CN205600738U - A operating equipment and executor system for being directed at executor is controlled or is programmed - Google Patents
A operating equipment and executor system for being directed at executor is controlled or is programmed Download PDFInfo
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- CN205600738U CN205600738U CN201521066561.8U CN201521066561U CN205600738U CN 205600738 U CN205600738 U CN 205600738U CN 201521066561 U CN201521066561 U CN 201521066561U CN 205600738 U CN205600738 U CN 205600738U
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Abstract
The utility model relates to an operating equipment and executor system for being directed at executor is controlled or is programmed, executor have six degrees of freedom that can independently control each other. Operating equipment (1) includes three input device (2x, 2y, 2z), and these input device are set up respectively to be done for preset executor (9) along the motion of the x axle of executor (9) or y axle or z axle and preset executor (9) center on the x axle of executor (9) or the rotation of y axle or z axle. Here, three input device (2x, 2y, 2z a) orientation along the three main shaft of operating equipment (1) in respectively.
Description
Technical field
This utility model relates to a kind of operation equipment for being controlled manipulator or programming, and a kind of corresponding effector system, has six degree of freedom that can manipulate independently of one another at this manipulator.
Background technology
Manipulator, particularly robot are the most spendable, the processing equipments of freely programmable.Such as, manipulator can include multiple axle, and described axle can pass through motor movement independently of one another.Thus, manipulator can take different postures or moulding, can arrive different positions in space along with the instrument of this manipulator or tool center point (English for " Tool Center Point ", TCP).
Here, manipulator can have multiple degree of freedom.These degree of freedom can describe the quantity of motion independent of each other, powered, and manipulator can implement these motions relative to fixing world coordinate system in space.Therefore, degree of freedom indicates the feature of mobility of manipulator.
In principle, many manipulators can move the most in a coordinate system: on the one hand, manipulator or TCP can move along in three cartesian space directions, and thus perform the translation of straight line.Here, the main linear axle of manipulator is typically parallel to the Descartes direction of the frame of reference.Furthermore, it is possible to realize respectively around the rotation of in these axles.
Manipulator can follow automatic program operation process.Here, provide the program operation process programmed in advance for corresponding controller, this program operation process describes each tracing point, and described tracing point should be crossed by manipulator.Further, it is also possible to manually run, wherein operator can manually make manipulator travel.Here, operation equipment can such as be used, this operation equipment can have key that can be the most predetermined, and described key causes the continuous of manipulator or step-type motion in manipulation.Such operation equipment is such as described in patent documentation DE4303264C2.
But, many operation equipment are complicated, and the most only make manipulator inaccurately move.For unskilled user especially for little manipulation device, it is very challenging for coming into contacts with such operation equipment.Especially, operation equipment how can be utilized to preset or perform desired translation and/or rotation, may often be such that unconspicuous for operator.
Utility model content
Therefore, the purpose of this utility model is to propose a kind of operation equipment, and it simplifies the manual operation of manipulator significantly.Especially, the motion of manipulator should the most accurately and restrictively be preset.
This purpose and from the following description other purposes obvious, by according to operation equipment described in the utility model and realizing according to effector system described in the utility model.
Specifically, the utility model proposes a kind of operation equipment for manipulator being controlled or programming, it is characterized in that, described manipulator has six degree of freedom that can manipulate independently of one another, described operation equipment has: the first input equipment, it is arranged to, for presetting the described manipulator the moving and preset the rotation around the x-axis of described manipulator of the described manipulator of x-axis along described manipulator, wherein, described first input equipment is along the first main shaft orientation of described operation equipment；Secondary input device, it is arranged to, for presetting the described manipulator the moving and preset the rotation around the y-axis of described manipulator of the described manipulator of y-axis along described manipulator, wherein, described secondary input device is along the second main shaft orientation of described operation equipment；3rd input equipment, it is arranged to, for presetting the described manipulator the moving and preset the rotation around the z-axis of described manipulator of the described manipulator of z-axis along described manipulator, wherein, described 3rd input equipment is along the 3rd main shaft orientation of described operation equipment；Wherein, the x-axis, y-axis and z-axis of described manipulator are orthogonal, and wherein, the main shaft of described operation equipment is mutually substantially at right angles.
Preferably, the main axle structure of described operation equipment is corresponding to the x, y and z axes structure of described manipulator.
Preferably, described first input equipment is arranged on and is configured in the first elongated housing, described first housing extends along the first main shaft of described operation equipment, and wherein, described secondary input device is arranged on and is configured in the second elongated housing, and described second housing extends along the second main shaft of described operation equipment, and wherein, described 3rd input equipment is arranged on and is configured in the 3rd elongated housing, and described 3rd housing extends along the 3rd main shaft of described operation equipment.
Preferably, the first input equipment, secondary input device and the 3rd input equipment include respectively: controllable motion presets element, to preset the motion of described manipulator；Element is preset, to preset the rotation of described manipulator with controllable rotation.
Preferably, described controllable motion presets in element is each can the component of slewing maneuver.
Preferably, described controllable rotation presets in element is each can the component of slewing maneuver.
Preferably, described operation equipment can switch between fine pattern and coarse mode, wherein, described controllable motion presets element and described controllable rotation presets the manipulation that element is energy free-running in described coarse mode, and wherein, in described fine pattern, stopper resists the manipulation of free-running.
Preferably, described operation equipment also has a handle, and wherein, and described first input equipment, secondary input device and the 3rd input equipment are set to be jointly to move relative to described handle.
Preferably, described operation equipment also has handle and the 6D sensor device being arranged between described handle and described input equipment, to detect the relative motion between in described handle and described input equipment.
Preferably, described operation equipment also has 3D inertial sensor device, to detect described operation equipment relative to the absolute orientation of surrounding and orientation.
This utility model also proposes a kind of effector system, it is characterised in that include the manipulator with six degree of freedom that can manipulate independently of one another and according to the operation equipment for being controlled manipulator or programming of the present utility model.
This utility model relates to a kind of operation equipment for being controlled manipulator or programming.Operation equipment can manually be operated by operator.Such as, operation equipment can be operated with hands by operator.Here, operation equipment is capable of in different coordinate systems controlling manipulator, but it is additionally operable to set up program operation process.Here, operation equipment can such as corresponding with manipulator controller communication, and motion preset value is preset on controller, these motion preset values can be changed by controller subsequently.Manipulator has six degree of freedom that can manipulate independently of one another.Guide such as be divided into translating (position of instrument) and the motion preset value of rotation (orientation of instrument) here, the instrument of manipulator to be carried out desired motion.
Operation equipment has the first input equipment, and this first input equipment is arranged to, and for presetting the manipulator the moving of x-axis along manipulator, and presets the manipulator rotation around the x-axis of manipulator.Additionally, the first input equipment is along the first main shaft orientation of operation equipment.
Additionally, operation equipment has secondary input device.This secondary input device is arranged to, and for presetting the manipulator the moving of y-axis along manipulator, and presets the manipulator rotation around the y-axis of manipulator.Secondary input device is along the second main shaft orientation of operation equipment.
Additionally, operation equipment has the 3rd input equipment.3rd input equipment is arranged to, and for presetting the manipulator the moving of z-axis along manipulator, and presets the manipulator rotation around the z-axis of manipulator.3rd input equipment is along the 3rd main shaft orientation of operation equipment.
Here, it will be understood by those skilled in the art that manipulator can exist as translational motion along moving of in x-axis, y-axis or z-axis, this motion does not include rotating or rotating.
The x-axis, y-axis and z-axis of manipulator are mutually orthogonal directions.Here, the x-axis, y-axis and z-axis of manipulator are particularly orthogonal in right-handed coordinate system.Additionally, the main shaft of operation equipment is the most rectangular.
Therefore, input equipment can be set and be orientated with the form of coordinate system corresponding to its effective exercise in cartesian space on operation equipment.The 3rd input equipment being arranged to translate in the z-direction adjustment manipulator is such as arranged to so that clear and definite visually being brought into by operator of the 3rd input equipment contacts with z-axis.By the manipulation of the 3rd input equipment, can such as preset the positive z motion of manipulator.Clear and definite correspondence (Zuordnung), based on the 3rd input equipment relative to the structure being substantially in the form of right angle of the first and second input equipment.
Input equipment is arranged along the most rectangular three main shaft of operation equipment, and this is capable of, and operator can make multi-axis manipulators travel in all degree of freedom intuitively.Operation mistake (confusion risk of the such as direction of motion or motion orientation) is reduced to minimum by the special structure of input equipment.The motion produced by manipulator can particularly well be predicted and control.
Preferably, the main axle structure of operation equipment is corresponding to the x, y and z axes structure of manipulator.For operator, not only which input equipment is related to which degree of freedom of manipulator, and truly produces which direction of motion when handling, and is all the most obvious.Axle and obscuring of the direction of motion are limited in minimum.
Preferably, the first input equipment is arranged on and is configured in the first elongated housing.This housing extends along the first main shaft of operation equipment.Preferably, secondary input device is arranged on and is configured in the second elongated housing.This second housing extends along the second main shaft of operation equipment.Preferably, the 3rd input equipment is arranged on and is configured in the 3rd elongated housing.Here, the 3rd housing is along the 3rd main shaft extension of operation equipment.Therefore, three are configured to elongated, the most rectangular housing, make operator understand the shape of orthogonal coordinate system clearly, and the operation equipment of manipulator or controller are based on this coordinate system.
Here, the simple basic structure of operation equipment is capable of the control of the low cost to manipulator.The motion that manipulator coordinate system is attached troops to a unit with it can understand and reliably management and control together for user intuitively.
Preferably, first, second, and third input equipment includes that steerable motion presets element and steerable rotation presets element respectively, described motion presets element and is arranged to be used for presetting the motion of manipulator, and described rotation presets element and is arranged to be used for presetting the rotation of manipulator.Therefore, each along in three main shafts of operation equipment, all there is motion and preset element and rotation presets element.Preset element described in utilization, manipulator moving along x, y and z axes, i.e. translation and the rotation around these axles can be preset respectively.By presetting the special structure of element, operator can directly and intuitively identify, and how to realize desired motion or the rotation of manipulator.It is particularly preferred that motion presets element or rotation presets the one or more the most covered of element.Therefore, operator or can not less be easily accessible and handles and presets element accordingly.Hide or opacity can manually or automatically change.Therefore, element is preset by hiding some, it can be ensured that the definition of direction of operating.
It is particularly preferred that steerable motion presets each can rotatably handle in element.It is particularly preferred that steerable rotation presets each can rotatably handle in element.Motion and rotation preset element can be implemented as cylinder, such as ring, wheel or cylinder.For handling, described in preset the side of element can be freely the most close at least in part by operator.
Preferably, operation equipment can switch between fine pattern and coarse mode.In coarse mode, steerable motion presets element and steerable rotation presets element and can handle with free-running.In fine pattern, stopper (Rasterung, fence) resists the manipulation of this free-running.
Therefore, fine pattern describes and accurately runs.Such as it is embodied as the cylindrical element that presets to be braked by restraint function.Every time to the step motion further rotating the restriction all causing robot of next stopper, the such as step motion of 1mm or the rotation of 1 °.This susceptiveness can be preset by user or select.Thus, in this fine pattern, it is possible to achieve the most accurately, move accurately.Stopper can be such as by being selectively activated the electromagnetic action presetting element.
Coarse mode is applicable to the broad traveling of manipulator.Can such as realize switching between fine pattern and coarse mode by button.Thus, it is possible to cancel the restraint presetting element.Preset element can handle to free-running now, and can rotate the most neatly.When one preset in element by rotation when manipulator is arranged to motion, then this manipulator the most correspondingly travels, and rotates to realizing.Rotation might also depend on inertially remains in operation, and does not has other effects actively of operator.Alternatively, element can be preset by reversing rapidly, import the continuous motion of manipulator.Element is preset accordingly by rapping momently, can such as stop motion.Here, according to presetting the speed of element itself, the speed of manipulator can arrive the maximum travelling speed of manipulator.Therefore, manipulator can effectively and the most restrictively sail remote position or posture into without operator.
Input equipment owing to being arranged in three coordinate directions is associated with the coordinate system of fixing restriction, can be selected to use which coordinate system the most clearly by operator.Here, the coordinate system that position is fixed, the most so-called base portion coordinate system, world coordinate system or robot foot coordinate system can such as be selected.In other cases, it is also possible to select the coordinate system of movement, such as flange coordinate system or tool coordinates system.Advantageously, operator keeps operation equipment so that selected coordinate direction is the most consistent with the orientation of operation equipment.
Preferably, operation equipment has handle.Operator can utilize a hands catch handle and utilize another hands to operate input equipment.Preferably, first, second, and third input equipment is set to, jointly movable relative to handle.Three can not moved or changeless input equipment, can the most rotatably be connected with handle at this.By input equipment relative to the rotation of handle, operator can on purpose regulate direction or the orientation of input equipment for the desired coordinate direction being on manipulator.Thus, it is possible to continue to keep the comfortableness of input directly perceived.Input equipment, relative to the orientation of handle, can be fixed the most after the adjustment.
In addition to handle, preferably operation equipment has 6D sensor device.This 6D sensor device is arranged between handle and input equipment at this, and is arranged to, for detecting the relative motion between in handle and input equipment.Therefore, one or more input equipment can such as be extruded forward by operator relative to handle.The power produced can be detected by 6D sensor device, and can the corresponding translation of manipulator be preset on the controller of manipulator.Thus, it is possible to be easily achieved the multi-dimensional movement of manipulator.Subsequently, user can preset element with maneuvering motion and rotation presets element, the motion accurately of manipulator to be preset on desired target location.6D sensor device can be such as based on deformeter.
Preferably, operation equipment also has 3D inertial sensor device.This 3D inertial sensor device is arranged to, for detecting operation equipment relative to the absolute orientation of surrounding and orientation.Utilize 3D inertial sensor device, such as, can detect the x freely specified by the operator orientation of operation equipment.This can be supplied to the controller of manipulator.Therefore, with the preset value that moves along this x freely specified orientation of operation equipment, manipulator similar motion in the same direction can be converted into.Therefore, the calibration of the coordinate system that no longer must be carried out by user.
Operation equipment can such as be designed to manual handling equipment, and there are other, operated key that manipulator is distinctive or safety-related.Such as, operation equipment can have one or more emergent stopping and/or enable switch.Operation equipment can be provided with connecting without cable ground or cable.Additionally, operation equipment can be coupled with other equipment by connection devices.Such as, operation equipment can couple with smart mobile phone or other (manipulator) controller.Therefore, operation equipment is can be widely used.
Additionally, this utility model further relates to a kind of effector system, including having the manipulator of six degree of freedom that can manipulate independently of one another, and the foregoing operation equipment for manipulator being controlled or programming.
Accompanying drawing explanation
Describe this utility model with reference to the accompanying drawings in detail.In the accompanying drawings, identical feature illustrates with identical reference.There is shown:
Fig. 1 is the operation equipment according to a kind of embodiment；And
Fig. 2 is the operation equipment according to another embodiment.
Wherein, reference numerals list is as follows:
1 operation equipment
2x, 2y, 2z input equipment
3x, 3y, 3z rotate and preset element
4x, 4y, 4z motion presets element
5 handles
6 emergency stop switch
7 6D sensor devices
8x, 8y, 8z motion and rotation preset element
9 manipulators
13x, 14x key
Detailed description of the invention
Figure 1 illustrates operation equipment 1, according to this utility model, this operation equipment can be used for manipulator 9 is controlled or is programmed.Operation equipment 1 includes handle 5, and this handle is held by an operator.Additionally, operation equipment 1 also includes three input equipment 2x, 2y and 2z, described input equipment is along three main shaft orientations of operation equipment 1.Such as, input equipment 2x extends to the right along the first main shaft, and secondary input device 2y at right angles to extends with input equipment 2x.Along the 3rd main shaft, be vertical main shaft at this, be provided with the 3rd input equipment 2z.
The steerable motion that each includes in input equipment 2x, 2y and 2z presets element 4x, 4y and 4z.Described motion presets the form of the wheel that element is implemented as rotatably handling.When such as taking turns 4x and rotating along positive direction, manipulator 9 travels along the positive x direction of its coordinate system.Same situation is applicable to manipulator 9 moving along y and z-axis, and these motions can be controlled by handling corresponding wheel 4y and 4z.
Additionally, the rotation each including rotatable manipulation in input equipment presets element 3x, 3y and 3z, described rotation presets the form that element is implemented as the wheel of rotatable manipulation.By rotating wheel 3x, such as, control the rotation of the x-axis of the coordinate system around manipulator of manipulator 9.Same situation is applicable to the rotation of the y around manipulator and z-axis, and these are rotated and can be controlled by handwheel 3y and 3z.Additionally, be provided with emergency stop switch 6 rotating on element 3z.This emergency stop switch is capable of the emergent stopping immediately of manipulator 9.
By the geometry of input equipment 2x, 2y and 2z, operator learns immediately, how can preset the desired motion of manipulator 9 by operation equipment 1.When operator want to preset manipulator 9 rotate around the x-axis of manipulator time, owing to the structure operation person of operation equipment 1 will immediately appreciate that, for this handwheel 3x.
Additionally, be provided with key 13x, 14x on operation equipment 1.In the embodiment as shown, described key is arranged on input equipment 2x.By handling key 13x, the rotation that can regulate rotatable manipulation presets stride or the sensitivity of element 3x.Similarly, steerable motion can be regulated preset stride or the sensitivity of element 4x by key 14x handled.Also can be provided with similar key (not shown) on other input equipment 2y, 2z so that move or rotate the one or more sensitivity presetting in element and specifically can be regulated by user.
Figure 2 illustrates the operation equipment 1 according to another embodiment, utilize this operation equipment to preset the motion of manipulator 9.6D sensor device 7 it is provided with between handle 5 and input equipment 2x, 2y, 2z.When input equipment 2x, 2y and 2z jointly relative to handle 5 move (such as pull out, extrude or tilt) time, then these relative motioies are detected by 6D sensor device 7, and are eventually transformed into the corresponding motion of manipulator 9.Therefore, it can preset the most intuitively the running movement of manipulator.
Input equipment 2x, 2y and 2z of the operation equipment 1 of Fig. 2 have button 8x, 8y and 8z in its end, and it represents that overall motion and rotation preset element.Button 8x, 8y and 8z both can rotate, and can move linearly again.For linear movement, button 8x, 8y and 8z outwardly and inwardly can be promoted along each main shaft of operation equipment, such as to preset the manipulator 9 linear movement along corresponding axle.By rotary knob 8x, 8y and 8z, can such as preset the manipulator 9 rotation around corresponding axle.
Claims (11)
1. one kind is used for the operation equipment (1) that manipulator (9) is controlled or is programmed, it is characterised in that described manipulator has six degree of freedom that can manipulate independently of one another, and described operation equipment has:
First input equipment (2x), it is arranged to, along the motion of the x-axis of described manipulator (9) and the described manipulator (9) rotation around the x-axis of described manipulator is preset for presetting described manipulator, wherein, described first input equipment (2x) is along the first main shaft orientation of described operation equipment (1)；
Secondary input device (2y), it is arranged to, along the motion of the y-axis of described manipulator (9) and the described manipulator (9) rotation around the y-axis of described manipulator (9) is preset for presetting described manipulator (9), wherein, described secondary input device (2y) is along the second main shaft orientation of described operation equipment (1)；
3rd input equipment (2z), it is arranged to, along the motion of the z-axis of described manipulator (9) and the described manipulator (9) rotation around the z-axis of described manipulator (9) is preset for presetting described manipulator (9), wherein, described 3rd input equipment (2z) is along the 3rd main shaft orientation of described operation equipment (1)；
Wherein, the x-axis, y-axis and z-axis of described manipulator (9) are orthogonal, and
Wherein, the main shaft of described operation equipment (1) is mutually substantially at right angles.
Operation equipment (1) the most according to claim 1, it is characterised in that the main axle structure of described operation equipment is corresponding to the x, y and z axes structure of described manipulator (9).
Operation equipment (1) the most according to claim 1, it is characterized in that, described first input equipment (2x) is arranged on and is configured in the first elongated housing, and described first housing extends along the first main shaft of described operation equipment (1), and
Wherein, described secondary input device (2y) is arranged on and is configured in the second elongated housing, and described second housing extends along the second main shaft of described operation equipment (1), and
Wherein, described 3rd input equipment (2z) is arranged on and is configured in the 3rd elongated housing, and described 3rd housing extends along the 3rd main shaft of described operation equipment (1).
Operation equipment (1) the most according to claim 1, it is characterised in that the first input equipment (2x), secondary input device (2y) and the 3rd input equipment (2z) include respectively:
Controllable motion presets element (4x, 4y, 4z, 8x, 8y, 8z), to preset the motion of described manipulator (9)；With
Controllable rotation presets element (3x, 3y, 3z, 8x, 8y, 8z), to preset the rotation of described manipulator (9).
Operation equipment (1) the most according to claim 4, it is characterised in that it is each can the component of slewing maneuver that described controllable motion presets in element (4x, 4y, 4z).
Operation equipment (1) the most according to claim 4, it is characterised in that it is each can the component of slewing maneuver that described controllable rotation presets in element (3x, 3y, 3z).
7. according to the operation equipment (1) according to any one of claim 4 to 6, it is characterized in that, described operation equipment (1) can switch between fine pattern and coarse mode, wherein, described controllable motion presets element (4x, 4y, 4z) and described controllable rotation presets the manipulation that element (3x, 3y, 3z) is energy free-running in described coarse mode, and wherein, in described fine pattern, stopper resists the manipulation of free-running.
Operation equipment (1) the most according to any one of claim 1 to 6, it is characterized in that, described operation equipment also has handle (5), and wherein, described first input equipment (2x), secondary input device (2y) and the 3rd input equipment (2z) are set to be jointly to move relative to described handle (5).
Operation equipment (1) the most according to any one of claim 1 to 6, it is characterized in that, described operation equipment also has handle (5) and the 6D sensor device (7) being arranged between described handle (5) and described input equipment (2x, 2y, 2z), to detect the relative motion between in described handle (5) and described input equipment (2x, 2y, 2z).
Operation equipment (1) the most according to any one of claim 1 to 6, it is characterized in that, described operation equipment also has 3D inertial sensor device, to detect described operation equipment (1) relative to the absolute orientation of surrounding and orientation.
11. 1 kinds of effector systems, it is characterized in that, including having the manipulator (9) of six degree of freedom that can manipulate independently of one another and the operation equipment (1) for manipulator (9) is controlled or is programmed according to any one of claim 1 to 10.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521066561.8U CN205600738U (en) | 2015-12-18 | 2015-12-18 | A operating equipment and executor system for being directed at executor is controlled or is programmed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521066561.8U CN205600738U (en) | 2015-12-18 | 2015-12-18 | A operating equipment and executor system for being directed at executor is controlled or is programmed |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433810A (en) * | 2017-02-16 | 2018-08-24 | 阿瓦特拉医药有限公司 | Operating device for robot perceptual system |
| CN109834718A (en) * | 2017-11-28 | 2019-06-04 | 发那科株式会社 | The control system of input unit and robot |
| WO2023110392A1 (en) * | 2021-12-14 | 2023-06-22 | Kuka Deutschland Gmbh | Modular robot-operated handheld device |
-
2015
- 2015-12-18 CN CN201521066561.8U patent/CN205600738U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433810A (en) * | 2017-02-16 | 2018-08-24 | 阿瓦特拉医药有限公司 | Operating device for robot perceptual system |
| CN108433810B (en) * | 2017-02-16 | 2022-09-13 | 阿瓦特拉医药有限公司 | Operating device for a robot-assisted surgery system |
| CN109834718A (en) * | 2017-11-28 | 2019-06-04 | 发那科株式会社 | The control system of input unit and robot |
| CN109834718B (en) * | 2017-11-28 | 2023-04-18 | 发那科株式会社 | Input device and control system for robot |
| WO2023110392A1 (en) * | 2021-12-14 | 2023-06-22 | Kuka Deutschland Gmbh | Modular robot-operated handheld device |
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