CN217833665U - Automatic hoist and mount control system that snatchs of manipulator - Google Patents
Automatic hoist and mount control system that snatchs of manipulator Download PDFInfo
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- CN217833665U CN217833665U CN202221764828.0U CN202221764828U CN217833665U CN 217833665 U CN217833665 U CN 217833665U CN 202221764828 U CN202221764828 U CN 202221764828U CN 217833665 U CN217833665 U CN 217833665U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model provides an automatic hoist and mount control system that snatchs of manipulator, including the main control computer, the main control computer is the connection control respectively has manipulator driver group and sensor group to be connected with laser positioning system. The corresponding actuating mechanism of the utility model is an electric cylinder, a 17-position encoder can be arranged in the servo motor, the measuring precision is high, the response speed is high, and the real-time and quick response characteristics of intelligent control can be met; the space coordinate information of the target object can be conveniently acquired, and automatic positioning is realized; the hand-held remote controller is convenient to send instructions to the main control computer, and the relative displacement between the mechanical arm at the tail end of the suspension arm and the target object is calculated according to the forward solution and the backward solution of the kinematics so as to control the mechanical arm to automatically grab; the communication mode adopts a CAN bus, so that the reliability is high and the expansion is easy; the method has the advantages of flexible control, stable operation, high reliability, easy maintenance and the like.
Description
Technical Field
The utility model relates to an automatic hoist and mount control system that snatchs of manipulator.
Background
With the continuous development of informatization and intellectualization, higher requirements such as quick response, personnel configuration reduction, operation difficulty reduction, tactical time shortening and the like are provided for equipment.
The manipulator control system in the prior art is mostly composed of a plurality of subsystems, the integration degree is low, the communication between the subsystems is complex, so that the control efficiency is low, the information fusion degree is low, and incompatible conditions are easy to occur between different subsystems, so that the scheme for integrating the subsystems is low in reliability and not easy to expand, and further the control is not flexible, the operation is not stable, and the maintenance is not easy.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem, the utility model provides an automatic hoist and mount control system that snatchs of manipulator, this automatic hoist and mount control system that snatchs of manipulator integration degree is high, and scalability is good, easily realizes characteristics such as the reliability is high, easily extension, control flexibility, operate steadily, easy to maintain.
The utility model discloses a following technical scheme can realize.
The utility model provides a pair of automatic hoist and mount control system that snatchs of manipulator, including the main control computer, the main control computer is connection control respectively has manipulator driver group and sensor group to be connected with laser positioning system.
And the main control computer is connected with the manipulator driver group through an independent CAN bus.
The main control computer is connected with the sensor group through an independent CAN bus.
The manipulator driver group comprises a rotary servo driver, a pitching servo driver, a translation servo driver, a rigid-flexible 1 servo driver, a rigid-flexible 2 servo driver, a locking servo driver and a turnover servo driver.
The sensor group comprises a rotary servo valve, a rotary angle encoder pitch, a pitch 1 arm servo valve, a pitch 1 arm pressure sensor, a pitch 1 arm hysteresis displacement sensor, a pitch 2 arm servo valve, a pitch 2 arm pressure sensor, a pitch 2 arm hysteresis displacement sensor, a telescopic arm servo valve, a telescopic arm pressure sensor, a telescopic arm hysteresis displacement sensor and a vehicle body platform inclination angle sensor.
The manipulator driver group also comprises a manipulator tilt angle sensor.
The main control computer is also connected with a hand-held remote controller.
The main control computer consists of a CPCI control start, a CAN control panel and a KIO control panel.
The beneficial effects of the utility model reside in that: the corresponding actuating mechanism is an electric cylinder, a 17-position encoder can be arranged in the servo motor, the measurement precision is high, the response speed is high, and the real-time and quick response characteristics of intelligent control can be met; the spatial coordinate information of the target object can be conveniently acquired, and automatic positioning is realized; the hand-held remote controller is convenient to send instructions to the main control computer, and the relative displacement between the mechanical arm at the tail end of the suspension arm and the target object is calculated according to the forward solution and the backward solution of the kinematics so as to control the mechanical arm to automatically grab; the communication mode adopts a CAN bus, so that the reliability is high, and the expansion is easy; the method is beneficial to realizing the advantages of flexible control, stable operation, high reliability, easy maintenance and the like.
Drawings
Fig. 1 is a schematic connection diagram of at least one embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
Example 1
The automatic grabbing and hoisting control system for the manipulator shown in fig. 1 comprises a main control computer, wherein the main control computer is respectively connected with and controls a manipulator driver group and a sensor group and is connected with a laser positioning system.
Example 2
Based on embodiment 1, the master control computer is connected to the manipulator driver set by an independent CAN bus.
Example 3
Based on the embodiment 1, the master control computer is connected with the sensor group through an independent CAN bus.
Example 4
Based on embodiments 1 and 2, the manipulator driver set comprises a rotation servo driver, a pitching servo driver, a translation servo driver, a rigid-flexible 1 servo driver, a rigid-flexible 2 servo driver, a locking servo driver and a turning servo driver.
Example 5
Based on embodiments 1 and 3, the sensor group comprises a rotary servo valve, a rotary angle encoder pitch, a pitch 1 arm servo valve, a pitch 1 arm pressure sensor, a pitch 1 arm hysteresis displacement sensor, a pitch 2 arm servo valve, a pitch 2 arm pressure sensor, a pitch 2 arm hysteresis displacement sensor, a telescopic arm servo valve, a telescopic arm pressure sensor, a telescopic arm hysteresis displacement sensor and a vehicle body platform inclination angle sensor.
Example 6
Based on embodiment 4, the manipulator driver set further includes a manipulator tilt sensor.
Example 7
Based on the embodiment 1, the main control computer is also connected with a hand-held remote controller.
Example 8
Based on the embodiment 1, the main control computer consists of a CPCI control start board, a CAN control board and a KIO control board.
Example 9
Based on the above embodiment, the utility model discloses a concrete implementation mode when the in-service use does, adopts portable handheld remote controller send instruction to integrated liquid crystal display on handheld remote controller, the handheld remote controller is external to be a CAN mouth with the main control computer communication, debugs the net gape all the way.
The main control computer adopts a modular design and comprises a CPCI computer control module and 6 paths of CAN bus communication modules, wherein the 6 paths of CAN bus communication modules are respectively communicated with the high-precision tilt sensor, the pressure sensors, the displacement sensors, the laser positioning system, the servo driver and the servo valve.
The manipulator adopts servo control, and position and angle information is fed back through a servo driver to control the operation posture of the manipulator.
The control combination is communicated with a vision system to obtain a target position, and the CPCI computer carries out forward and backward solution calculation on the suspension arm and uploads calculation information to the touch screen for display.
The hand-held remote controller communicates with the main control computer and uploads the current state information of the system to the liquid crystal display screen of the hand-held remote controller for display. A three-axis operation rocker is arranged on the hand-held remote controller, so that the linear motion of the tail end of the manipulator in the X, Y and Z directions is realized.
Claims (6)
1. The utility model provides an automatic hoist and mount control system that snatchs of manipulator which characterized in that: the system comprises a main control computer, wherein the main control computer is respectively connected with and controls a manipulator driver group and a sensor group and is connected with a laser positioning system; the main control computer is connected with the manipulator driver group through an independent CAN bus; the main control computer is connected with the sensor group through an independent CAN bus.
2. The manipulator automatic grabbing and hoisting control system according to claim 1, characterized in that: the manipulator driver group comprises a rotary servo driver, a pitching servo driver, a translation servo driver, a rigid-flexible 1 servo driver, a rigid-flexible 2 servo driver, a locking servo driver and a turning servo driver.
3. The manipulator automatic grabbing and hoisting control system according to claim 1, characterized in that: the sensor group comprises a rotary servo valve, a rotary angle encoder pitch, a pitch 1 arm servo valve, a pitch 1 arm pressure sensor, a pitch 1 arm hysteresis displacement sensor, a pitch 2 arm servo valve, a pitch 2 arm pressure sensor, a pitch 2 arm hysteresis displacement sensor, a telescopic arm servo valve, a telescopic arm pressure sensor, a telescopic arm hysteresis displacement sensor and a vehicle body platform inclination angle sensor.
4. The robot automatic grabbing and hoisting control system according to claim 2, characterized in that: the manipulator driver group also comprises a manipulator tilt angle sensor.
5. The manipulator automatic grabbing and hoisting control system according to claim 1, characterized in that: the main control computer is also connected with a hand-held remote controller.
6. The manipulator automatic grabbing and hoisting control system according to claim 1, characterized in that: the main control computer is composed of a CPCI control starter, a CAN control panel and a KIO control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221764828.0U CN217833665U (en) | 2022-07-08 | 2022-07-08 | Automatic hoist and mount control system that snatchs of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221764828.0U CN217833665U (en) | 2022-07-08 | 2022-07-08 | Automatic hoist and mount control system that snatchs of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217833665U true CN217833665U (en) | 2022-11-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221764828.0U Active CN217833665U (en) | 2022-07-08 | 2022-07-08 | Automatic hoist and mount control system that snatchs of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217833665U (en) |
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2022
- 2022-07-08 CN CN202221764828.0U patent/CN217833665U/en active Active
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