CN204673607U - Hand holds teaching robot - Google Patents
Hand holds teaching robot Download PDFInfo
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- CN204673607U CN204673607U CN201520347959.2U CN201520347959U CN204673607U CN 204673607 U CN204673607 U CN 204673607U CN 201520347959 U CN201520347959 U CN 201520347959U CN 204673607 U CN204673607 U CN 204673607U
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Abstract
The utility model provides that a kind of structure is simple, teaching is convenient, hand easy and simple to handle holds teaching robot.It comprises main controller, at least one joint; Described joint comprises two arms, drives the driving mechanism of two arm relative motions, and driving mechanism comprises servomotor, is electrically connected with servomotor with the driver controlling servomotor, encoder; Main controller is connected with each actuator electrical, and the output of each encoder connects main controller.
Description
Technical field
The utility model relates to robot.
Background technology
For the complexity requirement that modern industry is quick and various and growing, continue flexible manufacturing, computer integrated manufacturing system, Surface seeding and concurrent engineering, in the production unit facing the future commercial Application, robot is not only required " untiring " carries out repeated work, and can be fused in manufacturing industry system as a highly flexible, opening able to programme, the Reconfigurable Manufacturing Cell with friendly human-computer interaction function.The realization of this ability requires that the progress of present stage Robotics entirety, teach technique are exactly wherein important one.Robot is regarded as flexible automation equipment because being programmed different tasks.Realize the programming to robot manipulating task task by a certain equipment or mode, this process is exactly the teaching process of robot.
Conventional teaching method mainly contains two kinds, and one is by teaching machine teaching; Another kind is by off-line software, and generate the trail file that robot runs, robot is according to the data run of trail file.The former runs for general regular collection track, as straight line, circular arc etc., the latter is except realizing except the teaching of straight line, circular arc etc., also can the curve teaching of teaching complexity, but off-line software application gets up more complicated, higher requirement is had to operator, and on-the-spot digital-to-analogue collecting work amount is large, and software price is very high in addition, have impact on applying of robot.
Utility model content
The purpose of this utility model is to provide that a kind of structure is simple, teaching is convenient, hand easy and simple to handle holds teaching robot.
Hand of the present utility model holds teaching robot, and described robot comprises main controller, at least one joint; Described joint comprises two arms, drives the driving mechanism of two arm relative motions, and driving mechanism comprises servomotor, is electrically connected with servomotor with the driver controlling servomotor, encoder; Main controller is connected with each actuator electrical, and the output of each encoder connects main controller.
Above-mentioned hand holds teaching robot, and driving mechanism also comprises decelerator, and the power shaft of decelerator is connected with the output shaft of servomotor; The support of reducer shell and servomotor is fixed in a joint on an arm, and reducer output shaft is connected with another arm in this joint.
Above-mentioned hand holds teaching robot, and described robot at least comprises the first joint, second joint two joints; One in two arms in first joint is holder, and another is the first arm relative to holder motion; One in two arms in second joint is the first arm, and another is the second arm relative to the first arm motion.
Above-mentioned hand holds teaching robot, and driving mechanism also comprises nut-screw rod mechanism, and nut to be fixed in joint on an arm, is connected with servo motor output shaft with the screw mandrel of nut screw connection; The support of servomotor is fixed on another arm in this joint; Another arm is slidably arranged on an arm in nut or this joint on the direction being parallel to screw mandrel.
Above-mentioned hand holds teaching robot, and driving mechanism also comprises pinion and rack, and tooth bar is fixed in joint on an arm, and the gear coordinated with tooth bar is connected with servo motor output shaft; The support of servomotor is fixed on another arm in this joint; Another arm is slidably arranged on an arm in this joint on the direction being parallel to tooth bar.
The beneficial effects of the utility model: use robot to carry out the process of teaching: at learning procedure, robot enters the torque mode of lower resistance, with the orbiting motion that hand-drive robot needs according to operator, in the process of robot motion, the study output valve of each encoder can change in time, main controller storage study output valve.In reset process, the initial velocity state of initial time is got back to by robot, and each servomotor is in position or velocity mode; At operating procedure, namely by each servomotor action of each driver control, the operation output valve of each encoder is changed according to the rule of the study output valve of storage, and the action in each like this joint is namely completely the same with each joint action in learning procedure.In brief, the orbiting motion needed according to operator with hand-drive robot, robot system record movement locus, operationally robot runs according to the teaching track of record, simplifies the application teaching of robot.This robot is for operator without the need to programming, and teaching track can be arbitrary trajectory, and without any requirement to operator, easy to operate, the parts etc. in this robot belong to conventional parts, low cost of manufacture.
Accompanying drawing explanation
Fig. 1 is the structural representation of joint of robot;
The theory diagrams such as Tu2Shi robot main controller, servomotor;
Fig. 3 is the schematic diagram of the joint of robot of study initial time;
Fig. 4 be study initial time joint 1,2 overlook schematic diagram;
Fig. 5 is the schematic diagram of the joint of robot of study finish time;
Fig. 6 be study finish time joint 1,2 overlook schematic diagram.
Detailed description of the invention
Robot shown in Figure 1 comprise joint 1 ?5 totally 5 joints.
Joint 1 comprises as the holder of arm 11, arm 12, the driving mechanism 13, ring flange 14 etc. that drive arm 12 to rotate relative to holder.Driving mechanism 13 comprises servomotor 131, is electrically connected with the driver 132 controlling servomotor, the encoder 133 be connected with servomotor 131, decelerator 134 with servomotor.Ring flange 14 is fixed on arm (holder) 11, and servomotor 131 and decelerator 134 housing are all fixed on ring flange 14.The power shaft of decelerator 134 is connected with the output shaft of servomotor 131; Decelerator 134 output shaft is connected by bolt 15 with arm 12.Servomotor 131 action, by decelerator 134 drive arm 12 relative to holder 11 around axis 16 at horizontal rotation in surface.
Joint 2 comprises arm 12, arm 22, drives arm 12 and arm 22 driving mechanism 23, ring flange 24 etc. in relative rotation.Driving mechanism 23 comprises servomotor 231, is electrically connected with the driver 232 controlling servomotor, the encoder 233 be connected with servomotor 231, decelerator 234 with servomotor.Ring flange 24 is fixed on arm 22, and servomotor 231 and decelerator 234 housing are all fixed on ring flange 24.The power shaft of decelerator 234 is connected with the output shaft of servomotor 231; Decelerator 234 output shaft is connected by bolt 25 with arm 12.Servomotor 231 action, by decelerator 234 drive arm 22 relative to arm 12 around axis 26 at horizontal rotation in surface.
Joint 3 comprises arm 22, arm 32, drives arm 32 driving mechanism 33, electric machine support 34, line rail etc. that move up and down relative to arm 22.Driving mechanism 33 comprises servomotor 331, is electrically connected with the driver 332 controlling servomotor, the encoder 333 be connected with servomotor 331, shaft coupling 335, nut-screw rod mechanism etc. with servomotor.Nut-screw rod mechanism comprises rotating and is arranged on the leading screw 336 on leading screw seat 337, the take-up housing 338 be fixed on arm 22, coordinates and be fixed on the nut 339 etc. on take-up housing 338 with leading screw.Line rail comprises the line rail slide block 37 be arranged on take-up housing, slides up and down with line rail slide block the guide rail 38 coordinated.Electric machine support 34 and leading screw seat are all fixed on arm 32, and arm 32 and guide rail are fixed.Servomotor 331 action, drives screw turns by shaft coupling, because nut is fixed on arm 22 by take-up housing, so leading screw moves up and down relative to nut while rotation.When leading screw moves up and down, leading screw seat, servomotor 333, arm 32, guide rail etc. move up and down relative to take-up housing (with arm 22) together.Line rail is arranged between take-up housing and arm 32, plays guide effect to moving up and down of arm.
Joint 4 mainly comprises arm 32, arm 42, drives the driving mechanism 43 etc. that rotates relative to arm 32 of arm 42.Driving mechanism 43 comprises servomotor 431, is electrically connected with the driver 432 controlling servomotor, the encoder 433 be connected with servomotor 431, decelerator 434 with servomotor.Servomotor 431 and decelerator 434 housing are all fixed on arm 32.The power shaft of decelerator 434 is connected with the output shaft of servomotor 431; Decelerator 434 output shaft is connected by bolt 45 with arm 42.Servomotor 431 action, by decelerator 434 drive arm 42 relative to arm 32 around axis at horizontal rotation in surface.
Joint 5 mainly comprises arm 42, arm 52, drives the driving mechanism 53 etc. that rotates relative to arm 42 of arm 52.Driving mechanism 53 comprises servomotor 531, is electrically connected with the driver 532 controlling servomotor, the encoder 533 be connected with servomotor 531, decelerator 534 with servomotor.Servomotor 531 and decelerator 534 housing are all fixed on arm 42.The power shaft of decelerator 534 is connected with the output shaft of servomotor 531; Decelerator 534 output shaft is connected by bolt 55 with arm 52.Servomotor 531 action, by decelerator 534 drive arm 52 relative to arm 42 around axis at vertical rotation in surface.
See Fig. 2, main controller 6 is electrically connected with each driver 132,232,332,432,532, and the output of each encoder 133,233,333,433,533 connects main controller.
Embodiment 1:
It is as follows that the first robot holds teaching method:
A, learning procedure:
A1, each servomotor is made to be in torque mode by each driver, make arm 12 have the output torque n1 of the trend of rotating counterclockwise at horizontal plane relative to arm 11 assuming that servomotor 131 exports, servomotor 231 exports and makes arm 22 have the output torque n2 of the trend of rotating clockwise at horizontal plane relative to arm 12; Servomotor 331 exports and makes arm 32 have the output torque n3 of the trend of moving up at vertical plane relative to arm 22; Servomotor 431 exports and makes arm 42 have the output torque n4 of the trend of rotating counterclockwise at horizontal plane relative to arm 31, and servomotor 531 exports and makes arm 52 vertically have the output torque n5 of the trend of rotating clockwise relative to arm 42; Robot remains static.
A2, with hand-drive robot, assuming that drive time, joint 1,2,3 action (referring to that two arms in certain joint create relative motion), joint 4,5 not operating (referring to that two arms in certain joint do not produce relative motion).Start timing as study initial time during hand-drive robot, each encoder of main controller record, in the study output valve when each study moment of 1s, until external force stops, amounting to duration 5s.See Fig. 3,4, when starting the 0s of timing (study initial time), the angle between arm 12 and vertical plane 7 is 0, and arm 22 and the angle of arm 12 in horizontal plane are Y0, and the height that arm 32 top exceeds arm 22 place horizontal plane is H0.See Fig. 5,6, after 5s (study finish time), the angle between arm 12 and vertical plane 7 is X1, and arm 22 and the angle of arm 12 in horizontal plane are Y1, and the height that arm 32 top exceeds arm 22 place horizontal plane is H1.
Table 1 (respectively learning the moment, the study output valve of each encoder):
| Moment | 0s | 1s | 2s | 3s | 4s | 5s |
| Encoder 133 | 0 | 1 | 2 | 3 | 5 | 8 |
| Encoder 233 | 0 | 2 | 3 | 5 | 5 | 9 |
| Encoder 333 | 0 | 0.3 | 0.4 | 0.6 | 0.9 | 1.2 |
| Encoder 433 | 0 | 0 | 0 | 0 | 0 | 0 |
| Encoder 533 | 0 | 0 | 0 | 0 | 0 | 0 |
In table 1, because of joint 4,5 not operating, remain unchanged so encoder 433,533 learns output valve.
For joint 1, the study output valve of the encoder 133 of main controller record increases (see table 1) gradually, and arm 12 rotates clockwise relative to vertical plane 7 always.Output torque n1 due to servomotor 131 makes arm 12 have at horizontal plane the trend of rotating counterclockwise relative to arm 11, so in learning procedure process, then control servomotor 131 with main controller by driver 132, the output torque n1 of servomotor 131 is reduced, or change the direction of output torque n1, accomplish the power-assisted of opponent manipulation robot.
For joint 2, the study output valve of the encoder 233 of main controller record increases (see table 1) gradually, and arm 22 rotates clockwise relative to arm 12 always.Output torque n2 due to servomotor 231 makes arm 22 have at horizontal plane the trend of rotating clockwise relative to arm 12, so in learning procedure process, then control servomotor 231 with main controller by driver 232, the output torque n2 of servomotor 231 is increased, the power-assisted of opponent manipulation robot.
For joint 3, the study output valve of the encoder 333 of main controller record increases (see table 1) gradually, and arm 32 reduces relative to arm 22 always.Output torque n3 due to servomotor 331 makes arm 32 have at vertical plane the trend of moving up relative to arm 22, so in learning procedure process, then control servomotor 331 with main controller by driver 332, the output torque n3 of servomotor 331 is reduced, or change the direction of output torque n3, accomplish the power-assisted to mobile arm 32.
For joint 4,5, the study output valve constant (see table 1) of the encoder 433,533 of main controller record, output torque n4, n5 size of servomotor 431,531, direction all remain unchanged.
B, reset process: make each servomotor be in position or velocity mode by each driver; Each servomotor action, makes robot get back to the state of initial time, and that is, the relative position of two arms in each joint revert to the state of study initial time.
C, operating procedure:
Main controller is by each servomotor action of each driver control; Timing is started as operation initial time, the operation output valve of each encoder of main controller record when running each time of running of initial time and per interval 2s during each servomotor of each driver drives; Each encoder run initial time and the operation output valve when each time of running of 2s see table 2 (with encoder learn initial time and every interval t each learn the moment time study output valve equal).
Table 2 (each time of running, the operation output valve of each encoder):
| Moment | 0s | 2s | 4s | 6s | 8s | 10s |
| Encoder 133 | 0 | 1 | 2 | 3 | 5 | 8 |
| Encoder 233 | 0 | 2 | 3 | 5 | 5 | 9 |
| Encoder 333 | 0 | 0.3 | 0.4 | 0.6 | 0.9 | 1.2 |
| Encoder 433 | 0 | 0 | 0 | 0 | 0 | 0 |
| Encoder 533 | 0 | 0 | 0 | 0 | 0 | 0 |
Embodiment 2:
It is as follows that the second robot holds teaching method:
A, learning procedure:
A1, each servomotor is made to be in torque mode by each driver, make arm 12 have the output torque n1 of the trend of rotating counterclockwise at horizontal plane relative to arm 11 assuming that servomotor 131 exports, servomotor 231 exports and makes arm 22 have the output torque n2 of the trend of rotating clockwise at horizontal plane relative to arm 12; Servomotor 331 exports and makes arm 32 have the output torque n3 of the trend of moving up at vertical plane relative to arm 22; Servomotor 431 exports and makes arm 42 have the output torque n4 of the trend of rotating counterclockwise at horizontal plane relative to arm 31, and servomotor 531 exports and makes arm 52 vertically have the output torque n5 of the trend of rotating clockwise relative to arm 42; Robot remains static.
A2, with hand-drive robot, assuming that drive time, joint 1,2,3 action (referring to that two arms in certain joint create relative motion), joint 4,5 not operating (referring to that two arms in certain joint do not produce relative motion).During hand-drive robot as study initial time start timing, each encoder every 1s each study the moment time study output valve see table 3.In table 3, because of joint 4,5 not operating, remain unchanged so encoder 433,533 learns output valve.Assuming that for encoder 133,233,333,433,533, the setting value starting to record relevant data of main controller setting is 0.4,0.3,0.2,0.3,0.3 respectively.
Now for joint 1 explanation.The study output valve 0 of the first recording learning start time (during 0s) of encoder 133 main controller, the study output valve then when 1s reads each study moment.During for 1s, it is 1 that encoder 133 learns output valve.Because of study output valve during 1s be 1 and 0s time the absolute value of difference of study output valve 0 be 1, be greater than the setting value 0.4 starting to record relevant data, so the study duration 1s between study output valve 1 during main controller record 1s, twice, front and back recording learning output valve.Because of study output valve during 2s be 1.2 and 1s time the absolute value of difference of study output valve 1 be 0.2, be less than the setting value 0.4 starting to record relevant data, main controller does not record study output valve during 2s.Equally, because of learn during 3s output valve be 1.3 and 2s time the absolute value of difference of study output valve 1.2 be 0.1, be less than the setting value 0.4 starting to record relevant data, main controller does not record study output valve during 3s.Because of study output valve during 4s be 5 and 3s time the absolute value of difference of study output valve 1.3 be 3.7, be greater than the setting value 0.4 starting to record relevant data, the study duration 3s between the study output valve 5 during main controller record 4s, twice, front and back recording learning output valve (study output valve when study output valve when recording 4s and record 1s).Because of study output valve during 5s be 8 and 4s time the absolute value of difference of study output valve 5 be 3, be greater than the setting value 0.4 starting to record relevant data, the study duration 1s between the study output valve 8 during main controller record 5s, twice, front and back recording learning output valve (study output valve when study output valve when recording 5s and record 4s).For joint 1, the study duration of main controller record and the study output valve of this study duration of process are see table 4.
Same method, for joint 2 ?5, the study duration of main controller record with through this study duration study output valve see table 5 ?8.Table 4 ?in 8, study duration is that 0s represents study start time.
See Fig. 3,4, when starting the 0s of timing (study initial time), the angle between arm 12 and vertical plane 7 is 0, and arm 22 and the angle of arm 12 in horizontal plane are Y0, and the height that arm 32 top exceeds arm 22 place horizontal plane is H0.See Fig. 5,6, after 5s (study finish time), the angle between arm 12 and vertical plane 7 is X1, and arm 22 and the angle of arm 12 in horizontal plane are Y1, and the height that arm 32 top exceeds arm 22 place horizontal plane is H1.Namely described rear moment study output valve is through study output valve during this study duration; If the absolute value that a rear moment study output valve and previous moment learn the difference of output valve is less than described setting value,
Table 3 (respectively learning the moment, the study output valve of each encoder):
| Moment | 0s | 1s | 2s | 3s | 4s | 5s |
| Encoder 133 | 0 | 1 | 1.2 | 1.3 | 5 | 8 |
| Encoder 233 | 0 | 2 | 3 | 3.1 | 5 | 9 |
| Encoder 333 | 0 | 0.3 | 0.4 | 0.6 | 0.9 | 1.2 |
| Encoder 433 | 0 | 0 | 0 | 0 | 0 | 0 |
| Encoder 533 | 0 | 0 | 0 | 0 | 0 | 0 |
Table 4:
| Run duration | 0s | 1s | 3s | 1s |
| Encoder 133 | 0 | 1 | 5 | 8 |
Table 5:
| Study duration | 0s | 1s | 2s | 1s | 1s |
| Encoder 233 | 0 | 2 | 3 | 5 | 9 |
Table 6:
| Study duration | 0s | 1s | 2s | 1s | 1s |
| Encoder 333 | 0 | 0.3 | 0.6 | 0.9 | 1.2 |
Table 7:
| Study duration | 0s |
| Encoder 433 | 0 |
Table 8:
| Study duration | 0s |
| Encoder 533 | 0 |
Table 9:
| Run duration | 0s | 0.5s | 1.5s | 0.5s |
| Encoder 133 | 0 | 1 | 5 | 8 |
Table 10:
| Run duration | 0s | 0.5s | 1s | 0.5s | 0.5s |
| Encoder 233 | 0 | 2 | 3 | 5 | 9 |
Table 11:
| Run duration | 0s | 0.5s | 1s | 0.5s | 0.5s |
| Encoder 333 | 0 | 0.3 | 0.6 | 0.9 | 1.2 |
Table 12:
| Run duration | 0s |
| Encoder 433 | 0 |
Table 13:
| Run duration | 0s |
| Encoder 533 | 0 |
For joint 1, the study output valve of the encoder 133 of main controller record increases (see table 4) gradually, and arm 12 rotates clockwise relative to vertical plane 7 always.Output torque n1 due to servomotor 131 makes arm 12 have at horizontal plane the trend of rotating counterclockwise relative to arm 11, so in learning procedure process, then control servomotor 131 with main controller by driver 132, the output torque n1 of servomotor 131 is reduced, or change the direction of output torque n1, accomplish the power-assisted of opponent manipulation robot.
For joint 2, the study output valve of the encoder 233 of main controller record increases (see table 5) gradually, and arm 22 rotates clockwise relative to arm 12 always.Output torque n2 due to servomotor 231 makes arm 22 have at horizontal plane the trend of rotating clockwise relative to arm 12, so in learning procedure process, then control servomotor 231 with main controller by driver 232, the output torque n2 of servomotor 231 is increased, the power-assisted of opponent manipulation robot.
For joint 3, the study output valve of the encoder 333 of main controller record increases (see table 6) gradually, and arm 32 reduces relative to arm 22 always.Output torque n3 due to servomotor 331 makes arm 32 have at vertical plane the trend of moving up relative to arm 22, so in learning procedure process, then control servomotor 331 with main controller by driver 332, the output torque n3 of servomotor 331 is reduced, or change the direction of output torque n3, accomplish the power-assisted to mobile arm 32.
For joint 4,5, the study output valve of the encoder 433,533 of main controller record is constant (see table 7,8), and output torque n4, n5 size of servomotor 431,531, direction all remain unchanged.
B, reset process: make each servomotor be in position or velocity mode by each driver; Each servomotor action, makes robot get back to the state of initial time, and that is, the relative position of two arms in each joint revert to the state of study initial time.
C, operating procedure:
Main controller is by each servomotor action in each joint of each driver control; Start timing as operation initial time during each servomotor of each driver drives, each encoder is at operation initial time and run output valve and encoder through each operation duration and learning initial time and the study output valve through each study duration is equal.If study duration is when being the twice running duration accordingly, each corresponding form running duration and the study output valve through each study duration in table 9 ?13.
To sum up embodiment 1,2, the beneficial effects of the utility model: at learning procedure, robot enters the torque mode of lower resistance, the orbiting motion that can need according to operator with hand-drive robot, in the process of robot motion, the study output valve of each encoder can change in time, study output valve during main controller storage each study moment or the study output valve through each study duration.In reset process, the initial velocity state of initial time is got back to by robot, and each servomotor is in position or velocity mode; At operating procedure, namely by each servomotor action of each driver control, the operation output valve of per interval z of each encoder is changed according to the rule of the study output valve of per interval t of storage, or make the operation output valve through each operation duration of each encoder change according to the rule of the study output valve through each study duration of storage, the action in each like this joint is namely completely the same with each joint action in learning procedure.In brief, this method is when teaching, and the orbiting motion needed according to operator with hand-drive robot, robot system record movement locus, operationally robot runs according to the teaching track of record, simplifies the application teaching of robot.The method is for operator without the need to programming, and teaching track can be arbitrary trajectory, without any requirement to operator, greatly reduces the use cost of robot; The parts etc. that the method uses belong to conventional parts, low cost of manufacture.
The encoder position of main controller recorder people in learning procedure in each joint (study output valve), track data is formed with this, when robot runs automatically, run according to unit interval pointwise, the method can be avoided producing a large amount of invalid data.Especially " size learning the absolute value of the difference of output valve according to a rear moment study output valve and previous moment judges whether to record the method that a rear moment learns output valve ", compared with the employing time recording location method of routine, advantage is more obvious, if employing conventional method, occur when teaching to pause or when slowly moving, a large amount of record data can be produced, take resource, and be difficult to reject, bring adverse effect to operation control.
Claims (5)
1. hand holds a teaching robot, and described robot comprises main controller, at least one joint; It is characterized in that: described joint comprises two arms, drives the driving mechanism of two arm relative motions, and driving mechanism comprises servomotor, is electrically connected with servomotor with the driver controlling servomotor, encoder; Main controller is connected with each actuator electrical, and the output of each encoder connects main controller.
2. hand as claimed in claim 1 holds teaching robot, and it is characterized in that: driving mechanism also comprises decelerator, the power shaft of decelerator is connected with the output shaft of servomotor; The support of reducer shell and servomotor is fixed in a joint on an arm, and reducer output shaft is connected with another arm in this joint.
3. hand as claimed in claim 2 holds teaching robot, it is characterized in that: described robot at least comprises the first joint, second joint two joints; One in two arms in first joint is holder, and another is the first arm relative to holder motion; One in two arms in second joint is the first arm, and another is the second arm relative to the first arm motion.
4. hand as claimed in claim 1 holds teaching robot, it is characterized in that: driving mechanism also comprises nut-screw rod mechanism, and nut to be fixed in joint on an arm, is connected with servo motor output shaft with the screw mandrel of nut screw connection; The support of servomotor is fixed on another arm in this joint; Another arm is slidably arranged on an arm in nut or this joint on the direction being parallel to screw mandrel.
5. hand as claimed in claim 1 holds teaching robot, and it is characterized in that: it is characterized in that: driving mechanism also comprises pinion and rack, tooth bar is fixed in joint on an arm, and the gear coordinated with tooth bar is connected with servo motor output shaft; The support of servomotor is fixed on another arm in this joint; Another arm is slidably arranged on an arm in this joint on the direction being parallel to tooth bar.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520347959.2U CN204673607U (en) | 2015-05-26 | 2015-05-26 | Hand holds teaching robot |
| PCT/CN2016/083211 WO2016188409A1 (en) | 2015-05-26 | 2016-05-24 | Manually taught robot and method for manually teaching robot |
| US15/569,363 US10603789B2 (en) | 2015-05-26 | 2016-05-24 | Manually taught robot and method for manually teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520347959.2U CN204673607U (en) | 2015-05-26 | 2015-05-26 | Hand holds teaching robot |
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| CN204673607U true CN204673607U (en) | 2015-09-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016188409A1 (en) * | 2015-05-26 | 2016-12-01 | 苏州阿福机器人有限公司 | Manually taught robot and method for manually teaching robot |
| CN108349087A (en) * | 2015-11-16 | 2018-07-31 | 川崎重工业株式会社 | Robot |
-
2015
- 2015-05-26 CN CN201520347959.2U patent/CN204673607U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016188409A1 (en) * | 2015-05-26 | 2016-12-01 | 苏州阿福机器人有限公司 | Manually taught robot and method for manually teaching robot |
| CN108349087A (en) * | 2015-11-16 | 2018-07-31 | 川崎重工业株式会社 | Robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: Xinghan Street Industrial Park of Suzhou city in Jiangsu province 215000 No. 5 Building 5 unit 103 Patentee after: Suzhou Fu robot Co Ltd Address before: The streets of Chunhua road in Jiangning District of Nanjing City, 211123 tigers in Jiangsu province No. 2 Patentee before: AMTF CORPORATION |