CN106166738B - A kind of teach-by-doing dragging can hover teaching robot - Google Patents

A kind of teach-by-doing dragging can hover teaching robot Download PDF

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Publication number
CN106166738B
CN106166738B CN201610844093.5A CN201610844093A CN106166738B CN 106166738 B CN106166738 B CN 106166738B CN 201610844093 A CN201610844093 A CN 201610844093A CN 106166738 B CN106166738 B CN 106166738B
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China
Prior art keywords
rotary joint
weight
joint
axis
joint axis
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CN201610844093.5A
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CN106166738A (en
Inventor
邰文涛
芮鹏
杨雪峰
霰学会
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Harbin University of Technology Robot Group Co., Ltd.
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Suzhou Hagong Yike Robot Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0081Programme-controlled manipulators with master teach-in means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements

Abstract

The present invention provides a kind of teach-by-doing dragging and can hover teaching robot, including pedestal, fixed rotating seat on the base, the multi-joint arm being connect with rotating seat, each joint of the connecting joint and multi-joint arm of multi-joint arm and rotating seat itself passes through rotary joint axis and is rotatablely connected, it is equipped on each rotary joint axis for offset torque, realizes the counterweight balancing mechanism to hover, counterweight balancing mechanism includes weight linear meter and the clump weight that weight can be adjusted, in on clump weight, the other end and the rotary joint axis are rotatablely connected one end branch of weight linear meter.A kind of teach-by-doing of the invention drags the teaching robot that can hover, the imbalance of offset torque by the way of counterweight balance, make teaching operation lighter, while adjustable counterweight balance can reduce cost compared to traditional teaching robot so as to realize hovering to the greatest extent;Damping mechanism compensates torque difference by way of adjusting rotating friction force, so that hovering is more reliable, and keeps.

Description

A kind of teach-by-doing dragging can hover teaching robot
Technical field
The invention belongs to robot teaching technical fields, and in particular to a kind of teach-by-doing dragging can hover teaching robot.
Background technique
Chinese patent document CN104162890A disclose a kind of hand-in-hand demonstration robot based on motor power-assisted and its Control method, this teaching robot include pedestal, multi-joint arm, each joint connecting shaft of multi-joint arm itself, encoder, electricity Machine, manipulation sensing mechanisms, cylinder balancing mechanism etc..Its principle is by pose locating 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 is existed according to operator The signal disadvantage joint rotational axis direction triggered in manipulation sensing mechanisms provides assist torque from motor to joint, makes multi-joint Arm, which is easy to be dragged by operator, carries out teaching.
Small contact in this patent document CN104162890A sensing mechanisms cannot ensure accurately to feed back, in fact it could happen that Signal acquisition caused lag, and its higher cost not in time, can not achieve hovering.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of teach-by-doing draggings can hover teaching robot, using matching The imbalance of the mode offset torque of galassing weighing apparatus, makes teaching operation lighter, while adjustable counterweight balance enables it to It is enough to realize reliable hovering, cost can be reduced to the greatest extent compared to traditional teaching robot.
In order to achieve the above objectives, technical scheme is as follows: a kind of teach-by-doing dragging can hover teaching robot, packet Include pedestal, fixed rotating seat on the base, the multi-joint arm connecting with the rotating seat, the connection of multi-joint arm and rotating seat Each joint of joint and multi-joint arm itself passes through rotary joint axis and is rotatablely connected, it is characterised in that: each rotation Turn to be equipped on joint shaft for offset torque, realize the counterweight balancing mechanism to hover,
The counterweight balancing mechanism comprising the clump weight that weight linear meter and weight can be adjusted, one end of the weight linear meter In on clump weight, the other end and the rotary joint axis are rotatablely connected branch;
Both weight linear meter and corresponding joint arm of current counterweight balancing mechanism are separately positioned on current counterweight balance Rotary joint axis two sides where mechanism;
The weight that the clump weight of current counterweight balancing mechanism and all joint arms, clump weight of its rear end are formed integrally is being worked as It is balanced at rotary joint axis where preceding counterweight balancing mechanism.
It further comprise being further fixed on each rotary joint axis for mending in a preferred embodiment of the invention Repay the damping mechanism of torque difference.
In a preferred embodiment of the invention, further comprise current counterweight balancing mechanism weight linear meter and be corresponding to it Both joint arms be separately positioned on the rotary joint axis two sides where current counterweight balancing mechanism into 180 degree straight line.
It further comprise that the damping mechanism is adjusted including friction pedestal, friction in a preferred embodiment of the invention Pedestal and friction plate, the friction pedestal are fixed on rotary joint axis, and the friction adjustment base is fixed on the base, with institute It states rotary joint axis and generates relative motion, be all provided on the friction pedestal and the face that both adjustment bases are oppositely arranged that rubs Friction plate is stated, the mutual frictional force between bolt two friction plates of adjusting is adjusted by one.
It further comprise being respectively and fixedly provided on each rotary joint axis for remembering in a preferred embodiment of the invention The encoder of rotary joint axle position appearance data is recorded, the encoder is electrically connected to the control system.
It further comprise that the clump weight includes counterweight block body and is attached thereto in a preferred embodiment of the invention Adjusting block, both the counterweight block body and adjusting block can be detachably fixedly arranged at the weight linear meter by fastener.
The beneficial effects of the present invention are:
One, a kind of teach-by-doing of the invention drag the teaching robot that can hover, and offset torsion by the way of counterweight balance The imbalance of square makes teaching operation lighter, while adjustable counterweight balances so as to hovering be realized, compared to biography The teaching robot of system can reduce cost to the greatest extent;
Secondly, damping mechanism compensate torque difference by way of adjusting rotating friction force so that hovering is more reliable, and It keeps.
Detailed description of the invention
It in order to more clearly illustrate the technical solutions in the embodiments of the present invention, below will be in embodiment technical description Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of the preferred embodiment of the present invention;
Fig. 2 is the structural schematic diagram of preferred embodiment of the present invention counterweight balancing mechanism;
Fig. 3 is the structural schematic diagram 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 axis one, 6- resistance Buddhist nun mechanism one, 7- encoder one, 8-J2 joint arm, 9- rotary joint axis two, 10- damping mechanism two, 11- encoder two, 12- matches Weight balance mechanism two, 13-J4 rotary shaft, 14-J3 joint arm, 15-J4 joint arm, 16- counterweight balancing mechanism three, 17- rotation are closed Nodal axisn three, 18- damping mechanism three, 19- encoder three, 20-J5 joint arm, 21-J6 joint arm, 22-J1 joint arm;
A- friction pedestal, b- friction adjustment base, c- friction plate, d- adjust bolt;
E- weight linear meter, h- clump weight, h1- counterweight block body, h2- adjusting block.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Embodiment
As shown in Figure 1, disclosing a kind of teach-by-doing dragging in the present embodiment can hover teaching robot, can be considered it is a kind of to Industrial robot teaches the instructional device in relation to operating position data, especially for Six-DOF industrial robot, for The data of its robot operating position with 1:1 structure size acquire, and enable terminal contacts by optimizing structure design Any one operating position, and the encoder record position by being mounted on joint are easily reached, specific structure is such as Under:
Including pedestal 1, the rotating seat being fixed on pedestal 12, the multi-joint arm being connect with the rotating seat 2, multi-joint arm Pass through rotary joint axis with each joint of the connecting joint and multi-joint arm itself of rotating seat 2 to be rotatablely connected, Mei Gesuo State the encoder being respectively and fixedly provided on rotary joint axis for recording rotary joint axle position appearance data, the encoder and control system Electrical connection;It is equipped on each rotary joint axis for offset torque, realizes the counterweight balancing mechanism to hover, it is each described The damping mechanism for compensating torque difference is further fixed on rotary joint axis;
The counterweight balancing mechanism includes the weight linear meter e and clump weight h that weight can be adjusted, one end of the weight linear meter e In on clump weight h, the other end and the rotary joint axis are rotatablely connected branch;
Both weight linear meter and corresponding joint arm of current counterweight balancing mechanism are separately positioned on current counterweight balance Rotary joint axis two sides where mechanism;
The weight that the clump weight of current counterweight balancing mechanism and all joint arms, clump weight of its rear end are formed integrally is being worked as It is balanced at rotary joint axis where preceding counterweight balancing mechanism.
Specifically, there are six joint arm, respectively J1 to close for tool as shown in Figure 1, being directed to the robot where applicable of six degree of freedom 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 for tool Mechanism 3 16;
There are three rotary joint axis, respectively rotary joint axis 1, rotary joint axis 29, rotary joint axis 3 17 for tool;
There are three damping mechanisms, respectively damping mechanism 1, damping mechanism 2 10, damping mechanism 3 18 for tool;
There are three encoders, respectively encoder 1, encoder 2 11, encoder 3 19 for tool;
Encoder 1 and damping mechanism 1 are fixed on rotary joint axis 1;
Encoder 2 11 and damping mechanism 2 10 are fixed on rotary joint axis 29;
Encoder 3 19 and damping mechanism 3 18 are fixed on rotary joint axis 3 17.
Rotating seat 2 is fixed on pedestal 1, and can be rotated with 360 °, the weight linear meter 1 and J2 of weight linear meter balance mechanism 1 Joint arm 8 one end in rotating seat 2, and can be rotated around rotary joint axis 1, damping mechanism 1 and encoder 1 are fixed On rotary joint axis 1, and weight linear meter 1 and J2 joint arm 8 be respectively in the two sides of rotating seat 2, at 180 degree straight line, counterweight Bar 1 and J2 joint arm 8 can be rotated around around rotary joint axis 1 without interfering with rotating seat 2, J1 joint arm 22;
Counterweight balancing mechanism 2 12 and J3 joint arm 14 match galassing at 180 degree straight line in the two sides of J2 joint arm 8 respectively The mechanism 2 12 that weighs and J3 joint arm 14 can be rotated around rotary joint axis 29 without interfering with J2 joint arm 8;
Counterweight balancing mechanism 3 16 and J5 joint arm 20 can be rotated around rotary joint axis 3 17, counterweight balancing mechanism 3 16 With J5 joint arm respectively in the two sides of J4 joint arm 18, at 180 degree straight line, counterweight balancing mechanism 3 16 and J5 joint arm can be around The rotation of rotary joint axis 3 17 with J4 joint arm without interfering.
Counterweight balancing mechanism 3 16 and J5 joint arm 20, the J6 joint arm 21 of end balance at rotary joint axis 3 17;
Counterweight balancing mechanism 2 12 and rear end J3 joint arm 14, J5 joint arm 20, J6 joint arm 21, are matched at J4 joint arm 15 The weight that weight balance mechanism 3 16 is formed is whole to be balanced at rotary joint axis 29;
Counterweight balancing mechanism 1 and rear end J2 joint arm 8, J3 joint arm 14, J4 joint arm 15, J5 joint arm 20, J6 are closed The weight that joint arm 21, counterweight balancing mechanism 2 12, counterweight balancing mechanism 3 16 are formed is whole to be balanced at rotary joint axis 1.
In this way, the present invention completely using counterweight balance by the way of come the imbalance of offset torque, make teaching operation lighter, Adjustable counterweight balance, can be maximum compared to traditional teaching robot so as to realize hovering simultaneously Reduce cost.
Damping mechanism compensates torque difference by way of adjusting rotating friction force, so that hovering is more reliable, and keeps.
Specifically, as shown in Fig. 2, the clump weight h includes the counterweight block body h1 and adjusting block h2 being attached thereto, it is described Both counterweight block body h1 and adjusting block h2 can be detachably fixedly arranged on the weight linear meter e by fastener, adjustable weight Clump weight h teaching robot can integrally be hovered, make teaching operation more convenient.
Specifically, as shown in figure 3, the damping mechanism includes friction pedestal a, friction adjustment base b and friction plate c, institute It states friction pedestal a to be fixed on rotary joint axis, the friction adjustment base b is fixed on the base, with the rotary joint axis Relative motion is generated, is equipped with the friction plate c on the friction pedestal a and the face that both adjustment base b are oppositely arranged that rubs, The mutual frictional force between two friction plate c of bolt d adjusting is adjusted by one.The side that damping mechanism passes through adjusting rotating friction force Formula compensates torque difference, so that hovering is more reliable, and keeps.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (3)

  1. The teaching robot 1. a kind of teach-by-doing dragging can hover, including pedestal, fixed rotating seat on the base and the rotation The multi-joint arm of seat connection, each joint of the connecting joint and multi-joint arm itself of multi-joint arm and rotating seat pass through Rotary joint axis rotation connection, it is characterised in that: be equipped on each rotary joint axis for offset torque, realize hovering Counterweight balancing mechanism,
    The counterweight balancing mechanism comprising the clump weight that weight linear meter and weight can be adjusted, one end Zhi Yu of the weight linear meter On clump weight, the other end and the rotary joint axis are rotatablely connected;
    Both weight linear meter and corresponding joint arm of current counterweight balancing mechanism are separately positioned on current counterweight balancing mechanism The rotary joint axis two sides at place;
    The weight that the clump weight of current counterweight balancing mechanism and all joint arms, clump weight of its rear end are formed integrally is matched currently It is balanced at rotary joint axis where weight balance mechanism;
    The damping mechanism for compensating torque difference is further fixed on each rotary joint axis;The damping mechanism includes rubbing It wipes pedestal, friction adjustment base and friction plate, the friction pedestal to be fixed on rotary joint axis, the friction adjustment base is solid Determine on the base, generates relative motion with the rotary joint axis, both the friction pedestal and friction adjustment base are opposite to be set It is equipped with the friction plate on the face set, the mutual frictional force between bolt two friction plates of adjusting is adjusted by one;
    The encoder for recording rotary joint axle position appearance data, the encoder are respectively and fixedly provided on each rotary joint axis It is electrically connected to the control system.
  2. The teaching robot 2. a kind of teach-by-doing dragging according to claim 1 can hover, it is characterised in that: currently match galassing Both weight linear meter and corresponding joint arm of the mechanism that weighs are separately positioned on the rotary joint where current counterweight balancing mechanism Axis two sides are at 180 degree straight line.
  3. The teaching robot 3. a kind of teach-by-doing dragging according to claim 1 can hover, it is characterised in that: the clump weight Including counterweight block body and the adjusting block being attached thereto, both the counterweight block body and adjusting block can be dismantled by fastener Be fixed on the weight linear meter.
CN201610844093.5A 2016-09-23 2016-09-23 A kind of teach-by-doing dragging can hover teaching robot Active CN106166738B (en)

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Application Number Priority Date Filing Date Title
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CN106166738B true CN106166738B (en) 2019-01-25

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Publication number Priority date Publication date Assignee Title
CN107891422B (en) * 2017-11-06 2019-12-20 谜米机器人自动化(上海)有限公司 Method for controlling steering engine

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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
CN104162890A (en) * 2014-07-04 2014-11-26 倪立新 Step-by-step teaching robot based on motor power and control method thereof
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
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

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JP6682120B2 (en) * 2014-10-23 2020-04-15 立花 純江 Robot teaching device

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Publication number Priority date Publication date Assignee Title
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
CN104162890A (en) * 2014-07-04 2014-11-26 倪立新 Step-by-step teaching robot based on motor power and control method thereof
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
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

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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: Harbin University of Technology 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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