CN109927057A - A kind of intelligence boosting manipulator control system - Google Patents
A kind of intelligence boosting manipulator control system Download PDFInfo
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- CN109927057A CN109927057A CN201910260106.8A CN201910260106A CN109927057A CN 109927057 A CN109927057 A CN 109927057A CN 201910260106 A CN201910260106 A CN 201910260106A CN 109927057 A CN109927057 A CN 109927057A
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Abstract
The invention discloses a kind of intelligent boosting manipulator control systems, intelligent boosting manipulator includes lifting system and its operation handle, the lower section of lifting system is arranged in operation handle, and control system includes weighing sensor, limit switch, servo motor, servo-driver, plc, photoelectric sensor, pull pressure sensor, mode switch button.The control system of intelligent boosting manipulator of the invention, control model multiplicity are flexibly changeable, manual operating workpiece is directly used, or by handle assist transportation, is easily used, people and machine can be enabled in a physical space work compound, greatly improve production efficiency, save the cost.
Description
Technical field
The present invention relates to material lifting and carry field more particularly to a kind of intelligent boosting manipulator control system.
Background technique
In recent years, the problems such as productivity of conventional materials handling device is not high and operational not strong, promote the producer and
The user of equipment for treating materials is more positive to seek new equipment and system with urgent.Traditional material conveyance equipment is in work
Although strong operability in industry production, accuracy in the handling process, safety and validity etc. are all to be improved.
And traditional industrial robot does not allow operator living in its working space due to operating rate is fast, inertia is big etc.
Dynamic, the operation interval of operator is limited.Using traditional material conveyance equipment, it is big to will result in manual labor's intensity, efficiency
It is low, the problems such as accuracy is undesirable.
The now main work that auxiliary carrying is carried out using equipment such as driving, electric block and industrial robots in industry.
But the conventional lifts such as driving, electric block equipment mainly has the following there are apparent defect:
(1) lack control system, it is very low to promote precision, it is difficult to realize accurate TRAJECTORY CONTROL；
(2) mechanical structure is heavy, and weight is big, extremely takes up space；
(3) it promotes speed and transverse shifting speed is slow, production efficiency is low；
(4) operation is highly inconvenient, and ease for use is poor；
(5) operating noise is big, and the working environment of operator is poor；
Other than disadvantages mentioned above, the elevator of conventional lift equipment is more difficult to be precisely controlled, and workpiece is caused to be easy when carrying
Collision, needs to hold workpiece, to realize accurate positioning and assembly, has aggravated the burden of worker, increased the risk of work.
Intelligent boosting manipulator can effectively solve the problem that manual labor's intensity existing for conventional materials haulage equipment is big, precision
Low, the disadvantages of application range is narrow, and ease for use is poor, completes or to be difficult to completing for task by conventional lift equipment so that people and
Machine can be in a physical space work compound, while can greatly improve production efficiency, save the cost.It has following several
Point advantage:
(1) small in size, it is light-weight.After carrying out structure optimization and light-weight design, intelligent power-assisted can be effectively reduced
The volume and weight of manipulator is more convenient for transporting, and installs, disassembly, the work such as maintenance.
(2) positioning accuracy is high.Positioning accuracy can achieve 1mm, and can match in excellence or beauty existing industrial robot completely.
(3) noise when work operation is small, can greatly improve the work situation of worker.
(4) it is fast to promote speed.Using newest motor and servo control technique, speed can be greatly improved.
In addition, intelligent boosting manipulator can directly use manual operating workpiece, accurately and fast position, or pass through handle
Assist transportation nimbly and freely improves efficiency, and can prevent from scratching, collide equal loss.The stability of the equipment, safety and easily
Also have greatly improved with property aspect.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of intelligent boosting manipulator control systems.
The technical solution adopted by the present invention is that:
A kind of intelligence boosting manipulator control system, the intelligence boosting manipulator includes lifting system and its manipulator
The lower section of lifting system is arranged in handle, operation handle, which is characterized in that control system include weighing sensor, limit switch,
Servo motor, servo-driver, plc, photoelectric sensor, pull pressure sensor, mode switch button；
The weighing sensor, limit switch and lifting system are arranged together, and weighing sensor is for detection system
Total weighing capacity；Limit switch is divided into upper limit switch and lower position switch, for limiting the extreme higher position and minimum of workpiece promotion
Position；
The photoelectric sensor, pull pressure sensor and mode switch button are arranged on handle, and photoelectric sensor is used for
Whether detection manpower holds operation handle；Pull pressure sensor is for detecting the operating force that manpower is applied in operation handle；Mould
Formula switching push button includes suspension mode button and suspension unloading mode button, in conjunction with photoelectric sensor for switching including handle mould
Three kinds of operation modes including formula, suspension mode, suspension unloading mode；
The weighing sensor, limit switch, photoelectric sensor, the signal of pull pressure sensor and mode switch button are equal
Plc is inputted, plc sends control instruction to servo-driver according to input signal, and servo-driver is watched according to control signal driving
Motor rotation is taken, workpiece is driven to be promoted or declined.
A kind of intelligent boosting manipulator control system, it is characterised in that: the specific behaviour of three kinds of operation modes
Make mode are as follows: when manpower holds handle, the signal that photoelectric sensor will test inputs plc, and system is switched to handle mode；When
Suspension mode button is pressed, and plc detects signal, and system is switched to suspension mode；When suspension unloading mode button is pressed, plc
Detect signal, system is switched to suspension unloading mode.
A kind of intelligent boosting manipulator control system, it is characterised in that: the system control under the handle mode
Process are as follows: after system is switched to handle mode, the pull pressure sensor in operation handle comes into force, and weighing sensor judgement promotes work
Whether part is overweight, alarms at once if being more than the maximum weight allowed；Upper and lower limit bit switch works at the same time, if upper limit switch
Triggering, then forbid uplink, can only be downward, if lower position switch triggers, forbids downlink, can only be upward, pull pressure sensor inspection
The size of the pulling force that manpower applies or pressure is surveyed, plc reads pull pressure sensor Numerical Control servo motor revolving speed；Downwards gently
Pulling process handle, workpiece move downward；Propose operation handle upwards, workpiece moves upwards, the speed of workpiece motion s and operating force at
Direct ratio, operating force is bigger, and workpiece motion s speed is faster, and smaller speed is lower, and when manpower leaves handle, servo motor stops immediately
Only；Meanwhile if pressing suspension mode or suspension unloading mode switching push button under handle mode, then it is switched at once corresponding
Mode.
A kind of intelligent boosting manipulator control system, it is characterised in that: the system control under the suspension mode
Process are as follows: after system is switched to suspension mode, the pull pressure sensor on handle fails, and weighing sensor postpones after a certain period of time
The weight of weight is detected as initial value, is alarmed at once if being more than the maximum weight allowed；Upper and lower limit bit switch while work
Make, if upper limit switch triggers, forbids uplink, can only be downward, if lower position switch triggers, forbid downlink, it can only be upward；
The weight of weighing sensor real-time detection weight simultaneously illustrates that manpower is applied with pressure, workpiece if weight is greater than initial value at this time
It moves downward, if weight is less than initial value at this time, illustrates that manpower is applied with pulling force, workpiece moves upwards, the power that operator applies
Bigger, the revolving speed of servo motor is faster, and workpiece motion s speed is faster, and when manpower leaves workpiece, servo motor stops
A kind of intelligent boosting manipulator control system, it is characterised in that: the system control under the suspension mode
Unloading judgement is also added, can ensure will not rebound when workpiece lands in most cases, if not unloading judgement, normally
In the case of, when workpiece lands, partial relief, weighing sensor detects that overall weight mitigates, it is believed that manpower is applied with upward
Power, to control the case where motor lifts workpiece, causes workpiece that can not land under suspension mode in this way, just having encountered ground will be anti-
Bullet；Unloading judge that specific judgment mode is, when a upper mode of operation be downward, and weighs and reduces threshold of the numerical value more than permission
Value is judged as unloading, motor stalling.Because operator operate workpiece when, pull up and be pressed downward between always exist one
A time pauses, and upward pulling force when only landing, just will appear the feelings for weighing and reducing suddenly all in threshold range
Condition.It is achieved that unloading of the workpiece under suspension mode.
A kind of intelligent boosting manipulator control system, it is characterised in that: the system under the suspension unloading mode
Control flow are as follows: after system is switched to suspension unloading mode, the pull pressure sensor in operation handle fails, and weighing sensor prolongs
The weight of weight is detected after a certain period of time late as initial value, is alarmed at once if being more than the maximum weight allowed；Lower limit is opened
It closes and starts to work, it, can only be upward if triggering, forbids downlink；Simultaneously under suspension unloading mode, workpiece can only be downward, cannot
Upwards, that is, just think to weigh when reducing, control motor rotation, when weigh increase when, continue to read.
The increased suspension unloading mode of the present invention can satisfy unloading of the workpiece of arbitrary shape on any inclined-plane, due to
Workpiece shapes are irregular or when unloading on inclined-plane, weigh and reduce numerical value in the threshold value of permission, difficult using suspension mode
To realize unloading, the unloading mode that just needs to suspend at this time completes unloading.
A kind of intelligent boosting manipulator control system, it is characterised in that: the lifting system includes retarder, volume
Cylinder, for being driven, lifting workpieces.
The invention has the advantages that
1. the lifting means such as traditional electric block are by pressing key control, control mode is single, needs operator's hand adept
Handle, key, which is realized, promotes decline, inefficiency, and ease for use is poor.The control system of intelligent boosting manipulator of the invention controls mould
Formula multiplicity, it is flexibly changeable, manual operating workpiece is directly used, or by handle assist transportation, be easily used, people and machine can be made
Device can greatly improve production efficiency, save the cost in a physical space work compound.
2. traditional lifting means speed adjustable extent is small, position inaccurate, precision component or breakables are being carried
When being unloaded, it is easy to collide with ground, thus damage product.And the control system of intelligent boosting manipulator of the invention
System, the operating force by detecting people, which changes, promotes speed, and speed variation is big, is able to achieve fine tuning, and accurate quickly positioning can
It prevents from scratching, collide equal loss.Unloading judgement and suspension unloading mode by suspension mode, can complete arbitrary shape
Workpiece, the steady unloading on any ground or inclined-plane effectively prevent the rebound of workpiece, practical, have a wide range of application.
3. reliability control system of the present invention and stability are stronger, in original state and operational process to sensor signal
Reasonable threshold value is set, jitter conditions caused by sensor values fluctuation or other disturbing factors are effectively prevented, so that mentioning
The process of liter is steadily reliable, and precision is high.
Detailed description of the invention
Fig. 1 is a kind of intelligent boosting manipulator control system schematic diagram of the present invention；
Fig. 2 is a kind of intelligent boosting manipulator control system handle mode control flow figure of the present invention；
Fig. 3 is a kind of intelligent boosting manipulator control system suspension mode control flow figure of the present invention；
Fig. 4 is a kind of intelligent boosting manipulator control system suspension unloading mode control flow chart of the present invention；
Fig. 5 is the corresponding relationship that a kind of intelligent boosting manipulator control system of the present invention promotes speed and operating force.
In figure: lifting system 1, operation handle 2, workpiece 3, weighing sensor 4, limit switch 5, servo motor 6, servo are driven
Dynamic device 7, plc8, photoelectric sensor 9, pull pressure sensor 10, mode switch button 11.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment.
As shown in Figure 1, a kind of intelligence boosting manipulator control system, the intelligence boosting manipulator includes lifting system 1
And its operation handle 2, lifting system 1 includes retarder, reel, and for being driven, lifting workpieces 3, the setting of operation handle 2 is being promoted
The lower section of system 1, control system include weighing sensor 4, limit switch 5, servo motor 6, servo-driver 7, plc8, light
Electric transducer 9, pull pressure sensor 10, mode switch button 11；
The weighing sensor, limit switch and lifting system are arranged together, and weighing sensor is for detection system
Total weighing capacity；Limit switch is divided into upper limit switch and lower position switch, for limiting the extreme higher position and minimum of workpiece promotion
Position；
The photoelectric sensor, pull pressure sensor and mode switch button are arranged on handle, and photoelectric sensor is used for
Whether detection manpower holds operation handle；Pull pressure sensor is for detecting the operating force that manpower is applied in operation handle；Mould
Formula switching push button includes suspension mode button and suspension unloading mode button, in conjunction with photoelectric sensor for switching including handle mould
Three kinds of operation modes including formula, suspension mode, suspension unloading mode；
The weighing sensor, limit switch, photoelectric sensor, the signal of pull pressure sensor and mode switch button are equal
Plc is inputted, plc sends control instruction to servo-driver according to input signal, and servo-driver is watched according to control signal driving
Motor rotation is taken, workpiece is driven to be promoted or declined.
The concrete operations mode of three kinds of operation modes are as follows: when manpower holds handle, the signal that photoelectric sensor will test
Plc is inputted, system is switched to handle mode；When suspension mode button is pressed, plc detects signal, and system is switched to suspension mould
Formula；When suspension unloading mode button is pressed, plc detects signal, and system is switched to suspension unloading mode.
As shown in Fig. 2, the system control process under handle mode are as follows: after system is switched to handle mode, in operation handle
Pull pressure sensor come into force, weighing sensor judges whether lifting workpieces overweight, if be more than allow maximum weight if at once
Alarm；Upper and lower limit bit switch works at the same time, if upper limit switch triggers, forbids uplink, can only be downward, if lower position switch
Triggering, then forbid downlink, can only be upward, and pull pressure sensor detects the size of the pulling force that manpower applies or pressure, and plc, which is read, to be drawn
Pressure sensor Numerical Control servo motor revolving speed；Gently pulling process handle, workpiece move downward downwards；Manipulator is mentioned upwards
Handle, workpiece move upwards, and the speed of workpiece motion s is directly proportional to operating force, and operating force is bigger, and workpiece motion s speed is faster, smaller
Speed is lower, and when manpower leaves handle, servo motor stops immediately；Meanwhile if suspension mode is pressed under handle mode
Or suspension unloading mode switching push button, then it is switched to corresponding mode at once.
As shown in figure 3, the system control process under suspension mode are as follows: the drawing after system is switched to suspension mode, on handle
Pressure sensor failure, weighing sensor delay detect the weight of weight as initial value after a certain period of time, if being more than to allow
Maximum weight is then alarmed at once；Upper and lower limit bit switch works at the same time, if upper limit switch triggers, forbids uplink, Zhi Nengxiang
Under, if lower position switch triggers, forbid downlink, it can only be upward；The weight of weighing sensor real-time detection weight simultaneously, if this
Shi Chongliang is greater than initial value, illustrates that manpower is applied with pressure, and workpiece moves downward, if weight is less than initial value at this time, illustrates people
Hand is applied with pulling force, and workpiece moves upwards, and the power that operator applies is bigger, and the revolving speed of servo motor is faster, workpiece motion s speed
Faster, when manpower leaves workpiece, servo motor stops
System control under suspension mode also adds unloading judgement, when can ensure that workpiece lands in most cases
It will not rebound, if not unloading judgement, under normal circumstances, when workpiece lands, partial relief, weighing sensor detects whole weight
Amount mitigates, it is believed that manpower is applied with upward power, so that controlling motor lifts workpiece, leads to workpiece nothing under suspension mode in this way
The case where method lands will rebound with just having encountered；Unloading judge that specific judgment mode is, when a upper mode of operation be it is downward,
And the threshold value for reducing that numerical value is more than permission that weighs, that is, it is judged as unloading, motor stalling.Because when operator operates workpiece,
Always there is time between pulling up and being pressed downward pauses, and upward pulling force is all in threshold range, when only landing,
It just will appear the case where weighing unexpected reduction.It is achieved that unloading of the workpiece under suspension mode.
As shown in figure 4, the system control process under suspension unloading mode are as follows: after system is switched to suspension unloading mode, behaviour
Make the pull pressure sensor failure on handle, weighing sensor delay detects the weight of weight as initial value after a certain period of time,
It alarms at once if being more than the maximum weight allowed；Lower position switch is started to work, can only be upward if triggering, forbids downlink；
Simultaneously under suspension unloading mode, workpiece can only be downward, cannot be upward, that is, just thinks to weigh when reducing, control motor rotation, when
It weighs when increasing, continues to read.
The increased suspension unloading mode of the present invention can satisfy unloading of the workpiece of arbitrary shape on any inclined-plane, due to
Workpiece shapes are irregular or when unloading on inclined-plane, weigh and reduce numerical value in the threshold value of permission, difficult using suspension mode
To realize unloading, the unloading mode that just needs to suspend at this time completes unloading.
Limit switch: being divided into upper limit switch and lower position switch, when being raised to upper limit on a robotic arm, no matter carries out assorted
Uplink is all forbidden in operation, but can be moved downward, and when manipulator drops to lower limit, no matter carries out that operation is all forbidden
Downlink, but can move upwards.
The promotion speed of control system of the present invention and the corresponding relationship of operating force are as shown in figure 5, be less than threshold in operating force
When value, so that promoting speed is zero, shake brought by sensor values fluctuation can be prevented in this way, so that control effect is more
It is good.In addition, in the process of running, it is assumed that the operating force of last moment detection is F1, the operating force of current time detection is F2, ε is
Threshold value, only as | F2-F1When | > ε, just according to F2Value control motor rotation, in this way can due to sensor values fluctuate or
Jitter conditions caused by other disturbing factors, so that intelligent boosting manipulator operation is more stable, control effect is more preferably.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of intelligence boosting manipulator control system, the intelligence boosting manipulator includes lifting system and its operation handle,
The lower section of lifting system is arranged in operation handle, which is characterized in that control system includes weighing sensor, limit switch, watches
Take motor, servo-driver, plc, photoelectric sensor, pull pressure sensor, mode switch button；
The weighing sensor, limit switch and lifting system are arranged together, and weighing sensor is used for the general name of detection system
Weight；Limit switch is divided into upper limit switch and lower position switch, for limiting extreme higher position and the extreme lower position of workpiece promotion；
The photoelectric sensor, pull pressure sensor and mode switch button are arranged on handle, and photoelectric sensor is for detecting
Whether manpower holds operation handle；Pull pressure sensor is for detecting the operating force that manpower is applied in operation handle；Mode is cut
Changing button includes suspension mode button and suspension unloading mode button, in conjunction with photoelectric sensor for switch include handle mode,
Three kinds of operation modes including suspension mode, suspension unloading mode；
The weighing sensor, limit switch, photoelectric sensor, pull pressure sensor and mode switch button signal input
Plc, plc send control instruction to servo-driver according to input signal, and servo-driver is according to control signal driving servo electricity
Machine rotation drives workpiece to be promoted or declined.
2. a kind of intelligent boosting manipulator control system according to claim 1, it is characterised in that: three kinds of operations mould
The concrete operations mode of formula are as follows: when manpower holds handle, the signal that photoelectric sensor will test inputs plc, and system is switched to
Handle mode；When suspension mode button is pressed, plc detects signal, and system is switched to suspension mode；When suspension unloading mode is pressed
Button is pressed, and plc detects signal, and system is switched to suspension unloading mode.
3. a kind of intelligent boosting manipulator control system according to claim 2, it is characterised in that: under the handle mode
System control process are as follows: after system is switched to handle mode, the pull pressure sensor in operation handle comes into force, weighing sensor
Judge whether lifting workpieces are overweight, alarms at once if being more than the maximum weight allowed；Upper and lower limit bit switch works at the same time, if
Upper limit switch triggering, then forbid uplink, can only be downward, if lower position switch triggers, forbids downlink, can only be upward, tension and compression
Force snesor detects the size of the pulling force that manpower applies or pressure, and plc reads pull pressure sensor Numerical Control servo motor and turns
Speed；Gently pulling process handle, workpiece move downward downwards；Operation handle is proposed upwards, workpiece moves upwards, the speed of workpiece motion s
Directly proportional to operating force, operating force is bigger, and workpiece motion s speed is faster, and smaller speed is lower, when manpower leaves handle, servo
Motor stops immediately；Meanwhile if pressing suspension mode or suspension unloading mode switching push button under handle mode, then cut at once
Change to corresponding mode.
4. a kind of intelligent boosting manipulator control system according to claim 3, it is characterised in that: under the suspension mode
System control process are as follows: after system is switched to suspension mode, the failure of pull pressure sensor on handle, weighing sensor delay
The weight of weight is detected after a certain period of time as initial value, is alarmed at once if being more than the maximum weight allowed；Upper and lower limits are opened
Pass works at the same time, if upper limit switch triggers, forbids uplink, can only be downward, if lower position switch triggers, forbids downlink,
It can only be upward；The weight of weighing sensor real-time detection weight simultaneously illustrates that manpower is applied with if weight is greater than initial value at this time
Pressure, workpiece move downward, if weight is less than initial value at this time, illustrate that manpower is applied with pulling force, workpiece moves upwards, operator
The power of application is bigger, and the revolving speed of servo motor is faster, and workpiece motion s speed is faster, and when manpower leaves workpiece, servo motor stops
Only
5. a kind of intelligent boosting manipulator control system according to claim 4, it is characterised in that: under the suspension mode
System control also add unloading judgement, unloading judge specific judgment mode are as follows: when a upper mode of operation is downward, and title
It is more than the threshold value allowed that weight, which reduces numerical value, that is, is judged as that workpiece unloading under suspension mode is realized in unloading, servo motor stalling
It carries.
6. a kind of intelligent boosting manipulator control system according to claim 3, it is characterised in that: the suspension unloads mould
System control process under formula are as follows: after system is switched to suspension unloading mode, the pull pressure sensor in operation handle fails, and claims
Weight sensor delay detects the weight of weight as initial value after a certain period of time, reports at once if being more than the maximum weight allowed
It is alert；Lower position switch is started to work, can only be upward if triggering, forbids downlink；Simultaneously under suspension unloading mode, workpiece is only
Can downwards, cannot be upward, that is, just think to weigh when reducing, control motor rotation, when weigh increase when, continue to read.
7. a kind of intelligent boosting manipulator control system according to claim 1, it is characterised in that: the lifting system packet
Retarder, reel are included, for being driven, lifting workpieces.
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| CN201910260106.8A CN109927057B (en) | 2019-04-02 | 2019-04-02 | Intelligent power-assisted manipulator control system |
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| CN201910260106.8A CN109927057B (en) | 2019-04-02 | 2019-04-02 | Intelligent power-assisted manipulator control system |
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| CN110989484A (en) * | 2019-12-04 | 2020-04-10 | 合肥工业大学 | Automatic positioning control system for stabilizer bar |
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| CN111634836A (en) * | 2020-06-10 | 2020-09-08 | 合肥工业大学 | Operating handle of power-assisted lifting equipment |
| CN113371561A (en) * | 2021-05-31 | 2021-09-10 | 浙江金轴机电科技有限公司 | Intelligent elevator control method and system |
| CN113681562A (en) * | 2021-08-31 | 2021-11-23 | 上海交大智邦科技有限公司 | Assembly system and method based on double-manipulator cooperation |
| CN114380239A (en) * | 2020-10-22 | 2022-04-22 | 浙江中力机械股份有限公司 | Manual-automatic switching device |
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