CN208496987U - Manipulator assembly and control unit for controlling same - Google Patents
Manipulator assembly and control unit for controlling same Download PDFInfo
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- CN208496987U CN208496987U CN201821093158.8U CN201821093158U CN208496987U CN 208496987 U CN208496987 U CN 208496987U CN 201821093158 U CN201821093158 U CN 201821093158U CN 208496987 U CN208496987 U CN 208496987U
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- control unit
- longitudinal axis
- stepper motor
- mechanical arm
- arm assembly
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Abstract
The utility model discloses a control unit of manipulator subassembly and this manipulator subassembly of control, the on-line screen storage device comprises a base, be provided with axis of ordinates, perpendicular to on the base the axis of ordinates is provided with the cross axle, wherein the bottom of axis of ordinates just is provided with rotatory code wheel on being in the base, be provided with the sensor on the rotatory code wheel, the inside first roller bearing lead screw that is provided with of axis of ordinates, the roller bearing lead screw is connected with axis of ordinates step motor, the inside second roller bearing lead screw that is provided with of cross axle, second roller bearing lead screw is connected with cross axle step motor, the inside bottom of axis of ordinates still sets up direct current motor, axis of ordinates and the inside limit switch. The utility model discloses organically combine mechanical design and electrical technology together, can realize the general in each field, application scope is wide, and is with low costs, easy realization.
Description
Technical field
The utility model relates to machine control techniques fields, more specifically, it relates to a kind of mechanical arm assembly and control
The control unit of the mechanical arm assembly.
Background technique
With electronic computer, automative control theory development and industrial production needs and the progress of space technology.Gradually
There are more robot commodity, and gradually promote and apply in the industrial production, while also having pushed the hair of robot technology
Exhibition.After the eighties, robot starts popularization and application in the industry.The robot output value of industrialized country rises year by year, wherein
High performance robot proportion is continuously increased.
Currently, the scale and technical level of mechanical industry, are to measure a national economic strength and scientific and technological level
Important symbol.Therefore, each state is all using development mechanical industry as one of the strategic emphasis developed the economy.Lathe, special equipment,
Transport facility, mechanical equipment, electronics, instrument, petrochemical industry, chemical fibre, pharmaceutical industry, rubber, modeling
In the various industries such as material, food, beverage, tobacco processing, clothes, weaving, leather, timber processing, furniture, printing, manipulator
Using working efficiency has been considerably improved, manual labor has been liberated, has been a kind of progress of productivity, but current manipulator is schemed
It is relatively simple, it only can be used in this field, in the industry, can not achieve the general of various industries, this allows for a kind of manipulator
It can only be used in a certain field, the general of various industries cannot be used.
Utility model content
It should in view of the deficienciess of the prior art, the purpose of this utility model is to provide a kind of mechanical arm assemblies and control
Machine Design and electrical technology, are organically combined together by the control unit of mechanical arm assembly, can be realized every field
In it is general, it is applied widely, it is at low cost, it is easy to accomplish.
To achieve the above object, the utility model provides following technical solution:
A kind of mechanical arm assembly, including pedestal are provided with the longitudinal axis on the pedestal, the longitudinal axis are provided with cross
Axis is provided with sensor on the rotation code-disc, institute wherein the bottom of the longitudinal axis and being provided with rotation code-disc on the pedestal
It states the longitudinal axis and is internally provided with the first roller bearing screw rod, the roller bearing screw rod is connected with longitudinal axis stepper motor, setting inside the horizontal axis
There is the second roller bearing screw rod, the second roller bearing screw rod is connected with horizontal axis stepper motor, and the bottom inside the longitudinal axis is also set up directly
Galvanic electricity machine is provided with limit switch inside the longitudinal axis and horizontal axis, and the end of the horizontal axis is provided with manipulator.
By using above-mentioned technical proposal, the utility model can make manipulator realize any position in X-axis and Y-axis plane
Set the grasping body at place, and the sensor passes pulse by being arranged on rotation code-disc, longitudinal axis stepper motor and horizontal axis stepping electricity
Input electric impulse signal is converted into mechanical amount of exercise (such as angular displacement or straight-line displacement) and is exported by machine, every input one
Electric pulse just turns over a fixed electrical angle, moves the longitudinal axis and horizontal axis in this way.
Further, the manipulator includes the detachable clamping jaw of a pair being oppositely arranged and driving folder for grabbing object
The clamping jaw motor of pawl movement, and the distance between described clamping jaw is 10mm-800mm.
By using above-mentioned technical proposal, the utility model can be realized the grasping body in 10mm-800mm.
Further, the sensor is close to switch.
By using above-mentioned technical proposal, the utility model is reflected when object is mobile relative to sensor
Signal generates frequency displacement compared with original signal, and integrated circuit again amplifies faint frequency shift signal, then through Doppler
The measures such as detection, amplification, clipping finally obtain DC signal output level relevant with object movable signal.
Further, stepper motor drive module is set inside the horizontal axis stepper motor and longitudinal axis stepper motor, it is described
The power amplifier that stepper motor drive module setting has pulsqe distributor and connect with the pulsqe distributor.
By using above-mentioned technical proposal, the movement of horizontal axis stepper motor and longitudinal axis stepper motor can be driven.
Further, the rotation code-disc is being arranged in equal spacing with one group of loophole along disk body circumferencial direction.
By using above-mentioned technical proposal, the utility model can be with certain Frequency Transfer pulse.
Further, the control unit includes main control unit, is connected with peripheral equipment with the main control unit and deposits
Reservoir, described control unit are also connected with industrial personal computer, and the industrial personal computer is connected with overall control center, and the main control unit is arranged to control
Longitudinal axis stepper motor, horizontal axis stepper motor, direct current generator and manipulator processed.
By using above-mentioned technical proposal, instruction can be assigned by overall control center, realized to longitudinal axis stepper motor, horizontal axis
The regulation of stepper motor, direct current generator and manipulator.
Further, the main control unit is the main control unit based on PLC programmable controller.
By using above-mentioned technical proposal, the order of main control unit can be adjusted according to user demand；
Further, the peripheral equipment (13) is programmable device, colour video display unit, printer, cassette tape unit, magnetic
Any one in disk drive or EPROM writer.
By using above-mentioned technical proposal, it can be achieved that the task of the various functions of the utility model exports；
Further, the control method of the main control unit (16) are as follows:
(1) monitor task is run；Code-disc (5) acquisition pulse signal is rotated by operation, and the signal of sampling is transported
It calculates and handles, and operation result is output to the executing agency of production process；
(2) information task is exchanged with the PLC programmable controller；Operation result is output to the PLC programmable control
Device processed, so that the PLC programmable controller obtains operation result；
(3) information task is exchanged with digital processing unit DPU；Operation result is output to digital processing unit DPU, so that described
Digital processing unit DPU obtains operation result；
(4) information task is exchanged with peripheral device interface: by operation result by the peripheral equipment, passing through peripheral equipment
Execute output result；
(5) user program task is executed；By the way of scan round, constantly sample to outputting and inputting variable
And output, so that there is corresponding output to act executing agency when variable meets procedure condition in time；
(6) input/output task；The industrial personal computer is under the control of the overall control center, incoming task, and output result is logical
It crosses the main control unit and is transmitted to the industrial personal computer, then the overall control center is uploaded to by the industrial personal computer, by the master control
Center decides whether to assign new instruction again.
By using above-mentioned technical proposal, the control process of main control unit (16) is realized.
Further, the communication modes between the industrial personal computer and the overall control center are using RS485 communication or gsm wireless
Communication modes.
By using above-mentioned technical proposal, the message session between the industrial personal computer and the overall control center is realized.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of mechanical arm assembly provided by the utility model；
Fig. 2 is the structural schematic diagram of the sensor in a kind of mechanical arm assembly provided by the utility model；
Fig. 3 is the structural schematic diagram of the rotation code-disc in a kind of mechanical arm assembly provided by the utility model；
Fig. 4 is a kind of structural schematic diagram of control unit for controlling mechanical arm assembly provided by the utility model；
Fig. 5 is a kind of control flow schematic diagram of control unit for controlling mechanical arm assembly provided by the utility model；
In figure: 1, longitudinal axis stepper motor；2, the first roller bearing screw rod；3, limit switch；4, manipulator；5, code-disc is rotated；6,
Pedestal；7, sensor；8, direct current generator；9, horizontal axis stepper motor；10, the longitudinal axis；11, horizontal axis；12, the second roller bearing screw rod；13, outer
Peripheral equipment；14, overall control center；15, industrial personal computer；16, main control unit；17, memory.
Specific embodiment
Embodiment:
The utility model is described in further detail below in conjunction with attached drawing 1-5.
A kind of mechanical arm assembly is provided with the longitudinal axis 10 on the pedestal 6, perpendicular to described as shown in Figure 1, including pedestal 6
The longitudinal axis 10 is provided with horizontal axis 11, wherein the bottom of the longitudinal axis 10 and being provided with rotation code-disc 5, the rotation on the pedestal 6
Sensor 7 is provided on code-disc 5, the longitudinal axis 10 is internally provided with the first roller bearing screw rod 2, and the first roller bearing screw rod 2 connects
There is longitudinal axis stepper motor 1, the horizontal axis 11 is internally provided with the second roller bearing screw rod 12, and the second roller bearing screw rod 12 is connected with cross
Shaft step motor 9, the bottom inside the longitudinal axis 10 also set up direct current generator 8, are respectively provided with inside the longitudinal axis 10 and horizontal axis 11
The end of limit switches 3, the horizontal axis 11 is provided with manipulator 4.
By using above-mentioned technical proposal, the utility model can make manipulator 4 realize X-axis with it is any in Y-axis plane
Grasping body at position, and the sensor passes pulse by being arranged on rotation code-disc, longitudinal axis stepper motor 1 and horizontal axis stepping
Input electric impulse signal is converted into mechanical amount of exercise (such as angular displacement or straight-line displacement) and is exported by motor 9, every input
One electric pulse just turns over a fixed electrical angle, moves the longitudinal axis 10 and horizontal axis 11 in this way.
In the utility model further embodiment, the manipulator 4 includes for grabbing being oppositely arranged for object
The clamping jaw motor of a pair of detachable clamping jaw and driving jaw action, and the distance between described clamping jaw is 10mm-800mm.This reality
With the novel grasping body that can be realized in 10mm-800mm.
In the utility model further embodiment, the sensor 7 is close to switch.As shown in Fig. 2, working as object
When mobile relative to sensor 7, reflected signal generates frequency displacement, integrated circuit is again micro- compared with original signal
Weak frequency shift signal amplifies, then through measures such as Doppler's detection, amplification, clippings, finally obtains and object movable signal phase
The DC signal output level of pass.Have three connecting lines (red, blue, black) close to switch, red connects the anode of power supply, black connects electricity
The cathode in source, blue are output signal, otherwise it is high level that output level, which is low level, when close with block.
In the utility model further embodiment, it is arranged inside the horizontal axis stepper motor 9 and longitudinal axis stepper motor 1
Stepper motor drive module, the stepper motor drive module setting have a pulsqe distributor and connect with the pulsqe distributor
Power amplifier.As shown in figure 3, in order to drive horizontal axis stepper motor 9 and longitudinal axis stepper motor 1, it is necessary to be determined by one electronic
Machine speed and rotation angle impulse generator, one make motor winding current in defined order the pulsqe distributor of on-off,
One drive system of composition such as power amplifier and a dc power power supply that one guarantee motor operates normally,
The pulse signal that control system issues is converted into the angular displacement of stepper motor, in other words, control system one pulse signal of every hair,
Stepper motor is just set to rotate a step angle by driver.So the revolving speed of stepper motor is directly proportional to the frequency of pulse signal.
The movement of horizontal axis stepper motor 9 and longitudinal axis stepper motor 1 is driven through the above way.
In the utility model further embodiment, the rotation code-disc 5 is along the equidistant cloth of disk body circumferencial direction
It is equipped with one group of loophole.In a particular embodiment, every 3 ° of the rotation of manipulator 4 just issues a pulse, can control the rotation of pedestal 6
The size of angle.
In the utility model further embodiment, as shown in figure 4, the control unit includes main control unit 16,
It is connected with peripheral equipment 13 and memory 17 with the main control unit 16, described control unit is also connected with industrial personal computer 15, described
Industrial personal computer 15 is connected with overall control center 14, the main control unit 16 be arranged to control longitudinal axis stepper motor 1, horizontal axis stepper motor 9,
Direct current generator 8 and manipulator 4.Instruction can be assigned by overall control center 14, realized to longitudinal axis stepper motor 1, horizontal axis stepping
The regulation of motor 9, direct current generator 8 and manipulator 4.
In the utility model further embodiment, the main control unit 16 is the master based on PLC programmable controller
Control unit.The order of main control unit can be adjusted according to user demand, and programmable controller be used to continuously, repeatedly detect
System input solves current steering logic and the output of more new system.
In the utility model further embodiment, the peripheral equipment 13 is programmable device, colour video display unit, beats
Any one in print machine, cassette tape unit, disc driver or EPROM writer, to can realize that the utility model is various
The task of function exports.
In the utility model further embodiment, as shown in figure 5, the control method of the main control unit 16 are as follows:
(1) monitor task is run；5 acquisition pulse signal of code-disc is rotated by operation, and operation is carried out to the signal of sampling
And processing, and operation result is output to the executing agency of production process；
(2) information task is exchanged with the PLC programmable controller；Operation result is output to the PLC programmable control
Device processed, so that the PLC programmable controller obtains operation result；
(3) information task is exchanged with digital processing unit DPU；Operation result is output to digital processing unit DPU, so that described
Digital processing unit DPU obtains operation result；
(4) information task is exchanged with peripheral device interface: by operation result by the peripheral equipment, passing through peripheral equipment
Execute output result；
(5) user program task is executed；By the way of scan round, constantly sample to outputting and inputting variable
And output, so that there is corresponding output to act executing agency when variable meets procedure condition in time；
(6) input/output task；The industrial personal computer 15 is under the control of the overall control center 14, incoming task, output knot
Fruit is transmitted to the industrial personal computer 15 by the main control unit 16, then is uploaded to the overall control center by the industrial personal computer 15
14, decide whether to assign new instruction again by the overall control center 14.The wherein industrial personal computer 15 and the overall control center 14
Between communication modes using RS485 communicate or gsm wireless communication modes.
In conclusion the utility model has the following beneficial effects:
1, Machine Design and electrical technology are organically combined together by the utility model, can be realized in every field
It is general, it is applied widely, it is at low cost；
2, the utility model realizes the replacement of a variety of different type manipulators using dismountable mechanical hand, to realize each
It is general in technical field；
3, the utility model is being arranged in equal spacing with one group of loophole along disk body circumferencial direction by rotating code-disc 5, makes
It obtains every 3 ° of the rotation of manipulator 4 and just issues a pulses, the size that pedestal 6 rotates angle can be controlled；
4, the utility model assigns the order of industrial personal computer 15 by the realization of overall control center 14, realizes and controls to main control unit 16
Type processed defines, so that main control unit 16 optionally controls longitudinal axis stepper motor 1, horizontal axis stepper motor 9,8 and of direct current generator
Manipulator 4；
5, the utility model compiles user according to demand using the main control unit 16 based on PLC programmable controller
Journey, programming content are erasable.
Working principle:
At work, the utility model assigns control instruction by overall control center 14, that is, passes through the realization pair of overall control center 14
The order of industrial personal computer 15 is assigned, and 16 Control Cooling of main control unit is defined in realization, is indulged so that main control unit 16 optionally controls
Shaft step motor 1, horizontal axis stepper motor 9, direct current generator 8 and manipulator 4, in horizontal axis stepper motor 9 and longitudinal axis stepper motor 1
Under effect, the movement for any position that manipulator 4 can be made to realize in X-axis and Y-axis plane, to realize in spatial position model
Enclose interior grasping body, and though manipulator 4 originally where, all briefly return to initial position, start movement for manipulator 4 and do
Prepare.After the completion of initialization (this is after encountering limit with manipulator 4 for mark), risen before horizontal axis 11, hand starts rotation to institute
Position is needed, hand opens, and the longitudinal axis 10 drops at article, and hand steps up article, and article is picked up in the rising of the longitudinal axis 10.Horizontal axis 11 is withdrawn,
It rotates code-disc 5 to rotate, be risen before horizontal axis 11, hand rotation, the longitudinal axis 10 declines, and hand opening puts down article.The longitudinal axis 10 rises, and hand is multiple
Position, so far, the movement of entire manipulator 4 all terminates.Therefore, crawl of the manipulator 4 to object is realized by this method.
And the sensor passes pulse by being arranged on rotation code-disc, longitudinal axis stepper motor 1 and horizontal axis stepper motor 9 will input electric pulse
Signal is converted into mechanical amount of exercise (such as angular displacement or straight-line displacement) and is exported, and one electric pulse of every input just turns over
One fixed electrical angle moves the longitudinal axis 10 and horizontal axis 11 in this way, controls the move angle of the longitudinal axis 10 and horizontal axis 11.
Control task output information can be stored in memory 17 by main control unit 16, and control task output information is uploaded
To industrial personal computer 15, overall control center 14 is uploaded to by industrial personal computer 15, overall control center 14 is assigned execution according to implementing result again and referred to
It enables.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but
As long as all by the protection of Patent Law in the scope of the claims of the utility model.
Claims (8)
1. a kind of mechanical arm assembly, including pedestal (6), the longitudinal axis (10) are provided on the pedestal (6), perpendicular to the longitudinal axis
(10) horizontal axis (11) are provided with, it is characterised in that: the bottom of the longitudinal axis (10) and be provided with rotation code-disc on pedestal (6)
(5), it is provided with sensor (7) on the rotation code-disc (5), the longitudinal axis (10) is internally provided with the first roller bearing screw rod (2), institute
It states the first roller bearing screw rod (2) to be connected with longitudinal axis stepper motor (1), the horizontal axis (11) is internally provided with the second roller bearing screw rod
(12), the second roller bearing screw rod (12) is connected with horizontal axis stepper motor (9), and the internal bottom of the longitudinal axis (10) is also set up directly
It is provided with limit switch (3) inside galvanic electricity machine (8), the longitudinal axis (10) and horizontal axis (11), the end of the horizontal axis (11) is set
It is equipped with manipulator (4).
2. a kind of mechanical arm assembly according to claim 1, it is characterised in that: the manipulator (4) includes for grabbing
The clamping jaw motor of a pair the being oppositely arranged detachable clamping jaw and driving jaw action of object, and the distance between described clamping jaw is
10mm-800mm。
3. a kind of mechanical arm assembly according to claim 2, it is characterised in that: the sensor (7) is close to switch.
4. a kind of mechanical arm assembly according to claim 1, it is characterised in that: the horizontal axis stepper motor (9) and the longitudinal axis
Stepper motor drive module is set inside stepper motor (1), the stepper motor drive module setting have pulsqe distributor and with
The power amplifier of the pulsqe distributor connection.
5. a kind of mechanical arm assembly according to claim 4, it is characterised in that: the rotation code-disc (5) is along disk body
Circumferencial direction is arranged in equal spacing with one group of loophole.
6. a kind of control unit for controlling mechanical arm assembly, controls mechanical arm assembly a method as claimed in any one of claims 1 to 5, special
Sign is: the control unit includes main control unit (16), with the main control unit (16) be connected with peripheral equipment (13) and
Memory (17), described control unit are also connected with industrial personal computer (15), and the industrial personal computer (15) is connected with overall control center (14), institute
Main control unit (16) is stated to be arranged to control longitudinal axis stepper motor (1), horizontal axis stepper motor (9), direct current generator (8) and manipulator
(4)。
7. a kind of control unit for controlling mechanical arm assembly according to claim 6, it is characterised in that: the main control unit
It (16) is the main control unit based on PLC programmable controller.
8. a kind of control unit for controlling mechanical arm assembly according to claim 6, it is characterised in that: the peripheral equipment
It (13) is any in programmable device, colour video display unit, printer, cassette tape unit, disc driver or EPROM writer
It is a kind of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821093158.8U CN208496987U (en) | 2018-07-11 | 2018-07-11 | Manipulator assembly and control unit for controlling same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821093158.8U CN208496987U (en) | 2018-07-11 | 2018-07-11 | Manipulator assembly and control unit for controlling same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208496987U true CN208496987U (en) | 2019-02-15 |
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ID=65284075
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821093158.8U Expired - Fee Related CN208496987U (en) | 2018-07-11 | 2018-07-11 | Manipulator assembly and control unit for controlling same |
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| Country | Link |
|---|---|
| CN (1) | CN208496987U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656090A (en) * | 2018-07-11 | 2018-10-16 | 南通理工学院 | Manipulator assembly and control unit for controlling same |
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2018
- 2018-07-11 CN CN201821093158.8U patent/CN208496987U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656090A (en) * | 2018-07-11 | 2018-10-16 | 南通理工学院 | Manipulator assembly and control unit for controlling same |
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