CN105702148B - Industrial robot teaching device - Google Patents
Industrial robot teaching device Download PDFInfo
- Publication number
- CN105702148B CN105702148B CN201610256815.5A CN201610256815A CN105702148B CN 105702148 B CN105702148 B CN 105702148B CN 201610256815 A CN201610256815 A CN 201610256815A CN 105702148 B CN105702148 B CN 105702148B
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000009434 installation Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- 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 provides an industrial robot demonstration device, which comprises a demonstration mechanical arm, a power supply mechanism and a bottom plate, wherein a demonstration robot consists of a first joint, a second joint, a third joint and a servo motor, a pressure sensor is arranged inside the bottom plate, a left upright post is arranged at the left end of the bottom plate, a right upright post is arranged at the right end of the bottom plate, an infrared transmitter is arranged above the left upright post, an infrared receiver is arranged above the right upright post, a controller is arranged above the power supply mechanism, a printed circuit board is arranged inside the controller, a single chip microcomputer, a storage and a relay are welded on the printed circuit board, and an alarm is arranged on the side surface of the power; compared with the prior art, the invention has the following beneficial effects: whether human or other objects enter the working range of the teaching mechanical arm can be found in time, and the servo motor is automatically stopped to provide power, so that the teaching mechanical arm stops working, the personal safety of human is protected, and the learning efficiency can be effectively improved.
Description
Technical field
The present invention is a kind of industrial robot teaching device, belongs to a kind of factory or enterprise or institute's industrial robot teaching
Device.
Background technology
As technological progress and the development need of enterprise, industrial robot start the every field that enters society comprehensively, each
Industrial robot profession or correlated curriculum are opened up in class electromechanics universities and colleges, becomes an urgent demand in educational training field.The present apparatus is used
In the operation of industrial robot and programming experiment practice aided education and research work.
Industrial robot teaching, training, the practical method of experiment practice, usually there are two types of methods：
First, it directly on practical industrial robot, operated by practical handhold box, program practice.
There are the following problems for this method：
1. for beginner, the operation programming of robot, misoperation can cause personal safety to ask；
2. because of misoperation, caused by equipment safety problem；
3. operation programming every time all can be the expense of a reality：Material, abrasion etc..
Two or by operating the virtual handhold box in computer, control virtual robot, learning manipulation, programming.
The problem of this method is brought be：
1. virtual handhold box is a pure software application in PC machine, by mouse or QWERTY keyboard, practical hand is simulated
Box operation is held, it is troublesome in poeration in use, it is less efficient；
2. the operation programming software in virtual handhold box is not quite identical with the software in practical handhold box, it is impossible to replace completely
In generation, is programmed using the teaching of practical handhold box, and being turned in the teaching of actual robot by virtual robot needs to learn reality again
The operation of handhold box；
3. when practical operation teaching mechanical arm, because operating technology is not perfect, if unexpected someone at this time
When class or other objects are entered in the working range of teaching mechanical arm, it inevitably will appear accident, teaching machinery of the prior art
The safety measure of arm is done perfect not enough.
Invention content
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of industrial robot teaching device, to solve
The problems mentioned above in the background art, the present invention is easy to use, and easy to operation, stability is good, and reliability is high.
To achieve these goals, the present invention is to realize by the following technical solutions：A kind of industrial robot teaching
Device, including teaching mechanical arm, power supply mechanism and bottom plate, the teaching mechanical arm is mounted on fixed underpan, the teaching machine
Device people is made of joint one, joint two, joint three and servo motor, the joint one be internally provided with joint control one,
The joint two is internally provided with joint control two, and the joint three is internally provided with joint control three, described to watch
The right side in motor installation joint one is taken, the joint two is mounted on the top in joint one, and the joint three is mounted on joint two
Front, the fixed underpan are mounted on plate upper surface, and the bottom plate is internally provided with pressure sensor, a left side for the bottom plate
End is provided with left column, and the right end of the bottom plate is provided with right column, infrared transmitter, institute are provided with above the left column
It states and infrared remote receiver is provided with above right column, the teaching mechanical arm, pressure sensor, infrared remote receiver and infrared hair
Emitter connects power supply mechanism by being electrically connected line, is provided with controller above the power supply mechanism, the controller it is interior
Portion is provided with printed circuit board, and microcontroller, reservoir and relay, the power supply mechanism are welded on the printed circuit board
Side be provided with alarm；The input terminal of the output terminal of the infrared transmitter and microcontroller connects, the microcontroller it is defeated
Enter input terminal of the end also with the output terminal of infrared remote receiver, the input terminal of pressure sensor and controller to connect, the monolithic
The output terminal of machine and the input terminal of relay connect, and the output terminal of the relay and the input terminal of power supply mechanism connect, described
The output terminal of power supply mechanism and the input terminal of the input terminal of servo motor and alarm connect, and the output terminal of the microcontroller is also
It is connect with the input terminal of joint control one, the output terminal of the joint control one is connect with the input terminal in joint one, described
Input terminal of the output terminal of microcontroller also with joint control two is connect, output terminal and the joint two of the joint control two
Input terminal connects, and the input terminal of the output terminal of the microcontroller also with joint control three is connect, the joint control three
Output terminal is connect with the input terminal in joint three.
Further, the microcontroller controls joint one to move by joint control one, and the microcontroller passes through joint
Controller two controls joint two to move, and the microcontroller controls joint three to move by joint control three, the joint control
Device one, joint control two and joint control three provide power by servo motor.
Further, the left column and be arranged on left column upper end infrared transmitter setting there are two, two left sides
Column and be arranged on left column upper end infrared transmitter structure it is identical, two left columns and be arranged on left column upper end
Infrared transmitter is symmetrically installed on the left end of bottom plate.
Further, the right column and be arranged on right column upper end infrared transmitter setting there are two, two right sides
Column and be arranged on right column upper end infrared transmitter structure it is identical, two right columns and be arranged on right column upper end
Infrared transmitter is symmetrically installed on the right end of bottom plate.
Further, the microcontroller is connect with reservoir bi-directional data.
Further, the alarm is a kind of audible and visible alarm mechanism or Buzzing type alert mechanism, and the alarm passes through
Power supply mechanism provides power.
Further, the power supply mechanism is a kind of accumulator group.
Beneficial effects of the present invention：A kind of industrial robot teaching device of the present invention, 1, learning efficiency can be effectively improved,
The operational capacity of learner is improved, easy to use, easy to operation, stability is good, and reliability is high.
It 2nd,, can when thering are the mankind to pass through left column and right column by setting infrared remote receiver and infrared transmitter
It finds in time, and is automatically stopped and provides power to servo motor, teaching mechanical arm is made to be stopped, protect mankind's personal safety.
3rd, by the way that pressure sensor is set to can detect the weight change on bottom plate, can discover whether in time the mankind or other
Object enters in the working range of teaching mechanical arm, and is automatically stopped and provides power to servo motor, stops teaching mechanical arm
Mankind's personal safety is protected in work.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structure diagram of industrial robot teaching device of the present invention；
Fig. 2 is a kind of printed circuit plate structure schematic diagram of industrial robot teaching device of the present invention；
Fig. 3 is a kind of operation principle block diagram of industrial robot teaching device of the present invention；
In figure：1- teachings mechanical arm, 2- power supply mechanisms, 3- bottom plates, 11- fixed underpans, 12- joints one, 13- joints two,
14- joints three, 15- servo motors, 16- joint controls one, 17- joint controls two, 18- joint controls three, 21- are electrical
Connecting line, 22- controllers, 23- alarms, 24- printed circuit boards, 25- microcontrollers, 26- reservoirs, 27- relays, 31- are left
Column, 32- infrared transmitters, 33- right columns, 34- infrared remote receivers, 35- pressure sensors.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, with reference to
Specific embodiment, the present invention is further explained.
It please refers to Fig.1, Fig. 2 and Fig. 3, the present invention provide a kind of technical solution：A kind of industrial robot teaching device, including
Teaching mechanical arm 1, power supply mechanism 2 and bottom plate 3, teaching mechanical arm 1 are mounted on fixed underpan 11, and teaching robot is by joint one
12nd, joint 2 13, joint 3 14 and servo motor 15 are formed, and joint 1 is internally provided with joint control 1, joint
2 13 are internally provided with joint control 2 17, and joint 3 14 is internally provided with joint control 3 18, servo motor 15
The right side in joint 1 is installed, joint 2 13 is mounted on the top in joint 1, and joint 3 14 is mounted on the front in joint 2 13,
Fixed underpan 11 is mounted on 3 upper surface of bottom plate, and bottom plate 3 is internally provided with pressure sensor 35, and the left end of bottom plate 3 is provided with a left side
Column 31, the right end of bottom plate 3 are provided with right column 33, and the top of left column 31 is provided with infrared transmitter 32, right column 33
Top is provided with infrared remote receiver 34, teaching mechanical arm 1, pressure sensor 35, infrared remote receiver 34 and infrared transmitter 32
Power supply mechanism 2 is connected by being electrically connected line 21, the top of power supply mechanism 2 is provided with controller 22, and the inside of controller 22 is set
Printed circuit board 24 is equipped with, microcontroller 25, reservoir 26 and relay 27, power supply mechanism 2 are welded on printed circuit board 24
Side be provided with alarm 23.
The output terminal of infrared transmitter 32 is connect with the input terminal of microcontroller 25, and the input terminal of microcontroller 25 also connects with infrared
Receive the input terminal connection of the output terminal of device 34, the input terminal of pressure sensor 35 and controller 22, the output terminal of microcontroller 25
Connect with the input terminal of relay 27, the output terminal of relay 27 is connect with the input terminal of power supply mechanism 2, power supply mechanism 2 it is defeated
Outlet is connect with the input terminal of servo motor 15 and the input terminal of alarm 23, the output terminal of microcontroller 25 also with joint control
The input terminal connection of device 1, the output terminal of joint control 1 connect with the input terminal in joint 1, microcontroller 25 it is defeated
Input terminal of the outlet also with joint control 2 17 is connect, and the output terminal of joint control 2 17 connects with the input terminal in joint 2 13
It connects, the input terminal of the output terminal of microcontroller 25 also with joint control 3 18 is connect, the output terminal of joint control 3 18 and pass
3 14 input terminal connection is saved, microcontroller 25 is connect with 26 bi-directional data of reservoir.
Microcontroller 25 controls joint 1 to move by joint control 1, and microcontroller 25 passes through joint control 2 17
Joint 2 13 is controlled to move, microcontroller 25 controls joint 3 14 to move by joint control 3 18, and joint control 1 closes
It saves controller 2 17 and joint control 3 18 and provides power by servo motor 15.
Left column 31 and be arranged on 31 upper end of left column infrared transmitter 32 setting there are two, two left columns 31 with
And be arranged on 31 upper end of left column 32 structure of infrared transmitter it is identical, two left columns 31 and be arranged on 31 upper end of left column
Infrared transmitter 32 be symmetrically installed on the left end of bottom plate 3, right column 33 and the infrared hair for being arranged on 33 upper end of right column
Emitter 32 setting there are two, two right columns 33 and be arranged on 33 upper end of right column 32 structure of infrared transmitter it is identical, two
It a right column 33 and is arranged on the infrared transmitter 32 of 33 upper end of right column and is symmetrically installed on the right end of bottom plate 3.
Alarm 23 is a kind of audible and visible alarm mechanism or Buzzing type alert mechanism, and alarm 23 is provided by power supply mechanism 2
Power, power supply mechanism 2 are a kind of accumulator group.
As one embodiment of the present of invention：Learner can send out control instruction by controller 22, then pass through monolithic
Machine 25 controls teaching mechanical arm 1 to work, and can effectively improve learning efficiency, improve the operational capacity of learner, easy to use, is convenient for
Operation, stability is good, and reliability is high.
As an alternative embodiment of the invention：By setting infrared transmitter 32 and infrared remote receiver 34, infrared emission
Device 32 can ceaselessly send infrared light, and infrared remote receiver 34 can receive this infrared relationship, this process received is one
When actual use, infrared transmitter 32 and infrared remote receiver 34 are moved to whenever there is the mankind for the normal transmitting step of kind
When intermediate, it can all stop the reception of infrared light, this is received and the information of blocking can be transmitted in microcontroller 25, when every
When secondary infrared light transmission is blocked, microcontroller 25 then controls power supply mechanism 2 to be supplied to alarm 23 by controlling relay 27
Electricity makes alarm 23 work, and power supply mechanism 2 is controlled to stop providing power to servo motor 15, and teaching mechanical arm 1 is made to stop work
Make, protect mankind's personal safety.
Before actual use, staff can be inputted in the critical value to reservoir 26 of a pressure, in actual use
When, pressure sensor 35 can detect the pressure information on bottom plate 3 and be transmitted in microcontroller 25, and microcontroller 25 is further
After calculating and handling, compared by the pressure threshold with being stored in reservoir 26, if higher than this critical value, it is single
Piece machine 25, so as to which power supply mechanism 2 be controlled to power to alarm 23, makes alarm 23 work, and control by controlling relay 27
Power supply mechanism 2 stops servo motor 15 to provide power, and teaching mechanical arm 1 is made to be stopped, and protects mankind's personal safety.
The basic principles, main features and the advantages of the invention have been shown and described above, for this field skill
For art personnel, it is clear that the present invention is not limited to the details of above-mentioned exemplary embodiment, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes falling within the meaning and scope of the equivalent requirements of the claims in the present invention
It is interior.Any reference numeral in claim should not be considered as to the involved claim of limitation.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in each embodiment can also be properly combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of industrial robot teaching device, including teaching mechanical arm, power supply mechanism and bottom plate, it is characterised in that：It is described to show
Mechanical arm is taught to be mounted on fixed underpan, the teaching robot is by joint one, joint two, joint three and servo motor structure
Into, the joint one is internally provided with joint control one, the joint two is internally provided with joint control two, the pass
Section three is internally provided with joint control three, and the right side in the servo motor installation joint one, the joint two, which is mounted on, closes
The top of section one, the joint three are mounted on the front in joint two, and the fixed underpan is mounted on plate upper surface, the bottom plate
Be internally provided with pressure sensor, the left end of the bottom plate is provided with left column, and the right end of the bottom plate is provided with right column,
Infrared transmitter is provided with above the left column, infrared remote receiver, the teaching machine are provided with above the right column
Tool arm, pressure sensor, infrared remote receiver and infrared transmitter connect power supply mechanism, the power supply machine by being electrically connected line
Controller is provided with above structure, the controller is internally provided with printed circuit board, is welded on the printed circuit board
Microcontroller, reservoir and relay, the side of the power supply mechanism are provided with alarm；
The input terminal of the output terminal of the infrared transmitter and microcontroller connects, the input terminal of the microcontroller also with infrared receiver
The input terminal connection of the output terminal of device, the input terminal of pressure sensor and controller, the output terminal and relay of the microcontroller
The input terminal connection of device, the output terminal of the relay and the input terminal of power supply mechanism connect, the output terminal of the power supply mechanism
Connect with the input terminal of servo motor and the input terminal of alarm, the output terminal of the microcontroller also with joint control one
Input terminal connects, and the output terminal of the joint control one is connect with the input terminal in joint one, and the output terminal of the microcontroller is also
It is connect with the input terminal of joint control two, the output terminal of the joint control two is connect with the input terminal in joint two, described
Input terminal of the output terminal of microcontroller also with joint control three is connect, output terminal and the joint three of the joint control three
Input terminal connects；The alarm is a kind of audible and visible alarm mechanism or Buzzing type alert mechanism, and the alarm passes through power supply machine
Structure provides power；The power supply mechanism is a kind of accumulator group.
2. a kind of industrial robot teaching device according to claim 1, it is characterised in that：The microcontroller passes through joint
Controller one controls joint one to move, and the microcontroller controls joint two to move by joint control two, and the microcontroller leads to
Crossing joint control three controls joint three to move, the joint control one, joint control two and joint control threeway
It crosses servo motor and power is provided.
3. a kind of industrial robot teaching device according to claim 1, it is characterised in that：The left column and setting
There are two the infrared transmitter settings of left column upper end, two left columns and the infrared transmitter for being arranged on left column upper end
Structure is identical, two left columns and is arranged on the infrared transmitter of left column upper end and is symmetrically installed on the left end of bottom plate.
4. a kind of industrial robot teaching device according to claim 1, it is characterised in that：The right column and setting
There are two the infrared transmitter settings of right column upper end, two right columns and the infrared transmitter for being arranged on right column upper end
Structure is identical, two right columns and is arranged on the infrared transmitter of right column upper end and is symmetrically installed on the right end of bottom plate.
5. a kind of industrial robot teaching device according to claim 1, it is characterised in that：The microcontroller and reservoir
Bi-directional data connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256815.5A CN105702148B (en) | 2016-04-25 | 2016-04-25 | Industrial robot teaching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256815.5A CN105702148B (en) | 2016-04-25 | 2016-04-25 | Industrial robot teaching device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105702148A CN105702148A (en) | 2016-06-22 |
| CN105702148B true CN105702148B (en) | 2018-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610256815.5A Active CN105702148B (en) | 2016-04-25 | 2016-04-25 | Industrial robot teaching device |
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| Country | Link |
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| CN (1) | CN105702148B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313007B (en) * | 2016-10-10 | 2018-10-12 | 电子科技大学 | The teaching playback system of parallel connection type drilling machine |
| CN110738917A (en) * | 2017-09-20 | 2020-01-31 | 李敏 | Teaching device for industrial robots |
| CN112571456B (en) * | 2021-01-13 | 2022-05-03 | 益阳瀚鑫机械制造有限公司 | Safety zone protection device of manipulator presentation device |
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| CN104112390A (en) * | 2014-07-23 | 2014-10-22 | 南京理工大学 | Electromechanical comprehensive experiment platform |
| CN204516240U (en) * | 2015-03-25 | 2015-07-29 | 山东星科智能科技股份有限公司 | A kind of teaching robot |
| CN205845385U (en) * | 2016-04-25 | 2016-12-28 | 电子科技大学中山学院 | Industrial robot teaching device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104416581A (en) * | 2013-08-27 | 2015-03-18 | 富泰华工业（深圳）有限公司 | Mechanical arm with warning function |
-
2016
- 2016-04-25 CN CN201610256815.5A patent/CN105702148B/en active Active
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| RO100183A2 (en) * | 1987-12-28 | 1990-07-12 | Inst Cercetari Ing Te | Clearing grade measurng installation for thickeners |
| CN203171625U (en) * | 2013-04-10 | 2013-09-04 | 丽水学院 | Intelligent learning arm |
| CN203882524U (en) * | 2014-02-22 | 2014-10-15 | 山东栋梁科技设备有限公司 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
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Effective date of registration: 20201224 Address after: 224001 No.9 Yunxi Road, environmental protection science and Technology City, Tinghu District, Yancheng City, Jiangsu Province Patentee after: JIANGSU CASHH NUCLEAR ENVIRONMENT PROTECTION Co.,Ltd. Address before: 528402, Xueyuan Road, 1, Shiqi District, Guangdong, Zhongshan Patentee before: University OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA, ZHONGSHAN INSTITUTE |
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