CN106166738A - A kind of teach-by-doing drags teaching robot of can hovering - Google Patents
A kind of teach-by-doing drags teaching robot of can hovering Download PDFInfo
- Publication number
- CN106166738A CN106166738A CN201610844093.5A CN201610844093A CN106166738A CN 106166738 A CN106166738 A CN 106166738A CN 201610844093 A CN201610844093 A CN 201610844093A CN 106166738 A CN106166738 A CN 106166738A
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- China
- Prior art keywords
- weight
- joint
- hovering
- rotary joint
- doing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 238000013016 damping Methods 0.000 claims abstract description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of and drags teaching robot of can hovering by doing and illustrating, the multi-joint arm being connected with rotating seat including pedestal, the rotating seat that is fixed on pedestal, multi-joint arm is all rotationally connected by rotary joint axle with each joint connecting joint and multi-joint arm self of rotating seat, it is equipped with for offset torque, the counterweight balancing mechanism of realization hovering on each rotary joint axle, counterweight balancing mechanism includes the balancing weight that weight linear meter and weight can regulate, one end of weight linear meter is propped up on balancing weight, and its other end is rotationally connected with described rotary joint axle.The a kind of of the present invention drags teaching robot of can hovering by doing and illustrating, use the imbalance of the mode offset torque of counterweight balance, making teaching operation lighter, the counterweight balance that simultaneously can regulate, so that it can realize hovering, can farthest reduce cost compared to traditional teaching robot；Damping mechanism compensates torque difference by the way of regulation rotating friction force so that hovers more reliable, and keeps.
Description
Technical field
The invention belongs to robot teaching technical field, be specifically related to a kind of teach-by-doing and drag teaching robot of can hovering.
Background technology
Chinese patent document CN104162890A disclose a kind of hand-in-hand demonstration robot based on motor power-assisted and
Control method, this teaching robot includes each joint connecting shaft of base, multi-joint arm, multi-joint arm self, encoder, electricity
Machine, manipulation sensing mechanisms, cylinder balancing mechanism etc..Its principle is the pose as residing for multi-joint arm, and power-assisted arithmetic system passes through
Interpolation method obtains each joint shaft in positive direction or opposite direction just at static critical balance moment values, and exists according to operator
The signal shortcoming joint shaft rotation direction triggered in manipulation sensing mechanisms, is provided assist torque by motor to joint, makes multi-joint
Arm is prone to be dragged by operator carry out teaching.
Small contact in this patent document CN104162890A sensing mechanisms cannot ensure to feed back accurately, in fact it could happen that
It is delayed that signals collecting causes not in time, and it is relatively costly, it is impossible to realizes hovering.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of teach-by-doing and drag teaching robot of can hovering, employing is joined
The imbalance of the mode offset torque of galassing weighing apparatus, makes teaching operation lighter, and the counterweight balance that simultaneously can regulate enables it to
Enough realization is hovered reliably, can farthest reduce cost compared to traditional teaching robot.
For reaching above-mentioned purpose, technical scheme is as follows: a kind of teach-by-doing drags teaching robot of can hovering, bag
The connection of the multi-joint arm that the rotating seat include pedestal, being fixed on pedestal is connected with described rotating seat, multi-joint arm and rotating seat
Each joint of joint and multi-joint arm self is all rotationally connected by rotary joint axle, it is characterised in that: each described rotation
Turn and be equipped with for offset torque, the counterweight balancing mechanism of realization hovering on joint shaft,
-described counterweight balancing mechanism, it includes the balancing weight that weight linear meter and weight can regulate, one end of described weight linear meter
Propping up on balancing weight, its other end is rotationally connected with described rotary joint axle；
The weight linear meter of current counterweight balancing mechanism and corresponding joint arm are separately positioned on current counterweight balance
The rotary joint axle both sides at mechanism place；
The balancing weight of current counterweight balancing mechanism is overall with the weight that all joint arms of its rear end, balancing weight are formed is working as
Balance at the rotary joint axle at front counterweight balancing mechanism place.
In one preferred embodiment of the present invention, farther include to be further fixed on for mending on each described rotary joint axle
Repay the damping mechanism of torque difference.
In one preferred embodiment of the present invention, farther include the weight linear meter of current counterweight balancing mechanism and corresponding therewith
Both joint arms be separately positioned on current counterweight balancing mechanism place rotary joint axle both sides become 180 degree of straight lines.
In one preferred embodiment of the present invention, farther include described damping mechanism and include rub base, friction regulation
Base and friction plate, described friction base is fixed on rotary joint axle, and described friction adjusting base is fixed on pedestal, with institute
State and be all provided with on the face that rotary joint axle generation relative motion, described friction base and friction adjusting base are oppositely arranged
State friction plate, by the mutual frictional force between regulation bolt two friction plates of regulation.
In one preferred embodiment of the present invention, farther include to be respectively and fixedly provided with for remembering on each described rotary joint axle
The encoder of record rotary joint axle pose data, described encoder electrically connects with control system.
In one preferred embodiment of the present invention, farther include described balancing weight and include balancing weight body and be attached thereto
Regulating block, described balancing weight body and regulating block can be detachably fixedly arranged at described weight linear meter by securing member.
The invention has the beneficial effects as follows:
One, a kind of of the present invention drag teaching robot of can hovering by doing and illustrating, use the mode of counterweight balance to offset torsion
The imbalance of square, makes teaching operation lighter, and the counterweight balance that simultaneously can regulate is so that it can realize hovering, compared to biography
The teaching robot of system can farthest reduce cost；
Two, damping mechanism compensates torque difference by the way of regulation rotating friction force so that hover more reliable, and
Keep.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, in embodiment technology being described below
The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some realities of the present invention
Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the structural representation of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of preferred embodiment of the present invention counterweight balancing mechanism；
Fig. 3 is the structural representation of preferred embodiment of the present invention damping mechanism.
Wherein: 1-pedestal, 2-rotating seat, 3-counterweight balancing mechanism one, 4-weight linear meter one, 5-rotary joint axle one, 6-hinders
Buddhist nun mechanism one, 7-encoder one, 8-J2 joint arm, 9-rotary joint axle two, 10-damping mechanism two, 11-encoder two, 12-joins
Weight balanced controls two, 13-J4 rotary shaft, 14-J3 joint arm, 15-J4 joint arm, 16-counterweight balancing mechanism three, 17-rotates pass
Nodal axisn three, 18-damping mechanism three, 19-encoder three, 20-J5 joint arm, 21-J6 joint arm, 22-J1 joint arm；
A-rubs base, and b-rubs adjusting base, and c-friction plate, d-regulates bolt；
E-weight linear meter, h-balancing weight, h1-balancing weight body, h2-regulating block.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment
A kind of drag teaching robot of can hovering by doing and illustrating as it is shown in figure 1, the present embodiment discloses, can be considered a kind of to
Industrial robot professor is about the instructional device of operating position data, especially for Six-DOF industrial robot, for
It has the data acquisition of robot operating position of 1:1 physical dimension, makes the terminal contacts can by optimized Structure Design
Arrive any one operating position easily, and by being arranged on the encoder record position of joint, its concrete structure is such as
Under:
The multi-joint arm being connected with described rotating seat 2 including pedestal 1, the rotating seat 2 that is fixed on pedestal 1, multi-joint arm
All it is rotationally connected by rotary joint axle with each joint connecting joint and multi-joint arm self of rotating seat 2, Mei Gesuo
State the encoder being respectively and fixedly provided with on rotary joint axle for recording rotary joint axle pose data, described encoder and control system
Electrical connection；It is equipped with for offset torque, the counterweight balancing mechanism of realization hovering on each described rotary joint axle, each described
The damping mechanism for compensating torque difference it is further fixed on rotary joint axle；
Described counterweight balancing mechanism includes the balancing weight h that weight linear meter e and weight can regulate, one end of described weight linear meter e
Propping up on balancing weight h, its other end is rotationally connected with described rotary joint axle；
The weight linear meter of current counterweight balancing mechanism and corresponding joint arm are separately positioned on current counterweight balance
The rotary joint axle both sides at mechanism place；
The balancing weight of current counterweight balancing mechanism is overall with the weight that all joint arms of its rear end, balancing weight are formed is working as
Balance at the rotary joint axle at front counterweight balancing mechanism place.
Concrete, as it is shown in figure 1, for the robot where applicable of six degree of freedom, have six joint arms, respectively J1 closes
Joint arm 22, J2 joint arm 8, J3 joint arm 14, J4 joint arm 15, J5 joint arm 20, J6 joint arm 21；
There are three counterweight balancing mechanisms, respectively counterweight balancing mechanism 1, counterweight balancing mechanism 2 12, counterweight balance
Mechanism 3 16；
There are three rotary joint axles, respectively rotary joint axle 1, rotary joint axle 29, rotary joint axle 3 17；
There are three damping mechanisms, respectively damping mechanism 1, damping mechanism 2 10, damping mechanism 3 18；
There are three encoders, respectively encoder 1, encoder 2 11, encoder 3 19；
Encoder 1 and damping mechanism 1 are fixed on rotary joint axle 1；
Encoder 2 11 and damping mechanism 2 10 are fixed on rotary joint axle 29；
Encoder 3 19 and damping mechanism 3 18 are fixed on rotary joint axle 3 17.
Rotating seat 2 is fixed on pedestal 1, and can be with 360 ° of rotations, the weight linear meter one 4 and J2 of weight linear meter balanced controls 1
Joint arm 8 is in one end of rotating seat 2, and can rotate around rotary joint axle 1, and damping mechanism 1 is fixed with encoder 1
On rotary joint axle 1, and weight linear meter 1 and J2 joint arm 8 are respectively in the both sides of rotating seat 2, become 180 degree of straight lines, counterweight
Bar 1 can not interfered with rotating seat 2, J1 joint arm 22 around around rotary joint axle 1 rotation with J2 joint arm 8；
Counterweight balancing mechanism 2 12 and J3 joint arm 14, respectively in the both sides of J2 joint arm 8, become 180 degree of straight lines, and counterweight is put down
Weighing apparatus mechanism 2 12 can rotate around rotary joint axle 29 with J3 joint arm 14 and not interfere with J2 joint arm 8；
Counterweight balancing mechanism 3 16 and J5 joint arm 20 can rotate around rotary joint axle 3 17, counterweight balancing mechanism 3 16
With J5 joint arm respectively in the both sides of J4 joint arm 18, becoming 180 degree of straight lines, counterweight balancing mechanism 3 16 and J5 joint arm can be around
Rotary joint axle 3 17 rotates and does not interferes with J4 joint arm.
Counterweight balancing mechanism 3 16 and the J5 joint arm 20 of end, J6 joint arm 21 balance at rotary joint axle 3 17；
Counterweight balancing mechanism 2 12 and rear end J3 joint arm 14, J4 joint arm 15, J5 joint arm 20, J6 joint arm 21, join
The weight that weight balanced controls 3 16 are formed is overall to be balanced at rotary joint axle 29；
Counterweight balancing mechanism 1 closes with rear end J2 joint arm 8, J3 joint arm 14, J4 joint arm 15, J5 joint arm 20, J6
The overall balance at rotary joint axle 1 of weight that joint arm 21, counterweight balancing mechanism 2 12, counterweight balancing mechanism 3 16 are formed.
So, the mode that the present invention uses counterweight to balance completely carrys out the imbalance of offset torque, makes teaching operation lighter,
The counterweight balance that simultaneously can regulate, can be maximum compared to traditional teaching robot so that it can realize hovering
Reduce cost.
Damping mechanism compensates torque difference by the way of regulation rotating friction force so that hovers more reliable, and keeps.
Concrete, as in figure 2 it is shown, described balancing weight h includes balancing weight body h1 and the regulating block h2 being attached thereto, described
Balancing weight body h1 and regulating block h2 can be detachably fixedly arranged on described weight linear meter e by securing member, adjustable weight
Balancing weight h teaching robot's entirety can be hovered, make teaching operation more convenient.
Concrete, as it is shown on figure 3, described damping mechanism includes rub base a, friction adjusting base b and friction plate c, institute
Stating friction base a to be fixed on rotary joint axle, described friction adjusting base b is fixed on pedestal, with described rotary joint axle
Produce and be equipped with described friction plate c on the face that relative motion, described friction base a and friction adjusting base b are oppositely arranged,
By the mutual frictional force between regulation bolt d two friction plate c of regulation.Damping mechanism is by regulating the side of rotating friction force
Formula compensates torque difference so that hovers more reliable, and keeps.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (6)
1. drag can hover a teaching robot, the rotating seat including pedestal, being fixed on pedestal and described rotation by doing and illustrating
The multi-joint arm that seat connects, multi-joint arm all passes through with each joint connecting joint and multi-joint arm self of rotating seat
Rotary joint axle is rotationally connected, it is characterised in that: it is equipped with for offset torque on each described rotary joint axle, realizes hovering
Counterweight balancing mechanism,
-described counterweight balancing mechanism, it includes the balancing weight that weight linear meter and weight can regulate, one end Zhi Yu of described weight linear meter
On balancing weight, its other end is rotationally connected with described rotary joint axle；
Weight linear meter and the corresponding joint arm of current counterweight balancing mechanism are separately positioned on current counterweight balancing mechanism
The rotary joint axle both sides at place；
The weight entirety that the balancing weight of current counterweight balancing mechanism and all joint arms of its rear end, balancing weight are formed currently is being joined
Balance at the rotary joint axle at weight balanced controls place.
A kind of teach-by-doing the most according to claim 1 drags teaching robot of can hovering, it is characterised in that: each described rotation
Turn the damping mechanism being further fixed on joint shaft for compensating torque difference.
A kind of teach-by-doing the most according to claim 1 and 2 drags teaching robot of can hovering, it is characterised in that: currently join
The weight linear meter of weight balanced controls and corresponding joint arm are separately positioned on the rotation at current counterweight balancing mechanism place
Joint shaft both sides become 180 degree of straight lines.
A kind of teach-by-doing the most according to claim 2 drags teaching robot of can hovering, it is characterised in that: described damping machine
Structure includes rub base, friction adjusting base and friction plate, and described friction base is fixed on rotary joint axle, and described friction is adjusted
Joint base is fixed on pedestal, produces relative motion, described friction base and friction adjusting base two with described rotary joint axle
Described friction plate it is equipped with, by the phase mutual friction between regulation bolt two friction plates of regulation on the face that person is oppositely arranged
Power.
A kind of teach-by-doing the most according to claim 1 and 2 drags teaching robot of can hovering, it is characterised in that: Mei Gesuo
State the encoder being respectively and fixedly provided with on rotary joint axle for recording rotary joint axle pose data, described encoder and control system
Electrical connection.
A kind of teach-by-doing the most according to claim 5 drags teaching robot of can hovering, it is characterised in that: described balancing weight
Can be dismantled by securing member with the regulating block being attached thereto, described balancing weight body and regulating block including balancing weight body
Be fixed on described weight linear meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844093.5A CN106166738B (en) | 2016-09-23 | 2016-09-23 | A kind of teach-by-doing dragging can hover teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844093.5A CN106166738B (en) | 2016-09-23 | 2016-09-23 | A kind of teach-by-doing dragging can hover teaching robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106166738A true CN106166738A (en) | 2016-11-30 |
| CN106166738B CN106166738B (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610844093.5A Active CN106166738B (en) | 2016-09-23 | 2016-09-23 | A kind of teach-by-doing dragging can hover teaching robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106166738B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891422A (en) * | 2017-11-06 | 2018-04-10 | 谜米机器人自动化（上海）有限公司 | A kind of method for controlling steering wheel |
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| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration robot |
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| CN104265831A (en) * | 2014-09-16 | 2015-01-07 | 延锋汽车饰件系统有限公司 | Novel damping structure and construction method thereof |
| CN105114444A (en) * | 2015-09-10 | 2015-12-02 | 河南科技大学 | Joint mechanism with adjustable rotary damping force |
| CN205005151U (en) * | 2015-10-28 | 2016-01-27 | 四川长虹电子系统有限公司 | Rotational damping mechanism with adjustable |
| JP2016083705A (en) * | 2014-10-23 | 2016-05-19 | 株式会社メカトロデザイン | Robot teaching device |
| CN206048180U (en) * | 2016-09-23 | 2017-03-29 | 苏州哈工易科机器人有限公司 | It is a kind of to drag teaching robot of hovering by doing and illustrating |
-
2016
- 2016-09-23 CN CN201610844093.5A patent/CN106166738B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration robot |
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| CN104265831A (en) * | 2014-09-16 | 2015-01-07 | 延锋汽车饰件系统有限公司 | Novel damping structure and construction method thereof |
| JP2016083705A (en) * | 2014-10-23 | 2016-05-19 | 株式会社メカトロデザイン | Robot teaching device |
| CN105114444A (en) * | 2015-09-10 | 2015-12-02 | 河南科技大学 | Joint mechanism with adjustable rotary damping force |
| CN205005151U (en) * | 2015-10-28 | 2016-01-27 | 四川长虹电子系统有限公司 | Rotational damping mechanism with adjustable |
| CN206048180U (en) * | 2016-09-23 | 2017-03-29 | 苏州哈工易科机器人有限公司 | It is a kind of to drag teaching robot of hovering by doing and illustrating |
Non-Patent Citations (1)
| Title |
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| 何凯杰: ""施釉机器人结构分析与优化设计"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107891422A (en) * | 2017-11-06 | 2018-04-10 | 谜米机器人自动化（上海）有限公司 | A kind of method for controlling steering wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106166738B (en) | 2019-01-25 |
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Effective date of registration: 20190410 Address after: 150000 Harbin City, Heilongjiang Province, Harbin Jingkai District, Harping Road Concentrated Area, Dalian North Road and Xingkai Road Intersection Patentee after: HIT ROBOT GROUP Co.,Ltd. Address before: 215000 Zhongxin Science and Technology Industrial Workshop, No. 8 Exhibition Road, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU HAGONG YIKE ROBOT Co.,Ltd. |
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Effective date of registration: 20240626 Granted publication date: 20190125 |