CN113386132A - Intelligent gear-taking robot control module and control method thereof - Google Patents
Intelligent gear-taking robot control module and control method thereof Download PDFInfo
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- CN113386132A CN113386132A CN202110642789.0A CN202110642789A CN113386132A CN 113386132 A CN113386132 A CN 113386132A CN 202110642789 A CN202110642789 A CN 202110642789A CN 113386132 A CN113386132 A CN 113386132A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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Abstract
The invention discloses an intelligent gear-taking robot control module which comprises a mechanical arm switching control board, a mechanical arm tail end module and a stepping motor control end, wherein the stepping motor control end is communicated with the mechanical arm tail end module through a mechanical arm tail end module communication end, a mechanical arm tail end interface and a distance feedback end are arranged on the mechanical arm switching control board, the rear stage of the mechanical arm switching control board is in control connection with a stepping motor clamping jaw of a purchased small clamping jaw, the distance feedback end comprises a distance sensor and a sensor feedback interface end, the distance sensor feeds back to the mechanical arm switching control board, the front stage return signal of the mechanical arm switching control board is connected to the mechanical arm tail end module, and the front stage of the mechanical arm tail end module is in electrical connection or communication connection with the stepping motor control end of an upper computer robot. Can effectively realize connecting file storehouse robot arm and small-size clamping jaw, realize that mechanical grabbing arm adapts to and snatchs or file operation to archives in the narrow and small space in file storehouse.
Description
Technical Field
The invention relates to archive storehouse robot control, in particular to a gear-taking robot control module used for the gear-taking control of an archive storehouse robot.
Background
The archive storehouse is used as a special house designed and built for storing and protecting archives in an archive, a compact shelf or an archive office, related archives are more and more along with the continuous development of the country and modern economy and technology, the archive management difficulty is increased, the construction and management of the archive storehouse by a filing department are more and more emphasized, and the construction and management of the archive storehouse are promoted to be the strategic position of the archive management development. The archive storehouse management needs to carry out archive file fetching operation management on the archive storehouse based on factors such as the storehouse and the stored and stored archive files, and the automatic archive file fetching operation is also a critical task execution management of the archive automatic access robot; however, the mechanical arm of the existing intelligent file-taking robot is configured by mechanical grabbing arms of robots in the market, which are configured for large-scale factories such as a conventional production line, the clamping jaws are generally high in grabbing strength, high in force and provided with structures such as force feedback, the clamping jaws are too large in whole volume, the operable space is too small when the file-taking robot takes files in a file storage room, the robot cannot be used in the file storage room in a normal and flexible mode, the automatic access efficiency of the file storage room is reduced, and even the robot cannot be used in the file storage room. Although the market also has many small-size clamping jaw types, and the price is also comparatively cheap, current small-size clamping jaw type can not effectively realize supporting the use with archives robot arm, and does not have functions such as distance feedback.
Disclosure of Invention
The invention provides an intelligent gear-taking robot control module which can effectively realize connection of a file repository robot arm and a small clamping jaw, effectively realize grabbing or archiving operation of files in a narrow space of a file repository and can also realize distance feedback, and aims to solve the problems that a mechanical grabbing arm used by the existing intelligent gear-taking robot has high grabbing force intensity and overlarge grabbing arm volume and cannot be effectively applied to the narrow space for grabbing and storing the files in the library, or the small clamping jaw grabbing arm cannot be effectively matched with the file repository robot arm for use, and has no feedback function and the like.
The invention adopts the following specific technical scheme for solving the technical problems: the utility model provides an intelligence robot control module that puts out a file which characterized in that: including arm switching control panel, terminal module of arm and step motor control end, step motor control end passes through the terminal module communication end of arm and is connected with the terminal module communication of arm, establish terminal interface of manipulator and distance feedback end on the arm switching control panel, arm switching control panel back level is passed through terminal interface of manipulator and is connected with the step motor clamping jaw control of the small-size clamping jaw of outsourcing, distance feedback end includes distance sensor and sensor feedback interface end, distance sensor passes through sensor feedback interface end feedback to arm switching control panel, arm switching control panel preceding stage return signal is connected to the terminal module of arm, the terminal module preceding stage of arm is connected with the step motor control end electricity of host computer robot or the communication is connected. Can effectively realize the supporting use of connection between archive storehouse robot arm and the small-size clamping jaw of outsourcing, effectively realize carrying out snatching or the file operation to archives in the narrow and small space of mechanical grab arm adaptation archives, both avoided the big damage phenomenon that probably causes when snatching archives of grabbing power intensity, solve again because of the clamping jaw is bulky can not be in the defect of snatching of archives in narrow and small space, also can compromise simultaneously and realize the distance feedback, realize better effective accurate snatching archives, but also effective control reduces archives grab arm cost.
Preferably, the mechanical arm switching control board adopts an MCU processing chip with the model of IAP15W4K58S 4. The simple, convenient, reliable and effective switching control of the mechanical arm for purchasing the small clamping jaws is improved.
Preferably, the mechanical arm switching control BOARD is electrically connected with the clamping jaw control end interface of the purchased small clamping jaw through a DRIVER _ BOARD1 functional pin of an MCU processing chip, a P2.4 functional pin of the MCU processing chip generates periodic square waves as a pulse signal for controlling the opening and closing speed of the purchased small clamping jaw, a P2.5 functional pin of the MCU processing chip is used as a high-low level signal for controlling the movement direction of the purchased small clamping jaw, and a P2.6 functional pin of the MCU processing chip is used as a high-low level signal for controlling the operation or stop of the purchased small clamping jaw; the P2.4 functional pin, the P2.5 functional pin and the P2.6 functional pin are respectively connected with a resistor in series and then electrically connected with the tail end interface of the manipulator. The switching control flexibility, accuracy and reliability effectiveness of the movement direction, the opening and closing, and the operation or stopping of the purchased small-sized clamping jaw are improved.
Preferably, the distance sensor adopts a laser distance sensor, the laser distance sensor is connected with a resistor in series and then is connected with the anode input end of a light emitting diode at the input end of a photoelectric coupler, and then the output end of a collector of a phototriode at the output end of the photoelectric coupler is electrically connected with a sensor feedback input interface end on an MCU processing chip arranged in the mechanical arm switching control board; the laser distance sensor is electrically connected with the mechanical arm switching control board through a sensor feedback interface end, the sensor feedback interface end adopts a 3P interface end structure, and the sensor feedback interface end comprises a +24v power interface terminal, a sensor interface terminal and a power ground interface terminal. The improved installation and use of the distance feedback of the outsourcing small-sized clamping jaw and the detection feedback control are flexible, reliable, stable and effective.
Preferably, the distance feedback end comprises three distance sensors and three sensor feedback interface ends, each distance sensor is correspondingly provided with one sensor feedback interface end, and each sensor feedback interface end is provided with a sensor interface terminal; the three-way distance sensor comprises a first-way distance sensor, a second-way distance sensor and a third-way distance sensor, wherein the first-way laser distance sensor is connected with an eighth resistor in series and then is connected to the anode input end of a light emitting diode at the input end of a first photoelectric coupler, and then is electrically connected to a sensor feedback input interface end of a 37 th function pin on an MCU processing chip arranged in the mechanical arm switching control board from the output end of a collector of a phototriode at the output end of the first photoelectric coupler; the second laser distance sensor is connected with a ninth resistor in series and then is connected with the anode input end of the light emitting diode at the input end of the second photoelectric coupler, and then is electrically connected with the sensor feedback input interface end of the 41 th functional pin on the MCU processing chip arranged in the mechanical arm switching control board from the output end of the collector electrode of the photosensitive triode at the output end of the second photoelectric coupler; and the third laser distance sensor is connected with the anode input end of a light emitting diode at the input end of a third photoelectric coupler after being connected with a tenth resistor in series, and then the output end of a collecting electrode of a phototriode at the output end of the third photoelectric coupler is electrically connected to a sensor feedback input interface end of a 42 th functional pin on an MCU processing chip arranged in the mechanical arm switching control board. The detection feedback control of the distance feedback of the outsourcing small-sized clamping jaw is flexibly, reliably and stably effective, the accurate and reliable effectiveness of the detection feedback of the distances from the upper part, the lower part, the left part, the right part, the front part and the rear part of the outsourcing small-sized clamping jaw during the file grabbing operation is improved, and the reliable effectiveness of other standby feedback detection can also be improved.
Preferably, the mechanical arm switching control board is provided with mechanical arm interface terminals, and the mechanical arm interface terminals are provided with three output interface terminals and three input interface terminals; the first output interface terminal is connected with a 20 th resistor in series and then is connected to the anode input end of a light emitting diode at the input end of a fourth photoelectric coupler, and then is electrically connected to a 43 th function pin on an MCU processing chip with the model of IAP15W4K58S4 in a mechanical arm switching control board from the output end of a phototriode collector at the output end of the fourth photoelectric coupler; a second output interface terminal is connected with a 21 st resistor in series and then is connected with a light emitting diode anode input end of an input end of a fifth photoelectric coupler, and then is electrically connected with a 44 th function pin on an MCU processing chip with the model of IAP15W4K58S4 in a mechanical arm switching control board from a phototriode collector output end of the fifth photoelectric coupler; a third output interface terminal is connected with a 22 nd resistor in series and then is connected with a light emitting diode anode input end of an input end of a sixth photoelectric coupler, and then is electrically connected with a 20 th function pin on an MCU processing chip with the model of IAP15W4K58S4 in a mechanical arm switching control board from a phototriode collector output end of the sixth photoelectric coupler; the first input interface terminal is electrically connected with the output end of a collector electrode of a phototriode at the output end of a seventh photoelectric coupler, and the anode input end of a light-emitting diode at the input end of the seventh photoelectric coupler is electrically connected with a 21 st functional pin on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board after being connected with a 26 th resistor in series; the second input interface terminal is electrically connected with the output end of a collector electrode of a phototriode at the output end of an eighth photoelectric coupler, and the anode input end of a light emitting diode at the input end of the eighth photoelectric coupler is electrically connected with a 22 nd functional pin on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board after being connected with a 27 th resistor in series; and the third input interface terminal is electrically connected with the output end of a collector electrode of a phototriode at the output end of a ninth photoelectric coupler, and the anode input end of a light-emitting diode at the input end of the ninth photoelectric coupler is electrically connected with a 23 rd function pin on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board after being connected with a 28 th resistor in series. The reliability, stability, accuracy and effectiveness of input and output control on the mechanical arm interface and the mechanical arm switching control board are improved.
Preferably, the communication end of the mechanical arm end module, the sensor feedback interface end and the mechanical arm end interface are distributed on the same mechanical arm switching control board, and the mechanical arm switching control board is arranged on the gear-taking mechanical arm. The overall control and installation and use structure compact effectiveness of the switching matching use of the purchased small-sized clamping jaws are improved.
Another object of the present invention is to provide a method for controlling an intelligent pick-up robot, comprising: comprises the following gear-taking execution control steps
A1. When gear taking is carried out, an upper computer in the intelligent gear taking robot sends a task execution command to the AGV chassis and a gear taking mechanical arm of the robot;
A2. when the AGV chassis moves to reach the designated position, the gear-taking mechanical arm starts to work and run;
A3. after the gear-taking mechanical arm reaches a standby state allowing gear taking, the mechanical arm end module in one of the technical schemes arranged on the gear-taking mechanical arm sends an execution command to the mechanical arm adapter plate;
A4. after the mechanical arm adapter plate receives a gear-taking instruction sent by the mechanical arm tail end module, a stepping motor control end controls a stepping motor clamping jaw of an outsourcing small clamping jaw to start a file grabbing task through the mechanical arm adapter plate, and obtains signal feedback distance information between the mechanical arm tail end and a file in real time through a distance sensor to the mechanical arm adapter plate to ensure that the mechanical arm adapter plate is in an optimal grabbing position;
A5. after the grabbing is finished, an execution finishing return signal is sent to the mechanical arm tail end module, and the gear taking mechanical arm continues to wait for a gear taking command to execute actions in the next step.
Can effectively realize the supporting use of being connected between archive storehouse robot arm and the small-size clamping jaw of outsourcing, effectively realize in the narrow and small space of mechanical grab arm adaptation archive storehouse carrying on snatching or filing operation to archives, archives snatch accurate reliable, and it is high to the operation safety protection nature of snatching of archives, and archives management efficiency is high.
Preferably, the mechanical arm switching control BOARD controls the jaw driving of a stepping motor of the purchased small-sized jaw through a DRIVER _ BOARD1 functional pin port of the MCU processing chip. The simple, convenient, reliable and effective switching control driving of the mechanical arm for purchasing the small clamping jaw is improved.
Preferably, the mechanical arm switching control board controls the opening and closing speed of the purchased small-sized clamping jaw by using a periodic square wave pulse signal generated by a P2.4 functional pin of the MCU processing chip, controls the movement direction of the purchased small-sized clamping jaw by using a high-low level signal generated by a P2.5 functional pin of the MCU processing chip, and controls the purchased small-sized clamping jaw to operate or stop by using a high-low level signal generated by a P2.5 functional pin of the MCU processing chip. The switching control flexibility, accuracy and reliability effectiveness of the movement direction, the opening and closing, and the operation or stopping of the purchased small-sized clamping jaw are improved.
The invention has the beneficial effects that: can effectively realize the supporting use of connection between archive storehouse robot arm and the small-size clamping jaw of outsourcing, effectively realize carrying out snatching or the file operation to archives in the narrow and small space of mechanical grab arm adaptation archives, both avoided the big damage phenomenon that probably causes when snatching archives of grabbing strength of grip strength, solve again because of the clamping jaw is bulky can not be in the defect of snatching of archives in narrow and small space, also can compromise simultaneously and realize the distance feedback, realize better effective accurate snatching archives, but also effective control reduces archives grab arm cost, the file administration is efficient. The tail end of the manipulator can be free from fixing clamping jaws or other equipment matched with a manufacturer, and the manipulator has higher flexibility in project development or function implementation, and can use various self-defined tail end equipment through switching of the control panel after a communication protocol with a tail end interface of the manipulator is opened.
Description of the drawings:
the invention is described in further detail below with reference to the figures and the detailed description.
FIG. 1 is a schematic block diagram of an intelligent gear-taking robot control module and a control method thereof according to the present invention.
FIG. 2 is a schematic flow structure diagram of the control method of the intelligent gear-taking robot of the invention.
FIG. 3 is a schematic diagram of an MCU processing circuit structure adopted by the intelligent gear-taking robot control module and the control method thereof.
Fig. 4 is a schematic circuit structure diagram of the intelligent gear-taking robot control module and the control method thereof adopting the distance sensor and the sensor feedback interface end.
Fig. 5 is a schematic structural diagram of a control module of the intelligent gear-taking robot and a control method thereof adopting a mechanical arm interface terminal and an input/output interface circuit thereof.
Detailed Description
Example 1:
in the embodiment shown in fig. 1, 2, 3, 4, 5, an intelligent gear-shifting robot control module comprises a mechanical arm switching control board 06, a mechanical arm end module 03 and a stepping motor control terminal 10, wherein the stepping motor control terminal 10 is in communication connection with the mechanical arm end module 03 through a mechanical arm end module 61 communication terminal, the mechanical arm switching control board 06 is provided with a mechanical arm end interface 63 and a sensor feedback interface terminal 62 in a distance feedback terminal 20, the rear stage of the mechanical arm switching control board 06 is in control connection with a stepping motor clamping jaw 07 of an outsourcing small clamping jaw through the mechanical arm end interface 63, the distance feedback terminal 20 comprises a distance sensor 05 and the sensor feedback interface terminal 62, the distance sensor 05 is fed back to the mechanical arm switching control board 06 through the sensor feedback interface terminal 62, the front stage return signal of the mechanical arm switching control board 06 is connected to the mechanical arm end module 03, the front stage of the mechanical arm end module 03 is electrically connected or in communication connection with the control end 10 of the stepping motor of the upper computer robot. The mechanical arm switching control board 06 adopts an MCU processing chip U2 with the model of IAP15W4K58S 4. The mechanical arm switching control BOARD 06 is electrically connected with a clamping jaw control end interface of the purchased small clamping jaw through a DRIVER _ BOARD1 functional pin of an MCU processing chip U2, a P2.4 functional pin of the MCU processing chip generates periodic square waves as a pulse signal for controlling the opening and closing speed of the purchased small clamping jaw, a P2.5 functional pin of the MCU processing chip is used as a high-low level signal for controlling the movement direction of the purchased small clamping jaw, and a P2.6 functional pin of the MCU processing chip is used as a high-low level signal for controlling the operation or stop of the purchased small clamping jaw; the P2.4 function pin, the P2.5 function pin and the P2.6 function pin are respectively connected with resistors in series and then electrically connected with the manipulator end interface Header 6, wherein the P2.4 function pin is connected with a 13 th resistor R13 in series and then electrically connected with a P24 terminal in the manipulator end interface Header 6, the P2.5 function pin is connected with a 12 th resistor R12 in series and then electrically connected with a P25 terminal in the manipulator end interface Header 6, and the P2.6 function pin is connected with an 11 th resistor R11 in series and then electrically connected with a P26 terminal in the manipulator end interface Header 6 (see fig. 3). The P3.0 functional pin and the P3.1 functional pin of the MCU processing chip U2 are electrically connected to two middle TEST pin terminals of the TEST port TEST1 plug-in, so that the switching control debugging TEST convenience, flexibility and effectiveness of the mechanical arm switching control board are improved. The distance sensor adopts a laser distance sensor, the laser distance sensor is connected with a resistor in series and then is connected with the anode input end of a light emitting diode at the input end of a photoelectric coupler, and then the output end of a collector of a phototriode at the output end of the photoelectric coupler is electrically connected to a sensor feedback input interface end on an MCU processing chip arranged in the mechanical arm switching control board; the laser distance sensor is electrically connected with the mechanical arm switching control board through a sensor feedback interface end, the sensor feedback interface end adopts a 3P interface end structure, and the sensor feedback interface end comprises a +24v power interface terminal, a sensor interface terminal and a power ground interface terminal. The photoelectric coupler adopts a photoelectric coupler with the model number EL 357. The distance feedback end comprises three distance sensors and three sensor feedback interface ends, each distance sensor is correspondingly provided with one sensor feedback interface end, and each sensor feedback interface end is provided with a sensor interface terminal; the three-way distance sensor comprises a first-way distance sensor1, a second-way distance sensor2 and a third-way distance sensor3, wherein the first-way laser distance sensor1 is connected with an eighth resistor R8 in series and then is connected to the anode input end of a light emitting diode at the input end of a first photoelectric coupler Q1, and then is electrically connected to a sensor feedback input interface end of a 37 th function pin P37 on an MCU processing chip arranged in the mechanical arm switching control board from the collector output end of a phototriode at the output end of the first photoelectric coupler; the second laser distance sensor2 is connected in series with a ninth resistor R9 and then is connected to the anode input end of the light emitting diode at the input end of a second photoelectric coupler Q2, and then is electrically connected to the sensor feedback input interface end of a 41 th function pin P41 on an MCU processing chip arranged in the mechanical arm switching control board from the output end of the collector of a phototriode at the output end of the second photoelectric coupler Q2; the third laser distance sensor3 is connected in series with a tenth resistor R10 and then is connected to the anode input end of the light emitting diode at the input end of the third photoelectric coupler Q3, and the output end of the collector of the phototriode at the output end of the third photoelectric coupler sensor3 is electrically connected to the sensor feedback input interface end of a 42 th function pin P42 on the MCU processing chip arranged in the mechanical arm switching control board. The three-way sensor feedback interface end comprises a first-way sensor feedback interface end Header 1, a second-way sensor feedback interface end Header 2 and a third-way sensor feedback interface end Header 3 which correspond to each other. The input ends of the three sensors are connected with a pull-up resistor in series and then are electrically connected with a +24v power supply. The output end of the collector of each phototriode is respectively connected with a pull-up resistor in series and then electrically connected with a VCC power supply. A mechanical arm interface terminal ROBOT 1 is installed and connected on the mechanical arm switching control board, and three output interface terminals and three input interface terminals are arranged on the mechanical arm interface terminal; wherein the first output interface terminal OUT1 is connected in series with the 20 th resistor, then R20 is connected to the anode input end of the light emitting diode at the input end of the fourth photoelectric coupler Q4, and then the output end of the phototriode collector at the output end of the fourth photoelectric coupler is electrically connected to the 43 rd functional pin P43 on the MCU processing chip with model IAP15W4K58S4 arranged in the mechanical arm switching control board; a second output interface terminal OUT2 is connected in series with a 21 st resistor R21 and then is connected to the anode input end of a light emitting diode at the input end of a fifth photoelectric coupler Q5, and then is electrically connected to a 44 th functional pin P44 on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board from the output end of a phototriode collector at the output end of the fifth photoelectric coupler Q5; a third output interface terminal OUT3 is connected in series with a 22 nd resistor, then R22 is connected to the anode input end of a light emitting diode at the input end of a sixth photoelectric coupler Q6, and then the output end of a phototriode collector at the output end of the sixth photoelectric coupler is electrically connected to a 20 th functional pin P20 on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board; the first input interface terminal IN1 is electrically connected with the output end of the collector of the phototriode at the output end of the seventh photoelectric coupler Q7, and the anode input end of the light emitting diode at the input end of the seventh photoelectric coupler is electrically connected with the 21 st functional pin P21 on the MCU processing chip with the model of IAP15W4K58S4 arranged IN the mechanical arm switching control board after being connected with the 26 th resistor R26 IN series; a second input interface terminal IN2 is electrically connected with the output end of the collector of the phototriode at the output end of the eighth photoelectric coupler Q8, and the anode input end of the light emitting diode at the input end of the eighth photoelectric coupler is electrically connected with a 22 nd functional pin P22 on an MCU processing chip with the model of IAP15W4K58S4 arranged IN the mechanical arm switching control board after being connected with a 27 th resistor R27 IN series; the third input interface terminal IN3 is electrically connected with the output end of the phototriode collector at the output end of the ninth photoelectric coupler Q9, and the anode input end of the light emitting diode at the input end of the ninth photoelectric coupler is electrically connected with the 23 rd function pin on the MCU processing chip with the model of IAP15W4K58S4 arranged IN the mechanical arm switching control board after being connected with the 28 th resistor IN series. And the three input terminals and the three output terminals are respectively connected with pull-up resistors and then electrically connected with a +24v power supply. The communication end of the mechanical arm end module, the sensor feedback interface end and the mechanical arm end interface are distributed on the same mechanical arm switching control board, and the mechanical arm switching control board is arranged on the gear-taking mechanical arm.
Example 2:
in the embodiment shown in fig. 1, 2, 3, 4 and 5, an intelligent gear-taking robot control method comprises the following gear-taking execution control steps
A1. When gear taking is carried out, an upper computer 01 in the intelligent gear taking robot sends a task execution command 0A to an AGV chassis 02 and a gear taking mechanical arm of the robot;
A2. when the AGV chassis moves to reach the designated position, the gear-taking mechanical arm starts to work and run;
A3. after the gear-taking mechanical arm reaches a standby state allowing gear taking, the mechanical arm end module 03, which is arranged on the gear-taking mechanical arm and is described in embodiment 1, sends an execution command 0B to the mechanical arm adapter plate 04;
A4. after the mechanical arm adapter plate 04 receives a gear-taking instruction sent by the mechanical arm tail end module, the control end of the stepping motor controls a stepping motor clamping jaw 07 of an outsourcing small clamping jaw to start a file-taking task through the mechanical arm adapter plate 06, and obtains signal feedback distance information between the tail end of the 0C mechanical arm and a file in real time through a distance sensor 05 to the mechanical arm adapter plate to ensure that the mechanical arm adapter plate is in an optimal grabbing position; the stepping motor clamping jaw 07 receives the pulse and the control signal 0D of the mechanical arm adapter plate 06, and precise grabbing action is performed when files are grabbed.
A5. After the grabbing is finished, an execution finish return signal 0E is sent to the mechanical arm tail end module 03, and the gear-taking mechanical arm continues to wait for the next gear-taking command to execute the action. In addition, a power supply can be provided to the robot adapter board 04 through the robot end module 03.
The mechanical arm switching control BOARD controls the driving of the clamping jaws of the stepping motor of the purchased small clamping jaws through the DRIVER _ BOARD1 functional pin port of the MCU processing chip. In addition, according to actual conditions, when necessary or necessary, the execution command and the expansion demand control may be sent to other expansion devices 08 through the mechanical arm adapter plate. The mechanical arm switching control board generates periodic square wave pulses and control signals 0D through a P2.4 function pin of the MCU processing chip to control the opening and closing speed of the outsourcing small-sized clamping jaw, generates high and low level signals through a P2.5 function pin of the MCU processing chip to control the movement direction of the outsourcing small-sized clamping jaw, and generates high and low level signals through a P2.5 function pin of the MCU processing chip to control the running or stopping of the outsourcing small-sized clamping jaw.
In the positional relationship description of the present invention, the appearance of terms such as "inner", "outer", "upper", "lower", "left", "right", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings is merely for convenience of describing the embodiments and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation and operation, and thus, is not to be construed as limiting the present invention.
The foregoing summary and structure are provided to explain the principles, general features, and advantages of the product and to enable others skilled in the art to understand the invention. The foregoing examples and description have been presented to illustrate the principles of the invention and are intended to provide various changes and modifications within the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an intelligence robot control module that puts out a file which characterized in that: including arm switching control panel, terminal module of arm and step motor control end, step motor control end passes through the terminal module communication end of arm and is connected with the terminal module communication of arm, establish terminal interface of manipulator and distance feedback end on the arm switching control panel, arm switching control panel back level is passed through terminal interface of manipulator and is connected with the step motor clamping jaw control of the small-size clamping jaw of outsourcing, distance feedback end includes distance sensor and sensor feedback interface end, distance sensor passes through sensor feedback interface end feedback to arm switching control panel, arm switching control panel preceding stage return signal is connected to the terminal module of arm, the terminal module preceding stage of arm is connected with the step motor control end electricity of host computer robot or the communication is connected.
2. The intelligent gear-taking robot control module as recited in claim 1, wherein: the mechanical arm switching control board adopts an MCU processing chip with the model of IAP15W4K58S 4.
3. The intelligent gear-taking robot control module as recited in claim 1, wherein: the mechanical arm switching control BOARD is electrically connected with a clamping jaw control end interface of the small-sized clamping jaw purchased outside through a DRIVER _ BOARD1 functional pin of an MCU processing chip, a P2.4 functional pin of the MCU processing chip generates periodic square waves as pulse signals for controlling the opening and closing speed of the small-sized clamping jaw purchased outside, a P2.5 functional pin of the MCU processing chip is used as high and low level signals for controlling the movement direction of the small-sized clamping jaw purchased outside, and a P2.6 functional pin of the MCU processing chip is used as high and low level signals for controlling the small-sized clamping jaw purchased outside to run or stop; the P2.4 functional pin, the P2.5 functional pin and the P2.6 functional pin are respectively connected with a resistor in series and then electrically connected with the tail end interface of the manipulator.
4. The intelligent gear-taking robot control module as recited in claim 1, wherein: the distance sensor adopts a laser distance sensor, the laser distance sensor is connected with a light emitting diode anode input end of an input end of a photoelectric coupler after being connected with a resistor in series, and then a phototriode collector output end of the photoelectric coupler is electrically connected to a sensor feedback input interface end on an MCU processing chip arranged in the mechanical arm switching control board; the laser distance sensor is electrically connected with the mechanical arm switching control board through a sensor feedback interface end, the sensor feedback interface end adopts a 3P interface end structure, and the sensor feedback interface end comprises a +24v power interface terminal, a sensor interface terminal and a power ground interface terminal.
5. The intelligent gear-taking robot control module as recited in claim 1, wherein: the distance feedback end comprises three distance sensors and three sensor feedback interface ends, each distance sensor is correspondingly provided with one sensor feedback interface end, and each sensor feedback interface end is provided with a sensor interface terminal; the three-way distance sensor comprises a first-way distance sensor, a second-way distance sensor and a third-way distance sensor, wherein the first-way laser distance sensor is connected with an eighth resistor in series and then is connected to the anode input end of a light emitting diode at the input end of a first photoelectric coupler, and then is electrically connected to a sensor feedback input interface end of a 37 th function pin on an MCU processing chip arranged in the mechanical arm switching control board from the output end of a collector of a phototriode at the output end of the first photoelectric coupler; the second laser distance sensor is connected with a ninth resistor in series and then is connected with the anode input end of the light emitting diode at the input end of the second photoelectric coupler, and then is electrically connected with the sensor feedback input interface end of the 41 th functional pin on the MCU processing chip arranged in the mechanical arm switching control board from the output end of the collector electrode of the photosensitive triode at the output end of the second photoelectric coupler; and the third laser distance sensor is connected with the anode input end of a light emitting diode at the input end of a third photoelectric coupler after being connected with a tenth resistor in series, and then the output end of a collecting electrode of a phototriode at the output end of the third photoelectric coupler is electrically connected to a sensor feedback input interface end of a 42 th functional pin on an MCU processing chip arranged in the mechanical arm switching control board.
6. The intelligent gear-taking robot control module as recited in claim 1, wherein: the mechanical arm switching control board is provided with mechanical arm interface terminals, and the mechanical arm interface terminals are provided with three output interface terminals and three input interface terminals; the first output interface terminal is connected with a 20 th resistor in series and then is connected to the anode input end of a light emitting diode at the input end of a fourth photoelectric coupler, and then is electrically connected to a 43 th function pin on an MCU processing chip with the model of IAP15W4K58S4 in a mechanical arm switching control board from the output end of a phototriode collector at the output end of the fourth photoelectric coupler; a second output interface terminal is connected with a 21 st resistor in series and then is connected with a light emitting diode anode input end of an input end of a fifth photoelectric coupler, and then is electrically connected with a 44 th function pin on an MCU processing chip with the model of IAP15W4K58S4 in a mechanical arm switching control board from a phototriode collector output end of the fifth photoelectric coupler; a third output interface terminal is connected with a 22 nd resistor in series and then is connected with a light emitting diode anode input end of an input end of a sixth photoelectric coupler, and then is electrically connected with a 20 th function pin on an MCU processing chip with the model of IAP15W4K58S4 in a mechanical arm switching control board from a phototriode collector output end of the sixth photoelectric coupler; the first input interface terminal is electrically connected with the output end of a collector electrode of a phototriode at the output end of a seventh photoelectric coupler, and the anode input end of a light-emitting diode at the input end of the seventh photoelectric coupler is electrically connected with a 21 st functional pin on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board after being connected with a 26 th resistor in series; the second input interface terminal is electrically connected with the output end of a collector electrode of a phototriode at the output end of an eighth photoelectric coupler, and the anode input end of a light emitting diode at the input end of the eighth photoelectric coupler is electrically connected with a 22 nd functional pin on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board after being connected with a 27 th resistor in series; and the third input interface terminal is electrically connected with the output end of a collector electrode of a phototriode at the output end of a ninth photoelectric coupler, and the anode input end of a light-emitting diode at the input end of the ninth photoelectric coupler is electrically connected with a 23 rd function pin on an MCU processing chip with the model of IAP15W4K58S4 arranged in the mechanical arm switching control board after being connected with a 28 th resistor in series.
7. The intelligent gear-taking robot control module as recited in claim 1, wherein: the mechanical arm end module communication end, the sensor feedback interface end and the mechanical arm end interface are distributed on the same mechanical arm switching control board, and the mechanical arm switching control board is arranged on the gear taking mechanical arm.
8. A control method of an intelligent gear-taking robot is characterized by comprising the following steps: comprises the following gear-taking execution control steps
A1. When gear taking is carried out, an upper computer in the intelligent gear taking robot sends a task execution command to the AGV chassis and a gear taking mechanical arm of the robot;
A2. when the AGV chassis moves to reach the designated position, the gear-taking mechanical arm starts to work and run;
A3. after the gear-taking mechanical arm reaches a standby state allowing gear-taking, the mechanical arm end module provided on the gear-taking mechanical arm sends an execution command to the mechanical arm adapter plate according to any one of claims 1 to 7;
A4. after the mechanical arm adapter plate receives a gear-taking instruction sent by the mechanical arm tail end module, a stepping motor control end controls a stepping motor clamping jaw of an outsourcing small clamping jaw to start a file grabbing task through the mechanical arm adapter plate, and obtains signal feedback distance information between the mechanical arm tail end and a file in real time through a distance sensor to the mechanical arm adapter plate to ensure that the mechanical arm adapter plate is in an optimal grabbing position;
A5. after the grabbing is finished, an execution finishing return signal is sent to the mechanical arm tail end module, and the gear taking mechanical arm continues to wait for a gear taking command to execute actions in the next step.
9. The intelligent gear-taking robot control method according to claim 1, characterized in that: the mechanical arm switching control BOARD controls the jaw driving of the stepping motor of the purchased small-sized clamping jaw through a DRIVER _ BOARD1 functional pin port of the MCU processing chip.
10. The intelligent gear-taking robot control method according to claim 1, characterized in that: the mechanical arm switching control board generates periodic square wave pulse signals through P2.4 functional pins of the MCU processing chip to control the opening and closing speed of the purchased small clamping jaw, generates high and low level signals through P2.5 functional pins of the MCU processing chip to control the movement direction of the purchased small clamping jaw, and generates high and low level signals through P2.5 functional pins of the MCU processing chip to control the purchased small clamping jaw to run or stop.
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