CN105904444A - Operation method of mechanical arm - Google Patents
Operation method of mechanical arm Download PDFInfo
- Publication number
- CN105904444A CN105904444A CN201610473181.9A CN201610473181A CN105904444A CN 105904444 A CN105904444 A CN 105904444A CN 201610473181 A CN201610473181 A CN 201610473181A CN 105904444 A CN105904444 A CN 105904444A
- Authority
- CN
- China
- Prior art keywords
- stacking
- piling
- data
- mechanical arm
- data module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention provides an operation method of a mechanical arm; and once such accidents as machine stop are generated, operators can perform operations in corresponding procedures after data correction. After other stations on equipment are prepared in place, the mechanical arm is put in a preparation position, and is controlled to selectively perform the working steps of stacking and stack dismounting; after the stacking step is finished, the circular stacking or subsequent stack dismounting step can be selectively performed; after the stack dismounting step is finished, the circular stack dismounting or neck stacking step can be selectively performed, and then, the circulation of continuous stacking and stack dismounting can be selected; once a system stops working caused by wrong actuation, a stack data module and a stack dismounting data module timely record present data corresponding to the working state according to the stacking or stack dismounting state before machine stop; when the system works again, the stack data module or the stack dismounting data module before stop of the system pops up the data; and after workers confirm the data, the working state is selected to perform subsequent operations.
Description
Technical field
The present invention relates to the technical field of material conveying, the operational approach of a kind of mechanical arm.
Background technology
During the work of existing mechanical arm, after on equipment, remaining station all prepares to put in place, the piling of mechanical arm, the work process of de-stacking is orientation set in advance order, it is according to piling formerly, the posterior unidirectional sequence of de-stacking operates, its concrete operations flow process is shown in Fig. 1, piling can unidirectional choose whether to the greatest extent to carry out de-stacking after completing, de-stacking can unidirectional choose whether to the greatest extent again to circulate after completing, and in whole operating process is carried out, any one step occurs mistake in the process of implementation, ready position can only be returned to again from the beginning of the first step confirms, make original operation invalid, and then make piling or the de-stacking operation that mechanical arm can repeat to have carried out, there is the running of invalid mechanical arm in the operation making whole system, cause energy waste, and cannot accurate manipulator's arm.
Summary of the invention
For the problems referred to above; the invention provides the operational approach of a kind of mechanical arm; its mechanical arm is in operation; real time operating data is recorded; once there is the fortuitous events such as shutdown; operator are to carrying out the operation of corresponding operation after data correction, it makes mechanical arm precisely be operated, it is ensured that the efficient utilization of the energy.
nullA kind of operational approach of mechanical arm，It is characterized in that: on equipment, mechanical arm is placed in ready position after all preparing to put in place by remaining station，Control mechanical arm is optional carries out piling、The job step of de-stacking，Palletization step is optional after completing to be circulated piling or carries out follow-up de-stacking step，De-stacking step is optional after completing to be circulated de-stacking or carries out piling next time，Select optional continuous piling afterwards、The circulation of de-stacking，Operating system is additionally provided with piling data module、De-stacking data module，Once perform to make a mistake to cause system stalls，Piling data module、De-stacking data module records the data of current corresponding working state in time according to piling residing before shutting down or de-stacking duty，When system works again，The piling data module of duty residing before system-down or de-stacking data module eject data，After these data are confirmed by staff，Select to enter this duty and carry out subsequent operation.
It is further characterized by
Described system can independently carry out single duty operation of piling operation circulation；
Described system can independently carry out single duty operation of de-stacking operation circulation；
Described system can carry out the one-way circulation duty operation of piling, de-stacking；
Described system can carry out the one-way circulation duty operation of de-stacking, piling；
Operating main interface, clicking on piling or de-stacking interface, operation data and the conventional operation data in time of correspondence can transferred out, it is ensured that the data record of whole mechanical arm operation.
After using technique scheme, mechanical arm operationally can select to carry out piling, de-stacking according to the needs of actual production, improves the convenience of production；In addition; owing to operating system is additionally provided with piling data module, de-stacking data module; once perform to make a mistake to cause system stalls; piling data module, de-stacking data module record the data of current corresponding working state in time according to piling residing before shutting down or de-stacking duty; when system works again; the piling data module of duty residing before system-down or de-stacking data module eject data; after these data are confirmed by staff, select to enter this duty and carry out subsequent operation；To sum up, mechanical arm is in operation, and real time operating data is recorded; once there is the fortuitous events such as shutdown; operator are to carrying out the operation of corresponding operation after data correction, it makes mechanical arm precisely be operated, it is ensured that the efficient utilization of the energy.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the operational approach of existing mechanical arm；
Fig. 2 is schematic flow sheet provided by the present invention；
Detailed description of the invention
nullA kind of operational approach of mechanical arm，See Fig. 2: mechanical arm is placed in ready position after all preparing to put in place by remaining station on equipment，Control mechanical arm is optional carries out piling、The job step of de-stacking，Palletization step is optional after completing to be circulated piling or carries out follow-up de-stacking step，De-stacking step is optional after completing to be circulated de-stacking or carries out piling next time，Select optional continuous piling afterwards、The circulation of de-stacking，Operating system is additionally provided with piling data module、De-stacking data module，Once perform to make a mistake to cause system stalls，Piling data module、De-stacking data module records the data of current corresponding working state in time according to piling residing before shutting down or de-stacking duty，When system works again，The piling data module of duty residing before system-down or de-stacking data module eject data，After these data are confirmed by staff，Select to enter this duty and carry out subsequent operation.
System can independently carry out piling operation circulation single duty operation, now according to ready position start piling piling complete Home circulation piling operational approach operate；
System can independently carry out de-stacking operation circulation single duty operation, now according to ready position start de-stacking de-stacking complete Home circulation de-stacking operational approach operate；
System can carry out piling, de-stacking one-way circulation duty operation, now according to ready position start piling piling complete Home de-stacking de-stacking complete Home circulation piling operational approach operate；
System can carry out de-stacking, piling one-way circulation duty operation, now according to ready position start de-stacking de-stacking complete Home piling piling complete Home circulation de-stacking operational approach operate；
Operating main interface, clicking on piling or de-stacking interface, operation data and the conventional operation data in time of correspondence can transferred out, it is ensured that the data record of whole mechanical arm operation.
In being embodied as; make a mistake during performing once piling duty and cause system stalls; piling data module records the current data to this piling duty in time; when system works again; piling data module residing before system-down ejects data; after staff is to code data confirm, selects to enter piling state and carry out the subsequent operation that this piling duty is not fully complete；Make a mistake during performing once de-stacking duty and cause system stalls; de-stacking data module records the current data to this de-stacking duty in time; when system works again; de-stacking data module residing before system-down ejects data; staff, to tearing open after data confirm, selects to enter de-stacking state and carries out the subsequent operation that this de-stacking duty is not fully complete；The fortuitous event such as shutdown once occurs, and operator are to carrying out the operation of corresponding operation after data correction, it makes mechanical arm precisely be operated, it is ensured that the efficient utilization of the energy.
Above the specific embodiment of the present invention is described in detail, but content has been only the preferred embodiment of the invention, it is impossible to be considered the practical range for limiting the invention.All impartial changes made according to the invention application range and improvement etc., within all should still belonging to the patent covering scope of the present invention.
Claims (6)
1. the operational approach of a mechanical arm, it is characterised in that: on equipment, remaining station all prepares to arrive
After Wei, mechanical arm is placed in ready position, controls mechanical arm and may select the work carrying out piling, de-stacking
Step, palletization step is optional after completing to be circulated piling or carries out follow-up de-stacking step, de-stacking step
May select after completing and be circulated de-stacking or carry out piling next time, the optional continuous piling of selection afterwards,
The circulation of de-stacking, operating system is additionally provided with piling data module, de-stacking data module, once performs to send out
When raw mistake causes system stalls, piling data module, de-stacking data module are according to residing before shutting down
Piling or de-stacking duty record the data of current corresponding working state in time, the system for the treatment of is carried out again
During work, the piling data module of duty residing before system-down or de-stacking data module eject number
According to, after these data are confirmed by staff, select to enter this duty and carry out subsequent operation.
The operational approach of a kind of mechanical arm the most as claimed in claim 1, it is characterised in that: described system
System can independently carry out single duty operation of piling operation circulation.
The operational approach of a kind of mechanical arm the most as claimed in claim 1, it is characterised in that: described system
System can independently carry out single duty operation of de-stacking operation circulation.
The operational approach of a kind of mechanical arm the most as claimed in claim 1, it is characterised in that: described system
System can carry out the one-way circulation duty operation of piling, de-stacking.
The operational approach of a kind of mechanical arm the most as claimed in claim 1, it is characterised in that: described system
System can carry out the one-way circulation duty operation of de-stacking, piling.
The operational approach of a kind of mechanical arm the most as claimed in claim 1, it is characterised in that main in operation
Interface, clicks on piling or de-stacking interface, can transfer out operation data and the conventional operation in time of correspondence
Data, it is ensured that the data record of whole mechanical arm operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610473181.9A CN105904444B (en) | 2016-06-24 | 2016-06-24 | A kind of operating method of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610473181.9A CN105904444B (en) | 2016-06-24 | 2016-06-24 | A kind of operating method of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105904444A true CN105904444A (en) | 2016-08-31 |
| CN105904444B CN105904444B (en) | 2018-08-17 |
Family
ID=56759713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610473181.9A Active CN105904444B (en) | 2016-06-24 | 2016-06-24 | A kind of operating method of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105904444B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6145826A (en) * | 1984-08-09 | 1986-03-05 | Murata Mach Ltd | Article transferring robot |
| CN1923644A (en) * | 2006-08-30 | 2007-03-07 | 云南昆船设计研究院 | Automatic de-stacking and stacking technology and system for putting currency-box into and out of bank exchequer |
| CN101863385A (en) * | 2010-06-04 | 2010-10-20 | 红云红河烟草(集团)有限责任公司 | Automatic unstacking-stacking process for warehouse-transfer tobacco |
| CN202306251U (en) * | 2010-01-29 | 2012-07-04 | 株式会社森精机制作所 | Apparatus for controlling machine tool to restart automatic operation |
| CN103101771A (en) * | 2012-11-16 | 2013-05-15 | 江苏天奇物流系统工程股份有限公司 | Tire dismantling and stacking dual purpose machine |
| CN104001836A (en) * | 2014-05-22 | 2014-08-27 | 辽宁省机械研究院有限公司 | Automatic vertical carrying device for heat exchanger core expansion tube and application method |
| CN104102174A (en) * | 2014-06-30 | 2014-10-15 | 北京七星华创电子股份有限公司 | Method for restoring state of semiconductor equipment software after restart |
| CN105643625A (en) * | 2016-03-07 | 2016-06-08 | 合肥工业大学 | Working mechanism of single-station feeding production processing system based on mechanical arm |
-
2016
- 2016-06-24 CN CN201610473181.9A patent/CN105904444B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6145826A (en) * | 1984-08-09 | 1986-03-05 | Murata Mach Ltd | Article transferring robot |
| CN1923644A (en) * | 2006-08-30 | 2007-03-07 | 云南昆船设计研究院 | Automatic de-stacking and stacking technology and system for putting currency-box into and out of bank exchequer |
| CN202306251U (en) * | 2010-01-29 | 2012-07-04 | 株式会社森精机制作所 | Apparatus for controlling machine tool to restart automatic operation |
| CN101863385A (en) * | 2010-06-04 | 2010-10-20 | 红云红河烟草(集团)有限责任公司 | Automatic unstacking-stacking process for warehouse-transfer tobacco |
| CN103101771A (en) * | 2012-11-16 | 2013-05-15 | 江苏天奇物流系统工程股份有限公司 | Tire dismantling and stacking dual purpose machine |
| CN104001836A (en) * | 2014-05-22 | 2014-08-27 | 辽宁省机械研究院有限公司 | Automatic vertical carrying device for heat exchanger core expansion tube and application method |
| CN104102174A (en) * | 2014-06-30 | 2014-10-15 | 北京七星华创电子股份有限公司 | Method for restoring state of semiconductor equipment software after restart |
| CN105643625A (en) * | 2016-03-07 | 2016-06-08 | 合肥工业大学 | Working mechanism of single-station feeding production processing system based on mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105904444B (en) | 2018-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104407576B (en) | A kind of implementation method and control system of universal manufacturing unit | |
| CN1852209A (en) | Remote process transfering method and system in distribution type control system | |
| CN105494031A (en) | Automatic integrated rubber tapping and collecting method based on image identification and automatic integrated rubber tapping and collecting device based on image identification | |
| CN106141645A (en) | A kind of automatic setup system and method | |
| CN107346127B (en) | Intelligent plate cutting method and system and control terminal | |
| RU2007118733A (en) | LIFT INSTALLATION AND METHOD FOR IMPLEMENTING A POTENTIALLY CORRECTING OPERATION WITH RESPECT TO IT | |
| CN104281132A (en) | Information collection system and method for machine manufacturing workshop in production process based on machine vision | |
| CN103019156B (en) | Automatic rotating angle control method for cutting bed | |
| CN103165207A (en) | Sequential control method and system suitable for nuclear power station | |
| CN105766551B (en) | A kind of automatic rubber tapping receipts colloid system based on Unmanned Systems | |
| WO2016150772A1 (en) | Method for planning and producing an assembled product, production module, and production control | |
| CN105904444A (en) | Operation method of mechanical arm | |
| CN111571600A (en) | Control method and device of palletizing robot and palletizing robot | |
| CN108879663B (en) | One-key sequence control method and system for electric power system with exception handling | |
| CN108602200A (en) | Servo trimming machine | |
| CN111015199A (en) | Robot screw machine drags positioning system | |
| CN202267937U (en) | Automatic calibration machine for touch screen | |
| CN205187312U (en) | A sabot machine for packing SMT motor | |
| CN205160208U (en) | Power dispatching prevents maloperation ticket system | |
| CN101159605B (en) | Flow control method capable of implementing state memory and recovery | |
| CN107577975A (en) | The Intelligent printing method of automatic identification bar code and item number batch | |
| CN106736493A (en) | A kind of core body jacketing machine | |
| CN104438951B (en) | The fault recovery method of automatic stamping line pressing equipment | |
| CN104176316B (en) | A kind of injection machine blanking automatic material receptacle | |
| CN114418526A (en) | Method and system for controlling production flow of drawer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |