CN205787832U - A kind of control system based on full automatic wall material construction robot - Google Patents
A kind of control system based on full automatic wall material construction robot Download PDFInfo
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- CN205787832U CN205787832U CN201620471235.3U CN201620471235U CN205787832U CN 205787832 U CN205787832 U CN 205787832U CN 201620471235 U CN201620471235 U CN 201620471235U CN 205787832 U CN205787832 U CN 205787832U
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Abstract
This utility model provides a kind of control system based on full automatic wall material construction robot, including built-in industrial control machine, bus-type motion controller, PLC, chopper and printing board, described built-in industrial control machine, between bus-type motion controller and PLC by the mutual communication of built-in bus communication module；Compared with prior art, this utility model has following beneficial effect: use the control theory of numerical control, the control to servosystem is jointly realized by built-in industrial control machine, bus-type motion controller, PLC and printing board, robot is made to complete walking, spraying, 2D printing, 3D printing and the work of inkjet printing, the moulding of stereo colour model is formed at metope, diversified selected to pattern, the quality of drawing, it is substituted that the work efficiency of air brushing and cost of labor are that additive method is difficult to institute.
Description
Technical field
This utility model is a kind of control system based on full automatic wall material construction robot, belongs to master builder's machine people's apparatus field.
Background technology
Robot is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the work of human work, such as, produce the work of industry, building industry, or danger.Robot of the prior art majority is the mechanical hand that industry spot uses or the robot moved according to trapped orbit.
Existing wall construction technology is artificial free-hand construction, and labor strength is big, and due to workman's construction technology level height, effect after construction it is difficult to ensure that.Cannot complete for complicated 3D model artificial construction at all.The short slab of the colouring of model artificial construction especially.If the form using splicing wall brick carrys out composed pattern, one is, hand labor intensity is big, time-consuming consumptive material.Two are, change or change pattern have been difficult to, and are bigger engineerings, and cost is the highest.Three are, pattern does not has vigor, dull, solid that color does not prints, true to nature.
Jointly realize the control to servosystem by built-in industrial control machine, bus-type motion controller, PLC and printing board, make robot complete walking, 2D printing, 3D printing and the work of inkjet printing, form the moulding of stereo colour model at metope.This technology manually cannot realize.
Utility model content
The deficiency existed for prior art, this utility model purpose is to provide a kind of control system based on full automatic wall material construction robot, with the problem solving to propose in above-mentioned background technology, this utility model is easy to use, convenient to operate, good stability, reliability is high.
To achieve these goals, this utility model is to realize by the following technical solutions: a kind of control system based on full automatic wall material construction robot, including built-in industrial control machine, bus-type motion controller, PLC, chopper and printing board, described built-in industrial control machine, between bus-type motion controller and PLC by the mutual communication of built-in bus communication module；The input of described PLC is connected with the outfan of the outfan of travel switch, the outfan of obliquity sensor, the outfan of laser sensor and rocking bar, described chopper is electrically connected with external circuit, and the outfan of described chopper is connected with the input of input, the input of bus-type motion controller, the input of PLC and the inverter of built-in industrial control machine by cable；Described PLC controls axle driver, horizontal adjustment axle R driver, horizontal adjustment axle T driver, tool magazine advance and retreat axle Q driver and main body rotary shaft K driver by cable and Z-direction and is electrically connected with, and described Z-direction control axle driver, horizontal adjustment axle R driver, horizontal adjustment axle T driver, tool magazine advance and retreat axle Q driver and main body rotary shaft K driver control axle servomotor, horizontal adjustment axle R servomotor, horizontal adjustment axle T servomotor, main body rotary shaft K servomotor and tool magazine advance and retreat axle Q servomotor with Z-direction respectively and be electrically connected with；Described bus-type motion controller and PLC are electrically connected with bobbin movement axle M driver and bobbin movement axle N driver by cable, and described bobbin movement axle M driver and bobbin movement axle N driver are electrically connected with bobbin movement axle M servomotor and bobbin movement axle N servomotor respectively；Bus-type motion controller and printhead move up and down I axle driver, print cartridge rotates B axle driver, printhead rotates A axle driver and print cartridge moves forward and backward J axle driver and is electrically connected with；Described bus-type motion controller and printing clamp control C axle driver by cable and X-direction control axle driver, Y-direction Y-axis driver, Y-direction and Y-direction control K axle driver is electrically connected with.
Further, described inverter is electrically connected with accumulator by cable, and inverter output end is connected with the input of electric hoist and the input of PLC respectively by cable, and accumulator output end is provided with voltmeter.
Further, built-in industrial control machine be internally provided with 4G wireless network card, built-in industrial control machine receives WIFI signal by built-in 4G wireless network card, is bi-directionally connected with server.
Further, described bus-type motion controller is connected with travel switch signal.
Further, described bobbin movement axle M servomotor and bobbin movement axle N servomotor are installed
Inside crawler body.
nullFurther，Described horizontal adjustment axle R driver、Horizontal adjustment axle R servomotor、Horizontal adjustment axle T driver and horizontal adjustment axle T servomotor are used for regulating the motion of horizontal adjustment axle，It is provided with work platforms on horizontal adjustment axle，Print cartridge and printhead it is provided with on described work platforms，Described print cartridge rotates B axle driver and print cartridge moves forward and backward J axle driver for regulating print cartridge motion，Described printhead moves up and down I axle driver and printhead rotates A axle driver for regulating printhead motion，Described laser sensor is arranged on the front of printhead，Tool magazine advance and retreat axle Q driver and tool magazine advance and retreat axle Q servomotor are used for regulating the motion of tool magazine advance and retreat axle，Main body rotary shaft K driver and main body rotary shaft K servomotor are used for regulating the motion of main body rotary shaft，X-direction controls axle driver and is used for regulating X-direction control axle motion，Y-direction Y-axis driver、Y-direction controls C axle driver and Y-direction controls K axle driver and is used for regulating Y-direction control axle motion.
The beneficial effects of the utility model: a kind of control system based on full automatic wall material construction robot of the present utility model, use the control theory of numerical control, the control to servosystem is jointly realized by built-in industrial control machine, bus-type motion controller, PLC and printing board, robot is made to complete walking, spraying, 2D printing, 3D printing and the work of inkjet printing, the moulding of stereo colour model is formed at metope, diversified selected to pattern, the quality of drawing, it is substituted that the effect of air brushing and efficiency are all that the additive methods such as artificial construction are difficult to.
Accompanying drawing explanation
The detailed description with reference to the following drawings, non-limiting example made by reading, other features, objects and advantages of the present utility model will become more apparent upon:
Fig. 1 is the structural representation of a kind of control system based on full automatic wall material construction robot of this utility model；
Detailed description of the invention
For the technological means making this utility model realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with detailed description of the invention, this utility model is expanded on further.
Refer to Fig. 1, a kind of technical scheme of this utility model offer: a kind of control system based on full automatic wall material construction robot, including built-in industrial control machine, bus-type motion controller, PLC, chopper and printing board, built-in industrial control machine, between bus-type motion controller and PLC by the mutual communication of built-in bus communication module.
The input of PLC is connected with the outfan of the outfan of travel switch, the outfan of obliquity sensor, the outfan of laser sensor and rocking bar, chopper is electrically connected with external circuit, and the outfan of chopper is connected with the input of input, the input of bus-type motion controller, the input of PLC and the inverter of built-in industrial control machine by cable.
PLC controls axle driver, horizontal adjustment axle R driver, horizontal adjustment axle T driver, tool magazine advance and retreat axle Q driver and main body rotary shaft K driver by cable and Z-direction and is electrically connected with, and Z-direction control axle driver, horizontal adjustment axle R driver, horizontal adjustment axle T driver, tool magazine advance and retreat axle Q driver and main body rotary shaft K driver control axle servomotor, horizontal adjustment axle R servomotor, horizontal adjustment axle T servomotor, main body rotary shaft K servomotor and tool magazine advance and retreat axle Q servomotor with Z-direction respectively and be electrically connected with.
Bus-type motion controller and PLC are electrically connected with bobbin movement axle M driver and bobbin movement axle N driver by cable, and bobbin movement axle M driver and bobbin movement axle N driver are electrically connected with bobbin movement axle M servomotor and bobbin movement axle N servomotor respectively.
Bus-type motion controller and printhead move up and down I axle driver, print cartridge rotates B axle driver, printhead rotates A axle driver and print cartridge moves forward and backward J axle driver and is electrically connected with.
Bus-type motion controller and printing clamp control C axle driver by cable and X-direction control axle driver, Y-direction Y-axis driver, Y-direction and Y-direction control K axle driver is electrically connected with.
Inverter is electrically connected with accumulator by cable, inverter output end is connected with the input of electric hoist and the input of PLC respectively by cable, provide it 220V power supply, accumulator output end is provided with voltmeter, battery tension value is transferred to PLC by voltmeter, the 48V unidirectional current of accumulator is converted into 220V alternating current by inverter, provides power supply to PLC, bobbin movement axle M servomotor and bobbin movement axle N servomotor.
Built-in industrial control machine be internally provided with 4G wireless network card, built-in industrial control machine receives WIFI signal by built-in 4G wireless network card, is bi-directionally connected with server, and remote device controls file.
Bus-type motion controller is connected with travel switch signal, bobbin movement axle M servomotor and bobbin movement axle N servomotor are arranged on inside crawler body, PLC controls the bobbin movement axle M servomotor on crawler body and the speed of bobbin movement axle N servomotor by AB item pulse format, with phase-difference control bobbin movement axle M servomotor and the direction of bobbin movement axle N servomotor of AB item pulse, to realize crawler body and advance, retreat, to turn left and the action of right-hand rotation four direction.
nullHorizontal adjustment axle R driver、Horizontal adjustment axle R servomotor、Horizontal adjustment axle T driver and horizontal adjustment axle T servomotor are used for regulating the motion of horizontal adjustment axle，It is provided with work platforms on horizontal adjustment axle，Print cartridge and printhead it is provided with on work platforms，Print cartridge rotates B axle driver and print cartridge moves forward and backward J axle driver for regulating print cartridge motion，Printhead moves up and down I axle driver and printhead rotates A axle driver for regulating printhead motion，Laser sensor is arranged on the front of printhead，Tool magazine advance and retreat axle Q driver and tool magazine advance and retreat axle Q servomotor are used for regulating the motion of tool magazine advance and retreat axle，Main body rotary shaft K driver and main body rotary shaft K servomotor are used for regulating the motion of main body rotary shaft，X-direction controls axle driver and is used for regulating X-direction control axle motion，Y-direction Y-axis driver、Y-direction controls C axle driver and Y-direction controls K axle driver and is used for regulating Y-direction control axle motion.
It is divided into storage battery power supply and mains-supplied two ways according to working forms difference as embodiment a: PLC of the present utility model, in transport process, enable storage battery power supply pattern, battery-driven mode is realized by accumulator and inverter, the 48V unidirectional current of accumulator is converted into 220V alternating current by inverter, different magnitudes of voltage is converted into corresponding pulse signal and on-off model to PLC, PLC by the voltage analog signal of rocking bar output ± 5V.PLC controls crawler body top bottom-disc kinematic axis M servomotor and the speed of bobbin movement axle N servomotor by pulse signal, control bobbin movement axle M servomotor and the direction of bobbin movement axle N servomotor by on-off model, advance with realization, retreat, turn left and the action of right-hand rotation four direction.Transport process is also aided with special small-sized electric hoistable platform, and equipment is loaded and unloaded on general wagon, it is achieved the transhipment of distance.The electric hoist of this platform is provided 220V power supply by inverter.Robot is in work progress, and system is connected to civil power, and inverter stops the output of 220V voltage, only charges accumulator.
Chopper is after connecting external circuit, and whole Construction control process is divided into preparatory stage, base material print stage, ink-jet tinting stage, equipment mobile phase and knock off the stage.
Preparatory stage, selecting manual mode by built-in industrial control machine, manual ringing is sent to PLC by built-in industrial control machine, and first, the PLC axle Q driver that controls to retreat tool magazine controls tool magazine advance and retreat axle Q servomotor then, thus axle of being retreated by tool magazine is released；Secondly, control crawler body by rocking bar and move to precalculated position；Again, levelling function is started by built-in industrial control machine, now, current analog signal is sent to PLC by obliquity sensor, after PLC is by calculating, send pulse signal and on-off model to horizontal adjustment axle T driver, to control rotating cycle and the direction of horizontal adjustment axle T servomotor, make work platforms be up to the standard state；Crawl signal is sent to bus-type motion controller by last built-in industrial control machine, bus-type motion controller pulse signal and on-off model are sent to X-direction and control axle driver, Y-direction Y-axis driver, Y-direction control C axle driver and Y-direction control K axle driver, drive X-direction to control axle and Y-direction controls axle arrival origin position；Robot reaches readiness for operation.
Base material prints the stage, by built-in industrial control machine, bus-type motion controller and PLC co-controlling.Built-in industrial control machine remote device controls file.After file reception is complete, built-in industrial control machine is logical is sent to bus-type motion controller by control command, first printhead is moved up and down I axle driver by bus-type motion controller according to control command, printhead rotates A axle driver, print cartridge rotates B axle driver and print cartridge moves forward and backward J axle driver and rotates an angle, simultaneously, for ensureing that print cartridge remains level, bus-type motion controller controls printhead and moves up and down I axle driver, printhead rotates A axle driver, print cartridge rotates B axle driver and print cartridge moves forward and backward J axle driver synchronous backward and rotates equal angular.After being rotated in place, bus-type motion controller controls X-direction according to control command and controls axle driver, Y-direction Y-axis driver, Y-direction control C axle driver and the move distance of Y-direction control K axle driver and direction；Laser sensor on the print head is installed and detects the distance of printhead and metope in real time, and current-mode analog quantity signal is sent to PLC, PLC by calculating after, control move distance and the direction of crawler body；Multi-shaft interlocked with this, thus the pigment controlled in print cartridge is ejected by printhead, jointly completes the base material print job in a plane.After completing one layer of printing of a breadth, dolly moves to next breadth and prepares to proceed by the ground floor printing of next breadth.The terminal of the Article 1 track of a upper breadth is the starting point of the Article 1 track of next breadth, the docking of such two breadths of guarantee.When the movement instruction of system breadth Article 1 track on performing, when arriving the terminal of this track, the data that system record feeds back at this laser sensor, it is the three-dimensional coordinate of this point, system, with reference to this coordinate, adjusts the work starting point determining next breadth.After the ground floor of whole breadths has printed, dolly returns to original position, enters ink-jet tinting stage.
Ink-jet tinting stage, bus-type motion controller elder generation control command controls printhead and moves up and down I axle driver and then control printhead and move up, after putting in place, bus-type motion controller controls print cartridge and moves forward and backward J axle driver and then control print cartridge and move to metope direction, after putting in place, bus-type motion controller to PLC and prints board transmission instruction, starts ink-jet program.Bus-type motion controller control X-direction controls axle driver, Y-direction Y-axis driver, Y-direction controls C axle driver and Y-direction controls K axle driver and then controls X-direction control axle and the move distance of Y-direction control axle and direction, the flow of ink in type plate card control color and print cartridge；PLC controls move distance and the direction of crawler body.Multi-shaft interlocked with this, jointly complete whole breadth ink-jet coloring work.Location mode between the movement of crawler body and two breadths during this is consistent with the mode that above-mentioned base material prints the stage.After completing ink-jet coloring, print board and send instruction to bus-type motion controller, bus-type motion controller controls print cartridge shifting axle and returns original position, after putting in place, bus-type motion controller control printhead moves up and down I axle driver and is moved downward to start bit, the base material entering next plane after putting in place prints and ink-jet tinting stage, until completing whole work of a construction breadth, access arrangement mobile phase.
Equipment mobile phase, after completing whole work of a construction breadth, bus-type motion controller controls the bobbin movement axle M servomotor on crawler body and the rotating speed of bobbin movement axle N servomotor and turns to, control crawler body and move to the precalculated position of second breadth from the position of first breadth, now, the data that PLC feeds back according to laser sensor judge, if robot does not move to precalculated position, or there is no parallel metope, then PLC controls the bobbin movement axle M servomotor on crawler body and the number of turns of bobbin movement axle N servomotor rotation and direction, crawler body is made to move to predetermined position.After arriving precalculated position, current analog signal is sent to PLC by cable by obliquity sensor, after PLC is by calculating, pulse signal and on-off model is sent to horizontal adjustment axle R driver and horizontal adjustment axle T driver, to control horizontal adjustment axle R servomotor and the rotating cycle of horizontal adjustment axle T servomotor and direction, whole work platforms is made to be up to the standard state, after the state that is up to the standard, bus-type motion controller and PLC co-controlling robot repeat the work of next construction breadth, until whole constructions completes, system switches to manual mode, entrance is knocked off the stage.
Knocking off the stage, by built-in industrial control machine control, built-in industrial control machine sends signal to PLC, and the PLC axle that controls to retreat tool magazine is released, and after putting in place, main body rotary shaft revolves turnback counterclockwise, and after putting in place, tool magazine advance and retreat axle is backed to square one position.So far, robot reaches transhipment state of knocking off.
Of the present utility model ultimate principle and principal character and of the present utility model advantage have more than been shown and described, to those skilled in the art, obviously this utility model is not limited to the details of above-mentioned one exemplary embodiment, and in the case of without departing substantially from spirit or essential attributes of the present utility model, it is possible to realize this utility model in other specific forms.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than described above, it is intended that all changes fallen in the implication of equivalency and scope of claim included in this utility model.Should not be considered as limiting involved claim by any reference in claim.
Scope of the present utility model is not limited solely to above-mentioned structure, if the equivalent substitution structure that those skilled in the art can develop after reading above-mentioned explanation easily, equalization change and the modification made under the spirit and scope without departing from this utility model, within all should being covered by this utility model the scope of the claims.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should can also be formed, through appropriately combined, other embodiments that it will be appreciated by those skilled in the art that as an entirety, the technical scheme in each embodiment by those skilled in the art.
Claims (6)
1. a control system based on full automatic wall material construction robot, including embedded industry control
Machine, bus-type motion controller, PLC, chopper and printing board, it is characterised in that: described embedding
Formula industrial computer, between bus-type motion controller and PLC by the mutual communication of built-in bus communication module；
The input of described PLC and the outfan of travel switch, the outfan of obliquity sensor, laser
The outfan of sensor and the outfan of rocking bar connect, and described chopper is electrically connected with external circuit,
The outfan of described chopper is by cable and the input of built-in industrial control machine, bus-type motor control
The input of the input of device, the input of PLC and inverter connects；
Described PLC controls axle driver, horizontal adjustment axle R driver, water by cable with Z-direction
Heibei provincial opera nodal axisn T driver, tool magazine advance and retreat axle Q driver and main body rotary shaft K driver are electrical
Connecting, described Z-direction control axle driver, horizontal adjustment axle R driver, horizontal adjustment axle T drive
Dynamic device, tool magazine advance and retreat axle Q driver and main body rotary shaft K driver respectively with Z-direction control
Axle servomotor, horizontal adjustment axle R servomotor, horizontal adjustment axle T servomotor, main body rotate
Axle K servomotor and tool magazine advance and retreat axle Q servomotor are electrically connected with；
Described bus-type motion controller and PLC are by cable and bobbin movement axle M driver and the end
Dish kinematic axis N driver is electrically connected with, described bobbin movement axle M driver and bobbin movement axle N
Driver is electrically connected with bobbin movement axle M servomotor and bobbin movement axle N servomotor respectively；
Described bus-type motion controller and printhead move up and down I axle driver, print cartridge rotates B axle
Driver, printhead rotate A axle driver and print cartridge moves forward and backward J axle driver and is electrically connected with；
Described bus-type motion controller and printing clamp control axle driver, Y by cable with X-direction
Direction Y-axis driver, Y-direction control C axle driver and Y-direction controls K axle driver and electrically connects
Connect.
A kind of control based on full automatic wall material construction robot the most according to claim 1
System, it is characterised in that: described inverter is electrically connected with accumulator by cable, and inverter exports
End is connected with the input of electric hoist and the input of PLC respectively by cable, and accumulator output end sets
It is equipped with voltmeter.
A kind of control based on full automatic wall material construction robot the most according to claim 1
System, it is characterised in that: built-in industrial control machine be internally provided with 4G wireless network card, embedded industry control
Machine receives WIFI signal by built-in 4G wireless network card, is bi-directionally connected with server.
A kind of control based on full automatic wall material construction robot the most according to claim 1
System, it is characterised in that: described bus-type motion controller is connected with travel switch signal.
A kind of control based on full automatic wall material construction robot the most according to claim 1
System, it is characterised in that: described bobbin movement axle M servomotor and bobbin movement axle N servomotor
It is arranged on inside crawler body.
A kind of control based on full automatic wall material construction robot the most according to claim 1
System, it is characterised in that: described horizontal adjustment axle R driver, horizontal adjustment axle R servomotor,
Horizontal adjustment axle T driver and horizontal adjustment axle T servomotor are used for regulating the motion of horizontal adjustment axle,
It is provided with work platforms on horizontal adjustment axle, described work platforms is provided with print cartridge and printhead, institute
State print cartridge rotation B axle driver and print cartridge move forward and backward J axle driver and moves for regulating print cartridge,
Described printhead moves up and down I axle driver and printhead rotates A axle driver for regulating printhead
Motion, described laser sensor is arranged on the front of printhead, tool magazine advance and retreat axle Q driver and cutter
Storehouse advance and retreat axle Q servomotor is used for regulating the motion of tool magazine advance and retreat axle, main body rotary shaft K driver and
Main body rotary shaft K servomotor is used for regulating the motion of main body rotary shaft, and X-direction controls axle driver and is used for
Regulation X-direction controls axle motion, and Y-direction Y-axis driver, Y-direction control C axle driver and Y
Direction controlling K axle driver is used for regulating Y-direction and controls axle motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620471235.3U CN205787832U (en) | 2016-05-23 | 2016-05-23 | A kind of control system based on full automatic wall material construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620471235.3U CN205787832U (en) | 2016-05-23 | 2016-05-23 | A kind of control system based on full automatic wall material construction robot |
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| Publication Number | Publication Date |
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| CN205787832U true CN205787832U (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620471235.3U Withdrawn - After Issue CN205787832U (en) | 2016-05-23 | 2016-05-23 | A kind of control system based on full automatic wall material construction robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020095A (en) * | 2016-05-23 | 2016-10-12 | 长沙万工机器人科技有限公司 | Control system based on full-automatic wall material construction robot |
-
2016
- 2016-05-23 CN CN201620471235.3U patent/CN205787832U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020095A (en) * | 2016-05-23 | 2016-10-12 | 长沙万工机器人科技有限公司 | Control system based on full-automatic wall material construction robot |
| CN106020095B (en) * | 2016-05-23 | 2018-09-11 | 长沙万工机器人科技有限公司 | Control system based on full-automatic wall material construction robot |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161207 Effective date of abandoning: 20180911 |