CN105437250A - Series engineering robot - Google Patents
Series engineering robot Download PDFInfo
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- CN105437250A CN105437250A CN201410439597.XA CN201410439597A CN105437250A CN 105437250 A CN105437250 A CN 105437250A CN 201410439597 A CN201410439597 A CN 201410439597A CN 105437250 A CN105437250 A CN 105437250A
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- 230000003993 interaction Effects 0.000 claims abstract description 7
- 230000036544 posture Effects 0.000 abstract 2
- 239000003921 oil Substances 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
Provided is a series engineering robot. The series engineering robot aims at solving the problems that an existing robot cannot timely and efficiently express the consciousness of people to control the robot, and the requirement for the flexibility of each joint of the robot cannot be met. The engineering robot can follow postures of a multi-joint operating handle. The engineering robot mainly comprises a robot executive device driven by the full hydraulic pressure, a posture sensing unit, the multi-joint operating handle, a programmable logic controller (PLC) control unit, a control valve group, an auxiliary human-computer interaction unit and a power unit.
Description
Technical field
The present invention relates to a kind of series connection Engineering Robot, particularly relate to a kind of Engineering Robot of following multi-joint operating grip attitude.
Background technology
Along with the industrial development and progress of modernization, industrial robot is widely used for replacing workman to complete some simple and repeated work already.But, because people more and more pay close attention to the application of robot in complicated, danger, adverse circumstances, and existing industrial robot well can not tackle changeable environment, thus how to enable robot flexible, intelligent be the mankind service, become the focal issue in present robot research field.
There are two developing direction in robot: one, entirely from the robot of master mode work.Two, the robot of straighforward operation.Entirely from the robot of master mode work be the target that researcher is pursued always.But to the research of intelligent robot, last century has shown that being applied in the predictable time from now on of full self-determination type intelligent robot is difficult to realize, this is because several support technologies since the eighties---control, sensing and artificial intelligence etc. can't meet the human needs of development full self-determination type intelligence machine at present.But along with developing rapidly of atomic energy technology, space technology and marine technology, in the urgent need to the robot that can work under hazardous environment in a large number, being thus operated in the robot of straighforward operation under interactive mode is a kind of selection of practicable.The remote-controlled robot be operated under interactive mode has been the powerful measure of remote job task, and so-called interaction technique comprises the mutual of the mutual of human and computer people and machine human and environment.The planning that the former meaning is to have gone to robot to be difficult to accomplish in space circumstances not known or task by people and decision-making, the meaning of the latter is to have gone people should not arrive job task in the space environment that maybe can not arrive by robot.Such as, in atomic energy uses, space exploration, ocean development, get rid of the danger, the application in the field such as medical, military.
Summary of the invention
The object of the invention is the control consciousness can not expressing Human-to-Machine people for existing robot in time, efficiently; The requirement of each joint mobility of Human-to-Machine people can not be met.Propose a kind of Engineering Robot of following multi-joint operating grip attitude.
This project robot mainly comprises: the robot actuating unit of full hydraulic drive, attitude sensing unit, multi-joint operating grip, PLC control unit, control valve group, auxiliary man-machine interaction unit and power unit.The actuating unit of robot is made up of rotary table, pivoting support, revolving dial, large arm, two arms, three arms, oscillating oil cylinder, hydraulic motor, sensor, securing member and connector.Connected by pivoting support between this actuating unit rotary table and revolving dial, revolving dial relative to the rotational motion of rotary table by oscillating oil cylinder or fluid motor-driven; The swing of large arm in the plane perpendicular to the revolving dial surface of revolution is driven by oscillating oil cylinder; Large arm and two arms, joint between two arms and three arms are driven by oscillating oil cylinder, are furnished with attitude sensing unit (sensor), in real time attitude information are passed to PLC control unit.The attitude information that the attitude information of the actuating unit of acquisition and multi-joint operating grip pass to PLC control unit is analyzed by PLC control unit, if both attitude informations are inconsistent, PLC control unit sends control signal, control valve group carries out action according to control signal, the hydraulic oil controlling to come from power unit drives oil cylinder, the attitude of adjustment actuating unit, thus realize robot and follow the action of multi-joint operating grip.Auxiliary man-machine interaction unit is mainly used in the switch, illumination, remote monitoring etc. that control power unit.
Accompanying drawing explanation
Fig. 1 is actuating unit schematic diagram of the present invention.
Fig. 2 is operation principle schematic block diagram of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Main parts size of the present invention:
1. rotary table 2. pivoting support 3. revolving dial 4. oscillating oil cylinder 5. large arm 6. 2 arm 7. 3 arm.
This project robot mainly comprises: the robot actuating unit of full hydraulic drive, attitude sensing unit, multi-joint operating grip, PLC control unit, control valve group, auxiliary man-machine interaction unit and power unit.The actuating unit of robot is made up of rotary table 1, pivoting support 2, revolving dial 3, oscillating oil cylinder 4, large arm 5, two arm 6, three arm 7, hydraulic motor, sensor, securing member and connector.Connected by pivoting support 2 between this actuating unit rotary table 1 and revolving dial 3, revolving dial 3 relative to the gyration of rotary table 1 by oscillating oil cylinder or fluid motor-driven, the swing of large arm 5 in the plane perpendicular to revolving dial 3 surface of revolution is driven by oscillating oil cylinder 4, large arm 5 and two arms 6, joint between two arms 6 and three arms 7 is driven by oscillating oil cylinder 4, and be furnished with attitude sensing unit (sensor), in real time attitude information is passed to PLC control unit, the attitude information that the attitude information of the actuating unit of acquisition and multi-joint operating grip pass to PLC control unit is analyzed by PLC control unit, if both attitude informations are inconsistent, PLC control unit sends control signal, control valve group carries out action according to control signal, the hydraulic oil controlling to come from power unit drives oil cylinder, the attitude of adjustment actuating unit, thus realize robot and follow the action of multi-joint operating grip.Below multi-joint operating grip is described further: multi-joint operating grip belongs to hand-held generic operation handle, this handle has multiple free degree, kinematic pair and robot actuating unit are completely corresponding or part is corresponding, multi-joint operating grip by the attitude information Real-time Feedback of self to PLC control unit, after treatment, for controlling actuating unit.Auxiliary man-machine interaction unit is mainly used in controlling the switch of power unit, illumination and remote monitoring etc.
Claims (3)
1. to connect an Engineering Robot, comprising: the robot actuating unit of full hydraulic drive, attitude sensing unit, multi-joint operating grip, PLC control unit, control valve group, auxiliary man-machine interaction unit and power unit.
2. one series connection Engineering Robot according to claim 1, is characterized in that: the robot actuating unit of described full hydraulic drive, and large arm (5) and two arms (6), joint between two arms (6) and three arms (7) are driven by oscillating oil cylinder.
3. a kind of apery Engineering Robot according to claim 1, is characterized in that: the robot actuating unit of described full hydraulic drive is provided with attitude sensing unit, and follows the attitude action of multi-joint operating grip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410439597.XA CN105437250A (en) | 2014-09-01 | 2014-09-01 | Series engineering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410439597.XA CN105437250A (en) | 2014-09-01 | 2014-09-01 | Series engineering robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105437250A true CN105437250A (en) | 2016-03-30 |
Family
ID=55548117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410439597.XA Pending CN105437250A (en) | 2014-09-01 | 2014-09-01 | Series engineering robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105437250A (en) |
Citations (9)
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| US20100217434A1 (en) * | 2005-11-16 | 2010-08-26 | Abb Ab | Method and Device for Controlling Motion of an Industrial Robot With a Position Switch |
| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
| JP2011088241A (en) * | 2009-10-21 | 2011-05-06 | Nidec Sankyo Corp | Robot system |
| CN102581852A (en) * | 2012-01-20 | 2012-07-18 | 上海交通大学 | Attitude and position adjustment system for robot in heavy-duty assembly and handling |
| KR20120108318A (en) * | 2011-03-23 | 2012-10-05 | 고려대학교 산학협력단 | Method for controlling robot manipulator device based on frequency analysys of impact on the device |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN103192396A (en) * | 2012-01-09 | 2013-07-10 | 中联重科股份有限公司 | Concrete pumping equipment and motion control system and method of tail end hose thereof |
| CN103895022A (en) * | 2014-03-17 | 2014-07-02 | 东南大学 | Wearable type somatosensory control mechanical arm |
-
2014
- 2014-09-01 CN CN201410439597.XA patent/CN105437250A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100217434A1 (en) * | 2005-11-16 | 2010-08-26 | Abb Ab | Method and Device for Controlling Motion of an Industrial Robot With a Position Switch |
| CN101525944A (en) * | 2009-03-31 | 2009-09-09 | 北京易斯路电子有限公司 | Concrete pump truck intelligent arm support control system and control method thereof |
| JP2011088241A (en) * | 2009-10-21 | 2011-05-06 | Nidec Sankyo Corp | Robot system |
| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
| KR20120108318A (en) * | 2011-03-23 | 2012-10-05 | 고려대학교 산학협력단 | Method for controlling robot manipulator device based on frequency analysys of impact on the device |
| CN103192396A (en) * | 2012-01-09 | 2013-07-10 | 中联重科股份有限公司 | Concrete pumping equipment and motion control system and method of tail end hose thereof |
| CN102581852A (en) * | 2012-01-20 | 2012-07-18 | 上海交通大学 | Attitude and position adjustment system for robot in heavy-duty assembly and handling |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN103895022A (en) * | 2014-03-17 | 2014-07-02 | 东南大学 | Wearable type somatosensory control mechanical arm |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information |
Address after: 243131 Anhui city of Ma'anshan province Bowang town Bowang District Binhu Cun Zhu Jia Natural Village No. 155 Applicant after: Zhao Dechao Address before: 235158 Anhui city of Huaibei province Suixi County Yue Ji Zhao Zhuang Xiang an Lou Cun Zhu No. 61 Applicant before: Zhao Dechao |
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| COR | Change of bibliographic data | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 235158 Anhui city of Huaibei province Suixi County Yue Ji Zhao Zhuang Xiang an Lou Cun Zhu No. 61 Applicant after: Zhao Dechao Address before: 243131 Anhui city of Ma'anshan province Bowang town Bowang District Binhu Cun Zhu Jia Natural Village No. 155 Applicant before: Zhao Dechao |
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| COR | Change of bibliographic data | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160330 |
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| WD01 | Invention patent application deemed withdrawn after publication |