CN105922266B - A kind of anticollision mechanical arm and its working method with self-protection function - Google Patents
A kind of anticollision mechanical arm and its working method with self-protection function Download PDFInfo
- Publication number
- CN105922266B CN105922266B CN201610479398.0A CN201610479398A CN105922266B CN 105922266 B CN105922266 B CN 105922266B CN 201610479398 A CN201610479398 A CN 201610479398A CN 105922266 B CN105922266 B CN 105922266B
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- CN
- China
- Prior art keywords
- pedestal
- column
- mechanical arm
- drive module
- control mechanism
- 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.)
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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
- 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 a kind of anticollision mechanical arms with self-protection function, including：Pedestal, axis joint, monitoring position device, protective shell and control device; wherein; the pedestal is equipped with return pulley; the axis joint is connect by column with pedestal; monitoring position mechanism in the monitoring position device is set on pedestal and axis joint; the column is equipped with warning device and display device, and the monitoring position device and warning device are connect with control device.A kind of heretofore described anticollision mechanical arm with self-protection function; by on pedestal and axis joint installation position monitoring device come monitor the intelligent machine arm between barrier at a distance from; once barrier enters the insecure area of mechanical arm, it will alarmed by warning device；Meanwhile protective shell is set on pedestal and axis joint, it, can be by playing a very good protection to protective shell, so as to effectively extend the service life that it is used when it collides with barrier.
Description
Technical field
The invention belongs to the field of manufacturing, more particularly to a kind of anticollision mechanical arm and its work with self-protection function
Make method.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductor manufacturing and space probation can see its figure.It is existing
Its demand that can be produced according to client of mechanical arm realizes various functions, however due to the production cost of mechanical arm compared with
Height, thus its price is more expensive, for medium-sized and small enterprises, it is to need multi-party ratio that purchase mechanical arm, which replaces common production,
Compared with analysis, the cost payout of business equipment can be increased in a short time, thus that it will be especially in subsequent use is careful.
Existing mechanical arm is during use, it is often necessary to be moved to its position, however it is in mobile mistake
It can usually be collided on the article on periphery in journey, the surface of mechanical arm gently can then be caused to fall paint, deformation, it is heavy then may result in machine
Tool arm fractures, once its surface fall paint either deform, will mechanical arm the later stage use use can be easy to by
Corrosion, influences its service life used, and, the maintenance cost of mechanical arm can be increased by either deforming or fractureing all, thus existing
Mechanical arm although disclosure satisfy that the demand of production, but it also lacks a kind of ability of self-protection.
Invention content
Goal of the invention：In order to overcome the above deficiency, it is anti-with self-protection function that the object of the present invention is to provide a kind of
Mechanical arm is hit, simple in structure, reasonable design is readily produced, high degree of automation, is reduced manual labor amount, is improved work
Efficiency, storing amount is big and application is flexible.
Technical solution：To achieve the goals above, the present invention provides a kind of, and the anticollision with self-protection function is mechanical
Arm, including：Pedestal, axis joint, monitoring position device, protective shell and control device, wherein the pedestal is equipped with return pulley,
The axis joint is connect by column with pedestal, and the monitoring position mechanism in the monitoring position device is set to pedestal and axis
On joint, the protective shell is set to the surface of pedestal and axis joint, and, the column is equipped with warning device and display fills
It sets, the monitoring position device and warning device are connect with control device.Heretofore described one kind is protected with self
The anticollision mechanical arm of protective function, by pedestal and axis joint installation position monitoring device come monitor the intelligent machine arm with barrier
Hinder the distance between object, once barrier enters the insecure area of mechanical arm, it will it is alarmed by warning device；Together
When, protective shell is set on pedestal and axis joint, it, can be by being played very to protective shell when it collides with barrier
Good protective effect, so as to effectively extend the service life that it is used.
Driving mechanism, position control mechanism, slide control mechanism, alarming machine are equipped in heretofore described control device
Structure and central control machine structure, the pedestal are connected with the equal driving mechanism of column, and the pedestal and column are controlled with position
Mechanism and slide control mechanism connection, the driving mechanism, position control mechanism, slide control mechanism and alarm mechanism
Connect with central control machine structure, the present invention by the installation positions Intelligentized mechanical Bei Zhong testing agency, staff according to
The position that intelligent machine arm is placed in production desired position judges, then inputs intelligent machine arm by indication mechanism
The position of required movement, then central control machine structure will according to the numerical value order driving mechanism of input, position control mechanism with
And slide control mechanism is started to work, and is moved to pedestal and column by them, is passed through the phase interworking of pedestal and column
It closes, allows mechanical arm to disclosure satisfy that the demand of comprehensive production station, to allow it to better meet the demand of production.
Heretofore described pedestal is equipped with slideway, is equipped with pulley below the column, the pulley is equipped with
Pedestal drive module, the pedestal drive module is connect with driving mechanism, by driving mechanism command-driven system, then by
Drive system driving pulley moves.
Heretofore described pedestal is equipped with one group of slideway, and, the both sides of the slideway are equipped with antiskid plate, effectively
It prevents column uncontrolled in moving process, improves the accuracy of column movement.
The lower section of heretofore described column is equipped with pedestal, and the bottom of the pedestal is equipped with pulley, and, the pulley
It is matched with slideway.
Pedestal drive module and column drive module, pedestal driving are equipped in heretofore described driving mechanism
Module is set on pedestal, and the column drive module is set on pedestal, and, the pedestal drive module and column drive mould
Block is connect with central control machine structure respectively.
Heretofore described column is made of one group of support column, and, scalable connection is used between the support column,
It allows column to disclosure satisfy that the production requirement of the workbench of different height, improves its applicability
One group of cylinder is additionally provided in heretofore described driving mechanism, the cylinder is driven by connecting tube and pedestal
Module is connected with column drive module, it can be realized according to order for the thrust moved to pulley and column by cylinder
It is mobile.
Heretofore described display device uses touch display screen, and, input module is equipped in the display device.
A kind of working method of heretofore described anticollision mechanical arm with self-protection function, specific work side
Method is as follows：
（1）：The mechanical arm is installed first, allows it to put into production after it is installed；
（2）：In the process of work, the position of required converted products is judged by staff first, then
Go out the position moved needed for mechanical arm；
（3）：Then the distance and angle that are moved needed for mechanical arm are either directly inputted by keyboard on a display screen；
（4）：After the completion of staff inputs, the data processor in central control machine structure will be according to the number received
It starts to work according to command position control mechanism and slide control mechanism；
（5）：After receiving order, position control mechanism and slide control mechanism will order driving mechanism start work
Make；
（6）：Driving mechanism, will order cylinder driving pedestal drive module and column driving mould after receiving order
The distance and angle that BOB(beginning of block) is inputted according to staff are adjusted pedestal and column respectively；
（7）：In the moving process for waiting for above-mentioned pedestal and column, position monitoring device is to the barrier of mechanical arm and surrounding
Distance, once barrier enters insecure area, it will it is alarmed by alarm mechanism；
（8）：After pedestal and column are moved to designated position, staff sees whether current location disclosure satisfy that production
Demand starts to produce if meeting, if conditions are not met, if repeat 2 to 6 steps, until mechanical arm disclosure satisfy that production is wanted
Until asking；
（9）：It, will when the process of above-mentioned mechanical arm movement summarizes and collides with barrier once pedestal and column
It is protected by protective shell.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
1, heretofore described a kind of anticollision mechanical arm with self-protection function, by pedestal and axis joint
Installation position monitoring device monitors the distance between the intelligent machine arm and barrier, once barrier enters the non-of mechanical arm
Safety zone, it will alarmed by warning device；Meanwhile protective shell is set on pedestal and axis joint, once itself and barrier
It, can be by playing a very good protection to protective shell, so as to effectively extend what it was used when object being hindered to collide
Service life.
2, the present invention is by the installation positions Intelligentized mechanical Bei Zhong testing agency, and staff is needed for production
The position that intelligent machine arm is placed in position judges, is then inputted by indication mechanism and to be moved needed for intelligent machine arm
Position, then central control machine structure will be according to the numerical value order driving mechanism of input, position control mechanism and sliding control
Mechanism starts to work, and is moved to pedestal and column by them, by the mutual cooperation of pedestal and column, allows mechanical arm
The demand that disclosure satisfy that comprehensive production station, to allow it to better meet the demand of production.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
In figure：Pedestal -1, axis joint -2, monitoring position device -3, protective shell -4, control device -5, return pulley -6, column -
7, warning device -8, display device -9.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.
Embodiment 1
A kind of anticollision mechanical arm with self-protection function as shown in Figure 1, including：Pedestal 1, axis joint 2, position prison
Control device 3, protective shell 4 and control device 5, wherein the pedestal 1 is equipped with return pulley 6, and the column 7 is by one group of support
Column is constituted, and driving mechanism, position control mechanism, slide control mechanism, alarm mechanism and center are equipped in the control device 5
Control mechanism；
The relationship of above-mentioned each component is as follows：
Scalable connection is used between the support column, the axis joint 2 is connect by column 7 with pedestal 1, described
Monitoring position device 3 in monitoring position mechanism be set to pedestal 1 and axis joint 2 on, the protective shell 4 be set to 1 He of pedestal
The surface of axis joint 2, and, the column 7 is equipped with warning device 8 and display device 9,3 He of monitoring position device
Warning device 8 is connect with control device 5；The pedestal 1 is connected with 7 equal driving mechanism of column, the pedestal 1 and column
7 connect with position control mechanism and slide control mechanism, the driving mechanism, position control mechanism, sliding control machine
Structure and alarm mechanism are connect with central control machine structure.
Pedestal 1 described in the present embodiment is equipped with slideway, and pulley is equipped with below the column, is set on the pulley
There are pedestal drive module, the pedestal drive module to be connect with driving mechanism, the pedestal 1 is equipped with one group of slideway, and,
The both sides of the slideway are equipped with antiskid plate.
The lower section of column 7 described in the present embodiment is equipped with pedestal, and the bottom of the pedestal is equipped with pulley, and, it is described
Pulley is matched with slideway.
Pedestal drive module and column drive module are equipped in driving mechanism described in the present embodiment, the pedestal drives
Dynamic model block is set on pedestal 1, and the column drive module is set on pedestal, and, the pedestal drive module and column drive
Dynamic model block is connect with central control machine structure respectively.
One group of cylinder is additionally provided in driving mechanism described in the present embodiment, the cylinder is driven by connecting tube and pedestal
Dynamic model block is connected with column drive module.
Display device 9 described in the present embodiment uses touch display screen, and, input is equipped in the display device 9
Module.
Embodiment 2
Mechanical arm in a kind of working method of anticollision mechanical arm with self-protection function described in the present embodiment
It is identical as structure in embodiment 1.
A kind of anticollision mechanical arm with self-protection function as shown in Figure 1, including：Pedestal 1, axis joint 2, position prison
Control device 3, protective shell 4 and control device 5, wherein the pedestal 1 is equipped with return pulley 6, and the column 7 is by one group of support
Column is constituted, and driving mechanism, position control mechanism, slide control mechanism, alarm mechanism and center are equipped in the control device 5
Control mechanism；
The relationship of above-mentioned each component is as follows：
Scalable connection is used between the support column, the axis joint 2 is connect by column 7 with pedestal 1, described
Monitoring position device 3 in monitoring position mechanism be set to pedestal 1 and axis joint 2 on, the protective shell 4 be set to 1 He of pedestal
The surface of axis joint 2, and, the column 7 is equipped with warning device 8 and display device 9,3 He of monitoring position device
Warning device 8 is connect with control device 5；The pedestal 1 is connected with 7 equal driving mechanism of column, the pedestal 1 and column
7 connect with position control mechanism and slide control mechanism, the driving mechanism, position control mechanism, sliding control machine
Structure and alarm mechanism are connect with central control machine structure.
Pedestal 1 described in the present embodiment is equipped with slideway, and pulley is equipped with below the column, is set on the pulley
There are pedestal drive module, the pedestal drive module to be connect with driving mechanism, the pedestal 1 is equipped with one group of slideway, and,
The both sides of the slideway are equipped with antiskid plate.
The lower section of column 7 described in the present embodiment is equipped with pedestal, and the bottom of the pedestal is equipped with pulley, and, it is described
Pulley is matched with slideway.
Pedestal drive module and column drive module are equipped in driving mechanism described in the present embodiment, the pedestal drives
Dynamic model block is set on pedestal 1, and the column drive module is set on pedestal, and, the pedestal drive module and column drive
Dynamic model block is connect with central control machine structure respectively.
One group of cylinder is additionally provided in driving mechanism described in the present embodiment, the cylinder is driven by connecting tube and pedestal
Dynamic model block is connected with column drive module.
Display device 9 described in the present embodiment uses touch display screen, and, input is equipped in the display device 9
Module.
A kind of working method of anticollision mechanical arm with self-protection function described in the present embodiment, it is specific to work
Method is as follows：
（1）：The mechanical arm is installed first, allows it to put into production after it is installed；
（2）：In the process of work, the position of required converted products is judged by staff first, then
Go out the position moved needed for mechanical arm；
（3）：Then the distance and angle that are moved needed for mechanical arm are either directly inputted by keyboard on a display screen；
（4）：After the completion of staff inputs, the data processor in central control machine structure will be according to the number received
It starts to work according to command position control mechanism and slide control mechanism；
（5）：After receiving order, position control mechanism and slide control mechanism will order driving mechanism start work
Make；
（6）：Driving mechanism, will order cylinder driving pedestal drive module and column driving mould after receiving order
The distance and angle that BOB(beginning of block) is inputted according to staff are adjusted pedestal 1 and column 7 respectively；
（7）：In the moving process for waiting for above-mentioned pedestal 1 and column 7, obstacle of the position monitoring device 3 to mechanical arm and surrounding
The distance of object, once barrier enters insecure area, it will it is alarmed by alarm mechanism；
（8）：After pedestal 1 and column 7 are moved to designated position, staff sees whether current location disclosure satisfy that production
Demand, start to produce if meeting, if conditions are not met, if repeat 2 to 6 steps, until mechanical arm disclosure satisfy that production
Until it is required that；
（9）：It, will when the process of above-mentioned mechanical arm movement summarizes and collides with barrier once pedestal 1 and column 7
It can be protected by protective shell.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as the present invention's
Protection domain.
Claims (1)
1. a kind of working method of the anticollision mechanical arm with self-protection function, it is characterised in that：Wherein carry self-protection
The anticollision mechanical arm of function includes：Pedestal（1）, axis joint（2）, monitoring position device（3）, protective shell（4）And control device
（5）, wherein the pedestal（1）It is equipped with return pulley（6）, the axis joint（2）Pass through column（7）With pedestal（1）Connection,
The monitoring position device（3）In monitoring position mechanism be set to pedestal（1）And axis joint（2）On, the protective shell（4）
Set on pedestal（1）And axis joint（2）Surface, and, the column（7）It is equipped with warning device（8）And display device（9）,
The monitoring position device（3）And warning device（8）And control device（5）Connection；The control device（5）In be equipped with
Driving mechanism, position control mechanism, slide control mechanism, alarm mechanism and central control machine structure, the pedestal（1）And column
（7）It is connect with driving mechanism, the pedestal（1）And column（7）Connect with position control mechanism and slide control mechanism
It connects, the driving mechanism, position control mechanism, slide control mechanism and alarm mechanism are connect with central control machine structure；Institute
The pedestal stated（1）It is equipped with slideway, pulley is equipped with below the column, the pulley is equipped with pedestal drive module, institute
The pedestal drive module stated is connect with driving mechanism；The pedestal（1）It is equipped with one group of slideway, and, the two of the slideway
Side is equipped with antiskid plate；The column（7）Lower section be equipped with pedestal, the bottom of the pedestal is equipped with pulley, and, the pulley
It is matched with slideway；Pedestal drive module and column drive module are equipped in the driving mechanism, the pedestal drives mould
Block is set to pedestal（1）On, the column drive module is set on pedestal, and, the pedestal drive module and column driving
Module is connect with central control machine structure respectively；The column（7）It is made of one group of support column, and, between the support column
Using scalable connection；One group of cylinder is additionally provided in the driving mechanism, the cylinder is driven by connecting tube and pedestal
Module is connected with column drive module；The display device（9）Using touch display screen, and, the display device（9）In
Equipped with input module；
Specific working method is as follows：
（1）：The mechanical arm is installed first, allows it to put into production after it is installed；
（2）：In the process of work, the position of required converted products is judged by staff first, then obtains machine
The position moved needed for tool arm；
（3）：Then the distance and angle that are moved needed for mechanical arm are either directly inputted by keyboard on a display screen；
（4）：After the completion of staff inputs, the data processor in central control machine structure will be ordered according to the data received
Position control mechanism and slide control mechanism is enabled to start to work；
（5）：After receiving order, position control mechanism and slide control mechanism will the start-up operations of order driving mechanism；
（6）：Driving mechanism after receiving order, will order cylinder driving pedestal drive module and column drive module open
The distance inputted according to staff that begins and angle are to pedestal（1）And column（7）It is adjusted respectively；
（7）：In above-mentioned pedestal（1）And column（7）Moving process in, position monitoring device（3）To the barrier of mechanical arm and surrounding
The distance of object is hindered to be monitored, once barrier enters insecure area, it will it is alarmed by alarm mechanism；
（8）：Wait for pedestal（1）And column（7）After being moved to designated position, staff sees whether current location disclosure satisfy that production
Demand, start to produce if meeting, if conditions are not met, if repeat 2 to 6 steps, until mechanical arm disclosure satisfy that production
Until it is required that；
（9）：Once pedestal during above-mentioned mechanical arm moves（1）And column（7）It, will when colliding with barrier
It is protected by protective shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| 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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| CN105922266A CN105922266A (en) | 2016-09-07 |
| CN105922266B true CN105922266B (en) | 2018-08-07 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111975773B (en) * | 2020-08-07 | 2022-07-01 | 北京如影智能科技有限公司 | Method and device for controlling mechanical arm |
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| CN105922266A (en) | 2016-09-07 |
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