CN108673480A - Industrial robot draws teaching system - Google Patents
Industrial robot draws teaching system Download PDFInfo
- Publication number
- CN108673480A CN108673480A CN201810829471.1A CN201810829471A CN108673480A CN 108673480 A CN108673480 A CN 108673480A CN 201810829471 A CN201810829471 A CN 201810829471A CN 108673480 A CN108673480 A CN 108673480A
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- China
- Prior art keywords
- shaped
- lever arm
- industrial robot
- teaching system
- capsule
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robots to draw teaching system, it is related to robot field, including multivariant mechanical arm, mechanical arm includes pedestal and multiple lever arms, turning joint is equipped between two neighboring lever arm, lever arm is connected in turn by turning joint on pedestal, and U-shaped capsule is equipped between two neighboring lever arm, the both ends of U-shaped capsule are affixed with two neighboring lever arm respectively, and the solenoid valve that U-shaped capsule is divided into two parts is equipped in U-shaped capsule；The side of the separate pedestal of U-shaped capsule offers through-hole, and through hole is equipped with film, and U-shaped Nang Baomochu is connected with bar shaped pipe, and the one end of bar shaped pipe far from U-shaped capsule is socketed with taper case, reed is equipped in taper case.The present invention solves the problems, such as to be easy to cause danger when existing industrial robot powers off suddenly during drawing teaching, mainly provides a kind of sent out when robot powers off suddenly and warn to ensure that the industrial robot of the safety of worker around robot draws teaching system.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of industrial robot draws teaching system.
Background technology
Nowadays, with the continuous development of robot technology, robot is in the field of industrial production of human society
Very important role is play, the high volume applications of robot improve the production automation degree of factory, improve production
The manufacture efficiency of line.Since task is complicated and changeable in industrial production, enterprise is to improve operating efficiency, it is desirable to be able to efficiently be switched
Task, adjusting device and program, and then need to improve the programming efficiency of industrial robot, shorten programming time.
Industrial robot mostly uses teaching mode and completes program input at present.So-called teaching, i.e., by the starting point of particular path,
Terminal, key point coordinate value and motion mode are stored in advance in robot controller, by motion controller according to starting point, end
The coordinate value of point, key point completes path planning and locus interpolation according to specified motion mode, and then drives industrial robot
It is moved along the particular path.
Currently, the teaching mode that industrial robot uses mainly has live teaching, Virtual Demonstration and traction teaching three classes,
In traction teaching be to drive multivariant mechanical arm by operating personnel, the mechanical arm by the tractive force of operating personnel's hand,
Torsional moment is through decoupling computation, and the control for analyzing operating personnel is intended to, and is sent to industrial robot controller, industrial machine
People's controller drives each joint coordination operating of industrial robot according to the size and Orientation of the pressure and torsional moment numerical value,
Realize servo-actuated, SERVO CONTROL.
During drawing teaching to industrial robot, the case where being frequently encountered unexpected power-off, once power-off suddenly, fortune
Mechanical arm in dynamic constantly can be rocked and be swung under effect of inertia, or be likely to by the weight that mechanical arm is clamped
It falls, along with power-off warning device is lacked, to workpeople just at work be given to bring danger.
Invention content
The invention is intended to provide a kind of industrial robot traction teaching system, police can be sent out when robot powers off suddenly
Show to ensure the safety of worker around robot.
In order to solve the above technical problems, base case provided by the invention is as follows：
Industrial robot draws teaching system, including multivariant mechanical arm, mechanical arm include pedestal and multiple activities
Arm is equipped with turning joint between two neighboring lever arm, and lever arm is connected in turn by turning joint on pedestal, two neighboring
U-shaped capsule is equipped between lever arm, the both ends of U-shaped capsule are affixed with two neighboring lever arm respectively, are equipped with U-shaped in the U-shaped capsule
Capsule is divided into the solenoid valve of two parts, and whens solenoid valves opens；The side of the separate pedestal of the U-shaped capsule offers logical
Hole, through hole are equipped with film, and U-shaped Nang Baomochu is connected with bar shaped pipe, and the one end of bar shaped pipe far from U-shaped capsule is socketed with cone-shaped hood
Shell, taper case is interior to be equipped with reed.
The operation principle of base case：When industrial robot is in normal work, with the multivariant fortune of lever arm
Dynamic, the distance between two neighboring lever arm can occur dynamically to change, since normal power-up, solenoid valve are in opening at this time
State, as the distance between adjacent activities arm changes, the gas of intracapsular two parts of U-shaped can by open solenoid valve into
The circulation of promoting the circulation of qi body, to not interfere with the normal use of lever arm.
When industrial robot powers off suddenly during drawing teaching, solenoid valve is powered off and is closed, and lever arm is used
Property effect is lower swings, during swing, lever arm can squeeze U-shaped capsule, and since solenoid valve has been switched off, U-shaped capsule is remote
Other side can not be entered from solenoid valve again after being squeezed from the gas in pedestal side, U-shaped capsule is far from pedestal side
Film can only be racked and be poured in bar shaped pipe by gas, and forming air-flow into the gas in bar shaped pipe enters back into taper case, gas
Stream blows reed vibration and sends out and pipe, to play the role of warning surrounding worker, and the process blown out outward in air-flow
In, the gas of ejection can give one recoil strength of lever arm, cushioning effect when playing to the lever arm bottom to slow down the lever arm bottom
Speed, avoid the rapid bottom of lever arm strike around the worker that is working.
Base case has the beneficial effect that：Compared with industrial robot draws teaching apparatus, in the U-shaped capsule in the present invention
Solenoid valve can stop the gas circulation between U-shaped capsule two parts, be squeezed by lever arm when industrial robot powers off suddenly
The intracapsular gas of U-shaped can break through film and sprayed outward by bar shaped pipe and taper case, the gas one sprayed outward is energy
It is enough supplied to the cushion effect when lever arm bottom, second is that the reed vibration that can be blown in taper case is played to worker's around
Warning function reminds worker to avoid mechanical arm, ensures the life security of workpeople.
Further, the wireless communication module that the lever arm is equipped with camera and is connect with camera signals, camera
Module communication link is connected to the display screen watched for staff by radio communication, and the camera is for acquiring industrial robot
The ambient image of surrounding and by radio communication module are sent to display screen and show.
During drawing teaching, camera can always adopt the environment around robot industrial robot
Collection, and module is sent to display screen and show by radio communication by the image collected information, staff passes through viewing display
Screen can be appreciated that the working condition of the workpeople around robot.
Further, further include the manipulator being arranged on the lever arm of end, the manipulator includes two pieces of grip blocks, two pieces
The opposite side of grip block offers semicircular arc-shaped cavity, and arc-shaped cavity forms the circle of clamping weight when two pieces of grip block pairings
Chamber offers channel at the grip block arc-shaped cavity, is equipped in channel towards the sucker in arc-shaped cavity, far from arc-shaped cavity in channel
Side be equipped with the air bag affixed with sucker, be communicated with bellows between side of the air bag far from sucker and bar shaped pipe.
Weight is clamped come the foldings of two pieces of grip blocks of control machinery hand by the control system of robot, when weight quilt
When being clamped in the circular cavity that two pieces of grip blocks are combined to form, if robot powers off suddenly, due to side of the air bag far from sucker
It is equipped with bellows between bar shaped pipe, is sprayed outward by taper case into the portion gas in bar shaped pipe, another part is logical
Crossing bellows and entering in air bag makes air bag expand, and because the pressure that U-shaped capsule is subject to is much larger than the pressure that air bag is subject to, inhales
Disk is affixed with air bag, and the air bag of expansion can push sucker outside, and sucker is towards being arranged in arc-shaped cavity, so sucker can be pushed away moment
It moves in circular cavity and is bonded with weight, to reach the sucking action to weight, lever arm due to robot powers off is avoided to occur
Swing makes weight-drop injure worker by a crashing object.
Further, the air bag is Nian Jie with vias inner walls.
It is Nian Jie with vias inner walls using air bag, the attraction to weight when sucker is bonded with weight can be increased.
Further, the taper case is externally provided with resonant tank.
Resonant tank can increase tweeting sound when air-flow blows reed vibration, further worker be reminded to avoid robot.
Further, the reed is circumferentially equably provided with 3 along taper case.
Using the above structure, the tweeting sound that reed vibration is sent out can be made maximum.
Description of the drawings
Fig. 1 is the structural schematic diagram that industrial robot of the present invention draws teaching system embodiment；
Fig. 2 is the enlarged diagram at A in Fig. 1.
Specific implementation mode
It is further described below by specific implementation mode：
Reference numeral in Figure of description includes：Pedestal 1, lever arm 2, U-shaped capsule 3, solenoid valve 4, through-hole 5, film 6,
Bar shaped pipe 7, taper case 8, manipulator 9, reed 10, grip block 91, arc-shaped cavity 92, channel 93, sucker 94, air bag 95, ripple
Pipe 96.
As shown in Figure 1, industrial robot of the present invention draws teaching system, including multivariant mechanical arm, mechanical arm packet
Include pedestal 1 and multiple lever arms 2, be equipped with turning joint between two neighboring lever arm 2, lever arm 2 by turning joint successively
Be connected on pedestal 1, be equipped with U-shaped capsule 3 between two neighboring lever arm 2, the both ends of U-shaped capsule 3 respectively with two neighboring lever arm 2
It is affixed, the solenoid valve 4 being divided to U-shaped capsule 3 for two parts is equipped in U-shaped capsule 3；The downside of U-shaped capsule 3 offers through-hole 5, through-hole 5
Place is equipped with film 6, is connected with bar shaped pipe 7 at the film 6 of U-shaped capsule 3, the one end of bar shaped pipe 7 far from U-shaped capsule 3 is socketed with cone-shaped hood
Shell 8, taper case 8 is interior to be equipped with reed 10, and reed 10 is circumferentially equably provided with 3 along taper case 8,8 peripheral hardware of taper case
There is resonant tank.
As shown in Fig. 2, further including the manipulator 9 being arranged on end lever arm 2, manipulator 9 includes two pieces of grip blocks 91,
Two pieces of opposite sides of grip block 91 offer semicircular arc-shaped cavity 92, and arc-shaped cavity 92 forms folder when two pieces of 91 pairings of grip block
The circular cavity of prudent object offers channel 93 at 91 arc-shaped cavity 92 of grip block, is equipped with towards the suction in arc-shaped cavity 92 in channel 93
Disk 94, the side far from arc-shaped cavity 92 in channel 93 are equipped with the air bag 95 affixed with sucker 94, and air bag 95 is viscous with 93 inner wall of channel
It connects, bellows 96 is equipped between side of the air bag 95 far from sucker 94 and bar shaped pipe 7.
The wireless communication module that lever arm 2 is equipped with camera and is connect with camera signals, camera pass through channel radio
Letter module communication link is connected to the display screen watched for staff, and camera is used to acquire the ambient image around industrial robot
And module is sent to display screen and shows by radio communication.
The industrial robot traction teaching system specifically used scene be：
When industrial robot is in normal work, with the multivariant movement of lever arm 2, two neighboring lever arm 2
The distance between can occur dynamically to change, due to solenoid valves open, closed after power-off, at this time the positive normal open of industrial robot
Electricity, solenoid valve 4 are in the state opened, as the distance between adjacent activities arm 2 changes, the gas of two parts in U-shaped capsule 3
The circulation that gas can be carried out by open solenoid valve 4, to not interfere with the normal use of lever arm 2.
When industrial robot powers off suddenly during drawing teaching, solenoid valve 4 is powered off and is closed, and lever arm 2 exists
It swinging under gravity, during swing, lever arm 2 can squeeze U-shaped capsule 3, since solenoid valve 4 has been switched off, U-shaped
Capsule 3 can not enter other side from solenoid valve 4 again after being squeezed far from the gas in 1 side of pedestal, and U-shaped capsule 3 is far from pedestal 1
Gas in side, which can only rack film 6, to be poured in bar shaped pipe 7, and forming air-flow into the gas in bar shaped pipe 7 enters back into cone
In shape case 8, air-flow blows the vibration of reed 10 and sends out and pipe, to play the role of warning surrounding worker, and in air-flow
Outward during blowout, the gas of ejection can give 2 one recoil strength of lever arm, and buffering when playing to 2 bottom of lever arm is made
With, slow down the speed of 2 bottom of lever arm, avoid the 2 rapid bottom of lever arm strike around the worker that is working.
Weight is clamped come the foldings of two pieces of grip blocks 91 of control machinery hand 9 by the control system of robot, when weight
When object is clamped in the circular cavity that two pieces of grip blocks 91 are combined to form, if robot powers off suddenly, since air bag 95 is far from suction
Bellows 96 is equipped between the side and bar shaped pipe 7 of disk 94, it is outside by taper case 8 into the portion gas in bar shaped pipe 7
It sprays, another part, which is entered by bellows 96 in air bag 95, makes air bag 95 expand, and because sucker 94 is solid with air bag 95
It connects, the air bag 95 of expansion can push sucker 94 outside, and sucker 94 is towards in arc-shaped cavity 92, so sucker 94 can be pushed to moment
It is bonded with weight in circular cavity, to reach the sucking action to weight, avoids due to robot powers off that lever arm 2 is swung
Weight-drop is set to injure worker by a crashing object.
During drawing teaching, camera can always adopt the environment around robot industrial robot
Collection, and module is sent to display screen and show by radio communication by the image collected information, staff passes through viewing display
Screen can be appreciated that the working condition of the workpeople around robot.
Above-described is only the embodiment of the present invention, and the common sense such as well known concrete structure and characteristic are not made herein in scheme
Excessive description.It, without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these should also be considered as protection scope of the present invention, these all do not interfere with what the present invention was implemented
Effect and patent practicability.The scope of protection required by this application should be based on the content of the claims, in specification
The records such as specific implementation mode can be used for explaining the content of claim.
Claims (6)
1. industrial robot draws teaching system, including multivariant mechanical arm, mechanical arm includes pedestal and multiple lever arms,
Turning joint is equipped between two neighboring lever arm, lever arm is connected in turn by turning joint on pedestal, it is characterised in that：
U-shaped capsule is equipped between two neighboring lever arm, the both ends of U-shaped capsule are affixed with two neighboring lever arm respectively, set in the U-shaped capsule
There is a solenoid valve that U-shaped capsule is divided into two parts, whens solenoid valves opens；The side of the separate pedestal of the U-shaped capsule
Through-hole is offered, through hole is equipped with film, and U-shaped Nang Baomochu is connected with bar shaped pipe, and the one end of bar shaped pipe far from U-shaped capsule is socketed with
Taper case, taper case is interior to be equipped with reed.
2. industrial robot according to claim 1 draws teaching system, it is characterised in that：The lever arm is equipped with and takes the photograph
The wireless communication module being connect as head and with camera signals, module communication link is connected to for the people that works camera by radio communication
The display screen of member's viewing, the camera is used to acquire the ambient image around industrial robot and module is sent out by radio communication
Display screen is given to show.
3. industrial robot according to claim 1 draws teaching system, it is characterised in that：Further include that setting is lived in end
Manipulator on swing arm, the manipulator include two pieces of grip blocks, and two pieces of opposite sides of grip block offer semicircular arc
Shape chamber, arc-shaped cavity forms the circular cavity of clamping weight when two pieces of grip block pairings, and channel is offered at the grip block arc-shaped cavity,
It is equipped in channel towards the sucker in arc-shaped cavity, the side far from arc-shaped cavity is equipped with the air bag affixed with sucker, air bag in channel
It is communicated with bellows between side and bar shaped pipe far from sucker.
4. industrial robot according to claim 3 draws teaching system, it is characterised in that：The air bag and vias inner walls
Bonding.
5. industrial robot according to claim 1 draws teaching system, it is characterised in that：The taper case is externally provided with
Resonant tank.
6. industrial robot according to claim 1 draws teaching system, it is characterised in that：The reed is along taper case
It is circumferential to be equably provided with 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829471.1A CN108673480B (en) | 2018-07-25 | 2018-07-25 | Industrial robot traction teaching system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829471.1A CN108673480B (en) | 2018-07-25 | 2018-07-25 | Industrial robot traction teaching system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108673480A true CN108673480A (en) | 2018-10-19 |
| CN108673480B CN108673480B (en) | 2020-09-08 |
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ID=63814826
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810829471.1A Active CN108673480B (en) | 2018-07-25 | 2018-07-25 | Industrial robot traction teaching system |
Country Status (1)
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| CN (1) | CN108673480B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112536810A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot quick connector containing multiple process free-set joint freedom degrees |
| CN114347100A (en) * | 2020-10-14 | 2022-04-15 | 达明机器人股份有限公司 | Automatic mode safety system and method for robot |
| CN116175532A (en) * | 2023-04-24 | 2023-05-30 | 佛山隆深机器人有限公司 | Practical training device of industrial robot |
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| CN116175532A (en) * | 2023-04-24 | 2023-05-30 | 佛山隆深机器人有限公司 | Practical training device of industrial robot |
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| Publication number | Publication date |
|---|---|
| CN108673480B (en) | 2020-09-08 |
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Application publication date: 20181019 Assignee: Pingyang Intelligent Manufacturing Research Institute of Wenzhou University Assignor: Wenzhou University Contract record no.: X2020330000096 Denomination of invention: Industrial robot traction teaching system Granted publication date: 20200908 License type: Common License Record date: 20201122 |
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Application publication date: 20181019 Assignee: Daoran electric appliance technology (Wenzhou) Co.,Ltd. Assignor: Wenzhou University Contract record no.: X2021330000841 Denomination of invention: Industrial robot traction teaching system Granted publication date: 20200908 License type: Common License Record date: 20211225 |
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