CN106041876A - Intelligent mechanical arm moving in all directions and work method thereof - Google Patents
Intelligent mechanical arm moving in all directions and work method thereof Download PDFInfo
- Publication number
- CN106041876A CN106041876A CN201610479325.1A CN201610479325A CN106041876A CN 106041876 A CN106041876 A CN 106041876A CN 201610479325 A CN201610479325 A CN 201610479325A CN 106041876 A CN106041876 A CN 106041876A
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- base
- column
- mechanical arm
- control mechanism
- drive
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- 238000000034 method Methods 0.000 title claims description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 115
- 238000004519 manufacturing process Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Multi-Process Working Machines And Systems (AREA)
Abstract
The invention discloses an intelligent mechanical arm moving in all directions. The intelligent mechanical arm moving in all directions comprises a base, shaft joints, a position detection device and a control device; bottom wheels are arranged on the base; a position sensor is arranged in the position detection device and arranged on the base; a display mechanism, a driving mechanism, a position control mechanism, a sliding control mechanism, an alarming mechanism and a center control mechanism are arranged in the control device; and the display mechanism, the driving mechanism, the position control mechanism, the sliding control mechanism and the alarming mechanism are connected with the center control mechanism. According to the intelligent mechanical arm moving in all directions, a worker judges the placement position of the intelligent mechanical arm according to the position needed by production, then the position where the intelligent mechanical arm needs to move to is input through the display mechanism, the center control mechanism will command the driving mechanism, the position control mechanism and the sliding control mechanism to move the base and a stand column, all-direction movement is achieved through cooperation of the base and the stand column, and therefore the intelligent mechanical arm can better meet the production requirement.
Description
Technical field
The invention belongs to manufacturing field, particularly to Intelligentized mechanical arm and the work side thereof of a kind of all-around mobile
Method.
Background technology
Along with socioeconomic development, the production of enterprise the most all achieves automatization, and mechanical arm is robot technology neck
Territory obtains the automated machine device of broad practice, in industry manufacture, therapeutic treatment, entertainment service, military affairs, partly leads
Its figure can be seen in the fields such as body manufacture and space probation.
Existing mechanical arm is the most all the demand according to client, targetedly, but either which type of machinery
Arm is the most all affixed to certain position specified, and in actual production process, some product is to use production line balance, has
It is to use operation formula to produce, but either which kind of mode of production, it is during producing, the work that each workpiece is reached
The position of position is impossible to be accurately, and now mechanical arm needs according to the physical location of product to self position not
Disconnected adjustment.Existing mechanical arm is complex due to its structure, and its moving process is the most relatively complicated, and, it is the most all only
Can manually move base, it moves and can be limited by many, thus can stop over a lot of time, affect product and add
The progress of work, thus existing mechanical arm needs to improve.
Summary of the invention
Goal of the invention: in order to overcome above deficiency, it is an object of the invention to provide the intelligent machine of a kind of all-around mobile
Mechanical arm, its simple in construction, reasonable in design, allow mechanical arm can realize omnibearing movement according to the demand produced.
Technical scheme: to achieve these goals, the invention provides the Intelligentized mechanical arm of a kind of all-around mobile, bag
Including: base, axle joint, position detecting device and control device, wherein, described base is provided with return pulley, described axle joint
Being connected with base by column, described column and base make slidable connection, are provided with position in described position detecting device
Sensor, described position sensor is located on base；Described control device is provided with indication mechanism, drive mechanism, position
Controlling organization, slide control mechanism, alarm mechanism and central control machine structure, described indication mechanism is located on column, described
Base and the equal drive mechanism of column connect, and described base and column all connect with position control mechanism and slide control mechanism
Connect, described indication mechanism, drive mechanism, position control mechanism, slide control mechanism and alarm mechanism and central control machine
Structure connects.The present invention is by arranging position detecting mechanism in this Intelligentized mechanical arm, and staff is according to the position needed for producing
Put the position that intelligent machine mechanical arm is placed to judge, then by the position of movement needed for indication mechanism input intelligent machine mechanical arm
Putting, then central control machine structure will be according to numerical value order drive mechanism, position control mechanism and the Sliding Control machine of input
Structure is started working, and is moved base and column by them, by cooperating of base and column, allows mechanical arm energy
Enough meet the demand of comprehensive production station, thus allow it better meet the demand of production；The most described position sensor
Arrange, allow its can the distance of perception self and barrier, enter this non-security scope of intelligent machine mechanical arm once barrier, its
Will be reported to the police by alarm device, improve its safety moved.
Heretofore described base is provided with slideway, is provided with pulley below described base, and described pulley is provided with
Base drives module, and described base drives module to be connected with drive mechanism, by drive mechanism command-driven system, then by
Drive system drives pulley to move.
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
Match with slideway.
Being provided with base in heretofore described drive mechanism drives module and column to drive module, described base to drive
Module is located on base, and described column drives module to be located on pedestal, and, described base drives module and column to drive mould
Block is 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 suitability
Being additionally provided with one group of cylinder in heretofore described drive mechanism, described cylinder drives module by connecting tube with base
Module is driven to connect with column, the thrust moved to pulley and column by cylinder, it can be realized according to order mobile.
Being provided with display screen in heretofore described indication mechanism, described display screen uses and touches display screen, allows its energy
Enough contact action that can be realized again by input through keyboard, saving space.
The method of work of the Intelligentized mechanical arm of heretofore described a kind of all-around mobile, concrete method of work is such as
Under:
(1) it puts into production: first install this mechanical arm, to treat it to install relief；
(2): during work, first by staff, the position of required converted products is judged, then draw machine
The position of movement needed for mechanical arm；
(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 according to the data life received
Position control mechanism and slide control mechanism is made to start working；
(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 open by order air cylinder driven base
Base and column are adjusted by the distance according to staff's input that begins and angle respectively；
(7): treat in the moving process of above-mentioned base and column, once barrier enters insecure area, it will pass through alarming machine
Structure is reported to the police；
(8): treating that base and column move to specific bit and postpone, staff sees whether current location disclosure satisfy that the need of production
Ask, if meeting, starting to produce, if be unsatisfactory for, then repeating 2 to 6 steps, until mechanical arm disclosure satisfy that production requirement
Till.
Technique scheme is it can be seen that there is advantages that
1, one of the present invention is by arranging position detecting mechanism in this Intelligentized mechanical arm, and staff is according to production
The position that intelligent machine mechanical arm is placed by desired position judges, needed for then inputting intelligent machine mechanical arm by indication mechanism
The position of movement, then central control machine structure will be according to numerical value order drive mechanism, position control mechanism and the cunning of input
Dynamic controlling organization is started working, and is moved base and column by them, by cooperating of base and column, allows
Mechanical arm disclosure satisfy that the demand of comprehensive production station, thus allows it better meet the demand of production.
2, the setting of heretofore described position sensor, allow its can the distance of perception self and barrier, once hinder
When hindering thing to enter this non-security scope of intelligent machine mechanical arm, it will be reported to the police by alarm device, improves its safety moved
Property.
3, being provided with display screen in heretofore described indication mechanism, described display screen uses and touches display screen, allows it
Can realize again contact action by input through keyboard, improve its applicable performance, meanwhile, sky is also saved in the setting of touch screen
Between.
4, the method for work of the Intelligentized mechanical arm of heretofore described a kind of all-around mobile, it passes through artificial judgment
The position of workpiece, is then inputted data by indication mechanism, and automatically adjusts its position by controlling device control mechanical arm,
By the adjustment mode of base and column dual combination, it is allowed to realize omnibearing adjustment, it is possible to effective shortening mechanical arm position
Put the time of adjustment, be greatly improved the scope of application of mechanical arm, it is possible to effective its efficiency produced that improves, quickening product
Manufacturing schedule, thus be greatly improved the production capacity of enterprise.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
In figure: base-1, axle joint-2, position detecting device-3, control device-4, return pulley-5, column-6.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, it is further elucidated with the present invention.
Embodiment
The Intelligentized mechanical arm of a kind of all-around mobile as shown in Figure 1, including: base 1, axle joint 2, position detection dress
Putting 3 and control device 4, wherein, described base 1 is provided with return pulley 5, is provided with indication mechanism, driving in described control device 4
Mechanism, position control mechanism, slide control mechanism, alarm mechanism and central control machine structure；
The relation of above-mentioned each parts is as follows:
Described axle joint 2 is connected with base 1 by column 6, and described column 6 makees slidable connection, described position with base 1
Putting in detection device 3 and be provided with position sensor, described position sensor is located on base 1；Described indication mechanism is located at vertical
On post 6, described base 1 and the equal drive mechanism of column 6 connect, described base 1 and column 6 all with position control mechanism and
Slide control mechanism connects, described indication mechanism, drive mechanism, position control mechanism, slide control mechanism and alarming machine
Structure is connected with central control machine structure.
Base 1 described in the present embodiment is provided with slideway, is provided with pulley, described pulley sets below described base
Having base to drive module, described base to drive 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 6 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, and described base drives
Dynamic model block is located on base 1, and described column drives module to be located on pedestal, and, described base drives module and column to drive
Dynamic model block is connected with central control machine structure respectively.
Column 2 described in the present embodiment is made up of one group of support column, and, use scalable company between described support column
Connect.
Being additionally provided with one group of cylinder in drive mechanism described in the present embodiment, described cylinder is driven with base by connecting tube
Dynamic model block and column drive module to connect.
Being provided with display screen in indication mechanism described in the present embodiment, described display screen uses and touches display screen.
Embodiment 2
Mechanical arm in the method for work of the Intelligentized mechanical arm of a kind of all-around mobile described in the present embodiment and embodiment 1
In structure identical.
The Intelligentized mechanical arm of a kind of all-around mobile as shown in Figure 1, including: base 1, axle joint 2, position detection dress
Putting 3 and control device 4, wherein, described base 1 is provided with return pulley 5, is provided with indication mechanism, driving in described control device 4
Mechanism, position control mechanism, slide control mechanism, alarm mechanism and central control machine structure；
The relation of above-mentioned each parts is as follows:
Described axle joint 2 is connected with base 1 by column 6, and described column 6 makees slidable connection, described position with base 1
Putting in detection device 3 and be provided with position sensor, described position sensor is located on base 1；Described indication mechanism is located at vertical
On post 6, described base 1 and the equal drive mechanism of column 6 connect, described base 1 and column 6 all with position control mechanism and
Slide control mechanism connects, described indication mechanism, drive mechanism, position control mechanism, slide control mechanism and alarming machine
Structure is connected with central control machine structure.
Base 1 described in the present embodiment is provided with slideway, is provided with pulley, described pulley sets below described base
Having base to drive module, described base to drive 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 6 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, and described base drives
Dynamic model block is located on base 1, and described column drives module to be located on pedestal, and, described base drives module and column to drive
Dynamic model block is connected with central control machine structure respectively.
Column 2 described in the present embodiment is made up of one group of support column, and, use scalable company between described support column
Connect.
Being additionally provided with one group of cylinder in drive mechanism described in the present embodiment, described cylinder is driven with base by connecting tube
Dynamic model block and column drive module to connect.
Being provided with display screen in indication mechanism described in the present embodiment, described display screen uses and touches display screen.
The method of work of the Intelligentized mechanical arm of a kind of all-around mobile described in the present embodiment, concrete method of work
As follows:
(1) it puts into production: first install this mechanical arm, to treat it to install relief；
(2): during work, first by staff, the position of required converted products is judged, then draw machine
The position of movement needed for mechanical arm；
(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 according to the data life received
Position control mechanism and slide control mechanism is made to start working；
(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 open by order air cylinder driven base
Base 1 and column 2 are adjusted by the distance according to staff's input that begins and angle respectively；
(7): treat in the moving process of above-mentioned base 1 and column 2, once barrier enters insecure area, it will by reporting to the police
Mechanism reports to the police；
(8): treating that base 1 and column 2 move to specific bit and postpone, staff sees whether current location disclosure satisfy that the need of production
Ask, if meeting, starting to produce, if be unsatisfactory for, then repeating 2 to 6 steps, until mechanical arm disclosure satisfy that production requirement
Till.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvement, these improvement also should be regarded as the present invention's
Protection domain.
Claims (9)
1. the Intelligentized mechanical arm of an all-around mobile, it is characterised in that: including: base (1), axle joint (2), position detection
Device (3) and control device (4), wherein, described base (1) is provided with return pulley (5), and column is passed through in described axle joint (2)
(6) being connected with base (1), described column (6) and base (1) make slidable connection, set in described position detecting device (3)
Position sensor, described position sensor is located on base (1)；
Described control device (4) is provided with indication mechanism, drive mechanism, position control mechanism, slide control mechanism, alarming machine
Structure and central control machine structure, described indication mechanism is located on column (6), described base (1) and column (6) all drive mechanisms
Connecting, described base (1) and column (6) are all connected with position control mechanism and slide control mechanism, described display machine
Structure, drive mechanism, position control mechanism, slide control mechanism and alarm mechanism are connected with central control machine structure.
The Intelligentized mechanical arm of all-around mobile the most according to claim 1, it is characterised in that: on described base (1)
Being provided with slideway, be provided with pulley below described base, described pulley is provided with base and drives module, described base to drive mould
Block is connected with drive mechanism.
The Intelligentized mechanical arm of all-around mobile the most according to claim 1, it is characterised in that: on described base (1)
It is provided with one group of slideway, and, the both sides of described slideway are provided with antiskid plate.
The Intelligentized mechanical arm of all-around mobile the most according to claim 1, it is characterised in that: described column (6)
Lower section is provided with pedestal, and the bottom of described pedestal is provided with pulley, and, described pulley matches with slideway.
The Intelligentized mechanical arm of all-around mobile the most according to claim 1, it is characterised in that: in described drive mechanism
Being provided with base drives module and column to drive module, described base to drive module to be located on base (1), and described column drives
Module is located on pedestal, and, described base drives module and column to drive module to be connected with central control machine structure respectively.
The Intelligentized mechanical arm of all-around mobile the most according to claim 1, it is characterised in that: described column (2) by
One group of support column is constituted, and, use scalable connection between described support column.
The Intelligentized mechanical arm of all-around mobile the most according to claim 1, it is characterised in that: in described drive mechanism
Being additionally provided with one group of cylinder, described cylinder drives module and column to drive module to be connected by connecting tube with base.
The Intelligentized mechanical arm of all-around mobile the most according to claim 1, it is characterised in that: in described indication mechanism
Being provided with display screen, described display screen uses and touches display screen.
9. the method for work of the Intelligentized mechanical arm of an all-around mobile, 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): during work, first by staff, the position of required converted products is judged, then draw machine
The position of movement needed for mechanical arm；
(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 according to the data life received
Position control mechanism and slide control mechanism is made to start working；
(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 open by order air cylinder driven base
Base (1) and column (2) are adjusted by the distance according to staff's input that begins and angle respectively；
(7): treat in the moving process of above-mentioned base (1) and column (2), once barrier enters insecure area, it will pass through
Alarm mechanism is reported to the police；
(8): treating that base (1) and column (2) move to specific bit and postpone, staff sees whether current location disclosure satisfy that production
Demand, if met; would start produce, if be unsatisfactory for, then repeat 2 to 6 steps, until mechanical arm disclosure satisfy that production
Till requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610479325.1A CN106041876B (en) | 2016-06-28 | 2016-06-28 | A kind of the Intelligentized mechanical arm and its working method of all-around mobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610479325.1A CN106041876B (en) | 2016-06-28 | 2016-06-28 | A kind of the Intelligentized mechanical arm and its working method of all-around mobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041876A true CN106041876A (en) | 2016-10-26 |
| CN106041876B CN106041876B (en) | 2019-01-29 |
Family
ID=57167191
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610479325.1A Active CN106041876B (en) | 2016-06-28 | 2016-06-28 | A kind of the Intelligentized mechanical arm and its working method of all-around mobile |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106769549A (en) * | 2017-01-13 | 2017-05-31 | 衢州市江氏电子科技有限公司 | Plastic strength test device and system are supported at the beginning of autoclave aerated concrete building block base substrate |
| CN109483509A (en) * | 2018-12-27 | 2019-03-19 | 北京史河科技有限公司 | Robot |
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| DE3048572A1 (en) * | 1980-12-22 | 1982-07-22 | Siemens AG, 1000 Berlin und 8000 München | Compact drive moves arm of automatic manipulator - using belt attached at ends to arm ends for longitudinal movement |
| CN101360589A (en) * | 2006-07-11 | 2009-02-04 | 株式会社安川电机 | multi-joint robot |
| US20100094453A1 (en) * | 2005-07-07 | 2010-04-15 | Toshiba Kikai Kabushiki Kaisha | Handling system, work system, and program |
| CN104044141A (en) * | 2013-03-15 | 2014-09-17 | 株式会社安川电机 | Robot system and method for controlling robot system |
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| CN105500357A (en) * | 2016-01-15 | 2016-04-20 | 苏州艾力光电科技有限公司 | Loading and unloading mechanical arm |
| CN205835290U (en) * | 2016-06-28 | 2016-12-28 | 江苏捷帝机器人股份有限公司 | A kind of Intelligentized mechanical arm of all-around mobile |
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|---|---|---|---|---|
| DE3048572A1 (en) * | 1980-12-22 | 1982-07-22 | Siemens AG, 1000 Berlin und 8000 München | Compact drive moves arm of automatic manipulator - using belt attached at ends to arm ends for longitudinal movement |
| US20100094453A1 (en) * | 2005-07-07 | 2010-04-15 | Toshiba Kikai Kabushiki Kaisha | Handling system, work system, and program |
| CN101360589A (en) * | 2006-07-11 | 2009-02-04 | 株式会社安川电机 | multi-joint robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106769549A (en) * | 2017-01-13 | 2017-05-31 | 衢州市江氏电子科技有限公司 | Plastic strength test device and system are supported at the beginning of autoclave aerated concrete building block base substrate |
| CN109483509A (en) * | 2018-12-27 | 2019-03-19 | 北京史河科技有限公司 | Robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041876B (en) | 2019-01-29 |
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