CN104924304B - A kind of Pneumatic Manipulator mechanical mechanism and control system - Google Patents
A kind of Pneumatic Manipulator mechanical mechanism and control system Download PDFInfo
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- CN104924304B CN104924304B CN201510233975.3A CN201510233975A CN104924304B CN 104924304 B CN104924304 B CN 104924304B CN 201510233975 A CN201510233975 A CN 201510233975A CN 104924304 B CN104924304 B CN 104924304B
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- pneumatic manipulator
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- jaw
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Abstract
The present invention relates to a kind of Pneumatic Manipulator frame for movement and control system, belong to Pneumatic Manipulator field.Pneumatic Manipulator frame for movement includes that horizontal extension cylinder fixes seat, horizontal extension cylinder, horizontal support seat, cursor, vertical lifting cylinder, jaw fix the relevant connection relation of seat, jaw, rotary shaft, I joint, and control system includes magnetic switch, function button, optical coupling isolation circuit, three state buffer, single-chip microcomputer STC89C52RC governor circuit module, decoder, start delay circuit, negater circuit, latch, relay driving module, relay, electromagnetic valve, perform cylinder.Designed Pneumatic Manipulator is easily achieved, accurate positioning and have higher economy, and it is capable of the switching between two stations, is particularly suited in air-conditioning being molded the some position carrying of blade.
Description
Technical field
The present invention relates to a kind of Pneumatic Manipulator frame for movement and control system, belong to Pneumatic Manipulator field, be
A kind of accurate positioning, the pneumatic carrying handling hand frame for movement being easily achieved and control circuit, be particularly suited in air-conditioning injection
The point position carrying of blade.
Background technology
Traditional mechanical hand application scenario uses the type of drive of electrical servo more, this is because electrical servo technology experience
Long development, (Yang Zhenqiu, simple type is accurately positioned the research of Pneumatic manipulator to have had become as highly developed technology
And application [D] Wuhan: the Central China University of Science and Technology, 2006).One uses motor, AC and DC servomotor to drive motor
Deng.The feature using electrically driven mechanical hand is that driving force is relatively big, and control accuracy is the highest, the soonest, and control program spirit
Living, signal detection and process are convenient, and power supply obtains easily.But motor servo drives mechanical hand expensive, limits it
Range, people begin look for new, and economic type of drive drives mechanical hand, and pneumatic actuation mode accords with exactly
Close the driving type of this requirement.
Pneumatic manipulator emphasizes that modular form, the Pneumatic manipulator of Modern transmission technology have employed advanced person's in terms of control
Valve island technology (repeatable programming), pneumatic servo system (can realize being accurately positioned on optional position), in actuator
All use modular splicing structure (Li Changhui, automatic charging machine people's system development [D] Harbin: Harbin industry is big
Learn, 2009).But part workplace has only to back and forth carry part between two some positions, use pneumatic servo system
The mechanical hand positioning precision of system is high, although can complete correlation function, but high expensive.If the mechanical arm of Pneumatic manipulator
The rotation of certain angle to be realized, needs to use oscillating cylinder, and the positioning precision of oscillating cylinder one is the highest, it is impossible to carry out
The location of degree of precision.Therefore, developing one and do not use oscillating cylinder, mechanical arm can carry out certain angle rotation permissible
The Pneumatic manipulator of 2 degree of precision location has great importance to reducing Pneumatic manipulator production cost.
Summary of the invention
On the premise of solving Cost Problems and meeting enterprise demand, the present invention proposes a kind of Pneumatic Manipulator machinery
Structure and control system.
The technical scheme is that a kind of Pneumatic Manipulator frame for movement and control system, including pneumatic handling machinery
Hands mechanical mechanism and Pneumatic Manipulator control system thereof；Described Pneumatic Manipulator mechanical mechanism includes horizontal extension gas
Seat fixed by cylinder, horizontal extension cylinder, horizontal support seat, cursor, vertical lifting cylinder, jaw are fixed seat, jaw, turned
Moving axis, I joint；Described horizontal extension cylinder is fixed seat and is fixed on horizontal support seat, and described horizontal extension cylinder fixes seat
One side is fixed with horizontal extension cylinder one end, and the other end of horizontal extension cylinder is threaded connection I joint, I joint with turn
Swing arm one end stomidium is bolted to connection, and the rotary shaft can being secured around in the middle part of cursor on horizontal support seat rotates,
The cursor other end is fixed with vertical lifting cylinder, and vertical lifting cylinder lower end is fixed seat with jaw and fixed, and jaw passes through screw
It is arranged on jaw to fix on seat；
Described Pneumatic Manipulator control system include magnetic switch, function button, optical coupling isolation circuit, three state buffer,
Single-chip microcomputer STC89C52RC governor circuit module, decoder A, decoder B, start delay circuit, negater circuit, lock
Storage, relay driving module, relay, electromagnetic valve, execution cylinder；Described magnetic switch and function button access optocoupler
The input of isolation circuit, the outfan of optical coupling isolation circuit is connected with the data input pin of three state buffer, three state buffer
Data output end be connected with the data input port of single-chip microcomputer STC89C52RC governor circuit module, described single-chip microcomputer
STC89C52RC governor circuit module connects Enable Pin and address end, the Enable Pin of decoder B and the ground of decoder A respectively
Location end and latch, the outfan of decoder A connects the Enable Pin of three state buffer, the data output of decoder B with
The input of negater circuit is connected, and the outfan of negater circuit is connected with the latch Enable Pin of latch, start delay circuit
Input is connected with the output Enable Pin of latch, and the data output end of latch is connected with the input of relay driving module,
The outfan of relay driving module is connected with the coil of relay, and the outfan of relay is connected with the coil of electromagnetic valve, electricity
Magnet valve and execution cylinders.
Further, it is L-shaped that described horizontal extension cylinder fixes seat, and bottom is provided with deep groove ball bearing, it is possible to encloses and rotates about
Center rotates on horizontal support seat.
Further, described jaw is i.e. embraced tool cylinder and is formed by two single-acting cylinders, and jaw is fixed and devised 4 ditches above seat
Groove, uses wing bolt that an armful tool cylinder is fixed on jaw and fixes on seat, by regulation wing bolt position in the trench,
Make to embrace tool cylinder and may be located at different positions to adapt to the gripping of different size part.
Further, described function button has manual/auto driving switch, and for selecting the mode of operation of mechanical hand, single step is certainly
Multiple button, carries out single step campaign for Non-follow control machinery hands.
Further, described start delay circuit is rc-delay circuit.
Further, described negater circuit is the negater circuit of NPN triode composition.
Further, described relay uses DPDT type, makees identical for controlling two same type cylinders simultaneously
Action.
Further, described single-chip microcomputer STC89C52RC governor circuit module is gathered for process magnetic switch, function are pressed
Key input signal, and according to the break-make of programme-control electromagnetic valve set in advance so that perform cylinder and complete corresponding action.
Further, described magnetic switch is used for detection level telescopic cylinder and whether vertical lifting cylinder moves and put in place.
The invention have the benefit that the cranking block mechanism comprising in planar linkage mechanism in the frame for movement of this mechanical hand, level
The linear motion of telescopic cylinder can promote cursor to carry out the rotation of certain angle, instead of the motor in one mechanical hand or
Person's rotary cylinder, the control system and this frame for movement that simplify mechanical hand also have higher rotation positioning precision.This
It is relatively low that the core of the control system of system then have employed cost, and the speed of service is fast, the single-chip microcomputer that real-time is good, all of circuit
The requirement that module is applied according to industry spot is designed, and has stronger capacity of resisting disturbance and stability.
Accompanying drawing explanation
Fig. 1 is Pneumatic Manipulator control system theory diagram in the present invention；
Fig. 2 is Pneumatic Manipulator frame for movement schematic diagram in the present invention；
Fig. 3 is the injection blade schematic diagram in the embodiment of the present invention in Pneumatic Manipulator moving object i.e. air-conditioning；
Fig. 4 is the Pneumatic Manipulator composition injection blade automatic production line schematic diagram in the present invention；
Fig. 5 is Pneumatic Manipulator automatic run action flow chart in the present invention.
In figure: 1 magnetic switch；2 function buttons；3 optical coupling isolation circuits；4 three state buffers；5 single-chip microcomputer STC89C52RC
Governor circuit module；6 decoders 1；7 decoders 2；8 start delay circuits；9 negater circuits；10 latch；11 continue
Electrical equipment drives module；12 relays；13 electromagnetic valves；14 perform cylinder；15 horizontal extension cylinders fix seat；16 levels are stretched
Contracting cylinder；17 horizontal support seats；18 cursors；19 vertical lifting cylinders；20 jaws fix seat；21 jaws；22 rotate
Axle；23I joint；24 bolts；25 rotating disks；26 motors；27 Pneumatic Manipulator A；28 injection blades lack material defect
The diagnostic equipment；29 support I；30 Pneumatic Manipulator B；31 slide blocks；32 cylinder I；33 supports 2；34 chutes.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly and completely
Describe.
In describing the invention, it is to be understood that term " " center ", " longitudinally ", " laterally ", " on ", D score,
"front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " etc. instruction orientation or
Position relationship is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies description, and not
It is to indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, the most not
It is understood that as limitation of the present invention.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that
Indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", "
Two " feature can express or implicitly include one or more this feature.In describing the invention, unless separately
Be described ", multiple " and it is meant that two or more.
As shown in Figure 1-2, the mechanical mechanism of Pneumatic Manipulator specifically includes that horizontal extension cylinder fixes seat 15, level
Telescopic cylinder 16, horizontal support seat 17, cursor 18, vertical lifting cylinder 19, jaw are fixed seat 20, jaw 21, are turned
Moving axis 22, I joint 23, bolt 24.Horizontal extension cylinder is fixed and is provided with deep groove ball bearing bottom seat 15, can be around
Its center of rotation rotates on horizontal support seat 17, and this is so that the linear motion of horizontal extension cylinder 16 promotes cursor
18 rotations carrying out certain angle, have higher rotation positioning precision.Jaw 21 is i.e. embraced tool gas by two single-acting cylinders
Cylinder forms, and jaw 21 is fixed and devised 4 grooves above seat, uses wing bolt that an armful tool cylinder is fixed on jaw and fixes seat
On, by regulation wing bolt position in the trench, make to embrace tool cylinder and may be located at different positions to adapt to different size
The gripping of part.
The control system of Pneumatic Manipulator specifically includes that magnetic switch 1, function button 2, optical coupling isolation circuit 3, three
State buffer 4, single-chip microcomputer STC89C52RC governor circuit module 5, decoder A6, decoder B7, start time delay electricity
Road 8, negater circuit 9, latch 10, relay driving module 11, relay 12, electromagnetic valve 13, execution cylinder 14,
Described execution cylinder 14 includes the horizontal extension cylinder 16 in the mechanical mechanism of above-mentioned Pneumatic Manipulator, vertical lifting gas
Cylinder 19, two armfuls of tool cylinders of jaw 21.
The signal of magnetic switch 1 with function button 2 is converted into the signal that single-chip microcomputer can receive by optical coupling isolation circuit 3, with
Time optical coupling isolation circuit 3 achieve the electrical isolation of its input and outfan so that control circuit has stronger anti-interference
Ability.Data needed through data/address bus when single-chip microcomputer transmits, but data/address bus also takes on the task of exporting data, for
Realize input data and only during input transmits, take data/address bus, therefore use three state buffer 4 to enable output number
According to the data/address bus entering single-chip microcomputer.The outfan of decoder A6 is for controlling the Enable Pin of three state buffer 4, Yi Gongke
To expand 8 three state buffers 4 so that the number of input signal at most can reach 64.
Single-chip microcomputer STC89C52RC governor circuit module 5, is made up of single-chip minimum system and PC telecommunication circuit.For
Reception processes corresponding input signal, it is determined that robot work pattern, the signal of output next step motion of mechanical hand；And can
To realize burning or the in-circuit emulation of Single Chip Microcomputer (SCM) program.
Single-chip microcomputer STC89C52RC governor circuit module 5 output after do not allow to take data/address bus, system also otherwise
The state of disconnected detection input signal, so arranging data latches in interface circuit, closing latch when, data
Electromagnetic valve can not be controlled by the data in bus.The outfan of decoder B7 is reverse through be made up of NPN audion
After circuit control latch 10 latch Enable Pin, 8 latch 10 can be expanded altogether so that output signal
Number at most can reach 64.Start delay circuit 8 controls the output Enable Pin of latch 10, it is ensured that single-chip microcomputer exists
The when of resetting or start shooting, latch is output as high-impedance state, prevents mechanical part misoperation.Relay 12 drives module, by
PNP triode drive circuit forms, Low level effective, for the output signal of single-chip microcomputer is driven relay 12 action, continues
What electrical equipment 12 selected is DPDT type, can control two same type cylinders and make identical action simultaneously.
In the present invention, Pneumatic Manipulator control system theory diagram is as shown in figs. 1 and 4, and wherein magnetic switch 1 is used for examining
Survey horizontal extension cylinder 16 and whether vertical lifting cylinder 19 moves and put in place.Two of jaw 21 embrace tool cylinder by an electromagnetism
Valve 13 controls, and embraces tool cylinder action simultaneously, carrys out grip objects by the way of time delay for two.Function button 2 in the present embodiment
There is a single step button, hands/from driving switch.The mode of operation of hands/can arrange from driving switch mechanical hand, has and manually and automatically transports
Row mode, when being in automatic operational mode, needs to the signal of Pneumatic Manipulator setting in motion；It is in and manually runs mould
During formula, carry out single step campaign by single step button control mechanical hand.
Rotating disk 25 is driven by motor 26 below, rotates once every 15s, rotating disk 25 is designed with groove, on groove
Equipped with travel switch, in order to detect whether rotating disk rotates and whether rotate in place, the signal of travel switch enters manipulator control
In system, when Pneumatic Manipulator is under automatic operational mode, the signal of travel switch makes mechanical hand start automatically exactly
The signal of motion.
As shown in Figures 3 and 4, the injection blade in the embodiment of the present invention can be positioned on rotating disk 25 after being molded by injection machine,
The reasons such as injection blade can not be adjusted in place because of the parameter of injection machine, material occur that long-time or intermittent scarce material defect is asked
Topic, adds injection blade the most on a production line and lacks material defect diagonsis device 28, if injection blade this diagnostic equipment defective
Can send defective signal and enter Pneumatic Manipulator control system, Pneumatic Manipulator control system controls cylinder 132
Decline so that injection blade slides along slide block 31；If injection blade is qualified, then Pneumatic Manipulator control system controls
Cylinder I 32 rises so that injection blade slips in chute 34.Achieve injection blade and have the sorting lacking material and intact material.
Relay 10 uses DPDT type, controls in Pneumatic Manipulator A27 and Pneumatic Manipulator B30
The signal of the electromagnetic valve of same type cylinder is identical, so Pneumatic Manipulator A27's and Pneumatic Manipulator B30 is dynamic
Make to carry out simultaneously.Being under automatic operational mode, travel switch sends rotating disk 25 and rotate in place after signal, pneumatic carrying implement
Injection blade is gripped in scarce material defect diagonsis device 28 from rotating disk by tool hands A27, and Pneumatic Manipulator B30 is simultaneously
Injection blade in scarce material defect diagonsis device 28 is gripped on slide block 31, Pneumatic Manipulator A27 and pneumatic carrying implement
The motion of tool hands B30 is by non-interference.
The action flow chart that Pneumatic Manipulator runs automatically is as shown in Figure 5.Automatically button is run in an ON state, machinery
The automatic run action flow process of hands A27 is as follows:
1), after system electrification, each cylinder is returned to home position；
2) after rotating disk rotate in place, horizontal air cylinder stretches out, and stretches out vertical cylinder after putting in place and declines, declines and embrace tool cylinder after putting in place
Clamping, time delay 0.5S；
3) vertically cylinder rising, rises horizontal air cylinder after putting in place and retracts, vertically cylinder decline after putting in place of retracting, and declines after putting in place
Embrace tool cylinder to loosen, time delay 0.5S；
4) vertically cylinder rises, and rises and proceeds to after putting in place continue in the 2nd step.
Designed Pneumatic Manipulator is easily achieved, accurate positioning and have higher economy, and it is capable of two
Switching between individual station, is particularly suited in air-conditioning being molded the some position carrying of blade.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, about the technical staff of technology,
In the case of the spirit and scope of the present invention, it is also possible to make a variety of changes and modification, the technology of the most all equivalents
Scheme falls within the category of present invention protection, and the scope of patent protection of the present invention should be specified by claims.
Claims (9)
1. a Pneumatic Manipulator, including Pneumatic Manipulator mechanical mechanism and Pneumatic Manipulator control system thereof；
Described Pneumatic Manipulator mechanical mechanism includes that horizontal extension cylinder (16), vertical lifting cylinder (19), jaw fix seat
(20), jaw (21)；It is characterized in that,
Described Pneumatic Manipulator mechanical mechanism also include horizontal extension cylinder fix seat (15), horizontal support seat (17),
Cursor (18), rotary shaft (22), I joint (23)；Described horizontal extension cylinder is fixed seat (15) level of being fixed on and is propped up
In support seat (17), described horizontal extension cylinder is fixed the one side of seat (15) and is fixed with horizontal extension cylinder (16) one end,
The other end of horizontal extension cylinder (16) is threaded connection I joint (23), I joint (23) and cursor (18)
End stomidium connects by bolt (24) is fixing, and cursor (18) middle part can be secured around on horizontal support seat (17)
Rotary shaft (22) rotate, cursor (18) other end and vertical lifting cylinder (19) are fixed, vertical lifting cylinder (19)
Lower end and jaw are fixed seat (20) and are fixed, and jaw (21) is arranged on jaw by screw and fixes on seat (20)；
Described Pneumatic Manipulator control system include magnetic switch (1), function button (2), optical coupling isolation circuit (3),
Three state buffer (4), single-chip microcomputer STC89C52RC governor circuit module (5), decoder A (6), decoder B (7),
Start delay circuit (8), negater circuit (9), latch (10), relay driving module (11), relay (12),
Electromagnetic valve (13), execution cylinder (14)；Described magnetic switch (1) and function button (2) access optical coupling isolation circuit (3)
Input, the outfan of optical coupling isolation circuit (3) is connected with the data input pin of three state buffer (4), Three-State
The data output end of device (4) is connected with the data input port of single-chip microcomputer STC89C52RC governor circuit module (5), described
Single-chip microcomputer STC89C52RC governor circuit module (5) connects Enable Pin and address end, the decoding of decoder A (6) respectively
The Enable Pin of device B (7) and address end and latch (10), the outfan of decoder A (6) connects three state buffer (4)
Enable Pin, the data output of decoder B (7) is connected with the input of negater circuit (9), negater circuit (9)
Outfan is connected with the latch Enable Pin of latch (10), the input of start delay circuit (8) and latch (10)
Output Enable Pin is connected, and the data output end of latch (10) is connected with the input of relay driving module (11), continues
Electrical equipment drives the outfan of module (11) to be connected with the coil of relay (12), the outfan of relay (12) and electromagnetism
The coil of valve (13) is connected, and electromagnetic valve (13) is connected with performing cylinder (14).
2. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described horizontal extension cylinder fixes seat (15)
L-shaped, bottom is provided with deep groove ball bearing, it is possible to around its center of rotation in the upper rotation of horizontal support seat (17).
3. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described jaw (21) is by two single-actings
Cylinder i.e. embraces tool cylinder composition, and jaw is fixed and devised 4 grooves above seat (20), uses wing bolt will embrace tool cylinder
It is fixed on jaw and fixes on seat (20), by regulation wing bolt position in the trench, make to embrace tool cylinder and may be located at not
Same position is to adapt to the gripping of different size part.
4. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described function button (2) has manually/
Automatic transmission bit switch, for selecting the mode of operation of mechanical hand, single step non-locking press-button, carries out list for Non-follow control machinery hands
Step motion.
5. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described start delay circuit (8) is resistance
Hold delay circuit.
6. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described negater circuit (9) is NPN tri-
The negater circuit of level pipe composition.
7. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described relay (12) uses double
Dpdt double-pole double-throw (DPDT) type, makees identical action for controlling two same type cylinders simultaneously.
8. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described single-chip microcomputer STC89C52RC master
Control circuit module (5) is used for processing magnetic switch (1), function button (2) input signal gathered, and according in advance
The break-make of the programme-control electromagnetic valve set so that perform cylinder (14) and complete corresponding action.
9. Pneumatic Manipulator as claimed in claim 1, it is characterised in that described magnetic switch (1) is used for detecting
Whether horizontal extension cylinder (16) and vertical lifting cylinder (19) move and put in place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510233975.3A CN104924304B (en) | 2015-05-08 | 2015-05-08 | A kind of Pneumatic Manipulator mechanical mechanism and control system |
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| CN201510233975.3A CN104924304B (en) | 2015-05-08 | 2015-05-08 | A kind of Pneumatic Manipulator mechanical mechanism and control system |
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| CN104924304B true CN104924304B (en) | 2016-09-14 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106743560A (en) * | 2016-12-24 | 2017-05-31 | 安庆安帝技益精机有限公司 | A kind of aluminum piston Casting Equipment upset carrying mechanism |
| CN106829462A (en) * | 2017-03-07 | 2017-06-13 | 河南摩西机械制造有限公司 | A kind of iron pan conveying robot |
| CN106945060A (en) * | 2017-04-27 | 2017-07-14 | 沈阳飞机工业（集团）有限公司 | A kind of parts handler tool hand control device |
| CN107538502B (en) * | 2017-08-31 | 2024-03-19 | 湖南匡楚科技有限公司 | Municipal sharing bicycle automatic collecting and sorting device and collecting and sorting method |
| CN107617867A (en) * | 2017-10-26 | 2018-01-23 | 宁波市惠力诚仪表有限公司 | Traversing arm assemble mechanism |
| CN108363028A (en) * | 2018-04-03 | 2018-08-03 | 五邑大学 | A kind of control system and its control method of high voltage electroscope batch detecting device |
| CN111347364A (en) * | 2020-04-03 | 2020-06-30 | 重庆固高科技长江研究院有限公司 | Air cylinder type synchronous centering clamping mechanism and clamping mechanism synchronous centering method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| IT1264156B1 (en) * | 1993-04-20 | 1996-09-16 | Univer Spa | HYDROPNEUMATIC CONTROL MULTI-AXIS MANIPULATOR |
| CN101733748A (en) * | 2008-11-13 | 2010-06-16 | 闫娟 | Novel multi-adaptation mechanical hand |
| CN202622794U (en) * | 2012-05-11 | 2012-12-26 | 济南吉利汽车有限公司 | Power-assistant mechanical arm used for car production |
| CN104139393A (en) * | 2014-06-26 | 2014-11-12 | 陕西启源科技发展有限责任公司 | Pneumatic transfer mechanical arm |
| CN104440930B (en) * | 2014-11-27 | 2016-08-31 | 金石机器人常州股份有限公司 | A kind of V-arrangement for axial workpiece swings mechanical hand |
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