CN104537944B - A kind of six-bar linkage teaching apparatus of six-joint robot - Google Patents
A kind of six-bar linkage teaching apparatus of six-joint robot Download PDFInfo
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- CN104537944B CN104537944B CN201410849453.1A CN201410849453A CN104537944B CN 104537944 B CN104537944 B CN 104537944B CN 201410849453 A CN201410849453 A CN 201410849453A CN 104537944 B CN104537944 B CN 104537944B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention provides a kind of six-bar linkage teaching apparatus of six-joint robot, belong to robotic technology field.It solves the problem of existing robot teaching is cumbersome and time-consuming longer.The six-bar linkage teaching apparatus of this six-joint robot, including pedestal, end to end connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five and connecting rod six successively, and six encoders, six encoders be separately positioned on actuating station and connecting rod six, connecting rod six and connecting rod five, connecting rod five and connecting rod four, connecting rod four and connecting rod three, connecting rod three and connecting rod two and connecting rod two with the connecting portion of connecting rod one.It can depart from robot and carry out teaching, operate more laborsaving convenience.
Description
Technical field
The invention belongs to robotic technology field, it is related to a kind of teaching display-tool with sticking plastic of robot, particularly a kind of six axles machine
The six-bar linkage teaching apparatus of people.
Background technology
With continuing to develop for field of machining, workman is replaced to carry out the degree of automation processing with articulated robot
More and more higher, the suspension member that robot can complete task is how to make each workpiece of robot can be according to specified
Track, coordinate go complete motion, pause, rotate etc. action, these action be required to programming engineer passed through by teaching box
Programming could realize that existing programming mode mainly has following several forms：1st, On-line programming by demonstration:In robot site, by
Operator is moved by working trajectory route by doing and illustrating or using teaching box guided robot terminal, and recorder person joint's angle
Information, during work, track and operation when controller reads the positional information of storage and drives robot repetition teaching；2nd, machine
People's off-line programing:The geometrical model of robot and its working environment is set up using computer graphics, robot is completed
Task carries out segregation reasons and programming, and carries out dynamic graphics simulation to the result of programming, will finally meet desired programming knot
Fruit is transmitted to robot control system；3. Programming by Virtual Demonstration System:Using calculate three-dimensional geometric shapes construction virtual environment and
Virtual robot, robot mechanism, scene and constraints, operator's Virtual Environment-Oriented are introduced in dummy model, is passed through
The end effector of man-machine interface guided robot in virtual scene carries out Virtual Demonstration, produces robot manipulating task track, raw
Into robot language program, and corresponding simulation and optimization is carried out, send robot execution to.Aforesaid operations are required to program work
Cheng Shi possesses higher knowledge, and could be competent at by special training, so allow for program the post of engineer according to
Bad property is higher, and operation is not directly perceived enough, but the program and actual mechanical process once obtained by programming are present after deviation, program setting
Modification it is very inconvenient, workload is big.Thus also have now and teaching is carried out by artificial directly dragging robot, but be due to show
Teach journey relatively complicated, the time for taking robot is often longer, it usually needs 1~2 working day could complete one specifically
Operation, influences operating efficiency, and when artificial guided robot is acted, due to the motor by each intra articular of robot and
The influence of reducing gear, often due to resistance is excessive and cause the situation that is difficult to drag, if firmly excessive be also easy to during operation
Cause the joint of robot or the damage of interior fittings.
The content of the invention
The purpose of the present invention is there is above mentioned problem for existing technology, it is proposed that a kind of six-bar linkage of six-joint robot
Teaching apparatus, it can depart from robot and carry out teaching, operate more laborsaving convenience.
The purpose of the present invention can be realized by following technical proposal：A kind of six-bar linkage teaching apparatus of six-joint robot,
It is characterised in that it includes pedestal, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, connecting rod six and six encoders, institute
Connecting rod one is stated to be vertically arranged, and the bottom of connecting rod one is connected on pedestal, the rear end of the connecting rod two is connected to the top of connecting rod one
Hold, and connecting rod two can be rotated around the axial line of connecting rod one, the bottom of the connecting rod three is hinged on the front end of connecting rod two, and connecting rod
Three can swing relative to connecting rod two, and the bottom of the connecting rod four is hinged on the top of connecting rod three, and connecting rod four can be relative to connecting rod
Three swing, and the rear end of the connecting rod five is connected to the front end of connecting rod four, and connecting rod five can be rotated around the axial line of itself, described
The rear end of connecting rod six is hinged on the front end of connecting rod five, and connecting rod six can be swung relative to connecting rod five, and the front end of the connecting rod six is same
Axle is rotatably connected to an actuating station, and six encoders are separately positioned on actuating station and connecting rod six, connecting rod six and connecting rod five, connected
On the connecting portion of bar five and connecting rod four, connecting rod four and connecting rod three, connecting rod three and connecting rod two and connecting rod two and connecting rod one.
Encoder in the technical program can by the relative rotation between actuating station and connecting rod and two neighboring connecting rod or
The angle change of swing process is recorded in real time, and six encoders correspond to six joint shafts of six-joint robot, six
Exercise data and end orbit obtained by encoder pass through data reduction, may map to any a known joint size
On six-joint robot, track reproducing and teaching are realized, because this teaching apparatus is the self-existent a set of teaching of disengaging robot
Each connecting rod and actuating station in mechanism, and the technical program between connecting rod without set as machine people motor and
Reductor, when directly dragging the progress teaching of this teaching mechanism, the working time without taking robot, whole teaching operation mistake
Cheng Gengjia is laborsaving, flexibly and conveniently quick, can reduce the teaching time significantly, the six-bar linkage in the technical program is by turning in addition
Dynamic or swing is connected, and can perfectly simulate the working trajectory of six-joint robot, realizes that departing from robot carries out teaching, simultaneously
The stability of the connecting rod center of gravity of each in this teaching apparatus is also ensured, unnecessary rock is not susceptible to so that training data is more
Plus it is accurate.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the connecting rod one is solid bar member, the connecting rod one
Top be fixed with the rotating shaft one with damping, the rotating shaft one and connecting rod one be coaxially disposed, and the connecting rod two is laterally set, and
The length of connecting rod two is less than the length of connecting rod one, and the rear end of the connecting rod two is sleeved in rotating shaft one by 2 bearings one, described
Encoder one is connected with rotating shaft one.Without passing through motor and decelerator as six-joint robot between connecting rod two and connecting rod one
It is connected, structure is simpler, and the rear end of connecting rod two is nested by 2 bearings one with the rotating shaft one with damping on connecting rod one
Connect, can limiting rod two be only capable of being circumferentially rotated, the length of this outside connecting rod two is less than the length of connecting rod one, and 2 bearings
There is gap between one, ensure that the connective stability between connecting rod two and connecting rod one is higher, be difficult to rock.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the front end of the connecting rod two is connected with by bearing two
Rotating shaft two with damping, the rotating shaft two and connecting rod two are perpendicular, and encoder two, the connecting rod three are connected with rotating shaft two
Bottom be connected in rotating shaft two, the connecting rod three be hollow pipe fitting.Without as six-joint robot between connecting rod three and connecting rod two
It is connected like that by motor with decelerator, structure is simpler, and is only capable of carrying out the opposite or back of the body between connecting rod three and connecting rod two
To swing, and connecting rod three is hollow pipe fitting, and lighter weight, barycentre offset is smaller, will not occur laterally to rock, stable operation
Property is more preferable.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the bottom of the connecting rod four is connected with by bearing three
Rotating shaft three with damping, the rotating shaft three and connecting rod four are perpendicular, and encoder three, the connecting rod three are connected with rotating shaft three
Top be connected in rotating shaft three, the length of the connecting rod four is less than connecting rod three.Without as six axles between connecting rod four and connecting rod three
Robot is connected by motor with decelerator like that, and structure is simpler, is only capable of carrying out between this outside connecting rod four and connecting rod three
Opposite or backswing, and the length of connecting rod four is less than connecting rod three so that the present apparatus is waited when in use to be not susceptible to laterally rock,
Structural stability is more preferable.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the rear end of the connecting rod five is fixed with damping
Rotating shaft four, the rotating shaft four is coaxially disposed with connecting rod five, and the connecting rod five is hollow pipe fitting, and the top of the connecting rod four passes through 2
Individual bearing four is sleeved in rotating shaft four, and encoder four is connected with the rotating shaft four.Without as six between connecting rod five and connecting rod four
Axle robot is connected by motor with decelerator like that, and structure is simpler, and connecting rod five, which is plugged on the top of connecting rod four, to be had
Sleeve in, there is gap, and because connecting rod five is hollow pipe fitting, lighter weight between 2 bearings four set in it so that
Present apparatus stability in operation is more preferable, and the probability for occurring unnecessary motion is smaller.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the front end of the connecting rod five is connected with by bearing five
Rotating shaft five with damping, the rotating shaft five and connecting rod five are perpendicular, and encoder five, the connecting rod six are connected with rotating shaft five
Rear end be connected in rotating shaft five.Without passing through motor and decelerator phase as six-joint robot between connecting rod six and connecting rod five
Connection, structure is simpler, and connecting rod six is only capable of swinging up and down relative to connecting rod five, and structural stability is more preferable.
In the six-bar linkage teaching apparatus of above-mentioned six-joint robot, the front end of the connecting rod six passes through turning with damping
Axle six is connected with actuating station, and the actuating station, rotating shaft six and connecting rod six are coaxially disposed, and the rear end of the actuating station, which is sleeved on, to be turned
It is provided with axle six, and between rotating shaft six and actuating station in bearing six, the rotating shaft six and is connected with encoder six.Actuating station and company
Without being connected as six-joint robot by motor with decelerator between bar six, structure is simpler, and operation is more saved
Power.
Compared with prior art, the present invention has the following advantages that：
1st, this teaching apparatus can depart from robot and directly carry out teaching operation, it is only necessary to when data extracted, changed
With implantation, the working time of robot is not interfered with, entreprise cost is reduced；
2nd, application device is added in the actuating station of this teaching apparatus, experienced operator can directly manipulate application device progress
Teaching, while the encoder being arranged on each link joint is in real time recorded the angle change of whole process, then
The data of record are extracted, by conversion, are implanted in purpose robot, such robot can replicate skilled worker completely
The working trajectory and pattern of people, whole teaching process intervenes without teaching engineer, and to be not required to GPRS too many by experienced operator
Robot application knowledge, directly teaching robot can operate more convenient teaching more directly perceived, time saving and energy saving；
3rd, the working trajectory of experienced operator can be replicated completely, and displacement unnecessary during teaching is few, the rail of record
Mark data are accurate, and track adjustment work is few, it is ensured that the uniformity of product quality；
4th, it is lighter than conventional head part's teaching of directly operating machine, it is more laborsaving.
5th, after the teaching of this teaching apparatus, obtained joint data and end orbit, by data reduction, Ke Yiying
In the purpose robot for being mapped to any a known joint size, track reproducing is realized.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the sectional view of the present invention.
Fig. 3 is the connection diagram of rotating shaft, bearing and encoder in the present invention.
In figure, 1, connecting rod one；2nd, connecting rod two；3rd, connecting rod three；4th, connecting rod four；5th, connecting rod five；6th, connecting rod six；7th, pedestal；8、
Actuating station；9th, encoder；91st, encoder；92nd, encoder two；93rd, encoder three；94th, encoder four；95th, encoder five；96、
Encoder six；10th, rotating shaft；101st, rotating shaft one；102nd, rotating shaft two；103rd, rotating shaft three；104th, rotating shaft four；105th, rotating shaft five；106、
Rotating shaft six；11st, bearing；111st, bearing one；112nd, bearing two；113rd, bearing three；114th, bearing four；115th, bearing five；116th, axle
Hold six.
Embodiment
The following is specific embodiment of the invention and with reference to accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
Reference picture 1 and Fig. 3, the present embodiment are a kind of six-bar linkage teaching apparatus that teaching is carried out for six-joint robot, bag
Include connecting rod 1, connecting rod 22, connecting rod 33, connecting rod 44, connecting rod 55, connecting rod 66, pedestal 7, actuating station 8 and six encoders 9.
Connecting rod 1 is vertically arranged, and the bottom of connecting rod 1 is plugged on pedestal 7 and is bolted, connecting rod 66, connecting rod 55, company
Bar 44, connecting rod 33, connecting rod 22 and connecting rod 1, which pass sequentially through to be hinged, to join end to end, and actuating station 8, which is rotated coaxially, is connected to connecting rod
66 front end, six encoders 9 are separately positioned on actuating station 8 with connecting rod 66, connecting rod 66 and connecting rod 55, connecting rod 55 with connecting
On the connecting portion of bar 44, connecting rod 44 and connecting rod 33, connecting rod 33 and connecting rod 22 and connecting rod 22 and connecting rod 1.It is above-mentioned adjacent
Two connecting rods, and be connected between actuating station 8 and connecting rod 66 by rotating shaft 10 with bearing 11, encoder 9 and rotating shaft 10
It is connected, so that the teaching of connecting rod 1, connecting rod 22, connecting rod 33, connecting rod 44, connecting rod 55, connecting rod 66 and actuating station 8 be grasped
Relative angle change when making all is recorded in real time.
With reference to Fig. 1 and Fig. 2, the top of connecting rod 1 is fixed with rotating shaft 1, and rotating shaft 1 and connecting rod 1 are coaxially disposed,
Connecting rod 22 is laterally set, and the rear end of connecting rod 22 is sleeved in rotating shaft 1 by bearing 1, is passed through in rotating shaft 1
Bolt is coaxially connected with encoder 1, and connecting rod 22 can horizontally rotate around the axial line of rotating shaft 1；Before connecting rod 22
End is connected with rotating shaft 2 102 by bearing 2 112, and rotating shaft 2 102 and connecting rod 22 are perpendicular, and volume is connected with rotating shaft 2 102
Code device 2 92, the bottom of connecting rod 33 is connected in rotating shaft 2 102 by bolt, and connecting rod 33 can be swung relative to connecting rod 22；
The bottom of connecting rod 44 is connected with rotating shaft 3 103 by bearing 3 113, and rotating shaft 3 103 and connecting rod 44 are perpendicular, and rotating shaft three
Encoder 3 93 is connected with 103, the top of connecting rod 33 is connected in rotating shaft 3 103 by bolt, connecting rod 44 can be relative to
Connecting rod 33 is swung；The rear end of connecting rod 55 is fixed with rotating shaft 4 104, and rotating shaft 4 104 is coaxially disposed with connecting rod 55, connecting rod 44
Top is sleeved in rotating shaft 4 104 by bearing 4 114, is connected with encoder 4 94 in rotating shaft 4 104, and connecting rod 55 can be around
The axial line of rotating shaft 4 104 is rotated；The front end of connecting rod 55 is connected with rotating shaft 5 105 by bearing 5 115, and rotating shaft 5 105 is with connecting
Bar 55 is perpendicular, and encoder 5 95 is connected with rotating shaft 5 105, and the rear end of connecting rod 66 is connected in rotating shaft five by bolt
On 105, and connecting rod 66 can be swung relative to connecting rod 55；The front end of connecting rod 66 has the rotating shaft for being used for being connected with actuating station 8
6 106, actuating station 8, rotating shaft 6 106 and connecting rod 66 are coaxially disposed, and bearing six is provided between rotating shaft 6 106 and actuating station 8
116, encoder 6 96 is connected with rotating shaft 6 106, actuating station 8 can be rotated around the axial line of rotating shaft 6 106.
The more other connecting rods of the length of connecting rod 22 and connecting rod 44 are short in the present embodiment, it is possible to increase the phase when present apparatus is operated
To stability.
The present embodiment is programmed without teaching engineer, it is only necessary to which the hand-held actuating station 8 of experienced operator carries out the mould of process
Intend operation, the angle change of the link joint of each in this teaching apparatus is recorded by 6 encoders 9, and data are extracted simultaneously
Conversion, then six-joint robot is imported into, whole teaching process operation is convenient and the operating time is shorter.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (7)
1. the six-bar linkage teaching apparatus of a kind of six-joint robot, it is characterised in that including pedestal (7), connecting rod one (1), connecting rod two
(2), connecting rod three (3), connecting rod four (4), connecting rod five (5), connecting rod six (6) and six encoders (9), the connecting rod one (1) are vertical
Set, and the bottom of connecting rod one (1) is connected on pedestal (7), the rear end of the connecting rod two (2) is connected to the top of connecting rod one (1)
Hold, and connecting rod two (2) can be rotated around the axial line of connecting rod one (1), the bottom of the connecting rod three (3) is hinged on connecting rod two (2)
Front end, and connecting rod three (3) can swing relative to connecting rod two (2), and the bottom of the connecting rod four (4) is hinged on connecting rod three (3)
Top, and connecting rod four (4) can swing relative to connecting rod three (3), the rear end of the connecting rod five (5) is connected to before connecting rod four (4)
End, and connecting rod five (5) can be around the axial line rotation of itself, the rear end of the connecting rod six (6) is hinged on before connecting rod five (5)
Hold, and connecting rod six (6) can be swung relative to connecting rod five (5), the front end of the connecting rod six (6), which is rotated coaxially, is connected with an actuating station
(8), six encoders (9) are separately positioned on actuating station (8) and connecting rod six (6), connecting rod six (6) and connecting rod five (5), connecting rod
Five (5) and connecting rod four (4), connecting rod four (4) and connecting rod three (3), connecting rod three (3) and connecting rod two (2) and connecting rod two (2) and connecting rod
On the connecting portion of one (1), the length of connecting rod two (2) is less than the length of connecting rod one (1), and the length of the connecting rod four (4), which is less than, to be connected
Bar three (3).
2. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterised in that the connecting rod one (1)
For solid bar member, the top of the connecting rod one (1) is fixed with the rotating shaft one (101) with damping, the rotating shaft one (101) and company
Bar one (1) is coaxially disposed, and the connecting rod two (2) is laterally set, and the rear end of the connecting rod two (2) is covered by 2 bearings one (111)
In rotating shaft one (101), encoder one (91) is connected with the rotating shaft one (101).
3. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterised in that the connecting rod two (2)
Front end the rotating shaft two (102) with damping, the rotating shaft two (102) and connecting rod two (2) phase are connected with by bearing two (112)
Vertically, and in rotating shaft two (102) encoder two (92) is connected with, the bottom of the connecting rod three (3) is connected in rotating shaft two (102)
On, the connecting rod three (3) is hollow pipe fitting.
4. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterised in that the connecting rod four (4)
Bottom the rotating shaft three (103) with damping, the rotating shaft three (103) and connecting rod four (4) phase are connected with by bearing three (113)
Vertically, and in rotating shaft three (103) encoder three (93) is connected with, the top of the connecting rod three (3) is connected in rotating shaft three (103)
On.
5. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterised in that the connecting rod five (5)
Rear end be fixed with the rotating shaft four (104) with damping, the rotating shaft four (104) is coaxially disposed with connecting rod five (5), the connecting rod
Five (5) are hollow pipe fitting, and the top of the connecting rod four (4) is sleeved in rotating shaft four (104) by 2 bearings four (114), described
Encoder four (94) is connected with rotating shaft four (104).
6. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterised in that the connecting rod five (5)
Front end the rotating shaft five (105) with damping, the rotating shaft five (105) and connecting rod five (5) phase are connected with by bearing five (115)
Vertically, and in rotating shaft five (105) encoder five (95) is connected with, the rear end of the connecting rod six (6) is connected in rotating shaft five (105)
On.
7. the six-bar linkage teaching apparatus of six-joint robot according to claim 1, it is characterised in that the connecting rod six (6)
Front end be connected by the rotating shaft six (106) with damping with actuating station (8), the actuating station (8), rotating shaft six (106) with
Connecting rod six (6) is coaxially disposed, and the rear end of the actuating station (8) is sleeved in rotating shaft six (106), and rotating shaft six (106) and execution
It is provided between end (8) on bearing six (116), the rotating shaft six (106) and is connected with encoder six (96).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410849453.1A CN104537944B (en) | 2014-12-30 | 2014-12-30 | A kind of six-bar linkage teaching apparatus of six-joint robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410849453.1A CN104537944B (en) | 2014-12-30 | 2014-12-30 | A kind of six-bar linkage teaching apparatus of six-joint robot |
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| CN104537944B true CN104537944B (en) | 2017-09-26 |
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Effective date of registration: 20170410 Address after: 317500 Wenling City, Zhejiang Province East Street, Jinping Avenue, No. 169 Applicant after: Zhejiang Qianjiang robot Co., Ltd. Address before: 317500 Wenling City, Zhejiang Province Economic Development Zone, Taizhou Applicant before: Qianjiang Motorcycle Co., Ltd., Zhejiang Applicant before: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD. |
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