CN106315413A - Control system for gantry truss robot and control method for control system for gantry truss robot - Google Patents
Control system for gantry truss robot and control method for control system for gantry truss robot Download PDFInfo
- Publication number
- CN106315413A CN106315413A CN201610749884.XA CN201610749884A CN106315413A CN 106315413 A CN106315413 A CN 106315413A CN 201610749884 A CN201610749884 A CN 201610749884A CN 106315413 A CN106315413 A CN 106315413A
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- China
- Prior art keywords
- module
- axis
- instruction
- control system
- gantry
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
Abstract
The invention discloses a control system for a gantry truss robot. The control system for the gantry truss robot comprises a machine body, an X shaft, a command processing module and a command positioning module. A display screen is mounted on the front surface of the machine body. The X shaft is mounted on the right side of the machine body. A Y shaft is mounted on the right side of the X shaft. A shaft spacer is mounted below the Y shaft. A Z shaft is mounted above the machine body. A controller is mounted above the Z shaft. The input end of the command positioning module is electrically connected with the output end of an initial command module and the output end of an external input module. The output end of the command positioning module is electrically connected with the input end of a command drive module. The output end of the command processing module is electrically connected with the input end of a command recovery module. The invention further provides a control method for the control system for the gantry truss robot. The mounted machine body is of a stainless steel corrosion-resisting structure, so that the machine body can be kept in the stable and safe operation state for a long time, meanwhile excessive use wear to the machine body is avoided, and thus the service life of the system is prolonged.
Description
Technical field
The present invention relates to truss technology field, gantry, particularly relate to control system and the control thereof of a kind of gantry truss robot
Method processed.
Background technology
Portal frame (mobile lifting small arc shaped frame) be according in, semiworks (company) daily production need haulage equipment, storehouse
Storehouse turnover goods, lifting maintenance jumbo and the needs of transport of materials, the Novel small-sized hoisting portal frame developed.It is applicable to
Manufacture mould, Automobile Service factory, mine, civil engineering building site and need lifting occasion.
The common use up and down doubling as transport of materials and workmen in construction, it is achieved hoisting machinery.Can
Reduce manpower, reduce production and operation cost, improve work efficiency.
The advantage of this mobile gantry frame maximum is all-around mobile, and quick release is installed, and floor space is little, with micro-
Type automobile just can be transferred to another place and installs and uses.Width, highly scalable regulate, and steelframe structure is reasonable in design, can bear
From 100～5000KG weight.It is particularly suited for the installation of workshop appliance, carries, debug.
The handling of goods on automobile, the Automobile Service workshop lifting big part of electromotor etc..Lifting small arc shaped frame mainly has two kinds of specifications:
One is the portal frame of all-around mobile on the ground, and strap brake BOGEY WHEEL can move on the ground, is suitable for lifting by crane thing on the ground
Product；Two is to be fixedly mounted on floor face or beam, by electronic or manpower calabash, it is achieved hoisting machinery with rail.Can reduce
Manpower, reduces production and operation cost, improves work efficiency.
Portal frame of the prior art has characteristics that 1, is provided with from rising device, sets up, dismantles the work arranged by itself
Making mechanism can complete independently.Height raises along with the rising of building.Set up laborsaving, expense is low.2, Anchored Bar attachment is used,
Without cable rope, improve execution conditions.3, setting up, when dismantling, have two columns to join together all the time, work is chosen as steadily, peace
Complete reliable.4, using hurdy-gurdy elevator jack up drilling platform, install standard knot with gin pole, labor intensity is low.5, disconnected rope is used
Safety guard, the most disconnected rope, is arranged on the clamp of hanging basket both sides by hanging basket clamping stagnation aloft, prevents hanging basket born
The generation of accident.
Current domestic manufacturing high speed development, the requirement upgraded along with enterprises using the labor cost increase and industrial transformation, single
The raising of pure equipment performance, the contribution brought by improving productivity ratio is very limited amount of, only manufacturing mode and management mode
Change, productivity ratio could be allowed to obtain rapid raising, integrate automatization, flexibility and intellectuality manufacturing mode will
The main trend of development of manufacturing from now on, and on domestic market for gantry truss control system comparatively speaking or than
More single and simple, the practicality and stability of function also exist deficiency, and is unfavorable for permanent use.
Summary of the invention
The invention aims to solve shortcoming present in prior art, and a kind of gantry truss robot proposed
Control system.
To achieve these goals, present invention employs following technical scheme:
A kind of control system of gantry truss robot, including body, X-axis, command process module and instruction locating module,
Described body front surface is provided with display screen, is provided with X-axis, is provided with under Y-axis, and Y-axis on the right side of described X-axis on the right side of described body
Side is provided with axle pad sheet, and the right surface of described body is provided with actuating device, and described body is arranged above above Z axis, and Z axis pacifying
Equipped with controller, base is installed on the right side of described X-axis, and base is arranged above power set, described instruction locating module
The outfan of input and initial order module and external input module is electrically connected with, the outfan of described instruction locating module with
The input of order-driven module is electrically connected with, and the outfan of order-driven module is electrical with the input of command process module
Connecting, the outfan of described command process module is electrically connected with the input of instruction recycling module.
Preferably, described controller is connected with Z axis and power set by wire.
Preferably, described body is rustless steel anti-corrosion structure.
Preferably, on the right side of described X-axis, slipmat is installed.
Preferably, the outfan of described command process module is electrically connected with the input of external output module.
The control method of a kind of gantry truss robot control system, it is characterised in that when using this gantry truss machine
During the control system of people, by this gantry truss stability be attached install, according to the parameter arranged, initial order in controller
Module produces entry instruction locating module inner position after initial order, will after the most external input module input Secondary Control information
In instruction entry instruction driving module in entry instruction processing module, according to the practicality instructed by incoming external for useful instruction
In output module, reclaiming in useless instruction entry instruction recycling module, the most useful instruction will in acting on power set
Body carries out the motion of X-axis, Y-axis, Z-direction, and the mechanical hand of robot is carried out stable control.
In the present invention, it is rustless steel anti-corrosion structure by the body installed so that this body can keep for a long time
The running status of stable safety, is the most also avoided that the use abrasion that body is excessive, thus extends the service life of this system,
By the slipmat installed on the right side of X-axis, it is possible to the effective stability improving gantry truss so that this equipment is in use
Do not have the situation of unexpected displacement, electrically connected by the input of the outfan of command process module with instruction recycling module
Connect, it is possible to invalid instruction is reclaimed, it is to avoid manipulation internal instruction too much affects the properly functioning of system.
Accompanying drawing explanation
Fig. 1 is the structural representation of the control system of a kind of gantry truss robot that the present invention proposes；
Fig. 2 is the system program schematic flow sheet of the control system of a kind of gantry truss robot that the present invention proposes.
In figure: 1, controller, 2, wire, 3, Z axis, 4, Y-axis, 5, axle pad sheet, 6, body, 7, display screen, 8, actuating device,
9, X-axis, 10, slipmat, 11, base, 12, power set, 13, initial order module, 14, external input module, 15, instruction is driven
Dynamic model block, 16, command process module, 17, external output module, 18, instruction locating module, 19, instruct recycling module.
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 clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.
With reference to Fig. 1-2, the control system of a kind of gantry truss robot, including body 6, X-axis 9, command process module 16
With instruction locating module 18, body 6 front surface is provided with display screen 7, is provided with X-axis 9, is provided with Y on the right side of X-axis 9 on the right side of body 6
Being provided with axle pad sheet 5 below axle 4, and Y-axis 4, the right surface of body 6 is provided with actuating device 8, and body 6 is arranged above Z axis 3, and
Z axis 3 is arranged above controller 1, is provided with base 11 on the right side of X-axis 9, and base 11 is arranged above power set 12, instruction
The input of locating module 18 is electrically connected with the outfan of initial order module 13 and external input module 14, instruction location mould
The input of the outfan of block 18 and order-driven module 15 is electrically connected with, and at the outfan of order-driven module 15 and instruction
The input of reason module 16 is electrically connected with, and the outfan of command process module 16 electrically connects with the input of instruction recycling module 19
Connecing, controller 1 is connected with Z axis and power set 12 by wire 2, and body 6 is rustless steel anti-corrosion structure, installs on the right side of X-axis 9
Slipmat 10, the outfan of command process module 16 is had to be electrically connected with the input of external output module 17.
Operation principle: when using the control system of this gantry truss robot, by the carrying out of this gantry truss stability even
Connect installation, according to the parameter arranged, entry instruction locating module 18 after initial order module 13 produces initial order in controller 1
Inner position, instruction entry instruction is driven entry instruction in module 15 after inputting Secondary Control information by the most external input module 14
In processing module 16, according to the practicality instructed by the useful incoming external output module 17 of instruction, useless instruction enters
Reclaiming in instruction recycling module 19, body 6 is carried out X-axis 9, Y-axis 4, Z axis in acting on power set 12 by the most useful instruction
The motion in 3 directions, carries out stable control by the mechanical hand of robot.
The ultimate principle of the present invention and principal character and advantages of the present invention are more than shown and described, for this area skill
For art personnel, it is clear that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing substantially from the present invention spirit or
In the case of basic feature, it is possible to realize the present invention in other specific forms.Therefore, no matter from the point of view of which point, all should be by
Embodiment regards exemplary as, and is nonrestrictive, the scope of the present invention by claims rather than on state
Bright restriction, it is intended that include all changes fallen in the implication of equivalency and scope of claim in the present invention
In.Should not be considered as limiting involved claim by any reference in claim.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, according to technical scheme and
Inventive concept equivalent or change in addition, all should contain within protection scope of the present invention.
Claims (6)
1. a control system for gantry truss robot, including body (6), X-axis (9), command process module (16) and instruction
Locating module (18), it is characterised in that described body (6) front surface is provided with display screen (7), described body (6) right side is installed
Having X-axis (9), described X-axis (9) right side to be provided with Y-axis (4), and Y-axis (4) lower section is provided with axle pad sheet (5), described body (6) is right
Surface is provided with actuating device (8), and described body (6) is arranged above Z axis (3), and Z axis (3) is arranged above controller
(1), described X-axis (9) right side is provided with base (11), and base (11) is arranged above power set (12), and described instruction is fixed
The input of position module (18) is electrically connected with the outfan of initial order module (13) and external input module (14), described finger
The outfan of locating module (18) is made to be electrically connected with the input of order-driven module (15), and order-driven module (15)
The input of outfan and command process module (16) is electrically connected with, the outfan of described command process module (16) with instruct back
The input receiving module (19) is electrically connected with.
The control system of a kind of gantry the most according to claim 1 truss robot, it is characterised in that described controller
(1) it is connected with Z axis and power set (12) by wire (2).
The control system of a kind of gantry the most according to claim 1 truss robot, it is characterised in that described body (6)
For rustless steel anti-corrosion structure.
The control system of a kind of gantry the most according to claim 1 truss robot, it is characterised in that described X-axis (9) is right
Side is provided with slipmat (10).
The control system of a kind of gantry the most according to claim 1 truss robot, it is characterised in that described instruction processes
The outfan of module (16) is electrically connected with the input of external output module (17).
6. according to a control method for claim 1-5 arbitrary described a kind of gantry truss robot control system, its feature
Be, when use this gantry truss robot control system time, by this gantry truss stability be attached install, according to setting
The parameter put, controller (1) interior initial order module (13) produces entry instruction locating module (18) inner position after initial order,
After the most external input module (14) input Secondary Control information, instruction entry instruction is driven at module (15) interior entry instruction
In reason module (16), the practicality according to instruction is interior by the useful incoming external output module of instruction (17), and useless instruction is entered
Reclaiming in entering to instruct recycling module (19), body (6) is carried out X-axis in acting on power set (12) by the most useful instruction
(9), Y-axis (4), the motion in Z axis (3) direction, the mechanical hand of robot is carried out stable control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610749884.XA CN106315413B (en) | 2016-08-29 | 2016-08-29 | A kind of control system and its control method of gantry truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610749884.XA CN106315413B (en) | 2016-08-29 | 2016-08-29 | A kind of control system and its control method of gantry truss robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106315413A true CN106315413A (en) | 2017-01-11 |
| CN106315413B CN106315413B (en) | 2017-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610749884.XA Active CN106315413B (en) | 2016-08-29 | 2016-08-29 | A kind of control system and its control method of gantry truss robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300393A (en) * | 2020-03-31 | 2020-06-19 | 宁夏巨能机器人股份有限公司 | Truss manipulator wrist mechanism |
Citations (6)
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|---|---|---|---|---|
| CN1545021A (en) * | 2003-11-28 | 2004-11-10 | 清华大学 | Intelligent robot control system for fire-water processing of large-scale steel plate with complex curved surface |
| US20100025349A1 (en) * | 2006-11-03 | 2010-02-04 | University Of Southern California | Gantry Robotics System and Related Material Transport for Contour Crafting |
| CN202166895U (en) * | 2011-04-19 | 2012-03-14 | 山东电力研究院 | Laser navigation system of intelligent patrol robot at transformer substation |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN105115498A (en) * | 2015-09-30 | 2015-12-02 | 长沙开山斧智能科技有限公司 | Robot location navigation system and navigation method |
| CN105141899A (en) * | 2015-08-10 | 2015-12-09 | 北京科技大学 | Interactive method and interactive system of old-age service robot |
-
2016
- 2016-08-29 CN CN201610749884.XA patent/CN106315413B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1545021A (en) * | 2003-11-28 | 2004-11-10 | 清华大学 | Intelligent robot control system for fire-water processing of large-scale steel plate with complex curved surface |
| US20100025349A1 (en) * | 2006-11-03 | 2010-02-04 | University Of Southern California | Gantry Robotics System and Related Material Transport for Contour Crafting |
| CN202166895U (en) * | 2011-04-19 | 2012-03-14 | 山东电力研究院 | Laser navigation system of intelligent patrol robot at transformer substation |
| CN103707292A (en) * | 2013-12-30 | 2014-04-09 | 上海交通大学 | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist |
| CN105141899A (en) * | 2015-08-10 | 2015-12-09 | 北京科技大学 | Interactive method and interactive system of old-age service robot |
| CN105115498A (en) * | 2015-09-30 | 2015-12-02 | 长沙开山斧智能科技有限公司 | Robot location navigation system and navigation method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300393A (en) * | 2020-03-31 | 2020-06-19 | 宁夏巨能机器人股份有限公司 | Truss manipulator wrist mechanism |
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| Publication number | Publication date |
|---|---|
| CN106315413B (en) | 2017-11-07 |
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