CN204525495U - Sheet material carrying and installation manipulator control system - Google Patents
Sheet material carrying and installation manipulator control system Download PDFInfo
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- CN204525495U CN204525495U CN201520179412.6U CN201520179412U CN204525495U CN 204525495 U CN204525495 U CN 204525495U CN 201520179412 U CN201520179412 U CN 201520179412U CN 204525495 U CN204525495 U CN 204525495U
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Abstract
The utility model provides sheet material carrying and installation manipulator control system, and this control system comprises electric supply installation, lower end walking module controls system and manipulator installation module control system; Described electric supply installation is electrically connected with lower end walking module controls system and manipulator installation module control system respectively; This control system adds wireless controller control model and force feedback servo antrol pattern, long distance wireless operation being operated with short range man-machine collaboration incorporates wherein, served the effect of manpower being amplified power-assisted installation by six-dimension force sensor when sheet material is installed, achieve and sheet material ground is accurately installed, prevent sheet material from damaging because contact force is excessive when mounted simultaneously.Consider the convenience of movement and the matching problem of power supply, inverter is added in the control cabinet of equipment, complete and complete direct current supply and Alternating Current Power Supply with one group of dc-battery simultaneously, eliminate the trouble that AC-powered needs additional cable, make equipment have more flexibility.
Description
Technical field
The utility model belongs to automation control area, particularly relates to sheet material carrying and installation manipulator control system.
Background technology
In the last few years, along with building trade develop rapidly, people are more and more higher for the requirement of exterior finish.And in exterior finish industry, installation outer wall being carried out to dalle is important component part, the installation of wherein glass curtain wall installation, wall body decoration etc. all belongs to sheet material and installs.And the curtain wall fitting-out work of the heavy constructions such as large stadium, railway station and public building, the materials such as main employing large glass curtain wall.These material great majority are plate shape (i.e. sheet material), there are heavy, size large, the feature of cracky, and need to set up scaffold and relevant auxiliary equipment in work progress, more need the installer of enormous amount, labour intensity is large, and installation process is complicated, and speed of application is slow, poor stability.
Application number be 201410563882.2 utility model application disclose a kind of sheet material erection unit, this equipment installs the control system hardware relatively backwardness of power-assisted machinery, control accuracy is not high, real-time is bad, Man machine interaction is poor, there is no the action control flow process that the sheet material of complete set is installed, the Detection & Controling of installing force and operating physical force can not be realized, and still can not realize wireless remote manipulation, greatly reduce the operating flexibility that power-assisted machinery installed by sheet material, really can not meet the demand of installing automation.
Utility model content
For the deficiencies in the prior art, the technical problem that the utility model quasi-solution is determined is: provide sheet material carrying and installation manipulator control system, long distance wireless operation can be realized and short range man-machine collaboration power controls servo-actuated operation, greatly improve the flexibility of sheet material installation, the degree of accuracy and human-machine operation performance.
The technical scheme that the utility model solve the technical problem is, sheet material carrying and installation manipulator control system is provided, described control system comprises electric supply installation, it is characterized in that described control system also comprises lower end walking module controls system and manipulator installation module control system; Described electric supply installation is electrically connected with lower end walking module controls system and manipulator installation module control system respectively;
Described lower end walking module controls system comprises electri forklift driving wheel, traveling controller, electri forklift accelerator and steering handle dish; Described electri forklift accelerator is connected with traveling controller electricity; Described traveling controller controls the speed of electri forklift driving wheel; Described steering handle dish is connected with electri forklift driving wheel;
Described manipulator installation module control system comprises six degree of freedom manipulator control module, man-machine interaction and radio operation module and gas path module drawn by sheet material; Described six degree of freedom manipulator control module comprises bus plane switch board, drives layer switch board and upper industrial computer; Described bus plane switch board comprises the inverter that 24V turns 220V; Described driving layer switch board comprises six-freedom degree servo-drive and six-dimension force sensor signal amplifier; Described man-machine interaction and radio operation module comprise graphic control panel, wireless controller, operator hold six-dimension force sensor and environment end six-dimension force sensor; Described graphic control panel is connected with upper industry control electromechanics; Described driving layer switch board and the electrical connection of upper industrial computer; Described wireless controller and upper industrial computer wireless connections; Described operator holds six-dimension force sensor and environment end six-dimension force sensor to be electrically connected with the six-dimension force sensor signal amplifier driven in layer switch board by holding wire; Described sheet material is drawn gas path module and is comprised minipump and end vacuum cup; Described minipump is connected with end vacuum cup.
Compared with prior art, the beneficial effects of the utility model are: the utility model provides the sheet material carrying and installation manipulator control system of complete set, add wireless controller control model and force feedback servo antrol pattern, long distance wireless operation being operated with short range man-machine collaboration incorporates wherein, served the effect of manpower being amplified power-assisted installation by six-dimension force sensor when sheet material is installed, achieve and sheet material ground is accurately installed, prevent sheet material from damaging because contact force is excessive when mounted simultaneously.In addition, consider the convenience of movement and the matching problem of power supply, inverter is added in the control cabinet of equipment, complete and complete direct current supply and Alternating Current Power Supply with one group of dc-battery simultaneously, eliminate the trouble that AC-powered needs additional cable, add the displacement of complete equipment, make equipment have more flexibility.This cover control system control flow is simply smooth, omnidistance only need one to two operating personnel can complete absorption to large-scale curtain wall panel, transport and installation, reduce intensity and the quantity of labour, simplify installation process, improve stability and the security of the mechanically operated flexibility of power-assisted and work progress.
Accompanying drawing explanation
Fig. 1 is the overall structure block diagram of the utility model sheet material carrying and installation manipulator control system embodiment;
Fig. 2 is the overall structure schematic diagram of the utility model sheet material carrying and installation manipulator control system embodiment;
Fig. 3 is the lower end walking module controls system architecture schematic diagram of the utility model sheet material carrying and installation manipulator control system embodiment;
Fig. 4 is the six degree of freedom manipulator control modular structure schematic diagram of the utility model sheet material carrying and installation manipulator control system embodiment;
Fig. 5 is man-machine interaction and the radio operation modular structure schematic diagram of the utility model sheet material carrying and installation manipulator control system embodiment;
Fig. 6 is that gas path module structural representation drawn by the sheet material of the utility model sheet material carrying and installation manipulator control system embodiment.
Detailed description of the invention
Carry out clear, complete description by the technical scheme in the utility model embodiment below, obviously, described embodiment is a part of embodiment of the present utility model, instead of whole embodiments.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of the utility model protection.
The utility model provides sheet material carrying and installation manipulator control system (see Fig. 1-6) and comprises lower end walking module controls system 1, manipulator installation module control system 2 and electric supply installation 3; Described electric supply installation 3 is electrically connected with lower end walking module controls system 1 and manipulator installation module control system 2 respectively.
Described lower end walking module controls system 1 comprises electri forklift driving wheel 101, traveling controller 102, electri forklift accelerator 103 and steering handle dish 104; Described electri forklift accelerator 103 is connected with traveling controller 102 electricity; Described traveling controller 102 controls the speed of electri forklift driving wheel 101; The laggard row relax of signal that described traveling controller 102 receives the diverse location of electri forklift accelerator 103, then sends to electri forklift driving wheel 101 by signal, drives it to move; Described steering handle dish 104 is connected with the turning cylinder of electri forklift driving wheel 101, thus realizes rotation direction dish 104 to control the direction of motion of electri forklift driving wheel 101.
Described manipulator installation module control system 2 comprises six degree of freedom manipulator control module 201, man-machine interaction and radio operation module 202 and gas path module 203 drawn by sheet material;
Described six degree of freedom manipulator control module 201 comprises bus plane switch board 20101, drives layer switch board 20102 and upper industrial computer 20103; Described bus plane switch board 20101 comprise 24V turn 220V inverter, 24V turns 5V Switching Power Supply and 24V turns 12V Switching Power Supply; The inverter being turned 220V by 24V is powered to upper industrial computer 20103, turns by 24V the needs that Switching Power Supply that 5V and 24V turn 12V ensures to drive the different voltage of layer switch board 20102; Described driving layer switch board 20102 comprises the six-freedom degree servo-drive 2010201 i.e. servo-drive of this six direction of X, Y, Z, XR, YR, ZR and six-dimension force sensor signal amplifier 2010201, and six-freedom degree servo-drive 2010201 receives signal that upper industrial computer 20103 sends thus drives respective servomotor on six direction to rotate corresponding action; Described driving layer switch board 20102 and upper industrial computer 20103 are electrically connected;
Described man-machine interaction and radio operation module 202 comprise graphic control panel 20201, wireless controller 20202, operator hold six-dimension force sensor 20203 and environment end six-dimension force sensor 20204;
Described graphic control panel 20201 is connected with upper industrial computer 20103, and the data data of servomotor absolute type encoder, the position of manipulator and six-dimension force sensor fed back show in real time on graphic control panel 20201, and the velocity and acceleration of servomotor motion can be changed by this interface, switch between wireless controller control model and force feedback servo antrol pattern, thus operating personnel can be monitored in real time.
Described wireless controller 20202 carries out communication by the wireless receiver be inserted on the USB interface of upper industrial computer 20103, wireless receiver is prior art, the effect of wireless controller 20202 is: when switching to wireless controller control model, by the key mapping of good six-freedom degree defined on wireless controller 20202, the button that operating personnel only need control wireless controller 20202 carries out analog output, signal is issued upper industrial computer 20103, just the on off control of the servomotor to six-freedom degree can be realized, easy and simple to handle.Described wireless receiver belongs to prior art.
Described operator holds six-dimension force sensor 20203 and environment end six-dimension force sensor 20204 to be electrically connected with the six-dimension force sensor signal amplifier 2010201 driven in layer switch board 20102 by holding wire, the voltage signal detected by six-dimension force sensor amplifies, and processes by driving layer switch board 20102 connecting line that signal is returned to upper industrial computer 20103.Operator holds the effect of six-dimension force sensor 20203 to be: when switching to force feedback servo antrol pattern, operating personnel initiatively manipulation operation person can hold six-dimension force sensor 20203, through force snesor, force signal is converted into voltage signal, amplify through driving the signal amplifier in layer switch board 20102 and feed back to upper industrial computer 20103 and resolved by program, again the signal resolved is issued respectively the servo-drive in all directions afterwards, corresponding servomotor rotates the servo antrol realizing workpiece, thus make operating personnel realize the accurate installation to the larger sheet material of weight by very little power, play power-assisted effect.The effect of environment end sensor 20204 is: when installing sheet material and environmental exposure, environment end sensor 20204 detects the size of contact force when installing in real time, when contact force excessive or too small exceed setting range time, upper industrial computer 20103 can control servomotor on corresponding axle and change speed and acceleration to meet the size of contact force in rational scope, ensures that sheet material can not damage because contact force is excessive.
Described sheet material is drawn gas path module 203 and is comprised minipump 20301 and end vacuum cup 20302; Described minipump 20301 is connected with end vacuum cup 20302, when minipump 20301 is energized work, by tracheae, end vacuum cup 20302 is pumped into negative pressure, thus the sheet material that is adjacent to end vacuum cup 20302 of absorption is to realize when sheet material is installed and carry the absorption of sheet material, release and and to ensure the security of whole process.
Described electric supply installation 3 comprises two pieces of 12V DC battery jars; Described lower end walking module controls system 1 can directly be powered by 24V DC battery jar; Described upper industrial computer 20103 and driving layer switch board 20102 need connect the alternating current of 220V, 24V in applied power source layer switch board 20101 turns 220V inverter, be the alternating current of 220V by the DC conversion of 24V, and other modules in manipulator installation module control system 2 all can turn the Switching Power Supply that 5V and 24V turn 12V power by 24V direct current or by connecting 24V, thus need not again at outside access power supply, also eliminate the trouble of additional cable, what add machinery moves integrally distance.
Operation principle and the process of the utility model sheet material carrying and installation manipulator control system are:
1, by lower end walking module controls system 1, robotic device is moved to sheet material deposit position:
Power switch is opened, whole large plate installation mechanical arm equipment (abbreviation robotic device) is powered on; The given different signal of telecommunication is carried out by the position of operating personnel's hand rotation electri forklift accelerator 103 switch, then by electrical signal transfer to traveling controller 102, traveling controller 102 is by differentiating that the different signals of telecommunication carrys out the velocity magnitude of excitation con-trol electri forklift driving wheel 101, meanwhile operating personnel's usable rotational direction comes controlled motion direction dish 104, thus robotic device is moved to sheet material deposit position.
2, after robotic device arrives sheet material deposit position, carried out the adjustment of manipulator pose by manipulator installation module control system 2, thus capture sheet material:
First by the graphic control panel 20201 of man-machine interaction and radio operation module 202, mode of operation is switched to wireless controller control model, control signal is issued upper industrial computer 20103 by operate wireless handle, signal is sent to the servo-drive of six-freedom degree by upper industrial computer 20103, the servomotor of the corresponding free degree is rotated, the execution unit motion of driving mechanical hand, thus realize finally making arm end press close to the action of sheet material.When arm end is adjacent to sheet material, draws gas path module 203 by sheet material and sheet material is adsorbed on arm end vacuum cup 20302.
3, after end vacuum cup adsorbs sheet material, by lower end walking module controls system 1, robotic device is moved to sheet material installation site: identical with the control method of step 1.
4, after robotic device arrives sheet material installation site, carried out the adjustment of manipulator pose by manipulator installation module control system 2, pacify into installation:
First mode of operation is switched to wireless controller control model, with wireless controller 20202 remote control, the servomotor of the corresponding free degree is rotated, drive sheet material close to the station of designated mounting, then on graphic control panel 20201, force feedback servo antrol pattern is switched to, according to station, operating personnel can require that holding operator holds six-dimension force sensor 20203 to carry out corresponding movement, the servo-actuated drive sheet material of manipulator is made to arrive precise mounting position, minipump 20301 is closed by graphic control panel 20201, end vacuum cup 20302 is made to discharge sheet material, thus complete the installation of sheet material.
The utility model is not addressed part and is applicable to prior art.
Claims (1)
1. sheet material carrying and installation manipulator control system, described control system comprises electric supply installation, it is characterized in that described control system also comprises lower end walking module controls system and manipulator installation module control system; Described electric supply installation is electrically connected with lower end walking module controls system and manipulator installation module control system respectively;
Described lower end walking module controls system comprises electri forklift driving wheel, traveling controller, electri forklift accelerator and steering handle dish; Described electri forklift accelerator is connected with traveling controller electricity; Described traveling controller controls the speed of electri forklift driving wheel; Described steering handle dish is connected with electri forklift driving wheel;
Described manipulator installation module control system comprises six degree of freedom manipulator control module, man-machine interaction and radio operation module and gas path module drawn by sheet material; Described six degree of freedom manipulator control module comprises bus plane switch board, drives layer switch board and upper industrial computer; Described bus plane switch board comprises the inverter that 24V turns 220V; Described driving layer switch board comprises six-freedom degree servo-drive and six-dimension force sensor signal amplifier; Described man-machine interaction and radio operation module comprise graphic control panel, wireless controller, operator hold six-dimension force sensor and environment end six-dimension force sensor; Described graphic control panel is connected with upper industry control electromechanics; Described driving layer switch board and the electrical connection of upper industrial computer; Described wireless controller and upper industrial computer wireless connections; Described operator holds six-dimension force sensor and environment end six-dimension force sensor to be electrically connected with the six-dimension force sensor signal amplifier driven in layer switch board by holding wire; Described sheet material is drawn gas path module and is comprised minipump and end vacuum cup; Described minipump is connected with end vacuum cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520179412.6U CN204525495U (en) | 2015-03-27 | 2015-03-27 | Sheet material carrying and installation manipulator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520179412.6U CN204525495U (en) | 2015-03-27 | 2015-03-27 | Sheet material carrying and installation manipulator control system |
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| Publication Number | Publication Date |
|---|---|
| CN204525495U true CN204525495U (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520179412.6U Expired - Fee Related CN204525495U (en) | 2015-03-27 | 2015-03-27 | Sheet material carrying and installation manipulator control system |
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| Country | Link |
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| CN (1) | CN204525495U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708632A (en) * | 2015-03-27 | 2015-06-17 | 河北工业大学 | Board conveying and installation manipulator control system |
| CN109481019A (en) * | 2018-09-30 | 2019-03-19 | 上海交通大学医学院附属第九人民医院 | Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control |
| CN114108994A (en) * | 2022-01-25 | 2022-03-01 | 深圳市门罗智能有限公司 | Glass curtain wall installation helping hand system |
-
2015
- 2015-03-27 CN CN201520179412.6U patent/CN204525495U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708632A (en) * | 2015-03-27 | 2015-06-17 | 河北工业大学 | Board conveying and installation manipulator control system |
| CN109481019A (en) * | 2018-09-30 | 2019-03-19 | 上海交通大学医学院附属第九人民医院 | Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control |
| CN114108994A (en) * | 2022-01-25 | 2022-03-01 | 深圳市门罗智能有限公司 | Glass curtain wall installation helping hand system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20170327 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |