With the continuous development of modern industrial production, industrial robots are widely used, but due to cost and function limitations, it is not possible to complete all material handling work independently. A large amount of material handling work still needs people to complete. How to reduce the labor intensity of workers, improve work efficiency, and avoid physical harm to workers. Western countries develop a new generation of ergonomic equipment based on traditional special tools and power-assisting equipment: Intelligent Aid (IAD) A special working robot that can realize man-machine cooperation with the operator in the same physical space. It is mainly used in various assembly production lines, logistics transfer operations, etc., with the following characteristics:
1. Easy handling: Zero-gravity operation, which can complete the handling, assembly and positioning of materials, and become the first choice for material handling equipment in various industries.
2. Precise positioning: After the load is suspended, it is in a â€œfloatingâ€ state in the air, which can realize the rapid positioning of the materials being operated.
3. Simple operation: no control button is required, and the human action is the mechanical action command. Rigid construction, can be equipped with any type of fixture system.
4. Efficient and safe: human-machine cooperation, reducing misuse, improving safety and efficiency.
First, the current intelligent assist robot handling capacity is between 80kg ~ 320kg, the basic parameters are shown in the table below.
Second, the installation form can be basically divided into three types: column type, ceiling type and ceiling track type. The shape picture is shown in Figure 1.
Third, system function analysis:
1) System structure
Figure 2 System structure
2) System control
The control system of the system adopts the decentralized control mode. The upper computer adopts high-performance single-chip microcomputer as the control core. Its task is to accept the processing of the lower-position machine signal and control the drive lifting system. The lower-position machine takes the high-performance single-chip microcomputer as the control core, and its task is to accept the processing end operation. The signal is passed to the host computer. RS232 serial communication mode is adopted between the upper computer and the lower computer. The overall control scheme of the lifting system is shown in Figure 4.
Figure 4 system overall control plan
3) Micro-operation force control
The lifting system uses micro-operating force control. The micro-operation force control principle of the lifting system is to use only the end operator to detect the micro-operation force applied by the operator, and to respond to the operator's up-and-down motion in time through online real-time processing, greatly reducing the inertia and extending the operator's arm. The fingertip control mode of the system is controlled. The block diagram of the control principle is shown in Figure 5. In order to realize the fine movement adjustment of the load position, the fine adjustment mode of the lifting system is set, that is, the position adjustment of the load heavy object is realized by the button switch, and the movement speed can reach 0.5 mm/s each time, and the position precise adjustment is realized.
Figure 5 control principle block diagram
4) Improve system control principle
The whole system consists of high-performance single-chip microcomputer, power amplifier module, communication module and filter circuit module. The high-performance single-chip microcomputer is mainly responsible for the calculation of the control algorithm, the power amplification module realizes the amplification of the PWM signal and the over-current protection of the motor, the filter amplification circuit module realizes the signal processing of the end operator and the pressure sensor, and the communication module is responsible for communicating with the upper computer. The system control principle is shown in Figure 6.
Figure 6 system control principle
During the operation of the system, the timer of the microcontroller is used to generate a time interrupt with a period of 5ms, so that the sampling time task enters the running state from the ready state. In the sampling time task, the orthogonal encoding counter is used to obtain the direction. The current speed and position of the motor are then obtained by the position and speed closed-loop algorithm to obtain the required amount of control output, ie the PWM duty cycle, which is amplified by power to drive the motor. In this process, the current sampling section of the driving module detects the current of the motor in real time. When the current exceeds the specified value, the current cut-off protection circuit generates a corresponding signal to turn off the driving module to protect the motor, and the single-chip microcomputer interrupts the end operator. The commands are tested to respond in real time to various commands from the end operator.
5) Signal acquisition and processing
The main task of the signal acquisition module accepts the processing of the end operator signal and transmits the processed signal to the host computer to prevent the control signal from being interfered by other noise signals during the transmission.
The sliding potentiometer in the end operator is powered by DC, and the potentiometer signal is processed by a second-order low-pass filter to remove noise signal interference. The control switch signal is connected to the lower computer I/O through the photoelectric isolation circuit to remove the interference of the noise signal to the switching signal. The principle of signal acquisition and processing is shown in Figure 7.
Figure 7 Principle of signal acquisition and processing
Sealing performance Remain unchanged for72 hours on pressure 70kpa
Ambient temperature -40Â°C+55Â°C
Atmospheric pressure environment 70kpa-106kpa
Tensile strength â€º1000N
Compressive strength withstand 2000N/10CmÂ² in 1min
Capcity 4c,6 cores,8c,12core
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