CN106945060A - A kind of parts handler tool hand control device - Google Patents
A kind of parts handler tool hand control device Download PDFInfo
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- CN106945060A CN106945060A CN201710285448.6A CN201710285448A CN106945060A CN 106945060 A CN106945060 A CN 106945060A CN 201710285448 A CN201710285448 A CN 201710285448A CN 106945060 A CN106945060 A CN 106945060A
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- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000013519 translation Methods 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000002040 relaxant effect Effects 0.000 claims abstract description 7
- 230000005693 optoelectronics Effects 0.000 claims description 4
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 3
- 235000011613 Pinus brutia Nutrition 0.000 claims description 3
- 241000018646 Pinus brutia Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000036461 convulsion Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009418 renovation Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of parts handler tool hand control device, including electrical control cabinet, translation motor, sliding block, leading screw, fixed guide rail, lift cylinder, folder are relaxed one's efforts cylinder, part folder, three platforms, detection switch.Controller, touch-screen, control button, indicator lamp, servo-driver, magnetic valve are placed in electrical control cabinet, controller is connected with other parts respectively；Servo-driver is connected with translation motor, movement velocity and horizontal level for controlling translation motor；Magnetic valve and lift cylinder, folder cylinder gas circuit of relaxing one's efforts be connecteds, are control effectively for being pressed from both sides to part；Detection switch is connected with controller, it is ensured that system safe and reliable operation；Control button is arranged on electrical control cabinet panel, completes the carrying work of whole device jointly with touch-screen；Indicator lamp is connected with controller, and whole state is indicated.The present invention can improve operating efficiency, improve positional accuracy；High degree of automation, good stability is easy to operate, the features such as strong adaptability.
Description
Technical field
The invention belongs to control device field, and in particular to a kind of parts handler tool hand control device.
Technical background
Manipulator is the partial act for imitating human hand, realize automatic crawl by preset sequence, track and requirement, carry or
The robot apparatus of operation, manipulator is very crucial conventional machinery equipment in the production of all trades and professions.Handling machinery
Hand is mainly used in the movement of parts or finished product between fixed position, manual work is substituted, particularly poisonous, harmful, easy
In the adverse circumstances such as combustion, explosive, it is used widely.In recent years, with society develop, science and technology progress and industrialization enter
The propulsion of journey, manipulator is widely used in the fields such as machining, automobile making, goods carrying, and in Aero-Space, biology
The fields such as science and technology, advanced manufacturing technology have also obtained universal attention.
But carried at present for the most of parts of part factory still by artificial progress, handling efficiency is low, removed in part
During fortune, because part is irregular, it is necessary to two people or multi-person synergy cooperation could complete to carry work, but because cooperation coordinates
It is bad, when often result in unnecessary damaging and injure by a crashing object, along with working frequency is very fast, the situation that can not be carried in time occurs often,
Many processes are upgraded in the urgent need to automatic improving, the need for adapting to the development of modern automation factory construction.For there is now
Conveying robot control device have that transporting velocity is difficult to be lifted, real-time accuracy is poor, positioning precision is not high, automaticity
Low, cost is higher, operation is inconvenient, a series of problems, such as maintenance and renovation is difficult, fault rate is high.Develop high accuracy, high speed, without dirt
Dye, non-maintaining conveying robot have weight for improving product quality, improving production efficiency, reduction labor intensity and its cost
The meaning wanted.
The content of the invention
Regarding to the issue above, integrated use information gathering, logic control, servo-drive, human-computer interaction technology are carried the present invention
For it is a kind of detect and the accurate height of control, good reliability, low cost, simple operation parts handler tool hand control device.
In order to achieve the above object, technical scheme is as follows：
A kind of parts handler tool hand control device, including electrical control cabinet, translation motor, sliding block, leading screw, fixation lead
Rail, lift cylinder, folder are relaxed one's efforts cylinder, part folder, platform A, platform B, platform C, detection switch.Described translation motor, lifting air
Relax one's efforts cylinder, leading screw, sliding block, fixed guide rail, part folder, platform A, platform B, platform C of cylinder, folder constitutes the machinery of conveying robot and tied
Structure, electrical control cabinet is arranged on the bottom of conveying robot mechanical structure, constitutes Integral control device.
Controller, touch-screen, control button, indicator lamp, servo-driver, electromagnetism are placed in described electrical control cabinet
Valve, electrical control cabinet is located at the bottom of whole device, is easy to operating personnel's operation and maintenance.Described controller respectively with touch
Screen, control button, indicator lamp, servo-driver, magnetic valve and detection switch connection.Described controller is PLC.
Described touch-screen uses direct current supply, is connected by communication interface with controller RS232 interfaces, carries out data friendship
Change, manually operated screen is set on touch-screen, screen, parameter setting operation screen, status display operator control panel is automatically brought into operation, for controlling zero
Part gripper takes, lifted, translates control manually and automatic transporting control command, showing for horizontal movement velocity parameter setting and speed
Show, the running status for display control whole device.
Described servo-driver is connected with controller by high-speed pulse output interface；Servo-driver and translation motor
Connection, servo-driver is connected with the rotary encoder that translation motor is carried, and the positional information of collection is passed through into servo-driver
Controller is passed to be handled；Translation motor is with leading screw using mechanically connecting, and lift cylinder is connected with sliding block, sliding block and leading screw
Connection, sliding block is located at fixed guide rail interior, and movement velocity and horizontal level for controlling translation motor, are that position of platform is accurate
Position core.Specially：Controller is realized to the speed of horizontal motor and position control, level by controlling servo controller
Motor is moved by lead screw transmission band movable slider on fixed guide rail, and then drives lift cylinder to move horizontally, and completion is removed
The part of fortune platform A, platform B and platform C each other move horizontally (workbench A to workbench B, workbench A to work
Platform C, workbench B are to workbench A, workbench B to workbench C, workbench C to workbench A, workbench C to workbench B).It is described
The part being handled upside down be placed on platform A, platform B, on any platforms of platform C.
Described magnetic valve is connected with controller, and magnetic valve and lift cylinder, folder cylinder gas circuit of relaxing one's efforts are connected, and magnetic valve includes
Pine folder magnetic valve and lifting magnetic valve；Described folder relax one's efforts cylinder, lift cylinder with part folder be connected；Sent by controller
Instruction is controlled to magnetic valve, completes the effective control of loose gas enclosure cylinder and lift cylinder carried to part.Specially：Control
Device realizes the control of cylinder of being relaxed one's efforts to folder by controlling pine folder magnetic valve, folder relax one's efforts cylinder drive part folder part is carried out promptly and
Unclamp；Controller realizes the control to lift cylinder by controlling lifting magnetic valve, and lift cylinder drives part to be clipped in Vertical Square
To motion, the raising and lowering to part is completed.The power supply of magnetic valve is direct current 24V.
Described detection switch is connected with controller, is separately mounted to the front and rear extreme position of lift cylinder, loose gas enclosure cylinder
Front and rear extreme position, the Derivative limit on the left or on the right position of fixed guide rail, detection switch is used for extreme position detection, and by the limit of detection
Positional information is transmitted to controller analyzed and processed after, shown in touch-screen, it is ensured that the safe and reliable operation of system.Described
Detection switch uses optoelectronic switch form.
Described control button is arranged on the panel of electrical control cabinet, main to include manual, automatic, position selection and anxious
Stop button, complete the carrying work of whole device jointly with touch-screen.
Described indicator lamp is connected with controller, mainly including on power supply instruction, translation motor operation instruction, lift cylinder
The relax one's efforts loose position instruction of cylinder folder, the equipment fault of lower position instruction, folder is indicated, is indicated for the state to whole system.Together
When indicator lamp control loop and power loop be equipped with safeguard measure, ensure control device safety, and by adjusting gas circuit
Vapour lock Buddhist nun and its speed of service of horizontal motor, realize that transporting velocity and efficiency are effectively lifted.
Compared with prior art, beneficial effects of the present invention are, by the automation part mode of transport of conveying robot,
Change and use manual freight handling pattern in the past, improve operating efficiency.Conventional control device positioning accurate is overcome by SERVO CONTROL
The not high deficiency of degree, improves the positional accuracy of position；Using simple control device complete systematic part effective carrying,
It compensate for the higher defect of existing control device cost.And with high degree of automation, good stability is easy to operate, adaptability
Strong the features such as.
Brief description of the drawings
Fig. 1 is the architecture system block diagram for the parts handler tool hand control device that the present invention is provided.
Fig. 2 is the operational flowchart for the parts handler tool hand control device that the present invention is provided.
In figure：1 electrical control cabinet, 2 translation motors, 3 sliding blocks, 4 leading screws, 5 fixation guide rails, 6 lift cylinders, 7 folder relax one's efforts cylinder,
8 parts folder, 9 platform A, 10 platform B, 11 platform C, 12 detection switch.
Embodiment
Patent of invention is further described with reference to embodiment, referring to Fig. 1.
A kind of parts handler tool hand control device includes electrical control cabinet 1, translation motor 2, sliding block 3, leading screw 4, fixation
Guide rail 5, lift cylinder 6, folder relax one's efforts cylinder 7, part folder 8, platform A9, platform B10, platform C11, detection switch 12；Described is flat
Move motor 2, lift cylinder 6, press from both sides cylinder 7 of relaxing one's efforts, leading screw 4, sliding block 3, fixed guide rail 5, part folder 8, platform A9, platform B10, platform
C11 constitutes the mechanical structure of conveying robot.Controller, touch-screen, servo-driver, control button, magnetic valve, indicator lamp etc.
Electric components are arranged in electrical control cabinet 1, the internal components of electrical control cabinet 1 by inserting terminal and external drive motors,
Detection switch 12 is connected, and is connected using gas circuit connector with relax one's efforts cylinder 7, the lift cylinder 8 of folder of outside.By electrical control cabinet 1
Installed in the bottom operable position of conveying robot unit, form an overall structure, be easy to operating personnel using operation and
Safeguard.
The part being handled upside down is placed on platform A9, platform B10, on any platforms of platform C11, and controller connects touch respectively
Screen, servo-driver, control button, indicator lamp, detection switch 12.Servo-driver connect translation motor 2, servo-driver with
The rotary encoder connection that translation motor 2 is carried, passes to controller by servo-driver by the positional information of collection and carries out
Processing；Translation motor 2 is with leading screw 4 using mechanically connecting, and lift cylinder 6 is connected with sliding block 3, and sliding block 3 is connected with leading screw 4, leading screw 4
On fixed guide rail 5, sliding block 3 is driven to be transported on fixed guide rail 5 by controlling the motion of translation motor 2 to drive the motion of leading screw 4
It is dynamic, realize and drive lift cylinder 6 to move horizontally, be finally completed part in platform A9, platform B10, platform C11 water each other
The flat function of carrying.The gas circuit of cylinder 7 connection that controller is connected with magnetic valve, magnetic valve and folder are relaxed one's efforts, folder is relaxed one's efforts cylinder 7 and part folder 8
Mechanically connect, drive part folder 8 by controlling folder cylinder 7 of relaxing one's efforts, realize the crawl function to clamping and the release of part.Magnetic valve
It is connected with the gas circuit of lift cylinder 6, lift cylinder 6 is connected with part folder 8, drives part folder 8 to do by controlling the motion of lift cylinder 6
Raising and lowering is moved, and completes the act playing function of part.Detection switch 12 is separately mounted to lift cylinder 6, folder cylinder 7 of relaxing one's efforts and retreated
Limit position and the Derivative limit on the left or on the right position of fixed guide rail 5, detection switch 12 use optoelectronic switch, are connected with controller, utilize photoelectricity
Switch and the signal of extreme position is detected.On the touchscreen to moving horizontally transporting velocity and position setting, indicator lamp pair
The state of whole device is indicated.
The present invention operation principle be：Control device is divided into two parts of control and detection.
Control section includes crawl, lifting, three functions of translation；Wherein crawl is to magnetic valve realization pair by controller
Press from both sides cylinder 7 of relaxing one's efforts to be controlled, and then drive part to press from both sides the function that 8 pairs of parts promptly and unclamp；Wherein lifting is by control
Device processed is realized to magnetic valve and lift cylinder 6 is controlled, and drives part folder 8 in the motion of vertical direction, completes to part
Raising and lowering function；Wherein translation is that servo controller is controlled by controller, and then controlled level motor
2, horizontal motor 2 is moved by lead screw transmission band movable slider 3 and moved on fixed guide rail 5, finally realize part platform A9,
Platform B10's and platform C11 moves horizontally.The part being handled upside down is placed on to platform A9, platform B10, platform C11 any bit
Put, using the operation of the touch-screen and control button of the control device, realize that effective carrying to part is controlled.
Detection part includes the horizontal level detection to three platforms, extreme position detection.Horizontal level detection passes through water
The built-in rotary encoder of ordinary telegram machine is realized, encoder rotation is rotated by using the motion of horizontal motor 2, by rotary coding
In the data access controller of device collection, encoder output pulse signal is gathered using controller, gathered by controller
The position of encoder output count pulse number calculated level movement, is as placed the platform A9, platform B10, platform of part
C11 position, on the touchscreen shows position data.Extreme position detection is completed by detection switch 12, detection switch 12
It is separately mounted to lift cylinder, presss from both sides the Derivative limit on the left or on the right position of relax one's efforts cylinder advance and retreat limit position and fixed guide rail, the photoelectricity that must be detected is opened
Pass is connected with controller, utilizes signal detection of the optoelectronic switch to extreme position, the security and reliability of safeguards system.
The operating process of the present invention is as shown in Fig. 2 main operational steps are as follows：(1) conveying robot control device is connected
Power supply indicator is bright on one-way communication 220V power supplys, switch board, and touch-screen is normally shown；(2) target is set on the touchscreen
The parameters such as platform, the translational speed of translation motor 2；(3) press touch-screen effectively to be set, press after auto-start button, control
Device processed completes following act：The opening of part folder 8, lift cylinder 6 rise, are moved horizontally to the workbench of part to be put, lifting
Cylinder 6 declines, part presss from both sides 8 Clamp blocks, lift cylinder 6 and risen, and is moved horizontally to part and carries the workbench of target, lifting air
Cylinder 6 declines, part folder 8 unclamps part, lift cylinder 6 and risen；(4) part carrying work is carried out；(5) after the completion of carrying, wait
Operation next time, completes whole flow process, and system is completed after use, cut-out supply power supply.By aforesaid operations, realize to part
Effective carrying, improve carry efficiency and quality.
Claims (5)
1. a kind of parts handler tool hand control device, it is characterised in that described parts handler tool hand control device includes
Electrical control cabinet, translation motor, sliding block, leading screw, fixed guide rail, lift cylinder, folder relax one's efforts cylinder, part folder, platform A, platform B,
Platform C, detection switch；
Controller, touch-screen, control button, indicator lamp, servo-driver, magnetic valve, electricity are placed in described electrical control cabinet
Gas switch board is located at whole device bottom；
Described touch-screen uses direct current supply, and progress data exchange is connected with controller RS232 interfaces by communication interface, is touched
Touch and manually operated screen is set on screen, screen, parameter setting operation screen, status display operator control panel be automatically brought into operation, for controlling part to press from both sides
Capture, lift, translating control manually and automatic transporting control command, being shown for horizontal movement velocity parameter setting and speed,
Running status for display control whole device；
Described servo-driver is connected with controller by high-speed pulse output interface, and servo-driver connects with translation motor
Connect, translation motor is connected with leading screw, lift cylinder is connected with sliding block, sliding block is connected with leading screw, sliding block is located on fixed guide rail；Control
Device processed is realized and the speed of horizontal motor and position is controlled, horizontal motor passes through lead screw transmission band by controlling servo controller
Movable slider is moved on fixed guide rail, and then drives lift cylinder to move horizontally, and completes part in platform A, platform B and platform
C moving horizontally each other；
Described magnetic valve is connected with controller, and magnetic valve and lift cylinder, folder cylinder gas circuit of relaxing one's efforts be connecteds, and magnetic valve includes pine folder
Magnetic valve and lifting magnetic valve；Described folder relax one's efforts cylinder, lift cylinder with part folder be connected；The instruction sent by controller
Magnetic valve is controlled, the effective control of loose gas enclosure cylinder and lift cylinder carried to part is completed；
Described detection switch is connected with controller, is separately mounted to before the front and rear extreme position of lift cylinder, loose gas enclosure cylinder
Extreme position, the Derivative limit on the left or on the right position of fixed guide rail afterwards, for by the extreme position information transfer of detection to controller analysis
After reason, shown in touch-screen；
Described control button is arranged on the panel of electrical control cabinet, main to be pressed including manual, automatic, position selection and jerk
Button, the carrying work of whole device is completed with touch-screen jointly；
Described indicator lamp is connected with controller, mainly including the next on power supply instruction, translation motor operation instruction, lift cylinder
Put instruction, press from both sides the relax one's efforts loose position instruction of cylinder folder, equipment fault instruction, the state to whole device is indicated.
2. a kind of parts handler tool hand control device according to claim 1, it is characterised in that described controller is
PLC.
3. a kind of parts handler tool hand control device according to claim 1 or 2, it is characterised in that described detection
Switch uses optoelectronic switch form.
4. a kind of parts handler tool hand control device according to claim 1 or 2, it is characterised in that described instruction
The control loop and power loop of lamp are equipped with safeguard measure, ensure whole device safety.
5. a kind of parts handler tool hand control device according to claim 3, it is characterised in that described indicator lamp
Control loop and power loop are equipped with safeguard measure, ensure whole device safety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710285448.6A CN106945060A (en) | 2017-04-27 | 2017-04-27 | A kind of parts handler tool hand control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710285448.6A CN106945060A (en) | 2017-04-27 | 2017-04-27 | A kind of parts handler tool hand control device |
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| CN106945060A true CN106945060A (en) | 2017-07-14 |
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| CN201710285448.6A Pending CN106945060A (en) | 2017-04-27 | 2017-04-27 | A kind of parts handler tool hand control device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108750645A (en) * | 2018-05-30 | 2018-11-06 | 沈阳飞机工业（集团）有限公司 | A kind of steering engine handling device and method suitable for Flying by wire system test |
| CN108983014A (en) * | 2018-09-30 | 2018-12-11 | 苏州精濑光电有限公司 | A kind of weatherometer |
| CN109719711A (en) * | 2018-06-20 | 2019-05-07 | 深圳市太惠科技有限公司 | A kind of twin shaft single arm robot |
| CN111891714A (en) * | 2019-11-25 | 2020-11-06 | 张文俊 | Logistics storage gets equipment of putting fast |
| CN113650881A (en) * | 2021-08-17 | 2021-11-16 | 苏州婧娴婷智能科技有限公司 | Skin care micro-packaging instrument film coating structure and film coating system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108750645A (en) * | 2018-05-30 | 2018-11-06 | 沈阳飞机工业（集团）有限公司 | A kind of steering engine handling device and method suitable for Flying by wire system test |
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| CN113650881A (en) * | 2021-08-17 | 2021-11-16 | 苏州婧娴婷智能科技有限公司 | Skin care micro-packaging instrument film coating structure and film coating system thereof |
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Application publication date: 20170714 |