CN104708632B - Board conveying and installation manipulator control system - Google Patents
Board conveying and installation manipulator control system Download PDFInfo
- Publication number
- CN104708632B CN104708632B CN201510139798.2A CN201510139798A CN104708632B CN 104708632 B CN104708632 B CN 104708632B CN 201510139798 A CN201510139798 A CN 201510139798A CN 104708632 B CN104708632 B CN 104708632B
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- control system
- sheet material
- switch board
- installation
- industrial computer
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Abstract
The invention provides a board conveying and installation manipulator control system. The control system comprises a power supply device, a lower end walking module control system and a manipulator installation module control system; the power supply device is electrically connected with the lower end walking module control system and the manipulator installation module control system. A wireless handle control mode and a force feedback follow-up control mode are added in the control system, remote wireless operation and short-range man-machine collaboration operation are infused, a six-dimension force sensor achieves the function of manual force amplification to assist installation in the board installation process, it is achieved that boards are accurately installed, and the boards are prevented from being damaged by too large contact force in the installation process. Movement convenience and power source matching are considered, an inverter is added into a control box of equipment, a set of direct current battery realizes direct current supply and alternating current supply at the same time, the trouble of adding a cable for alternating current supply is saved, and the equipment is more flexible.
Description
Technical field
The invention belongs to automation control area, more particularly to sheet material carrying and installation manipulator control system.
Background technology
In the last few years, with building trade develop rapidly, people are for the requirement more and more higher of exterior finish.And in room
In exterior decoration industry, be important component part to the installation that outer wall carries out dalle, wherein glass curtain wall install, wall body decoration
Deng installation belong to sheet material installation.And the curtain wall fitting-out work of the heavy construction such as large stadium, railway station and public building, it is main
Will be using materials such as large glass curtain walls.These material great majority are plate shape (i.e. sheet material), have heavy, size big, cracky
The characteristics of, and need to set up scaffold and related auxiliary equipment in work progress, with greater need for the installer of enormous amount,
High labor intensive, installation process are complicated, and speed of application is slow, poor stability.
Application No. 201410563882.2 discloses a kind of sheet material and installs equipment, and the equipment installs the control of power-assisted machinery
System hardware relatively falls behind, and control accuracy is not high, and real-time is bad, and Man machine interaction is poor, the sheet material for not having complete set
The action control flow process of installation, it is impossible to realize the Detection ＆ Controling of installing force and operating physical force, and can not still realize that wireless remote is grasped
Control, greatly reduces the operating flexibility that sheet material installs power-assisted machinery, it is impossible to real to meet the demand for installing automatization.
The content of the invention
For the deficiencies in the prior art, the technical problem that the present invention is intended to solve is：There is provided sheet material carrying and installation machinery manual
System processed, can realize long distance wireless operation and the servo-actuated operation of short range man-machine collaboration power control, greatly improve the spirit of sheet material installation
Activity, accuracy and human-machine operation performance.
The present invention solves the technical scheme of the technical problem and is to provide sheet material carrying and installation manipulator control system, institute
Stating control system includes electric supply installation, it is characterised in that the control system also includes lower end walking module controls system and machinery
Handss install module control system；The electric supply installation installs module control with lower end walking module controls system and mechanical hand respectively
System is electrically connected；
The lower end walking module controls system includes electri forklift driving wheel, traveling controller, electri forklift accelerator
With direction disk；The electri forklift accelerator is electrically connected with traveling controller；The traveling controller control electri forklift drives
The speed of driving wheel；The direction is connected disk with electri forklift driving wheel；
The mechanical hand installs module control system includes six degree of freedom manipulator control module, man-machine interaction and wireless behaviour
Make module and sheet material draws gas path module；The six degree of freedom manipulator control module includes bus plane switch board, drives layer control
Cabinet processed and upper industrial computer；The bus plane switch board includes that 24V turns the inverter of 220V；The driving layer switch board includes six
Individual degree of freedom servo-drive and six-dimension force sensor signal amplifier；The man-machine interaction and radio operation module include industry
Touch screen, wireless controller, operator end six-dimension force sensor and environment end six-dimension force sensor；The graphic control panel with it is upper
Industrial computer is electrically connected；The driving layer switch board and upper industry control mechatronics；The wireless controller is wireless with upper industrial computer
Connection；Operator end six-dimension force sensor and environment end six-dimension force sensor are by holding wire and driving layer switch board
Six-dimension force sensor signal amplifier is electrically connected；The sheet material draws gas path module includes that minipump and end vacuum are inhaled
Disk；The minipump is connected with end vacuum cup.
Compared with prior art, the invention has the beneficial effects as follows：The invention provides the sheet material carrying and installation of complete set
Manipulator control system, adds wireless controller control model and force feedback servo antrol pattern, by long distance wireless operate with it is near
The operation of journey man-machine collaboration incorporates wherein, is served by six-dimension force sensor when sheet material is installed and for manpower to amplify what power-assisted was installed
Effect, realizes and sheet material ground is accurately installed, while preventing sheet material when mounted as contact force is excessive and damaging.Except this it
Outward, it is contemplated that the matching problem of mobile convenience and power supply, inverter is added in the control chamber of equipment, complete and use one
Group dc-battery completes direct current supply and Alternating Current Power Supply simultaneously, and eliminating AC-powered needs the trouble of additional cable, increases
The displacement of complete equipment is added, has made equipment have more motility.This set control system control flow is simply smooth, whole only to need
Absorption, transport and the installation to large-scale curtain wall panel is completed by wanting one to two operator, reduces the intensity of labour force
And quantity, installation process is simplified, the mechanically operated motility of power-assisted and stability and the safety of work progress is improved.
Description of the drawings
Fig. 1 is the overall structure block diagram of sheet material carrying and installation manipulator control system one embodiment of the present invention；
Fig. 2 is the overall structure diagram of sheet material carrying and installation manipulator control system one embodiment of the present invention；
Fig. 3 is the lower end walking module controls system of sheet material carrying and installation manipulator control system one embodiment of the present invention
Structural representation；
Fig. 4 is the six degree of freedom manipulator control mould of sheet material carrying and installation manipulator control system one embodiment of the present invention
Block structure schematic diagram；
Fig. 5 is the man-machine interaction of sheet material carrying and installation manipulator control system one embodiment of the present invention and radio operation mould
Block structure schematic diagram；
Fig. 6 is that the sheet material of sheet material carrying and installation manipulator control system one embodiment of the present invention draws gas path module structure
Schematic diagram.
Specific embodiment
Clear, complete description will be carried out to the technical scheme in the embodiment of the present invention below, it is clear that described enforcement
Example is a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, the common skill in this area
The every other embodiment obtained on the premise of creative work is not made by art personnel, belongs to the model of present invention protection
Enclose.
The present invention is to provide sheet material carrying and installation manipulator control system (referring to Fig. 1-6) includes lower end walking module control
System processed 1, mechanical hand installs module control system 2 and electric supply installation 3；The electric supply installation 3 respectively with lower end walking module control
System processed 1 and mechanical hand are installed module control system 2 and are electrically connected.
The lower end walking module controls system 1 includes electri forklift driving wheel 101, traveling controller 102, electri forklift
Accelerator 103 and direction are disk 104；The electri forklift accelerator 103 is electrically connected with traveling controller 102；The walking control
The speed of the control electri forklift of device processed 102 driving wheel 101；The traveling controller 102 receives electri forklift accelerator 103
Processed after the signal of diverse location, then sent a signal to electri forklift driving wheel 101, drive which to move；The side
To disk 104 is connected with the rotary shaft of electri forklift driving wheel 101, control electric fork so that rotation direction is realized disk 104
The direction of motion of car driving wheel 101.
The mechanical hand installs module control system 2 includes six degree of freedom manipulator control module 201, man-machine interaction and nothing
Line operation module 202 and sheet material draw gas path module 203；
The six degree of freedom manipulator control module 201 includes bus plane switch board 20101, drives layer switch board 20102
With upper industrial computer 20103；The bus plane switch board 20101 includes that 24V turns the inverter of 220V, 24V and turns 5V Switching Power Supplies
Turn 12V Switching Power Supplies with 24V；Turn the inverter of 220V to be powered to upper industrial computer 20103 by 24V, turned by 24V
5V and 24V turn the Switching Power Supply of 12V to ensure to drive the needs of 20102 different voltages of layer switch board；The driving layer switch board
20102 include the six-freedom degree servo-drive 2010201 i.e. servo-drive of this six direction of X, Y, Z, XR, YR, ZR and six
Dimensional force sensor signal amplifier 2010201, six-freedom degree servo-drive 2010201 receive upper industrial computer 20103 and send
Signal complete corresponding action so as to drive respective servomotor on six direction to rotate；The driving layer switch board
20102 and upper industrial computer 20103 electrically connect；
The man-machine interaction and radio operation module 202 include graphic control panel 20201, wireless controller 20202, operator
End six-dimension force sensor 20203 and environment end six-dimension force sensor 20204；
The graphic control panel 20201 is connected with upper industrial computer 20103, and by the number of servomotor absolute type encoder
Shown on graphic control panel 20201 according to, the data that feed back of the position of mechanical hand and six-dimension force sensor in real time, and
And the velocity and acceleration that servomotor is moved can be changed by the interface, it is servo-actuated in wireless controller control model and force feedback
Switch between control model, so that operator can be monitored in real time.
The wireless controller 20202 is led to by the wireless receiver being inserted in the USB interface of upper industrial computer 20103
News, wireless receiver is prior art, and the effect of wireless controller 20202 is：When wireless controller control model is switched to, pass through
The key mapping of defined good six-freedom degree on wireless controller 20202, operator need to only control pressing for wireless controller 20202
Button simulation amount is exported, and signal is issued upper industrial computer 20103, is just capable of achieving opening for the servomotor to six-freedom degree
Stop control, it is easy to operate.The wireless receiver belongs to prior art.
Operator end six-dimension force sensor 20203 and environment end six-dimension force sensor 20204 pass through holding wire and drive
Six-dimension force sensor signal amplifier 2010201 in dynamic layer switch board 20102 is electrically connected, and six-dimension force sensor is detected
Voltage signal amplifies, and is transmitted signals back at upper industrial computer 20103 by driving 20102 connecting line of layer switch board
Reason.The effect of operator end six-dimension force sensor 20203 is：When force feedback servo antrol pattern is switched to, operator can
With active manipulation operation person end six-dimension force sensor 20203, Jing force transducers are by force signal and are converted into voltage signal, and Jing drives
Signal amplifier amplification in layer switch board 20102 is fed back to upper industrial computer 20103 and is resolved by program, again will afterwards
The signal of resolving is respectively issued to the servo-drive in all directions, and corresponding servomotor rotates the servo antrol for realizing workpiece, from
And the accurate installation of the sheet material for making the power realization of operator's very little larger to weight, play power-assisted effect.Environment end senses
The effect of device 20204 is：When mounting plate material is contacted with environment, contact force when 20204 real-time detection of environment end sensor is installed
Size, when contact force it is excessive or it is too small beyond set point when, upper industrial computer 20103 can control on corresponding axle servo electricity
Machine changes speed and acceleration to meet the size of contact force in rational scope, it is ensured that sheet material will not be excessive because of contact force
And damage.
The sheet material draws gas path module 203 includes minipump 20301 and end vacuum cup 20302；It is described micro-
Type vacuum pump 20301 is connected with end vacuum cup 20302, when 20301 energization work of minipump, by trachea by end
Vacuum cup 20302 is pumped into negative pressure, so as to adsorb the sheet material being adjacent to end vacuum cup 20302 with realize sheet material install and
To the absorption of sheet material, release and and ensure the safety of whole process during carrying.
The electric supply installation 3 includes two pieces of 12V DC battery jars；The lower end walking module controls system 1 can be directly by 24V
DC battery jar is powered；The upper industrial computer 20103 and the alternating current for driving layer switch board 20102 connect 220V, using electricity
24V in active layer switch board 20101 turns 220V inverters, and by the alternating current that the DC conversion of 24V is 220V, and mechanical hand is pacified
Other modules in dress module control system 2 all can turn 5V and 24V and turn opening for 12V by 24V unidirectional currents or by connecting 24V
Powered-down source is powered, so as to without accessing power supply outside again, also eliminating the trouble of additional cable, increased the whole of machinery
Body displacement.
The operation principle and process of sheet material carrying and installation manipulator control system of the present invention be：
1st, robotic device is moved to by sheet material deposit position by lower end walking module controls system 1：
On and off switch is opened, electricity on whole large plate installation mechanical arm equipment (abbreviation robotic device) is made；Pass through
Operator rotate the position of the switch of electri forklift accelerator 103 manually giving the different signals of telecommunication, then pass the signal of telecommunication
Traveling controller 102 is passed, traveling controller 102 is by differentiating the different signals of telecommunication come excitation con-trol electri forklift driving wheel
101 velocity magnitude, at the same time operator's usable rotational direction disk 104 is controlled the direction of motion, so as to mechanical hand is set
It is standby to move to sheet material deposit position.
2nd, after robotic device reaches sheet material deposit position, installing module control system 2 by mechanical hand carries out machinery
The adjustment of handss pose, so that capture sheet material：
Mode of operation is switched to wirelessly by the graphic control panel 20201 for first passing through man-machine interaction and radio operation module 202
Control signal is issued upper industrial computer 20103 by handle control model, operation wireless controller, and upper industrial computer 20103 is by signal
The servo-drive of six-freedom degree is sent to, rotates the servomotor of corresponding degree of freedom, the execution unit fortune of driving mechanical handss
It is dynamic, so as to realize the action for finally making arm end press close to sheet material.When arm end has been adjacent to sheet material, by sheet material
Draw gas path module 203 to adsorb sheet material on arm end vacuum cup 20302.
3rd, after end vacuum cup adsorbs sheet material, by lower end walking module controls system 1 by robotic device
Move to sheet material installation site：It is identical with the control method of step 1.
4th, after robotic device reaches sheet material installation site, installing module control system 2 by mechanical hand carries out machinery
The adjustment of handss pose, pacifies into installation：
Mode of operation is switched to into wireless controller control model first, corresponding degree of freedom is made with 20202 remote control of wireless controller
Servomotor is rotated, and drives sheet material to be close to the station of designated mounting, be then switched on graphic control panel 20201 force feedback with
According to station, dynamic control model, operator can require that holding operator end six-dimension force sensor 20203 is accordingly moved, and is made
Mechanical hand is servo-actuated to drive sheet material to reach precise mounting position, closes minipump 20301 by graphic control panel 20201, makes
End vacuum cup 20302 discharges sheet material, so as to complete the installation of sheet material.
The present invention does not address part and is applied to prior art.
Claims (1)
1. sheet material carrying and installation manipulator control system, it is characterised in that the system includes lower end walking module controls system, machine
Tool handss install module control system and electric supply installation；The electric supply installation respectively with lower end walking module controls system and mechanical hand
Module control system electrical connection is installed；
The lower end walking module controls system includes electri forklift driving wheel, traveling controller, electri forklift accelerator and side
To disk；The electri forklift accelerator is electrically connected with traveling controller；The traveling controller controls electri forklift driving wheel
Speed；The traveling controller is processed after receiving the signal of the diverse location of electri forklift accelerator, then will letter
Number electri forklift driving wheel is sent to, drives which to move；The direction is connected disk with the rotary shaft of electri forklift driving wheel, from
And realize rotation direction disk to control the direction of motion of electri forklift driving wheel；
The mechanical hand installs module control system includes six degree of freedom manipulator control module, man-machine interaction and radio operation mould
Block and sheet material draw gas path module；
The six degree of freedom manipulator control module includes bus plane switch board, drives layer switch board and upper industrial computer；It is described
Bus plane switch board includes that 24V turns that the inverter of 220V, 24V turn 5V Switching Power Supplies and 24V turns 12V Switching Power Supplies；Turned by 24V
The inverter of 220V turns 5V and 24V by 24V and turns the Switching Power Supply of 12V ensureing to drive being powered to upper industrial computer
The needs of layer switch board difference voltage；The driving layer switch board includes six-freedom degree servo-drive and six-dimension force sensor
Signal amplifier, the signal that the upper industrial computer of six-freedom degree servo-drive reception sends are respective on six direction so as to drive
Servomotor is rotated and completes corresponding action；The driving layer switch board and upper industry control mechatronics；
The man-machine interaction and radio operation module include graphic control panel, wireless controller, operator end six-dimension force sensor and
Environment end six-dimension force sensor；
The graphic control panel is connected with upper industrial computer, and by the data of servomotor absolute type encoder, the position of mechanical hand
Put and data that six-dimension force sensor feeds back are shown on graphic control panel in real time, and can be changed by its interface
Become the velocity and acceleration of servomotor motion, cut between wireless controller control model and force feedback servo antrol pattern
Change；
The wireless controller is communicated by the wireless receiver being inserted in the USB interface of upper industrial computer, wireless controller
Effect is：When wireless controller control model is switched to, by the key mapping of the defined good six-freedom degree on wireless controller,
Operator need to only control the button simulation amount output of wireless controller, and signal is issued upper industrial computer, and it is right to be just capable of achieving
The on off control of the servomotor of six-freedom degree；
Operator end six-dimension force sensor and environment end six-dimension force sensor are by holding wire and driving layer switch board
Six-dimension force sensor signal amplifier is electrically connected, and the voltage signal that six-dimension force sensor is detected amplifies, and by driving layer
Switch board connecting line transmits signals back to upper industrial computer and is processed；The effect of operator end six-dimension force sensor is：When cutting
When being changed to force feedback servo antrol pattern, operator can active manipulation operation person end six-dimension force sensor, Jing force transducers
By force signal and it is converted into voltage signal, Jing drives the signal amplifier in layer switch board to amplify and feeds back to upper industrial computer and lead to
Program resolving is crossed, the servo-drive being respectively issued to the signal of resolving again in all directions afterwards, corresponding servomotor are rotated
The servo antrol of workpiece is realized, so that the power of operator's very little realizes the accurate installation of the sheet material larger to weight, is risen
Act on to power-assisted；The effect of environment end sensor is：When mounting plate material is contacted with environment, environment end sensor real-time detection peace
The size of contact force during dress, when contact force it is excessive or it is too small beyond set point when, upper industrial computer can be controlled on corresponding axle
Servomotor changes speed and acceleration to meet the size of contact force in rational scope, it is ensured that sheet material will not be because of contact
Power is excessive and damages；
The sheet material draws gas path module includes minipump and end vacuum cup；The minipump and end vacuum
Sucker connects, and when minipump energization work, end vacuum cup is pumped into negative pressure by trachea, true with end so as to adsorb
The sheet material that suction disk is adjacent to is realizing when sheet material is installed and is carried to the absorption of sheet material, release and and ensure the peace of whole process
Quan Xing；
The electric supply installation includes two pieces of 12V DC battery jars；The lower end walking module controls system can directly by 24V unidirectional currents
Bottle power supply；The upper industrial computer and the alternating current for driving layer switch board connect 220V, the 24V in applied power source layer switch board
Turn 220V inverters, by the alternating current that the DC conversion of 24V is 220V, and mechanical hand installs other in module control system
Module all can turn 5V and 24V and turn the Switching Power Supply of 12V to be powered by 24V unidirectional currents or by connecting 24V, so as to without
Power supply is accessed outside again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139798.2A CN104708632B (en) | 2015-03-27 | 2015-03-27 | Board conveying and installation manipulator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139798.2A CN104708632B (en) | 2015-03-27 | 2015-03-27 | Board conveying and installation manipulator control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104708632A CN104708632A (en) | 2015-06-17 |
| CN104708632B true CN104708632B (en) | 2017-03-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510139798.2A Expired - Fee Related CN104708632B (en) | 2015-03-27 | 2015-03-27 | Board conveying and installation manipulator control system |
Country Status (1)
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| CN (1) | CN104708632B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826915A (en) * | 2015-12-04 | 2017-06-13 | 西门子公司 | A kind of tactile sensing device of robot's control method and its device |
| CN108453697A (en) * | 2018-05-08 | 2018-08-28 | 广州市柯西机械设备有限公司 | A kind of glass multidimensional mounting robot |
| CN111258267B (en) * | 2020-01-17 | 2021-07-16 | 北京科技大学 | Man-machine cooperation carrying system and hybrid vision control method thereof |
| CN112394666B (en) * | 2020-11-16 | 2022-08-23 | 北京特种机械研究所 | Drive control system and drive control method for cabinet type omnidirectional mobile platform |
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| CN1745349A (en) * | 2003-02-04 | 2006-03-08 | 施托布利法韦日公司 | Multi-axis robot provided with a control system |
| EP1642693A1 (en) * | 2003-06-25 | 2006-04-05 | HONDA MOTOR CO., Ltd. | Assist transportation method and device |
| CN102873674A (en) * | 2012-09-04 | 2013-01-16 | 上海交通大学 | Remote control system capable of performing force/moment feedback control |
| CN102922522A (en) * | 2012-11-19 | 2013-02-13 | 吉林大学 | Control method for force feedback of electro-hydraulic servo remote control manipulator of multiple degrees of freedom |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4350441B2 (en) * | 2003-07-04 | 2009-10-21 | 本田技研工業株式会社 | Component transportation / mounting method and apparatus |
| JP5614326B2 (en) * | 2010-08-20 | 2014-10-29 | 東京エレクトロン株式会社 | Substrate transport apparatus, substrate transport method, and recording medium on which program for executing the substrate transport method is recorded |
| CN103009374B (en) * | 2012-12-14 | 2016-02-10 | 天津筑高机器人技术有限公司 | Large plate installation mechanical arm |
| CN204525495U (en) * | 2015-03-27 | 2015-08-05 | 河北工业大学 | Sheet material carrying and installation manipulator control system |
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2015
- 2015-03-27 CN CN201510139798.2A patent/CN104708632B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1745349A (en) * | 2003-02-04 | 2006-03-08 | 施托布利法韦日公司 | Multi-axis robot provided with a control system |
| EP1642693A1 (en) * | 2003-06-25 | 2006-04-05 | HONDA MOTOR CO., Ltd. | Assist transportation method and device |
| CN102873674A (en) * | 2012-09-04 | 2013-01-16 | 上海交通大学 | Remote control system capable of performing force/moment feedback control |
| CN102922522A (en) * | 2012-11-19 | 2013-02-13 | 吉林大学 | Control method for force feedback of electro-hydraulic servo remote control manipulator of multiple degrees of freedom |
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| CN104708632A (en) | 2015-06-17 |
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Granted publication date: 20170322 |