CN206048180U - It is a kind of to drag teaching robot of hovering by doing and illustrating - Google Patents
It is a kind of to drag teaching robot of hovering by doing and illustrating Download PDFInfo
- Publication number
- CN206048180U CN206048180U CN201621074308.1U CN201621074308U CN206048180U CN 206048180 U CN206048180 U CN 206048180U CN 201621074308 U CN201621074308 U CN 201621074308U CN 206048180 U CN206048180 U CN 206048180U
- Authority
- CN
- China
- Prior art keywords
- weight
- joint
- hovering
- rotary joint
- counterweight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
This utility model provides a kind of teach-by-doing and drags teaching robot of can hovering, including the multi-joint arm of pedestal, the rotating seat being fixed on pedestal and rotating seat connection, multi-joint arm rotates connection by rotary joint axle with the connection joint of rotating seat and each joint of multi-joint arm itself, the counterweight balancing mechanism of hovering is equipped with for offset torque, is realized on each rotary joint axle, counterweight balancing mechanism includes the balancing weight that weight linear meter and weight can be adjusted, on balancing weight, its other end is rotated with the rotary joint axle and is connected for one end of weight linear meter.A kind of teach-by-doing of the present utility model drags teaching robot of can hovering, the imbalance of offset torque by the way of counterweight balance, make teaching operation lighter, the counterweight balance that simultaneously can adjust, being capable of maximum reduces cost compared to traditional teaching robot so as to realize hovering；Damping mechanism compensates torque difference by way of adjusting rotating friction force so that hovering is more reliable, and keeps.
Description
Technical field
This utility model belongs to robot teaching technical field, and in particular to a kind of to drag the teaching machine that hover by doing and illustrating
People.
Background technology
Chinese patent document CN104162890A disclose a kind of hand-in-hand demonstration robot based on motor power-assisted and its
Control method, this teaching robot include each joint connecting shaft of base, multi-joint arm, multi-joint arm itself, encoder, electricity
Machine, manipulation sensing mechanisms, cylinder balancing mechanism etc..Its principle is the pose as residing for multi-joint arm, and power-assisted arithmetic system passes through
Interpolation method obtains each joint shaft in positive direction or opposite direction just at static critical balance moment values, and is existed according to operator
The signal shortcoming joint rotational axis direction triggered in manipulation sensing mechanisms, provides assist torque from motor to joint, makes multi-joint
Arm is easy to be dragged by operator carries out teaching.
Small contact in this patent document CN104162890A sensing mechanisms cannot ensure accurate feedback, in fact it could happen that
Signals collecting is caused delayed not in time, and which is relatively costly, it is impossible to realize hovering.
The content of the invention
To solve above-mentioned technical problem, this utility model provides a kind of teach-by-doing and drags teaching robot of can hovering, adopts
The imbalance of the mode offset torque balanced with counterweight, makes teaching operation lighter, while the counterweight that can be adjusted is balanced causing
Which can realize reliable hovering, being capable of maximum reduces cost compared to traditional teaching robot.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：It is a kind of to drag the teaching machine that hover by doing and illustrating
People, including the multi-joint arm of pedestal, the rotating seat being fixed on pedestal and rotating seat connection, multi-joint arm and rotating seat
Connection joint and multi-joint arm itself each joint by rotary joint axle rotate connection, it is characterised in that：Each
The counterweight balancing mechanism of hovering is equipped with for offset torque, is realized on the rotary joint axle,
- the counterweight balancing mechanism, which includes the balancing weight that weight linear meter and weight can be adjusted, one end of the weight linear meter
Prop up on balancing weight, its other end is rotated with the rotary joint axle and is connected；
Both weight linear meter and corresponding joint arm of current counterweight balancing mechanism are separately positioned on current counterweight balance
The rotary joint axle both sides that mechanism is located；
The balancing weight of current counterweight balancing mechanism is overall with the weight that all joint arms of its rear end, balancing weight are formed to work as
Balance at the rotary joint axle that front counterweight balancing mechanism is located.
In a preferred embodiment of the present utility model, further include to be further fixed on using on each described rotary joint axle
In the damping mechanism of compensation torque difference.
In a preferred embodiment of the present utility model, the weight linear meter and therewith of current counterweight balancing mechanism is further included
Both corresponding joint arms are separately positioned on the rotary joint axle both sides at current counterweight balancing mechanism place into 180 degree straight line.
In a preferred embodiment of the present utility model, further include that the damping mechanism includes rub base, friction
Adjusting base and friction plate, the friction base are fixed on rotary joint axle, and the friction adjusting base is fixed on pedestal,
Relative motion is produced with the rotary joint axle, is all provided with the face that both the friction base and friction adjusting base are oppositely arranged
There is the friction plate, the mutual frictional force between two friction plates is adjusted by a regulating bolt.
In a preferred embodiment of the present utility model, further include to be respectively and fixedly provided with use on each described rotary joint axle
In the encoder of record rotary joint axle position appearance data, the encoder is electrically connected with control system.
In a preferred embodiment of the present utility model, further include that the balancing weight includes counterweight block body and therewith
The regulating block of connection, both the counterweight block body and regulating block can be detachably fixedly arranged at the weight linear meter by securing member.
The beneficial effects of the utility model are：
One, a kind of teach-by-doing of the present utility model drag teaching robot of can hovering, and are supported by the way of counterweight balance
Disappear the imbalance of moment of torsion, makes teaching operation lighter, while the counterweight balance that can be adjusted so as to realize hovering, is compared
Being capable of maximum reduces cost in traditional teaching robot；
Two, damping mechanism compensates torque difference by way of adjusting rotating friction force so that hovering is more reliable, and
Keep.
Description of the drawings
For the technical scheme being illustrated more clearly that in this utility model embodiment technology, embodiment technology will be retouched below
Needed for stating, accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only this utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is the structural representation of this utility model preferred embodiment；
Fig. 2 is the structural representation of this utility model preferred embodiment counterweight balancing mechanism；
Fig. 3 is the structural representation of this utility model preferred embodiment damping mechanism.
Wherein：1- pedestals, 2- rotating seats, 3- counterweight balancing mechanisms one, 4- weight linear meters one, 5- rotary joints axle one, 6- resistances
Buddhist nun mechanism one, 7- encoders one, 8-J2 joint arms, 9- rotary joints axle two, 10- damping mechanisms two, 11- encoders two, 12- matches somebody with somebody
Weight balanced controls two, 13-J4 rotary shafts, 14-J3 joint arms, 15-J4 joint arms, 16- counterweight balancing mechanisms three, 17- rotations are closed
Nodal axisn three, 18- damping mechanisms three, 19- encoders three, 20-J5 joint arms, 21-J6 joint arms, 22-J1 joint arms；
A- friction bases, b- friction adjusting bases, c- friction plates, d- regulating bolts；
E- weight linear meters, h- balancing weights, h1- counterweight block bodies, h2- regulating blocks.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Embodiment
As shown in figure 1, disclose in the present embodiment it is a kind of drag teaching robot of can hovering by doing and illustrating, can be considered it is a kind of to
Industrial robot teaches the instructional device about operating position data, especially for Six-DOF industrial robot, for
Which has 1:The data acquisition of the robot operating position of 1 physical dimension, enables terminal contacts by optimized Structure Design
Any one operating position is easily reached, and by the encoder record position installed in joint, its concrete structure is such as
Under：
Including pedestal 1, the rotating seat being fixed on pedestal 12, and the rotating seat 2 connection multi-joint arm, multi-joint arm
Connection, each institute are rotated by rotary joint axle with the connection joint of rotating seat 2 and each joint of multi-joint arm itself
State and be respectively and fixedly provided with rotary joint axle for recording the encoder of rotary joint axle position appearance data, the encoder and control system
Electrical connection；The counterweight balancing mechanism of hovering is equipped with for offset torque, is realized on each described rotary joint axle, described in each
It is further fixed on rotary joint axle for compensating the damping mechanism of torque difference；
The counterweight balancing mechanism includes the balancing weight h that weight linear meter e and weight can be adjusted, one end of the weight linear meter e
Prop up on balancing weight h, its other end is rotated with the rotary joint axle and is connected；
Both weight linear meter and corresponding joint arm of current counterweight balancing mechanism are separately positioned on current counterweight balance
The rotary joint axle both sides that mechanism is located；
The balancing weight of current counterweight balancing mechanism is overall with the weight that all joint arms of its rear end, balancing weight are formed to work as
Balance at the rotary joint axle that front counterweight balancing mechanism is located.
Specifically, as shown in figure 1, for the robot where applicable of six degree of freedom, with six joint arms, respectively J1 is closed
Joint arm 22, J2 joint arms 8, J3 joint arms 14, J4 joint arms 15, J5 joint arms 20, J6 joint arms 21；
With three counterweight balancing mechanisms, respectively counterweight balancing mechanism 1, counterweight balancing mechanism 2 12, counterweight balance
Mechanism 3 16；
With three rotary joint axles, respectively rotary joint axle 1, rotary joint axle 29, rotary joint axle 3 17；
With three damping mechanisms, respectively damping mechanism 1, damping mechanism 2 10, damping mechanism 3 18；
With three encoders, respectively encoder 1, encoder 2 11, encoder 3 19；
Encoder 1 and damping mechanism 1 are fixed on rotary joint axle 1；
Encoder 2 11 and damping mechanism 2 10 are fixed on rotary joint axle 29；
Encoder 3 19 and damping mechanism 3 18 are fixed on rotary joint axle 3 17.
Rotating seat 2 is fixed on pedestal 1, and can be with 360 ° of rotations, the weight linear meter 1 of weight linear meter balanced controls 1 and J2
8 one end in rotating seat 2 of joint arm, and can rotate around rotary joint axle 1, damping mechanism 1 is fixed with encoder 1
On rotary joint axle 1, and weight linear meter 1 and J2 joint arms 8 are respectively in the both sides of rotating seat 2, into 180 degree straight line, counterweight
Bar 1 and J2 joint arms 8 can not interfered with rotating seat 2, J1 joint arms 22 around rotating around rotary joint axle 1；
Counterweight balancing mechanism 2 12 with J3 joint arms 14 respectively in the both sides of J2 joint arms 8, into 180 degree straight line, with galassing
Weighing apparatus mechanism 2 12 can be rotated around rotary joint axle 29 with J3 joint arms 14 and not interfered with J2 joint arms 8；
Counterweight balancing mechanism 3 16 can be rotated around rotary joint axle 3 17 with J5 joint arms 20, counterweight balancing mechanism 3 16
With J5 joint arms respectively in the both sides of J4 joint arms 18, into 180 degree straight line, counterweight balancing mechanism 3 16 and J5 joint arms can be around
Rotary joint axle 3 17 is rotated and is not interfered with J4 joint arms.
The J5 joint arms 20 of counterweight balancing mechanism 3 16 and end, J6 joint arms 21 are balanced at rotary joint axle 3 17；
Counterweight balancing mechanism 2 12 and rear end J3 joint arms 14, J4 joint arms 15, J5 joint arms 20, J6 joint arms 21, match somebody with somebody
The overall balance at rotary joint axle 29 of weight that weight balanced controls 3 16 are formed；
Counterweight balancing mechanism 1 is closed with rear end J2 joint arms 8, J3 joint arms 14, J4 joint arms 15, J5 joint arms 20, J6
The overall balance at rotary joint axle 1 of weight that joint arm 21, counterweight balancing mechanism 2 12, counterweight balancing mechanism 3 16 are formed.
Thus, this utility model completely using counterweight balance by the way of come the imbalance of offset torque, allow teaching operation more
It is light, while the counterweight balance that can be adjusted is so as to realize hovering, can be maximum compared to traditional teaching robot
The reduces cost of degree.
Damping mechanism compensates torque difference by way of adjusting rotating friction force so that hovering is more reliable, and keeps.
Specifically, it is as shown in Fig. 2 the balancing weight h includes the counterweight block body h1 and regulating block h2 being attached thereto, described
Both counterweight block body h1 and regulating block h2 can be detachably fixedly arranged on the weight linear meter e by securing member, adjustable weight
Balancing weight h teaching robot can integrally be hovered, allow teaching operation be more convenient.
Specifically, as shown in figure 3, the damping mechanism includes rub base a, friction adjusting base b and friction plate c, institute
State friction base a to be fixed on rotary joint axle, the friction adjusting base b is fixed on pedestal, with the rotary joint axle
Relative motion is produced, on the face that both the friction base a and friction adjusting base b are oppositely arranged, the friction plate c is equipped with,
Mutual frictional force between two friction plate c is adjusted by regulating bolt d.Side of the damping mechanism by regulation rotating friction force
Formula is compensating torque difference so that hovering is more reliable, and keeps.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use that this practicality is new
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determined herein
The General Principle of justice can be realized in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause
This, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (6)
1. it is a kind of to drag can hover teaching robot, including pedestal, the rotating seat being fixed on pedestal and the rotation by doing and illustrating
The multi-joint arm of seat connection, multi-joint arm are passed through with the connection joint of rotating seat and each joint of multi-joint arm itself
Rotary joint axle rotates connection, it is characterised in that：It is equipped with each described rotary joint axle for offset torque, realizes hovering
Counterweight balancing mechanism,
- the counterweight balancing mechanism, which includes the balancing weight that weight linear meter and weight can be adjusted, one end Zhi Yu of the weight linear meter
On balancing weight, its other end is rotated with the rotary joint axle and is connected；
Both weight linear meter and corresponding joint arm of current counterweight balancing mechanism are separately positioned on current counterweight balancing mechanism
The rotary joint axle both sides at place；
The weight that the balancing weight of current counterweight balancing mechanism is formed with all joint arms of its rear end, balancing weight is integrally matched somebody with somebody currently
Balance at the rotary joint axle that weight balanced controls are located.
2. a kind of teach-by-doing according to claim 1 drags teaching robot of can hovering, it is characterised in that：Each described rotation
Turn to be further fixed on joint shaft for compensating the damping mechanism of torque difference.
3. a kind of teach-by-doing according to claim 1 and 2 drags teaching robot of can hovering, it is characterised in that：Currently match somebody with somebody
Both weight linear meter and corresponding joint arm of weight balanced controls are separately positioned on the rotation that current counterweight balancing mechanism is located
Joint shaft both sides are into 180 degree straight line.
4. a kind of teach-by-doing according to claim 2 drags teaching robot of can hovering, it is characterised in that：The damping machine
Structure includes rub base, friction adjusting base and friction plate, and the friction base is fixed on rotary joint axle, and the friction is adjusted
Section base is fixed on pedestal, produces relative motion, the friction base and friction adjusting base two with the rotary joint axle
The friction plate is equipped with the face that person is oppositely arranged, the phase mutual friction between two friction plates is adjusted by a regulating bolt
Power.
5. a kind of teach-by-doing according to claim 1 and 2 drags teaching robot of can hovering, it is characterised in that：Each institute
State and be respectively and fixedly provided with rotary joint axle for recording the encoder of rotary joint axle position appearance data, the encoder and control system
Electrical connection.
6. a kind of teach-by-doing according to claim 5 drags teaching robot of can hovering, it is characterised in that：The balancing weight
Including counterweight block body and the regulating block being attached thereto, both the counterweight block body and regulating block can be dismantled by securing member
Be fixed on the weight linear meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621074308.1U CN206048180U (en) | 2016-09-23 | 2016-09-23 | It is a kind of to drag teaching robot of hovering by doing and illustrating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621074308.1U CN206048180U (en) | 2016-09-23 | 2016-09-23 | It is a kind of to drag teaching robot of hovering by doing and illustrating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206048180U true CN206048180U (en) | 2017-03-29 |
Family
ID=58367269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621074308.1U Active CN206048180U (en) | 2016-09-23 | 2016-09-23 | It is a kind of to drag teaching robot of hovering by doing and illustrating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206048180U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166738A (en) * | 2016-09-23 | 2016-11-30 | 苏州哈工易科机器人有限公司 | A kind of teach-by-doing drags teaching robot of can hovering |
-
2016
- 2016-09-23 CN CN201621074308.1U patent/CN206048180U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166738A (en) * | 2016-09-23 | 2016-11-30 | 苏州哈工易科机器人有限公司 | A kind of teach-by-doing drags teaching robot of can hovering |
| CN106166738B (en) * | 2016-09-23 | 2019-01-25 | 苏州哈工易科机器人有限公司 | A kind of teach-by-doing dragging can hover teaching robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105835086B (en) | A kind of series parallel type 6DOF force feedback manipulator | |
| CN104690708B (en) | A kind of power operator balanced controls | |
| US9314934B2 (en) | Gravity-counterbalanced robot arm | |
| WO2012083792A1 (en) | Apparatus for testing and driving control column having two degrees of freedom and control method therefor | |
| CN104162890A (en) | Step-by-step teaching robot based on motor power and control method thereof | |
| CN104440904A (en) | Steel wire rope transmission mechanical hand | |
| CN206048180U (en) | It is a kind of to drag teaching robot of hovering by doing and illustrating | |
| CN103406908A (en) | Force feedback hand controller with three degrees of freedom rotation | |
| CN110142736A (en) | A kind of principal and subordinate's isomorphism mechanical arm system | |
| CN107914284A (en) | A kind of cradle head mechanical arm gravity compensation | |
| CN107972014A (en) | A kind of bionic arm of Pneumatic artificial muscle driving | |
| CN206914516U (en) | Two-wheel electric balance car | |
| CN106166738B (en) | A kind of teach-by-doing dragging can hover teaching robot | |
| CN102826147A (en) | Reset mechanism and steering device of self-balancing two-wheeled robot utilizing reset mechanism | |
| CN206048204U (en) | A kind of handss drag teaching robot | |
| CN207616572U (en) | Parallel three NC axes tilter | |
| CN105364925B (en) | High voltage power transmission line walking and work machine human arm based on servo driving | |
| CN202827910U (en) | Reset mechanism and self-balancing motor-driven two-wheel robot steering device thereof | |
| CN202471005U (en) | Portable coordinate measuring machine swinging joint with balance mechanism | |
| CN105619449A (en) | Zero-free length spring gravity compensation method based on force feedback equipment | |
| CN207366707U (en) | A kind of electromagnetic braking measurement of power machine platform | |
| CN204641877U (en) | Articulated vehicle steering angle detecting device | |
| CN205497525U (en) | General machinery arm | |
| CN104925133A (en) | Articulated vehicle steering angle detection device | |
| CN202827911U (en) | Elastic reset mechanism and self-balancing two-wheel vehicle steering gear thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |