CN109623850A - A kind of Multi-channel hand-held motion control device - Google Patents
A kind of Multi-channel hand-held motion control device Download PDFInfo
- Publication number
- CN109623850A CN109623850A CN201811474539.5A CN201811474539A CN109623850A CN 109623850 A CN109623850 A CN 109623850A CN 201811474539 A CN201811474539 A CN 201811474539A CN 109623850 A CN109623850 A CN 109623850A
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- CN
- China
- Prior art keywords
- module
- axis
- power supply
- mechanical arm
- arm processor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Abstract
The invention discloses a kind of Multi-channel hand-held motion control devices, described device includes arm processor, power supply module, multi-center selection module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG debugging module and safety switch, and the power supply module, multi-center selection module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG debugging module and safety switch are electrically connected with arm processor；Mechanical arm number data that arm processor comes according to transmission, stride data and axis select mechanical arm progress motion control of the data using the wireless communication module to choosing.The control device function high concentration, it is compact-sized small and exquisite, it can cooperate with multiple mechanical arm controllers, realize the coordinated control to multiple mechanical arms and pose adjustment.
Description
Technical field
The present invention relates to pipeline assembly system technical field more particularly to a kind of Multi-channel hand-held motion control devices.
Background technique
Conventional tube is assemblied in after the completion of star/ship general assembly initial stage instrument and equipment layout, using sampling, by hand system on manual star
Make, surface treatment, weld the processing steps such as preceding assembly, automatic welding and non-destructive testing, processing efficiency is low, and the production cycle is long, product
Consistency is poor, and this production method is not able to satisfy future type pipeline small lot, diversified development demand.
Currently, the CAD/CAM integrated manufacturing process based on threedimensional model is widely applied, but there are bottlenecks: from pipeline
3D model is assembled to pipeline, needs to carry out the work such as selection of reference frame, coordinate conversion, data extraction, due to pipeline complexity, number of coordinates
Big according to amount, that there are manual operations is cumbersome, is easy error, the problems such as output format is lack of standardization, pipe fitting mark is inconsistent.Due to dragon
The space of door frame and several mechanical arms relatively disperses, and the control mode of traditional servo and motor separation needs a large amount of
Wiring, cause the efficiency actually controlled extremely low；And traditional motion control card has a single function, and control precision is low, communication party
Formula is mostly wired mode, inevitably the problem of a large amount of artificial plug cable, causes assembling process low efficiency, automates journey
Spend the problems such as low.
Summary of the invention
The object of the present invention is to provide a kind of Multi-channel hand-held motion control device, the control device function height collection
In, it is compact-sized small and exquisite, it can cooperate with multiple mechanical arm controllers, realize the coordinated control to multiple mechanical arms and posture tune
It is whole.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of Multi-channel hand-held motion control device, described device include arm processor, power supply module, multichannel choosing
Select module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG debugging module and safety switch, in which:
The power supply module, multi-center selection module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG
Debugging module and safety switch are electrically connected with arm processor；
The arm processor receives the external channel selection data that the multi-center selection module is sent, existing according to operation
The mechanical arm number that the actual conditions selection of field needs to operate；
The fine tuning step pitch module needs the distance that moves to be arranged step pitch according to selected mechanical arm, and by the step of setting
The arm processor is given away from data transmission；
The axis selecting module selects data according to the axial setting axis that selected mechanical arm needs to move, and will setting
Axis selection data transmission give the arm processor；
The JTAG debugging module is used for the program debugging of the arm processor, specifically connects traditional 20 needles debugging
Mouth is reduced to 10 needle interfaces, to reduce connection size, is conducive to control device compact design；
Mechanical arm number data that the arm processor comes according to transmission, stride data and axis select described in data utilization
Wireless communication module carries out motion control to the mechanical arm chosen；
The wireless module of the portal frame host controller at the wireless communication module and operation scene and the dedicated control of mechanical arm
The wireless module of device processed is communicated, and receives the control instruction that the arm processor transmission comes, and the control instruction is sent to
Corresponding module；
The power supply module includes external power source circuit, battery feed circuit and charging circuit；Wherein, the power supply module
Holotype by the battery feed circuit provide battery power supply, the external power source circuit be used for Emergency use, the charging
Circuit to the power supply module for charging；
The safety switch includes emergency stop switch, protective switch and total power switch；Wherein, the total power switch is used for
The switching of three kinds of powering modes of power supply module.
The multi-center selection module has 10 optional channels；
The fine tuning step pitch module has 8 grades of fine tuning step pitches；
The axis selecting module has 6 axis selections, including two rotary shafts and a linear axis.
When the protective switch is in the case where not opening, the output of other instructions is all invalid in described device, is used
In anti-locking apparatus maloperation.
As seen from the above technical solution provided by the invention, above-mentioned control device function high concentration, it is compact-sized
It is small and exquisite, it can cooperate with multiple mechanical arm controllers, realize the coordinated control to multiple mechanical arms and pose adjustment, to solve existing
There is the problems such as wiring cumbersome in technology and insufficient operating instruction manually plugged.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of Multi-channel hand-held motion control device provided in an embodiment of the present invention；
Fig. 2 is a kind of realization schematic diagram of Multi-channel hand-held motion control device in example of the embodiment of the present invention.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to protection scope of the present invention.
The embodiment of the present invention is described in further detail below in conjunction with attached drawing, is implemented as shown in Figure 1 for the present invention
Example provide Multi-channel hand-held motion control device structural schematic diagram, described device include arm processor, power supply module,
Multi-center selection module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG debugging module and safety switch,
In connection and work relationship between each component are as follows:
The power supply module, multi-center selection module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG
Debugging module and safety switch are electrically connected with arm processor；
The arm processor receives the external channel selection data that the multi-center selection module is sent, existing according to operation
The mechanical arm number that the actual conditions selection of field needs to operate；
The fine tuning step pitch module needs the distance that moves to be arranged step pitch according to selected mechanical arm, and by the step of setting
The arm processor is given away from data transmission；
The axis selecting module selects data according to the axial setting axis that selected mechanical arm needs to move, and will setting
Axis selection data transmission give the arm processor；
The JTAG debugging module is used for the program debugging of the arm processor, specifically connects traditional 20 needles debugging
Mouth is reduced to 10 needle interfaces, to reduce connection size, is conducive to control device compact design；
Mechanical arm number data that the arm processor comes according to transmission, stride data and axis select described in data utilization
Wireless communication module carries out motion control to the mechanical arm chosen；
The wireless module of the portal frame host controller at the wireless communication module and operation scene and the dedicated control of mechanical arm
The wireless module of device processed is communicated, and receives the control instruction that the arm processor transmission comes, and the control instruction is sent to
Corresponding module；In the specific implementation, wireless communication module, there are many communication modes, any one can be substituted for each other, on condition that
Transceiver both sides can match；
The power supply module includes external power source circuit, battery feed circuit and charging circuit；Wherein, the power supply module
Holotype by the battery feed circuit provide battery power supply, the external power source circuit be used for Emergency use, the charging
Circuit to the power supply module for charging；
The safety switch includes emergency stop switch, protective switch and total power switch；Wherein, the total power switch is used for
The switching of three kinds of powering modes of power supply module.
In the specific implementation, above-mentioned multi-center selection module has 10 optional channels (expansible)；
The fine tuning step pitch module has 8 grades of fine tuning step pitches (expansible)；
The axis selecting module has 6 axis selections (expansible), including two rotary shafts and a linear axis.
When above-mentioned protective switch is in the case where not opening, the output of other instructions is all invalid in described device, is used
In anti-locking apparatus maloperation.
The course of work of above-mentioned Multi-channel hand-held motion control device specifically:
The arbitrarily power supply of selection battery or external power supply power supply first, and ensure that total power switch is opened；
Then ensure that emergency stop switch is not pressed, select mechanical arm number according to the actual situation on site, transport as needed
Dynamic distance selects step pitch, and control will press protective switch when moving；
The axis and the direction of motion that finally selection needs to move, by lower button module transfer control instruction control by wireless communication
The movement of mechanical arm processed；
Described device sends corresponding mechanical arm for control instruction according to the mechanical arm of selection, and the controller of mechanical arm connects
After the control instruction for receiving described device, step pitch, movement axis number and direction of motion information record storage after parsing；So
Recurrent pulse is calculated according to information above and fixed crawl speed when axis control program executes afterwards, it is fixed finally to export pulse control
The movement of position three axis of device.
A kind of realization for being illustrated in figure 2 Multi-channel hand-held motion control device in example of the embodiment of the present invention is shown
It is intended to, the size of device is 160mm × 80mm × 30mm (not including external switch) in Fig. 2, and portion of the handle is 80mm × 22mm,
The device can be used cooperatively with portal frame engine control system and the communication of mechanical arm nonshared control unit, portal frame master in use process
The nonessential unlatching of machine control system, device can store position control information, be uploaded to engine control system when necessary.Benefit
Three kinematic axis of selected mechanical arm can be controlled with above-mentioned apparatus, thus realize the fine adjustment of attitude of mechanical arm,
And the pose of Real-time Feedback Current mechanical arm is shown on host panel display to control system.
It is worth noting that, the content being not described in detail in the embodiment of the present invention belongs to professional and technical personnel in the field's public affairs
The prior art known.
In conclusion herein described device has the advantages that
1, casting out cumbersome control line, staff can directly carry the device and carry out motor adjustment to multiple mechanical arms,
Working range is wide, and operation is more flexible；
2, the device carries position storage function, can directly control the movement of mechanical arm, the unlatching with engine control system
It is unrelated；
3, the device includes protective switch, can prevent system misoperation.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (3)
1. a kind of Multi-channel hand-held motion control device, which is characterized in that described device include arm processor, power supply module,
Multi-center selection module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG debugging module and safety switch,
In:
The power supply module, multi-center selection module, fine tuning step pitch module, wireless communication module, axis selecting module, JTAG debugging
Module and safety switch are electrically connected with arm processor；
The arm processor receives the external channel selection data that the multi-center selection module is sent, according to operation scene
The mechanical arm number that actual conditions selection needs to operate；
The fine tuning step pitch module needs the distance that moves to be arranged step pitch according to selected mechanical arm, and by the step pitch number of setting
According to sending the arm processor to；
The axis selecting module selects data according to the axial setting axis that selected mechanical arm needs to move, and by the axis of setting
Select data transmission to the arm processor；
The JTAG debugging module is used for the program debugging of the arm processor, specifically by 20 traditional needle debugging interface letters
10 needle interfaces are turned to, to reduce connection size；
The arm processor according to transmission come mechanical arm number data, stride data and axis selection data utilize it is described wirelessly
Communication module carries out motion control to the mechanical arm chosen；
The wireless module and mechanical arm nonshared control unit of the portal frame host controller at the wireless communication module and operation scene
Wireless module communicated, receive the control instruction that arm processor transmission comes, and the control instruction is sent to accordingly
Module；
The power supply module includes external power source circuit, battery feed circuit and charging circuit；Wherein, the master of the power supply module
Mode provides battery power supply by the battery feed circuit, and the external power source circuit is used for Emergency use, the charging circuit
For charging to the power supply module；
The safety switch includes emergency stop switch, protective switch and total power switch；Wherein, the total power switch is for described
The switching of three kinds of powering modes of power supply module.
2. Multi-channel hand-held motion control device according to claim 1, which is characterized in that
The multi-center selection module has 10 optional channels；
The fine tuning step pitch module has 8 grades of fine tuning step pitches；
The axis selecting module has 6 axis selections, including two rotary shafts and a linear axis.
3. Multi-channel hand-held motion control device according to claim 1, which is characterized in that
When the protective switch is in the case where not opening, the output of other instructions is all invalid in described device, for preventing
Locking apparatus maloperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811474539.5A CN109623850A (en) | 2018-12-04 | 2018-12-04 | A kind of Multi-channel hand-held motion control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811474539.5A CN109623850A (en) | 2018-12-04 | 2018-12-04 | A kind of Multi-channel hand-held motion control device |
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| Publication Number | Publication Date |
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| CN109623850A true CN109623850A (en) | 2019-04-16 |
Family
ID=66071116
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|---|---|---|---|
| CN201811474539.5A Pending CN109623850A (en) | 2018-12-04 | 2018-12-04 | A kind of Multi-channel hand-held motion control device |
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Citations (9)
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|---|---|---|---|---|
| US6374156B1 (en) * | 1999-04-01 | 2002-04-16 | Matsushita Electric Industrial Co., Ltd. | Robot control system |
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| CN105252538A (en) * | 2015-11-06 | 2016-01-20 | 邹海英 | Novel industrial robot demonstrator |
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2018
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Patent Citations (9)
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|---|---|---|---|---|
| US6374156B1 (en) * | 1999-04-01 | 2002-04-16 | Matsushita Electric Industrial Co., Ltd. | Robot control system |
| CN101224576A (en) * | 2008-01-25 | 2008-07-23 | 北京邮电大学 | Teaching track optimized controlling method of magnetic-controlled spraying robot |
| CN102059701A (en) * | 2009-11-18 | 2011-05-18 | 发那科株式会社 | Robot controller simultaneously controlling N number of robots |
| CN103231374A (en) * | 2013-04-03 | 2013-08-07 | 华中科技大学 | Teaching box for industrial robot based on Ethernet communication |
| CN104238514A (en) * | 2014-09-06 | 2014-12-24 | 北京化工大学 | Energy-saving type multi-frequency-band wireless teaching controller for industrial robots |
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Application publication date: 20190416 |
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