CN107784912A - A kind of pneumatosphere robot experimental system - Google Patents
A kind of pneumatosphere robot experimental system Download PDFInfo
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- CN107784912A CN107784912A CN201610763218.1A CN201610763218A CN107784912A CN 107784912 A CN107784912 A CN 107784912A CN 201610763218 A CN201610763218 A CN 201610763218A CN 107784912 A CN107784912 A CN 107784912A
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- robot
- pneumatosphere
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
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- Theoretical Computer Science (AREA)
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Abstract
A kind of pneumatosphere robot experimental system, by control module (basic module) and operation machine module composition.The system uses Modular Structure Design technology, selected foreign project with excellent component, integrates the comprehensive experiment device of control detection execution etc..The experimental system can meet《Industrial robot》、《Pneumatics》、《Programmable controller technology》Teaching, experiment Deng course, there is the open functional characteristics such as programmable, Secondary Design, debugging using it, Engineering Quality, innovation ability, integrated practice and the application power of student can be improved, meets the requirement for cultivating comprehensive and innovative, high-level, compound engineers and technicians.
Description
Background technology
The present invention relates to a kind of pneumatosphere robot experimental system, suitable for mechanical field.
Background technology
Electromechanical integration technology is the new and high technology that have developed rapidly in the world in recent ten years, has penetrated into national economy
Every field.It is exactly to play the microelectric technique advantage using microcomputer as core to use electromechanical integration technology：For common mechanical
For, mechanical structure simplification can be made and control is more flexible, careful；For being set using pneumatic element as the machinery of executing agency
It is more reliable, conveniently than being controlled using relay contacts for standby, add flexibility.Microcomputer and using microcomputer as core
The popularization and application of the special control machine of the heart, using electronically controlled convenient, flexible and reliable etc. advantage with using Pneumatic Transmission
Simply, the advantages of quick and safe, is be combined with each other so that pneumatosphere control technology is arisen at the historic moment.Pneumatosphere control technology is
One important component of electromechanical integration technology, due to its successful application in industrial robot so that this technology
Popularization be provided with good and wide prospect.
The content of the invention
The present invention proposes a kind of pneumatosphere robot experimental system, using Modular Structure Design technology, selected state
Outer engineering with excellent component, integrate the comprehensive experiment device of control-detection-execution etc..
The technical solution adopted in the present invention is.
The pneumatosphere robot experimental system is by control module (basic module) and operation machine module composition.
The control module is made up of FX2N series of PLC, F940GOT man-machine interfaces and input and output interfaces plate.
The operation machine module is made up of pneumatosphere robot, basic pneumatic circuit experiment module and the corresponding interface plate.
The robot experimental system uses Pneumatic Transmission, and it is by support, fuselage (body rotary cylinder), horizontal arm (stretch by arm
Contracting sliding unit), upright arm (arm lifting carriage unit), paw (gas finger) composition, can complete robot body rotation, water
The action such as the flexible of flat arm, the lifting of upright arm and crawl of paw, can suitably hold conveniently by throttle valve adjustment
Row part speed, complete independent basic pneumatic circuit experiment.
The robot pneumatic drive system employs advanced valve island technology, and valve island is in recent years in gas-electricity-body side
One of face product the most successful, it is integrated multiple magnetic valves using bus structures, reduces volume, reduces control
Line processed, is easily installed, comprehensive wiring and adopting is computerizedd control, and particularly with large automatic equipment, valve island can be carried out
Directly control or bus marco, make system architecture compact, simplified.
The pneumatic system of the robot includes body rotary cylinder, horizontal arm telescopic slide unit, upright arm lifting carriage
Unit, paw (gas finger).
The beneficial effects of the invention are as follows：The experimental system can meet《Industrial robot》、《Pneumatics》、《It is programmable
Sequence controller technology》Teaching, experiment Deng course, have the open function such as programmable, Secondary Design, debugging special using it
Point, Engineering Quality, innovation ability, integrated practice and the application power of student can be improved, meet that culture is comprehensive and innovative, high
Level, the requirement of compound engineers and technicians.
Brief description of the drawings
Fig. 1 is the pneumatosphere robot of the present invention.
Fig. 2 is the pneumatosphere robot pneumatic systematic schematic diagram of the present invention.
Fig. 3 is the pneumatosphere robot PLC external wiring diagrams of the present invention.
In figure：1. support；2. fuselage；3. horizontal arm；4. upright arm；5. refer to clamping；6. refer to.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, robot uses Pneumatic Transmission, and robot is combined from the superior import SMC pneumatic elements of quality
Body, it is circular cylindrical coordinate formula robot architecture, realizes 3DOF, it is by support, fuselage (body rotary cylinder), horizontal arm (stretch by arm
Contracting sliding unit), upright arm (arm lifting carriage unit), paw (gas finger) composition, can complete robot body rotation, water
The action such as the flexible of flat arm, the lifting of upright arm and crawl of paw, can suitably hold conveniently by throttle valve adjustment
Row part speed, complete independent basic pneumatic circuit experiment.Its control system applies commonplace, property using current control field
The superior PLC (programmable controller) of energy, as needed from FX2 N-48 M R programmable controllers as control system
System core.Control loops selected parts F940 man-machine interfaces, operation interface is directly perceived, image, it is possible to achieve to robot operation conditions
Monitoring function.
Such as Fig. 2, employ advanced valve island technology in robot pneumatic drive system, valve island be in recent years gas-electricity-
One of product the most successful in terms of bodyization, it is integrated multiple magnetic valves using bus structures, reduces volume, is subtracted
Lack control line, be easily installed, comprehensive wiring and adopting is computerizedd control, can to valve island particularly with large automatic equipment
To carry out directly control or bus marco, make system architecture compact, simplified.The pneumatic system of robot include body rotary cylinder,
Horizontal arm telescopic slide unit, upright arm lifting carriage unit, paw (gas finger).
It is required that the control system has manual mode of operation, original point return pattern and automatic running pattern.
Manual mode：Each shift knob is pressed, cylinder can make corresponding control manually.
Origin pattern：Aligning control button cylinder Aligning control position is pressed, forearm (vertical cylinder) is in the extreme position of rising,
Postbrachium (horizontal air cylinder) is in the extreme position of retraction, and rotating cylinder is in the extreme position rotated counterclockwise, and gas finger unclamps；
Automatic mode：After Aligning control operation is completed, mode switch is switched into automatic mode, can now be realized by start button
Automatic running, by stop button, robot will stop after 1 circulation work terminates.
Such as Fig. 3, as teaching equipment there need to be larger extension surplus according to technological requirement, and in view of the system, select
With FX2N-48MR type PLC master units.In addition, control system has selected F940G0T man-machine interfaces, about input, the output controlled
Information, working condition etc. can be realized by F940GOT, save input, the output contact of programmable controller, distribution letter
It is single, it is cost-effective, it is easy to operate, directly perceived.
Man-machine interface is selected and connected between Fg40GOT, and PLC by communication cable.Use F940GOT graphic operating terminals
As operation man-machine interface, it is possible to achieve the function such as status display, monitoring, while can also reduce and the defeated people's points of PLC are wanted
Ask.It is noted that interlock connection manual, between automatic, 3 kinds of methods of operation of Aligning control during picture design and PLC program are write, no
There can be two kinds of methods of operation simultaneously in running order.It is common in practical implementation to select rotary switch to protect using multidigit
Demonstrate,prove the restricting relation between them.
Claims (6)
1. a kind of pneumatosphere robot experimental system, it is characterized in that：The pneumatosphere robot experimental system is by control mould
Block (basic module) and operation machine module composition.
2. a kind of pneumatosphere robot experimental system according to claim 1, it is characterized in that：The control module by
FX2N series of PLC, F940GOT man-machine interfaces and input and output interfaces plate composition.
3. a kind of pneumatosphere robot experimental system according to claim 1, it is characterized in that：The operation machine module by
Pneumatosphere robot, basic pneumatic circuit experiment module and the corresponding interface plate composition.
4. a kind of pneumatosphere robot experimental system according to claim 1, it is characterized in that：The robot experiment system
System uses Pneumatic Transmission, and by support, fuselage (body rotary cylinder), horizontal arm (arm telescopic slide unit), upright arm, (arm lifts for it
Sliding unit), paw (gas finger) composition, can complete the body rotation of robot, the flexible of horizontal arm, upright arm lifting with
And the action such as crawl of paw, independent basic gas can be completed conveniently by the suitable executive item speed of throttle valve adjustment
Dynamic Basic circuit.
5. a kind of pneumatosphere robot experimental system according to claim 1, it is characterized in that：The robot pneumatic drives
Dynamic system employs advanced valve island technology, and valve island is one of product the most successful in terms of gas-electricity-body in recent years, it
Multiple magnetic valves are integrated using bus structures, reduce volume, reduce control line, are easily installed, comprehensive wiring
Computerizedd control with adopting, particularly with large automatic equipment, directly control or bus marco can be carried out to valve island, make be
Unite compact-sized, simplified.
6. a kind of pneumatosphere robot experimental system according to claim 1, it is characterized in that：The robot it is pneumatic
System includes body rotary cylinder, horizontal arm telescopic slide unit, upright arm lifting carriage unit, paw (gas finger).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610763218.1A CN107784912A (en) | 2016-08-30 | 2016-08-30 | A kind of pneumatosphere robot experimental system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610763218.1A CN107784912A (en) | 2016-08-30 | 2016-08-30 | A kind of pneumatosphere robot experimental system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107784912A true CN107784912A (en) | 2018-03-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610763218.1A Pending CN107784912A (en) | 2016-08-30 | 2016-08-30 | A kind of pneumatosphere robot experimental system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053068A (en) * | 2019-05-28 | 2019-07-26 | 上海第二工业大学 | Fire-control valve O-ring automatic assembling apparatus |
| CN110153667A (en) * | 2019-05-06 | 2019-08-23 | 浙江超亿消防装备有限公司 | A kind of assembly device automatically grabbing fire-control valve modeling cap |
| CN110153690A (en) * | 2019-05-06 | 2019-08-23 | 浙江超亿消防装备有限公司 | A kind of intelligent crawl assemble mechanism for fire-control valve spring |
| CN116587256A (en) * | 2023-07-17 | 2023-08-15 | 江苏新惕姆智能装备有限公司 | Valve island for robot integrated clamp |
-
2016
- 2016-08-30 CN CN201610763218.1A patent/CN107784912A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153667A (en) * | 2019-05-06 | 2019-08-23 | 浙江超亿消防装备有限公司 | A kind of assembly device automatically grabbing fire-control valve modeling cap |
| CN110153690A (en) * | 2019-05-06 | 2019-08-23 | 浙江超亿消防装备有限公司 | A kind of intelligent crawl assemble mechanism for fire-control valve spring |
| CN110053068A (en) * | 2019-05-28 | 2019-07-26 | 上海第二工业大学 | Fire-control valve O-ring automatic assembling apparatus |
| CN116587256A (en) * | 2023-07-17 | 2023-08-15 | 江苏新惕姆智能装备有限公司 | Valve island for robot integrated clamp |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180309 |