CN102275166A - Maintenance method for three dimensional rocking bar used for robot control - Google Patents
Maintenance method for three dimensional rocking bar used for robot control Download PDFInfo
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- CN102275166A CN102275166A CN2010102021875A CN201010202187A CN102275166A CN 102275166 A CN102275166 A CN 102275166A CN 2010102021875 A CN2010102021875 A CN 2010102021875A CN 201010202187 A CN201010202187 A CN 201010202187A CN 102275166 A CN102275166 A CN 102275166A
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Abstract
The invention relates to a maintenance method for a three dimensional rocking bar used for a robot control, the method comprises the following steps of: (1) respectively chiseling off a part of resistance in a resistance adjusting zone of an X potentiometer and a Y potentiometer to make the resistance values at two ends of the X potentiometer and the Y potentiometer respectively be the same when a control bar is at the middle position; (2) serially connecting an additional resistance to a sliding conducting part of a Z potentiometer to make the resistance values at two ends of the Z potentiometer be the same when the control bar is at the middle position. The maintenance method for a three dimensional rocking bar used for a robot control in the invention effectively overcomes problems that a zero level is inaccurate, and the robot still performs motions when the three dimensional rocking bar returns to zero, further guaranteeing accuracy of robot motion, and quality of produced products, the maintenance method is also advantaged by simpleness and practicality, and low cost.
Description
Technical field
The present invention relates to the Robotics field, particularly the service technique field of robot controller specifically is meant a kind of method for maintaining that is used for the three-dimensional rocker of robot control.
Background technology
Along with the continuous progress and maturation of Robotics, Robotics is applied to human being's production more, each every aspect of living.Particularly in the process that industrial production is made, robot is widely used owing to the high accuracy of its action and uniformity and to the adaptability of abominable production environment.
In the ROBOT CONTROL technology, three-dimensional rocker is the most common control device.By the user to the control of three-dimensional rocker so that to three in robot the single shaft action on axially control.Because the utilization rate of three-dimensional rocker is higher, its impaired probability is also bigger.To influence the accuracy of robot motion greatly in case three-dimensional rocker is impaired, and then product quality will be had a negative impact.Usually adopt the way of changing three-dimensional rocker to address the above problem in the prior art, this causes the cost of plant maintenance very high.Therefore, need a kind of method for maintaining of simple and effective three-dimensional rocker,, improve the utilization rate of three-dimensional rocker to reduce the cost of plant maintenance.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art, a kind of method for maintaining that is used for the three-dimensional rocker of robot control simply effective, with low cost is provided.
In order to realize above-mentioned purpose, the method for maintaining that is used for the three-dimensional rocker of robot control of the present invention has following formation:
Three-dimensional rocker described in this method comprises control lever and is respectively applied for the control X of robot rotating shaft, the X potentiometer of Y rotating shaft and Z rotating shaft campaign, Y potentiometer and Z potentiometer, wherein, one end of control lever is used to connect power supply, the other end of control lever is the X potentiometer, the sliding conduction position of Y potentiometer and Z potentiometer, the X potentiometer, Y potentiometer and Z potentiometer all have swept resistance district separately, each swept resistance district also is connected with electrode separately, X potentiometer and Y potentiometer are to be the planar slide variable resistor that right-angled intersection is provided with, the Z potentiometer is to rotate the slip variable resistor that changes according to control lever, the swept resistance district of X potentiometer and the Y potentiometer adjustment resistance area by separately respectively is connected separately electrode, its main feature is that described method may further comprise the steps:
(1) cutter removes the part resistance of adjustment resistance area of X potentiometer and Y potentiometer respectively, and feasible when control lever mediates, the X potentiometer is identical with the resistance value at Y potentiometer two ends separately.
This is used for the method for maintaining of the three-dimensional rocker of robot control, and described adjustment resistance area is a resistive film.
This is used for the method for maintaining of the three-dimensional rocker of robot control, the electrode of described Z potentiometer is connected in the centre position at Z potentiometer sliding conduction position, the described method for maintaining that is used for the three-dimensional rocker of robot control, further comprising the steps of in step (1) back:
(2) insert an additional resistance in the series connection of the sliding conduction position of Z potentiometer, when control lever was mediated, the resistance value at Z potentiometer two ends was identical.
This is used for the method for maintaining of the three-dimensional rocker of robot control, and described step (2) specifically may further comprise the steps:
(2-1) mediate when control lever, and the zeropoint resistance value of Z potentiometer inserts described additional resistance in the series connection of the end of Z potentiometer when bigger than normal;
(2-2) mediate when control lever, and the zeropoint resistance value of Z potentiometer is when less than normal, inserts described additional resistance in the electrode points series connection of Z potentiometer.
This is used for the method for maintaining of the three-dimensional rocker of robot control, and the resistance of described additional resistance is 10 Ω～20 Ω.
This is used for the method for maintaining of the three-dimensional rocker of robot control, the row's of being provided with pin also on the contact position in described control lever and each swept resistance district, described control lever is by described row's pin described each swept resistance district that is slidingly connected, and is preceding further comprising the steps of in described step (1):
(0) smears lubricant in each swept resistance district with the position of row's pin sliding-contact, and lubricant is cleaned.
This is used for the method for maintaining of the three-dimensional rocker of robot control, and described lubricant is a vaseline.
Adopted the method for maintaining that is used for the three-dimensional rocker of robot control of the present invention, remove the part resistance of the adjustment resistance area of X potentiometer and Y potentiometer by cutter, make when control lever mediates, the X potentiometer is identical with the resistance value at Y potentiometer two ends separately, and by inserting an additional resistance in the series connection of the sliding conduction position of Z potentiometer, when control lever was mediated, the resistance value at Z potentiometer two ends was also identical.Thereby it is inaccurate to have overcome the zero-bit level effectively, and robot still had the problem of action after three-dimensional rocker made zero.Further guarantee the accuracy of robot motion, also guaranteed the quality of the product produced.This method is simple and practical, and is with low cost.
Description of drawings
Fig. 1 is the flow chart of the method for maintaining of the three-dimensional rocker that is used for robot control of the present invention.
Fig. 2 is the structural representation of the method for maintaining three-dimensional rocker of the three-dimensional rocker that is used for robot control of the present invention.
Fig. 3 is the equivalent circuit diagram of the method for maintaining three-dimensional rocker of the three-dimensional rocker that is used for robot control of the present invention.
Fig. 4 is the structural representation of S4C system of the ABB robot teaching machine of the method for maintaining of using the three-dimensional rocker that is used for robot control of the present invention.
But Fig. 5 is by the schematic diagram in the joint of the axial rotation of three-dimensional rocker control in the ABB robot.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, describe in detail especially exemplified by following examples.
See also shown in Figure 2ly, be the structural representation of the method for maintaining three-dimensional rocker of the three-dimensional rocker that is used for robot control of the present invention.This three-dimensional rocker comprises control lever and is respectively applied for the control X of robot rotating shaft, the X potentiometer of Y rotating shaft and Z rotating shaft campaign, Y potentiometer and Z potentiometer, wherein, one end of control lever is used to connect power supply, the other end of control lever is the X potentiometer, the sliding conduction position of Y potentiometer and Z potentiometer, the X potentiometer, Y potentiometer and Z potentiometer all have swept resistance district separately, each swept resistance district also is connected with electrode separately, X potentiometer and Y potentiometer are to be the planar slide variable resistor that right-angled intersection is provided with, the Z potentiometer is the slip variable resistor that rotate to change according to control lever, and the swept resistance district of X potentiometer and the Y potentiometer adjustment resistance area by separately respectively is connected separately electrode.The equivalent circuit diagram of this three-dimensional rocker as shown in Figure 3.
At a kind of embodiment of the method for maintaining of the three-dimensional rocker that is used for robot control provided by the present invention, described method may further comprise the steps as shown in Figure 1:
(1) cutter removes the part resistance of adjustment resistance area of X potentiometer and Y potentiometer respectively, and feasible when control lever mediates, the X potentiometer is identical with the resistance value at Y potentiometer two ends separately.
In this embodiment, described adjustment resistance area is a resistive film.
In a kind of preferred implementation of the present invention, the electrode of described Z potentiometer is connected in the centre position at Z potentiometer sliding conduction position, the described method for maintaining that is used for the three-dimensional rocker of robot control, as shown in Figure 1, further comprising the steps of in step (1) back:
(2) insert an additional resistance in the series connection of the sliding conduction position of Z potentiometer, when control lever was mediated, the resistance value at Z potentiometer two ends was identical.
This step (2) specifically may further comprise the steps:
(2-1) mediate when control lever, and the zeropoint resistance value of Z potentiometer inserts described additional resistance in the series connection of the end of Z potentiometer when bigger than normal;
(2-2) mediate when control lever, and the zeropoint resistance value of Z potentiometer is when less than normal, inserts described additional resistance in the electrode points series connection of Z potentiometer.
In this preferred implementation, the resistance of described additional resistance is 10 Ω～20 Ω.
In further preferred implementation of the present invention, the row's of being provided with pin also on the contact position in described control lever and each swept resistance district, described control lever is by described row's pin described each swept resistance district that is slidingly connected, the described method for maintaining that is used for the three-dimensional rocker of robot control, as shown in Figure 1, preceding further comprising the steps of in described step (1):
(0) smears lubricant in each swept resistance district with the position of row's pin sliding-contact, and lubricant is cleaned.
In this further preferred implementation, described lubricant is a vaseline.
Following scheme is adopted in the maintenance that the method for maintaining that is used for the three-dimensional rocker of robot control provided by the present invention is applied to the three-dimensional rocker of S4C system of S4C system of ABB robot teaching machine usually.
As shown in Figure 4, for S4C system of ABB robot teaching machine, comprising guidance panel, control panel, display screen, three-dimensional rocker, enable switch, elements such as emergency stop switch, control panel be by power unit, single-chip microcomputer, SRAM, DRAM, display control chip, 483 interface chips, formations such as electronic switch.If single shaft is handled mobile ABB robot, its steering as shown in Figure 5, the joint of robot is divided into [1,2,3] and [4,5,6] two groups, three joints in every group are three directions of corresponding three-dimensional rocking bars respectively.
The problem of common three-dimensional rocker mainly comprises: 1, rocking bar can't move, and observing each median point position when shaking rocking bar has a clutter burr is arranged, or two three have.The thorn thorn sound that the loose contact of similar sound equipment potentiometer is sent when transferring.The fault rocking bar is observed level with oscillograph when stirring have tangible burr, or level is uncertain.2, the normal zero-bit level of rocking bar is 2.05V (measuring with common table), detect when stirring level between 1～3V with oscillograph, and the zero-bit level of fault rocking bar departs from 2.05V far away, what have reaches 2.2V or 1.90V, even rocking bar makes zero when this phenomenon occurring, robot still has action.
At above-mentioned three-dimensional rocker fault, corresponding method for maintaining is:
1, smears the swept resistance district with vaseline, wipe clean again, can effectively solve the level burr.The row's pin (brush) that is connected on the poke rod is very thin, may add behind the vaseline and can effectively fill and lead up crude place sliding resistive surface formation track or sanding resistance after long-term the use, and the row's of making pin contacts well with the resistance face after lubricating, and burr disappears.
2, when measuring zero-bit generation skew, can adopt cutter to go the way of part resistive film to look after and guide the balance of resistance.Removing the part resistive film at the adjustment resistance area with the pocket knife cutter, generally is fluting, the earlier a little less resistance that needs that slowly reaches.That make output level is intermediate value zero-bit 2.05V.This way is similar to the method for balance zeroing, but resistance can only increase and can not dwindle.The middle rotating shaft of rocking bar (3,6, the Z axle) be difficult to take apart, then is easy to damage the contacting metal silk if take apart.Therefore can adopt the method that increases resistance (can't with dwindling) to look after and guide intermediate value, increase the method for 10～20 Ω resistance so with regard to an available end.Usually, only there is the difference of 10 Ω between 2.79K Ω and the 2.80K Ω, generally not too large.Intermediate value zero-bit level increases the resistance by zero-bit during less than 2.05V, and intermediate value zero-bit level increases the resistance near 4.1V level position during greater than 2.05V.Three-dimensional rocker be nominally 2.0K Ω, representing each section of potentiometer resistance is 2K Ω, the 5V external voltage links to each other with three potentiometers in parallel through 270 Ω, to guarantee that intermediate value zero-bit level is 2.05V.Above method for maintaining can solve the malfunctioning problem of three-dimensional rocker effectively.
Adopted the method for maintaining that is used for the three-dimensional rocker of robot control of the present invention, remove the part resistance of the adjustment resistance area of X potentiometer and Y potentiometer by cutter, make when control lever mediates, the X potentiometer is identical with the resistance value at Y potentiometer two ends separately, and by inserting an additional resistance in the series connection of the sliding conduction position of Z potentiometer, when control lever was mediated, the resistance value at Z potentiometer two ends was also identical.Thereby it is inaccurate to have overcome the zero-bit level effectively, and robot still had the problem of action after three-dimensional rocker made zero.Further guarantee the accuracy of robot motion, also guaranteed the quality of the product produced.This method is simple and practical, and is with low cost.
In this specification, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (7)
1. method for maintaining that is used for the three-dimensional rocker of robot control, described three-dimensional rocker comprises control lever and is respectively applied for the control X of robot rotating shaft, the X potentiometer of Y rotating shaft and Z rotating shaft campaign, Y potentiometer and Z potentiometer, wherein, one end of control lever is used to connect power supply, the other end of control lever is the X potentiometer, the sliding conduction position of Y potentiometer and Z potentiometer, the X potentiometer, Y potentiometer and Z potentiometer all have swept resistance district separately, each swept resistance district also is connected with electrode separately, X potentiometer and Y potentiometer are to be the planar slide variable resistor that right-angled intersection is provided with, the Z potentiometer is to rotate the slip variable resistor that changes according to control lever, the swept resistance district of X potentiometer and the Y potentiometer adjustment resistance area by separately respectively is connected separately electrode, it is characterized in that described method may further comprise the steps:
(1) cutter removes the part resistance of adjustment resistance area of X potentiometer and Y potentiometer respectively, and feasible when control lever mediates, the X potentiometer is identical with the resistance value at Y potentiometer two ends separately.
2. the method for maintaining that is used for the three-dimensional rocker of robot control according to claim 1 is characterized in that described adjustment resistance area is a resistive film.
3. the method for maintaining that is used for the three-dimensional rocker of robot control according to claim 1, it is characterized in that, the electrode of described Z potentiometer is connected in the centre position at Z potentiometer sliding conduction position, the described method for maintaining that is used for the three-dimensional rocker of robot control, further comprising the steps of in step (1) back:
(2) insert an additional resistance in the series connection of the sliding conduction position of Z potentiometer, when control lever was mediated, the resistance value at Z potentiometer two ends was identical.
4. the method for maintaining that is used for the three-dimensional rocker of robot control according to claim 3 is characterized in that described step (2) specifically may further comprise the steps:
(2-1) mediate when control lever, and the zeropoint resistance value of Z potentiometer inserts described additional resistance in the series connection of the end of Z potentiometer when bigger than normal;
(2-2) mediate when control lever, and the zeropoint resistance value of Z potentiometer is when less than normal, inserts described additional resistance in the electrode points series connection of Z potentiometer.
5. according to claim 3 or the 4 described method for maintaining that are used for the three-dimensional rocker of robot control, it is characterized in that the resistance of described additional resistance is 10 Ω～20 Ω.
6. according to each described method for maintaining that is used for the three-dimensional rocker of robot control in the claim 1～4, it is characterized in that, the row's of being provided with pin also on the contact position in described control lever and each swept resistance district, described control lever is by described row's pin described each swept resistance district that is slidingly connected, and is preceding further comprising the steps of in described step (1):
(0) smears lubricant in each swept resistance district with the position of row's pin sliding-contact, and lubricant is cleaned.
7. the method for maintaining that is used for the three-dimensional rocker of robot control according to claim 6 is characterized in that described lubricant is a vaseline.
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| CN201010202187.5A CN102275166B (en) | 2010-06-13 | 2010-06-13 | Maintenance method for three dimensional rocking bar used for robot control |
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| CN201010202187.5A CN102275166B (en) | 2010-06-13 | 2010-06-13 | Maintenance method for three dimensional rocking bar used for robot control |
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| CN104750114A (en) * | 2015-04-08 | 2015-07-01 | 王宏博 | Portable unmanned aerial vehicle control box |
| CN107941143A (en) * | 2017-12-15 | 2018-04-20 | 江西天河传感器科技有限公司 | A kind of conductive plastics voltage is than output angle sensor |
| WO2019011001A1 (en) * | 2017-07-13 | 2019-01-17 | 深圳市道通智能航空技术有限公司 | Remote control device and calibration method for potentiometer rocker thereof |
| TWI648753B (en) * | 2017-08-09 | 2019-01-21 | 曾吉旺 | Mechanical control module and variable resistor assembly thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019011001A1 (en) * | 2017-07-13 | 2019-01-17 | 深圳市道通智能航空技术有限公司 | Remote control device and calibration method for potentiometer rocker thereof |
| TWI648753B (en) * | 2017-08-09 | 2019-01-21 | 曾吉旺 | Mechanical control module and variable resistor assembly thereof |
| CN107941143A (en) * | 2017-12-15 | 2018-04-20 | 江西天河传感器科技有限公司 | A kind of conductive plastics voltage is than output angle sensor |
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