CN104772553A - Manipulator control system and control method thereof - Google Patents
Manipulator control system and control method thereof Download PDFInfo
- Publication number
- CN104772553A CN104772553A CN201410430114.XA CN201410430114A CN104772553A CN 104772553 A CN104772553 A CN 104772553A CN 201410430114 A CN201410430114 A CN 201410430114A CN 104772553 A CN104772553 A CN 104772553A
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- China
- Prior art keywords
- magnetic valve
- manipulator
- limit switch
- handed
- control system
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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
- B25J13/00—Controls for manipulators
-
- 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 manipulator control system, and relates to the field of industrial mechanical equipment. The manipulator control system comprises a manipulator gripper, a limit switch, a cylinder, an electromagnetic valve and a PLC (Programmable Logic Controller) single-chip microprocessor, wherein the PLC single-chip microprocessor is connected with the electromagnetic valve; the electromagnetic valve is connected with the cylinder; the cylinder is connected with the manipulator gripper; the limit switch is connected with the manipulator gripper, is an electromagnetic limit switch and comprises a rising limit switch, a descending limit switch, a left-handed rotation limit switch and a right-handed rotation limit switch. According to the manipulator control system, the PLC single-chip microprocessor is used as a control module of the entire system, the programming method is simple, the operability is high, a control program can be modified and edited according to actual production requirements, the automation degree and the production efficiency of the system are greatly improved, and the stability is good.
Description
Technical field
The present invention relates to industrial machinery field, be specifically related to the control method that a kind of manipulator control system also relates to a kind of manipulator control system.
Background technology
Along with social progress and scientific and technical development, industrial mode of operation is also had a revolutionary change, progressively automation is developed into from the work of handicraft workshop formula, the intelligentized mode of production, some production process also cannot complete gradually with manual, in order to adapt to need of production, there is the special tool of production---manipulator, application number is that CN200980105018.5 discloses a manipulator control system, there is portable operation device (TP) and manipulator controller (RC), portable operation device (TP) is started and manipulator (R) by charging accumulator, manipulator controller (RC) can perform manipulator (R) automatic operation with portable operation device (TP) radio communication based on the instruction data that portable operation device (TP) provides, wireless communication interruptions when between portable operation device (TP) and manipulator controller (RC), its emergent stopping, manipulator control system also comprises charging device (CU), connect monitoring part (12) and automatic operation continuation portion (11), portable operation device (TP) is electrically connected to manipulator controller (RC) and charges a battery by charging device (CU), connect between monitoring part (12) monitoring portable operation device (TP) and manipulator controller (RC) and whether set up by the connection of charging device, even if detect that manipulator (R) connects when being in automatic operation state not set up, automatic operation continuation portion (11) interrupts radio communication and does not make its emergent stopping and carry out manipulator (R) automatic operation by means of only manipulator control system (RC), but this kind of manipulator control system can not carry out the carrying operation of material in modern production line, very flexible, control method is complicated, not easily realize.
Summary of the invention
The object of the present invention is to provide a kind of manipulator control system, to solve the above-mentioned multinomial defect caused in prior art.
A kind of manipulator control system, comprise manipulator paw, limit switch, cylinder, magnetic valve and PLC single-chip microcomputer, described PLC single-chip microcomputer is connected with magnetic valve, described magnetic valve is connected with cylinder, described cylinder is connected with manipulator paw, described limit switch is connected with manipulator paw, and described limit switch is electromagnetic type limit switch, comprises lifting position-limit switch, descending spacing switch, left-handed limit switch and dextrorotation limit switch.
Preferably, described magnetic valve comprise promptly magnetic valve, unclamp magnetic valve, rising magnetic valve, decline magnetic valve, left-handed magnetic valve and dextrorotation magnetic valve.
Preferably, be provided with anti-skidding cushion block inside described manipulator paw, described anti-skidding cushion block surface is provided with rectangle projection.
Preferably, described PLC single-chip microcomputer is also connected with photodetector unit.
A control method for manipulator control system, comprises the steps:
(1) photodetector unit detects that workpiece puts in place, and sends signal to PLC single-chip microcomputer;
(2) decline magnetic valve opened by PLC single-chip microcomputer, and decline air cylinder driven manipulator paw declines, and decline after putting in place, descending spacing switch opens, decline closed electromagnetic valve, promptly magnetic valve is opened, promptly air cylinder driven manipulator paw grabbing workpiece;
(3) rising magnetic valve is opened, and rising air cylinder driven manipulator paw rises, when rising to specified altitude assignment, and lifting position-limit switch opens, rising closed electromagnetic valve, manipulator paw stops rising;
(4) dextrorotation magnetic valve is opened, dextrorotation air cylinder driven manipulator paw to right rotation, arrive specified angle time, dextrorotation limit switch is opened, dextrorotation closed electromagnetic valve, and manipulator paw stops right rotation, unclamp magnetic valve to open, unclamp air cylinder driven manipulator paw and unclamp, workpiece falls;
(5) left-handed magnetic valve is opened, and left-handed air cylinder driven manipulator paw is to anticlockwise, and when arriving specified angle, left-handed limit switch is opened, left-handed closed electromagnetic valve, and left-handed cylinder quits work, and manipulator paw stops left-handed;
(6) repeat above-mentioned steps, complete the carrying of material.
The invention has the advantages that: this kind of manipulator control system, adopt PLC single-chip microcomputer as the control module of whole system, programmed method is simple, workable, amendment and the editor of control program can be carried out according to needs of production, drastically increase its automaticity and production efficiency, described manipulator control system comprises electromagnetic type limit switch, avoid manipulator paw and exceed its range of movement when moving, cause equipment fault, affect the operation of production line, described various magnetic valve can control corresponding cylinder manipulation manipulator paw effectively, eliminate a large amount of human costs, avoid staff directly to contact with machine, improve security, and whole system operates steadily, good operating stability, not easily break down.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of manipulator control system of the present invention.
Fig. 2 is the structural representation of the manipulator paw of a kind of manipulator control system of the present invention.
detailed description of the invention:
The technological means realized for making the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with detailed description of the invention, setting forth the present invention further.
A kind of manipulator control system, comprise manipulator paw, limit switch, cylinder, magnetic valve and PLC single-chip microcomputer, described PLC single-chip microcomputer is connected with magnetic valve, described magnetic valve is connected with cylinder, described cylinder is connected with manipulator paw, described limit switch is connected with manipulator paw, and described limit switch is electromagnetic type limit switch, comprises lifting position-limit switch, descending spacing switch, left-handed limit switch and dextrorotation limit switch.
It should be noted that described magnetic valve comprise promptly magnetic valve, unclamp magnetic valve, rising magnetic valve, decline magnetic valve, left-handed magnetic valve and dextrorotation magnetic valve.
In the present embodiment, be provided with anti-skidding cushion block inside described manipulator paw, described anti-skidding cushion block surface is provided with rectangle projection.
In the present embodiment, described PLC single-chip microcomputer is also connected with photodetector unit.
A control method for manipulator control system, comprises the steps:
(1) photodetector unit detects that workpiece puts in place, and sends signal to PLC single-chip microcomputer;
(2) decline magnetic valve opened by PLC single-chip microcomputer, and decline air cylinder driven manipulator paw declines, and decline after putting in place, descending spacing switch opens, decline closed electromagnetic valve, promptly magnetic valve is opened, promptly air cylinder driven manipulator paw grabbing workpiece;
(3) rising magnetic valve is opened, and rising air cylinder driven manipulator paw rises, when rising to specified altitude assignment, and lifting position-limit switch opens, rising closed electromagnetic valve, manipulator paw stops rising;
(4) dextrorotation magnetic valve is opened, dextrorotation air cylinder driven manipulator paw to right rotation, arrive specified angle time, dextrorotation limit switch is opened, dextrorotation closed electromagnetic valve, and manipulator paw stops right rotation, unclamp magnetic valve to open, unclamp air cylinder driven manipulator paw and unclamp, workpiece falls;
(5) left-handed magnetic valve is opened, and left-handed air cylinder driven manipulator paw is to anticlockwise, and when arriving specified angle, left-handed limit switch is opened, left-handed closed electromagnetic valve, and left-handed cylinder quits work, and manipulator paw stops left-handed;
(6) repeat above-mentioned steps, complete the carrying of material.
As known by the technical knowledge, the present invention can be realized by other the embodiment not departing from its Spirit Essence or essential feature.Therefore, above-mentioned disclosed embodiment, with regard to each side, all just illustrates, is not only.Within the scope of the present invention all or be all included in the invention being equal to the change in scope of the present invention.
Claims (5)
1. a manipulator control system, it is characterized in that, comprise manipulator paw, limit switch, cylinder, magnetic valve and PLC single-chip microcomputer, described PLC single-chip microcomputer is connected with magnetic valve, described magnetic valve is connected with cylinder, and described cylinder is connected with manipulator paw, and described limit switch is connected with manipulator paw, described limit switch is electromagnetic type limit switch, comprises lifting position-limit switch, descending spacing switch, left-handed limit switch and dextrorotation limit switch.
2. a kind of manipulator control system according to claim 1, is characterized in that: described magnetic valve comprise promptly magnetic valve, unclamp magnetic valve, rising magnetic valve, decline magnetic valve, left-handed magnetic valve and dextrorotation magnetic valve.
3. a kind of manipulator control system according to claim 1, is characterized in that: be provided with anti-skidding cushion block inside described manipulator paw, and described anti-skidding cushion block surface is provided with rectangle projection.
4. a kind of manipulator control system according to claim 1, is characterized in that: described PLC single-chip microcomputer is also connected with photodetector unit.
5. a control method for the manipulator control system according to claim 1-4 any one, is characterized in that: comprise the steps
(1) photodetector unit detects that workpiece puts in place, and sends signal to PLC single-chip microcomputer;
(2) decline magnetic valve opened by PLC single-chip microcomputer, and decline air cylinder driven manipulator paw declines, and decline after putting in place, descending spacing switch opens, decline closed electromagnetic valve, promptly magnetic valve is opened, promptly air cylinder driven manipulator paw grabbing workpiece;
(3) rising magnetic valve is opened, and rising air cylinder driven manipulator paw rises, when rising to specified altitude assignment, and lifting position-limit switch opens, rising closed electromagnetic valve, manipulator paw stops rising;
(4) dextrorotation magnetic valve is opened, dextrorotation air cylinder driven manipulator paw to right rotation, arrive specified angle time, dextrorotation limit switch is opened, dextrorotation closed electromagnetic valve, and manipulator paw stops right rotation, unclamp magnetic valve to open, unclamp air cylinder driven manipulator paw and unclamp, workpiece falls;
(5) left-handed magnetic valve is opened, and left-handed air cylinder driven manipulator paw is to anticlockwise, and when arriving specified angle, left-handed limit switch is opened, left-handed closed electromagnetic valve, and left-handed cylinder quits work, and manipulator paw stops left-handed;
(6) repeat above-mentioned steps, complete the carrying of material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410430114.XA CN104772553A (en) | 2014-08-28 | 2014-08-28 | Manipulator control system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410430114.XA CN104772553A (en) | 2014-08-28 | 2014-08-28 | Manipulator control system and control method thereof |
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| Publication Number | Publication Date |
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| CN104772553A true CN104772553A (en) | 2015-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410430114.XA Pending CN104772553A (en) | 2014-08-28 | 2014-08-28 | Manipulator control system and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105665884A (en) * | 2016-04-21 | 2016-06-15 | 常州忠尚机器人设计有限公司 | Welding robot for ring reinforcing |
| CN106774141A (en) * | 2017-02-28 | 2017-05-31 | 曼盛包装（上海）有限公司 | A kind of automatic assembling restarting control improvement system |
| CN108568891A (en) * | 2017-03-13 | 2018-09-25 | 四川国正环保科技有限公司 | Light wall board product line control system and control method |
| CN111737830A (en) * | 2020-05-14 | 2020-10-02 | 广州明珞汽车装备有限公司 | Logic block generation method, system, device and storage medium of multi-axis cylinder |
-
2014
- 2014-08-28 CN CN201410430114.XA patent/CN104772553A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105665884A (en) * | 2016-04-21 | 2016-06-15 | 常州忠尚机器人设计有限公司 | Welding robot for ring reinforcing |
| CN106774141A (en) * | 2017-02-28 | 2017-05-31 | 曼盛包装（上海）有限公司 | A kind of automatic assembling restarting control improvement system |
| CN106774141B (en) * | 2017-02-28 | 2024-01-05 | 曼盛包装（上海）有限公司 | Automatic kludge restart control improves system |
| CN108568891A (en) * | 2017-03-13 | 2018-09-25 | 四川国正环保科技有限公司 | Light wall board product line control system and control method |
| CN111737830A (en) * | 2020-05-14 | 2020-10-02 | 广州明珞汽车装备有限公司 | Logic block generation method, system, device and storage medium of multi-axis cylinder |
| CN111737830B (en) * | 2020-05-14 | 2024-05-17 | 广州明珞汽车装备有限公司 | Logical block generation method, system and device of multi-axis cylinder and storage medium |
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Application publication date: 20150715 |
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| RJ01 | Rejection of invention patent application after publication |