CN110434875A - A kind of control system for loading and unloading robot - Google Patents
A kind of control system for loading and unloading robot Download PDFInfo
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- CN110434875A CN110434875A CN201910729539.3A CN201910729539A CN110434875A CN 110434875 A CN110434875 A CN 110434875A CN 201910729539 A CN201910729539 A CN 201910729539A CN 110434875 A CN110434875 A CN 110434875A
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- airborne
- module
- control
- remote controler
- microcontroller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- 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
- B25J9/1689—Teleoperation
Abstract
The present invention discloses a kind of control system for loading and unloading robot, is related to machine automatization control technology field, including the portable end of remote controler and the airborne end of remote controler, airborne automatically controlled end, actuating station and the sensor ends that are mounted in handling robot；The portable end of remote controler exports control instruction information according to user operation instruction；The airborne end of remote controler receives control instruction information and is transmitted to airborne automatically controlled end；Sensor ends acquire the running state information of handling robot in real time；Airborne automatically controlled end exports the drive control pulse width modulating signal of electronically controlled proportional valve according to control instruction information and running state information, and is transmitted to actuating station to realize the control to handling robot；The running state information for loading and unloading robot and external environment video information are also uploaded to the portable end of remote controler to load and unload the operating status and external environment of robot to user's real-time display by the airborne end of remote controler.Therefore, control system provided by the invention greatly promotes environmental suitability and the manipulation safety of handling robot.
Description
Technical field
The present invention relates to machine automatization control technology fields, more particularly to a kind of control system for loading and unloading robot.
Background technique
Currently, the medium-and-large-sized cargo handling haulage equipment of logistic industry is still based on traditional fork truck.But conventional forklift exists
Some problems present in itself design, conventional forklift have been difficult to meet modern logistics industry to logistic efficiency raising, warehousing management
Intelligent level promoted, logistics service level promoted, cost of labor reduce etc. current demand, promote people forklift truck products with
Outside, seek the more perfect substitute of function.Meanwhile logistics distribution link is always for the difficult problem of relatively large cargo
The problem of logistic industry urgent need to resolve.Therefore, need of the modern logistics industry to the handler that can be transported with logistics vehicles
Ask more more and more intense.
As modern high technology continually introduces, the combination of all kinds of new and high technologies and industrial equipment is even closer, especially
The fast development of computer technology, automatic control technology and sensor technology, so that industrial equipment is in energy conservation, efficient, operation essence
It is greatly improved in the performances such as degree, human engineering and facility information, external industrial equipment manufacture commercial city is proposed corresponding new
Type product, and continue competitively put into substantial contribution, man power and material, carry out industrial equipment electric-control system new and high technology research and
Exploitation.
Electric-control system is changed into electronic control means by traditional mechanical means to the control content of each course of work, improves
Control precision extends control content and control means.In order to develop the logistics of new generation dress for adapting to market development requirement
Robot product is unloaded, traditional side loader product will be with modern electronic technology, robot technology, computer technology, artificial intelligence
The new and high technologies such as energy technology, mechanics of communication, multi-sensor fusion technology and the network information technology interpenetrate fusion, are continuously improved
The technology content of equipment.Logistics loads and unloads robot electric-control system as equipment and realizes automation, intelligent, efficient and networking
Important carrier, it has also become the principal element for determining equipment performance is the important R&D direction of current logistics handling robot, is
Where the R&D work center of gravity of current each Logistics Equipment manufacturer.
Summary of the invention
The object of the present invention is to provide a kind of control systems for loading and unloading robot, have the combustion engine powered of handling robot
System control, driving and speed of travel self adaptive control, door frame and pallet fork HYDRAULIC CONTROL SYSTEM, operation safety protection, wireless remote
Control with the major control functions such as communicate.
To achieve the above object, the present invention provides following schemes:
A kind of control system for loading and unloading robot, including the portable end of remote controler and the remote control being mounted in handling robot
The airborne end of device, airborne automatically controlled end, actuating station and sensor ends；
The portable end of remote controler is communicated by wired or wireless mode with the airborne end of the remote controler；The remote controler
Airborne end and the airborne automatically controlled end, the airborne end of the remote controler and the actuating station, the airborne automatically controlled end and the execution
End, the sensor ends are connected by harness mode with the airborne automatically controlled end；
Wherein,
The control instruction that the portable end of remote controler is used to export handling robot according to the user operation instruction of acquisition is believed
Cease simultaneously coded modulation；
The airborne end of remote controler parses the control instruction information for receiving, and described in being transmitted to by corresponding harness
Airborne automatically controlled end；
The sensor ends for acquiring the running state information and external environment video information of handling robot in real time；
The airborne automatically controlled end is used for the running state information according to the control instruction information and the handling robot
The drive control pulse width modulating signal of electronically controlled proportional valve is exported, and the actuating station is transmitted to realize by corresponding harness
Control to handling robot；
The airborne automatically controlled end is also used to the running state information and external environment video information of the handling robot
Be uploaded to the portable end of the remote controler so as to described in user's real-time display load and unload robot operating status and external environment；
The airborne end of remote controler is also used to receive the parsing control instruction information, generates the driving control of electronically controlled proportional valve
Pulse width modulating signal processed, and the actuating station is transmitted to realize the control to handling robot by corresponding harness.
Optionally, the portable end of the remote controler is penetrated including the first microcontroller, the first data acquisition module, the first 433MHz
Frequency module, the first 2.4GHz radio-frequency module, the first RS485 interface module, the first display module and peripheral circuit；First number
It is connect by general input/output port with first microcontroller according to acquisition module, the first 433MHz radio-frequency module
It is connect by Serial Peripheral Interface (SPI) with first microcontroller, the first 2.4GHz radio-frequency module passes through Serial Peripheral Interface (SPI)
It is connect with first microcontroller, first display module passes through general input/output port and first microcontroller
Device connection, the first RS485 interface module are connect by serial ports with first microcontroller.
Optionally, the airborne end of the remote controler includes the second microcontroller, the 2nd 433MHz radio-frequency module, the 2nd 2.4GHz
Radio-frequency module, drive module, the 2nd RS485 interface module and peripheral circuit；The 2nd 433MHz radio-frequency module passes through serial
Peripheral Interface is connect with second microcontroller, and the 2nd 2.4GHz radio-frequency module passes through Serial Peripheral Interface (SPI) and described the
The connection of two microcontrollers, the 2nd RS485 interface module are connect by serial ports with second microcontroller, and described second is micro-
Controller is connect by general input/output port with the drive module；The drive module is also connect with the actuating station.
Optionally, airborne automatically controlled end includes third microcontroller, communication module, the second data acquisition module, control output
Module and the second display module；The communication module is connect by serial ports with the third microcontroller, and second data are adopted
Collection module is connect by general input/output port with the third microcontroller, and second display module passes through general defeated
Enter/output port connect with the third microcontroller, the control output module by general input/output port with it is described
The connection of third microcontroller.
Optionally, the sensor ends include the water temperature sensor being separately connected with second data acquisition module, machine oil
Pressure sensor, air bound sensor, fuel liquid level sensor and video sensor.
Optionally, the actuating station includes the engine start relay being separately connected with the control output module, combustion
Oil pump electrically-controlled valve, running motor electrically-controlled valve, pallet fork control electrically-controlled valve, door frame control electrically-controlled valve and chassis go up and down electrically-controlled valve.
Optionally, the control program at the airborne automatically controlled end is scanned using main program cycle, with Interruption service routine
Parallel program frame.
Optionally, the Primary communication mode radio-frequency module channel radio at the portable end of the remote controler and the airborne end of the remote controler
Letter, secondary communication mode are cable communication.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
(1) remote control mode improves handling robot environmental suitability and safety
Previous heavy forklift mainly carries out operation, remote control charging crane provided by the invention in such a way that driver drives by bus
Device people breaks this intrinsic traditional design, assembles intelligent electric-controlled control system, and all conventional forklifts are realized in a manner of remote control operation
Function realize automatic alarm and monitoring, evade in time in conjunction with the running information and external environment video information of sensor feedback
Risk greatly promotes environmental suitability and the manipulation safety of handling robot.
(2) level of intelligent electric magnet valve ratio control technology hoisting machine people control
Airborne automatically controlled end has the program controling modules such as the PWM control of throttle proportion magnetic valve, automatic shift control strategy,
Also contain PWM drive control program in the airborne end of remote controler.Electric-control system provided by the invention can be according to Operational Control Command, machine
Device people working condition and external environmental information, Intelligent Fusion generate the electricity to fuel pump, hydraulic motor, door frame, pallet fork, chassis etc.
The PWM driving control signal of proportioning valve is controlled, to realize that engine power output, robot is forward/backward, door frame is mobile, goods
Fork lifting, pallet fork inclination, chassis lifting etc. are precisely controlled.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the overall structure block diagram that the embodiment of the present invention loads and unloads robot control system；
Fig. 2 is remote controler of embodiment of the present invention main assembly frame diagram；
Fig. 3 is the general hardware structural block diagram at the airborne automatically controlled end of the embodiment of the present invention；
Fig. 4 is the control program overall framework figure at the airborne automatically controlled end of the embodiment of the present invention.
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.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the overall structure block diagram that the embodiment of the present invention loads and unloads robot control system, as shown in Figure 1, the present embodiment
The handling robot control system of offer include the portable end of remote controler and be mounted on handling robot on the airborne end of remote controler,
Airborne automatically controlled end, actuating station and sensor ends.
The portable end of remote controler is connect by wired or wireless mode with the airborne end of remote controler；The airborne end of remote controler with it is airborne
Automatically controlled end, the airborne end of remote controler and actuating station, airborne automatically controlled end and actuating station, sensor ends and airborne automatically controlled end pass through harness side
Formula is connected.
Sensor ends include the water temperature sensor being separately connected with second data acquisition module at airborne automatically controlled end, engine oil pressure
Sensor, air bound sensor, fuel liquid level sensor and video sensor.
Actuating station includes the engine start relay being separately connected with the control output module at airborne automatically controlled end, fuel pump
Electrically-controlled valve, running motor electrically-controlled valve, pallet fork control electrically-controlled valve, door frame control electrically-controlled valve and chassis go up and down electrically-controlled valve.
Wherein,
The portable end of remote controler is used to export the control instruction information of handling robot simultaneously according to the user operation instruction of acquisition
Coded modulation.
The airborne end of remote controler is transmitted to airborne automatically controlled end by corresponding harness for receiving parsing control instruction information.
Sensor ends for acquiring the running state information of handling robot in real time.
Airborne automatically controlled end is used to execute control according to the running state information output of control instruction information and handling robot
Signal, and actuating station is transmitted to realize the control to handling robot by corresponding harness.
Airborne automatically controlled end is also used to upload the running state information of the handling robot and external environment video information
To the portable end of the remote controler so as to described in user's real-time display load and unload robot operating status and external environment.
The airborne end of remote controler is also used to receive parsing control instruction information, and the drive control pulse for generating electronically controlled proportional valve is wide
Modulated signal is spent, and actuating station is transmitted to realize the control to handling robot by corresponding harness.
Remote controler
Remote controler is made of portable end and airborne end, is mainly carried out wireless communication between the two by radio-frequency module, cable
Communication is used as standby mode.
The operational orders such as capture button, rocking bar and status information are responsible in the portable end of remote controler, generate corresponding control instruction,
And the airborne end of remote controler is sent to by wireless radio frequency modules/cable.It is responsible for receiving and parsing through control instruction in the airborne end of remote controler
Information, and airborne automatically controlled end is transmitted to realize the control to robot by corresponding harness.
The hardware circuit at the portable end of remote controler is as shown in Fig. 2, include the first microcontroller (MCU), the first power module, the
One data acquisition module, the first 433MHz radio-frequency module, the first 2.4GHz radio-frequency module, the first RS485 interface module, first show
Show module and other peripheral circuits etc..First data acquisition module passes through general input/output port (GPIO) and the first micro-control
Device (MCU) connection processed, the first 433MHz radio-frequency module are connect by Serial Peripheral Interface (SPI) (SPI) with the first microcontroller (MCU),
First 2.4GHz radio-frequency module is connect by Serial Peripheral Interface (SPI) (SPI) with the first microcontroller (MCU), the first RS485 interface
Module connect by serial ports with the first microcontroller (MCU), the first display module pass through general input/output port (GPIO) and
First microcontroller (MCU) connection, the first power module is by voltage regulation of electric power sources to various voltage class and is routed to other and mutually applies
The power input port of electric module.
The airborne end hardware circuit of remote controler is as shown in Fig. 2, include the second microcontroller (MCU), second power supply module, second
433MHz radio-frequency module, the 2nd 2.4GHz radio-frequency module, drive module, the 2nd RS485 interface module and other peripheral circuits etc..
2nd 433MHz radio-frequency module is connect by Serial Peripheral Interface (SPI) (SPI) with the second microcontroller (MCU), the 2nd 2.4GHz radio frequency
Module connect by Serial Peripheral Interface (SPI) (SPI) with the second microcontroller (MCU), the 2nd RS485 interface module pass through serial ports and
Second microcontroller (MCU) connection, second power supply module is by external power supply (airborne 12V battery) pressure regulation to various voltage class
And it is routed to the power input port of other corresponding electricity consumption modules, the second microcontroller (MCU) passes through general input/output port
(GPIO) it is connect with drive module.
Remote control control software mainly completes following work:
(1) system initialization.Including hardware configuration and software configuration.
(2) data acquisition program.By on-off models and analog signals such as I/O circuit capture button, rocking bars, realize
Operational order and the acquisition for loading and unloading robot status information.
(3) radio communication program.By radio communication transport protocol, control handling robot motion and acquisition handling machine
People's status information, system running state, outer environment state information；
(4) serial communication program.Realize that the portable end of remote controler is controlled with the airborne end line cable mode of remote controler.
(5) drive control program.The airborne end of remote controler generates hydraulic motor, door frame, pallet fork, chassis portion according to control instruction
Drive control pulse width modulation (PWM) the signal output of the electronically controlled proportional valve divided.
Remote controler wireless communication procedure: first data collecting module collected at the portable end of remote controler to user operation instruction
Afterwards, user operation instruction signal is transferred to the first microcontroller (MCU) by general input/output port (GPIO), first
Microcontroller (MCU) is transmitted control instruction signal by Serial Peripheral Interface (SPI) (SPI) to after user operation instruction signal processing
To the first 433MHz radio-frequency module, the first 433MHz radio-frequency module encodes control instruction signal, passes through wirelessly after modulation
Transmission is to the airborne end of remote controler.The 2nd 433MHz radio-frequency module at the airborne end of remote controler receives control instruction signal through solving
It is transferred to the second microcontroller (MCU) after tune, decoding by Serial Peripheral Interface (SPI) (SPI), after the second microcontroller (MCU) remakes
Continuous processing.
Remote controler wire communication process: in the case where selecting line traffic control mode, first data acquisition module at the portable end of remote controler is adopted
After collecting user operation instruction, it is micro- that user operation instruction signal is transferred to first by general input/output port (GPIO)
Controller (MCU), the first microcontroller (MCU) are passed control instruction signal by serial ports to after user operation instruction signal processing
It is defeated by the first RS485 interface module, the first RS485 interface module is to passing through cable transmission to being remotely controlled after control instruction Signal coding
The airborne end of device.The 2nd RS485 interface module at the airborne end of remote controler receives the control instruction signal from the portable end of remote controler,
And it is decoded after be transferred to the second microcontroller (MCU) by serial ports, the second microcontroller (MCU) remakes subsequent processing.
Airborne automatically controlled end
The hardware at airborne automatically controlled end forms as shown in figure 3, mainly including third microcontroller, third power module, communication
Module, the second data acquisition module, control output module, second display module etc..Second display module passes through universal input/defeated
Exit port (GPIO) is connect with third microcontroller, and communication module is connect by serial ports with third microcontroller, and the second data are adopted
Collection module connect by general input/output port (GPIO) with third microcontroller, control output module pass through universal input/
Output port (GPIO) is connect with third microcontroller, and voltage regulation of electric power sources to various voltage class and is routed to by third power module
The power input port of other corresponding electricity consumption modules, other external equipments or signal (such as 12V power supply, sensor, key switch,
Remote control/line traffic control instruction, ignition switch, generator, starting motor etc.) then connected by the connecting terminal on airborne automatically controlled terminal circuit plate
It connects.
Third microcontroller is the core at airborne automatically controlled end, and third microcontroller uses ARM core piece, is responsible for signal
Acquisition and system primary control tasks.Third power module is responsible for 12V power conversion being relevant voltage rank to each mould
Block circuit uses.Communication module realizes the wire communication at airborne automatically controlled end Yu the airborne end of remote controler.Second data acquisition module is real
Now the acquisition to sensing datas such as internal combustion engine water temperature, engine oil pressure, fuel liquid level, ambient videos and reception come to remote controler
The control instruction information of airborne end input.Output module is controlled to be believed according to the working condition of control instruction information and handling robot
Breath generates corresponding execute and controls signal, including engine start control signal, generator control signal, starting motor control letter
Number, throttle proportional solenoid valve control signal, lighting headlight control signal, warning lamp control signal, Speaker control signals etc..The
Two display modules include chromatic liquid crystal screen, malfunction indicator lamp, have display oil mass, machine oil, water temperature, receive wireless communication
Number, Lighting control output, the instruction function such as battery alarm parameter.
The entire control program at airborne automatically controlled end is scanned using main program cycle, the parallel journey with Interruption service routine
Sequence frame effectively realizes the control to handling robot, meets the requirement that system controls and monitors.The control at airborne automatically controlled end
Program use modularized design, mainly by data acquisition program module, line traffic control communication program module, real-time control routine module,
System management module, interface display module and alarm monitoring module composition.It is as shown in Figure 4 to control program overall framework.Wherein
It is more that real-time control routine module covers control function, mainly contain engine start procedure, generator startup program and
The output switch parameter of lighting headlight, warning lamp, loudspeaker etc. controls program, PWM control, the fluid drive of throttle proportion magnetic valve
Control strategy etc..
After carrying out simple training to operator just can safety operation control remote control handling robot, make to load and unload robot super
Out in the case where operator's range of visibility, it is functional to be still able to achieve the institute such as handling, carrying.Operator passes through remote controler just
The instruction that end issues is taken, handling robot can receive in 400m effective range and precisely realize following movement: 1) before vehicle
After move, acceleration-deceleration；2) door frame is made up and down and is moved forward and backward along guide rail inside and outside；3) 0 °~90 ° overturnings of door frame fold inside and outside；4)
The lifting of chassis portion structure.Airborne automatically controlled end can feed back robot power to operator in time by underwater acoustic remote control module
The driving states information such as system, equipment, external environment, to play the role of auxiliary operation decision, it is ensured that robot makees
Industry safety.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of control system for loading and unloading robot, which is characterized in that the control system includes the portable end of remote controler and peace
The airborne end of remote controler, airborne automatically controlled end, actuating station and sensor ends in handling robot；
The portable end of remote controler is communicated by wired or wireless mode with the airborne end of the remote controler；The remote controler is airborne
End and the airborne automatically controlled end, the airborne end of the remote controler and the actuating station, the airborne automatically controlled end and the actuating station, institute
Sensor ends are stated to be connected by harness mode with the airborne automatically controlled end；
Wherein,
The portable end of remote controler is used to export the control instruction information of handling robot simultaneously according to the user operation instruction of acquisition
Coded modulation；
The airborne end of remote controler parses the control instruction information for receiving, and is transmitted to by corresponding harness described airborne
Automatically controlled end；
The sensor ends for acquiring the running state information and external environment video information of handling robot in real time；
The airborne automatically controlled end is used to be exported according to the running state information of the control instruction information and the handling robot
The drive control pulse width modulating signal of electronically controlled proportional valve, and the actuating station is transmitted to realize to dress by corresponding harness
Unload the control of robot；
The airborne automatically controlled end is also used to upload the running state information of the handling robot and external environment video information
To the portable end of the remote controler so as to described in user's real-time display load and unload robot operating status and external environment；
The airborne end of remote controler is also used to receive the parsing control instruction information, generates the drive control arteries and veins of electronically controlled proportional valve
Bandwidth modulation signals are rushed, and the actuating station is transmitted to realize the control to handling robot by corresponding harness.
2. a kind of control system for loading and unloading robot according to claim 1, which is characterized in that the portable end of remote controler
Including the first microcontroller, the first data acquisition module, the first 433MHz radio-frequency module, the first 2.4GHz radio-frequency module, first
RS485 interface module, the first display module and peripheral circuit；First data acquisition module passes through universal input/output end
Mouth is connect with first microcontroller, and the first 433MHz radio-frequency module passes through Serial Peripheral Interface (SPI) and first micro-control
Device processed connection, the first 2.4GHz radio-frequency module are connect by Serial Peripheral Interface (SPI) with first microcontroller, and described the
One display module is connect by general input/output port with first microcontroller, and the first RS485 interface module is logical
Serial ports is crossed to connect with first microcontroller.
3. a kind of control system for loading and unloading robot according to claim 1, which is characterized in that the airborne end of remote controler
Including the second microcontroller, the 2nd 433MHz radio-frequency module, the 2nd 2.4GHz radio-frequency module, drive module, the 2nd RS485 interface
Module and peripheral circuit；The 2nd 433MHz radio-frequency module is connect by Serial Peripheral Interface (SPI) with second microcontroller,
The 2nd 2.4GHz radio-frequency module is connect by Serial Peripheral Interface (SPI) with second microcontroller, and the 2nd RS485 connects
Mouth mold block connect by serial ports with second microcontroller, second microcontroller pass through general input/output port and
The drive module connection；The drive module is also connect with the actuating station.
4. a kind of control system for loading and unloading robot according to claim 1, which is characterized in that airborne automatically controlled end includes the
Three microcontrollers, communication module, the second data acquisition module, control output module and the second display module；The communication module
It is connect by serial ports with the third microcontroller, second data acquisition module passes through general input/output port and institute
The connection of third microcontroller is stated, second display module is connected by general input/output port and the third microcontroller
It connects, the control output module is connect by general input/output port with the third microcontroller.
5. it is according to claim 4 it is a kind of load and unload robot control system, which is characterized in that the sensor ends include with
Water temperature sensor that second data acquisition module is separately connected, engine oil pressure pickup, air bound sensor, fuel oil liquid
Level sensor and video sensor.
6. it is according to claim 5 it is a kind of load and unload robot control system, which is characterized in that the actuating station include with
Engine start relay, fuel pump electrically-controlled valve, the running motor electrically-controlled valve, pallet fork control that the control output module is separately connected
Electrically-controlled valve, door frame control electrically-controlled valve and chassis processed go up and down electrically-controlled valve.
7. a kind of control system for loading and unloading robot according to claim 1, which is characterized in that the airborne automatically controlled end
It controls program to scan using main program cycle, the parallel program frame with Interruption service routine.
8. a kind of control system for loading and unloading robot according to claim 1, which is characterized in that the portable end of remote controler
It is wirelessly communicated with the Primary communication mode radio-frequency module at the airborne end of the remote controler, secondary communication mode is cable communication.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021022946A1 (en) * | 2019-08-08 | 2021-02-11 | 桂林市富华金属制品有限公司 | Loading robot and control system thereof |
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Application publication date: 20191112 |