CN105922266A - Anti-collision mechanical arm with self-protective function and working method thereof - Google Patents
Anti-collision mechanical arm with self-protective function and working method thereof Download PDFInfo
- Publication number
- CN105922266A CN105922266A CN201610479398.0A CN201610479398A CN105922266A CN 105922266 A CN105922266 A CN 105922266A CN 201610479398 A CN201610479398 A CN 201610479398A CN 105922266 A CN105922266 A CN 105922266A
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- Prior art keywords
- base
- mechanical arm
- column
- self
- protection function
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Classifications
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
Abstract
The invention discloses an anti-collision mechanical arm with a self-protective function. The anti-collision mechanical arm comprises a base, a shaft joint, a position monitoring device, protective shells and a control device. A bottom wheel is arranged on the base; the shaft joint is connected with the base through a stand column; a position monitoring mechanism in the position monitoring device is arranged on the base and the shaft joint; the stand column is provided with a warning device and a display device; and the position monitoring device and the warning device are both connected with the control device. The anti-collision mechanical arm with the self-protective function is provided with the position monitoring device on the base and the shaft joint for monitoring the distance between the intelligent mechanical arm and an obstacle; once the obstacle enters a non-safe area of the mechanical arm, the warning device gives an alarm; and meanwhile, as the protective shells are arranged on the base and the shaft joint, once the base and the shaft joint collide with the obstacle, the protective shells can achieve an excellent protecting effect, and the service life can be effectively prolonged.
Description
Technical field
The invention belongs to manufacturing field, particularly to a kind of anti-collision machine mechanical arm with self-protection function and method of work thereof.
Background technology
Mechanical arm is the automated machine device obtaining broad practice in robot technical field, can see its figure in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probations.Existing mechanical arm its can according to client produce demand realize various function, production cost yet with mechanical arm is higher, thus its price comparison is expensive, for medium-sized and small enterprises, buying mechanical arm replaces common production to need in many ways to compare and analyze, can increase the cost payout of business equipment in a short time, thus it will especially careful in subsequent use.
Existing mechanical arm is during using, usually need its position is moved, but it usually can collide on the article of periphery during movement, light then can cause mechanical arm surface fall paint, deformation, heavy then may result in mechanical arm and fracture, once paint or deformation are fallen in its surface, so will can be easy to be corroded in the use of the use in later stage by mechanical arm, affect its life-span used, and, either deform or fracture and all can increase the maintenance cost of mechanical arm, thus although existing mechanical arm disclosure satisfy that the demand of production, but it also lacks the ability of a kind of self-protection.
Summary of the invention
Goal of the invention: in order to overcome above deficiency, it is an object of the invention to provide a kind of anti-collision machine mechanical arm with self-protection function, its simple in construction; reasonable in design, it is easy to produce, automaticity is high; reducing manual labor amount, improve operating efficiency, storing amount is big and applies flexibly.
Technical scheme: to achieve these goals, the invention provides a kind of anti-collision machine mechanical arm with self-protection function, including: base, axle joint, monitoring position device, containment vessel and control device, wherein, described base is provided with return pulley, described axle joint is connected with base by column, the described monitoring position mechanism in monitoring position device is located on base and axle joint, described containment vessel is located at base and the surface in axle joint, and, described column is provided with warning device and display device, described monitoring position device and warning device are all connected with control device.Heretofore described a kind of anti-collision machine mechanical arm with self-protection function; the distance between this intelligent machine mechanical arm and barrier is monitored by arranging monitoring position device on base and axle joint; once barrier enters the insecure area of mechanical arm, it will reported to the police by warning device；Meanwhile, base and axle joint arrange containment vessel, collides with barrier once it, it is possible to by containment vessel is played a very good protection such that it is able to the effective life-span extending its use.
nullHeretofore described control device is provided with drive mechanism、Position control mechanism、Slide control mechanism、Alarm mechanism and central control machine structure，Described base and the equal drive mechanism of column connect，Described base and column are all connected with position control mechanism and slide control mechanism，Described drive mechanism、Position control mechanism、Slide control mechanism and alarm mechanism are connected with central control machine structure，The present invention is by arranging position detecting mechanism in this Intelligentized mechanical arm，Staff judges according to producing position desired position placed intelligent machine mechanical arm，Then by the position of movement needed for indication mechanism input intelligent machine mechanical arm，Then central control machine structure will be according to the numerical value order drive mechanism of input、Position control mechanism and slide control mechanism are started working，By them, base and column are moved，By cooperating of base and column，Mechanical arm is allowed to disclosure satisfy that the demand of comprehensive production station，Thus allow it better meet the demand of production.
Heretofore described base is provided with slideway, being provided with pulley below described column, described pulley is provided with base and drives module, described base to drive module to be connected with drive mechanism, by drive mechanism command-driven system, then pulley is driven to move by drive system.
Heretofore described base is provided with one group of slideway, and, the both sides of described slideway are provided with antiskid plate, effectively prevent column uncontrolled in moving process, improve the accuracy that column moves.
The lower section of heretofore described column is provided with pedestal, and the bottom of described pedestal is provided with pulley, and, described pulley matches with slideway.
Being provided with base in heretofore described drive mechanism drives module and column to drive module, described base drives module to be located on base, described column drives module to be located on pedestal, and, described base drives module and column to drive module to be connected with central control machine structure respectively.
Heretofore described column is made up of one group of support column, and, use scalable connection between described support column, allow column disclosure satisfy that the Production requirement of workbench of differing heights, improve its applicability
Being additionally provided with one group of cylinder in heretofore described drive mechanism, described cylinder drives module and column to drive module to be connected by connecting tube with base, the thrust moved to pulley and column by cylinder, it can be realized according to order mobile.
Heretofore described display device uses and touches display screen, and, described display device is provided with input module.
The method of work of heretofore described a kind of anti-collision machine mechanical arm with self-protection function, concrete method of work is as follows:
(1) it puts into production: first install this mechanical arm, to treat it to install relief；
(2) position of movement needed for mechanical arm: during work, first by staff, the position of required converted products is judged, is then drawn；
(3): then by keyboard or the directly distance of movement and angle needed for input mechanical arm the most on a display screen；
(4): after staff has inputted, the data processor in central control machine structure will be started working according to the data command position control mechanism received and slide control mechanism；
(5): after receiving order, position control mechanism and slide control mechanism will order drive mechanism be started working；
(6): drive mechanism is after receiving order, and it will drive module and column to drive module to start the distance according to staff's input and base and column are adjusted by angle respectively by order air cylinder driven base；
(7): treat in the moving process of above-mentioned base and column, the position monitoring device distance to mechanical arm Yu the barrier of surrounding, once barrier enters insecure area, it will reported to the police by alarm mechanism；
(8): treating that base and column move to specific bit and postpone, staff sees whether current location disclosure satisfy that the demand of production, if meeting, starting to produce, if be unsatisfactory for, then repeating 2 to 6 steps, till mechanical arm disclosure satisfy that production requirement；
(9): the process moved at above-mentioned mechanical arm collects and collides with barrier once base and column, and it will be protected by it by containment vessel.
Technique scheme is it can be seen that there is advantages that
1, heretofore described a kind of anti-collision machine mechanical arm with self-protection function; the distance between this intelligent machine mechanical arm and barrier is monitored by arranging monitoring position device on base and axle joint; once barrier enters the insecure area of mechanical arm, it will reported to the police by warning device；Meanwhile, base and axle joint arrange containment vessel, collides with barrier once it, it is possible to by containment vessel is played a very good protection such that it is able to the effective life-span extending its use.
2, the present invention is by arranging position detecting mechanism in this Intelligentized mechanical arm, staff judges according to producing position desired position placed intelligent machine mechanical arm, then by the position of movement needed for indication mechanism input intelligent machine mechanical arm, then central control machine structure will be according to the numerical value order drive mechanism of input, position control mechanism and slide control mechanism are started working, by them, base and column are moved, by cooperating of base and column, mechanical arm is allowed to disclosure satisfy that the demand of comprehensive production station, thus allow it better meet the demand of production.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
In figure: base-1, axle joint-2, monitoring position device-3, containment vessel-4, control device-5, return pulley-6, column-7, warning device-8, display device-9.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, it is further elucidated with the present invention.
Embodiment 1
A kind of anti-collision machine mechanical arm with self-protection function as shown in Figure 1; including: base 1, axle joint 2, monitoring position device 3, containment vessel 4 and control device 5; wherein; described base 1 is provided with return pulley 6; described vertical 2 are made up of one group of support column, are provided with drive mechanism, position control mechanism, slide control mechanism, alarm mechanism and central control machine structure in described control device 5；
The relation of above-mentioned each parts is as follows:
Scalable connection is used between described support column; described axle joint 2 is connected with base 1 by column 7; the described monitoring position mechanism in monitoring position device 3 is located on base 1 and axle joint 2; described containment vessel 4 is located at base 1 and the surface in axle joint 2; and; described column 7 is provided with warning device 8 and display device 9, and described monitoring position device 3 and warning device 8 are all connected with control device 5；Described base 1 and the equal drive mechanism of column 7 connect, described base 1 and column 7 are all connected with position control mechanism and slide control mechanism, and described drive mechanism, position control mechanism, slide control mechanism and alarm mechanism are connected with central control machine structure.
Base 1 described in the present embodiment is provided with slideway, is provided with pulley below described column, and described pulley is provided with base and drives module, described base drives module to be connected with drive mechanism, described base 1 is provided with one group of slideway, and, the both sides of described slideway are provided with antiskid plate.
The lower section of the column 7 described in the present embodiment is provided with pedestal, and the bottom of described pedestal is provided with pulley, and, described pulley matches with slideway.
Being provided with base in drive mechanism described in the present embodiment drives module and column to drive module, described base drives module to be located on base 1, described column drives module to be located on pedestal, and, described base drives module and column to drive module to be connected with central control machine structure respectively.
Being additionally provided with one group of cylinder in drive mechanism described in the present embodiment, described cylinder drives module and column to drive module to be connected by connecting tube with base.
Display device 9 described in the present embodiment uses and touches display screen, and, described display device 9 is provided with input module.
Embodiment 2
A kind of identical with structure in embodiment 1 with the mechanical arm in the method for work of the anti-collision machine mechanical arm of self-protection function described in the present embodiment.
A kind of anti-collision machine mechanical arm with self-protection function as shown in Figure 1; including: base 1, axle joint 2, monitoring position device 3, containment vessel 4 and control device 5; wherein; described base 1 is provided with return pulley 6; described vertical 2 are made up of one group of support column, are provided with drive mechanism, position control mechanism, slide control mechanism, alarm mechanism and central control machine structure in described control device 5；
The relation of above-mentioned each parts is as follows:
Scalable connection is used between described support column; described axle joint 2 is connected with base 1 by column 7; the described monitoring position mechanism in monitoring position device 3 is located on base 1 and axle joint 2; described containment vessel 4 is located at base 1 and the surface in axle joint 2; and; described column 7 is provided with warning device 8 and display device 9, and described monitoring position device 3 and warning device 8 are all connected with control device 5；Described base 1 and the equal drive mechanism of column 7 connect, described base 1 and column 7 are all connected with position control mechanism and slide control mechanism, and described drive mechanism, position control mechanism, slide control mechanism and alarm mechanism are connected with central control machine structure.
Base 1 described in the present embodiment is provided with slideway, is provided with pulley below described column, and described pulley is provided with base and drives module, described base drives module to be connected with drive mechanism, described base 1 is provided with one group of slideway, and, the both sides of described slideway are provided with antiskid plate.
The lower section of the column 7 described in the present embodiment is provided with pedestal, and the bottom of described pedestal is provided with pulley, and, described pulley matches with slideway.
Being provided with base in drive mechanism described in the present embodiment drives module and column to drive module, described base drives module to be located on base 1, described column drives module to be located on pedestal, and, described base drives module and column to drive module to be connected with central control machine structure respectively.
Being additionally provided with one group of cylinder in drive mechanism described in the present embodiment, described cylinder drives module and column to drive module to be connected by connecting tube with base.
Display device 9 described in the present embodiment uses and touches display screen, and, described display device 9 is provided with input module.
The method of work of a kind of anti-collision machine mechanical arm with self-protection function described in the present embodiment, concrete method of work is as follows:
(1) it puts into production: first install this mechanical arm, to treat it to install relief；
(2) position of movement needed for mechanical arm: during work, first by staff, the position of required converted products is judged, is then drawn；
(3): then by keyboard or the directly distance of movement and angle needed for input mechanical arm the most on a display screen；
(4): after staff has inputted, the data processor in central control machine structure will be started working according to the data command position control mechanism received and slide control mechanism；
(5): after receiving order, position control mechanism and slide control mechanism will order drive mechanism be started working；
(6): drive mechanism is after receiving order, and it will drive module and column to drive module to start the distance according to staff's input and base 1 and column 7 are adjusted by angle respectively by order air cylinder driven base；
(7): treat in the moving process of above-mentioned base 1 and column 7, the position monitoring device 3 distance to mechanical arm Yu the barrier of surrounding, once barrier enters insecure area, it will reported to the police by alarm mechanism；
(8): treating that base 1 and column 7 move to specific bit and postpone, staff sees whether current location disclosure satisfy that the demand of production, if meeting, starting to produce, if be unsatisfactory for, then repeating 2 to 6 steps, till mechanical arm disclosure satisfy that production requirement；
(9): the process moved at above-mentioned mechanical arm collects and collides with barrier once base 1 and column 7, and it will be protected by it by containment vessel.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to make some improvement, and these improvement also should be regarded as protection scope of the present invention.
Claims (10)
1. the anti-collision machine mechanical arm with self-protection function, it is characterized in that: including: base (1), axle joint (2), monitoring position device (3), containment vessel (4) and control device (5), wherein, described base (1) is provided with return pulley (6), described axle joint (2) is connected with base (1) by column (7), the described monitoring position mechanism in monitoring position device (3) is located on base (1) and axle joint (2), described containment vessel (4) is located at base (1) and the surface of axle joint (2), and, described column (7) is provided with warning device (8) and display device (9), described monitoring position device (3) and warning device (8) are all connected with control device (5).
Anti-collision machine mechanical arm with self-protection function the most according to claim 1; it is characterized in that: described control device (5) is provided with drive mechanism, position control mechanism, slide control mechanism, alarm mechanism and central control machine structure; described base (1) and column (7) all drive mechanisms connect; described base (1) and column (7) are all connected with position control mechanism and slide control mechanism, and described drive mechanism, position control mechanism, slide control mechanism and alarm mechanism are connected with central control machine structure.
Anti-collision machine mechanical arm with self-protection function the most according to claim 1; it is characterized in that: described base (1) is provided with slideway; being provided with pulley below described column, described pulley is provided with base and drives module, described base to drive module to be connected with drive mechanism.
Anti-collision machine mechanical arm with self-protection function the most according to claim 1, it is characterised in that: described base (1) is provided with one group of slideway, and, the both sides of described slideway are provided with antiskid plate.
Anti-collision machine mechanical arm with self-protection function the most according to claim 1, it is characterised in that: the lower section of described column (7) is provided with pedestal, and the bottom of described pedestal is provided with pulley, and, described pulley matches with slideway.
Anti-collision machine mechanical arm with self-protection function the most according to claim 1; it is characterized in that: described drive mechanism is provided with base and drives module and column to drive module; described base drives module to be located on base (1); described column drives module to be located on pedestal; and, described base drives module and column to drive module to be connected with central control machine structure respectively.
Anti-collision machine mechanical arm with self-protection function the most according to claim 1, it is characterised in that: described column (2) is made up of one group of support column, and, use scalable connection between described support column.
Anti-collision machine mechanical arm with self-protection function the most according to claim 1, it is characterised in that: being additionally provided with one group of cylinder in described drive mechanism, described cylinder drives module and column to drive module to be connected by connecting tube with base.
Anti-collision machine mechanical arm with self-protection function the most according to claim 1, it is characterised in that: described display device (9) uses and touches display screen, and, described display device (9) is provided with input module.
10. the method for work with the anti-collision machine mechanical arm of self-protection function, it is characterised in that: concrete method of work is as follows:
(1) it puts into production: first install this mechanical arm, to treat it to install relief；
(2) position of movement needed for mechanical arm: during work, first by staff, the position of required converted products is judged, is then drawn；
(3): then by keyboard or the directly distance of movement and angle needed for input mechanical arm the most on a display screen；
(4): after staff has inputted, the data processor in central control machine structure will be started working according to the data command position control mechanism received and slide control mechanism；
(5): after receiving order, position control mechanism and slide control mechanism will order drive mechanism be started working；
(6): drive mechanism is after receiving order, and it will drive module and column to drive module to start the distance according to staff's input and base (1) and column (7) are adjusted by angle respectively by order air cylinder driven base；
(7): treat in the moving process of above-mentioned base (1) and column (7), the position monitoring device (3) distance to mechanical arm Yu the barrier of surrounding, once barrier enters insecure area, it will reported to the police by alarm mechanism；
(8): treat that base (1) and column (7) move to specific bit and postpone, staff sees whether current location disclosure satisfy that the demand of production, if met, starts to produce, if be unsatisfactory for, then repeat 2 to 6 steps, till mechanical arm disclosure satisfy that production requirement；
(9): the process moved at above-mentioned mechanical arm collects and collides with barrier once base (1) and column (7), and it will be protected by it by containment vessel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610479398.0A CN105922266B (en) | 2016-06-28 | 2016-06-28 | A kind of anticollision mechanical arm and its working method with self-protection function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610479398.0A CN105922266B (en) | 2016-06-28 | 2016-06-28 | A kind of anticollision mechanical arm and its working method with self-protection function |
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| CN105922266B CN105922266B (en) | 2018-08-07 |
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| CN106271114A (en) * | 2016-10-10 | 2017-01-04 | 山东科技大学 | Laser processing device |
| CN108535499A (en) * | 2018-03-14 | 2018-09-14 | 施淑琴 | A kind of routine biochemistry analytical instrument |
| CN108821208A (en) * | 2018-07-09 | 2018-11-16 | 薛敏强 | A kind of adjustable Intelligentized mechanical arm and its working method for bottle body sealing |
| CN111975773A (en) * | 2020-08-07 | 2020-11-24 | 北京如影智能科技有限公司 | Method and device for controlling mechanical arm |
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| CN105922266B (en) | 2018-08-07 |
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Effective date of registration: 20230808 Address after: 509 Kangrui Times Square, Keyuan Business Building, 39 Huarong Road, Gaofeng Community, Dalang Street, Longhua District, Shenzhen, Guangdong Province, 518000 Patentee after: Shenzhen lizhuan Technology Transfer Center Co.,Ltd. Address before: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee before: Suzhou huienyuan medical device accessories Co.,Ltd. |
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