating a manipulator |
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| CN112550510B (en) * | 2020-12-09 | 2023-07-21 | 北京理工大学重庆创新中心 | Wheel leg robot and driving method thereof |
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| CN105904453B (en) | 2017-12-05 |
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Effective date of registration: 20180521 Address after: 210003 Yongsheng road 97, Dongshan Industrial Concentration Area, Jiangning District, Nanjing, Jiangsu Patentee after: Nanjing Xiangyang Industrial and Trade Company Address before: No. 29, Qinhuai District, Qinhuai District, Nanjing, Jiangsu Patentee before: Nanjing University of Aeronautics and Astronautics |