CN201702779U - End effector control device of industrial robot - Google Patents

End effector control device of industrial robot Download PDF

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Publication number
CN201702779U
CN201702779U CN2010202034090U CN201020203409U CN201702779U CN 201702779 U CN201702779 U CN 201702779U CN 2010202034090 U CN2010202034090 U CN 2010202034090U CN 201020203409 U CN201020203409 U CN 201020203409U CN 201702779 U CN201702779 U CN 201702779U
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CN
China
Prior art keywords
mechanical arm
effector
industrial robot
control
electrically
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.)
Expired - Fee Related
Application number
CN2010202034090U
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Chinese (zh)
Inventor
宋玲玲
孔凡斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Binzhou Polytechnic
Original Assignee
宋玲玲
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 宋玲玲 filed Critical 宋玲玲
Priority to CN2010202034090U priority Critical patent/CN201702779U/en
Application granted granted Critical
Publication of CN201702779U publication Critical patent/CN201702779U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model provides an end effector control device of an industrial robot. The end effector control device comprises a mechanical arm base, a mechanical arm, an end effector, a driving device and a computer control device, wherein the end effector is connected to the last joint of the mechanical arm, the initial joint of the mechanical arm is connected to the mechanical arm base, an output end of the computer control device and an input end of the driving device are electrically connected together, and an output end of the driving device is electrically connected with an input end of an actuating mechanism in the mechanical arm base. Compared with the existing teaching form, the end effector control device of an industrial robot overcomes the shortage that mechanical arms of industrial robots can not move to form target poses in place, increases positioning precision of target points of operations of the industrial robots, is simple, feasible, labor-saving and time-saving and easy to be implemented.

Description

A kind of end effector control device of industrial robot
Technical field
The utility model relates to a kind of control device of industrial robot, especially relates to a kind of control device of industrial robot end effector.
Background technology
At present, programming is mainly finished with teach mode for industrial robot, makes industrial robot finish corresponding job task according to program, and these tasks have carrying, welding, polishing and other processing etc.Teach mode is to hold operating case by the operator manually the end effector of robot to be moved to the target location point, and make the mechanical arm on the industrial robot be in a rational pose state, by computer system these course of action are memorized and are applied to actual act.Yet, this teach mode, not only consuming time, and relatively poor for the positioning accuracy of operative goals location point, be difficult to the operation that is applied to have relatively high expectations, even industrial robot is on impossible pose state, limited the range of application of industrial robot.
Summary of the invention
Technical problem to be solved in the utility model is, a kind of end effector control device of industrial robot is provided, and it can directly be controlled robot and move to object pose, and improves the positioning accuracy of industrial robot operative goals location point.
The utility model is to realize like this, a kind of end effector control device of industrial robot, it comprises mechanical arm matrix, mechanical arm, end effector, drive unit and Computer Control Unit, described end effector is connected on the most last joint of mechanical arm, the initial joint of mechanical arm is connected on the mechanical arm matrix, the output of Computer Control Unit and drive unit input are electrically connected, and the input of the executing agency in the output of drive unit and the mechanical arm matrix is electrically connected.
Adopt the industrial robot end effector control device of said structure, compare with existing teach mode, the mechanical arm that has overcome industrial robot is difficult to the problem of first motion to object pose, improved the positioning accuracy of industrial robot operative goals location point, and be simple and easy to use, time saving and energy saving, be easy to realize.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 has represented the situation of operative goals location point.
Among the figure, 1-mechanical arm matrix, the 2-mechanical arm, the 3-end effector, the 4-drive unit, the 5-machine is calculated machine control device, 6-operative goals location point.
The specific embodiment
The embodiment that provides below in conjunction with accompanying drawing illustrates concrete structure of the present utility model and operation principle.
As shown in drawings, the end effector control device of a kind of industrial robot of the utility model, it comprises mechanical arm matrix 1, mechanical arm 2, end effector 3, drive unit 4 and Computer Control Unit 5, described end effector is connected on the most last joint of mechanical arm, the initial joint of mechanical arm is connected on the mechanical arm matrix, the output of Computer Control Unit and drive unit input are electrically connected, and the input of the executing agency in the output of drive unit and the mechanical arm matrix is electrically connected.
During use, earlier by Computer Control Unit 5 according to operative goals location point 6, the method that adopts operative goals to combine with robot kinematics's model, automatically calculate each joint coordinates of mechanical arm, and determine the target location point according to self-position and target vector, calculate mobile route, generate the fill order code then and be transferred to drive unit 4, spread out of fill order by the executing agency of drive unit 4 in the mechanical arm matrix again, by 2 actions of executing agency's driving device arm, end effector 3 is moved to the target location, and task fulfils assignment.
Corresponding mechanism structure, operation principle in the mechanical arm matrix on described executing agency and the existing industrial robot are identical, repeat no more.
The mechanical arm required device that power is provided of when action, and the movement relation of each mechanical part when mobile, same as the prior art, repeat no more.
Described industrial robot can adopt six-joint robot.

Claims (1)

1. the end effector control device of an industrial robot, it is characterized in that, it comprises mechanical arm matrix, mechanical arm, end effector, drive unit and Computer Control Unit, described end effector is connected on the most last joint of mechanical arm, the initial joint of mechanical arm is connected on the mechanical arm matrix, the output of Computer Control Unit and drive unit input are electrically connected, and the input of the executing agency in the output of drive unit and the mechanical arm matrix is electrically connected.
CN2010202034090U 2010-05-17 2010-05-17 End effector control device of industrial robot Expired - Fee Related CN201702779U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010202034090U CN201702779U (en) 2010-05-17 2010-05-17 End effector control device of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010202034090U CN201702779U (en) 2010-05-17 2010-05-17 End effector control device of industrial robot

Publications (1)

Publication Number Publication Date
CN201702779U true CN201702779U (en) 2011-01-12

Family

ID=43439928

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010202034090U Expired - Fee Related CN201702779U (en) 2010-05-17 2010-05-17 End effector control device of industrial robot

Country Status (1)

Country Link
CN (1) CN201702779U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105835073A (en) * 2016-05-30 2016-08-10 哈工大机器人集团有限公司 Novel teaching device of industrial robot
CN109571441A (en) * 2019-01-08 2019-04-05 崧智智能科技(深圳)有限公司 The quick teaching method of industrial robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105835073A (en) * 2016-05-30 2016-08-10 哈工大机器人集团有限公司 Novel teaching device of industrial robot
CN109571441A (en) * 2019-01-08 2019-04-05 崧智智能科技(深圳)有限公司 The quick teaching method of industrial robot

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20120120

Address after: 256600 No. ten, No. 2, 673 Bohai Road, Shandong 8, Binzhou 501, China

Patentee after: Binzhou Polytechnic

Address before: 256600 Department of computer science, Binzhou Polytechnic, twelve 919 Road, Binzhou, Shandong, the Yellow River

Patentee before: Song Lingling

C41 Transfer of patent application or patent right or utility model
ASS Succession or assignment of patent right

Owner name: BINGZHOU VOCATIONAL COLLEGE

Free format text: FORMER OWNER: SONG LINGLING

Effective date: 20120120

C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110112

Termination date: 20120517