CN207014384U - A kind of parts handler tool hand control device - Google Patents

A kind of parts handler tool hand control device Download PDF

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Publication number
CN207014384U
CN207014384U CN201720453667.6U CN201720453667U CN207014384U CN 207014384 U CN207014384 U CN 207014384U CN 201720453667 U CN201720453667 U CN 201720453667U CN 207014384 U CN207014384 U CN 207014384U
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controller
cylinder
folder
platform
lift cylinder
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CN201720453667.6U
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Inventor
李文强
孔繁霁
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Shenyang Aircraft Industry Group Co Ltd
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Shenyang Aircraft Industry Group Co Ltd
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Abstract

The utility model provides a kind of parts handler tool hand control device, including electrical control cabinet, translation motor, sliding block, leading screw, fixed guide rail, lift cylinder, folder are relaxed one's efforts cylinder, part folder, three platforms, detection switch.Controller, touch-screen, control button, indicator lamp, servo-driver, magnetic valve are placed in electrical control cabinet, controller is connected with other parts respectively;Servo-driver is connected with translation motor, for controlling the movement velocity and horizontal level of translation motor;Magnetic valve and lift cylinder, folder cylinder gas circuit of relaxing one's efforts be connecteds, are control effectively for being pressed from both sides to part;Detection switch is connected with controller, ensures system safe and reliable operation;Control button is arranged on electrical control cabinet panel, completes the carrying work of whole device jointly with touch-screen;Indicator lamp is connected with controller, and whole state is indicated.The utility model can improve operating efficiency, improve positional accuracy;Automaticity is high, and stability is good, easy to operate, the features such as strong adaptability.

Description

A kind of parts handler tool hand control device
Technical field
The utility model belongs to control device field, and in particular to a kind of parts handler tool hand control device.
Technical background
Manipulator is the partial act for imitating human hand, realize automatic crawl by preset sequence, track and requirement, carry or The robot apparatus of operation, manipulator is very crucial conventional machinery equipment in the production of all trades and professions.Handling machinery Hand is mainly used in the movement of parts or finished product between fixed position, manual work is substituted, particularly poisonous, harmful, easy In the adverse circumstances such as combustion, explosive, it is used widely.In recent years, with society develop, science and technology progress and industrialization enter The propulsion of journey, manipulator are widely used in the fields such as machining, automobile making, goods carrying, and in Aero-Space, biology The fields such as science and technology, advanced manufacturing technology have also obtained universal attention.
But carry for the most of parts of part factory still carried out by artificial at present, handling efficiency is low, is removed in part During fortune, because part is irregular, it is necessary to two people or multi-person synergy cooperation could be completed to carry work, but because cooperation coordinates It is bad, when often result in unnecessary damaging and injure by a crashing object, along with working frequency is very fast, the situation that can not be carried in time occurs often, Many processes are there is an urgent need to automatic improving upgrading, to adapt to the needs of modern automation factory construction development.For there is now Conveying robot control device have that transporting velocity is difficult to be lifted, real-time accuracy is poor, positioning precision is not high, automaticity Low, a series of problems, such as cost is higher, operation is inconvenient, and maintenance and renovation is difficult, fault rate is high.Develop high accuracy, high speed, without dirt Dye, non-maintaining conveying robot have weight for improving product quality, improving production efficiency, reduction labor intensity and its cost The meaning wanted.
Utility model content
The utility model is in view of the above-mentioned problems, integrated use information gathering, logic control, servo-drive, man-machine interaction skill Art, there is provided a kind of detection and control accurate height, good reliability, low cost, the parts handler tool hand control device of simple operation.
In order to achieve the above object, the technical solution of the utility model is as follows:
A kind of parts handler tool hand control device, including electrical control cabinet, translation motor, sliding block, leading screw, fixation lead Rail, lift cylinder, folder are relaxed one's efforts cylinder, part folder, platform A, platform B, platform C, detection switch.Described translation motor, lifting air Cylinder, press from both sides cylinder of relaxing one's efforts, leading screw, sliding block, fixed guide rail, part folder, the machinery knot of platform A, platform B, platform C composition conveying robot Structure, electrical control cabinet is arranged on to the bottom of conveying robot mechanical structure, forms Integral control device.
Controller, touch-screen, control button, indicator lamp, servo-driver, electromagnetism are placed in described electrical control cabinet Valve, electrical control cabinet are located at the bottom of whole device, librarian use easy to operation and maintenance.Described controller respectively with touch Screen, control button, indicator lamp, servo-driver, magnetic valve connect with detection switch.Described controller is PLC.
Described touch-screen uses direct current supply, is connected by communication interface with controller RS232 interface, carries out data friendship Change, manually operated screen is set on touch-screen, is automatically brought into operation screen, parameter setting operation screen, status display operator control panel, for controlling zero Part gripper takes, lifted, translates control manually and automatic transporting control command, showing for horizontal movement velocity parameter setting and speed Show, the running status for display control whole device.
Described servo-driver is connected with controller by high-speed pulse output interface;Servo-driver and translation motor Connection, servo-driver are connected with the rotary encoder that translation motor carries, and the positional information of collection is passed through into servo-driver Controller is passed to be handled;Translation motor is with leading screw using mechanically connecting, and lift cylinder is connected with sliding block, sliding block and leading screw Connection, sliding block are located at fixed guide rail interior, are that position of platform is accurate for controlling the movement velocity and horizontal level of translation motor Position core.Specially:Controller is realized to the speed of horizontal motor and position control, level by controlling servo controller Motor is moved by lead screw transmission band movable slider on fixed guide rail, and then drives lift cylinder to move horizontally, and completes to be removed The part of fortune platform A, platform B and platform C it is mutual move horizontally (workbench A to workbench B, workbench A to work Platform C, workbench B are to workbench A, workbench B to workbench C, workbench C to workbench A, workbench C to workbench B).It is described The part being handled upside down be placed on platform A, platform B, on any platforms of platform C.
Described magnetic valve is connected with controller, and magnetic valve and lift cylinder, folder cylinder gas circuit of relaxing one's efforts are connected, and magnetic valve includes Pine folder magnetic valve and lifting magnetic valve;Described folder relax one's efforts cylinder, lift cylinder with part press from both sides connect;Sent by controller Instruction is controlled to magnetic valve, completes the effective control of loose gas enclosure cylinder and lift cylinder carried to part.Specially:Control Device realizes the control of cylinder of being relaxed one's efforts to folder by controlling pine folder magnetic valve, folder relax one's efforts cylinder drive part folder part is carried out promptly and Unclamp;Controller lifts magnetic valve by controlling, and realizes the control to lift cylinder, and lift cylinder drives part to be clipped in Vertical Square To motion, the raising and lowering to part is completed.The power supply of magnetic valve is direct current 24V.
Described detection switch is connected with controller, is separately mounted to the front and rear extreme position of lift cylinder, loose gas enclosure cylinder Front and rear extreme position, the Derivative limit on the left or on the right position of fixed guide rail, detection switch is used for extreme position detection, and by the limit of detection Positional information is transmitted to controller analyzed and processed after, shown in touch-screen, ensure the safe and reliable operation of system.Described Detection switch uses optoelectronic switch form.
Described control button is arranged on the panel of electrical control cabinet, main including manual, automatic, position selection and anxious Stop button, complete the carrying work of whole device jointly with touch-screen.
Described indicator lamp is connected with controller, mainly including on power supply instruction, translation motor operation instruction, lift cylinder Lower position instruction, folder are relaxed one's efforts, and cylinder presss from both sides loose position instruction, equipment fault indicates, for indicating the state of whole system.Together When indicator lamp control loop and power loop be equipped with safeguard measure, ensure control device safety, and by adjusting gas circuit Vapour lock Buddhist nun and its speed of service of horizontal motor, realize that transporting velocity and efficiency are effectively lifted.
Compared with prior art, the beneficial effects of the utility model are to be carried by the automation part of conveying robot Mode, change use artificial transport mode, improve operating efficiency in the past.Conventional control device is overcome by SERVO CONTROL to determine The not high deficiency of position precision, improve the positional accuracy of position;The effective of systematic part is completed using simple control device Carry, compensate for the defects of existing control device cost is higher.And it is high with automaticity, stability is good, easy to operate, fits The features such as Ying Xingqiang.
Brief description of the drawings
Fig. 1 is the architecture system block diagram of parts handler tool hand control device provided by the utility model.
Fig. 2 is the operational flowchart of parts handler tool hand control device provided by the utility model.
In figure:1 electrical control cabinet, 2 translation motors, 3 sliding blocks, 4 leading screws, 5 fixation guide rails, 6 lift cylinders, 7 folder relax one's efforts cylinder, 8 parts folder, 9 platform A, 10 platform B, 11 platform C, 12 detection switch.
Embodiment
Utility model patent is further described with reference to embodiment, referring to Fig. 1.
A kind of parts handler tool hand control device includes electrical control cabinet 1, translation motor 2, sliding block 3, leading screw 4, fixation Guide rail 5, lift cylinder 6, press from both sides cylinder 7 of relaxing one's efforts, part folder 8, platform A9, platform B10, platform C11, detection switch 12;Described is flat Move motor 2, lift cylinder 6, press from both sides cylinder 7 of relaxing one's efforts, leading screw 4, sliding block 3, fixed guide rail 5, part folder 8, platform A9, platform B10, platform C11 forms the mechanical structure of conveying robot.Controller, touch-screen, servo-driver, control button, magnetic valve, indicator lamp etc. Electric components are arranged in electrical control cabinet 1, the internal components of electrical control cabinet 1 by inserting terminal and external drive motors, Detection switch 12 connects, and is connected using relax one's efforts cylinder 7, lift cylinder 8 of gas circuit connector and outside folder.By electrical control cabinet 1 Installed in the bottom operable position of conveying robot unit, form an overall structure, librarian use operation easy to operation and Safeguard.
The part being handled upside down is placed on platform A9, platform B10, on any platforms of platform C11, and controller connects touch respectively Screen, servo-driver, control button, indicator lamp, detection switch 12.Servo-driver connect translation motor 2, servo-driver with The rotary encoder connection that translation motor 2 carries, the positional information of collection is passed into controller by servo-driver and carried out Processing;Translation motor 2 is with leading screw 4 using mechanically connecting, and lift cylinder 6 is connected with sliding block 3, and sliding block 3 is connected with leading screw 4, leading screw 4 On fixed guide rail 5, by controlling the motion of translation motor 2 to drive the motion of leading screw 4 to drive sliding block 3 to be transported on fixed guide rail 5 It is dynamic, realize and drive lift cylinder 6 to move horizontally, be finally completed part in platform A9, platform B10, the mutual water of platform C11 The flat function of carrying.The gas circuit of cylinder 7 connection that controller is connected with magnetic valve, magnetic valve and folder are relaxed one's efforts, folder are relaxed one's efforts cylinder 7 and part folder 8 Mechanically connect, by controlling folder cylinder 7 of relaxing one's efforts to drive part folder 8, realize the crawl function of the clamping and release to part.Magnetic valve It is connected with the gas circuit of lift cylinder 6, lift cylinder 6 is connected with part folder 8, by controlling the motion of lift cylinder 6 to drive part folder 8 to do Raising and lowering is moved, and completes the act playing function of part.Detection switch 12 is separately mounted to lift cylinder 6, folder is relaxed one's efforts, and cylinder 7 is retreated Limit position and the Derivative limit on the left or on the right position of fixed guide rail 5, detection switch 12 use optoelectronic switch, are connected with controller, utilize photoelectricity Switch and the signal of extreme position is detected.Set on the touchscreen to moving horizontally transporting velocity and position, indicator lamp pair The state of whole device is indicated.
Operation principle of the present utility model is:Control device is divided into two parts of control and detection.
Control section includes three crawl, lifting, translation functions;Wherein crawl is to magnetic valve realization pair by controller Press from both sides cylinder 7 of relaxing one's efforts to be controlled, and then drive part to press from both sides the function that 8 pairs of parts promptly and unclamp;Wherein lifting is to pass through control Device processed is realized to magnetic valve and lift cylinder 6 is controlled, and drives motion of the part folder 8 in vertical direction, completes to part Raising and lowering function;Wherein translation is that servo controller is controlled by controller, and then controlled level motor 2, horizontal motor 2 is moved by lead screw transmission band movable slider 3 and moved on fixed guide rail 5, finally realize part platform A9, Platform B10's and platform C11 moves horizontally.The part being handled upside down is placed on to platform A9, platform B10, platform C11 any bit Put, using the operation of the touch-screen and control button of the control device, realize effective carrying control to part.
Detection part includes detecting the horizontal level of three platforms, extreme position detection.Horizontal level detection passes through water The built-in rotary encoder of flat telegram machine is realized, is moved by using horizontal motor 2 and is driven rotary encoder rotation, by rotary coding In the data access controller of device collection, encoder output pulse signal is gathered using controller, gathered by controller The position of encoder output count pulse number calculated level movement, as it is placed the platform A9, platform B10, platform of part C11 position, on the touchscreen shows position data.Extreme position detection is completed by detection switch 12, detection switch 12 It is separately mounted to lift cylinder, presss from both sides the Derivative limit on the left or on the right position of relax one's efforts cylinder advance and retreat limit position and fixed guide rail, the photoelectricity that must be detected is opened Pass is connected with controller, the signal detection using optoelectronic switch to extreme position, the security and reliability of safeguards system.
Operating process of the present utility model is as shown in Fig. 2 main operational steps are as follows:(1) conveying robot control is connected Device one-way communication 220V power supplys, power supply indicator is bright on switch board, and touch-screen is normally shown;(2) set on the touchscreen The parameters such as target platform, the translational speed of translation motor 2;(3) press touch-screen effectively to be set, press auto-start button Afterwards, control device completes following act:The opening of part folder 8, lift cylinder 6 rise, are moved horizontally to the workbench of part to be put, Lift cylinder 6 declines, part presss from both sides 8 Clamp blocks, lift cylinder 6 rises, and is moved horizontally to part and carries the workbench of target, rises Sending down abnormally ascending cylinder 6 declines, the release part of part folder 8, lift cylinder 6 rise;(4) carry out part and carry work;(5) after the completion of carrying, Operation next time is waited, completes whole flow process, after system completes use, cut-out supply power supply.Pass through aforesaid operations, realization pair Effective carrying of part, improve the efficiency and quality of carrying.

Claims (5)

1. a kind of parts handler tool hand control device, it is characterised in that described parts handler tool hand control device includes Electrical control cabinet, translation motor, sliding block, leading screw, fixed guide rail, lift cylinder, folder relax one's efforts cylinder, part folder, platform A, platform B, Platform C, detection switch;
Controller, touch-screen, control button, indicator lamp, servo-driver, magnetic valve, electricity are placed in described electrical control cabinet Gas switch board is located at whole device bottom;
Described touch-screen uses direct current supply, is connected by communication interface with controller RS232 interface and carries out data exchange, touched Touch and manually operated screen is set on screen, be automatically brought into operation screen, parameter setting operation screen, status display operator control panel, for controlling part to press from both sides Capture, lift, translating control manually and automatic transporting control command, being shown for horizontal movement velocity parameter setting and speed, Running status for display control whole device;
Described servo-driver is connected with controller by high-speed pulse output interface, and servo-driver connects with translation motor Connect, translation motor is connected with leading screw, and lift cylinder is connected with sliding block, and sliding block is connected with leading screw, and sliding block is located on fixed guide rail;Control Device processed is realized by controlling servo controller and passes through lead screw transmission band to the speed of horizontal motor and position control, horizontal motor Movable slider moves on fixed guide rail, and then drives lift cylinder to move horizontally, and completes part in platform A, platform B and platform C is mutual to be moved horizontally;
Described magnetic valve is connected with controller, and magnetic valve and lift cylinder, folder cylinder gas circuit of relaxing one's efforts be connecteds, and magnetic valve includes pine folder Magnetic valve and lifting magnetic valve;Described folder relax one's efforts cylinder, lift cylinder with part press from both sides connect;The instruction sent by controller Magnetic valve is controlled, completes the effective control of loose gas enclosure cylinder and lift cylinder carried to part;
Described detection switch is connected with controller, before being separately mounted to the front and rear extreme position of lift cylinder, loose gas enclosure cylinder Extreme position, the Derivative limit on the left or on the right position of fixed guide rail afterwards, for by the extreme position information transfer of detection to controller analysis After reason, shown in touch-screen;
Described control button is arranged on the panel of electrical control cabinet, main to be pressed including manual, automatic, position selection and jerk Button, complete the carrying work of whole device jointly with touch-screen;
Described indicator lamp is connected with controller, mainly including the next on power supply instruction, translation motor operation instruction, lift cylinder Put instruction, press from both sides the relax one's efforts loose position instruction of cylinder folder, equipment fault instruction, the state of whole device is indicated.
2. a kind of parts handler tool hand control device according to claim 1, it is characterised in that described controller is PLC.
A kind of 3. parts handler tool hand control device according to claim 1 or 2, it is characterised in that described detection Switch uses optoelectronic switch form.
A kind of 4. parts handler tool hand control device according to claim 1 or 2, it is characterised in that described instruction The control loop and power loop of lamp are equipped with safeguard measure, ensure whole device safety.
5. a kind of parts handler tool hand control device according to claim 3, it is characterised in that described indicator lamp Control loop and power loop are equipped with safeguard measure, ensure whole device safety.
CN201720453667.6U 2017-04-27 2017-04-27 A kind of parts handler tool hand control device Active CN207014384U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720453667.6U CN207014384U (en) 2017-04-27 2017-04-27 A kind of parts handler tool hand control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720453667.6U CN207014384U (en) 2017-04-27 2017-04-27 A kind of parts handler tool hand control device

Publications (1)

Publication Number Publication Date
CN207014384U true CN207014384U (en) 2018-02-16

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106945060A (en) * 2017-04-27 2017-07-14 沈阳飞机工业(集团)有限公司 A kind of parts handler tool hand control device
CN108983012A (en) * 2018-09-30 2018-12-11 苏州精濑光电有限公司 A kind of buffer type weatherometer
CN111571592A (en) * 2020-05-23 2020-08-25 虔东稀土集团股份有限公司 Control system and control method for discharging manipulator

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106945060A (en) * 2017-04-27 2017-07-14 沈阳飞机工业(集团)有限公司 A kind of parts handler tool hand control device
CN108983012A (en) * 2018-09-30 2018-12-11 苏州精濑光电有限公司 A kind of buffer type weatherometer
CN108983012B (en) * 2018-09-30 2024-04-16 苏州精濑光电有限公司 Cache type aging testing machine
CN111571592A (en) * 2020-05-23 2020-08-25 虔东稀土集团股份有限公司 Control system and control method for discharging manipulator
CN111571592B (en) * 2020-05-23 2022-01-11 虔东稀土集团股份有限公司 Control system and control method for discharging manipulator

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