CN205704224U - A kind of industrial robot operation controls end - Google Patents
A kind of industrial robot operation controls end Download PDFInfo
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- CN205704224U CN205704224U CN201620535275.XU CN201620535275U CN205704224U CN 205704224 U CN205704224 U CN 205704224U CN 201620535275 U CN201620535275 U CN 201620535275U CN 205704224 U CN205704224 U CN 205704224U
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- industrial robot
- game paddle
- framework
- client host
- server end
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Abstract
nullThe utility model discloses a kind of industrial robot operation and control end，The operation of described industrial robot controls end and uses client end/server end framework i.e. C/S framework，And it is configured with a game paddle as its input equipment，Operator by this game paddle send control industrial robot and mechanical hand upwards、Downwards、Stretch out、Retract、Forward translates、The action command of reverse translation，Described C/S framework is made up of client host and server end main frame，Described client host is connected with game paddle by USB interface，Described server end main frame is connected with industrial robot by USB interface，It is responsible for forwarding the operational order coming from game paddle and client host to industrial robot，And pass state and the video data of industrial robot back client host by network，Operator's observation or monitoring industrial robot is provided to complete and perform the situation of operation.This utility model can greatly reduce industrial robot operation control realize difficulty, development cost, maintenance cost.
Description
Technical field
This utility model relates to the technical field of industrial robot, refers in particular to a kind of industrial robot operation and controls end.
Background technology
Robot remote operation is concentrated mainly on control research, by network, robot is carried out Remote operation side
Face.A lot of research institution both domestic and external remotely operates at web based robotics and has done a lot of research work in terms of control,
Wherein the research institution of the state such as American-European establishes the operation of various panoramic robot remote and control station the most on the internet
Point.Such as, in November, 1993, University of Bradford of Britain develops robot astronomical telescope, and astrophile can pass through
WEB mode accesses its operation pages and controls this telescopical angle and focal length, and operating result can pass through subsequently with observation data
Email is sent to operator.The Ken Goldberg of California, USA university in 1994 one is provided with CCD camera and
The ABB industry mechanical arm of gas-bag system is connected on the Internet, and operator uses mouse and keyboard by this machine of internetwork operation
Tool hands equipped with sand and be embedded with artificiality semicircle work space in implement excavate work.Nineteen ninety-five, they were again in the Internet
On the mechanical hand carrying CCD camera is combined other mechanism provides long-range growing operation to the network user.Western
One ABB industrial robot was connected on Internet carry out far by the Ken Taylor of Australia university etc. in 1994
Journey operation experiments.
After the initiative work of Ken Goldberg and Ken Taylor, the Internet occur in that in succession varied
The network robot of various difference in functionalitys, as Rovetta develops robot remote medical system in nineteen ninety-five so that remotely
Diagnosis is possibly realized；George Bekey and Steve Goldberg develops based on sixdegree-of-freedom simulation and stereo camera
Drinking Maiden system, user can enjoy various marvellous artistic works in museum by system remote；
Within 1998, PumaPaint project is reached the standard grade, and user can operate Puma760 mechanical arm by network and remotely draw a picture on painting canvas.
2003, US National Aeronautics and Space Administration successively transmitted " courage number " and " Opportunity Rover " Mars unmanned probing Marsokhod, and in
Successful log Mars in 2004.It is positioned at tellurian scientist to control to combine with Marsokhod Autonomous Control by remotely operation,
Use these two Marsokhod Mars has been carried out up to several years zero distance observe and research, it is thus achieved that include Mars soil,
A large amount of precious data such as air, landform, landforms.
Currently, more domestic units have been also carried out correlational study in robot remote operation in terms of control.2000, breathe out
Your shore polytechnical university completes a project worked by network remote control robot command, and it is mainly by tele-robotic
Sensor information, makes teleworker's vivid sense be felt by scene, and can complete the works such as the crawl of object, carrying
Make.In December, 2005, Beijing Navy General Hospital carries out department of cerebral surgery hands by the Internet remote control in the robot of one hospital in Yan'an
Art, and achieve preferable effect.In October, 2009, China's " ocean one " scientific investigation ship uses " Solenognathus No. 2 " underwater robot
Mechanical hand arrest about 7 kilograms of sulfide samples exactly.In 2010 in the World Expo that Shanghai is held, at " Hypon home "
In technical staff on duty by 3G wireless technology, Hypon robot can be carried out remote control.These robots can be
Visitor provides Expo information the energy orientation of accurate recognition guest, number and direct of travel etc..
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art and shortcoming, it is provided that a kind of industrial robot operation control
End processed, can greatly reduce industrial robot operation control realizes difficulty, development cost, maintenance cost.
For achieving the above object, technical scheme provided by the utility model is: a kind of industrial robot operation controls end,
The operation of described industrial robot controls end and uses client end/server end framework i.e. C/S framework, and is configured with a game paddle work
For its input equipment, operator by this game paddle send control industrial robot and mechanical hand thereof upwards, downwards, stretch out,
Retract, forward translates, the action command of reverse translation, and described C/S framework is made up of client host and server end main frame, institute
Stating client host to be connected with game paddle by USB interface, described server end main frame passes through USB interface and industrial robot
Connect, be responsible for forwarding the operational order coming from game paddle and client host to industrial robot, and by industrial machine
State and the video data of people pass client host back by network, it is provided that operator observation or monitoring industrial robot complete and
Perform the situation of operation.
Left lateral operation button, right lateral operation button, upstream operation button, descending behaviour it is respectively arranged with on described game paddle
Make button and three control knobs and a USB interface.
This utility model compared with prior art, has the advantage that and beneficial effect:
What this utility model can greatly reduce that industrial robot operation controls realizes difficulty, development cost, safeguards into
This, and can make operator neatly, with open arms, reliably operation industrial robot complete various action and task, and i.e.
Time ground observation or monitoring industrial robot working condition.
Accompanying drawing explanation
Fig. 1 is general frame figure of the present utility model.
Fig. 2 is functional structure chart of the present utility model.
Fig. 3 is game paddle structural representation of the present utility model.
Fig. 4 is Six-DOF industrial robot and the structural representation of mechanical hand (Pneumatic paw) thereof.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail.
As shown in Figure 1 to Figure 3, the industrial robot operation described in the present embodiment controls end, specifically uses client/clothes
Business device end-rack structure i.e. C/S framework (client mainly negative duty mutually carries out Simulation Control and remotely operation and control to industrial robot,
Server end is mainly responsible for client and provides industrial robot this locality control agent.Server end provides part industry the most simultaneously
Robot this locality controls function), and it is configured with a game paddle 1 as its input equipment, operator is by this game paddle 1
Go out to control industrial robot 4 and mechanical hand thereof upwards, downwards, stretch out, retract, forward translation, the action command of reverse translation, institute
Stating C/S framework to be made up of client host 2 and server end main frame 3, described client host 2 is by USB interface and game hand
Handle 1 connects, and described server end main frame 3 is connected with industrial robot 4 by USB interface, is responsible for forwarding to industrial robot 4
From in game paddle 1 and the operational order of client host 2, and state and the video data of industrial robot 4 are passed through net
Client host 2 passed back by network, it is provided that operator's observation or monitoring industrial robot 4 complete and perform the situation of operation.
Left lateral operation button 101, right lateral operation button 102, upstream operation button it is respectively arranged with on described game paddle 1
103, downstream operation button 104 and 105,106,107 and usb 1 08 of three control knobs.Operator passes through game hand
Handle 1 sends the joint of order-driven industrial robot 4 and mechanical hand thereof and rotates, so that whole industrial robot 4 and machinery thereof
Hands completes to stretch out, retracts, advances, retreats, upper shifting and six actions such as move down.
The present embodiment industrial robot operation control end operation object be a Six-DOF industrial robot and
Mechanical hand, as shown in Figure 4.According to from top to bottom, from left to right sequentially, its 6 joints and 6 gyroaxises are followed successively by: joint I
With turn round I axle, joint II and revolution II axle, joint III and revolution III axle, joint IV and revolution IV axle, joint V and revolution V
Axle, joint VI and revolution VI axle.Each joint of this industrial robot controls its rotational angle by limit switch, each joint
Rotational angle limits as shown in table 1 below.
Table 1 industrial robot each articulation parameter
| Joint sequence number | The initial number of degrees | The maximum number of degrees | The minimum number of degrees |
| I | 0 | 150 | -150 |
| II | -90 | 45 | -135 |
| III | 0 | 50 | -70 |
| IV | 0 | 90 | -90 |
| V | 0 | 90 | -90 |
| VI | 90 | 180 | -180 |
The examples of implementation of the above are only the preferred embodiment of this utility model, not limit of the present utility model with this
Practical range, therefore the change that all shapes according to this utility model, principle are made, all should contain at protection domain of the present utility model
In.
Claims (2)
1. an industrial robot operation controls end, it is characterised in that: described industrial robot operation control end employing client/
Server end framework i.e. C/S framework, and be configured with a game paddle and sent out by this game paddle as its input equipment, operator
Go out to control industrial robot and mechanical hand thereof upwards, downwards, stretch out, retract, forward translation, the action command of reverse translation, institute
Stating C/S framework to be made up of client host and server end main frame, described client host is by USB interface with game paddle even
Connecing, described server end main frame is connected with industrial robot by USB interface, is responsible for forwarding to industrial robot coming from game
Handle and the operational order of client host, and pass state and the video data of industrial robot back client by network
Main frame, it is provided that operator's observation or monitoring industrial robot complete and perform the situation of operation.
A kind of industrial robot operation the most according to claim 1 controls end, it is characterised in that: divide on described game paddle
It is not provided with left lateral operation button, right lateral operation button, upstream operation button, downstream operation button and three control knobs and
Individual USB interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620535275.XU CN205704224U (en) | 2016-06-02 | 2016-06-02 | A kind of industrial robot operation controls end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620535275.XU CN205704224U (en) | 2016-06-02 | 2016-06-02 | A kind of industrial robot operation controls end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205704224U true CN205704224U (en) | 2016-11-23 |
Family
ID=57301526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620535275.XU Active CN205704224U (en) | 2016-06-02 | 2016-06-02 | A kind of industrial robot operation controls end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205704224U (en) |
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2016
- 2016-06-02 CN CN201620535275.XU patent/CN205704224U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |