CN220680803U - Industrial robot and control system - Google Patents
Industrial robot and control system Download PDFInfo
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- CN220680803U CN220680803U CN202320637383.8U CN202320637383U CN220680803U CN 220680803 U CN220680803 U CN 220680803U CN 202320637383 U CN202320637383 U CN 202320637383U CN 220680803 U CN220680803 U CN 220680803U
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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 relates to the technical field of industrial robots, and provides an industrial robot and a control system, which comprise a man-machine interface component, a servo driving system and a mechanical arm, wherein the man-machine interface component is connected with the servo driving system for data and instruction interaction; the mechanical arm comprises a fixed platform, a movable platform and a spherical hinge mechanism; the fixed platform is provided with a linear slide rail and a servo motor connected with the linear slide rail, and a sliding mechanism capable of sliding along the linear slide rail is arranged on the linear slide rail; the sliding mechanism is connected with the movable platform through the spherical hinge mechanism; the servo driver drives the servo motor, acquires the rotating speed and the angular displacement of the servo motor in real time, and transmits the rotating speed and the angular displacement to the man-machine interface component. The utility model simplifies the composition of the existing control system, does not need a control device, and can be realized only by a man-machine interface component. The teaching and reproduction method has complete teaching and reproduction function process of the industrial robot. The teaching and reproduction process of the robot is realized by a simple mechanism.
Description
Technical Field
The utility model relates to the technical field of industrial robots, in particular to an industrial robot and a control system.
Background
The existing industrial robot generally comprises an executing mechanism, a driving device, a detecting device, a control system, complex machinery and the like. The specific components comprise a mechanical arm, a control cabinet and a demonstrator. The mechanical arm belongs to an executing mechanism, executes a motion instruction sent by a control system, guides a tool to realize production action, and completes production tasks. The control cabinet mainly comprises a controller, a servo driver, safety and other auxiliary circuits, is responsible for program interpretation, calculation and control, and transmits a program instruction to the servo driver to drive the mechanical arm to accurately run and position. The demonstrator is an interface component between the robot and the person and is used for monitoring the state of the robot system, performing manual operation of the robot, teaching, programming, system setting and the like on the robot.
The existing industrial robot system is formed by a control chip with a necessary high end as a core control and data information processing device of the control system, so that the material cost is high, the structure is complex, the application difficulty is high, and development and design are required by high-end technicians; before the robot operates, manual teaching is needed, a robot special instruction is used for programming, then the robot is operated in a reappearance mode, technicians need to learn programming software and motion instructions for programming and writing, and the technical requirements for program development and design personnel are high.
Disclosure of Invention
In order to solve the problems in the background art, the utility model provides an industrial robot and a control system, which comprises a man-machine interface component, a servo driving system and a mechanical arm, wherein:
the man-machine interface component is connected with the servo driving system to interact data and instructions;
the mechanical arm comprises a fixed platform, a movable platform and a spherical hinge mechanism; the fixed platform is provided with a linear slide rail and a servo motor connected with the linear slide rail, and a sliding mechanism capable of sliding along the linear slide rail is arranged on the linear slide rail; the sliding mechanism is connected with the movable platform through the spherical hinge mechanism; the movable platform is provided with a production tool;
the servo driver drives the servo motor, acquires the rotating speed and the number of turns angular displacement of the servo motor in real time, and transmits the rotating speed and the number of turns angular displacement to the man-machine interface component, and the man-machine interface component processes, calculates and stores data.
In the preferred scheme, the spherical hinge mechanism comprises a rear cover, a front cover, a connecting rod and ball heads arranged at two ends of the connecting rod, wherein the rear cover and the front cover are fixedly connected to the sliding mechanism and the movable platform, and the ball heads are hinged with the front cover.
In a preferred scheme, the linear slide rail is horizontally arranged.
In the preferable scheme, the linear slide rail is a ball screw, and the sliding mechanism is a nut.
In the preferred scheme, the front cover of the spherical hinge mechanism is provided with a spherical joint structure, and the ball head is hinged with the spherical joint structure.
The shape and the size of the front cover of the spherical hinge are changed, the working angle of the connecting rod is increased, and the working operation space of the robot is enlarged.
In a preferred embodiment, the operation modes of the human interface component include manual operation, drag teaching and reproduction operation, wherein:
the manual operation process comprises the following steps:
transmitting displacement data of each shaft corresponding to the target position to a servo driving system, and driving a servo motor to act by the servo driving system for positioning;
the drag teaching process includes:
s1: releasing the brake of the servo motor, wherein the motor is in a free state;
s2: the operator drags the manual platform by hand, so that the production tool reaches the appointed position;
s3: the man-machine interface part records the current position and stores the current position in a record list;
s4: the teaching is finished, and the brake is closed;
the reproduction operation procedure includes:
during reproduction operation, the man-machine interface part sequentially sends data stored in the data table, set speed and set action parameters to the servo driving system, then sends an action instruction to the servo driving system, and the servo driving device drives the servo motor to rotate and position so as to realize reproduction operation of the production running track.
The beneficial effects achieved by the utility model are as follows:
the utility model is suitable for the professional course teaching and practice training in the aspects of robot technology, servo driving technology, man-machine interface technology, robot control principle and the like, and can also be used for the simple and reliable composition of a production system with less hardware investment. The utility model simplifies the existing control system composition, does not need a control device, and can be realized only by a human-machine interface (HMI). The teaching and reproduction method has complete teaching and reproduction function process of the industrial robot. The teaching and reproduction process of the robot is realized by a simple mechanism.
The system can realize the mathematical operation of the robot control process by using the existing functions of the HMI through development and design of the HMI, and show the operation principle and the driving process of the robot. The complex algorithm and flow of the robot control system are visualized, and the sensory effect is improved. The teaching tool is used for teaching industrial robot principle courses.
The system adopts HMI to directly drive the servo driver, and strengthens the practical training effect of the servo driving technology through parameter setting of the servo driver.
The spherical hinge component is adopted, so that a spherical joint structure is designed, the working angle is increased, and the working operation space of the robot is enlarged.
The linear slide rail is used as a transmission part, so that the transmission precision is high, the error is small, and the parallel structure is easy to control the error.
Drawings
FIG. 1 is a schematic view of the overall structure of the present utility model;
fig. 2 is a schematic structural view of the spherical hinge mechanism.
Reference numerals in the drawings:
1. a human interface component; 2. a servo drive system; 3. a mechanical arm; 4. a production tool; 5. a spherical hinge mechanism; 51. a rear cover; 52. a front cover; 53. ball head; 54. a connecting rod; 6. a linear slide rail; 7. a fixed platform; 8. a movable platform; 9. a servo motor.
Detailed Description
The embodiments of the present utility model will be described more fully hereinafter with reference to the accompanying drawings, in which the embodiments of the present utility model are shown by way of illustration only, and the utility model is not limited to the embodiments of the present utility model, but other embodiments of the present utility model will be apparent to those skilled in the art without making any inventive effort.
1-2, an industrial robot and control system comprises a man-machine interface component, a servo driving system and a mechanical arm, wherein the man-machine interface component is connected with the servo driving system for data and instruction interaction; the mechanical arm comprises a fixed platform, a movable platform and a spherical hinge mechanism; the fixed platform is provided with a linear slide rail and a servo motor connected with the linear slide rail, and a sliding mechanism capable of sliding along the linear slide rail is arranged on the linear slide rail; the linear slide rail is preferably arranged horizontally, the linear slide rail is preferably a ball screw, and the sliding mechanism is a nut. The sliding mechanism is connected with the movable platform through the spherical hinge mechanism; the movable platform is provided with a production tool; the servo driver drives the servo motor, acquires the rotating speed and the angular displacement of the servo motor in real time, transmits the rotating speed and the angular displacement to the man-machine interface component, and processes, calculates and stores the data by the man-machine interface component.
The ball hinge mechanism comprises a rear cover, a front cover, a connecting rod and ball heads arranged at two ends of the connecting rod, wherein the rear cover and the front cover are fixedly connected to the sliding mechanism and the movable platform, and the ball heads are hinged with the front cover. The front cover of the spherical hinge mechanism is provided with a spherical joint structure, and the ball head is hinged with the spherical joint structure.
The operation modes of the human-computer interface component of the system comprise manual operation, dragging teaching and reproduction operation, wherein the manual operation process comprises the following steps:
and transmitting the displacement data of each shaft corresponding to the target position to a servo driving system, and driving a servo motor to act by the servo driving system for positioning. The drag teaching process includes:
s1: releasing the brake of the servo motor, wherein the motor is in a free state;
s2: the operator drags the manual platform by hand, so that the production tool reaches the appointed position;
s3: the man-machine interface part records the current position and stores the current position in a record list;
s4: the teaching is finished, and the brake is closed;
the reproduction operation procedure includes:
during reproduction operation, the man-machine interface part sequentially sends data stored in the data table, set speed and set action parameters to the servo driving system, then sends an action instruction to the servo driving system, and the servo driving device drives the servo motor to rotate and position so as to realize reproduction operation of the production running track.
The beneficial effects achieved by the utility model are as follows:
the utility model is suitable for the professional course teaching and practice training in the aspects of robot technology, servo driving technology, man-machine interface technology, robot control principle and the like, and can also be used for the simple and reliable composition of a production system with less hardware investment. The utility model simplifies the existing control system composition, does not need a control device, and can be realized only by a human-machine interface (HMI). The teaching and reproduction method has complete teaching and reproduction function process of the industrial robot. The teaching and reproduction process of the robot is realized by a simple mechanism.
The system can realize the mathematical operation of the robot control process by using the existing functions of the HMI through development and design of the HMI, and show the operation principle and the driving process of the robot. The complex algorithm and flow of the robot control system are visualized, and the sensory effect is improved. The teaching tool is used for teaching industrial robot principle courses.
The system adopts HMI to directly drive the servo driver, and strengthens the practical training effect of the servo driving technology through parameter setting of the servo driver.
The spherical hinge component is adopted, a spherical joint structure and a front cover thereof are designed, the working angle is increased, and the working operation space of the robot is enlarged.
The linear slide rail is used as a transmission part, so that the transmission precision is high, the error is small, and the parallel structure is easy to control the error.
The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed; secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict; finally: the foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the utility model are intended to be included within the scope of the utility model.
Claims (5)
1. An industrial robot and control system, characterized in that it includes man-machine interface part, servo drive system, arm, wherein:
the man-machine interface component is connected with the servo driving system to interact data and instructions;
the mechanical arm comprises a fixed platform, a movable platform and a spherical hinge mechanism; the fixed platform is provided with a linear slide rail and a servo motor connected with the linear slide rail, and a sliding mechanism capable of sliding along the linear slide rail is arranged on the linear slide rail; the sliding mechanism is connected with the movable platform through the spherical hinge mechanism; the movable platform is provided with a production tool;
the servo driver drives the servo motor, acquires the rotating speed and the angular displacement of the servo motor in real time, transmits the rotating speed and the angular displacement to the man-machine interface component, and processes, calculates and stores the data by the man-machine interface component.
2. An industrial robot and control system according to claim 1, wherein: the ball hinge mechanism comprises a rear cover, a front cover, a connecting rod and ball heads arranged at two ends of the connecting rod, wherein the rear cover and the front cover are fixedly connected to the sliding mechanism and the movable platform, and the ball heads are hinged with the front cover.
3. An industrial robot and control system according to claim 1, wherein: the linear slide rail is horizontally arranged.
4. An industrial robot and control system according to claim 1, wherein: the linear slide rail is a ball screw, and the sliding mechanism is a nut.
5. An industrial robot and control system according to claim 1, wherein: the front cover of the spherical hinge mechanism is provided with a spherical joint structure, and the ball head is hinged with the spherical joint structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320637383.8U CN220680803U (en) | 2023-03-28 | 2023-03-28 | Industrial robot and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320637383.8U CN220680803U (en) | 2023-03-28 | 2023-03-28 | Industrial robot and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220680803U true CN220680803U (en) | 2024-03-29 |
Family
ID=90373602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320637383.8U Active CN220680803U (en) | 2023-03-28 | 2023-03-28 | Industrial robot and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220680803U (en) |
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2023
- 2023-03-28 CN CN202320637383.8U patent/CN220680803U/en active Active
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