CN107790878A - A kind of hi-precision cutting robot at any angle - Google Patents
A kind of hi-precision cutting robot at any angle Download PDFInfo
- Publication number
- CN107790878A CN107790878A CN201711181022.2A CN201711181022A CN107790878A CN 107790878 A CN107790878 A CN 107790878A CN 201711181022 A CN201711181022 A CN 201711181022A CN 107790878 A CN107790878 A CN 107790878A
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- manipulator
- chip computer
- computer module
- module
- fixed
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of hi-precision cutting robot and its control method at any angle, including main control unit body, control panel, manipulator, one-chip computer module and base, chassis left side is fixed with stringer arms, base upper surface is fixed with left fix bar, fixed block is installed in left fix bar, right fix bar is fixed with the right of left fix bar, stringer arms upper end is fixed with crossbeam arm, slide bar is provided with crossbeam arm, manipulator is connected with slide bar, main control unit body is fixed with the right side of base, LCDs is provided with the right side of main control unit body, LCDs right-hand member is provided with one-chip computer module, control panel is provided with the right side of one-chip computer module, wireless senser is provided with the right side of control panel, one-chip computer module signal input part is connected with control panel, one-chip computer module signal output part is connected with peripheral hardware I/0 mouths；The present invention realizes the remote operation of industrial machine by wireless data transmission.
Description
Technical field
The present invention relates to industrial machine field, is specially a kind of hi-precision cutting robot and its controlling party at any angle
Method.
Background technology
With the promotion and popularization of industrial robot, increasing producer begins to use cutting robot to complete to work
The secondary operation of part.The generation of traditional robot manipulating task program is while the people that operates machine in plant site by operating personnel
In workpiece surface teaching characteristic point, while what the method to be programmed on teaching-programming pendant was completed.Other workpiece is more complicated, needs
When taught point is more, often just needs to put into the more time in tutorial program, cause the service efficiency of robot inadequate
It is high.Industrial circle extensive use at present, but in the market most of industrial machines can only manual operation, long distance can not be realized
From manipulation instruction, display part can not be arranged to the front for the industrial machine control device that operator can be seen, and robot
Control device needs to be arranged near robot, due to setting environment varied, it is therefore desirable for one kind can be according to setting
Environment neatly changes the robot controller of method to set up, and control machine that can be long-range works, and it is automatic to complete high efficiency
The high progress of work of change degree, in addition, plugging cable relative to equipment control device or operating the switch of equipment control device
When, operation object thing as cable connector, switch is not arranged at the robot controller that operator can be seen
Front, cause machine not meet the work habit of operating personnel.
The content of the invention
It is an object of the invention to provide a kind of hi-precision cutting robot and its control method at any angle, to solve
The problem of being proposed in above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of hi-precision cutting robot at any angle
And its control method, including main control unit body, control panel, manipulator, one-chip computer module and base, chassis left side fix
There are stringer arms, base upper surface is fixed with left fix bar, and fixed block is provided with left fix bar, the right side is fixed with the right of left fix bar
Fix bar, stringer arms upper end are fixed with crossbeam arm, and slide bar is provided with crossbeam arm, manipulator, base are connected with slide bar
Right side is fixed with main control unit body, and LCDs, LCDs right-hand member peace are provided with the right side of main control unit body
Equipped with one-chip computer module, control panel is provided with the right side of one-chip computer module, wireless senser, monolithic are provided with the right side of control panel
Machine module by signal input is connected with control panel, and one-chip computer module signal output part is connected with peripheral hardware I/0 mouths, peripheral hardware I/0 mouths
LCDs, manipulator and servomotor are connected by inner lead.
Preferably, control panel is internally provided with loudspeaker, and manipulator is provided with several, achievable to alarm, more
Individual manipulator improves operating efficiency.
Preferably, one-chip computer module（9）Including memory, CPU, system and network analysis unit are interrupted, is deposited
Reservoir signal output part is connected with CPU, and CPU signal output part is connected with interruption system, interrupts system
System signal output part is connected with network analysis unit, there is provided may be programmed attachable intelligence system.
Preferably, power supply module includes voltage reduction module, rectification module and filtration module, the connection of voltage reduction module signal output part
There is rectification module, rectification module signal output part is connected with filtration module, there is provided stable voltage is to device.
Preferably, sliding block is connected with the right side of manipulator, there is machinery to be provided with manipulator motor on hand, set on manipulator
Mechanical arm one is equipped with, the left side of mechanical arm one is connected with mechanical arm two, and the left side of mechanical arm two is connected with mechanical arm three, machine
Mechanical shaft is connected with tool arm three, mechanical shaft lower end is connected with laser cutter, inspection is provided with laser cutter
Sensor is surveyed, multiple mechanical arm designs conveniently realize that full angle is cut.
Preferably, the output shaft of manipulator motor is connected with decelerator by gear, and rotation is electrically connected with decelerator
Roll angle inspection device, conveniently it is controlled detection rotational angle.
Preferably, the lower section of fixing axle 17 is electrically connected with cylinder, and mechanical hand motor connects power supply mould by inner lead
Block, there is provided mechanical hand motor electric energy.
Preferably, machine one-chip computer module, manipulator, manipulator motor, LCDs, each sensor and control panel
Realized and be electrically connected with by wire, simple wire, which is realized, to be electrically connected with, convenient material benefit.
Preferably, peripheral hardware I/O mouths connect one-chip computer module by internal serial mouth, and peripheral hardware I/O mouths are 4 eight programmable
Parallel I/O mouths, interruption system possess five interrupt sources, five interrupt vectors, realize intelligent processing method.
Preferably, a kind of hi-precision cutting robot and its control method at any angle, comprise the following steps：
S1, in use, connection power supply, supply electricity to one-chip computer module, one-chip computer module possesses 26 special function registers, monolithic
Machine performance is very powerful, so as to control device, can carry out the programming to single-chip microcomputer and carry out running gear, by control panel to list
Adjustment machine after piece machine is programmed, is stretched, rotates and moved by one-chip computer module control machinery hand motor driving machine tool hand
The position of tool hand and angle, the object for needing to cut is put into after control machinery hand movement, object is fixed by fixed block.
S2, adjustment manipulator is stretched, rotates and moved by one-chip computer module control machinery hand motor driving machine tool hand
Position and angle, then control laser cutter to cut object, wherein detection sensor is used to detect cut object
State be supplied to one-chip computer module to be shown on LCDs, the remote controlled mechanical jerk of wireless senser starts
Deng.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, the present invention can realize cutting for more efficiently comprehensive full angle by multigroup manipulator of setting and multiple mechanical arms
Cutting the remote-controlled operation of the wireless senser realization of operation setting can allow worker to be passed away from dangerous laser-scribing platform, detection
Sensor and can allows staff to see the situation of material on a display screen in real time, avoids being that maloperation causes material to lose.
2nd, the present invention is connected by the single-chip microcomputer of setting with the wireless remote sensing of wireless senser, is handled through wireless setting device
The Wireless remote control substrate of main control unit internal body is reached afterwards, realizes the Long Distant Transmit of data, and remote switch control
The design of system, it can at a distance be controlled after realizing staff's distance reception signal, substantially increase staff
Safety guarantee.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is robot manipulator structure schematic diagram of the present invention；
Fig. 3 is operating structure block diagram of the present invention.
In figure：1- bases；The left fix bars of 2-；3- fixed blocks；The right fix bars of 4-；5- stringer arms；6- slide bars；7- chains of command
Plate；8- LCDs；9- one-chip computer modules；10- wireless sensers；11- detection sensors；12- main control unit bodies；
13- manipulators；14- laser cutters；15- mechanical arms three；16- mechanical shafts；17- mechanical arms two；18- sliding blocks；19- machineries
Torch machine；20- mechanical arms one；21- memories；22- CPU；23- network analysis units；24- peripheral hardware I/0 mouths；25-
Power supply module；26- voltage reduction modules；27- rectification modules；28- filtration modules；29- crossbeam arms；30- interrupts system.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme：A kind of hi-precision cutting robot at any angle and its
Control method, including main control unit body 12, control panel 7, manipulator 13, one-chip computer module 9 and base 1, the left side of base 1
Stringer arms 5 are fixed with, the upper surface of base 1 is fixed with left fix bar 2, and fixed block 3 is provided with left fix bar 2, and left fix bar 2 is right
While being fixed with right fix bar 4, the upper end of stringer arms 5 is fixed with crossbeam arm 29, is provided with slide bar 6 on crossbeam arm 29, activity on slide bar 6
Manipulator 13 is connected with, the right side of base 1 is fixed with main control unit body 12, and the right side of main control unit body 12 is provided with liquid crystal
Display screen 8, the right-hand member of LCDs 8 are provided with one-chip computer module 9, and the right side of one-chip computer module 9 is provided with control panel 7, controlled
The right side of panel 7 is provided with wireless senser 10, and the signal input part of one-chip computer module 9 is connected with control panel 7, one-chip computer module 9
Signal output part is connected with peripheral hardware I/0 mouths 24, and peripheral hardware I/0 mouths connect LCDs 8, manipulator 13 by inner lead and watched
Take motor 19.
Control panel 7 is internally provided with loudspeaker, and manipulator 13 is provided with several, achievable to alarm, Duo Geji
Tool hand 13 improves operating efficiency.One-chip computer module 9 includes memory 21, CPU 22, interrupts system 30 and system point
Unit 23 is analysed, the signal output part of memory 21 is connected with CPU 22, the connection of the signal output part of CPU 22
There is interruption system 30, the signal output part of interruption system 30 is connected with network analysis unit 23, there is provided may be programmed attachable intelligence
System.The output shaft of manipulator motor 19 is connected with decelerator by gear, and anglec of rotation detection is electrically connected with decelerator
Device, conveniently it is controlled detection rotational angle.The lower section of fixing axle 17 is electrically connected with cylinder, and mechanical hand motor 19 passes through inside
Wire connects power supply module 25, there is provided the mechanical electric energy of hand motor 19.Machine one-chip computer module 9, manipulator 13, manipulator motor
19th, LCDs 8, each sensor and control panel 7 are realized by wire and are electrically connected with, and simple wire, which is realized, electrically to be connected
Connect, convenient material benefit.Peripheral hardware I/O mouths 24 connect one-chip computer module 9 by internal serial mouth, and peripheral hardware I/O mouths 24, which are 4 eight, to be compiled
Cheng BinghangI/O mouths, interruption system 30 possess five interrupt sources, five interrupt vectors, realize intelligent processing method.
Operation principle：The present invention is a kind of hi-precision cutting robot and its control method at any angle, in use, even
Power supply is connect, supplies electricity to one-chip computer module 9, one-chip computer module 9 possesses 26 special function registers, and single-chip microcomputer performance is very strong
Greatly, so as to control device, the programming to single-chip microcomputer can be carried out and carry out running gear, single-chip microcomputer is compiled by control panel 7
Cheng Hou, stretched by the driving manipulator 13 of 9 control machinery hand motor of one-chip computer module 19, rotation and movement adjust manipulator 13
Position and angle, control machinery hand 13 is put into after moving needs the object that cuts, and object is fixed by fixed block 3.Pass through
The driving manipulator 13 of 9 control machinery hand motor of one-chip computer module 19 is flexible, the position of rotation and mobile adjustment manipulator 13 and
Angle, then control laser cutter 14 to cut object, wherein detection sensor 11 is used for the shape for detecting cut object
State is supplied to one-chip computer module 9 to be shown on LCDs 8, and the remote controlled mechanical jerk of wireless senser 10 starts
Deng.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
- A kind of 1. hi-precision cutting robot, including main control unit body at any angle（12）, control panel（7）, machinery Hand（13）, one-chip computer module（9）And base（1）, it is characterised in that：Base（1）Left side is fixed with stringer arms（5）, base（1）On End face is fixed with left fix bar（2）, left fix bar（2）On fixed block is installed（3）, left fix bar（2）The right is fixed with right solid Fixed pole（4）, stringer arms（5）Upper end is fixed with crossbeam arm（29）, crossbeam arm（29）On be provided with slide bar（6）, slide bar（6）Upper activity It is connected with manipulator（13）, base（1）Right side is fixed with main control unit body（12）, main control unit body（12）Right side is set It is equipped with LCDs（8）, LCDs（8）Right-hand member is provided with one-chip computer module（9）, one-chip computer module（9）Right side is set There is control panel（7）, control panel（7）Right side is provided with wireless senser（10）, one-chip computer module（9）Signal input part connects There is control panel（7）, one-chip computer module（9）Signal output part is connected with peripheral hardware I/0 mouths（24）, peripheral hardware I/0 mouths are led by inside Line connects LCDs（8）, manipulator（13）And servomotor（19）.
- A kind of 2. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：Control panel （7）It is internally provided with loudspeaker, manipulator（13）It is provided with several.
- A kind of 3. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：One-chip computer module （9）Including memory（21）, CPU（22）, interrupt system（30）With network analysis unit（23）, memory（21） Signal output part is connected with CPU（22）, CPU（22）Signal output part is connected with interruption system （30）, interrupt system（30）Signal output part is connected with network analysis unit（23）.
- A kind of 4. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：Power supply module （25）Including voltage reduction module（26）, rectification module（27）And filtration module（28）, voltage reduction module（26）Signal output part is connected with Rectification module（27）, rectification module（27）Signal output part is connected with filtration module（28）.
- A kind of 5. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：Manipulator（13） Right side is connected with sliding block（18）, there is manipulator（13）On be provided with manipulator motor（19）, manipulator（13）On be provided with Mechanical arm one（20）, mechanical arm one（20）Left side is connected with mechanical arm two（17）, mechanical arm two（17）Left side is flexibly connected There is mechanical arm three（15）, mechanical arm three（15）In be connected with mechanical shaft（16）, mechanical shaft（16）Lower end is connected with sharp Light cutter（14）, laser cutter（14）On detection sensor is installed（11）.
- A kind of 6. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：Manipulator motor （19）Output shaft decelerator is connected with by gear, and rotating angle detector is electrically connected with decelerator.
- A kind of 7. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：Mechanical hand-electric Machine（19）Power supply module is connected by inner lead（25）.
- A kind of 8. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：One-chip computer module （9）, manipulator（13）, manipulator motor（19）, LCDs（8）, each sensor and control panel（7）It is real by wire Now it is electrically connected with.
- A kind of 9. hi-precision cutting robot at any angle according to claim 1, it is characterised in that：Peripheral hardware I/O mouths （24）One-chip computer module is connected by internal serial mouth（9）, peripheral hardware I/O mouths（24）For 4 eight programmable parallel I/O mouths, in Disconnected system（30）Possess five interrupt sources, five interrupt vectors.
- 10. hi-precision cutting robot and its control method, its feature exist one kind according to claim 1 at any angle In：S1, in use, connection power supply, supply electricity to one-chip computer module（9）, one-chip computer module（9）Possess 26 specific function deposits Device, single-chip microcomputer performance is very powerful, so as to control device, can carry out the programming to single-chip microcomputer and carry out running gear, pass through control Panel（7）After being programmed to single-chip microcomputer, pass through one-chip computer module（9）Control machinery hand motor（19）Driving manipulator（13） Flexible, rotation and mobile adjustment manipulator（13）Position and angle, control machinery hand（13）Being put into after movement needs what is cut Object, pass through fixed block（3）Fix object；S2, pass through one-chip computer module（9）Control machinery hand motor（19）Driving manipulator（13）Flexible, rotation and mobile adjustment Manipulator（13）Position and angle, then control laser cutter（14）Object is cut, wherein detection sensor（11） State for detecting cut object is supplied to one-chip computer module（9）In LCDs（8）On show, wireless sensing Device（10）Remote controlled mechanical jerk startup etc..
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711181022.2A CN107790878A (en) | 2017-11-23 | 2017-11-23 | A kind of hi-precision cutting robot at any angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711181022.2A CN107790878A (en) | 2017-11-23 | 2017-11-23 | A kind of hi-precision cutting robot at any angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107790878A true CN107790878A (en) | 2018-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711181022.2A Pending CN107790878A (en) | 2017-11-23 | 2017-11-23 | A kind of hi-precision cutting robot at any angle |
Country Status (1)
| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202276A (en) * | 2019-07-10 | 2019-09-06 | 深圳市大鹏激光科技有限公司 | A kind of laser cutting device |
| CN111250866A (en) * | 2020-02-20 | 2020-06-09 | 江苏大学 | Device and method for improving machining quality of hole with any angle by changing laser incidence angle |
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| CN106393049A (en) * | 2015-08-12 | 2017-02-15 | 哈尔滨理工大学 | Robot used for high risk operation |
| CN206263962U (en) * | 2016-11-25 | 2017-06-20 | 天津市科百汇自动化科技有限公司 | A kind of control system of lifting mechanical arm |
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| US20100036526A1 (en) * | 2006-12-21 | 2010-02-11 | Abb Ab | control system for controlling an industrial robot |
| CN106393049A (en) * | 2015-08-12 | 2017-02-15 | 哈尔滨理工大学 | Robot used for high risk operation |
| CN106112984A (en) * | 2016-08-11 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202276A (en) * | 2019-07-10 | 2019-09-06 | 深圳市大鹏激光科技有限公司 | A kind of laser cutting device |
| CN111250866A (en) * | 2020-02-20 | 2020-06-09 | 江苏大学 | Device and method for improving machining quality of hole with any angle by changing laser incidence angle |
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