CN107303674A - Robot system - Google Patents
Robot system Download PDFInfo
- Publication number
- CN107303674A CN107303674A CN201610643492.5A CN201610643492A CN107303674A CN 107303674 A CN107303674 A CN 107303674A CN 201610643492 A CN201610643492 A CN 201610643492A CN 107303674 A CN107303674 A CN 107303674A
- Authority
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- China
- Prior art keywords
- manipulator
- robot system
- cable
- tube chamber
- hole
- 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.)
- Pending
Links
- 238000009434 installation Methods 0.000 claims description 19
- 238000003825 pressing Methods 0.000 claims description 16
- 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 description 12
- 210000000707 wrist Anatomy 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000004804 winding Methods 0.000 abstract description 5
- 238000005299 abrasion Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 12
- 210000000078 claw Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual 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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
It is particularly a kind of to realize the robot system of man-machine collaboration the invention discloses a kind of robot system.The robot system includes manipulator and cable.The manipulator is used to perform operation task, and the manipulator has tube chamber.The cable is contained in the tube chamber and is connected with the manipulator, to cause the manipulator to be able to carry out operation task.The cable of robot system of the present invention is built in manipulator, while work is realized, and can avoid by external environment abrasion and avoid occurring cable winding.Thus, the robot system has higher aesthetic property, stronger globality and preferably runnability.
Description
Technical field
The present invention relates to a kind of automation equipment, particularly a kind of robot system.
Background technology
Robot, is the automatic installations for performing work.Robot can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, for example, produce industry, construction industry, or dangerous work.And with the growing facility of production and living
Need and robot technology development, cooperation robot also will slowly penetrate into each industrial circle, and people's cooperation, and by
Gradually replace the work that dull, repeatability is high, danger is strong.Robot device, which generally requires various cables, could realize work.And
In the prior art the cable of robot often it is external on a robotic arm.The external, exposed of cable not only influences attractive in appearance, and easily
Occur winding, worn and torn by external environment.
The content of the invention
An object of the present invention is that there is provided the system of robot built in a kind of cable in order to overcome deficiency of the prior art
System.
To realize object above, the present invention is achieved through the following technical solutions：
A kind of robot system, it is characterised in that the robot system includes：
Manipulator, the manipulator is used to perform operation task, and the manipulator has tube chamber；
Cable, the cable is contained in the tube chamber and is connected with the manipulator, to enable the manipulator
Perform operation task.
Preferably, the cable includes at least one of power line, signal wire or tracheae.
Preferably, the manipulator has joint, and the joint has joint tube chamber；
The cable is at least two, and at least both threads cable is set to each other discretely by the joint of the manipulator
Tube chamber.
Preferably, the manipulator includes lap guard part, and the lap guard part is used to prevent the cable wrapped around one another；
The lap guard part is arranged on the articulated pipe intracavitary；
The lap guard part has the installation through-hole for running through along the bearing of trend of the tube chamber of the manipulator and opening up；
Each described installation through-hole is only set by a cable.
Preferably, the installation through-hole is circular hole.
Preferably, the manipulator also includes cable tube, and the cable tube is arranged in the tube chamber of the manipulator；
All cables are contained in the tube chamber of the cable tube.
Preferably, the cable tube has pipe main body and pedestal；
The pedestal has the gas passage connected with the pipe main body；
The lap guard part is contained in the tube chamber of the pedestal.
Preferably, the installation through-hole of the gas passage and the lap guard part is arranged at intervals.
Preferably, the gas passage is multiple, and the plurality of gas passage is set around the lap guard part, and along the peace
The bearing of trend of dress through hole radially distributes.
Preferably, the robot system also bag teaching apparatus, the teaching apparatus is arranged on the manipulator, with
In the study of the manipulator.
Preferably, the manipulator has grip part；
The teaching apparatus includes pressing unit, and the pressing unit is used for the learning process for controlling the manipulator, institute
State pressing unit be set to it is overlapping with the grip part of the manipulator so that external force can act on simultaneously it is described pressing unit and
The grip part.
Preferably, the grip part is arranged on the wrist of the manipulator.
Preferably, the robot system also includes circuit board；
The circuit board is contained in the tube chamber of the manipulator；
The teaching apparatus is connected with the circuit board.
Preferably, the wrist of the manipulator offers connection through hole；The connection through hole connects the pipe of the manipulator
The side-wall outer side of chamber and the manipulator；
The teaching apparatus is connected by the connector or wire being arranged in the connection through hole with the circuit board.
Compared with prior art, the cable of robot system of the present invention is built in manipulator, while work is realized,
And can avoid by external environment abrasion and avoid occurring cable winding.Thus, the robot system have compared with
High aesthetic property, stronger globality and preferably runnability.
Brief description of the drawings
A kind of structural representation for robot system that Fig. 1 provides for the present invention.
Fig. 2 is the matching relationship schematic diagram between each part of Fig. 1 robot system, functional module.
Fig. 3 is arranged on the structural representation on joint for the teaching apparatus of the robot system in Fig. 1.
Fig. 4 is arranged on sectional view when on joint along line B-B for the teaching apparatus in Fig. 3.
Fig. 5 is the structural representation of the lap guard part shown in Fig. 4.
Fig. 6 is the structural representation at another visual angle of Fig. 5 lap guard part.
Fig. 7 is the structural representation of the cable tube shown in Fig. 4.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings：
Fig. 1 and Fig. 2 is referred to, a kind of its robot system 100 provided for the present invention.The robot system 100 is wrapped
Include manipulator 10 and cable (not shown).The cable is built in the manipulator 10.
The manipulator 10 is used to perform operation task.The manipulator 10 can realize that man-machine collaboration is matched somebody with somebody with operating personnel
Close.In the present embodiment, the manipulator 10 is six axis robot.Specifically, the manipulator 10 include six joints 12 and
Two connecting rods (not indicated in figure).For the ease of exemplary illustration, in this present embodiment, the joint 12 is the manipulator
The joint in the joint of 10 free end, that is to say the joint at wrist.The own wt of the manipulator 10 and can bear it is negative
Loading capacity is selected as needed.In the present embodiment, the load that the manipulator 10 can be born is 5 kilograms.It is contemplated that
It is that the manipulator 10 also includes pneumatic means, electric machine etc..The joint 12 has joint tube chamber 18.The cable holds
Put in the joint tube chamber 18.
The manipulator 10 has grip part (due to overlapping with the teaching apparatus 20 in the present embodiment, because not showing
Go out).The grip part is used for operating personnel and pulls to cause the manipulator 10 to realize learning functionality.In the present embodiment, institute
Holding area is stated in the wrist of the free end of the manipulator 10.The grip part offers neck (not indicated in figure).It is described
Neck is used to install the teaching apparatus 20.Certainly, the grip part can also set buckle, grafting fit structure etc. to realize
Install and coordinate.
The manipulator 10 includes action actuating mechanism 15.The action actuating mechanism 15 is used to perform specific operation.
The action actuating mechanism 15 includes motor or motor equal power device.In the present embodiment, the action actuating mechanism 15 is wrapped
Include reducing motor.According to different needs, the action actuating mechanism 15 can using gripping claw or spiral link structure with it is corresponding
The specific instrument such as puncher, filature coordinates.
Please continue to refer to Fig. 2, the teaching apparatus 20 includes pressing unit 21.The pressing unit 21 is used for the machinery
The learning process of hand 10.It is described pressing unit 21 be set to it is overlapping with the grip part of the manipulator 10, so as to pass through external force
When the learning functionality of the manipulator 10 is realized in dragging, external force can act on the pressing unit 21 and the gripping simultaneously
Portion.Thus, compared to traditional operation process, it is to avoid one hand of operating personnel is pulled, another hand carries out learning process
Control, that is to say that the setting of the teaching apparatus 20 facilitates operation.
The pressing unit 21 includes at least one of mechanical button or touch button.It is described pressing unit 21 can be
Enable button.The quantity of the button is selected as needed.In the present embodiment, for the ease of manipulate and provide manipulation relax
Suitable sense, the pressing unit 21 all uses touch button.It that is to say, in UI, (User Interface are handed over the touch button
Mutual interface) show in system.
In order to further be easy to operation, the teaching apparatus 20 is removably disposed on the manipulator 10.Needing
When the manipulator 10 is controlled, operated, the teaching apparatus 20 is arranged on the manipulator 10.And need not pair
When manipulator 10 is controlled, operated, the teaching apparatus 20 is disassembled from the manipulator 10, consequently facilitating being tieed up
The processing such as shield, editor.
For the ease of realizing learning functionality, the teaching apparatus 20 also includes definition module 23.The definition module 23 with
The pressing unit 21 is communicated to connect.The definition module 23 be used for define institute's grip part paths traversed, dwell point and
In the operation task to be done of dwell point.By once pulling study, the definition module 23 can learn, store the execution stream
Journey, and can repeat.The teaching apparatus 20 includes input unit (not shown) and controller (does not show in figure
Go out).The input unit can be touch-screen or physical button.The touch-screen is used for idsplay order load button, and is used for
Receive pressing with to the controller input instruction.The touch-screen is set along the circumference of manipulator 10 and/or length direction.
The controller is logic programmable controller.
For the ease of the control for the action actuating mechanism 15 for realizing the manipulator 10, the teaching apparatus 20 also includes behaviour
Control module 25.The operational module 25 can realize control function using single-chip microcomputer or microprocessor.The operational module 25 is also
PIC (Programmable Interrupt Controller, programmable interrupt controller) can be included.The operational module
25 include at least one control unit 251.Each control unit 251 is used to control the action actuating mechanism 15 to perform one kind
Operation task.In order to improve the facility of operation, the quantity of described control unit 251 can institute's operation to be performed task quantity
And increase and decrease.In order to improve universal performance, each described control unit 251 is used to control the correspondence action actuating mechanism 15
Parameter adjustable saves land setting, you can programmed process.In the present embodiment, each described control unit 251 is used to control correspondence
The parameter of the action actuating mechanism 15 can include at least one of speed, position and action.It that is to say, the control is single
Speed, position and the action that member 251 can control the action actuating mechanism 15 to perform concrete operations can be adjusted.
Please continue to refer to Fig. 1 to Fig. 3, the concrete shape of the teaching apparatus 20 is selected according to installing and manipulating needs.
For example, the concrete shape of the teaching apparatus 20 can be circular or tabular etc..In the present embodiment, the teaching apparatus
20 be arc sheet, that is to say one section of open cyclic structure.The teaching apparatus 20 is fastened in the neck.
In order to show work shape body in order to carry out subsequent operation processing, the edit and proof module 20 also includes display unit
27.The display unit 27 has plurality of display modes 271.Each described display pattern 271 is used to show the machinery
A kind of working condition of hand 10.In the present embodiment, the display pattern 271 includes the red mould for being used to show machine halt trouble
Formula, the standby yellow mode and for showing the green model normally run for showing.Certainly, it is different according to function, it is described
The quantity and type of display pattern 271 can be adjusted.
Also referring to Fig. 4, for the ease of improving the integrated level of component and improving electrical connection, the stabilization communicated to connect,
The robot system 100 also includes circuit board 29.The circuit board 29 is contained in the tube chamber 18 of the manipulator 10.It is described
Circuit board 29 is connected with the teaching apparatus 20.In the present embodiment, study is pulled for the ease of manipulating and being easy to implement, it is described
Teaching apparatus 20 is arranged on the wrist of the manipulator 10, i.e., be finally connected and drive with the action actuating mechanism such as gripping claw, fixture
Gripping claw, the part of fixture operating.It is affected in order to avoid stable connection performance, avoids influence from taking excessive space and succinct
Property, in the present embodiment, the wrist of the manipulator 10 offers connection through hole 131.The connection through hole 131 connects the machine
The side-wall outer side of the tube chamber of tool hand 10 and the manipulator 10, that is to say footpath of the connection through hole 131 along the manipulator 10
To through opening up.Correspondingly, axially extending setting of the tube chamber of the manipulator 10 along the manipulator 10.The teaching apparatus 20
Pass through the connector (not shown) or wire (not shown) and the circuit board being arranged in the connection through hole 131
29 connections.The connection through hole 131 is four, and is uniformly distributed along along annulus in one week.
In order that obtaining, scalability, universal performance are stronger, and the cooperation robot 100 also includes teaching machine 30.It is described to show
Religion device (teach pendant) 30 is communicated to connect with the teaching apparatus 20.It is envisioned that teaching machine 30 is called teaching volume
Journey device, the equipment for registering and storing mechanical movement or processing memory, the equipment is held by electronic system or computer system
Capable.
The cable can include at least one of power line, signal wire or tracheae.Want real according to institute's manipulator 10
The difference of existing function, the quantity and species of the cable can be selected as needed.In the present embodiment, the cable is extremely
It it is less four, at least four cables are set to each other discretely by the joint tube chamber 18 of the manipulator 10.
It is particularly easy when the joint of the manipulator 10 rotates in order to further avoid the winding of the cable
Discretely pass through the joint tube chamber of the manipulator 10 each other between the winding of generation, the different cables.
Also referring to Fig. 5 and Fig. 6, in the present embodiment, the manipulator 10 includes lap guard part 19.The lap guard part 19
For preventing the cable wrapped around one another.The lap guard part 19 is arranged in the joint tube chamber 18.The lap guard part 19 has
Run through along the bearing of trend of the tube chamber of the manipulator 10 and open up ground installation through-hole 191.Each described installation through-hole 191 only leads to
Set with crossing a cable.The lap guard part 19 is in the case where following the articulation or not rotating, often
One cable will not be wound with cable another described.The overall exterior shape of the lap guard part 19 can root
Need and select according to the installation being contained in the joint tube chamber 18.The lap guard part 19 can be block, discoideus, quadrangle
Tabular or irregular tabular etc..Also, the concrete shape and mechanism of each lap guard part 19 can be according to different joints
Installation cooperation structure, accommodation space it is different and different.The quantity of the installation through-hole 191, specific distribution, shape and aperture
Size is selected according to the difference of the corresponding cable worn.In order to reduce as far as possible during rotation to the issuable friction of cable
Power, each described installation through-hole 191 is disposed as manhole.Certainly, each described installation through-hole totally 191 aperture it is big
It is small can be different.
It is described in order to avoid the miscellaneous part of cable and manipulator 10 is interfered to protect cable also referring to Fig. 7
Manipulator 10 also includes cable tube 44.The cable tube 44 is arranged in the tube chamber 18 of the manipulator 10.The cable tube 44
For housing all cables, so that all cable rules, globality are strong and are protected.The cable tube 44 can be circle
Pipe.In the present embodiment, the cable tube 44 includes pipe main body 441 and pedestal 445.The pipe main body 441 is circular tube shaped.It is described
Pipe main body 441 is arranged on the pedestal 445, and is coaxially disposed with the pedestal 445.The pedestal 445 is set to annular shape.
Gas via-hole 446 is offered on the pedestal 445.The gas passage 446 is connected with the tube chamber of the pipe main body 441.Institute
Stating gas passage 446 oneself can transmit with the compressed gas being used as power, and can also be arranged in this by pipeline (for example flexible pipe)
The transmission of gas is compressed in gas passage 446.In the present embodiment, the gas passage 446 is multiple.It is the plurality of described
The bearing of trend of installation through-hole 191 of the gas passage 446 along the lap guard part 19 radially distributes.
In order to make full use of the precision in space and lift gas, electric power and signal docking, the lap guard part 19 is contained in
In the tube chamber of the pedestal 445 of the cable tube 44.The multiple gas passage 446 is set around the lap guard part 19, that is to say
The lap guard part 19 is wrapped up to set.It is arranged at intervals between the installation through-hole 19 of the gas passage 446 and the lap guard part 19, from
And pneumoelectric separation is realized, further improve security performance.
Only preferred embodiments of the present invention, are not used to limitation protection scope of the present invention any in spirit of the invention
Modification, equivalent substitution or improvement etc., all cover in scope of the presently claimed invention.
Claims (14)
1. a kind of robot system, it is characterised in that the robot system includes：
Manipulator, the manipulator is used to perform operation task, and the manipulator has tube chamber；
Cable, the cable is contained in the tube chamber and is connected with the manipulator, to cause the manipulator to be able to carry out
Operation task.
2. robot system according to claim 1, it is characterised in that：
The cable includes at least one of power line, signal wire or tracheae.
3. robot system according to claim 1, it is characterised in that：
The manipulator has joint, and the joint has joint tube chamber；
The cable is at least two, and at least both threads cable is set to each other discretely by the articulated pipe of the manipulator
Chamber.
4. robot system according to claim 3, it is characterised in that：
The manipulator includes lap guard part, and the lap guard part is used to prevent the cable wrapped around one another；
The lap guard part is arranged on the articulated pipe intracavitary；
The lap guard part has the installation through-hole for running through along the bearing of trend of the tube chamber of the manipulator and opening up；
Each described installation through-hole is only set by a cable.
5. robot system according to claim 4, it is characterised in that：
The installation through-hole is circular hole.
6. robot system according to claim 3, it is characterised in that：
The manipulator also includes cable tube, and the cable tube is arranged in the tube chamber of the manipulator；
All cables are contained in the tube chamber of the cable tube.
7. robot system according to claim 6, it is characterised in that：
The cable tube has pipe main body and pedestal；
The pedestal has the gas passage connected with the pipe main body；
The lap guard part is contained in the tube chamber of the pedestal.
8. robot system according to claim 7, it is characterised in that：
The installation through-hole of the gas passage and the lap guard part is arranged at intervals.
9. robot system according to claim 7, it is characterised in that：
The gas passage is multiple, and the plurality of gas passage is set around the lap guard part, and prolonging along the installation through-hole
Direction is stretched to radially distribute.
10. robot system according to claim 1, it is characterised in that：
The robot system also bag teaching apparatus, the teaching apparatus is arranged on the manipulator, for the machinery
The study of hand.
11. robot system according to claim 10, it is characterised in that：
The manipulator has grip part；
The teaching apparatus includes pressing unit, and the pressing unit is used for the learning process for controlling the manipulator, described to press
Pressure unit is set to overlapping with the grip part of the manipulator so that external force can act on the pressing unit simultaneously and described
Grip part.
12. robot system according to claim 11, it is characterised in that：
The grip part is arranged on the wrist of the manipulator.
13. robot system according to claim 10, it is characterised in that：
The robot system also includes circuit board；
The circuit board is contained in the tube chamber of the manipulator；
The teaching apparatus is connected with the circuit board.
14. robot system according to claim 13, it is characterised in that：
The wrist of the manipulator offers connection through hole；The connection through hole connects the tube chamber and the machinery of the manipulator
The side-wall outer side of hand；
The teaching apparatus is connected by the connector or wire being arranged in the connection through hole with the circuit board.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246268 | 2016-04-19 | ||
| CN2016102462682 | 2016-04-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107303674A true CN107303674A (en) | 2017-10-31 |
Family
ID=60150791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610643492.5A Pending CN107303674A (en) | 2016-04-19 | 2016-08-08 | Robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107303674A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015199A (en) * | 2020-01-03 | 2020-04-17 | 广东博力威科技股份有限公司 | Robot screw machine drags positioning system |
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