CN204893944U - Trajectory record of robot appearance - Google Patents
Trajectory record of robot appearance Download PDFInfo
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- CN204893944U CN204893944U CN201520611755.5U CN201520611755U CN204893944U CN 204893944 U CN204893944 U CN 204893944U CN 201520611755 U CN201520611755 U CN 201520611755U CN 204893944 U CN204893944 U CN 204893944U
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Abstract
The utility model provides a trajectory record of robot appearance, it includes the base that is fixed with the pillar, and it includes still that the free end has six sections formula articulated arms of six degrees of freedom, and the other end and the pillar rotation of six sections formula articulated arms are connected, and every articulation point of six sections formula articulated arms is provided with an absolute value encoder, and the absolute value encoder is equipped with the interface that is used for gathering the encoder data, and six sections formula articulated arms form for the lightweight material preparation. The utility model discloses can solve the problem of the unable record orbit data of articulated arm measuring apparatu among the prior art to and the unable problem through the complicated orbit of teach mode editor of robot.
Description
Technical field
The utility model relates to robot, refers to a kind of robot trajectory's recorder especially.
Background technology
Current existing joint arm measuring instrument (portable three-coordinates measuring machine) coordinates with software kit, can position, measurement space arbitrfary point XYZ coordinate data, a kind of three-coordinates measuring machine disclosed in CN204439016U, relate to measuring appliance manufacturing technology field, it comprises pedestal, described pedestal is connected with multiple pivoted arm, often be provided with connector between adjacent two pivoted arms, the end of the last pivoted arm is provided with gage outfit, described connector includes the electromagnetic ball with magnetic pole, the electromagnetism seat with magnetic pole engaged with described electromagnetic ball sphere is provided with outside described electromagnetic ball, the positive negative pole of described electromagnetic ball and described electromagnetism seat is contrary, adjacent two described pivoted arms are arranged on electromagnetic ball and electromagnetism seat respectively, with laser sensor in described gage outfit.The three-coordinates measuring machine structure of this patent is simple, movable sensitive, easy to use.
Along with the development of Robotics, joint arm measuring instrument starts to adopt bionics flexible structure, adopts lightweight material, lightweight, is convenient to manual traverse measurement arm, and equipment facilitates the features such as mobile.But this kind equipment can only with the software application that matches, the XYZ coordinate data of a position can only be measured simultaneously, cannot recording track data and the action supporting with track.
Utility model content
The utility model proposes a kind of robot trajectory's recorder, it can solve joint arm measuring instrument in prior art cannot the problem of recording track data, and robot cannot by the problem of teach mode editor complicated track.
The technical solution of the utility model is achieved in that a kind of robot trajectory's recorder, comprise fixing crutched base, it also comprises the six joint formula joint arms that free end has six spatial degrees of freedom, the other end and the pillar of six joint formula joint arms are rotationally connected, each artis of six joint formula joint arms is provided with an absolute value encoder, absolute value encoder is provided with the interface for capturing and coding device data, and six joint formula joint arms are that lightweight material is made.
Further, six joint formula joint arms comprise A axle, B axle, C axle, D axle, E axle and F axle six joint arms be linked in sequence, and A axle be wedge shape bulk, and the bottom surface of A axle is vertical with pillar and be rotationally connected with pillar, and A axle and B between centers are connected with balancing pole.
Further, balancing pole is the expansion link with contraction structure.
Robot track recorder, by emulation vertical six articulated robot six joint arms, provides the direction of motion of six spatial degrees of freedom, and when making moved by hand free end, movement locus is more coherent, smooth and easy; By arranging absolute value encoder, in the motion process after the operation of each back to zero, realize the data acquisition of optional position.Also make robot track recorder be in a retracted posture when nature by balancing pole not topple over.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the rotation schematic diagram of the utility model six joint arms.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
See Fig. 1 to Fig. 2, a kind of robot trajectory's recorder, its base 8 is fixed a pillar 9, and base 8 is for fixing this recorder, and when preventing moved by hand recorder, position changes and brings the inaccurate situation of measurement data.The stiff end of six joint formula joint arms is rotationally connected with pillar 9, and six other ends saving formula joint arms have six spatial degrees of freedom as the free end of orbiting motion in space.Six joint formula joint arms are that lightweight material is made, six joint arms of six joint formula joint arms are respectively A axle 1, B axle 2, C axle 3, D axle 4, E axle 5 and F axle 6, these six joint arm order rotation connect, the artis of two joint arm junction arranges an absolute value encoder, absolute value encoder 20,30,40,50,60 in Fig. 1 is all in two joint arm junction, and the artis of the joint arm be connected with pillar 9 also arranges an absolute value encoder 10.Absolute value encoder 10,20,30,40,50,60 is provided with interface for capturing and coding device data, by the data acquisition of record movement locus to record in software kit; The track of record is called again when needing reproduction track.Absolute value encoder adopts high resolution type, must carry out back to zero operation before recording track, can optional position image data again, and high resolution output, makes the data precision of collection higher simultaneously.
A axle in this programme 1 is block in wedge shape, and its bottom surface is vertical with pillar 9 and be rotationally connected with pillar 9, and be connected with balancing pole 7 between A axle 1 and B axle 2, balancing pole 7 establishes the expansion link of contraction structure in being.When there is no personnel's operating free end, under the contraction of balancing pole 7, making this recorder be in a retracted posture, not easily topple over.
Each joint arm of this recorder adopts lightweight material light as far as possible, adjusts the damping when rotated of each joint arm simultaneously, makes moved by hand more easily smooth and easy, be unlikely to again the unworkable situations such as the too little generation reversion of damping.This recorder is used for experienced operator's freedom of movement end and does corresponding working trajectory and action.Connect the software that this recorder is supporting, this recorder free end any information on the time line can be gathered accurately, as movement locus, pause, IO action etc., after the process of software kit, the working procedure of robot control system can be directly output as, after this working procedure imports the control system that control runs, can the track of reproducing recorder record and action.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (3)
1. robot trajectory's recorder, comprise fixing crutched base, it is characterized in that: also comprise the six joint formula joint arms that free end has six spatial degrees of freedom, the other end and the pillar of six joint formula joint arms are rotationally connected, each artis of six joint formula joint arms is provided with an absolute value encoder, and absolute value encoder is provided with the interface for capturing and coding device data.
2. robot trajectory's recorder according to claim 1, it is characterized in that: described six joint formula joint arms comprise A axle, B axle, C axle, D axle, E axle and F axle six joint arms be linked in sequence, A axle is that wedge shape is block, the bottom surface of A axle is vertical with pillar and be rotationally connected with pillar, and A axle and B between centers are connected with balancing pole.
3. robot trajectory's recorder according to claim 2, is characterized in that: balancing pole is the expansion link with contraction structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520611755.5U CN204893944U (en) | 2015-08-14 | 2015-08-14 | Trajectory record of robot appearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520611755.5U CN204893944U (en) | 2015-08-14 | 2015-08-14 | Trajectory record of robot appearance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204893944U true CN204893944U (en) | 2015-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520611755.5U Active CN204893944U (en) | 2015-08-14 | 2015-08-14 | Trajectory record of robot appearance |
Country Status (1)
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| CN (1) | CN204893944U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666487A (en) * | 2016-03-28 | 2016-06-15 | 河南工程学院 | Multifunctional mechanical arm |
| CN106466846A (en) * | 2015-08-14 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | Robot trajectory's monitor and track reproducing method |
| CN112220557A (en) * | 2019-06-30 | 2021-01-15 | 苏州理禾医疗技术有限公司 | Operation navigation and robot arm device for craniocerebral puncture and positioning method |
-
2015
- 2015-08-14 CN CN201520611755.5U patent/CN204893944U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106466846A (en) * | 2015-08-14 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | Robot trajectory's monitor and track reproducing method |
| CN105666487A (en) * | 2016-03-28 | 2016-06-15 | 河南工程学院 | Multifunctional mechanical arm |
| CN105666487B (en) * | 2016-03-28 | 2017-12-12 | 河南工程学院 | A kind of multifunctional mechanical arm |
| CN112220557A (en) * | 2019-06-30 | 2021-01-15 | 苏州理禾医疗技术有限公司 | Operation navigation and robot arm device for craniocerebral puncture and positioning method |
| CN112220557B (en) * | 2019-06-30 | 2022-06-21 | 苏州理禾医疗技术有限公司 | Operation navigation and robot arm device for craniocerebral puncture and positioning method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 610000 No. 42, Huatai Road, Chenghua District, Chengdu, Sichuan Patentee after: Chengdu kanop Robot Technology Co.,Ltd. Address before: No. 9, Chengjia Road, Longtan Industrial Park, Chenghua District, Chengdu, Sichuan 610058 Patentee before: CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY Co.,Ltd. |