CN214490597U - Control system of wrist arm installation robot - Google Patents
Control system of wrist arm installation robot Download PDFInfo
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- CN214490597U CN214490597U CN202023146167.9U CN202023146167U CN214490597U CN 214490597 U CN214490597 U CN 214490597U CN 202023146167 U CN202023146167 U CN 202023146167U CN 214490597 U CN214490597 U CN 214490597U
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Abstract
The utility model belongs to the technical field of control, a cantilever installation robot control system is disclosed, set up based on cantilever installation robot, including the host system who is used for controlling drive module and then controls actuating mechanism, an elevating system scram control module for controlling elevating system scram, the setting is on the road flatcar, the drive snatchs the actuating mechanism of mechanism and operation platform, the drive module of control actuating mechanism action, and be arranged in providing the power source module of power for each module among the control system, power source module is connected with host system, host system passes through the switch and is connected with elevating system scram control module and drive module respectively, drive module is connected with actuating mechanism. The utility model discloses development period is short, has realized that the cantilever installation is automatic, and easy operation is convenient, snatchs accurately, has practiced thrift the manpower moreover, has improved work efficiency, in addition, has improved the security in the cantilever installation. The utility model is suitable for a control of cantilever installation robot.
Description
Technical Field
The utility model belongs to the technical field of control, a cantilever installation robot is related to, specifically speaking is a cantilever installation robot control system.
Background
The cantilever is used for supporting the contact network cable and plays a role in transferring load, and the cantilever main body comprises a flat cantilever, an inclined cantilever, a supporting rod and the like. At present, in the prior art, the mounting of the wrists is mainly carried out in a manual mode, at least four persons need to be equipped for mounting each group of wrists, two persons firstly mount a base, then two persons pull an auxiliary rope, an insulating porcelain bottle is pulled to the position near the base by using a pulley, the insulating porcelain bottle is mounted, and finally the wrists are pulled to the position near the insulating porcelain bottle by the two persons to be mounted in the same mode, so that the method is high in working strength and low in efficiency; in addition, the cantilever is installed in a lifting trolley mode, the fixing step before installation is complicated, and rollover accidents are easy to happen if the fixing is unreliable (the periphery of a railway track is provided with more broken stones and the bottom surface is uneven); moreover, the lifting trolley is difficult to advance on the track.
With the development of industrial automation, robots are widely applied in industry, however, a system for controlling a wrist-arm-mounted robot is lacked in the prior art, so that the development of a control system based on the wrist-arm-mounted robot is of great significance for the mounting of the wrist arm.
Disclosure of Invention
The utility model aims at providing a cantilever installation robot control system to realize the automation mechanized operation of cantilever installation, improve work efficiency.
The utility model discloses a realize above-mentioned purpose, the technical method who adopts as follows:
a control system of a cantilever installation robot is arranged on the basis of the cantilever installation robot, the cantilever installation robot comprises a road flat car, a lifting mechanism, a sliding rail, a cantilever grabbing mechanism, an operating platform, a driving mechanism, a driving module and a power source module, wherein the road flat car travels along the direction of a rail, the lifting mechanism is fixed on the road flat car and used for lifting operation, the sliding rail is fixed on the road flat car and used for the lifting mechanism to slide along the direction of the rail, the cantilever grabbing mechanism is arranged at the front end of the lifting mechanism, the operating platform is fixed on the road flat car and used for an operator to install the cantilever, the cantilever installation robot control system comprises a main control module, the lifting mechanism emergency stop control module is used for controlling the lifting mechanism, the driving mechanism is arranged on the road flat car and used for driving the grabbing mechanism and the operating platform, the driving module is used for controlling the driving mechanism to act, and the power source module is used for providing power for each module in the control system, the power source module is connected with the main control module, the main control module is respectively connected with the lifting mechanism emergency stop control module and the driving module through the switch, and the driving module is connected with the driving mechanism.
As a limitation: the control system of the wrist-arm-mounted robot further comprises a touch screen used for operating the main control module and displaying information in the main control module, and the main control module is connected with the touch screen through a switch.
As a second limitation: the control system of the wrist-arm-mounted robot further comprises a communication module, a remote controller and a receiver, wherein the communication module is used for communicating with the main control module, the remote controller is used for transmitting control signals of the driving mechanism, the receiver is matched with the remote controller, the communication module is connected with the power source module, and the receiver is connected with the main control module through the communication module.
As a third limitation: the control system of the cantilever installation robot further comprises a laser locating module for detecting the position of the supporting column required to be installed on the cantilever and an inclination angle sensor for detecting the inclination angle of the bottom surface of the lifting mechanism, wherein the laser locating module is installed on the lifting mechanism, and the inclination angle sensor is installed on the bottom surface of the lifting mechanism.
As a fourth limitation: the control system of the wrist-arm-mounted robot further comprises a safety detection alarm module, and the safety detection alarm module is connected with the main control module.
As a further limitation: the safety detection alarm module comprises a contrast grating for detecting whether an object exists in the sliding rail, a radar detection unit for detecting whether an object exists in a cantilever grabbing area, a limiting unit for limiting the sliding and lifting of the lifting mechanism and an alarm unit.
As a fifth limitation: the power source module comprises a generator and a UPS power supply, and the generator is connected with the UPS power supply.
As a further limitation: the driving mechanism comprises a lifting shaft servo motor for driving the lifting mechanism, a horizontal shaft servo motor for driving the lifting mechanism to slide, a gripper servo motor for driving the gripping mechanism and a platform lifting motor for driving the operating platform to lift; the driving module comprises a lifting shaft servo device for controlling a lifting shaft servo motor, a horizontal shaft servo device for controlling a horizontal shaft servo motor, a gripper servo device for controlling a gripper servo motor and a platform lifting control unit for controlling a platform lifting motor; the lifting shaft servo is connected with the lifting shaft servo motor, the horizontal shaft servo is connected with the horizontal shaft servo motor, the gripper servo is connected with the gripper servo motor, and the platform lifting control unit is connected with the platform lifting motor.
As yet a further limitation: the main control module comprises a PLC control unit, an IO digital input unit and an IO digital output unit, and the IO digital input unit and the IO digital output unit are connected with the central processing unit.
As a further limitation: the PLC control unit adopts a PLC controller of Siemens model 6ES7215-1AG40-0XB 0.
The utility model discloses owing to adopted above-mentioned scheme, compare with prior art, the beneficial effect who gains is:
(1) the utility model provides a control system of cantilever installation robot, through setting up power module, host system, robot safety control module, drive module and setting up on the road flatcar, drive the actuating mechanism who snatchs mechanism and operation platform, control cantilever installation robot, realized the automation of cantilever installation, easy operation has practiced thrift the manpower moreover, has improved work efficiency;
(2) the control system of the wrist arm installation robot provided by the utility model operates and displays the main control module by arranging the touch screen, thereby facilitating the control of the wrist arm installation robot;
(3) the utility model provides a control system of a wrist arm installation robot, which operates a main control module by arranging a communication module, a remote controller and a receiver matched with the remote controller, thereby facilitating the control of the wrist arm installation robot;
(4) the utility model provides a control system of a wrist arm installation robot, which is provided with a laser locating module for detecting the position of a strut required to be installed on the wrist arm, so that the control system can accurately identify the position of the strut and is convenient for the installation of the wrist arm; the inclination angle of the bottom surface of the lifting mechanism is detected by arranging the inclination angle sensor for detecting the inclination angle of the bottom surface of the lifting mechanism, so that the lifting of the lifting mechanism is finely adjusted, and the accurate grabbing of the cantilever is facilitated;
(5) the utility model provides a control system of a wrist arm installation robot, which carries out workpiece detection on a grabbing area of a wrist arm in a slide rail by arranging a safety detection alarm module, and stops operation if detecting that an object exists, thereby improving the safety of the wrist arm in the installation process; the sliding and lifting of the lifting mechanism are limited and fixed or limited and buffered, so that the safety of the provincial inspection mechanism in the motion process is further improved;
(5) the utility model provides a control system of a wrist-arm-mounted robot, a power source module provides double guarantee by arranging a generator and a UPS power supply, and the power supply of the control system is ensured;
(6) the utility model provides a control system of a wrist arm installation robot, which controls and drives a plurality of shafts of the wrist arm installation robot by arranging a lifting shaft servo motor, a horizontal shaft servo motor, a gripper servo motor and a servo device which is in one-to-one correspondence with the lifting shaft servo motor, thereby realizing the accurate grabbing and installation of the wrist arm;
(7) the utility model provides a control system of cantilever installation robot, through setting up PLC the control unit, IO digital input unit and IO digital output unit, development cycle is short.
To sum up, the utility model provides a cantilever installation robot control system, development cycle is short, has realized that the cantilever installation is automatic, and easy operation is convenient, snatchs accurately, has practiced thrift the manpower moreover, has improved work efficiency, in addition, has improved the security in the cantilever installation.
The utility model is suitable for a control of cantilever installation robot.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a block diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a power source module according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a communication module according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a PLC control unit according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a horizontal axis servo according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a lifting shaft servo according to an embodiment of the present invention;
fig. 7-9 are schematic diagrams of servo of the gripper according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a platform elevation control unit according to an embodiment of the present invention.
Detailed Description
The present invention is further described with reference to the following examples, but it should be understood by those skilled in the art that the present invention is not limited to the following examples, and any modifications and equivalent changes made on the basis of the specific examples of the present invention are within the scope of the claims of the present invention.
Embodiment wrist arm installation robot control system
A control system of a cantilever installation robot is structurally characterized in that as shown in figure 1, the control system is arranged based on the cantilever installation robot, the cantilever installation robot comprises a road flat car which travels along a track direction, a lifting mechanism which is fixed on the road flat car and used for lifting operation, the lifting mechanism adopts the combination of a lifting shaft and a rotatable and liftable mechanical arm, a sliding rail which is fixed on the road flat car and used for the lifting mechanism to slide along the track direction, a cantilever grabbing mechanism which is arranged at the front end of the lifting mechanism, and an operation platform which is fixed on the road flat car and used for an operator to install a cantilever;
the wrist-arm-mounted robot control system comprises a main control module, a touch screen, a mechanical arm emergency stop control module, a driving mechanism, a driving module, a communication module and a safety detection alarm module, wherein the main control module is used for controlling the driving module and further controlling the driving mechanism; the power source module is respectively connected with the main control module and the communication module, the receiver is connected with the main control module through the communication module, the main control module is respectively connected with the mechanical arm emergency stop control module, the driving module and the touch screen through the switch, the driving module is connected with the driving mechanism, and the safety detection alarm module is connected with the main control module.
The power source module is shown in FIG. 2 and includes a generator and a UPS power source; the main control module comprises a PLC control unit, an IO digital input unit and an IO digital output unit, and a schematic diagram of the PLC control unit is shown in FIG. 4.
The power generator is connected with the UPS, the power generator and the UPS are both connected with the communication module, the UPS is connected with the PLC control unit, the PLC control unit is respectively connected with the IO digital input unit and the IO digital output unit, the PLC control unit is respectively connected with the mechanical arm emergency stop control module and the driving module through the switch, the driving module is connected with the driving mechanism, the driving mechanism comprises a lifting shaft servo motor for driving the lifting mechanism, a horizontal shaft servo motor for driving the lifting mechanism to slide, a gripper servo motor for driving the gripping mechanism and a platform lifting motor for driving the operation platform to lift; the driving module comprises a lifting shaft servo device for controlling a lifting shaft servo motor, a horizontal shaft servo device for controlling a horizontal shaft servo motor, a gripper servo device for controlling a gripper servo motor and a platform lifting control unit for controlling a platform lifting motor; the lifting shaft servo is connected with the lifting shaft servo motor, the horizontal shaft servo is connected with the horizontal shaft servo motor, the gripper servo is connected with the gripper servo motor, the platform lifting control unit is connected with the platform lifting motor, the principle diagram of the horizontal shaft servo is shown in figure 5, the principle diagram of the lifting shaft is shown in figure 6, the principle diagram of the gripper servo is shown in figures 7-9, and the principle diagram of the platform lifting control unit is shown in figure 10; the PLC control unit is connected with the safety detection alarm module, the safety detection alarm module comprises a contrast grating for detecting whether an object exists in the slide rail, a radar detection unit for detecting whether an object exists in a wrist arm grabbing area, a limiting unit for limiting the sliding and lifting of the lifting mechanism and an alarm unit; the laser locating module is installed on the lifting mechanism, and the inclination angle sensor is installed on the bottom surface of the lifting mechanism.
The number of the gripper servos in this embodiment is three, and the number of the gripper servomotors is three.
In this embodiment, the PLC control unit is a PLC controller of siemens 6ES7215-1AG40-0XB0, the generator is a 50KW cummins silent generator, the UPS power supply is a UPS5000-a-60KTTL model, the switch is a 6GK50080BA001AB2 model, the robot arm is a KUKA270R3100KRC4 model, the touch screen is a siemens 6AV21232MB030AX0 model, the communication module is a 6ES7241-1CH30-1XB0 model, the tilt angle sensor is an INY060D-F99-212E-V17 model, and the laser radar is an LS-series laser radar.
The working process of the installation of the cantilever of the embodiment is as follows: the method comprises the steps that a generator and a USP power supply are started, a laser locating module measures the position of a strut required to be installed on a wrist arm, signals are transmitted to a main control module, the main control module controls a horizontal shaft of a wrist arm installation robot to move to the position of the strut through a switch and stop stably, the main control module controls a mechanical arm of the robot with a rotatable and liftable mechanical arm to lift and rotate to a proper position, a servo motor of a control gripper drives the gripper to grasp the wrist arm, the position of the wrist arm is moved to be vertical, the main control module controls a lifting shaft to lift and move, the horizontal shaft moves, the position of the wrist arm is lifted and moves to be close to an installation position, the mechanical arm is finely adjusted, an operator enters an operation platform, the main control module controls an operation platform lifting unit to drive the operation platform to lift, bolts and nuts are manually installed, and the wrist arm is installed; controlling the touch screen or the remote controller, completing click installation, transmitting a signal to the main control module, controlling the gripper servo motor by the main control module to drive the gripper to loosen the wrist arm, and controlling the mechanical arm to return to the original position; detecting whether an object exists in a sliding rail with a moving horizontal shaft by contrasting with a grating, feeding back information to a main control module, if the object exists in the sliding rail, sending an alarm signal to an alarm unit by the main control unit to alarm, sending a signal to control the lifting mechanism to rapidly stop sliding of the horizontal shaft, and limiting the sliding of the horizontal shaft of the lifting mechanism by a limiting unit in the sliding rail; the radar monitoring unit detects whether an object exists in a grabbing area of the wrist arm or not and feeds information back to the main control module, if the object exists in the grabbing area, the main control unit sends an alarm signal to the alarm unit to give an alarm, and simultaneously sends a signal to control the mechanical arm to stop suddenly, and the limiting unit on the lifting shaft limits the lifting of the lifting mechanism.
Claims (10)
1. A control system of a cantilever installation robot is arranged on the basis of the cantilever installation robot, the cantilever installation robot comprises a road flat car, a lifting mechanism, a sliding rail, a cantilever grabbing mechanism, an operating platform and a power source module, the road flat car is fixed on the road flat car and used for lifting operation, the sliding rail is fixed on the road flat car and used for the lifting mechanism to slide along the rail direction, the cantilever grabbing mechanism is arranged at the front end of the lifting mechanism, the operating platform is fixed on the road flat car and used for an operator to install the cantilever, the control system of the cantilever installation robot is characterized by comprising a main control module, a lifting mechanism emergency stop control module, a driving mechanism, a driving module and a power source module, the driving mechanism is arranged on the road flat car and used for driving the grabbing mechanism and the operating platform, the driving module is used for controlling the action of the driving mechanism, and the power source module is used for providing power for each module in the control system, the power source module is connected with the main control module, the main control module is respectively connected with the lifting mechanism emergency stop control module and the driving module through the switch, and the driving module is connected with the driving mechanism.
2. The wrist-arm mounted robot control system of claim 1, further comprising a touch screen for operating the master control module and displaying information in the master control module, the master control module being connected to the touch screen through the switch.
3. The wrist-mounted robot control system according to claim 1, further comprising a communication module for communicating with the main control module, a remote controller for transmitting a driving mechanism control signal, and a receiver matched with the remote controller, wherein the communication module is connected with the power source module, and the receiver is connected with the main control module through the communication module.
4. The wrist-mounted robot control system according to claim 1, further comprising a laser locating module for detecting a position of a mounting pillar required for the wrist, and a tilt sensor for detecting a tilt angle of a bottom surface of the lifting mechanism, wherein the laser locating module is mounted on the lifting mechanism, and the tilt sensor is mounted on the bottom surface of the lifting mechanism.
5. The wrist-mounted robot control system according to claim 1, further comprising a safety detection alarm module, the safety detection alarm module being connected to the main control module.
6. The control system of the wrist-arm mounted robot of claim 5, wherein the safety detection alarm module comprises a reference grating for detecting whether an object is in the slide rail, a radar detection unit for detecting whether an object is in the grabbing area of the wrist arm, a limit unit for limiting the sliding and lifting of the lifting mechanism, and an alarm unit.
7. The wrist-mounted robot control system of any one of claims 1-6, wherein the power source module includes a generator and a UPS power source, the generator being coupled to the UPS power source.
8. The wrist-arm-mounted robot control system according to claim 7, wherein the driving mechanism includes a lifting shaft servomotor for driving the lifting mechanism, a horizontal shaft servomotor for driving the lifting mechanism to slide, a gripper servomotor for driving the gripping mechanism, and a platform lifting motor for driving the operation platform to lift; the driving module comprises a lifting shaft servo device for controlling a lifting shaft servo motor, a horizontal shaft servo device for controlling a horizontal shaft servo motor, a gripper servo device for controlling a gripper servo motor and a platform lifting control unit for controlling a platform lifting motor; the lifting shaft servo is connected with the lifting shaft servo motor, the horizontal shaft servo is connected with the horizontal shaft servo motor, the gripper servo is connected with the gripper servo motor, and the platform lifting control unit is connected with the platform lifting motor.
9. The wrist-arm mounted robot control system of claim 8, wherein the master control module comprises a PLC control unit, an IO digital input unit and an IO digital output unit, both of which are connected to the central processing unit.
10. The wrist-arm mounted robot control system of claim 9, wherein the PLC control unit employs a siemens model 6ES7215-1AG40-0XB0 PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023146167.9U CN214490597U (en) | 2020-12-24 | 2020-12-24 | Control system of wrist arm installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023146167.9U CN214490597U (en) | 2020-12-24 | 2020-12-24 | Control system of wrist arm installation robot |
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| Publication Number | Publication Date |
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| CN214490597U true CN214490597U (en) | 2021-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023146167.9U Active CN214490597U (en) | 2020-12-24 | 2020-12-24 | Control system of wrist arm installation robot |
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| CN (1) | CN214490597U (en) |
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- 2020-12-24 CN CN202023146167.9U patent/CN214490597U/en active Active
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