CN203197933U

CN203197933U - Intelligent control system of mechanical arm

Info

Publication number: CN203197933U
Application number: CN 201320213539
Authority: CN
Inventors: 王志勃; 毕艳茹
Original assignee: Huaian Vocational College of Information Technology
Current assignee: Huaian Vocational College of Information Technology
Priority date: 2013-04-25
Filing date: 2013-04-25
Publication date: 2013-09-18
Anticipated expiration: 2023-04-25

Abstract

The utility model discloses an intelligent control system of a mechanical arm. A rotating shaft (7) is arranged on a base (9) through a support (8). A horizontal air cylinder (6) is arranged on the rotating shaft (7). A vertical air cylinder (1) is arranged on the horizontal air cylinder (6). An executing air jaw (3) is arranged on the vertical air cylinder (1). An RFID card reader (2) is arranged on an arm of the executing air jaw (3). Solenoid valves (10) are arranged on the horizontal air cylinder (6) and the vertical air cylinder (1). The solenoid valves (10) and the RFID card reader (2) are connected with a controller (11). According to the intelligent control system, the mechanical arm has an intelligent identifying function and can identify a workpiece accurately, carry out location quickly and accurately and grip the workpiece firmly.

Description

The intelligence control system of manipulator

Technical field

The utility model relates to manipulator, is specifically related to the intelligence control system of manipulator.

Background technology

Along with the application of industrial robot, manipulator is grabbing workpiece fast and accurately, has become a research topic.Manipulator can imitate some holding function of staff, automatic pilot by fixed routine crawl, carrying object or operation tool, it can replace people's mechanization and the automation of heavy work to realize producing, thereby is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

In the machinery manufacturing industry, industry mechanical arm is used more at home, and development is very fast.Present most of industry mechanical arm is finished the operation of regulation according to the operation procedure of prior formulation, also do not possess any sensory feedback ability, can not deal with extraneous variation.If change of external conditions may cause to flog a dead horse, even damage manipulator, cause certain economic loss, at some particular job environment, need manipulator to install or to carry according to the workpiece that flow of task is chosen different model, choose such as automatic sorting, process tool etc.

Summary of the invention

The purpose of this utility model is: the intelligence control system of the hand that designs a mechanism, and allow manipulator have intelligent recognition function, make manipulator can accurately identify workpiece, accurately locate rapidly, firmly grabbing workpiece.

Technical solution of the present utility model is: this manipulator comprisesVertical cylinder, execution gas pawl, horizontal air cylinder, rotating shaft, support and base, through support rotating shaft is installed on the base, horizontal air cylinder is installed on the rotating shaft, vertical cylinder is installed on the horizontal air cylinder, vertically install on the cylinder and carry out the gas pawl, it is characterized in that: on the arm of execution gas pawl the RFID card reader is installed, on horizontal air cylinder, the vertical cylinder magnetic valve is installed, magnetic valve is connected controller with the RFID card reader; The electric loop of described controller connects as follows: adopting the STC12C5A60S2 single-chip microcomputer is master control CUP, P3.0 by single-chip microcomputer is connected with STCS232 chip the 11st, 12 pins with the P3.1 pin, and the Rxd14 pin of STCS232 linked to each other with 9 pin D type interfaces with the Txd13 pin, use serial ports and Zigbee serial communication in the single-chip microcomputer, the P1.2 of single-chip microcomputer and P4.2 be as communication sending and receiving end, single-chip microcomputer P2 mouth connected electromagnetic valve.

Wherein, the motor-drive circuit of cylinder is 4 motor drive modules in the manipulator, 13,14 pins of motor drive module are the output drive end, directly connect and move motor in the manipulator, 1,6 pins are direct current generator Duty ratio control end in the driver module, be labeled as respectively PWM1 and PWM2, be used for the control dc motor speed and turn to, 1,6 pins link to each other with single-chip microcomputer P0 mouth respectively.

During work, the RFID electronic tag is installed on the workpiece, and when the close workpiece of manipulator, the RFID card reader on the manipulator is by the RFID electronic tag on the procedure identification workpiece, the RFID card reader is by RS232 serial ports and controller communication, and the RFID electronic tag of on-the-spot workpiece is read identification; Controller is crossed the Zigbee wireless communication module with the workpiece information exchange that reads and is uploaded to host computer, host computer judges whether that according to work requirements needs grasp, and will grasp instruction and pass back to controller by the Zigbee module, controller grasps workpiece according to the instruction start-up operation.

The utility modelThe intelligent RFID card reader is installed on the manipulator, simple in structure, integrated level is high, volume is little, and is lightweight, installs easily, identify at a high speed electronic tag, RFID identification work need not manual intervention, adapts to various adverse circumstances, not affected by humidity temperature oil stain etc., the RFID radio frequency identification is a kind of contactless automatic recognition technology, it is automatically identified destination object and obtains related data by radiofrequency signal, and the efficient height of RFID identification detects accurately, crawl firmly, can automatically regulate according to the position of workpiece the position of crawl, convenient, flexible, thus automaticity and the production efficiency of raising production process.

Description of drawings

Fig. 1 is the utility model overall framework figure.

Fig. 2 is the controller circuitry schematic diagram.

Fig. 3 manipulator motor-drive circuit figure.

Fig. 4 is program flow diagram.

Fig. 5 is the robot manipulator structure schematic diagram.

Among the figure: 1 vertical cylinder, 2 RFID card reader, 3 carry out gas pawl, 4 RFID electronic tags, 5 workpiece, 6 horizontal air cylinders, 7 rotating shafts, 8 supports, 9 bases, 10 magnetic valves, 11 controllers, 12 Zigbee wireless communication modules, 13 host computers.

The specific embodiment

As shown in Figure 5, this manipulator comprises Vertical cylinder 1, execution gas pawl 3, horizontal air cylinder 6, rotating shaft 7, support 8 and base 9, through support 8 rotating shaft 7 is installed on the base 9, horizontal air cylinder 6 is installed on the rotating shaft 7, vertical cylinder 1 is installed on the horizontal air cylinder 6, vertically install on the cylinder 1 and carry out gas pawl 3, it is characterized in that: carry out on the arm of gas pawl 3 RFID card reader 2 is installed, horizontal air cylinder 6, vertically on the cylinder 1 magnetic valve 10 is installed, magnetic valve 10 is connected with the RFID card reader and is connected controller 11; As shown in Figure 2, the electric loop of described controller connects as follows: adopting the STC12C5A60S2 single-chip microcomputer is master control CUP, P3.0 by single-chip microcomputer is connected with STCS232 chip the 11st, 12 pins with the P3.1 pin, and the Rxd14 pin of STCS232 linked to each other with 9 pin D type interfaces with the Txd13 pin, use serial ports and Zigbee serial communication in the single-chip microcomputer, the P1.2 of single-chip microcomputer and P4.2 be as communication sending and receiving end, single-chip microcomputer P2 mouth connected electromagnetic valve.

As shown in Figure 3, the motor-drive circuit of cylinder is 4 motor drive modules in the manipulator, 13,14 pins of motor drive module are the output drive end, directly connect and move motor in the manipulator, 1,6 pins are direct current generator Duty ratio control end in the driver module, be labeled as respectively PWM1 and PWM2, be used for the control dc motor speed and turn to, 1,6 pins link to each other with single-chip microcomputer P0 mouth respectively.

Shown in Fig. 1,4, during work, RFID electronic tag 4 is installed on the workpiece 5, when the close workpiece of manipulator, RFID card reader 2 on the manipulator is by the RFID electronic tag 4 on the procedure identification workpiece, RFID card reader 2 is by RS232 serial ports and controller 11 communications, and the RFID electronic tag 4 of on-the-spot workpiece is read identification; Controller 11 is crossed Zigbee wireless communication module 12 with the workpiece information exchange that reads and is uploaded to host computer 13, host computer 13 judges whether that according to work requirements needs grasp, and will grasp instruction and pass back to controller 11 by Zigbee module 12, controller 11 grasps workpiece according to the instruction start-up operation.

Claims

1. the intelligence control system of manipulator, This manipulator comprisesVertical cylinder (1), carry out gas pawl (3), horizontal air cylinder (6), rotating shaft (7), support (8) and base (9), base (9) is upper installs rotating shaft (7) through support (8), the upper horizontal air cylinder (6) of installing of rotating shaft (7), the upper vertical cylinder (1) of installing of horizontal air cylinder (6), vertically upper installation of cylinder (1) carried out gas pawl (3), it is characterized in that: RFID card reader (2) is installed on the arm of execution gas pawl (3), horizontal air cylinder (6), vertically cylinder (1) is upward installed magnetic valve (10), and magnetic valve (10) is connected 2 with the RFID card reader) connection controller (11); The electric loop of controller (11) connects as follows: adopting the STC12C5A60S2 single-chip microcomputer is master control CUP, P3.0 by single-chip microcomputer is connected with STCS232 chip the 11st, 12 pins with the P3.1 pin, and the Rxd14 pin of STCS232 linked to each other with 9 pin D type interfaces with the Txd13 pin, use serial ports and Zigbee serial communication in the single-chip microcomputer, the P1.2 of single-chip microcomputer and P4.2 be as communication sending and receiving end, single-chip microcomputer P2 mouth connected electromagnetic valve.

2. the intelligence control system of manipulator according to claim 1, it is characterized in that: the motor-drive circuit of cylinder is 4 motor drive modules in the manipulator, 13,14 pins of motor drive module are the output drive end, directly connect and move motor in the manipulator, 1,6 pins are direct current generator Duty ratio control end in the driver module, be labeled as respectively PWM1 and PWM2, be used for the control dc motor speed and turn to, 1,6 pins link to each other with single-chip microcomputer P0 mouth respectively.