CN203228237U - Learning-memorizing type manipulator system - Google Patents
Learning-memorizing type manipulator system Download PDFInfo
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- CN203228237U CN203228237U CN 201320181419 CN201320181419U CN203228237U CN 203228237 U CN203228237 U CN 203228237U CN 201320181419 CN201320181419 CN 201320181419 CN 201320181419 U CN201320181419 U CN 201320181419U CN 203228237 U CN203228237 U CN 203228237U
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Abstract
The utility model relates to a learning-memorizing type manipulator system comprising a manipulator subsystem, a controller subsystem and an upper computer subsystem. The manipulator subsystem comprises a standardized manipulator, a standardized insert and a manipulator. The standardized insert is connected with the manipulator. The controller subsystem comprises a micro-controller connected with a data command input-output unit, a memory, an A/D module and a D/A module. The data command input/output unit interacts with both the standardized manipulator and the standardized insert for data interaction. The micro-controller is connected with the upper computer subsystem. By the aid of the learning-memorizing type manipulator system, the problems of long developing period, difficulty in erection and changing inconvenience in an existing manipulator system can be solved, and short developing period, easy realization, good scalability, flexibility, high efficiency and energy conservation are achieved.
Description
Technical field
The utility model relates to dynamoelectric intelligent control technology field, particularly relates to a kind of learning and memory type mechanical arm system.
Background technology
In recent years, be accompanied by China's automated production scale and constantly enlarge, the industrial machinery arm grows at top speed in the utilization rate of many industries such as automobile, mould, household electrical appliances, even has replaced manual operations in the production process of many precision parts fully.Mechanical arm is more and more miniaturization, intellectuality also, and application is also permeated to social all trades and professions from industry.
The control content of mechanical arm control system comprises the real time kinematics control (comprising the position that should arrive, the path of passing by, actuation time, movement velocity) in each joint of mechanical arm.In order to adapt to the quick variation of job requirement, mechanical arm is had higher requirement.
Sensor technology is to realize test and the important step of controlling automatically.In test macro, be used as the primary instrument location, its principal character is accurately to transmit and to detect the information of a certain form, and converts thereof into the information of another form.Along with the development of Highgrade integration, sensor also become more and more efficiently, at a low price, be easy to use.
Yet in the face of high demand, the existing machinery arm but exists system's design complicated, and major part all needs professional people to develop at specific job requirement, and the construction cycle is slow.Still can't develop voluntarily at the medium-sized and small enterprises that needs are arranged in a large number.
The utility model content
Technical problem to be solved in the utility model has provided a kind of full-automatic learning and memory type hand, to solve existing machinery hand construction cycle length, to build a series of problems such as difficulty, the inconvenience of change system, reach short, easy row of construction cycle, favorable expandability, flexible, efficient, purpose of energy saving.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of learning and memory type mechanical arm system is provided, comprise mechanical arm subsystem, control device subsystem and host computer subsystem, described mechanical arm subsystem comprises normalization mechanical arm, normalization plug-in unit and mechanical arm; Described normalization plug-in unit links to each other with mechanical arm; Described control device subsystem comprises microcontroller, described microcontroller links to each other with data command input and output device, memory, A/D module and D/A module respectively, and described data command input and output device is realized data interaction with described normalization mechanical arm and normalization plug-in unit respectively; Described microcontroller links to each other with the host computer subsystem.
Described normalization mechanical arm is provided with for first driver that drives the motion of normalization mechanical arm, and is used for obtaining the operator to the first sensor of mechanical arm motion track information.
Described normalization plug-in unit comprises second driver for the driving device arm motion, and is used for obtaining the operator to second sensor of mechanical arm motion track information.
Described normalization mechanical arm links to each other with first power supply respectively with the normalization plug-in unit.
Described microcontroller links to each other with second source.
Described host computer subsystem links to each other with the 3rd power supply.
Beneficial effect
Owing to adopted above-mentioned technical scheme, the utility model compared with prior art, have following advantage and good effect: the utility model has adopted the scheme of control technology and sensor technology combination, track in the time of can allowing systematic learning arrive operating personnel's mechanically moving arm, and can realize the memory-type work of mechanical arm, reduced the construction cycle greatly, and two kinds of mechanical arm schemes have been adopted, feasible exploitation is optimized more, and extensibility is better, has satisfied different user to the mechanical arm requirement of situation such as use and market condition flexibly.The utility model control section has interactive component, and the convenient different operating of realizing also has memory portion, can remember host computer to the four-dimensional process information of the space-time of mechanical arm action.Epigynous computer section of the present utility model provides the good man-machine interaction function, the function of demonstration, design and processing machine arm track can be provided for the user, and change into corresponding execution signal.The utility model has adopted three kinds of study schemes, complementary study, optimization study and learning by imitation, thus control mechanical arm better.Optimizing study can make system more energy-conservation by the optimization to running orbit, and efficient, wherein software section can import/derive each mechanical arm movement locus.The utility model adopts and to utilize the host computer design when needing and to handle corresponding information, carries out in off line when not required, has not only reduced cost but also has avoided the wasting of resources of host computer.
Description of drawings
Fig. 1 is the structured flowchart of the utility model learning and memory type mechanical arm system;
Fig. 2 is the physical object simulating schematic diagram of the utility model learning and memory type mechanical arm system.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiment only are used for explanation the utility model and are not used in the scope of the present utility model that limits.Should be understood that in addition those skilled in the art can make various changes or modifications the utility model after the content of having read the utility model instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Embodiment of the present utility model relates to a kind of learning and memory type mechanical arm system, as depicted in figs. 1 and 2, comprise mechanical arm subsystem, control device subsystem and host computer subsystem, described mechanical arm subsystem comprises normalization mechanical arm, normalization plug-in unit and mechanical arm; Described normalization plug-in unit links to each other with mechanical arm; Described control device subsystem comprises microcontroller, described microcontroller links to each other with data command input and output device, memory, A/D module and D/A module respectively, and described data command input and output device is realized data interaction with described normalization mechanical arm and normalization plug-in unit respectively; Described microcontroller links to each other with the host computer subsystem.Wherein, described normalization mechanical arm is provided with for first driver that drives the motion of normalization mechanical arm, and is used for obtaining the operator to the first sensor of mechanical arm motion track information.Described normalization plug-in unit comprises second driver for the driving device arm motion, and is used for obtaining the operator to second sensor of mechanical arm motion track information.Described normalization mechanical arm links to each other with first power supply respectively with the normalization plug-in unit.Described microcontroller links to each other with second source.Described host computer subsystem links to each other with the 3rd power supply.
The utility model can obtain the trace information that the operator moves mechanical arm by the sensor on the normalization mechanical arm, be uploaded to host computer subsystem part by control device subsystem, through design and processing, obtain corresponding control information, and foldback returns control device subsystem, utilize the memory stores memory, and control the system that driver makes the mechanical arm motion.Wherein the mechanical arm subsystem comprises two parts, and a part satisfies the normalization requirement for normalization mechanical arm device.Another part is normalization plug-in unit and mechanical arm combination, and mechanical arm is chosen as required by the user, satisfies the user uses each mechanical arm to flexibility requirement with this.
Described normalization mechanical arm device comprises first driver, first sensor and mechanical arm part.By the power supply of first power supply, realization is to operator's operational feedback and finish corresponding execution action.
The combination of described normalization plug-in unit and mechanical arm is to comprise the normalization plug-in unit of second driver, second sensor to be combined implementation specification mechanical arm function with mechanical arm.By the power supply of first power supply, realization is to operator's operational feedback and finish corresponding execution action equally.
Described control device subsystem comprises microcontroller, data command input and output device, memory, A/D module, D/A module.Microcontroller contains the communication module that contacts with the host computer subsystem, has satisfied the demand of uploading data.Microcontroller is powered by second source.
Described host computer subsystem can be served as by PC or industrial computer, comprises software section 27, the 3rd power supply 21.Carry out the part power supply by the 3rd power supply for the host computer subsystem.
Described host computer subsystem is furnished with serial ports, in order to communicate by letter transmission sensor detection signal data and control instruction with the control section communication module.Described PC or industrial computer are realized demonstration, the design of related data and the effect of handling as host computer.Wherein, software section comprises design, processing, communication, importing and derivation, human nature interface, preserves part.
The operation principle of the utility model learning and memory type mechanical arm system is:
Control device subsystem automatically detects the facility information in the mechanical arm of outside normalization mechanical arm or band normalization plug-in unit in the back that powers on, and whether check and conform to the situation of memory last time, then export the control signal of memory last time automatically if conform to, finish control to mechanical arm by driver module, thereby realize memory operation repeatedly.If do not conform to, then report an error, wait for that the user handles.
The utility model can be selected corresponding function by the interactive component of control device subsystem, enters mode of learning, memory execution pattern, mode of extension respectively by different selections.
When selecting mode of learning, the operator is the mechanically moving arm as required, sensor obtains the mechanical arm movable information, and be uploaded to the host computer subsystem by control device subsystem, the host computer subsystem carries out respective design and processing, and then returns to control device subsystem, and control device subsystem is stored it, with use after staying, and then realize memory function.At last, control device subsystem is finished the orbiting motion control to mechanical arm according to memory control information control driver module.When the memory execution pattern, control section reads the control information in the memory, is operated on the designated movement track by the driver drives mechanical arm.When mode of extension, mechanical arm quits work, and waits for that operating personnel add normalization mechanical arm assembly or normalization plug-in unit and mechanical arm combination, identify relevant device information afterwards, preserve correct facility information, finish the expansion to the mechanical arm assembly.
Software in the host computer subsystem is after receiving orbiting motion information, and the user can show, design, handle, edits, preserves, download according to different needs, also can reset meter requiring control device subsystem to upload recall info.And reseting meter, when namely requiring control device subsystem to upload recall info, mechanical arm quits work, and waits for that reseting meter finishes, and after the host computer subsystem downloads to control device subsystem with control information, starts working again, realizes security with this.
Under the CAL pattern, can be outside learning functionality, finish control parameter setting to certain module by the professional, thereby realize that some are difficult for allowing mechanical arm finish and the actuator that can't learn is operated in required situation by the operator.Optimizing under the mode of learning, the host computer subsystem is optimized processing to motion track information, by the effect of motion track information after the interface display optimization of host computer subsystem automatically by optimizing algorithm.Under the learning by imitation pattern, the host computer subsystem passes through interface display with the motion track information of control device subsystem automatically, calculates control information corresponding through algorithm.
When not needing host computer to handle trace information, control device subsystem can offline operation under memory pattern, make host computer can handle other affairs.By said method, can finish the learning and memory work of mechanical arm system.
Claims (6)
1. a learning and memory type mechanical arm system comprises mechanical arm subsystem, control device subsystem and host computer subsystem, it is characterized in that, described mechanical arm subsystem comprises normalization mechanical arm, normalization plug-in unit and mechanical arm; Described normalization plug-in unit links to each other with mechanical arm; Described control device subsystem comprises microcontroller, described microcontroller links to each other with data command input and output device, memory, A/D module and D/A module respectively, and described data command input and output device is realized data interaction with described normalization mechanical arm and normalization plug-in unit respectively; Described microcontroller links to each other with the host computer subsystem.
2. learning and memory type mechanical arm according to claim 1 system, it is characterized in that, described normalization mechanical arm is provided with for first driver that drives the motion of normalization mechanical arm, and is used for obtaining the operator to the first sensor of mechanical arm motion track information.
3. learning and memory type mechanical arm according to claim 1 system, it is characterized in that, described normalization plug-in unit comprises second driver for the driving device arm motion, and is used for obtaining the operator to second sensor of mechanical arm motion track information.
4. learning and memory type mechanical arm according to claim 1 system is characterized in that, described normalization mechanical arm links to each other with first power supply respectively with the normalization plug-in unit.
5. learning and memory type mechanical arm according to claim 1 system is characterized in that described microcontroller links to each other with second source.
6. learning and memory type mechanical arm according to claim 1 system is characterized in that described host computer subsystem links to each other with the 3rd power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320181419 CN203228237U (en) | 2013-04-11 | 2013-04-11 | Learning-memorizing type manipulator system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320181419 CN203228237U (en) | 2013-04-11 | 2013-04-11 | Learning-memorizing type manipulator system |
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| Publication Number | Publication Date |
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| CN203228237U true CN203228237U (en) | 2013-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320181419 Expired - Fee Related CN203228237U (en) | 2013-04-11 | 2013-04-11 | Learning-memorizing type manipulator system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584453A (en) * | 2016-06-15 | 2017-04-26 | 北京卫星环境工程研究所 | Spacecraft manipulator man-machine interactive system integrated with intelligent terminal |
| CN108000519A (en) * | 2017-11-24 | 2018-05-08 | 中国船舶重工集团公司第七〇九研究所 | One kind perceives memory-type mechanical arm and its application method |
-
2013
- 2013-04-11 CN CN 201320181419 patent/CN203228237U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584453A (en) * | 2016-06-15 | 2017-04-26 | 北京卫星环境工程研究所 | Spacecraft manipulator man-machine interactive system integrated with intelligent terminal |
| CN108000519A (en) * | 2017-11-24 | 2018-05-08 | 中国船舶重工集团公司第七〇九研究所 | One kind perceives memory-type mechanical arm and its application method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131009 Termination date: 20160411 |