CN109352628A - A kind of intelligent teaching apparatus and its application method in processing of robots path - Google Patents
A kind of intelligent teaching apparatus and its application method in processing of robots path Download PDFInfo
- Publication number
- CN109352628A CN109352628A CN201811351563.XA CN201811351563A CN109352628A CN 109352628 A CN109352628 A CN 109352628A CN 201811351563 A CN201811351563 A CN 201811351563A CN 109352628 A CN109352628 A CN 109352628A
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- processing
- pen type
- plastic
- robots
- intelligent teaching
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 229920003023 plastic Polymers 0.000 claims abstract description 73
- 239000004033 plastic Substances 0.000 claims abstract description 73
- 230000000007 visual effect Effects 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 239000002184 metal Substances 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 241000180587 Pinnidae Species 0.000 claims 1
- FIKAKWIAUPDISJ-UHFFFAOYSA-L paraquat dichloride Chemical compound [Cl-].[Cl-].C1=C[N+](C)=CC=C1C1=CC=[N+](C)C=C1 FIKAKWIAUPDISJ-UHFFFAOYSA-L 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent teaching apparatus in processing of robots path and its application methods, including pen type shell, pen type inner walls top is plugged with plastic tube, the plastic tube top is socketed with plastic cap, the pen type housing sidewall interlocking has the key switch equidistantly distributed, the pen type housing sidewall bottom position is socketed with the first plastic hoop and the second plastic hoop, the first plastics ring-side wall bottom position is equipped with annular outer groove, the second plastic hoop inner wall apical position is equipped with annular trough compatible with annular outer groove specification, and annular trough and annular outer groove are clamped, pen type shell two sides outer wall is equipped with strip groove, and two strip groove inner walls are connected with spring part.The present invention facilitates pick-and-place, facilitates installation, can be convenient the click and sweep that auxiliary carries out machining path, is conducive to the precision for improving click and sweep path, is conducive to the reliability of hoisting machine people's machining path, promotes teaching effect, workpiece is avoided to be scratched.
Description
Technical field
The present invention relates to processing of robots path teaching technical field more particularly to a kind of intelligence in processing of robots path
Teaching apparatus and its application method.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
With machine man-based development, it can be machined by robot, need to formulate robot before processing
Machining path, needs to use teaching apparatus, and existing teaching apparatus is not sufficiently stable, it has not been convenient to adjust, path collection process is more
Trouble, so now proposing a kind of intelligent teaching apparatus in processing of robots path.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of intelligent teaching in processing of robots path dresses
It sets and its application method.
A kind of intelligent teaching apparatus in processing of robots path, including pen type shell, pen type inner walls top are inserted
It is connected to plastic tube, the plastic tube top is socketed with plastic cap, and the pen type housing sidewall interlocking has the key equidistantly distributed
Switch, the pen type housing sidewall bottom position are socketed with the first plastic hoop and the second plastic hoop, the first plastics ring-side wall
Bottom position is equipped with annular outer groove, and the second plastic hoop inner wall apical position is equipped with annular compatible with annular outer groove specification
Inside groove, and annular trough and annular outer groove are clamped, pen type shell two sides outer wall is equipped with strip groove, and in two strip grooves
Wall is connected with spring part, and first plastic hoop two sides inner wall is equipped with convex block, and two convex blocks respectively with two strip grooves
Inner wall is flexibly connected, and two spring part bottom ends are abutted with two convex block top outer walls respectively, the second plastics ring-side wall
Bottom position is equipped with supporting mechanism, pen type housing bottom position pyramidal structure, and pen type housing bottom and is connected with the
One ball, the pen type housing bottom inner wall has been bolted displacement sensor, and pen type inner walls are passed close to displacement
Sensor apical position is connected with minisize gyroscopes.
Preferably, the supporting mechanism includes becket, and the second plastics ring-side wall bottom position passes through bearing and metal
Ring is flexibly connected, and the becket sidewall weld has equidistant four be obliquely installed strut, and four strut bottom ends are welded
It is connected to metal dish, and four metal dish bottom end outer walls are connected with the second ball.
Preferably, first plastic hoop and plastic cap side wall are provided with annular groove, and two annular groove inner walls are rabbeted
There is LED light ring.
Preferably, pen type shell two sides inner wall is equipped with limiting slot, and plastic tube two sides outer wall is equipped with and two
The compatible limited block of limiting slot specification, two limited blocks are clamped with two limiting slot inner walls respectively.
Preferably, two LED light rings are connected with switch, and switch is connected with microprocessor, minisize gyroscopes and displacement
Sensor passes through signal wire and connect with microprocessor signals input terminal, and the key switch is connected by signal wire and microprocessor
It connects.
Preferably, the pen type housing sidewall interlocking has wireless signal transmitting and receiving antenna, and wireless signal dual-mode antenna passes through
Signal wire is connect with microprocessor.
A kind of application method of the intelligent teaching apparatus in processing of robots path, which comprises the following steps:
S1: placing visual apparatus, and visual apparatus alignment robot is processed table top, adjustment visual apparatus to suitable angle
Degree, and it is made so that the intelligent teaching apparatus in processing of robots path is connect with visual apparatus by wireless signal dual-mode antenna
It is formed and is communicated with visual apparatus；
S2: being calibrated, and the intelligent teaching apparatus in operation processing of robots path carries out a little on processing of robots table top
It draws, and the state of the intelligent teaching apparatus in processing of robots path is passed through into visual apparatus by wireless signal dual-mode antenna；
S3: placing workpiece, then the workpiece processed will be needed to be placed on processing of robots table top, and to the position of workpiece
It sets and is finely adjusted to suitable position；
S4: carrying out click and sweep movement, by extracting plastic tube out appropriate length from pen type shell, by the second plastic hoop and the
The socket of one plastic hoop, the intelligent teaching apparatus by operating processing of robots path carry out click and sweep movement on workpiece, are moved through
Cheng Zhong can adjust the position of supporting mechanism by rotating metallic ring, pen type shell is pushed in motion process, make the of its bottom end
The second ball is contacted with workpiece surface on one ball and supporting mechanism, and is rolled in workpiece surface, and auxiliary click and sweep is carried out；
S5: generating path, and minisize gyroscopes and displacement sensor are by data feedback to microprocessor, micro- place during click and sweep
It manages device and signal is transmitted to visual apparatus by wireless signal dual-mode antenna, then visual apparatus carries out processing to data and generates road
Diameter；
S6: completing teaching, save to the path of production, and carries out to the intelligent teaching apparatus in processing of robots path
Cleaning, is stored in suitable position.
Preferably, the second plastic hoop can be separated in the S4 with the first plastic hoop, removes the second plastic hoop and support
Mechanism carries out click and sweep movement with the intelligent teaching apparatus in the processing of robots path after the second plastic hoop of removal and supporting mechanism.
It is in the present invention the utility model has the advantages that
1. by setting supporting mechanism, cooperate the second plastic hoop, facilitate pick-and-place, facilitate installation, can be convenient assist into
The click and sweep of row machining path is conducive to the precision for improving click and sweep path, is conducive to the reliability of hoisting machine people's machining path, mentions
Rise teaching effect.
2. by using LED light ring, facilitate the position of external view device-aware device, the first ball being equipped with
Pearl and the second ball, avoid workpiece from being scratched, more convenient operation, promote operational fluency, and the plastic tube being equipped with is convenient
The length of regulating device is suitble to use under varying environment, the scope of application of lifting device.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the intelligent teaching apparatus in processing of robots path proposed by the present invention；
Fig. 2 is a kind of broken section structural representation of the intelligent teaching apparatus in processing of robots path proposed by the present invention
Figure；
Fig. 3 is a kind of process signal of application method of the intelligent teaching apparatus in processing of robots path proposed by the present invention
Figure.
In figure: 1 first ball, 2 second balls, 3 metal dish, 4 struts, 5 second plastic hoops, 6 strip grooves, 7 spring parts, 8
Key switch, 9 plastic tubes, 10 plastic caps, 11 first plastic hoops, 12LED lamp ring, 13 beckets, 14 pen type shells, 15 miniature tops
Spiral shell instrument, 16 displacement sensors.
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.
Referring to Fig.1-2, a kind of intelligent teaching apparatus in processing of robots path, including pen type shell 14, pen type shell 14
Inner wall top is plugged with plastic tube 9, and 9 top of plastic tube is socketed with plastic cap 10, and the interlocking of 14 side wall of pen type shell has equidistant point
The key switch 8 of cloth, 14 side wall bottom position of pen type shell are socketed with the first plastic hoop 11 and the second plastic hoop 5, the first plastics
11 side wall bottom position of ring is equipped with annular outer groove, and 5 inner wall apical position of the second plastic hoop is equipped with and is adapted with annular outer groove specification
Annular trough, and annular trough and annular outer groove are clamped, and 14 two sides outer wall of pen type shell is equipped with strip groove 6, and two items
6 inner wall of shape slot is connected with spring part 7, and 11 two sides inner wall of the first plastic hoop is equipped with convex block, and two convex blocks respectively with two
6 inner wall of strip groove is flexibly connected, and two 7 bottom ends of spring part are abutted with two convex block top outer walls respectively, 5 side wall of the second plastic hoop
Bottom position is equipped with supporting mechanism, and supporting mechanism includes becket 13, and 5 side wall bottom position of the second plastic hoop by bearing with
Becket 13 is flexibly connected, and 13 sidewall weld of becket has equidistant four be obliquely installed strut 4, and four 4 bottom ends of strut are equal
It is welded with metal dish 3, and four 3 bottom end outer walls of metal dish are connected with the second ball 2,14 bottom position of pen type shell cone
Shape structure, and 14 bottom end of pen type shell is connected with the first ball 1,14 bottom end inner wall of pen type shell has been bolted position
Displacement sensor 16, and 14 inner wall of pen type shell is connected with minisize gyroscopes 15 close to 16 apical position of displacement sensor.
In the present invention, the first plastic hoop 11 and 10 side wall of plastic cap are provided with annular groove, and two annular groove inner walls are embedding
It is connected to LED light ring 12,14 two sides inner wall of pen type shell is equipped with limiting slot, and 9 two sides outer wall of plastic tube is equipped with and limits with two
The compatible limited block of position slot specification, two limited blocks are clamped with two limiting slot inner walls respectively, and two LED light rings 12 are connected with
Switch, and switch is connected with microprocessor, minisize gyroscopes 15 and displacement sensor 16 pass through signal wire and microprocessor signals
Input terminal connection, key switch 8 are connect by signal wire with microprocessor, and the interlocking of 14 side wall of pen type shell has wireless signal transmitting and receiving
Antenna, and wireless signal dual-mode antenna is connect by signal wire with microprocessor, microprocessor model is ARM9TDMI.
Referring to Fig. 3, a kind of application method of the intelligent teaching apparatus in processing of robots path, which is characterized in that including with
Lower step:
S1: placing visual apparatus, and visual apparatus alignment robot is processed table top, adjustment visual apparatus to suitable angle
Degree, and it is made so that the intelligent teaching apparatus in processing of robots path is connect with visual apparatus by wireless signal dual-mode antenna
It is formed and is communicated with visual apparatus；
S2: being calibrated, and the intelligent teaching apparatus in operation processing of robots path carries out a little on processing of robots table top
It draws, and the state of the intelligent teaching apparatus in processing of robots path is passed through into visual apparatus by wireless signal dual-mode antenna；
S3: placing workpiece, then the workpiece processed will be needed to be placed on processing of robots table top, and to the position of workpiece
It sets and is finely adjusted to suitable position；
S4: click and sweep movement is carried out, by extracting plastic tube 9 out appropriate length from pen type shell 14, by the second plastic hoop 5
It being socketed with the first plastic hoop 11, the intelligent teaching apparatus by operating processing of robots path carries out click and sweep movement on workpiece,
In motion process, the position of supporting mechanism can be adjusted by rotating metallic ring 13, pen type shell 14 is pushed in motion process, makes
The second ball 2 is contacted with workpiece surface on the first ball 1 and supporting mechanism of its bottom end, and is rolled in workpiece surface, is carried out
Assist click and sweep；
S5: generating path, during click and sweep minisize gyroscopes 15 and displacement sensor 16 by data feedback to microprocessor,
Signal is transmitted to visual apparatus by wireless signal dual-mode antenna by microprocessor, and then visual apparatus carries out processing generation to data
Path；
S6: completing teaching, save to the path of production, and carries out to the intelligent teaching apparatus in processing of robots path
Cleaning, is stored in suitable position, can separate the second plastic hoop 5 with the first plastic hoop 11 in S4, removes 5 He of the second plastic hoop
Supporting mechanism carries out click and sweep with the intelligent teaching apparatus in the processing of robots path after the second plastic hoop 5 of removal and supporting mechanism
Movement.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of intelligent teaching apparatus in processing of robots path, including pen type shell (14), which is characterized in that the pen type shell
Body (14) inner wall top is plugged with plastic tube (9), and plastic tube (9) top is socketed with plastic cap (10), the pen type shell
(14) side wall interlocking has the key switch (8) equidistantly distributed, and pen type shell (14) the side wall bottom position is socketed with first
Plastic hoop (11) and the second plastic hoop (5), the first plastic hoop (11) side wall bottom position are equipped with annular outer groove, and described second
Plastic hoop (5) inner wall apical position is equipped with annular trough compatible with annular outer groove specification, and annular trough and annular outer groove
Clamping, pen type shell (14) two sides outer wall is equipped with strip groove (6), and two strip groove (6) inner walls are connected with spring
Part (7), the first plastic hoop (11) two sides inner wall are equipped with convex block, and two convex blocks respectively with two strip groove (6) inner walls
It is flexibly connected, two spring part (7) bottom ends are abutted with two convex block top outer walls respectively, the second plastic hoop (5) side
It is living that wall bottom position is equipped with supporting mechanism, pen type shell (14) the bottom position pyramidal structure, and pen type shell (14) bottom end
Dynamic to be connected with the first ball (1), pen type shell (14) bottom end inner wall has been bolted displacement sensor (16), and pen
Shell body (14) inner wall is connected with minisize gyroscopes (15) close to displacement sensor (16) apical position.
2. a kind of intelligent teaching apparatus in processing of robots path according to claim 1, which is characterized in that the support
Mechanism includes becket (13), and the second plastic hoop (5) side wall bottom position is flexibly connected by bearing with becket (13), institute
Stating becket (13) sidewall weld has equidistant four be obliquely installed strut (4), and four strut (4) bottom ends are welded with
Metal dish (3), and four metal dish (3) bottom end outer walls are connected with the second ball (2).
3. a kind of intelligent teaching apparatus in processing of robots path according to claim 1, which is characterized in that described first
Plastic hoop (11) and plastic cap (10) side wall are provided with annular groove, and two annular groove inner walls are rabbeted LED light ring (12).
4. a kind of intelligent teaching apparatus in processing of robots path according to claim 1, which is characterized in that the pen type
Shell (14) two sides inner wall is equipped with limiting slot, and plastic tube (9) two sides outer wall is equipped with and is adapted with two limiting slot specifications
Limited block, two limited blocks are clamped with two limiting slot inner walls respectively.
5. a kind of intelligent teaching apparatus in processing of robots path according to claim 3, which is characterized in that described in two
LED light ring (12) is connected with switch, and switch is connected with microprocessor, and minisize gyroscopes (15) and displacement sensor (16) pass through
Signal wire is connect with microprocessor signals input terminal, and the key switch (8) is connect by signal wire with microprocessor.
6. a kind of intelligent teaching apparatus in processing of robots path according to claim 3, which is characterized in that the pen type
The interlocking of shell (14) side wall has wireless signal transmitting and receiving antenna, and wireless signal dual-mode antenna is connected by signal wire and microprocessor
It connects.
7. a kind of application method of the intelligent teaching apparatus in processing of robots path according to claim 1, feature exist
In, comprising the following steps:
S1: placing visual apparatus, and visual apparatus alignment robot is processed table top, adjustment visual apparatus to suitable angle, and
Make itself and view so that the intelligent teaching apparatus in processing of robots path is connect with visual apparatus by wireless signal dual-mode antenna
Feel that equipment forms communication；
S2: being calibrated, and the intelligent teaching apparatus in operation processing of robots path carries out click and sweep on processing of robots table top, and
The state of the intelligent teaching apparatus in processing of robots path is passed through into visual apparatus by wireless signal dual-mode antenna；
S3: placing workpiece, then the workpiece processed will be needed to be placed on processing of robots table top, and to the position of workpiece into
Row is finely tuned to suitable position；
S4: carrying out click and sweep movement, by extracting plastic tube (9) out appropriate length from pen type shell (14), by the second plastic hoop
(5) it is socketed with the first plastic hoop (11), the intelligent teaching apparatus by operating processing of robots path carries out click and sweep on workpiece
It moves, in motion process, the position of supporting mechanism can be adjusted by rotating metallic ring (13), pushes pen type shell in motion process
Body (14) contacts the second ball (2) on the first ball (1) and supporting mechanism of its bottom end with workpiece surface, and in workpiece
Surface scrolls carry out auxiliary click and sweep；
S5: generating path, during click and sweep minisize gyroscopes (15) and displacement sensor (16) by data feedback to microprocessor,
Signal is transmitted to visual apparatus by wireless signal dual-mode antenna by microprocessor, and then visual apparatus carries out processing generation to data
Path；
S6: completing teaching, save to the path of production, and carries out to the intelligent teaching apparatus in processing of robots path clear
It is clean, it is stored in suitable position.
8. a kind of application method of the intelligent teaching apparatus in processing of robots path according to claim 7, feature exist
In, the second plastic hoop (5) can be separated with the first plastic hoop (11) in the S4, removal the second plastic hoop (5) and support machine
Structure carries out click and sweep movement with the intelligent teaching apparatus in the processing of robots path after removal the second plastic hoop (5) and supporting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811351563.XA CN109352628B (en) | 2018-11-13 | 2018-11-13 | Intelligent teaching device for robot processing path and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811351563.XA CN109352628B (en) | 2018-11-13 | 2018-11-13 | Intelligent teaching device for robot processing path and application method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN109352628A true CN109352628A (en) | 2019-02-19 |
| CN109352628B CN109352628B (en) | 2024-02-27 |
Family
ID=65345163
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811351563.XA Active CN109352628B (en) | 2018-11-13 | 2018-11-13 | Intelligent teaching device for robot processing path and application method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355503A (en) * | 2019-07-25 | 2019-10-22 | 陕西丝路机器人智能制造研究院有限公司 | Contactless welding robot auxiliary teaching display-tool with sticking plastic |
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| CN209273433U (en) * | 2018-11-13 | 2019-08-20 | 上海智殷自动化科技有限公司 | A kind of intelligent teaching apparatus in processing of robots path |
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- 2018-11-13 CN CN201811351563.XA patent/CN109352628B/en active Active
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|---|---|---|---|---|
| JPH0947989A (en) * | 1995-08-08 | 1997-02-18 | Kawasaki Heavy Ind Ltd | Robot work teaching device |
| JP2001038659A (en) * | 1999-07-26 | 2001-02-13 | Toshiba Mach Co Ltd | Teaching point data measuring tool, work robot, and teaching point position and attitude data measuring method |
| JP2001051713A (en) * | 1999-08-09 | 2001-02-23 | Kawasaki Heavy Ind Ltd | Method and device for teaching work to robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355503A (en) * | 2019-07-25 | 2019-10-22 | 陕西丝路机器人智能制造研究院有限公司 | Contactless welding robot auxiliary teaching display-tool with sticking plastic |
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| Publication number | Publication date |
|---|---|
| CN109352628B (en) | 2024-02-27 |
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