CN103552081A - Method for controlling Z-axis lifting air cylinder of stacking manipulator - Google Patents
Method for controlling Z-axis lifting air cylinder of stacking manipulator Download PDFInfo
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- CN103552081A CN103552081A CN201310499384.1A CN201310499384A CN103552081A CN 103552081 A CN103552081 A CN 103552081A CN 201310499384 A CN201310499384 A CN 201310499384A CN 103552081 A CN103552081 A CN 103552081A
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Abstract
Disclosed is a method for controlling a Z-axis lifting air cylinder of a stacking manipulator. A heavy air cylinder, a two-position three-way electric control stop valve (normally closed), a pressure switch and a two-position two-way electric control stop valve (normally closed) are included. The top of the heavy air cylinder is communicated with the atmosphere. According to the method, the operation stability of the Z-axis air cylinder can be effectively improved, and layer-by-layer stacking of green bricks can be performed accurately.
Description
Technical field
The present invention relates to a kind of palletizing mechanical arm Z axis lift cylinder control method, is exactly specifically to utilize pneumatic valve body to realize the control system of palletizing mechanical arm Z axis lift cylinder lifting action.
Background technology
Present stage is with the raising of automatization level, Green brick stacking operation is progressively realizing unmanned, so Green brick stacking machinery hand arises at the historic moment, and its Z axis hoisting mechanism is also not quite similar, the palletizing mechanical arm that adopts cylinder to promote as power is widely used because it is simple in structure and cost is lower.And forcing technical staff to develop advanced cylinder control method, the compressibility of air improves Z axis traveling comfort.
Summary of the invention
The object of the present invention is to provide a kind of palletizing mechanical arm Z axis lift cylinder control method, this control method can effectively improve Z axis cylinder running stability, and can accurately carry out successively piling of adobe.
The present invention solves the technical scheme that its technical problem takes: a kind of palletizing mechanical arm Z axis lift cylinder control method, its structure comprises heavy cylinder, two-position three way electric-control stop valve (normally closed), pressure switch, two-position two-way solenoid valve (normally closed), and heavy cylinder top communicates with atmosphere.
The deadweight of heavy cylinder decline dependence system and load gravity.
By detecting the mode of cylinder bottom air pressure, judge whether to arrive piling position.
Heavy cylinder rises and is controlled by two-position three way electric-control stop valve (normally closed).
Heavy cylinder declines by two-position three way electric-control stop valve (normally closed) and two-position two-way solenoid valve (normally closed) co-controlling.
Position when cylinder stops at power-off when system cut-off and while stopping air feed.
The invention has the beneficial effects as follows: the strenuous vibration that this control method has avoided cylinder to rise and stop and declining while stopping effectively, the control method that simultaneously relies on gravity to decline has reduced system energy consumption widely, the mode that detects cylinder bottom air pressure by pressure switch judges whether to drop to piling position, and effectively to have saved use and the piling of alignment sensor successively more solid and reliable, and the position system causing of having avoided having a power failure is pressed the accident of hitting when cylinder stops at power-off when working as system cut-off and stopping air feed.
Accompanying drawing explanation
Fig. 1 is pneumatic control schematic diagram of the present invention
Wherein: 1, heavy cylinder, 2, two-position three way electric-control stop valve (normally closed), 3, pressure switch, 4, two-position two-way solenoid valve (normally closed).
The specific embodiment
As shown in Figure 1.
A kind of palletizing mechanical arm Z axis lift cylinder control method, comprise heavy cylinder 1, two-position three way electric-control stop valve (normally closed) 2, pressure switch 3, two-position two-way solenoid valve (normally closed) 4, heavy cylinder is used vertically downward, its top interface P4 connects a muffler and communicates with atmosphere, bottom interface P3 connects a diameter 20mm galvanized pipe, then by the P2 mouth of threeway and pressure switch and the A mouth of two-position three way electric-control stop valve (normally closed), join, the P mouth of two-position three way electric-control stop valve (normally closed) 2 is as gas source import, O mouth is by joining to the P1 mouth of silk and two-position two-way solenoid valve (normally closed) 4, the A1 mouth of two-position two-way solenoid valve (normally closed) 4 connects a muffler and communicates with atmosphere.Two-position three way electric-control stop valve (normally closed) 2 energisings and two-position two-way solenoid valve (normally closed) 4 power-off disconnect P mouth and A mouth conducting P1 and A1, make the air inlet of heavy cylinder P3 mouth, the exhaust of P4 mouth realizes heavy cylinder and promotes, (normally closed) power-off of two-position three way electric-control stop valve and two-position two-way solenoid valve (normally closed) energising make A mouth and O mouth conducting P1 and A1 conducting, make the exhaust of heavy cylinder P3 mouth, the air inlet of P4 mouth realizes heavy cylinder and relies on manipulator self and load gravity to decline.In decline process, pressure switch detects heavy cylinder P3 implication pressure, when dropping to piling adobe, piling adobe is offset load gravity and is made cylinder P3 implication drops, and now pressure switch is exported the signal that puts in place, system is controlled two-position two-way solenoid valve (normally closed) power-off, and cylinder stops declining.
The strenuous vibration that this control method has avoided cylinder to rise and stop and declining while stopping effectively, the control method that simultaneously relies on gravity to decline has reduced system energy consumption widely, the mode that detects cylinder bottom air pressure by pressure switch detects and whether drops to piling position effectively to have saved use and the piling of alignment sensor successively more reliable firm, and the position system causing of having avoided having a power failure is pressed the accident of hitting when cylinder stops at power-off when working as system cut-off and stopping air feed.
Claims (6)
1. a palletizing mechanical arm Z axis lift cylinder control method, is characterized in that: comprise heavy cylinder, two-position three way electric-control stop valve (normally closed), pressure switch, two-position two-way solenoid valve (normally closed), heavy cylinder top communicates with atmosphere.
2. according to a kind of palletizing mechanical arm Z axis lift cylinder control method described in claims 1, it is characterized in that: the deadweight of heavy cylinder decline dependence system and load gravity.
3. according to a kind of palletizing mechanical arm Z axis lift cylinder control method described in claims 1, it is characterized in that: by detecting the mode of cylinder bottom air pressure, judge whether to arrive piling position.
4. according to a kind of palletizing mechanical arm Z axis lifting cylinder control method described in claims 1, it is characterized in that: heavy cylinder rises and controlled by two-position three way electric-control stop valve (normally closed).
5. according to a kind of palletizing mechanical arm Z axis lifting cylinder control method described in claims 1, it is characterized in that: heavy cylinder declines by two-position three way electric-control stop valve (normally closed) and two-position two-way solenoid valve (normally closed) co-controlling.
6. according to a kind of palletizing mechanical arm Z axis lifting cylinder control method described in claims 1, it is characterized in that: position when cylinder stops at power-off when system cut-off and while stopping air feed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310499384.1A CN103552081A (en) | 2013-10-22 | 2013-10-22 | Method for controlling Z-axis lifting air cylinder of stacking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310499384.1A CN103552081A (en) | 2013-10-22 | 2013-10-22 | Method for controlling Z-axis lifting air cylinder of stacking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103552081A true CN103552081A (en) | 2014-02-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310499384.1A Pending CN103552081A (en) | 2013-10-22 | 2013-10-22 | Method for controlling Z-axis lifting air cylinder of stacking manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111520375A (en) * | 2020-04-21 | 2020-08-11 | 广东长盈精密技术有限公司 | System and method for feeding back cylinder to stretch to target position in special environment |
| TWI718082B (en) * | 2019-08-06 | 2021-02-01 | 日商日本電產三協股份有限公司 | Robot stopping method and robot system |
Citations (6)
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| CN2363267Y (en) * | 1998-11-12 | 2000-02-09 | 威海广泰空港设备有限公司 | Position sensing device |
| CN2648397Y (en) * | 2003-07-21 | 2004-10-13 | 哈尔滨量具刃具厂 | Z axle auto-protector for dual coordinate measuring implement |
| US20050146252A1 (en) * | 2003-12-30 | 2005-07-07 | Ksp Technologies Corp. | Cylinder apparatus with a capability of detecting piston position in a cylinder |
| CN101275595A (en) * | 2007-03-30 | 2008-10-01 | Smc株式会社 | Position-control mechanism for a double-action pneumatic cylinder |
| CN202125489U (en) * | 2011-04-28 | 2012-01-25 | 湖北合加环境设备有限公司 | Compression hydraulic control loop of lifting horizontal compression transfer device of garbage and device |
| CN202575871U (en) * | 2012-04-25 | 2012-12-05 | 温岭市海博输送设备有限公司 | Novel lifting and shifting equipment |
-
2013
- 2013-10-22 CN CN201310499384.1A patent/CN103552081A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2363267Y (en) * | 1998-11-12 | 2000-02-09 | 威海广泰空港设备有限公司 | Position sensing device |
| CN2648397Y (en) * | 2003-07-21 | 2004-10-13 | 哈尔滨量具刃具厂 | Z axle auto-protector for dual coordinate measuring implement |
| US20050146252A1 (en) * | 2003-12-30 | 2005-07-07 | Ksp Technologies Corp. | Cylinder apparatus with a capability of detecting piston position in a cylinder |
| CN101275595A (en) * | 2007-03-30 | 2008-10-01 | Smc株式会社 | Position-control mechanism for a double-action pneumatic cylinder |
| CN202125489U (en) * | 2011-04-28 | 2012-01-25 | 湖北合加环境设备有限公司 | Compression hydraulic control loop of lifting horizontal compression transfer device of garbage and device |
| CN202575871U (en) * | 2012-04-25 | 2012-12-05 | 温岭市海博输送设备有限公司 | Novel lifting and shifting equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI718082B (en) * | 2019-08-06 | 2021-02-01 | 日商日本電產三協股份有限公司 | Robot stopping method and robot system |
| CN111520375A (en) * | 2020-04-21 | 2020-08-11 | 广东长盈精密技术有限公司 | System and method for feeding back cylinder to stretch to target position in special environment |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 250014 Shandong, Lixia District, Ji'nan Lixia Road, Shandong Jianzhu University, No. 96 Applicant after: Ji Jianbin Address before: No. 540 Zhangqiu Ji'nan City, Shandong province 250299 City Lu Hong Road Applicant before: Ji Jianbin |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140205 |