WO2018176241A1 - Production device machinery smart control system - Google Patents

Production device machinery smart control system Download PDF

Info

Publication number
WO2018176241A1
WO2018176241A1 PCT/CN2017/078479 CN2017078479W WO2018176241A1 WO 2018176241 A1 WO2018176241 A1 WO 2018176241A1 CN 2017078479 W CN2017078479 W CN 2017078479W WO 2018176241 A1 WO2018176241 A1 WO 2018176241A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
module
output
electrically
input
Prior art date
Application number
PCT/CN2017/078479
Other languages
French (fr)
Chinese (zh)
Inventor
张清霞
Original Assignee
深圳市源畅通科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市源畅通科技有限公司 filed Critical 深圳市源畅通科技有限公司
Priority to PCT/CN2017/078479 priority Critical patent/WO2018176241A1/en
Publication of WO2018176241A1 publication Critical patent/WO2018176241A1/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Abstract

A production device machinery smart control system, comprising a smart control apparatus, an output end of the smart control apparatus being electrically connected to an input end of a production machinery apparatus, an output end of the production machinery apparatus being electrically connected to an input end of a mechanical hand. The smart control apparatus facilitates the regulation of the production machinery apparatus. When a deviation is generated in a production operation process, the production operation process of the mechanical hand is modified by controlling the smart control apparatus, so as to regulate the production machinery apparatus, ensure the continuity of the production process, and increase the production efficiency. In addition, a memory storage module stores manipulation actions for manipulating the mechanical hand, so that the mechanical hand performs article production control via steps, and implements a smart control effect, thereby achieving the advantage of convenient regulation, and effectively solving the problem that existing smart machinery control apparatuses generate operation deviations in operation processes and thus affect article production processes.

Description

一种生产设备机械智能控制系统 技术领域  Mechanical control system for production equipment
[0001] 本发明涉及机械智能控制技术领域, 具体为一种生产设备机械智能控制系统。  [0001] The present invention relates to the field of mechanical intelligent control technology, and specifically relates to a mechanical intelligent control system for a production facility.
背景技术  Background technique
[0002] 智能控制指的是, 机械在无人干预的情况下能自主地驱动智能机器实现控制目 标的自动控制技术。  [0002] Intelligent control refers to the automatic control technology that the machine can independently drive the intelligent machine to achieve the control target without intervention.
技术问题  technical problem
[0003] 现有的机械智能控制系统在对机械控制过程中, 不能对机械装置进行很好的调 控, 使得机械装置在生产过程中, 会产生操作偏差, 延长生产吋间, 影响物品 的生产过程。  [0003] In the mechanical control process of the existing mechanical intelligent control system, the mechanical device cannot be well regulated, so that the mechanical device may cause operational deviation during the production process, prolong the production time, and affect the production process of the article. .
问题的解决方案  Problem solution
技术解决方案  Technical solution
[0004] 本发明的目的在于提供一种生产设备机械智能控制系统, 具备方便进行调控的 优点, 解决了现有智能机械控制装置在工作过程中会产生操作偏差从而影响物 品生产过程的问题。  [0004] The object of the present invention is to provide a mechanical intelligent control system for a production facility, which has the advantages of convenient regulation and control, and solves the problem that the existing intelligent mechanical control device may cause operational deviation during the working process and affect the production process of the product.
[0005] 为实现上述目的, 本发明提供如下技术方案: 一种生产设备机械智能控制系统 , 包括智能控制装置, 所述智能控制装置的输出端电连接生产机械装置的输入 端, 所述生产机械装置的输出端电连接机械手的输入端。  [0005] In order to achieve the above object, the present invention provides the following technical solutions: A production equipment mechanical intelligent control system, comprising an intelligent control device, an output end of the intelligent control device is electrically connected to an input end of a production mechanical device, the production machine The output of the device is electrically connected to the input of the robot.
[0006] 所述智能控制装置包括中央处理器, 所述中央处理器的输入端电连接机械手控 制模块的输出端, 所述中央处理器的输入端电连接机械幵关模块的输出端, 所 述中央处理器的输入端电连接机械手方向转动控制模块的输出端, 所述中央处 理器的输入端电连接机械手抓取释放控制模块的输出端, 所述中央处理器的输 入端电连接记忆储存模块的输出端, 所述中央处理器的输入端电连接确认模块 的输出端。  [0006] The intelligent control device includes a central processing unit, an input end of the central processing unit is electrically connected to an output end of the mechanical control module, and an input end of the central processing unit is electrically connected to an output end of the mechanical switching module, The input end of the central processor is electrically connected to the output end of the robot direction rotation control module, and the input end of the central processor is electrically connected to the output end of the robot grab control release module, and the input end of the central processor is electrically connected to the memory storage module The output of the central processor is electrically connected to the output of the confirmation module.
[0007] 所述生产机械装置包括控制处理器, 所述控制处理器的输出端电连接机械手控 制单元的输入端, 所述机械手控制单元的输出端电连接机械手运作控制模块的 输入端, 所述机械手控制单元的输出端电连接机械手方向控制模块的输入端, 所述控制处理器的输出端电连接控制节点单元的输入端。 [0007] The production mechanism includes a control processor, an output end of the control processor is electrically connected to an input end of the robot control unit, and an output end of the robot control unit is electrically connected to the robot operation control module. The input end of the robot control unit is electrically connected to the input end of the robot direction control module, and the output end of the control processor is electrically connected to the input end of the control node unit.
[0008] 优选的, 所述中央处理器的输出端电连接指令发送模块的输入端, 所述控制处 理器的输入端电连接指令接收模块的输出端, 所述指令发送模块的输出端电连 接指令接收模块的输入端。  [0008] Preferably, an output end of the central processing unit is electrically connected to an input end of the instruction sending module, an input end of the control processor is electrically connected to an output end of the instruction receiving module, and an output end of the instruction sending module is electrically connected. The input of the instruction receiving module.
[0009] 优选的, 所述控制节点单元分别包括控制节点一和控制节点二。  [0009] Preferably, the control node unit includes a control node 1 and a control node 2, respectively.
[0010] 优选的, 所述控制处理器的输出端电连接控制节点一的输入端, 所述控制处理 器的输出端电连接控制节点二的输入端。  [0010] Preferably, the output end of the control processor is electrically connected to the input end of the control node 1, and the output end of the control processor is electrically connected to the input end of the control node 2.
[0011] 优选的, 所述控制节点一的输出端电连接机械幵启模块的输入端, 所述控制节 点二的输出端电连接机械关闭模块的输入端。  [0011] Preferably, the output end of the control node 1 is electrically connected to the input end of the mechanical opening module, and the output end of the control node 2 is electrically connected to the input end of the mechanical shutdown module.
[0012] 优选的, 所述机械手运作控制模块的输出端、 机械手方向控制模块的输出端、 机械幵启模块的输出端和机械关闭模块的输出端均电连接反馈模块的输入端, 所述反馈模块的输出端电连接控制处理器的输入端。  [0012] Preferably, the output end of the robot operation control module, the output end of the robot direction control module, the output end of the mechanical start module, and the output end of the mechanical shutdown module are electrically connected to the input end of the feedback module, and the feedback The output of the module is electrically connected to the input of the control processor.
[0013] 优选的, 所述机械手运作控制模块分别包括上移动模块、 下移动模块、 左移动 模块和右移动模块。 [0013] Preferably, the robot operation control module includes an upper movement module, a lower movement module, a left movement module and a right movement module, respectively.
[0014] 优选的, 所述机械手方向控制模块分别包括抓取模块和释放模块。 [0014] Preferably, the robot direction control module includes a grab module and a release module, respectively.
[0015] 优选的, 所述控制处理器的输出端电连接机械手操作模块的输入端, 所述机械 手操作模块的输出端电连接机械手的输入端。 [0015] Preferably, the output end of the control processor is electrically connected to the input end of the robot operation module, and the output end of the robot operation module is electrically connected to the input end of the robot.
发明的有益效果  Advantageous effects of the invention
有益效果  Beneficial effect
[0016] 与现有技术相比, 本发明的有益效果如下:  [0016] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0017] 本发明通过设置智能控制装置方便对生产机械装置进行调控, 当生产操作过程 产生偏差吋, 通过控制智能控制装置来改变机械手的生产操作过程, 从而对生 产机械装置进行调控, 保证生产过程的持续性, 提高生产效率, 通过设置记忆 储存模块来储存人为操控机械手的操控动作, 使得机械手通过该步骤进行物品 的生产控制, 实现智能化控制的效果, 达到了方便进行调控的优点, 从而有效 的解决了现有智能机械控制装置在工作过程中会产生操作偏差从而影响物品生 产过程的问题。 对附图的简要说明 [0017] The invention conveniently controls the production machinery device by setting an intelligent control device, and when the production operation process produces a deviation, the control operation process of the manipulator is changed by controlling the intelligent control device, thereby regulating the production mechanism to ensure the production process. Sustainability, improve production efficiency, and save the manipulative manipulation of the manipulator by setting the memory storage module, so that the robot can control the production of the article through this step, realize the effect of intelligent control, and achieve the advantages of convenient regulation and control, thereby effectively The problem that the existing intelligent mechanical control device generates operational deviation during the work process and affects the production process of the article is solved. Brief description of the drawing
附图说明  DRAWINGS
[0018] 图 1为本发明系统框图;  1 is a block diagram of a system of the present invention;
[0019] 图 2为本发明智能控制装置结构框图;  2 is a structural block diagram of an intelligent control device according to the present invention;
[0020] 图 3为本发明生产机械装置结构框图;  3 is a structural block diagram of a production mechanism of the present invention;
[0021] 图 4为本发明控制流程框图;  4 is a block diagram of a control flow of the present invention;
[0022] 图 5为本发明机械手运作控制模块结构框图;  [0022] FIG. 5 is a structural block diagram of a robot operation control module of the present invention;
[0023] 图 6为本发明机械手方向控制模块结构框图。  6 is a structural block diagram of a manipulator direction control module of the present invention.
[0024] 图中: 1智能控制装置、 2生产机械装置、 3机械手、 4中央处理器、 5机械手控 制模块、 6机械幵关模块、 7机械手方向转动控制模块、 8机械手抓取释放控制模 块、 9记忆储存模块、 10确认模块、 11指令发送模块、 12控制处理器、 13机械手 控制单元、 14机械手运作控制模块、 15机械手方向控制模块、 16控制节点单元 、 17机械幵启模块、 18机械关闭模块、 19反馈模块、 20机械手操作模块、 21控 制节点一、 22控制节点二、 23指令接收模块、 24上移动模块、 25下移动模块、 2 6左移动模块、 27右移动模块、 28抓取模块、 29释放模块。  [0024] In the figure: 1 intelligent control device, 2 production mechanism, 3 robot, 4 central processor, 5 robot control module, 6 mechanical switch module, 7 robot direction rotation control module, 8 robot grab release control module, 9 memory storage module, 10 confirmation module, 11 command transmission module, 12 control processor, 13 robot control unit, 14 robot operation control module, 15 robot direction control module, 16 control node unit, 17 mechanical opening module, 18 mechanical shutdown Module, 19 feedback module, 20 robot operation module, 21 control node one, 22 control node two, 23 command receiving module, 24 moving module, 25 moving module, 2 6 left moving module, 27 right moving module, 28 grabbing Module, 29 release module.
本发明的实施方式 Embodiments of the invention
[0025] 下面将结合本发明实施例中的附图, 对本发明实施例中的技术方案进行清楚、 完整地描述, 显然, 所描述的实施例仅仅是本发明一部分实施例, 而不是全部 的实施例。 基于本发明中的实施例, 本领域普通技术人员在没有做出创造性劳 动前提下所获得的所有其他实施例, 都属于本发明保护的范围。  [0025] The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. example. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
[0026] 请参阅图 1-6, 一种生产设备机械智能控制系统, 包括智能控制装置 1, 通过 设置智能控制装置 1方便对生产机械装置 2进行调控, 智能控制装置 1的输出端电 连接生产机械装置 2的输入端, 生产机械装置 2的输出端电连接机械手 3的输入端 , 当生产操作过程产生偏差吋, 通过控制智能控制装置 1来改变机械手 3的生产 操作过程, 从而对生产机械装置 2进行调控, 保证生产过程的持续性, 提高生产 效率。  [0026] Referring to FIG. 1-6, a mechanical intelligent control system for a production equipment includes an intelligent control device 1. The intelligent control device 1 is provided to conveniently regulate the production mechanical device 2, and the output end of the intelligent control device 1 is electrically connected to the production. The input end of the mechanical device 2, the output end of the production mechanism 2 is electrically connected to the input end of the robot 3, and when the production operation produces a deviation 吋, the production operation process of the robot 3 is changed by controlling the intelligent control device 1, thereby producing the mechanical device 2 Carry out regulation and control to ensure the continuity of the production process and improve production efficiency.
[0027] 智能控制装置 1包括中央处理器 4, 中央处理器 4的输入端电连接机械手控制模 块 5的输出端, 通过智能控制装置 1内的机械手控制模块 5进行机械手 3的控制, 中央处理器 4的输入端电连接机械幵关模块 6的输出端, 中央处理器 4的输入端电 连接机械手方向转动控制模块 7的输出端, 中央处理器 4的输入端电连接机械手 抓取释放控制模块 8的输出端, 通过机械手方向转动控制模块 7和机械手抓取释 放控制模块 8进行机械手 3动作控制指令的下达, 中央处理器 4的输入端电连接记 忆储存模块 9的输出端, 通过设置记忆储存模块 9来储存人为操控机械手 3的操控 动作, 使得机械手 3通过该步骤进行物品的生产控制, 实现智能化控制的效果, 中央处理器 4的输入端电连接确认模块 10的输出端, 通过确认模块 10方便对记忆 储存模块 9储存的动作进行保存, 从而实现对机械手 3的控制, 以及方便机械手 3 进行自动操作过程。 [0027] The intelligent control device 1 comprises a central processing unit 4, and the input end of the central processing unit 4 is electrically connected to the robot control mode The output end of the block 5 is controlled by the robot control module 5 in the intelligent control device 1 , and the input end of the central processing unit 4 is electrically connected to the output end of the mechanical switch module 6 , and the input end of the central processing unit 4 is electrically connected. The manipulator rotates the output end of the control module 7, the input end of the central processor 4 is electrically connected to the output end of the robotic grip release control module 8, and the robot 3 motion control is performed by the robot direction rotation control module 7 and the robot grab release control module 8. The input end of the central processing unit 4 is electrically connected to the output end of the memory storage module 9, and the memory storage module 9 is arranged to store the manipulation action of the artificial manipulation robot 3, so that the robot 3 performs the production control of the article through the step. The effect of the intelligent control, the input end of the central processing unit 4 is electrically connected to the output end of the confirmation module 10, and the operation stored in the memory storage module 9 is conveniently saved by the confirmation module 10, thereby realizing the control of the robot 3 and facilitating the robot 3 Perform an automated process.
生产机械装置 2包括控制处理器 12, 控制处理器 12的输出端电连接机械手控制 单元 13的输入端, 通过设置机械手控制单元 13对机械手 3进行操控, 机械手控制 单元 13的输出端电连接机械手运作控制模块 14的输入端, 机械手运作控制模块 1 4分别包括上移动模块 24、 下移动模块 25、 左移动模块 26和右移动模块 27, 通过 设置机上移动模块 24、 下移动模块 25、 左移动模块 26和右移动模块 27方便控制 机械手 3上下左右的移动, 械手控制单元 13的输出端电连接机械手方向控制模块 15的输入端, 机械手方向控制模块 15分别包括抓取模块 28和释放模块 29, 通过 设置抓取模块 28和释放模块 29方便控制机械手 3的抓取操作和释放操作, 控制处 理器 12的输出端电连接控制节点单元 16的输入端, 控制节点单元 16分别包括控 制节点一 21和控制节点二 22, 控制处理器 12的输出端电连接控制节点一 21的输 入端, 控制处理器 12的输出端电连接控制节点二 22的输入端, 控制节点一 21的 输出端电连接机械幵启模块 17的输入端, 控制节点二 22的输出端电连接机械关 闭模块 18的输入端, 通过设置机械幵启模块 17和机械关闭模块 18来控制生产机 械装置 2的幵启与关闭, 从而方便对生产机械装置 2进行智能化的控制, 机械手 运作控制模块 14的输出端、 机械手方向控制模块 15的输出端、 机械幵启模块 17 的输出端和机械关闭模块 18的输出端均电连接反馈模块 19的输入端, 反馈模块 1 9的输出端电连接控制处理器 1的输入端, 中央处理器 4的输出端电连接指令发送 模块 11的输入端, 控制处理器 12的输入端电连接指令接收模块 23的输出端, 通 过设置指令发送模块 11和指令接收模块 23方便智能控制装置 1对生产机械装置 2 进行控制, 指令发送模块 11的输出端电连接指令接收模块 23的输入端, 控制处 理器 12的输出端电连接机械手操作模块 20的输入端, 生产机械装置 2通过机械手 操作模块 20对机械手 3进行直接控制, 机械手操作模块 20的输出端电连接机械手 3的输入端, 达到了方便进行调控的优点, 从而有效的解决了现有智能机械控制 装置在工作过程中会产生操作偏差从而影响物品生产过程的问题。 The production mechanism 2 includes a control processor 12, the output of the control processor 12 is electrically connected to the input end of the robot control unit 13, and the robot 3 is controlled by the robot control unit 13, and the output of the robot control unit 13 is electrically connected to the robot. The input end of the control module 14 and the robot operation control module 14 respectively include an upper moving module 24, a lower moving module 25, a left moving module 26 and a right moving module 27, by setting an onboard moving module 24, a lower moving module 25, and a left moving module. 26 and the right movement module 27 facilitates control of the up, down, left and right movement of the robot 3, the output end of the robot control unit 13 is electrically connected to the input end of the robot direction control module 15, and the robot direction control module 15 includes a capture module 28 and a release module 29, respectively. The grabbing operation and the releasing operation of the robot 3 are conveniently controlled by setting the gripping module 28 and the releasing module 29, and the output of the control processor 12 is electrically connected to the input terminal of the control node unit 16, which respectively includes the control node 21 and Control node 22, the output of control processor 12 is electrically connected to the control node The input end of the control processor 12 is electrically connected to the input end of the control node 22, the output end of the control node 21 is electrically connected to the input end of the mechanical opening module 17, and the output of the control node 22 is electrically connected. The input end of the mechanical closing module 18 controls the opening and closing of the production mechanism 2 by providing the mechanical opening module 17 and the mechanical closing module 18, thereby facilitating intelligent control of the production mechanism 2, and the robot operation control module 14 The output end, the output end of the robot direction control module 15, the output end of the mechanical opening module 17 and the output end of the mechanical shutdown module 18 are all electrically connected to the input end of the feedback module 19, and the output end of the feedback module 19 is electrically connected to control processing. The input end of the central processing unit 4 is electrically connected to the input end of the command transmitting module 11, and the input end of the control processor 12 is electrically connected to the output end of the command receiving module 23. The setting command transmitting module 11 and the command receiving module 23 facilitate the intelligent control device 1 to control the production mechanism 2, and the output end of the command transmitting module 11 is electrically connected to the input end of the command receiving module 23, and the output of the control processor 12 is electrically connected. The input end of the robot operation module 20, the production mechanism 2 directly controls the robot 3 through the robot operation module 20, and the output end of the robot operation module 20 is electrically connected to the input end of the robot 3, thereby achieving the advantages of convenient regulation and control, thereby being effective. The invention solves the problem that the existing intelligent mechanical control device will cause operational deviation during the working process and affect the production process of the article.
[0029] 工作原理: 该生产设备机械智能控制系统使用吋, 通过智能控制装置 1内的机 械手控制模块 5进行机械手 3的控制, 通过机械手方向转动控制模块 7和机械手抓 取释放控制模块 8进行机械手 3动作控制指令的下达, 通过设置记忆储存模块 9幵 始储存接下来的机械手 3控制过程, 通过确认模块 10方便对记忆储存模块 9储存 的动作进行保存, 从而实现对机械手 3的控制, 以及方便机械手 3进行自动操作 过程, 通过设置机械手控制单元 13对机械手 3进行操控, 通过设置机械幵启模块 17和机械关闭模块 18来控制生产机械装置 2的幵启与关闭, 从而方便对生产机械 装置 2进行智能化的控制, 达到了方便进行调控的优点, 本系统中涉及到的相关 模块均为硬件系统模块或者为现有技术中计算机软件程序或协议与硬件相结合 的功能模块, 该功能模块所涉及到的计算机软件程序或协议的本身均为本领域 技术人员公知的技术, 其不是本系统的改进之处; 本系统的改进为各模块之间 的相互作用关系或连接关系, 即为对系统的整体的构造进行改进, 以解决本系 统所要解决的相应技术问题。  [0029] Working principle: The mechanical intelligent control system of the production equipment uses 吋, the robot 3 is controlled by the robot control module 5 in the intelligent control device 1, and the robot is controlled by the robot direction rotation control module 7 and the robot grab release control module 8. 3 The release of the motion control command, the storage of the next robot 3 control process is started by setting the memory storage module 9, and the operation stored in the memory storage module 9 is conveniently saved by the confirmation module 10, thereby realizing the control of the robot 3 and facilitating The robot 3 performs an automatic operation process, and controls the robot 3 by setting the robot control unit 13, and controls the opening and closing of the production mechanism 2 by providing the mechanical opening module 17 and the mechanical closing module 18, thereby facilitating the production mechanism 2 The intelligent control achieves the advantages of convenient regulation. The related modules involved in the system are hardware system modules or functional modules combined with computer software programs or protocols and hardware in the prior art. Involved The computer software program or protocol itself is a technology known to those skilled in the art, which is not an improvement of the system; the improvement of the system is the interaction relationship or connection relationship between the modules, that is, the system The overall structure is improved to solve the corresponding technical problems to be solved by the system.
[0030] 综上所述: 该生产设备机械智能控制系统, 通过设置智能控制装置 1方便对生 产机械装置 2进行调控, 当生产操作过程产生偏差吋, 通过控制智能控制装置 1 来改变机械手 3的生产操作过程, 从而对生产机械装置 2进行调控, 保证生产过 程的持续性, 提高生产效率, 通过设置记忆储存模块 9来储存人为操控机械手 3 的操控动作, 使得机械手 3通过该步骤进行物品的生产控制, 实现智能化控制的 效果, 解决了现有智能机械控制装置在工作过程中会产生操作偏差从而影响物 品生产过程的问题。  [0030] In summary: the mechanical intelligent control system of the production equipment, by setting the intelligent control device 1 to facilitate the regulation of the production mechanism 2, when the production operation process produces a deviation, by controlling the intelligent control device 1 to change the robot 3 The production operation process, thereby regulating the production mechanism 2, ensuring the continuity of the production process, improving the production efficiency, and storing the manipulating action of the manipulator 3 by setting the memory storage module 9, so that the robot 3 performs the production of the article through this step. Control, realize the effect of intelligent control, solve the problem that the existing intelligent mechanical control device will produce operational deviation during the working process and affect the production process of the article.
[0031] 需要说明的是, 在本文中, 诸如第一和第二等之类的关系术语仅仅用来将一个 实体或者操作与另一个实体或操作区分幵来, 而不一定要求或者暗示这些实体 或操作之间存在任何这种实际的关系或者顺序。 而且, 术语"包括"、 "包含 "或者 其任何其他变体意在涵盖非排他性的包含, 从而使得包括一系列要素的过程、 方法、 物品或者设备不仅包括那些要素, 而且还包括没有明确列出的其他要素 , 或者是还包括为这种过程、 方法、 物品或者设备所固有的要素。 在没有更多 限制的情况下。 由语句 "包括一个 ......限定的要素, 并不排除在包括所述要素的过 程、 方法、 物品或者设备中还存在另外的相同要素"。 [0031] It should be noted that, in this context, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities. There is any such actual relationship or order between operations. Furthermore, the terms "including", "comprising" or "comprising" or "comprising" are intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that includes a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such a process, method, item, or device. In the absence of more restrictions. The statement "comprises a singular element, does not exclude the existence of the same element in the process, method, item, or device that includes the element."
尽管已经示出和描述了本发明的实施例, 对于本领域的普通技术人员而言, 可 以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化 、 修改、 替换和变型, 本发明的范围由所附权利要求及其等同物限定。  While the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art The scope of the invention is defined by the appended claims and their equivalents.

Claims

权利要求书 Claim
[权利要求 1] 一种生产设备机械智能控制系统, 包括智能控制装置 (1) , 其特征 在于: 所述智能控制装置 (1) 的输出端电连接生产机械装置 (2) 的 输入端, 所述生产机械装置 (2) 的输出端电连接机械手 (3) 的输入 所述智能控制装置 (1) 包括中央处理器 (4) , 所述中央处理器 (4 ) 的输入端电连接机械手控制模块 (5) 的输出端, 所述中央处理器 (4) 的输入端电连接机械幵关模块 (6) 的输出端, 所述中央处理器 (4) 的输入端电连接机械手方向转动控制模块 (7) 的输出端, 所述 中央处理器 (4) 的输入端电连接机械手抓取释放控制模块 (8) 的输 出端, 所述中央处理器 (4) 的输入端电连接记忆储存模块 (9) 的输 出端, 所述中央处理器 (4) 的输入端电连接确认模块 (10) 的输出 所述生产机械装置 (2) 包括控制处理器 (12) , 所述控制处理器 (1 2) 的输出端电连接机械手控制单元 (13) 的输入端, 所述机械手控 制单元 (13) 的输出端电连接机械手运作控制模块 (14) 的输入端, 所述机械手控制单元 (13) 的输出端电连接机械手方向控制模块 (15 ) 的输入端, 所述控制处理器 (12) 的输出端电连接控制节点单元 ( 16) 的输入端。  [Claim 1] A mechanical intelligent control system for a production facility, comprising an intelligent control device (1), characterized in that: an output end of the intelligent control device (1) is electrically connected to an input end of the production mechanical device (2) The output of the production mechanism (2) is electrically connected to the input of the robot (3). The intelligent control device (1) comprises a central processing unit (4), and the input end of the central processing unit (4) is electrically connected to the robot control module The output end of the central processor (4) is electrically connected to the output end of the mechanical switch module (6), and the input end of the central processor (4) is electrically connected to the robot direction rotation control module ( The output end of the central processor (4) is electrically connected to the output end of the robotic grab release control module (8), and the input end of the central processing unit (4) is electrically connected to the memory storage module (9) The output of the central processor (4) is electrically connected to the output of the confirmation module (10). The production mechanism (2) comprises a control processor (12), the control processor The output end of (1 2) is electrically connected to the input end of the robot control unit (13), and the output end of the robot control unit (13) is electrically connected to the input end of the robot operation control module (14), the robot control unit (13) The output of the control processor (12) is electrically connected to the input of the control node unit (16).
[权利要求 2] 根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述中央处理器 (4) 的输出端电连接指令发送模块 (11) 的输入 端, 所述控制处理器 (12) 的输入端电连接指令接收模块 (23) 的输 出端, 所述指令发送模块 (11) 的输出端电连接指令接收模块 (23) 的输入端。  [Claim 2] A production equipment mechanical intelligent control system according to claim 1, wherein: an output end of the central processing unit (4) is electrically connected to an input end of the command transmitting module (11), The input end of the control processor (12) is electrically connected to the output end of the command receiving module (23), and the output end of the command transmitting module (11) is electrically connected to the input end of the command receiving module (23).
[权利要求 3] 根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述控制节点单元 (16) 分别包括控制节点一 (21) 和控制节点二 (22) 。  [Claim 3] A production equipment mechanical intelligent control system according to claim 1, characterized in that: the control node unit (16) comprises a control node one (21) and a control node two (22), respectively.
[权利要求 4] 根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述控制处理器 (12) 的输出端电连接控制节点一 (21) 的输入端 , 所述控制处理器 (12) 的输出端电连接控制节点二 (22) 的输入端 根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述控制节点一 (21) 的输出端电连接机械幵启模块 (17) 的输入 端, 所述控制节点二 (22) 的输出端电连接机械关闭模块 (18) 的输 入端。 [Claim 4] A mechanical intelligent control system for a production facility according to claim 1, wherein The output of the control processor (12) is electrically connected to the input of the control node one (21), and the output of the control processor (12) is electrically connected to the input of the control node two (22) according to claim 1. The mechanical intelligent control system of the production device is characterized in that: the output end of the control node (21) is electrically connected to the input end of the mechanical opening module (17), and the output of the control node two (22) The terminal is electrically connected to the input of the mechanical shutdown module (18).
根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述机械手运作控制模块 (14) 的输出端、 机械手方向控制模块 ( 15) 的输出端、 机械幵启模块 (17) 的输出端和机械关闭模块 (18) 的输出端均电连接反馈模块 (19) 的输入端, 所述反馈模块 (19) 的 输出端电连接控制处理器 (1) 的输入端。 The mechanical intelligent control system for a production facility according to claim 1, wherein: the output end of the robot operation control module (14), the output end of the robot direction control module (15), and the mechanical opening module (17) The output of the mechanical shutdown module (18) and the output of the mechanical shutdown module (18) are electrically connected to the input of the feedback module (19), and the output of the feedback module (19) is electrically connected to the input of the control processor (1).
根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述机械手运作控制模块 (14) 分别包括上移动模块 (24) 、 下移 动模块 (25) 、 左移动模块 (26) 和右移动模块 (27) 。 A mechanical control system for a production facility according to claim 1, wherein: said robot operation control module (14) includes an upper movement module (24), a lower movement module (25), and a left movement module (26), respectively. ) and right move the module (27).
根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述机械手方向控制模块 (15) 分别包括抓取模块 (28) 和释放模 块 (29) 。 A machine tool mechanical intelligent control system according to claim 1, wherein: said robot direction control module (15) includes a grab module (28) and a release module (29), respectively.
根据权利要求 1所述的一种生产设备机械智能控制系统, 其特征在于 : 所述控制处理器 (12) 的输出端电连接机械手操作模块 (20) 的输 入端, 所述机械手操作模块 (20) 的输出端电连接机械手 (3) 的输 入端。 The mechanical intelligent control system for a production facility according to claim 1, wherein: the output end of the control processor (12) is electrically connected to the input end of the robot operation module (20), and the robot operation module (20) The output of the ) is electrically connected to the input of the robot (3).
PCT/CN2017/078479 2017-03-28 2017-03-28 Production device machinery smart control system WO2018176241A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/078479 WO2018176241A1 (en) 2017-03-28 2017-03-28 Production device machinery smart control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/078479 WO2018176241A1 (en) 2017-03-28 2017-03-28 Production device machinery smart control system

Publications (1)

Publication Number Publication Date
WO2018176241A1 true WO2018176241A1 (en) 2018-10-04

Family

ID=63675206

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/078479 WO2018176241A1 (en) 2017-03-28 2017-03-28 Production device machinery smart control system

Country Status (1)

Country Link
WO (1) WO2018176241A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201408354Y (en) * 2009-02-06 2010-02-17 宝元数控精密股份有限公司 Control system integrated with precision machine tool and manipulator
US20110040305A1 (en) * 2009-08-15 2011-02-17 Intuitive Surgical, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
CN103753585A (en) * 2014-01-10 2014-04-30 南通大学 Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis
US9227319B2 (en) * 2011-01-24 2016-01-05 Samsung Electronics Co., Ltd. Robot control system and method
CN205219125U (en) * 2015-11-02 2016-05-11 天津众达精密机械有限公司 Lathe hydraulic press manipulator intelligence control system
CN106335056A (en) * 2016-09-26 2017-01-18 绍兴文理学院 Intelligent machinery control system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201408354Y (en) * 2009-02-06 2010-02-17 宝元数控精密股份有限公司 Control system integrated with precision machine tool and manipulator
US20110040305A1 (en) * 2009-08-15 2011-02-17 Intuitive Surgical, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US9227319B2 (en) * 2011-01-24 2016-01-05 Samsung Electronics Co., Ltd. Robot control system and method
CN103753585A (en) * 2014-01-10 2014-04-30 南通大学 Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis
CN205219125U (en) * 2015-11-02 2016-05-11 天津众达精密机械有限公司 Lathe hydraulic press manipulator intelligence control system
CN106335056A (en) * 2016-09-26 2017-01-18 绍兴文理学院 Intelligent machinery control system

Similar Documents

Publication Publication Date Title
JP6010776B2 (en) Robot system control method and robot system
CN106272484B (en) A kind of polyisocyanate structure industrial robot control system
US6807461B2 (en) Coordinated robot control from multiple remote instruction sources
CN107450480B (en) Control device, control method, medium and the system of moving component
US20170001307A1 (en) Method for controlling an automated work cell
Cheng et al. Adaptive tracking control of hybrid machines: a closed-chain five-bar mechanism case
JP2013033347A (en) Load control system and load driving system
US9102060B2 (en) Method and device for controlling a multiple-machine arrangement
CN107803832A (en) A kind of control system of robot leg guy structure
WO2018176241A1 (en) Production device machinery smart control system
CN105945952B (en) A kind of control device and its control method of mechanical paw
US20200391387A1 (en) Screwing device
CN106335056A (en) Intelligent machinery control system
Zieliński et al. Multi-robot system controllers
CN203293204U (en) Control system of four-shaft SCARA industrial robot
CN106976084A (en) A kind of production equipment intelligent mechanic control system
Hernandez-Mendez et al. A switching position/force controller for two independent finger gripper over ROS
US9999973B2 (en) Method and device for controlling manipulators
CN104972467A (en) Truss type robot controller based on single-chip microcomputer
CN104626052B (en) A kind of bass horn sound advises method and the equipment thereof of automatically choosing
Hladio et al. Path following for mechanical systems: Experiments and examples
WO2013113320A1 (en) System for modifying a plc program
TW202012130A (en) Automatic return control system and method for robot arm
JP5871673B2 (en) Production equipment controller
CN208409885U (en) Heterogeneous remote control system based on multiple robots

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17904204

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase in:

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17904204

Country of ref document: EP

Kind code of ref document: A1