CN1187170C - Hand-in-hand demonstration robot - Google Patents
Hand-in-hand demonstration robot Download PDFInfo
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- CN1187170C CN1187170C CNB001192752A CN00119275A CN1187170C CN 1187170 C CN1187170 C CN 1187170C CN B001192752 A CNB001192752 A CN B001192752A CN 00119275 A CN00119275 A CN 00119275A CN 1187170 C CN1187170 C CN 1187170C
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Abstract
The present invention relates to a hand-in-hand demonstration robot which is characterized in that the robot is mainly composed of a waist rotary mechanism, a big arm swing mechanism arranged on the waist rotary mechanism, a small arm swing mechanism arranged on the upper end of the big arm swing mechanism, a small arm rotary mechanism arranged on the small arm swing mechanism, a wrist swing mechanism arranged on the front end of the small arm swing mechanism and a wrist rotary mechanism arranged on the end of the wrist swing mechanism. Compared with the prior art, the present invention has the advantages of portability, fluency, reliable reproduction, reliability and convenient, easy and rapid adjustment when the hand-in-hand continuous trace spraying demonstration is carried out on any complex profile of a work piece.
Description
Technical field:
The present invention relates to a kind of robot.
Background technology:
Existing electric robot is mainly by the waist rotating mechanism, but be arranged at the big arm swing mechanism of swing on the waist rotating mechanism, but be arranged at the forearm swing mechanism of the swing in the big arm swing mechanism, being arranged at the swing done of forearm swing mechanism end and the wrist swing mechanism that rotates and wrist rotating mechanism constitutes, by motor-driven waist rotating mechanism, big arm swing mechanism; forearm swing mechanism; wrist rotating mechanism; the wrist swing mechanism has constituted robot with five degrees of freedom; this kind robot;; the wrist rotating mechanism cooperates big arm swing mechanism; swing that the amplitude of forearm swing mechanism is bigger and the bigger rotation of waist rotating mechanism amplitude; when carrying out teach-by-doing continuous path spraying teaching on any complicated surface of workpiece; just seem somewhat awkward and smooth and easy inadequately though can move at any point-to-point transmission in space in theory; only depend on the wrist swing mechanism; and; the resistance the when statical moment that electromagnetic induction produced of electric motor loop has also increased teaching during teaching; make the teaching difficulty that becomes; in addition; big arm swing mechanism; the forearm swing mechanism is in the teaching process; its deadweight has unbalanced moments to supporting-point; and with the movement position variation, how to offset big arm swing mechanism; the unbalanced moments of forearm swing mechanism is light one of them key of carrying out of teaching energy.
Summary of the invention:
Goal of the invention of the present invention is to provide a kind of teaching light, robot smoothly, particularly a kind of light when being used for that any complicated surface of workpiece carried out teach-by-doing continuous path spraying teaching, robot smoothly.
The present invention realizes like this; Mainly by the waist rotating mechanism; Be located at the big arm swing mechanism on the waist rotating mechanism; Be located at the forearm swing mechanism of big arm swing mechanism upper end; Be located at the forearm rotating mechanism on the forearm swing mechanism; The wrist swing mechanism of being located at forearm swing mechanism front end consists of with the wrist rotating mechanism of being located at wrist swing mechanism end; The waist rotating mechanism is mainly by pedestal; Be bearing in the revolving bed on the pedestal; Be fixed on the pedestal and drive that revolving bed rotates and consist of with the actuating unit of work-saving device; Big arm swing mechanism is mainly by the big arm that is articulated on the revolving bed; Be fixed on the revolving bed drive big arm swing and consist of with the big arm power machine structure of work-saving device; The forearm swing mechanism is mainly by little arm seat; Two connecting rods; Be fixed on the revolving bed and consist of with the forearm actuating unit of work-saving device; Little arm seat is hinged on the upper end of big arm; Two connecting rods, one end is hinged on the little arm seat; The other end be fixed in revolving bed on and link to each other with the forearm actuating unit of work-saving device; The forearm rotating mechanism is mainly by the socket shape forearm that is actively socketed on the little arm seat; Be fixed on the little arm seat and drive that forearm rotates and consist of with the forearm rotational power mechanism of work-saving device; The wrist swinging mechanism mainly by loose joint in the forearm wrist pendulum of an end wherein; Be fixed on the forearm other end and with the motor of work-saving device; The transmission mechanism that is arranged in the forearm consists of; Transmission mechanism one end links to each other with motor; The other end links to each other with the wrist pendulum; The wrist rotation mechanism is mainly by being fixed in that wrist is laid out and with the motor of work-saving device; The wrist that loose joint is laid out in wrist turns to; The transmission mechanism that is arranged in the wrist pendulum consists of; Transmission mechanism one end links to each other with motor; The other end and wrist phase inversion connect; Be hinged between the pin joint of big arm and revolving bed at little arm seat and be provided with balance cylinder; The position of the pin joint of balance cylinder on revolving bed is to arrange like this; When big arm is in vertical position; Balance cylinder the pin joint on the revolving bed be positioned at big arm at the pin joint on the revolving bed and little arm seat on the line of the pin joint on the big arm; Between the driving lever of revolving bed and two connecting rods, be provided with balance cylinder; Balance cylinder is to set like this on the revolving bed and the position of the pin joint on the driving lever of two connecting rods; When little arm portion is positioned at little arm seat directly over the pin joint of big arm the time together with the center of gravity of wrist part; Two pin joints of balance cylinder are on the same straight line at the pin joint on the revolving bed with big arm; The control of robot is adopted main; From two-stage computer control; Master computer adopts the industry control PC; Each free degree adopt microprocessor from computer; Main; Adopt parallel communications from the communication of computer, the track data that teaching generates is stored on the master computer hard disk.
What here, work-saving device adopted is that the patent No. is 97246209.0 patented technology.
During work, owing to adopted balance cylinder and work-saving device, during teaching, the balance cylinder balance because of big arm; the variation of forearm center of gravity and the moment that produces; make and can drive big arm easily by doing and illustrating; little arm swing; work-saving device has been eliminated the statical moment that electromagnetic induction produced of electric motor loop; make teaching become light; easily; the motor that will drive the wrist pendulum is fixed on the forearm; the motor that will drive wrist changes is fixed in wrist and lays out; both simplified the structure (existing technology is that two motors all are fixed on the little arm seat; like this; corresponding axle sleeve shaft transmission must be set on forearm the power of motor is transferred to the wrist pendulum; in the wrist commentaries on classics), the while has also solved the existing in prior technology coupled problem.The forearm rotating mechanism that is increased is fit to the complicated arbitrarily shape face of workpiece more when making robot carry out spraying operation, especially have the workpiece of interior bent face.
Here, ROBOT CONTROL is adopted accurate closed-loop control, promptly constantly detect the current coordinate position in the joint in the motion, detected data are compared with corresponding track data, when deviation appears in two data, according to the size that deviate occurs by formula Y/N carry out grading compensation, till with the deviation full remuneration, Y; Detect the deviate between data and track data, N; 2～8.Adopt above-mentioned accurate closed-loop control, can solve the problem that motor is lost the step effectively, the defect of trembling in the joint that can avoid closed-loop control to cause easily again simultaneously.
Accurately repeat the action of teaching for the execution that makes reproduction, make control program simple and direct efficient, the speed of service is fast, the operation of robot is reached steadily, smooth, effect reliably, reproducing the Mathematical Modeling of carrying out is KI=KT/S, KI is by the pulse frequency value of programme controlled output able to programme in the formula, is used for directly controlling rotating speed of motor; KT is the constant that hardware setting determined, 16 system numbers for double byte are specially 7FFEH, are equivalent to metric 32765; S is the joint motions step number between every adjacent two extremely short fixed time intervals in the teaching process.Owing to be to carry out teaching by the people, therefore, robot can not turn round very fast, the range ability of (as 18 milliseconds) robot is extremely short between adjacent two extremely short fixed time intervals in the teaching process, adopt above-mentioned Mathematical Modeling to determine that robot reproduces the speed of service of the teaching track of this minimum distance, can press the operation of teaching track reproducing robot effectively, simultaneously, the control program that required and Mathematical Modeling match is simple, the speed of service is fast, and the data transaction that can fast and effeciently teaching be generated becomes control to reproduce the output data of implementation.
In order to make cylinder that constant relatively pulling force be arranged, also be provided with air accumulator and be connected with cylinder.Like this, even the gas volume in the cylinder changes with the swing of big arm or forearm, the air pressure in the cylinder can not produce big variation yet under the balance of air accumulator, so just guaranteed that cylinder has constant relatively pulling force.
In order to utilize the hardware capability of microprocessor fully, the application program in each joint of debugging control easily, simulation development system is accomplished on each microprocessor, be about to the required dynamic debugging routine of emulation, monitoring programme places on the relatively-stationary space of microprocessor ROM, on the single chip microcomputer minimum system of microprocessor, connect a debugging then, the emulation keyboard interface, by interface external have display system from the machine monitoring keypad, so that by keypad call on the ROM debugging routine or (with) monitoring programme comes the application program in each joint of debugging control and shows the running status in each joint, in the time of need making amendment to the application program of controlling each joint, can be by behind master computer editor or the update routine, by the communication unit between main frame and slave program is downloaded to the external RAM data of microprocessor again, the program storage area, or directly by being placed on the external RAM data of microprocessor behind keypad editor or the update routine, on the program storage area, on microprocessor, it is carried out commissioning test at last in conjunction with analogue system, till these application programs meet the requirements, then with on the ROM of these satisfactory program Solidifications to the microprocessor.Because analogue system is directly accomplished like this, both to simplify the structure on each microprocessor, reduced manufacturing cost, more improved development efficiency.Because during an external emulator, the CPU of microprocessor need be replaced with the CPU of emulator, thereby troublesome poeration, and be subjected to the restriction in microprocessor space, can not on the microprocessor of each joint operation of control, connect emulator simultaneously, so that simultaneously the working procedure in a plurality of joints is debugged, also owing to will be cured to the process complexity of the ROM on the microprocessor by the application program that the emulator test is finished, required time is longer, efficient is low, employing is directly accomplished analogue system on the microprocessor, in the time of will testing the working procedure in each joint simultaneously, only need debugging at each microprocessor, emulation is just passable with external keypad on the keyboard interface, and the useful program of revising or regrouping in debug process can directly be cured on the ROM on the microprocessor, and is simple and quick.
Compared with the prior art the present invention has when any complicated surface of workpiece carried out teach-by-doing continuous path spraying teaching lightly, smooth and easy, reproduces reliably, accurately, debugging is convenient, easily, advantage efficiently.
Description of drawings:
Fig. 1 is a robot construction schematic diagram of the present invention;
Fig. 2 is for arm changes, wrist is put, the structural representation of wrist joint;
Fig. 3 is the structural representation of balance cylinder;
Fig. 4 is the circuit controling drawing in joint.
The specific embodiment:
Now in conjunction with the accompanying drawings and embodiments the present invention is described in further detail:
Such as Fig. 1; Shown in Figure 2; Hand-in-hand demonstration robot of the present invention is to realize like this; Mainly by waist rotating mechanism 1; Be located at the big arm swing mechanism 2 on the waist rotating mechanism 1; Be located at the forearm swing mechanism 3 of big arm swing mechanism 2 upper ends; Be located at the forearm rotating mechanism 4 on the forearm swing mechanism 3; The wrist swing mechanism 5 of being located at forearm rotating mechanism 4 front ends consists of with the wrist rotating mechanism 6 of being located at wrist swing mechanism 5 ends; Waist rotating mechanism 1 is mainly by pedestal 7; Be bearing in the revolving bed 8 on the pedestal 7; Be fixed on the pedestal 7 that to drive revolving bed 8 that rotate and consist of with the actuating unit 9 of work-saving device; Arm swing mechanism 2 is main by the big arm 10 that is articulated on the revolving bed 8 greatly; Be fixed on the revolving bed 8 drive big arm 10 swings and consist of with the big arm power machine structure 11 of work-saving device; Forearm swing mechanism 3 is mainly by forearm seat 12; Two connecting rods 13; Be fixed on the revolving bed 8 and consist of with the forearm actuating unit 14 of work-saving device; Forearm seat 12 is hinged on the upper end of big arm 10; Two connecting rods, 13 1 ends are hinged on the forearm seat 12; The other end be fixed in revolving bed 8 on and link to each other with the forearm actuating unit 14 of work-saving device; Forearm rotating mechanism 4 is main by the socket shape forearm 15 that is actively socketed on the forearm seat 12; Be fixed on the forearm seat 12 and drive that forearm 15 rotates and consist of with the forearm rotational power mechanism 16 of work-saving device; Wrist swinging mechanism 5 mainly by loose joint in the forearm 15 wrist pendulum 17 of an end wherein; Be fixed on forearm 15 other ends and with the motor 18 of work-saving device; The transmission mechanism 19 that is arranged in the forearm 15 consists of; Transmission mechanism 19 1 ends link to each other with motor 18; The other end links to each other with wrist pendulum 17; Wrist is made a connection 6 structures mainly by being fixed on the wrist pendulum 17 and with the motor 20 of work-saving device; The wrist of loose joint on wrist pendulum 17 turns to 21; The transmission mechanism 22 that is arranged in the wrist pendulum 17 consists of; Transmission mechanism 22 1 ends link to each other with motor 20, and the other end turns to 21 with wrist and links to each other.
The pin joint 23 and 8 of the revolving beds that are hinged on big arm 10 at forearm seat 12 are provided with balance cylinder 24, the position of the pin joint 25 of balance cylinder 24 on revolving bed 8 is to be provided with like this, when big arm 10 is in vertical position, balance cylinder 24 the pin joint on the revolving bed 8 25 be positioned at big arm 10 at the pin joint on the revolving bed 8 26 and forearm seat 12 on the line of the pin joint 23 on the big arm 10,27 of driving levers at revolving bed 8 and two connecting rods 13 are provided with balance cylinder 28, as shown in Figure 5, the position of the pin joint 14 of balance cylinder 28 on revolving bed 8 upper link points 29 and the driving lever 27 at two connecting rods 13 is to set like this, when little arm portion is positioned at forearm seat 12 directly over the pin joint 23 of big arm 10 time, two pin joints 14 of balance cylinder 28 together with the center of gravity of wrist part 32,29 are on same the straight line at the pin joint on the revolving bed 8 30 with big arm 10.As shown in Figure 3, relative constant pulling force is arranged, also be provided with corresponding air accumulator 31 and be connected with balance cylinder 24,28 respectively in order to make balance cylinder 24 and 28.
As shown in Figure 4, ROBOT CONTROL adopts master and slave two level computer control, master computer control entire machine people's operation, from the computer control operation in joint separately, master computer adopts industry control PC 1, each free degree adopt microprocessor 2 from computer, parallel communications is adopted in the communication of master and slave computer, the track data that teaching generates is stored on the master computer hard disk.During work, the motion trace data in each joint that teaching generated is by joint position detecting unit 3, microprocessor 2, communication unit 4 is transferred on the main frame and is stored on the master computer hard disk, when robot moves, main frame is through communication unit 4 microprocessors 2, track operation when teaching is pressed in driver element 5 and the input of external sensor signal and various delivery outlet line traffic control 6 each joints of control robot, in running, driver element 5 and the input of external sensor signal and various delivery outlet line traffic control 6 constantly feed back to industry control PC 1 with the location status data in motor operating state data and each joint, so that the industry control PC is made revision directive to the error that occurs in the running, PC drives spray gun simultaneously, action when turntable is done to repeat teaching.
Here, ROBOT CONTROL is adopted accurate closed-loop control, promptly constantly detect the current coordinate position in the joint in the motion, detected data are compared with corresponding track data, when deviation appears in two data, according to the size that deviate occurs by formula Y/N carry out grading compensation, till with the deviation full remuneration, Y; Detect the deviate between data and track data, N; 2～8.
Reproducing the Mathematical Modeling of carrying out is KI=KT/S, and KI is by the pulse frequency value of programme controlled output able to programme in the formula, is used for directly controlling rotating speed of motor; KT is the constant that hardware setting determined, 16 system numbers for double byte are specially 7FFEH, are equivalent to metric 32765; S is the joint motions step number between every adjacent two extremely short fixed time intervals in the teaching process.
As shown in Figure 4, simulation development system is accomplished on each microprocessor 2, be about to the required dynamic debugging routine of emulation, monitoring programme places on the relatively-stationary space of microprocessor ROM, on the single chip microcomputer minimum system 7 of microprocessor 2, connect a debugging then, emulation keyboard interface 8, by interface 8 external have display system from machine monitoring keypad 9, like this, the single chip microcomputer minimum system 7 of microprocessor, the external RAM data, program storage area 10, to the read-write logical one 1 of external RAM with by debugging, emulation has constituted simulation development system with the keypad 9 that the single chip microcomputer minimum system 7 of keyboard interface 8 and microprocessor links together, can directly follow the trail of the program ruuning situation of this system and the data of each relative address unit by keypad 9, program is downloaded to the external RAM data of microprocessor 2 by the communication unit 4 between master computer 1 and slave (microprocessor 2), program storage area 10, or directly by being placed on the external RAM data of microprocessor 2 behind keypad 9 editors or the update routine, on the program storage area 10, on microprocessor 2, it is carried out commissioning test then in conjunction with analogue system, till these application programs meet the requirements, then with on the ROM of these satisfactory program Solidifications to the microprocessor 2.
Claims (6)
1; A kind of hand-in-hand demonstration robot; It is characterized in that mainly by the waist rotating mechanism; Be located at the big arm swing mechanism on the waist rotating mechanism; Be located at the forearm swing mechanism of big arm swing mechanism upper end; Be located at the forearm rotating mechanism on the forearm swing mechanism; The wrist swing mechanism of being located at forearm swing mechanism front end consists of with the wrist rotating mechanism of being located at wrist swing mechanism end; The waist rotating mechanism is mainly by pedestal; The seat of rotation loose joint on pedestal; Be fixed on the pedestal and drive that seat rotates and consist of with the actuating unit of work-saving device; Big arm swing mechanism is mainly by the big arm that is articulated on the seat; It is upper that drive big arm swing and consist of with the big arm power machine structure of work-saving device to be fixed in seat; The forearm swing mechanism is mainly by little arm seat; Two connecting rods; Affixed present upper and consist of with the forearm actuating unit of work-saving device; Little arm seat is hinged on the upper end of big arm; Two connecting rods, one end is hinged on the little arm seat; The other end is with affixed present upper and link to each other with the forearm actuating unit of work-saving device; The forearm rotating mechanism is mainly by the socket shape forearm that is actively socketed on the little arm seat; Be fixed on the little arm seat and drive that forearm rotates and consist of with the forearm rotational power mechanism of work-saving device; The wrist swinging mechanism mainly by loose joint in the forearm wrist pendulum of an end wherein; Be fixed on the forearm other end and with the motor of work-saving device; The transmission mechanism that is arranged in the forearm consists of; Transmission mechanism one end links to each other with motor; The other end links to each other with the wrist pendulum; The wrist rotation mechanism is mainly by being fixed in that wrist is laid out and with the motor of work-saving device; The wrist that loose joint is laid out in wrist turns to; The transmission mechanism that is arranged in the wrist pendulum consists of; Transmission mechanism one end links to each other with motor; The other end and wrist phase inversion connect; Little arm seat be hinged on big arm pin joint and the seat between be provided with balance cylinder; The position of the pin joint on balance cylinder is present is to arrange like this; When big arm is in vertical position; Pin joint on balance cylinder is present is positioned on the line of the pin joint of big arm on present and the little arm seat pin joint on big arm; Be provided with balance cylinder between the driving lever of present and two connecting rods; The present the position upper and pin joint on the driving lever of two connecting rods of balance cylinder is to set like this; When little arm portion is positioned at little arm seat directly over the pin joint of big arm the time together with the center of gravity of wrist part; Two pin joints of balance cylinder are on the same straight line at the pin joint on the revolving bed with big arm; The control of robot is adopted main; From two-stage computer control; Master computer adopts the industry control PC; Each free degree adopt microprocessor from computer; Main; Adopt parallel communications from the communication of computer, the track data that teaching generates is stored on the master computer hard disk.
2, hand-in-hand demonstration robot according to claim 1, it is characterized in that ROBOT CONTROL is adopted accurate closed-loop control, promptly constantly detect the current coordinate position in the joint in the motion, detected data are compared with corresponding track data, when deviation appears in two data, according to the size that deviate occurs by formula Y/N carry out grading compensation, till with the deviation full remuneration, Y; Detect the deviate between data and track data, N; 2～8.
3, hand-in-hand demonstration robot according to claim 1 is characterized in that also being provided with between source of the gas and balance cylinder air accumulator.
4, hand-in-hand demonstration robot according to claim 1, it is characterized in that simulation development system is accomplished on each microprocessor, being about to required dynamic debugging routine, the monitoring programme of emulation places on the relatively-stationary space of microprocessor ROM, on the single chip microcomputer minimum system of microprocessor, connect a debugging, emulation keyboard interface then, by interface external have display system from the machine monitoring keypad.
5, hand-in-hand demonstration robot according to claim 4, it is characterized in that by keypad call on the ROM debugging routine or (with) monitoring programme comes the application program in each joint of debugging control and shows the running status in each joint, in the time of need making amendment to the application program of controlling each joint, can be by behind master computer editor or the update routine, by the communication unit between main frame and slave program is downloaded to the external RAM data of microprocessor again, the program storage area, or directly by being placed on the external RAM data of microprocessor behind keypad editor or the update routine, on the program storage area, on microprocessor, it is carried out commissioning test then in conjunction with analogue system, till these application programs meet the requirements, then with on the ROM of these satisfactory program Solidifications to the microprocessor.
6, hand-in-hand demonstration robot according to claim 1, the Mathematical Modeling that it is characterized in that reproducing execution is KI=KT/S, KI is the pulse frequency value by programme controlled output able to programme in the formula, being used for directly controlling rotating speed of motor KT is the constant that hardware setting determined, 16 system numbers for double byte, be specially 7FFEH, be equivalent to metric 32765; S is the joint motions step number between every adjacent two extremely short fixed time intervals in the teaching process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001192752A CN1187170C (en) | 2000-06-30 | 2000-06-30 | Hand-in-hand demonstration robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001192752A CN1187170C (en) | 2000-06-30 | 2000-06-30 | Hand-in-hand demonstration robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1307956A CN1307956A (en) | 2001-08-15 |
| CN1187170C true CN1187170C (en) | 2005-02-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB001192752A Expired - Fee Related CN1187170C (en) | 2000-06-30 | 2000-06-30 | Hand-in-hand demonstration robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN1187170C (en) |
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2000
- 2000-06-30 CN CNB001192752A patent/CN1187170C/en not_active Expired - Fee Related
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| CN1307956A (en) | 2001-08-15 |
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