CN112445177A - Intelligent control system for manipulator - Google Patents
Intelligent control system for manipulator Download PDFInfo
- Publication number
- CN112445177A CN112445177A CN202011365266.8A CN202011365266A CN112445177A CN 112445177 A CN112445177 A CN 112445177A CN 202011365266 A CN202011365266 A CN 202011365266A CN 112445177 A CN112445177 A CN 112445177A
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- driving
- manipulator
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- module
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- 238000004519 manufacturing process Methods 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000003904 radioactive pollution Methods 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent control system of a manipulator, which comprises a control module, a driving module and a feedback module, wherein the feedback module and the driving module are respectively and electrically connected with the control module; the control module comprises a PLC controller, a memory and a power module, and the power module and the memory are respectively and electrically connected with the PLC controller; the driving module comprises an X-axis driving cylinder driving the manipulator to move along the X-axis direction, a Y-axis driving cylinder driving the manipulator to move along the Y-axis direction, a Z-axis driving cylinder driving the manipulator to move along the Z-axis direction, a rotary driving motor driving the manipulator to rotate and a clamping cylinder driving two clamping jaws of the manipulator to clamp a product, wherein the X-axis driving cylinder, the Y-axis driving cylinder, the Z-axis driving cylinder, the rotary driving motor and the clamping cylinder are respectively and electrically connected with a PLC (programmable logic controller). The invention prevents the clamping force of the clamping jaw from being overlarge to damage products, and improves the operation precision of the manipulator.
Description
Technical Field
The invention belongs to the technical field of manipulator control, and particularly relates to an intelligent manipulator control system.
Background
In modern industry, mechanization and automation of the production process has become a prominent body. With the further development of industrial modernization, automation has become an important pillar in modern enterprises, and unmanned workshops, unmanned production lines and the like are all visible. Meanwhile, in modern production, various production environments exist, such as high temperature, radioactivity, toxic gas, harmful gas occasions, underwater operation and the like, and the severe production environments are not beneficial to manual operation. The industrial manipulator is a new technology appearing in the field of modern automatic control and is an important component in modern control manufacturing production systems. The industrial manipulator is one of effective means for improving the automation of the production process and improving the labor conditions. Especially in the occasions of high temperature, high pressure, dust, noise and radioactive pollution, the application is wider and certain effect is achieved.
However, the traditional manipulator has the disadvantages of slow response speed, low precision, inaccurate positioning, inconvenience for changing or replacing a production process or a control object when the production process or the control object is changed, and poor universality and flexibility.
Disclosure of Invention
The invention mainly solves the technical problem of providing an intelligent control system for a manipulator, which prevents the clamping force of a clamping jaw from being too large to damage products and improves the operation precision of the manipulator.
In order to solve the technical problems, the invention adopts a technical scheme that: the intelligent control system for the manipulator comprises a control module, a driving module and a feedback module, wherein the feedback module and the driving module are respectively and electrically connected with the control module;
the control module comprises a PLC controller, a memory and a power module, and the power module and the memory are respectively and electrically connected with the PLC controller;
the driving module comprises an X-axis driving cylinder driving the manipulator to move along the X-axis direction, a Y-axis driving cylinder driving the manipulator to move along the Y-axis direction, a Z-axis driving cylinder driving the manipulator to move along the Z-axis direction, a rotary driving motor driving the manipulator to rotate and a clamping cylinder driving two clamping jaws of the manipulator to clamp a product, wherein the X-axis driving cylinder, the Y-axis driving cylinder, the Z-axis driving cylinder, the rotary driving motor and the clamping cylinder are respectively and electrically connected with a PLC (programmable logic controller).
Further, the feedback module comprises an image collector, a pressure sensor and a photoelectric sensor, the pressure sensor is installed on a clamping jaw of the manipulator, and the image collector, the pressure sensor and the photoelectric sensor are all electrically connected with the PLC.
Further, the X-axis driving cylinder, the Y-axis driving cylinder and the Z-axis driving cylinder are all provided with cylinder stroke sensors, and the cylinder stroke sensors are respectively electrically connected with the PLC.
Further, the image collector is a CCD camera or a video camera.
Further, the PLC controller also comprises an alarm device which is electrically connected with the PLC controller.
Further, the alarm device is an audible and visual alarm device.
The invention has the following beneficial effects:
the feedback module comprises an image collector, a pressure sensor and a photoelectric sensor, the photoelectric sensor is used for sensing whether a product is in place or not, and the image collector is used for transmitting the specific position of the product to the PLC, so that the response can be realized quickly, the operation precision of the manipulator is improved, and the pressure sensor is arranged on the clamping jaw of the manipulator, so that the product is prevented from being damaged due to the overlarge clamping force of the clamping jaw;
the X-axis driving cylinder, the Y-axis driving cylinder and the Z-axis driving cylinder are all provided with cylinder stroke sensors, so that the positions of all the driving cylinders are transmitted to the PLC.
Drawings
FIG. 1 is a control circuit diagram of the present invention;
the parts in the drawings are marked as follows:
the device comprises a PLC (programmable logic controller) 11, a memory 12, a power supply module 13, an X-axis driving cylinder 21, a Y-axis driving cylinder 22, a Z-axis driving cylinder 23, a rotary driving motor 24, a clamping cylinder 25, an image collector 31, a pressure sensor 32, a photoelectric sensor 33, a cylinder stroke sensor 34 and an audible and visual alarm device 35.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Example (b): an intelligent control system for a manipulator is shown in fig. 1, and comprises a control module, a driving module and a feedback module, wherein the feedback module and the driving module are respectively and electrically connected with the control module;
the control module comprises a PLC (programmable logic controller) 11, a memory 12 and a power module 13, and the power module and the memory are respectively and electrically connected with the PLC;
the driving module comprises an X-axis driving cylinder 21 driving the manipulator to move along the X-axis direction, a Y-axis driving cylinder 22 driving the manipulator to move along the Y-axis direction, a Z-axis driving cylinder 23 driving the manipulator to move along the Z-axis direction, a rotary driving motor 24 driving the manipulator to rotate, and a clamping cylinder 25 driving two clamping jaws of the manipulator to clamp a product, wherein the X-axis driving cylinder, the Y-axis driving cylinder, the Z-axis driving cylinder, the rotary driving motor and the clamping cylinder are respectively and electrically connected with a PLC (programmable logic controller).
The feedback module comprises an image collector 31, a pressure sensor 32 and a photoelectric sensor 33, the pressure sensor is installed on a clamping jaw of the manipulator, and the image collector, the pressure sensor and the photoelectric sensor are all electrically connected with the PLC.
The X-axis driving cylinder, the Y-axis driving cylinder and the Z-axis driving cylinder are all provided with cylinder stroke sensors 34, and the cylinder stroke sensors are respectively electrically connected with the PLC.
The image collector is a CCD camera or a video camera.
The PLC controller also comprises an alarm device which is electrically connected with the PLC controller.
The alarm device is an audible and visual alarm device 35.
The invention has the following working principle that whether a product is in place is sensed by the photoelectric sensor, the specific position of the product is transmitted to the PLC by the image collector, and the PLC drives the X-axis driving cylinder, the Y-axis driving cylinder, the Z-axis driving cylinder, the rotary driving motor and the clamping cylinder to operate and grab the product, thereby improving the operation precision of the manipulator.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. The utility model provides a manipulator intelligence control system which characterized in that: the device comprises a control module, a driving module and a feedback module, wherein the feedback module and the driving module are respectively and electrically connected with the control module;
the control module comprises a PLC (programmable logic controller) controller (11), a memory (12) and a power module (13), and the power module and the memory are respectively electrically connected with the PLC controller;
the driving module comprises an X-axis driving cylinder (21) driving the manipulator to move along the X-axis direction, a Y-axis driving cylinder (22) driving the manipulator to move along the Y-axis direction, a Z-axis driving cylinder (23) driving the manipulator to move along the Z-axis direction, a rotary driving motor (24) driving the manipulator to rotate and a clamping cylinder (25) driving two clamping jaws of the manipulator to clamp a product, wherein the X-axis driving cylinder, the Y-axis driving cylinder, the Z-axis driving cylinder, the rotary driving motor and the clamping cylinder are respectively and electrically connected with a PLC (programmable logic controller).
2. The intelligent robot control system of claim 1, wherein: the feedback module comprises an image collector (31), a pressure sensor (32) and a photoelectric sensor (33), wherein the pressure sensor is installed on a clamping jaw of the manipulator, and the image collector, the pressure sensor and the photoelectric sensor are electrically connected with the PLC.
3. The intelligent robot control system of claim 1, wherein: the X-axis driving cylinder, the Y-axis driving cylinder and the Z-axis driving cylinder are all provided with cylinder stroke sensors (34), and the cylinder stroke sensors are respectively electrically connected with the PLC.
4. The intelligent robot control system of claim 1, wherein: the image collector is a CCD camera or a video camera.
5. The intelligent robot control system of claim 1, wherein: the PLC controller also comprises an alarm device which is electrically connected with the PLC controller.
6. The intelligent robot control system of claim 5, wherein: the alarm device is a sound-light alarm device (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011365266.8A CN112445177A (en) | 2020-11-28 | 2020-11-28 | Intelligent control system for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011365266.8A CN112445177A (en) | 2020-11-28 | 2020-11-28 | Intelligent control system for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112445177A true CN112445177A (en) | 2021-03-05 |
Family
ID=74738251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011365266.8A Withdrawn CN112445177A (en) | 2020-11-28 | 2020-11-28 | Intelligent control system for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112445177A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114484688A (en) * | 2021-12-15 | 2022-05-13 | 珠海格力电器股份有限公司 | Sterilization self-cleaning filter screen device and method and air conditioner formed by sterilization self-cleaning filter screen device |
-
2020
- 2020-11-28 CN CN202011365266.8A patent/CN112445177A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114484688A (en) * | 2021-12-15 | 2022-05-13 | 珠海格力电器股份有限公司 | Sterilization self-cleaning filter screen device and method and air conditioner formed by sterilization self-cleaning filter screen device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210305 |
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| WW01 | Invention patent application withdrawn after publication |