CN206690140U - Robot apparatus - Google Patents
Robot apparatus Download PDFInfo
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- CN206690140U CN206690140U CN201620300087.9U CN201620300087U CN206690140U CN 206690140 U CN206690140 U CN 206690140U CN 201620300087 U CN201620300087 U CN 201620300087U CN 206690140 U CN206690140 U CN 206690140U
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- robot device
- robot
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- controller
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Abstract
A robotic device comprising: the robot device is provided with a sensor, and the controller is provided with a controller, so that the sensor can be automatically connected with the controller, and the controller can automatically store the position of the robot device.
Description
Technical field
It the utility model is related to a kind of robot device, more particularly to a kind of robot device of lifting operation convenience.
Background technology
The process of traditional Jet forming machine is to reach macromolecule (plastic cement) particle by heating and plasticizing in barrel
To flow regime, die cavity is filled under the promotion of screw rod, after plastic cement melt freezes off in mould, opens mould and extract
Part, that is, complete an injection cycle.The process of pickup can be completed by worker, can also be completed by manipulator.Due to manipulator pickup
Have the advantages that efficiency high, cost are low, article quality is stable, therefore be widely used.
As shown in Figure 1A to Fig. 1 C, the robot device of prior art includes a robot device 10, a control device 11
And a main frame 12, so that when using the robot device, operator operates the robot device 10 by the control device 11.
Specifically, the signal of the control device 11 is sent to the main frame 12, each axle machine of the main frame 12 meeting start robot device 10
Tool is rolled over.
In automatic production line, before the robot device, target location setting need to be first carried out, and the robot
Device 10 is generally the vertical joint type industrial machinery arm of six axles, therefore in the positioning location of workpiece or target location and uses right angle
During coordinate system, cassette coordinate system X, Y, Z can be moved and moved one by one to set the target location.Specifically, as shown in figure iD, it is described
Target location setting the step of it is as follows：
The control device 11 is switched to manually operated (such as JOG) pattern by (1) first operator 8, then is pressed and do not decontroled
Navigation button 110 in the man-machine interface of the control device 11.
(2) second operators 9 apply strength on the robot device 10, and by each arm of the robot device 10
In in X, Y, Z axis one by one displacement close to target location.
(3) after each mechanical arm of the robot device 10 is moved to the target location, the second operator 9 is notified that
One operator 8, the first operator 8 is made to store the target location into the control device 11.Afterwards, the first operator 8 is just put
Open the navigation button 110.
By above-mentioned setting, when the robot device is subsequently used, any operator need to only press the control device 11
Start button (figure omits), the robot device 10 can be automatically moved into the target location.
And the mode of target location setting of the prior art need to press and not decontrol the navigation button 110, therefore need to be by two
The operation of working in coordination of individual operator could be completed, and cause process to take a significant amount of time and a large amount of manpowers, cause automated production
The raising of the operating cost of line.
Furthermore the second operator 9 manipulates the displacement of robot device 10 with artificial force mechanism, and visually judges the machine
The position of people's device 10, thus the position of each mechanical arm of the robot device 10 can not be finely tuned, cause to be not easy accurately to grasp
Position precision.
Therefore, how to solve the variety of problems of above-mentioned prior art, actually current industry problem urgently to be resolved hurrily.
Utility model content
To solve the variety of problems of above-mentioned prior art, the utility model discloses a kind of robot device then, including：Machine
People's device, provided with sensor；And control device, the controller provided with the energy automatic connecting sensor, with the automatic storage machine
The position of device people's device.
In foregoing robot device, the robot device is robotic arm device.
In foregoing robot device, the sensor is pressure sensor.
In foregoing robot device, the assigned target position of the control device automatic storage robot device.
In foregoing robot device, the control device connects the robot device by network system, to manipulate the machine
Device people's device.
From the foregoing, it will be observed that robot device of the present utility model, mainly by the controller energy automatic connecting sensor, therefore
When the robot device is operated, operator is not required to press the navigation button in the man-machine interface of the control device.Therefore, this reality
Only the position of the robot device need to can be set by an operator with new robot device, thus can be greatly reduced and set
Determine the time needed for process and manpower, and then the operating cost of automatic production line can be reduced.
Furthermore robot device of the present utility model is not required to set existing main frame, it is only necessary to is set by the control device
And control, you can define the position of the robot device rapidly, therefore operator can finely tune each machine of the robot device easily
The position of tool arm, to be easy to the accurate precision for grasping position.
Brief description of the drawings
Figure 1A to Fig. 1 C is the schematic perspective view of the robot device of prior art；
Fig. 1 D are the schematic diagram of the target location setting of the robot device of prior art；
Fig. 2A and Fig. 2 B are the schematic perspective view of robot device of the present utility model；
Fig. 3 is the schematic diagram that the target location of robot device of the present utility model is set；And
Fig. 4 is Fig. 3 flow chart.
Reference：
10th, 20 robot device
11st, 21 control device
110 navigation buttons
12 main frames
200 sensors
210 controllers
7 operators
8 first operators
9 second operators
Embodiment
Illustrate embodiment of the present utility model by particular specific embodiment below, those skilled in the art can be by this
Content disclosed in specification understands other advantages and effect of the present utility model easily.
Fig. 2A and Fig. 2 B are the schematic perspective view of robot device of the present utility model.As shown in Figure 2 A and 2 B, it is described
Robot device include：One is provided with robot (Robot) device 20 and one of sensor 200 manipulating the robot
The control device 21 of device 20.
Described robot device 20 is robotic arm device, and the sensor 200 is pressure sensor.
Described control device 21 is provided with controller 210, as shown in figure 3, and the controller 210 can the automatic connecting sensing
Device 200, and then enable the position of the automatic storage of control device 21 robot device 20.
In the present embodiment, the assigned target position of the automatic storage of control device 21 robot device 20.
Also, the control device 21 connects the robot by such as Ethernet (Ethernet) or other types of network system
Device 20, the control device 21 is set to manipulate the robot device 20.It should be appreciated that ground, the control device 21 also can be by it
Its system (such as I/O mode) manipulates the robot device 20, however it is not limited to network system.
Fig. 3 is the schematic diagram of the operating method of robot device of the present utility model.As shown in figure 3, described operation side
Method is sets the method for the target location of the robot device 20, and its step is as follows (flow chart that can refer to Fig. 4 in the lump)：
(1) first, operator 7 is by the line of controller 210 sensor 200, and in the man-machine boundary of the control device 21
The pressure-sensing direction of displacement of the sensor 200 is set on face, its direction can be the side of X, Y, Z wherein axle of rectangular coordinate system
To step 401 as shown in Figure 4.
(2) operator 7 moves the robot device 20.Specifically, operator 7 is directly to the machinery of the robot device 20
The direction (such as X-direction) that arm is intended to displacement applies external force, that is, to the displacement set by the man-machine interface of the control device 21
Direction applies external force, step 402 as shown in Figure 4.
(3) when the robot device 20 is moved to assigned target position, as moving process change in location robot fills
The signal synchronous transfer of 20 target location is put to the controller 210.
In the present embodiment, the mode that the robot device 20 is moved to assigned target position is specific as follows：
(a) sensor 200 can produce voltage signal change according to the pressure size that operator 7 is bestowed, and also even apply
Pressure is bigger, then voltage signal changes bigger, as shown in Figure 4 step 403.
(b) operation of analog-to-digital conversion can be carried out according to the voltage signal of the feedback of sensor 200, the controller 210, afterwards
Proportional amount of pulse signal can be sent to the motion control unit (figure omits) of the robot device 20 by the controller 210, such as
Step 404 shown in Fig. 4.The pulse signal represents the arm velocity of displacement size of the robot device 20, that is, the pulse is interrogated
Number bigger, the arm velocity of displacement of the robot device 20 is bigger；Conversely, the pulse signal is smaller, then the robot device 20
Arm velocity of displacement it is then slower.
(c) after the motion control unit of the robot device 20 receives the pulse signal of the controller 210 transmission, the machine
The motion control unit of people's device 20 carries out computing according to the pulse signal, and the pulse signal is converted into the robot device
20 movement instruction, to perform the motion control of the robot device 20, step 405 as shown in Figure 4.
(d) motion control unit delivers to the motion command driver (figure omits) of the robot device 20, makes the machine
Motor (figure omits) operating of device people device 20, with the mechanical arm of the mobile robot device 20, step 406 as shown in Figure 4.
Therefore, operator 7 applies strength in the sensor 200, and the speed command that the controller 210 receives is by the sensor
200 through according to caused by pressure conversion ratio, the controller 210 is again by caused speed command after analog-to-digital conversion computing
The control that motion control unit is controlled system is sent to, carries out the movement of mechanical arm afterwards.
(4) after the robot device 20 is moved to assigned target position, the automatic storage of control device 21 robot
The target location of device 20.
It may be noted that when one man operation, operator 7 first selects the X-direction of the free-hand station-keeping mode of passive type, the now control
Device 210 only receives the signal of X-direction, the X shaft positions of the movable mechanical arm of operator 7 to target, sequentially performs Y-axis position afterwards
Put and positioned with the target of Z axis position.
By above-mentioned setting means, when using the robot device, operator 7 need to press the control device 21
Start button, the mechanical arm of the robot device 20 can be automatically moved into the target location.
Furthermore when the setting of the target location of the robot device 20, mobile rectangular co-ordinate is set by the controller 210
A wherein axle for system, and foundation of the pressure as the wherein velocity magnitude of an axle of rectangular coordinate system is selected, rather than utilize fortune
It is dynamic to learn the position angle for calculating the robot device 20.
In summary, robot device of the present utility model by the controller 210 can the automatic connecting sensor 200,
Therefore when the target location of the robot device 20 is set, operator 7 is not required to press in the man-machine interface of the control device 21
Navigation button.Therefore, robot device of the present utility model only need to can set the robot device's 20 by an operator 7
Target location, thus the time needed for setting process and manpower can be greatly reduced, and then the running of automatic production line can be reduced
Cost.
Furthermore the method for the target location of the present utility model for setting the robot device 20, it is not required to set prior art
Main frame, it is only necessary to set the moving direction of single axle in the control device 21, then the sensor 200 detected with the controller 210
Changing condition, to increase or decrease the translational speed of each mechanical arm of the robot device 20, you can define this rapidly
The coordinate of the target location of each mechanical arm of robot device 20, therefore operator 7 can finely tune the robot device's 20 easily
The position of each mechanical arm, to be easy to the accurate precision for grasping position.
Above-described embodiment is new not for this practicality is limited to illustrative principle of the present utility model and its effect
Type.Any those skilled in the art can repair without prejudice under spirit and scope of the present utility model to above-described embodiment
Change.Therefore rights protection scope of the present utility model, listed by claims that should be as be described hereinafter.
Claims (5)
- A kind of 1. Jet forming machine robot device, it is characterised in that including：Robot device, provided with sensor, motion control unit, driver and motor, the motion control unit and the drive Dynamic device is connected, and the driver drives the motor to move the robot device；AndControl device, the controller provided with the energy automatic connecting sensor are described with the position of the automatic storage robot device Controller is connected with the motion control unit.
- 2. Jet forming machine robot device as claimed in claim 1, it is characterised in that the robot device is robotic arm Device.
- 3. Jet forming machine robot device as claimed in claim 1, it is characterised in that the sensor is pressure sensor.
- 4. Jet forming machine robot device as claimed in claim 1, it is characterised in that the control device automatic storage machine The assigned target position of device people's device.
- 5. Jet forming machine robot device as claimed in claim 1, it is characterised in that the control device is by network system The robot device is connected, to manipulate the robot device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105202580 | 2016-02-24 | ||
| TW105202580U TWM523563U (en) | 2016-02-24 | 2016-02-24 | Robotic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206690140U true CN206690140U (en) | 2017-12-01 |
Family
ID=56756988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620300087.9U Active CN206690140U (en) | 2016-02-24 | 2016-04-12 | Robot apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206690140U (en) |
| TW (1) | TWM523563U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748862A (en) * | 2018-08-03 | 2018-11-06 | 珠海汇智智能装备有限公司 | One kind picking and placeing insert device and its picks and places method |
-
2016
- 2016-02-24 TW TW105202580U patent/TWM523563U/en unknown
- 2016-04-12 CN CN201620300087.9U patent/CN206690140U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748862A (en) * | 2018-08-03 | 2018-11-06 | 珠海汇智智能装备有限公司 | One kind picking and placeing insert device and its picks and places method |
Also Published As
| Publication number | Publication date |
|---|---|
| TWM523563U (en) | 2016-06-11 |
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