CN203228236U - Manipulator positioning control system with remote monitoring function - Google Patents

Manipulator positioning control system with remote monitoring function Download PDF

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Publication number
CN203228236U
CN203228236U CN 201220428177 CN201220428177U CN203228236U CN 203228236 U CN203228236 U CN 203228236U CN 201220428177 CN201220428177 CN 201220428177 CN 201220428177 U CN201220428177 U CN 201220428177U CN 203228236 U CN203228236 U CN 203228236U
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CN
China
Prior art keywords
control system
manipulator
positioning control
remote monitoring
manipulator positioning
Prior art date
Application number
CN 201220428177
Other languages
Chinese (zh)
Inventor
郭大刚
Original Assignee
天津盛弘科技发展有限公司
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Publication date
Application filed by 天津盛弘科技发展有限公司 filed Critical 天津盛弘科技发展有限公司
Priority to CN 201220428177 priority Critical patent/CN203228236U/en
Application granted granted Critical
Publication of CN203228236U publication Critical patent/CN203228236U/en

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Abstract

The utility model pertains to the technology of a manipulator with a remote monitoring function and especially relates to a manipulator positioning control system with the remote monitoring function. The manipulator positioning control system with the remote monitoring function comprises a PC with an Ethernet interface. The manipulator positioning control system with the remote monitoring function is connected with a human-computer interface via the PC with the Ethernet interface and is connected with a programmable control unit with a serial communication bus via the human-computer interface and is connected with a servo drive mechanism and a pneumatic actuator via the programmable control unit with the serial communication bus. Each internal memory register records athe distributing of address drivers to target device function modules. The manipulator positioning control system plays an effective role in achieving precise positioning of a manipulator.

Description

A kind of manipulator positioning control system of remote monitoring

Technical field

The utlity model has the manipulator of remote monitoring function, particularly a kind of manipulator navigation system of remote monitoring.

Background technology

Because some special circumstances and work under bad environment make the workman directly not contact or manually the location is very difficult, the hand labor fatigue strength is big, so production efficiency is low concerning enterprise, and product fraction defective height, the personnel selection cost increases.Along with development of science and technology, continuous development and the improvement of production technology and production technology, manipulator has replaced human labour gradually in some aspects, it both can be used for actual production, can satisfy the assembling work content, change repetitive operation frequently, the present invention combines motor-driven and pneumatic advantage, the accurate location that utilizes the high characteristics of servomotor drive control precision to realize manipulator utilizes air pressure driving advantage to realize approaching and grasping fast the action of material.And realize operated from a distance and monitor on-the-spot real time status in conjunction with Ethernet and universal serial bus technology, improved the efficiency of management, reduce the generation of bad product, for enterprise has reduced production cost.

Summary of the invention

The purpose of this utility model provides a kind of remote monitoring machinery hand positioning control system, this system is a kind of manipulator positioning control system for remote monitoring, it is characterized in that: comprise the PC that has Ethernet interface, be connected with man-machine interface by the PC that has Ethernet interface, link to each other by the control module able to programme of man-machine interface with the band serial communication bus, control module able to programme by the band serial communication bus links to each other with servo-actuating device and pneumatic actuator, each storage inside register is put down in writing respectively to target device functional module dynamically allocate address and is driven, it is characterized in that with Industrial PC Computer as the control centre in management control room by the man-machine interface on the ethernet communication field apparatus, monitoring and the on-the-spot situation of control, man-machine interface is connected with Programmable Logic Controller and servo-actuating device by the RS485 communication bus, the frequency of Programmable Logic Controller by sending pulse and speed and the position of the pulse number control servo-actuating device of transmission, the pneumatic actuator of arranging in pairs or groups on the servo-actuating device, computing by Programmable Logic Controller makes pneumatic actuator grab workpiece in certain location, at the certain location part of knocking off.

Said manipulator positioning control system in the such scheme, be with Industrial PC Computer as the control centre in management control room by the man-machine interface on the ethernet communication field apparatus, monitoring and the on-the-spot situation of control, man-machine interface is connected with Programmable Logic Controller and servo-actuating device by the RS485 communication bus.

Said manipulator positioning control system in the such scheme is with the frequency of Programmable Logic Controller by sending pulse and speed and the position of the pulse number control servo-actuating device of transmission.

Said manipulator positioning control system in the such scheme is with the pneumatic actuator of arranging in pairs or groups on the servo-actuating device, and the computing by Programmable Logic Controller makes pneumatic execution grab workpiece in certain location, and the artificial location of ratio of precision promotes greatly.

In the native system, the main servo driving mechanism has master driver, servomotor, shaft coupling, transmission is with synchronously, the front limit sensor, back limit sensors, origin sensor is formed, it is characterized in that master driver drives servomotor and is with synchronously with transmission by shaft coupling and is connected, make synchronous band realize the front and back running, limit sensors in its mechanism avoids the malfunctioning damage of control appliance to equipment and personnel's injury, navigate to initial point by origin sensor location servomotor when turning round at the beginning, pneumatic actuator is by air compressor, oil water separator, tracheae, magnetic valve and cylinder are formed; Calculated by Programmable Logic Controller according to the data that host computer is set, reach the opening and closing of the distance back control pneumatic actuator of setting, thereby drive workpiece motion s.

The utility model has the advantages that: one, system motor drive control precision height, the accurate location of realizing manipulator utilizes air pressure driving advantage to realize approaching and grasp the object action fast, and Pneumatic manipulator is simple in structure, pollution-free, strong interference immunity; Finish data based on the policer operation software of serial communication bus level Ethernet exploitation and handle, the monitoring of the control and management task of demonstration and complexity makes operating personnel's long-range and local monitor system works situation in real time, and cost is low, with strong points; Two, accommodation and promotion prospect: system can be widely used on all kinds of production lines; Three, extended mode flexible and convenient need not bigger change and just can realize many manipulator positioners of Long-distance Control, can be used in combination with automatic assembly line, and application is extensive, economic benefit is considerable; Four, remote monitoring machinery hand positioning control system also can be worked under adverse circumstances such as vibrations, inflammable, explosive, poisonous, radiation, and operating personnel can carry out Long-distance Control and supervision in the safety zone, thereby satisfy the operation requirement under the particular surroundings.

Description of drawings

Fig. 1 is structural representation of the present utility model.

Fig. 2 is structural representation of the present utility model.

The specific embodiment

Case study on implementation is for being used for the control system of remote monitoring machinery hand location.

The structure of this system comprises pneumatic actuator and servomotor mechanism as depicted in figs. 1 and 2.Pneumatic actuator (Fig. 1) comprises compressor (Fig. 1-1) air pump (Fig. 1-2) cylinder 2 (Fig. 1-4) cylinder 1 (Fig. 1-5) magnetic valve (Fig. 1-3).Magnetic valve (Fig. 1-3) control cylinder 2 (Fig. 1-4) cylinder 1 (Fig. 1-5).Cylinder 2 (Fig. 1-4) is controlled manipulator (Fig. 1-6) tensioning, is unclamped motion, rising, the descending motion of cylinder 1 (Fig. 1-5) control manipulator (Fig. 1-6).Servomotor mechanism (Fig. 2) is with synchronously with transmission by shaft coupling (Fig. 2-8) by servomotor (Fig. 2-7) and is connected, realize the control of manipulator location, it navigates to initial point by origin sensor location servomotor when turning round at the beginning, connect back limit sensors (Fig. 2-9) front limit sensor (Fig. 2-12) and fixed block (Fig. 2-13) by leading screw (Fig. 2-11), be running before and after band is realized synchronously, avoid the malfunctioning damage of control appliance to equipment and personnel's injury.

The implementation case can be finished following work: calculated by Programmable Logic Controller according to the data that host computer is set, reach the opening and closing of the distance back control pneumatic actuator of setting, thereby drive workpiece motion s.

Claims (4)

1. the manipulator positioning control system of a remote monitoring, it is characterized in that: comprise the PC that has Ethernet interface, be connected with man-machine interface by the PC that has Ethernet interface, link to each other by the control module able to programme of man-machine interface with the band serial communication bus, control module able to programme by the band serial communication bus links to each other with servo-actuating device and pneumatic actuator, and each storage inside register is put down in writing respectively to target device functional module dynamically allocate address and driven.
2. manipulator positioning control system according to claim 1 is characterized in that being connected with Programmable Logic Controller and servo-actuating device by the RS485 communication bus with control centre's man-machine interface of Industrial PC Computer as the management control room.
3. manipulator positioning control system according to claim 2 is characterized in that the frequency of Programmable Logic Controller by sending pulse and speed and the position of the pulse number control servo-actuating device of transmission.
4. manipulator positioning control system according to claim 3 is characterized in that the pneumatic actuator of arranging in pairs or groups on the servo-actuating device, and the computing by Programmable Logic Controller makes pneumatic execution grab workpiece in certain location.
CN 201220428177 2012-08-28 2012-08-28 Manipulator positioning control system with remote monitoring function CN203228236U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220428177 CN203228236U (en) 2012-08-28 2012-08-28 Manipulator positioning control system with remote monitoring function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220428177 CN203228236U (en) 2012-08-28 2012-08-28 Manipulator positioning control system with remote monitoring function

Publications (1)

Publication Number Publication Date
CN203228236U true CN203228236U (en) 2013-10-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220428177 CN203228236U (en) 2012-08-28 2012-08-28 Manipulator positioning control system with remote monitoring function

Country Status (1)

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CN (1) CN203228236U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106003044A (en) * 2016-06-21 2016-10-12 河北工程大学 Control system of automatic handling equipment for nut heat treatment
CN108015746A (en) * 2017-12-01 2018-05-11 王冬冬 Industry mechanical arm transmission mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106003044A (en) * 2016-06-21 2016-10-12 河北工程大学 Control system of automatic handling equipment for nut heat treatment
CN108015746A (en) * 2017-12-01 2018-05-11 王冬冬 Industry mechanical arm transmission mechanism

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20131009

Termination date: 20150828

EXPY Termination of patent right or utility model