CN104537944A - Six-connecting-rod teaching device of six-axis robot - Google Patents
Six-connecting-rod teaching device of six-axis robot Download PDFInfo
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- CN104537944A CN104537944A CN201410849453.1A CN201410849453A CN104537944A CN 104537944 A CN104537944 A CN 104537944A CN 201410849453 A CN201410849453 A CN 201410849453A CN 104537944 A CN104537944 A CN 104537944A
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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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Abstract
The invention provides a six-connecting-rod teaching device of a six-axis robot, and belongs to the technical field of robots. The problem that existing robot teaching operation is complex and long in consumed time is solved. The six-connecting-rod teaching device of the six-axis robot comprises a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and six encoders, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are sequentially connected end to end, and the six encoders are arranged on the connecting portion of an executing end and the sixth connecting rod, the connecting portion of the sixth connecting rod and the fifth connecting rod, the connecting portion of the fifth connecting rod and the fourth connecting rod, the connecting portion of the fourth connecting rod and the third connecting rod, the connecting portion of the third connecting rod and the second connecting rod and the connecting portion of the second connecting rod and the first connecting rod respectively. The device can carry out teaching by being separated from the robot, more labor is saved in operation, and the device is more convenient to operate.
Description
Technical field
The invention belongs to robotics, relate to a kind of teaching display-tool with sticking plastic of robot, particularly a kind of six-bar linkage teaching apparatus of six-joint robot.
Background technology
Along with the development of field of machining, the degree of carrying out robotization processing with articulated robot replacement workman is more and more higher, can the finish the work suspension member of task of robot is how to make each service part of robot can according to the track of specifying, coordinate has gone motion, pause, the actions such as rotation, these actions all need programming slip-stick artist could be realized through programming by teach box, existing programming mode mainly contains following several form: 1, On-line programming by demonstration: in robot site, by operator by doing and illustrating or utilize teach box guided robot terminal to move by working trajectory route, and recorder person joint angle information, during work, controller read the positional information that stores and drive machines people repeats teaching time track and operation, 2, robot off-line programming: utilize computer graphics to set up the geometric model of robot and working environment thereof, segregation reasons and programming are carried out to the task that robot completes, and dynamic graphics simulation is carried out to the result of programming, finally the programmed result met the demands is passed to robot control system, 3. Programming by Virtual Demonstration System: utilize and calculate three-dimensional geometric shapes constructing virtual environment and virtual robot, robot mechanism, scene and constraint condition is introduced in dummy model, operator's Virtual Environment-Oriented, Virtual Demonstration is carried out by the end effector of man-machine interface guided robot in virtual scene, produce robot manipulating task track, generate robot language program, and carry out corresponding simulation and optimization, send robot to and perform.Aforesaid operations all requires that programming slip-stick artist possesses higher knowledge, and could will be competent at through special training, so just make the post dependence of programming slip-stick artist higher, operate directly perceived not, but once there is deviation in the program of programming gained and actual mechanical process, amendment after program setting is very inconvenient, and workload is large.Thus also have now and carry out teaching by the artificial robot that directly drags, but because teaching process is comparatively loaded down with trivial details, the time taking robot is often longer, usual needs just can complete concrete operations 1 ~ 2 working day, affect work efficiency, and when artificial guided robot action, due to the impact of the motor and reducing gear that are subject to each intra articular of robot, often cause the situation being difficult to drag during operation because resistance is excessive, also easily cause the joint of robot or the damage of interior fittings if firmly excessive.
Summary of the invention
The object of the invention is to there are the problems referred to above for existing technology, propose a kind of six-bar linkage teaching apparatus of six-joint robot, it can depart from robot and carry out teaching, operates more laborsaving convenience.
Object of the present invention realizes by following technical proposal: a kind of six-bar linkage teaching apparatus of six-joint robot, it is characterized in that, comprise pedestal, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, connecting rod six and six scramblers, described connecting rod one is vertically arranged, and the bottom of connecting rod one is connected on pedestal, the rear end of described connecting rod two is connected to the top of connecting rod one, and connecting rod two can rotate around the axial line of connecting rod one, the bottom of described connecting rod three is hinged on the front end of connecting rod two, and connecting rod three can swing relative to connecting rod two, the bottom of described connecting rod four is hinged on the top of connecting rod three, and connecting rod four can swing relative to connecting rod three, the rear end of described connecting rod five is connected to the front end of connecting rod four, and connecting rod five can rotate around the axial line of self, the rear end of described connecting rod six is hinged on the front end of connecting rod five, and connecting rod six can swing relative to connecting rod five, the front end coaxial rotation of described connecting rod six is connected with an actuating station, six described scramblers are separately positioned on actuating station and connecting rod six, connecting rod six and connecting rod five, connecting rod five and connecting rod four, connecting rod four and connecting rod three, connecting rod three and connecting rod two, and connecting rod two is with on the connecting portion of connecting rod one.
Scrambler in the technical program can by actuating station and connecting rod, and between adjacent two connecting rods relatively rotate or swing process angle change record in real time, six scramblers correspond to six joint shafts of six-joint robot, the exercise data that six scramblers obtain and end orbit are through data reduction, can be mapped on the six-joint robot of any a known joint size, realize track reproducing and teaching, because this teaching apparatus is for departing from self-existent a set of teaching mechanism of robot, and each connecting rod in the technical program and all motor and speed reducer is set without the need to machine people is the same between actuating station with connecting rod, when directly dragging this teaching mechanism and carrying out teaching, without the need to taking the working time of robot, whole teaching operation process is more laborsaving, flexibly with convenient and swift, can greatly reduce the teaching time, in addition the six-bar linkage in the technical program is connected by rotating or swinging, perfectly can simulate the working trajectory of six-joint robot, realize departing from robot and carry out teaching, the stability of each connecting rod center of gravity in this teaching apparatus can also be ensured simultaneously, not easily there is unnecessary rocking, make training data more accurate.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, described connecting rod one is solid bar member, the top of described connecting rod one is fixed with the rotating shaft one with damping, described rotating shaft one and connecting rod one are coaxially arranged, described connecting rod two horizontally set, and the length of connecting rod two is less than the length of connecting rod one, the rear end of described connecting rod two is sleeved in rotating shaft one by 2 bearings one, and described rotating shaft one is connected with scrambler one.Without the need to being connected with speed reduction unit by motor as six-joint robot between connecting rod two and connecting rod one, structure is simpler, and the rear end of connecting rod two is socket-connected by the rotating shaft 12 bearings one and connecting rod one with damping, only can carry out circumference rotation by limiting rod two, the length of this outside connecting rod two is less than the length of connecting rod one, and between 2 bearings one, there is gap, can ensure that the connective stability between connecting rod two and connecting rod one is higher, not easily rock.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the front end of described connecting rod two is connected with the rotating shaft two with damping by bearing two, described rotating shaft two is perpendicular with connecting rod two, and rotating shaft two is connected with scrambler two, the bottom of described connecting rod three is connected in rotating shaft two, and described connecting rod three is hollow pipe fitting.Without the need to being connected with speed reduction unit by motor as six-joint robot between connecting rod three and connecting rod two, structure is simpler, and only can carry out in opposite directions or backswing between connecting rod three and connecting rod two, and connecting rod three is hollow pipe fitting, lighter weight, barycentre offset is less, and side direction can not occur and rock, operational stability is better.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the bottom of described connecting rod four is connected with the rotating shaft three with damping by bearing three, described rotating shaft three is perpendicular with connecting rod four, and rotating shaft three is connected with scrambler three, the top of described connecting rod three is connected in rotating shaft three, and the length of described connecting rod four is less than connecting rod three.Without the need to being connected with speed reduction unit by motor as six-joint robot between connecting rod four and connecting rod three, structure is simpler, only can carry out in opposite directions or backswing between this outside connecting rod four and connecting rod three, and the length of connecting rod four is less than connecting rod three, make this device wait not easily generation side direction in use to rock, structural stability is better.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the rear end of described connecting rod five is fixed with the rotating shaft four with damping, described rotating shaft four is coaxially arranged with connecting rod five, described connecting rod five is hollow pipe fitting, the top of described connecting rod four is sleeved in rotating shaft four by 2 bearings four, and described rotating shaft four is connected with scrambler four.Without the need to being connected with speed reduction unit by motor as six-joint robot between connecting rod five and connecting rod four, structure is simpler, connecting rod five is plugged in the sleeve that connecting rod four top has, between 2 bearings four arranged in it, there is gap, and due to connecting rod five be hollow pipe fitting, lighter weight, make this device stability when operating better, the probability that unnecessary motion occurs is less.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the front end of described connecting rod five is connected with the rotating shaft five with damping by bearing five, described rotating shaft five is perpendicular with connecting rod five, and rotating shaft five is connected with scrambler five, and the rear end of described connecting rod six is connected in rotating shaft five.Without the need to being connected with speed reduction unit by motor as six-joint robot between connecting rod six and connecting rod five, structure is more simple, and connecting rod six only can swing up and down relative to connecting rod five, and structural stability is better.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the front end of described connecting rod six is connected with actuating station by the rotating shaft six with damping, described actuating station, rotating shaft six are coaxially arranged with connecting rod six, the rear end of described actuating station is sleeved in rotating shaft six, and be provided with bearing six between rotating shaft six and actuating station, described rotating shaft six is connected with scrambler six.Without the need to being connected with speed reduction unit by motor as six-joint robot between actuating station and connecting rod six, structure is more simple, and operation is more laborsaving.
Compared with prior art, the present invention has following advantage:
1, this teaching apparatus can depart from robot and directly carries out teaching operation, only need time data are extracted, are changed and implant, the working time of robot can not be had influence on, reduction enterprise cost;
2, application device is added in the actuating station of this teaching apparatus, skilled labor can manipulate this application device directly and carry out teaching, the scrambler be simultaneously arranged on each link joint is recorded the change of the angle of whole process in real time, then the data of record are extracted, through conversion, be implanted in object robot, such robot can copy working trajectory and the pattern of skilled labor completely, whole teaching process gets involved without the need to teaching slip-stick artist, and skilled labor does not need to be grasped too many robot application knowledge, can directly the teaching of teaching robot's faster and more convenient operation be more directly perceived, time saving and energy saving,
3, can copy the working trajectory of skilled labor completely, and displacement unnecessary in teaching process is few, the track data of record is accurate, and track adjustment work is few, can ensure the consistance of product quality;
4, lighter, more laborsaving than the teaching of conventional direct manipulation robot head.
5, after the teaching of this teaching apparatus, the joint data obtained and end orbit, through data reduction, can be mapped in the object robot of any a known joint size, realize track reproducing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is sectional view of the present invention.
Fig. 3 is the connection diagram of shaft of the present invention, bearing and scrambler.
In figure, 1, connecting rod one; 2, connecting rod two; 3, connecting rod three; 4, connecting rod four; 5, connecting rod five; 6, connecting rod six; 7, pedestal; 8, actuating station; 9, scrambler; 91, scrambler; 92, scrambler two; 93, scrambler three; 94, scrambler four; 95, scrambler five; 96, scrambler six; 10, rotating shaft; 101, rotating shaft one; 102, rotating shaft two; 103, rotating shaft three; 104, rotating shaft four; 105, rotating shaft five; 106, rotating shaft six; 11, bearing; 111, bearing one; 112, bearing two; 113, bearing three; 114, bearing four; 115, bearing five; 116, bearing six.
Embodiment
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiments.
With reference to Fig. 1 and Fig. 3, the present embodiment is a kind of six-bar linkage teaching apparatus carrying out teaching for six-joint robot, comprises connecting rod 1, connecting rod 22, connecting rod 33, connecting rod 44, connecting rod 55, connecting rod 66, pedestal 7, actuating station 8 and six scramblers 9.Connecting rod 1 is vertically arranged, and the bottom of connecting rod 1 to be plugged on pedestal 7 and to be bolted, connecting rod 66, connecting rod 55, connecting rod 44, connecting rod 33, connecting rod 22 and connecting rod 1 are joined end to end by hinged successively, actuating station 8 coaxial rotation is connected to the front end of connecting rod 66, and six scramblers 9 are separately positioned on actuating station 8 and connecting rod 66, connecting rod 66 and connecting rod 55, connecting rod 55 and connecting rod 44, connecting rod 44 and connecting rod 33, connecting rod 33 and connecting rod 22 and connecting rod 22 with on the connecting portion of connecting rod 1.Above-mentioned two adjacent connecting rods, and be all connected with bearing 11 by rotating shaft 10 between actuating station 8 and connecting rod 66, scrambler 9 is connected with rotating shaft 10, thus the relative angle during teaching operation of connecting rod 1, connecting rod 22, connecting rod 33, connecting rod 44, connecting rod 55, connecting rod 66 and actuating station 8 is changed all real time record gets off.
Composition graphs 1 and Fig. 2, the top of connecting rod 1 is fixed with rotating shaft 1, rotating shaft 1 and connecting rod 1 are coaxially arranged, connecting rod 22 horizontally set, and the rear end of connecting rod 22 is sleeved in rotating shaft 1 by bearing 1, rotating shaft 1 is coaxially connected with scrambler 1 by bolt, and connecting rod 22 can horizontally rotate around the axial line of rotating shaft 1; The front end of connecting rod 22 is connected with rotating shaft 2 102 by bearing 2 112, rotating shaft 2 102 is perpendicular with connecting rod 22, and rotating shaft 2 102 is connected with scrambler 2 92, the bottom of connecting rod 33 is connected in rotating shaft 2 102 by bolt, and connecting rod 33 can swing relative to connecting rod 22; The bottom of connecting rod 44 is connected with rotating shaft 3 103 by bearing 3 113, rotating shaft 3 103 is perpendicular with connecting rod 44, and rotating shaft 3 103 is connected with scrambler 3 93, the top of connecting rod 33 is connected in rotating shaft 3 103 by bolt, and connecting rod 44 can swing relative to connecting rod 33; The rear end of connecting rod 55 is fixed with rotating shaft 4 104, rotating shaft 4 104 and connecting rod 55 are coaxially arranged, the top of connecting rod 44 is sleeved in rotating shaft 4 104 by bearing 4 114, rotating shaft 4 104 is connected with scrambler 4 94, and connecting rod 55 can rotate around the axial line of rotating shaft 4 104; The front end of connecting rod 55 is connected with rotating shaft 5 105 by bearing 5 115, rotating shaft 5 105 is perpendicular with connecting rod 55, and rotating shaft 5 105 is connected with scrambler 5 95, the rear end of connecting rod 66 is connected in rotating shaft 5 105 by bolt, and connecting rod 66 can swing relative to connecting rod 55; The front end of connecting rod 66 has the rotating shaft 6 106 for being connected with actuating station 8, actuating station 8, rotating shaft 6 106 are coaxially arranged with connecting rod 66, bearing 6 116 is provided with between rotating shaft 6 106 and actuating station 8, rotating shaft 6 106 is connected with scrambler 6 96, actuating station 8 can be rotated around the axial line of rotating shaft 6 106.
In the present embodiment, the length of connecting rod 22 and connecting rod 44 is short compared with other connecting rod, can improve the relative stability during operation of this device.
The present embodiment is programmed without the need to teaching slip-stick artist, the hand-held actuating station 8 of skilled labor is only needed to carry out the simulated operation of operation, the angle being recorded each link joint in this teaching apparatus by 6 scramblers 9 changes, and data are extracted and changes, import to six-joint robot again, whole teaching process operation is convenient and the running time is shorter.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (7)
1. the six-bar linkage teaching apparatus of a six-joint robot, it is characterized in that, comprise pedestal (7), connecting rod one (1), connecting rod two (2), connecting rod three (3), connecting rod four (4), connecting rod five (5), connecting rod six (6) and six scramblers (9), described connecting rod one (1) is vertically arranged, and the bottom of connecting rod one (1) is connected on pedestal (7), the rear end of described connecting rod two (2) is connected to the top of connecting rod one (1), and connecting rod two (2) can rotate around the axial line of connecting rod one (1), the bottom of described connecting rod three (3) is hinged on the front end of connecting rod two (2), and connecting rod three (3) can swing relative to connecting rod two (2), the bottom of described connecting rod four (4) is hinged on the top of connecting rod three (3), and connecting rod four (4) can swing relative to connecting rod three (3), the rear end of described connecting rod five (5) is connected to the front end of connecting rod four (4), and connecting rod five (5) can rotate around the axial line of self, the rear end of described connecting rod six (6) is hinged on the front end of connecting rod five (5), and connecting rod six (6) can swing relative to connecting rod five (5), the front end coaxial rotation of described connecting rod six (6) is connected with an actuating station (8), six described scramblers (9) are separately positioned on actuating station (8) and connecting rod six (6), connecting rod six (6) and connecting rod five (5), connecting rod five (5) and connecting rod four (4), connecting rod four (4) and connecting rod three (3), connecting rod three (3) and connecting rod two (2), and connecting rod two (2) is with on the connecting portion of connecting rod one (1).
2. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterized in that, described connecting rod one (1) is solid bar member, the top of described connecting rod one (1) is fixed with the rotating shaft one (101) with damping, described rotating shaft one (101) and connecting rod one (1) are coaxially arranged, described connecting rod two (2) horizontally set, and the length of connecting rod two (2) is less than the length of connecting rod one (1), the rear end of described connecting rod two (2) is sleeved in rotating shaft one (101) by 2 bearings one (111), described rotating shaft one (101) is connected with scrambler one (91).
3. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterized in that, the front end of described connecting rod two (2) is connected with the rotating shaft two (102) with damping by bearing two (112), described rotating shaft two (102) is perpendicular with connecting rod two (2), and rotating shaft two (102) is connected with scrambler two (92), the bottom of described connecting rod three (3) is connected in rotating shaft two (102), and described connecting rod three (3) is hollow pipe fitting.
4. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterized in that, the bottom of described connecting rod four (4) is connected with the rotating shaft three (103) with damping by bearing three (113), described rotating shaft three (103) is perpendicular with connecting rod four (4), and rotating shaft three (103) is connected with scrambler three (93), the top of described connecting rod three (3) is connected in rotating shaft three (103), and the length of described connecting rod four (4) is less than connecting rod three (3).
5. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterized in that, the rear end of described connecting rod five (5) is fixed with the rotating shaft four (104) with damping, described rotating shaft four (104) is coaxially arranged with connecting rod five (5), described connecting rod five (5) is hollow pipe fitting, the top of described connecting rod four (4) is sleeved in rotating shaft four (104) by 2 bearings four (114), and described rotating shaft four (104) is connected with scrambler four (94).
6. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterized in that, the front end of described connecting rod five (5) is connected with the rotating shaft five (105) with damping by bearing five (115), described rotating shaft five (105) is perpendicular with connecting rod five (5), and rotating shaft five (105) is connected with scrambler five (95), the rear end of described connecting rod six (6) is connected in rotating shaft five (105).
7. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterized in that, the front end of described connecting rod six (6) is connected with actuating station (8) by the rotating shaft six (106) with damping, described actuating station (8), rotating shaft six (106) are coaxially arranged with connecting rod six (6), the rear end of described actuating station (8) is sleeved in rotating shaft six (106), and be provided with bearing six (116) between rotating shaft six (106) and actuating station (8), described rotating shaft six (106) is connected with scrambler six (96).
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| CN201410849453.1A CN104537944B (en) | 2014-12-30 | 2014-12-30 | A kind of six-bar linkage teaching apparatus of six-joint robot |
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| CN201410849453.1A CN104537944B (en) | 2014-12-30 | 2014-12-30 | A kind of six-bar linkage teaching apparatus of six-joint robot |
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| CN104537944A true CN104537944A (en) | 2015-04-22 |
| CN104537944B CN104537944B (en) | 2017-09-26 |
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Cited By (7)
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| CN104908039A (en) * | 2015-05-11 | 2015-09-16 | 东莞市金鸿自动化科技有限公司 | User usage pattern programming method for four-shaft horizontal manipulator |
| 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 |
| 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 |
| CN110181490A (en) * | 2019-06-28 | 2019-08-30 | 长沙开山斧智能科技有限公司 | Multi-axial Simultaneous operator and its control system |
| CN112894776A (en) * | 2021-02-23 | 2021-06-04 | 焦作大学 | Teaching device capable of being fixed at multiple angles |
| CN118023786A (en) * | 2024-04-09 | 2024-05-14 | 河南威猛振动设备股份有限公司 | Multi-station intelligent somatosensory welding equipment and welding method |
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| 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 |
| CN110181490A (en) * | 2019-06-28 | 2019-08-30 | 长沙开山斧智能科技有限公司 | Multi-axial Simultaneous operator and its control system |
| CN110181490B (en) * | 2019-06-28 | 2023-03-14 | 长沙开山斧智能科技有限公司 | Multi-axis synchronous manipulator and control system thereof |
| CN112894776A (en) * | 2021-02-23 | 2021-06-04 | 焦作大学 | Teaching device capable of being fixed at multiple angles |
| CN118023786A (en) * | 2024-04-09 | 2024-05-14 | 河南威猛振动设备股份有限公司 | Multi-station intelligent somatosensory welding equipment and welding method |
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