CN205497463U - Disconnect -type robot drags teaching handle - Google Patents
Disconnect -type robot drags teaching handle Download PDFInfo
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- CN205497463U CN205497463U CN201620057588.9U CN201620057588U CN205497463U CN 205497463 U CN205497463 U CN 205497463U CN 201620057588 U CN201620057588 U CN 201620057588U CN 205497463 U CN205497463 U CN 205497463U
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Abstract
The utility model relates to a disconnect -type robot drags teaching handle, it is not enough for what power / torque sensor was with high costs among the solution prior art, the teaching effect is poor, the portable space of handle is little, this disconnect -type robot drags teaching handle, the crank handle comprises a handle body, be equipped with input teaching operating personnel expectation movement track's rocker on the handle body, the output of rocker is connected with the sensor that converts mechanical action into analog electrical signal, the output of sensor is connected with the analog -to -digital conversion ADC module that converts analog electrical signal into digital quantity signal, the output of analog -to -digital conversion ADC module is connected with the communication module who realizes data interchange between handle and the host computer. The controllable space of this disconnect -type robot drags teaching handle is big, and operator operation process is very directly perceived, after the teaching, with the handle remove can, disconnect -type promptly is so this teaching handle can be used for the teaching that drags of many robots, the cost is reduced.
Description
Technical field
This utility model relates to a kind of robot and drags teaching handle, and a kind of separate type robot drags teaching handle, belongs to robot teaching equipment technical field.
Background technology
In order to better meet the needs of futurity industry application, robot needs the most flexible and open, and has the programmable functions of the human-computer interaction function of close friend, and robot teaching system is exactly one of which important technology.
The most conventional robot teaching mode, for dragging teaching, relies on operator's observer robot end effector pose relative to manipulating object, by the operation to demonstrator, drags the motion of Robot working path.In dragging process, computer acquisition also records each joint motions data, thus obtains robot manipulating task path data.
Power/torque sensor it is equipped with on existing demonstrator, when operator carries out operation track demonstration by the joystick that manipulation is arranged on end effector of robot to robot, power/torque sensor produces and exports data accordingly, and robot controller is according to each joint motions of this data-driven robot.Its weak point is as follows: (1) power/torque sensor is relatively costly, causes a whole set of demonstrator expensive.(2) power/torque sensor itself belongs to deformable body, if connecting tooling is easily caused the vibration of mechanism on a sensor, thus affects teaching effect.(3) the existing moveable space of demonstrator handle is less, the most intuitively.
Summary of the invention
This utility model is that solving power/torque sensor cost height, teaching weak effect, handle in prior art may move the deficiency that space is little, it is provided that a kind of low cost, the separate type robot that teaching effect is intuitive and reliable, handle mobile space is big drag teaching handle and teaching method thereof.
Separate type robot of the present utility model drags teaching handle and is achieved through the following technical solutions:
Separate type robot drags teaching handle, including handle body, it is characterized in that described handle body is provided with the rocking bar of input teaching operation personnel's desired motion track, the outfan of described rocking bar connects the sensor that mechanical action is converted to analog electric signal, the outfan of described sensor connects the analog digital conversion ADC that analog electric signal is converted to digital quantity signal, and the outfan of described analog digital conversion ADC connects to have and realizes the communication module of data exchange between handle and host computer；
A kind of dragging teaching system applying above-mentioned separate type robot to drag teaching handle, including handle body and host computer, it is characterized in that described handle body is provided with the rocking bar of input teaching operation personnel's desired motion track, the outfan of described rocking bar connects the sensor that mechanical action is converted to analog electric signal, the outfan of described sensor connects the analog digital conversion ADC that analog electric signal is converted to digital quantity signal, and the outfan of described analog digital conversion ADC connects to have and realizes the communication module of data exchange between handle and host computer；Described host computer to sensor acquisition to signal process, obtain desired track, and calculate the controlled quentity controlled variable of robot.
Described handle is six degree of freedom handle；
This utility model separate type robot drag teaching handle can manipulation space big, operator's operating process is the most directly perceived；During teaching, designed handle is installed on end effector of robot, operator's rocking bar by control crank, is sent to robot host computer by the vector size and Orientation characterizing the desired movement locus of end effector and kinematic parameter, with each joint motions of driven machine people.For execute-in-place workman, intuitive and convenient during above-mentioned teaching；According to direction vector and size, control robot and go action, after teaching terminates, handle is removed, be i.e. separate type, so, this teaching handle may be used for the dragging teaching of multiple stage robot, reduces cost.
Accompanying drawing explanation
Fig. 1: this utility model separate type robot drags the structural representation of teaching handle；
Fig. 2: the teaching system structural representation being made up of Fig. 1.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not having creative work premise, broadly fall into the scope of this utility model protection.
Embodiment 1: with reference to Fig. 1.This separate type robot drags teaching handle, for six degree of freedom handle, including handle body, described handle body is provided with the rocking bar of input teaching operation personnel's desired motion track, the outfan of described rocking bar connects the sensor that mechanical action is converted to analog electric signal, the outfan of described sensor connects the analog digital conversion ADC that analog electric signal is converted to digital quantity signal, and the outfan of described analog digital conversion ADC connects to have and realizes the communication module of data exchange between handle and host computer.
As shown in Figure 2, this separate type robot drags teaching system, including six degree of freedom handle body, described handle body is provided with the rocking bar of input teaching operation personnel's desired motion track, the outfan of described rocking bar connects the sensor that mechanical action is converted to analog electric signal, the outfan of described sensor connects the analog digital conversion ADC that analog electric signal is converted to digital quantity signal, and the outfan of described analog digital conversion ADC connects to have and realizes the communication module of data exchange between handle and host computer；Described host computer to sensor acquisition to signal process, obtain desired track, and calculate the controlled quentity controlled variable of robot, described host computer is computer.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (2)
1. separate type robot drags teaching handle, including handle body, it is characterized in that: described handle body is provided with the rocking bar of input teaching operation personnel's desired motion track, the outfan of described rocking bar connects the sensor that mechanical action is converted to analog electric signal, the outfan of described sensor connects the analog digital conversion ADC that analog electric signal is converted to digital quantity signal, and the outfan of described analog digital conversion ADC connects to have and realizes the communication module of data exchange between handle and host computer.
The most according to claim 1, separate type robot drags teaching handle, it is characterised in that: described handle is six degree of freedom handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620057588.9U CN205497463U (en) | 2016-01-21 | 2016-01-21 | Disconnect -type robot drags teaching handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620057588.9U CN205497463U (en) | 2016-01-21 | 2016-01-21 | Disconnect -type robot drags teaching handle |
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| Publication Number | Publication Date |
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| CN205497463U true CN205497463U (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620057588.9U Active CN205497463U (en) | 2016-01-21 | 2016-01-21 | Disconnect -type robot drags teaching handle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088891A (en) * | 2017-03-29 | 2017-08-25 | 山东开泰抛丸机械股份有限公司 | A kind of intelligent sand blasting machine people based on crown platform |
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2016
- 2016-01-21 CN CN201620057588.9U patent/CN205497463U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088891A (en) * | 2017-03-29 | 2017-08-25 | 山东开泰抛丸机械股份有限公司 | A kind of intelligent sand blasting machine people based on crown platform |
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