CN207014384U - A kind of parts handler tool hand control device - Google Patents
A kind of parts handler tool hand control device Download PDFInfo
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- 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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- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000013519 translation Methods 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 230000002040 relaxant effect Effects 0.000 claims abstract description 8
- 230000005693 optoelectronics Effects 0.000 claims description 4
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 3
- 235000011613 Pinus brutia Nutrition 0.000 claims description 3
- 241000018646 Pinus brutia Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
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- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
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- 238000002485 combustion reaction Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009418 renovation Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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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
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.
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 |
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| Publication Number | Publication Date |
|---|---|
| CN207014384U true CN207014384U (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720453667.6U Expired - Fee Related CN207014384U (en) | 2017-04-27 | 2017-04-27 | A kind of parts handler tool hand control device |
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| Country | Link |
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| CN (1) | CN207014384U (en) |
Cited By (3)
| 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 |
-
2017
- 2017-04-27 CN CN201720453667.6U patent/CN207014384U/en not_active Expired - Fee Related
Cited By (5)
| 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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| GR01 | Patent grant | ||
| 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: 20180216 |