CN104575232A - Teaching mechanical arm - Google Patents
Teaching mechanical arm Download PDFInfo
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- CN104575232A CN104575232A CN201410831566.9A CN201410831566A CN104575232A CN 104575232 A CN104575232 A CN 104575232A CN 201410831566 A CN201410831566 A CN 201410831566A CN 104575232 A CN104575232 A CN 104575232A
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- teaching
- arm
- mechanical arm
- connecting rods
- connecting rod
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, particularly to a teaching mechanical arm. The mechanical arm comprises a base, a teaching arm, a teaching wrist, dampers and encoders, wherein the base comprises a fixed plate and a support column arranged on the fixed plate; the arm comprises a plurality of connecting rods and rotating shafts arranged between adjacent connecting rods for rotation of the connecting rods, and one end, which is deviated from each connecting rod, of each rotating shaft is connected with the support column; the teaching wrist comprises three rotating shafts, and one of the three rotating shafts is connected with the connecting rods of the teaching arm; the dampers are arranged on the rotating shafts and produce damping during rotation of the connecting rods; each encoder is arranged in a position where every two adjacent connecting rods are connected and used for receiving or sending moving posture information of the mechanical arm. The dampers are added in all joint positions, so that each joint can move only after overcoming the certain damping during teaching, the change magnitude of moving parameters of each joint is in a reasonable and stable interval, and a program can ensure that a robot is free of larger impacts and vibration loads.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of teaching machine mechanical arm.
Background technology
Current domestic use robot teaching still has certain technical threshold, and wherein the important point is the programming in robot.The feature as many in fruit product curved surface, complex structure, model are many, makes robotic programming difficulty greatly promote.The shortcoming of the requirement meeting this series products is difficult to for traditional robotic programming method (as teach box teaching, off-line programing).
Off-line programing utilizes computer technology, obtains operation track by trajectory planning algorithm, then operation track is sent to robot to realize robotic programming.This method is high to workman's technical requirement, and immature, therefore only as a kind of supplementary means, is not widely used.
Teach programming comprises teach box teaching and guiding type teaching.By operation teach box, or by artificial guiding robot end effector, robot is made to complete the action of expection, to obtain operation track.Practical relative to off-line programing, easy and simple to handle, therefore most of robot all adopts teach programming.
These two class methods current common technology difficult point is: because teaching joint arm is too flexible, when the product that, complex structure many towards curved surface, model are various carries out teaching operation, artificial each guiding operation is stressed inconsistent to robot architecture, the kinematic parameter of robot control program must be caused to change excessive, TRAJECTORY CONTROL is unreasonable, affects serviceable life.
Summary of the invention
The object of the present invention is to provide and a kind of carry out rational kinematic parameter distribution for existing system, thus solve unpowered teaching joint arm system and drive each joint kinematic parameter distribution randomness greatly in teaching process, be difficult to the problems such as control.
For reaching this object, the present invention by the following technical solutions:
A kind of teaching machine mechanical arm, comprising:
Pedestal, described pedestal comprises fixed head, the pillar be arranged on fixed head;
Teaching arm, described arm comprises several connecting rods and is arranged on the turning axle realizing link rotatable between adjacent links, and one end that described turning axle departs from connecting rod is connected with described pillar;
Teaching wrist, described teaching wrist comprises three turning axles, and one of them turning axle is connected with the connecting rod of teaching arm;
Damper, to be arranged on described turning axle and to form resistance when link rotatable;
Scrambler, is arranged on the junction of adjacent links in order to receive or transmitter mechanical arm athletic posture information.
Further, above-mentioned teaching machine mechanical arm also comprises handle part, and described handle part is arranged on any connecting rod, and it comprises the handle be fixed in order to drive teaching arm to follow human arm action on connecting rod.
Further, described pillar to be connected some connecting rods composition teaching arm successively in open kinematic chain mode.
Further, described connecting rod is the 7075 aluminum alloy hollow pipes of wall thickness 1mm.
Further, three rotating shaft axis of described teaching wrist intersect.
Further, the sheathed antistatic backing of handle surfaces.
Beneficial effect of the present invention is: install damper by each joint and realize each type games in joint together with bearing, because damper makes the kinematic parameter in each joint can change in a metastable interval by its retardation, thus reduce robot manufacturing cell establishment difficulty.
Accompanying drawing explanation
Fig. 1 is the structural representation of teaching machine mechanical arm of the present invention;
Fig. 2 is base construction schematic diagram of the present invention;
Fig. 3 is teaching wrist structural representation of the present invention.
Embodiment
Technical scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.
This programme is based on the harvester of teaching joint arm as robot working trajectory, joint arm structure is the open kinematic chain linked together by rotary joint by a series of connecting rod, when teaching is only transmitted by bearing in its joint pass to the movable information in each joint, cause like this due to different personnel carry out teaching by joint arm time, the kinematic parameter difference in each joint is very large, its main cause is that each joint lacks damping unit, cause joint too flexible, thus each joint kinematic parameter (speed when causing teaching, acceleration etc.) change greatly, cause during subsequent robot's real work and control difficulty increase, it suddenly plays all standing and causes control motor to be affected serviceable life.
As Fig. 1 and Fig. 2, a kind of teaching machine mechanical arm, comprising: pedestal, and described pedestal comprises fixed head 1, the pillar 2 be arranged on fixed head 1; Pillar 2 forms teaching arm by turning axle 4 several connecting rods 3 of connecting successively; The end of teaching arm is teaching wrist 5, and teaching wrist 5 comprises three turning axles 4, and one of them turning axle 4 is connected with the connecting rod 3 of teaching arm; Damper 6, to be arranged on turning axle 4 and to form resistance when connecting rod 4 rotates; Scrambler 7, is arranged on the junction of adjacent links 3 in order to receive or transmitter mechanical arm athletic posture information.By being improved teaching machine mechanical arm (hereinafter referred to as joint arm); damping unit is increased at each associated joint arm place; to ensure in teaching process; the motion in each joint must overcome certain damping and could move; thus ensure that between each joint, kinematic parameter difference is not too large; the amplitude of variation of the kinematic parameter in each joint in the interval of a reasonably stability, with ensure programming can guarantee robot not by greater impact and oscillating load.
Wherein, also comprise handle part, described handle part is arranged on any connecting rod 3, and it comprises the handle be fixed in order to drive teaching arm to follow human arm action on connecting rod 3.
Further, pillar 2 forms teaching arm with open kinematic chain mode some connecting rods 3 of connecting successively.
Further, teaching process is drawn end hand grip by operator and is completed, if the weight of joint and connecting rod 3 is all supported by operator in teaching process, not only affects the dirigibility of teaching, and operator also can be made easily to produce fatigue.Weight during for alleviating teaching, ensure the stiffness of joint arm, connecting rod 3 adopts the 7075 aluminum alloy hollow pipes of wall thickness 1mm.
Further, as Fig. 3,5 three turning axle 4 axis of the joint arm wrist designed by teaching wrist intersect on one point, not only increases the compactedness of wrist, can reduce the calculated amount of teaching joint arm mathematical modeling simultaneously.
Further, the sheathed antistatic backing of handle surfaces.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other embodiment of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (6)
1. a teaching machine mechanical arm, is characterized in that, comprising:
Pedestal, described pedestal comprises fixed head, the pillar be arranged on fixed head;
Teaching arm, described arm comprises several connecting rods and is arranged on the turning axle realizing link rotatable between adjacent links, and one end that described turning axle departs from connecting rod is connected with described pillar;
Teaching wrist, described teaching wrist comprises three turning axles, and one of them turning axle is connected with the connecting rod of teaching arm;
Damper, to be arranged on described turning axle and to form resistance when link rotatable;
Scrambler, is arranged on the junction of adjacent links in order to receive or transmitter mechanical arm athletic posture information.
2. teaching machine mechanical arm according to claim 1, is characterized in that, also comprise handle part, and described handle part is arranged on any connecting rod, and it comprises the handle be fixed in order to drive teaching arm to follow human arm action on connecting rod.
3. teaching machine mechanical arm according to claim 1, is characterized in that, described pillar to be connected some connecting rods composition teaching arm successively in open kinematic chain mode.
4. the teaching machine mechanical arm according to claim 1 or 3, is characterized in that, described connecting rod is the 7075 aluminum alloy hollow pipes of wall thickness 1mm.
5. teaching machine mechanical arm according to claim 1, is characterized in that, three rotating shaft axis of described teaching wrist intersect.
6. teaching machine mechanical arm according to claim 5, is characterized in that, the sheathed antistatic backing of described handle surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410831566.9A CN104575232A (en) | 2014-12-26 | 2014-12-26 | Teaching mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410831566.9A CN104575232A (en) | 2014-12-26 | 2014-12-26 | Teaching mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104575232A true CN104575232A (en) | 2015-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410831566.9A Pending CN104575232A (en) | 2014-12-26 | 2014-12-26 | Teaching mechanical arm |
Country Status (1)
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| CN (1) | CN104575232A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105921327A (en) * | 2016-06-16 | 2016-09-07 | 杭州国辰机器人科技有限公司 | Telescopic spraying teaching mechanism with hemispherical operation range |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN106671139A (en) * | 2016-08-30 | 2017-05-17 | 佛山市新鹏机器人技术有限公司 | Balanced teaching mechanical arm |
| CN108081278A (en) * | 2018-01-25 | 2018-05-29 | 巨轮中德机器人智能制造有限公司 | A kind of quick teaching apparatus of spraying robot |
| CN108568824A (en) * | 2017-03-08 | 2018-09-25 | 埃皮斯托利奥有限责任公司 | Spray robot |
| CN109313436A (en) * | 2016-04-24 | 2019-02-05 | 卡斯坦宁堡有限公司 | Method and apparatus for determining motion sequence for robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109313436A (en) * | 2016-04-24 | 2019-02-05 | 卡斯坦宁堡有限公司 | Method and apparatus for determining motion sequence for robot |
| CN105921327A (en) * | 2016-06-16 | 2016-09-07 | 杭州国辰机器人科技有限公司 | Telescopic spraying teaching mechanism with hemispherical operation range |
| CN106671139A (en) * | 2016-08-30 | 2017-05-17 | 佛山市新鹏机器人技术有限公司 | Balanced teaching mechanical arm |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN108568824A (en) * | 2017-03-08 | 2018-09-25 | 埃皮斯托利奥有限责任公司 | Spray robot |
| CN108568824B (en) * | 2017-03-08 | 2023-04-18 | 埃皮斯托利奥有限责任公司 | Spraying robot |
| CN108081278A (en) * | 2018-01-25 | 2018-05-29 | 巨轮中德机器人智能制造有限公司 | A kind of quick teaching apparatus of spraying robot |
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Application publication date: 20150429 |
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