CN1187170C - Hand-in-hand demonstration robot - Google Patents

Abstract

The present invention relates to a hand-in-hand demonstration robot which is characterized in that the robot is mainly composed of a waist rotary mechanism, a big arm swing mechanism arranged on the waist rotary mechanism, a small arm swing mechanism arranged on the upper end of the big arm swing mechanism, a small arm rotary mechanism arranged on the small arm swing mechanism, a wrist swing mechanism arranged on the front end of the small arm swing mechanism and a wrist rotary mechanism arranged on the end of the wrist swing mechanism. Compared with the prior art, the present invention has the advantages of portability, fluency, reliable reproduction, reliability and convenient, easy and rapid adjustment when the hand-in-hand continuous trace spraying demonstration is carried out on any complex profile of a work piece.

Description

A hand-held teaching robot

Technical field:

The present invention relates to a robot.

Background technique:

Existing electric robots are mainly composed of a waist rotation mechanism, a large arm swing mechanism that can swing back and forth on the waist rotation mechanism, a forearm swing mechanism that can swing back and forth on the large arm swing mechanism, and a forearm swing mechanism that is arranged on the forearm swing mechanism. The wrist swinging mechanism and wrist rotating mechanism at the end are composed of swinging and rotating mechanisms, and the motor-driven waist rotating mechanism, upper arm swinging mechanism, forearm swinging mechanism, wrist rotating mechanism, and wrist swinging mechanism constitute five parts. Degree of freedom robot, although this kind of robot can theoretically move between any two points in space, it can only rely on the large swing of the wrist swing mechanism, the wrist rotation mechanism and the large arm swing mechanism and the forearm swing mechanism. With the larger rotation of the waist rotation mechanism, it seems a bit awkward and not smooth enough when performing hand-held continuous trajectory spraying teaching on any complex surface of the workpiece, and the static torque generated by the electromagnetic induction of the motor circuit during teaching. The resistance during teaching is increased, which makes teaching difficult. In addition, during the teaching process of the large arm swing mechanism and the small arm swing mechanism, their own weight will have an unbalanced moment on the support point, and it will change with the movement position. Counteracting the unbalanced moments of the boom swing mechanism and the small arm swing mechanism is one of the keys to the easy teaching.

Invention content:

The object of the present invention is to provide a light and smooth robot for teaching, especially a light and smooth robot for performing hand-held continuous track spraying and teaching on any complex surface of a workpiece.

The present invention is achieved in this way, mainly by the waist rotation mechanism, the big arm swing mechanism that is arranged on the waist rotation mechanism, the small arm swing mechanism that is located at the upper end of the boom swing mechanism, the small arm rotation mechanism that is located on the small arm swing mechanism 1. The wrist swing mechanism located at the front end of the forearm swing mechanism and the wrist rotation mechanism located at the end of the wrist swing mechanism are composed of a base, a swivel seat supported on the base, and a fixed connection to the base The seat drives the rotary seat to rotate and is composed of a power mechanism with a labor-saving device. The boom swing mechanism is mainly composed of a boom hinged on the rotary seat, and a large arm with a labor-saving device fixed on the rotary seat to drive the boom to swing. The arm power mechanism is composed of the arm power mechanism. The forearm swing mechanism is mainly composed of the forearm seat, two connecting rods, and the forearm power mechanism fixed on the slewing seat with a labor-saving device. One end is hinged on the forearm seat, and the other end is connected with the forearm power mechanism fixed on the slewing seat and equipped with a labor-saving device. It is connected to the forearm base to drive the forearm to rotate and is composed of a forearm rotation power mechanism with a labor-saving device. The wrist pendulum mechanism is mainly composed of a wrist pendulum articulated at one end of the forearm, fixed on the other end of the forearm and with a A motor with a labor-saving device and a transmission mechanism set in the forearm are composed. One end of the transmission mechanism is connected to the motor, and the other end is connected to the wrist pendulum. Wrist swivel connected to the wrist pendulum, and a transmission mechanism set inside the wrist pendulum. One end of the transmission mechanism is connected to the motor, and the other end is connected to the wrist swivel. There is a set Balance cylinder, the position of the hinge point of the balance cylinder on the swivel seat is set in this way, when the boom is in a vertical position, the hinge point of the balance cylinder on the swivel seat is located between the hinge point of the boom on the swivel seat and the forearm seat On the connecting line of the hinge point on the big arm, a balance cylinder is arranged between the revolving base and the active rod of the two connecting rods, and the position of the balance cylinder on the revolving base and the hinge point on the active rod of the two connecting rods It is set that when the center of gravity of the forearm part together with the wrist part is located directly above the hinge point of the forearm seat on the boom, the two hinge points of the balance cylinder and the hinge point of the boom on the swivel seat are in the same straight line In general, the control of the robot is controlled by master and slave computers. The master computer adopts industrial PC, and the slave computers of each degree of freedom use microprocessors. The communication between master and slave computers adopts parallel communication. The trajectory data generated by teaching is stored in on the host computer hard drive.

Here, the labor-saving device adopts the patented technology with the patent No. 97246209.0.

When working, due to the use of the balance cylinder and the labor-saving device, the balance cylinder balances the torque generated by the change of the center of gravity of the boom and forearm during teaching, so that the handle can easily drive the swing of the boom and forearm, and the labor-saving device eliminates The static torque generated by the electromagnetic induction of the motor circuit makes the teaching light and easy. The motor that drives the wrist pendulum is fixed on the forearm, and the motor that drives the wrist rotation is fixed on the wrist pendulum, which simplifies structure (the existing technology is to fix the two motors on the forearm seat, so that the corresponding bush shaft transmission mechanism must be set on the forearm to transmit the power of the motor to the wrist swing and wrist rotation), and at the same time The coupling problem existing in the prior art is also solved. The added forearm rotation mechanism makes the robot more suitable for any complex shape and surface of the workpiece, especially the workpiece with inner curved surface, when spraying.

Here, quasi-closed-loop control is adopted for the control of the robot, that is, the current coordinate position of the moving joint is continuously detected, and the detected data is compared with the corresponding trajectory data. The size is compensated step by step according to the formula Y/N until the deviation is completely compensated, Y; the deviation value between the detection data and the track data, N; 2～8. Adopting the above-mentioned quasi-closed-loop control can not only effectively solve the problem of the motor losing steps, but also avoid the problem of joint trembling easily caused by the closed-loop control.

In order to make the reproduced execution accurately repeat the teaching action, make the control program simple and efficient, run fast, and make the robot run smoothly, smoothly and reliably, the mathematical model of the reproduced execution is KI=KT/S, where KI is the programmable output pulse frequency value controlled by the program, which is used to directly control the speed of the motor; KT is a constant determined by the hardware setting, which is a double-byte hexadecimal number, specifically 7FFEH, which is equivalent to 32765 in decimal ; S is the number of joint movement steps between every two adjacent very short timing intervals during the teaching process. Since the teaching is performed by human beings, it is impossible for the robot to run very fast. During the teaching process, the running distance of the robot between two adjacent extremely short timing intervals (such as 18 milliseconds) is extremely short. The mathematical model is used to determine the running speed of the robot to reproduce this extremely short-distance teaching trajectory, which can effectively reproduce the operation of the robot according to the teaching trajectory, and at the same time, the required control program matching the mathematical model is simple and the running speed is fast , can quickly and efficiently convert the data generated by teaching into the output data that controls the reproduction execution process.

In order to make the cylinder have a relatively constant pulling force, an air storage tank is also provided to communicate with the cylinder. In this way, even if the gas volume in the cylinder changes with the swing of the boom or forearm, the air pressure in the cylinder will not change greatly under the balance of the air storage tank, thus ensuring that the cylinder has a relatively constant pulling force.

In order to make full use of the hardware functions of the microprocessor and conveniently debug and control the application programs of each joint, the simulation development system is implemented on each microprocessor, that is, the dynamic debugging program and monitoring program required for simulation are placed in the ROM of the microprocessor In the relatively fixed space of the microprocessor, a debugging and emulation keyboard interface is connected to the minimum system of the single-chip microcomputer of the microprocessor, and a slave monitoring keypad with a display system is connected externally through the interface, so that the keypad on the ROM can be called through the keypad. Debugging program or (and) monitoring program to debug the application program controlling each joint and display the running status of each joint. When the application program controlling each joint needs to be modified, the program can be edited or modified through the host computer, and then through the host computer and The communication unit between the slaves downloads the program to the external RAM data and program storage area of the microprocessor, or directly edits or modifies the program through the small keyboard and places it on the external RAM data and program storage area of the microprocessor, and finally Debug and run it on the microprocessor combined with the emulation system until these application programs meet the requirements, and then solidify the programs that meet the requirements to the ROM on the microprocessor. Since the simulation system is directly implemented on each microprocessor, the structure is simplified, the manufacturing cost is reduced, and the development efficiency is improved. When an emulator is connected externally, the CPU of the microprocessor needs to be replaced with the CPU of the emulator, so the operation is cumbersome, and due to the limitation of the microprocessor space, it is impossible to connect the emulator to the microprocessor that controls the operation of each joint at the same time , so as to debug the operating programs of multiple joints at the same time, and because the process of solidifying the application program completed by the emulator test to the ROM on the microprocessor is complicated, it takes a long time and the efficiency is low. On the microprocessor, when it is necessary to test the running programs of each joint at the same time, it is only necessary to connect a small keyboard to the debugging and emulation keyboard interface of each microprocessor, and the modified or reprogrammed during the debugging process The useful program can be directly solidified to the ROM on the microprocessor, and the operation is simple and fast.

Compared with the prior art, the present invention has the advantages of lightness and smoothness, reliable and accurate reproduction, and convenient, easy and fast debugging when performing hand-held continuous track spraying and teaching on any complex surface of the workpiece.

Description of drawings:

Fig. 1 is the structural representation of robot of the present invention;

Fig. 2 is the structural representation of arm rotation, wrist swing, wrist rotation joint;

Fig. 3 is the structural representation of balance cylinder;

Figure 4 is the circuit control diagram of the joint.

Detailed ways:

Now in conjunction with accompanying drawing and embodiment the present invention is described in further detail:

As shown in Figure 1 and Figure 2, the hand-held teaching robot of the present invention is realized in this way, mainly by the waist rotation mechanism 1, the boom swing mechanism 2 arranged on the waist rotation mechanism 1, the boom swing mechanism 2 upper end Forearm swing mechanism 3, forearm rotation mechanism 4 located on the forearm swing mechanism 3, wrist swing mechanism 5 at the front end of the forearm rotation mechanism 4, and wrist rotation mechanism at the end of the wrist swing mechanism 5 6, the waist rotation mechanism 1 is mainly composed of a base 7, a rotary seat 8 supported on the base 7, and a power mechanism 9 fixed on the base 7 to drive the rotary seat 8 to rotate and with a labor-saving device. The swing mechanism 2 is mainly composed of a boom 10 hinged on the swivel base 8, and a boom power mechanism 11 fixed on the swivel seat 8 to drive the swing of the boom 10 and with a labor-saving device. The small arm swing mechanism 3 is mainly composed of a small An arm base 12, two connecting rods 13, and a forearm power mechanism 14 fixedly connected to the revolving base 8 and having a labor-saving device are formed. The small arm base 12 is hinged at the upper end of the boom 10, and one end of the two connecting rods 13 is hinged at On the seat 12, the other end links to each other with the small arm power mechanism 14 that is fixedly connected on the rotary seat 8 and has a labor-saving device. The small arm rotating mechanism 4 is mainly composed of a tubular small arm 15, Fixedly connected on the forearm base 12 to drive the forearm 15 to rotate and the forearm rotating power mechanism 16 with labor-saving device constitutes, the wrist pendulum mechanism 5 is mainly composed of the wrist pendulum 17 that is articulately connected to one end of the forearm 15, and is affixed to the On the other end of the forearm 15 and a motor 18 with a labor-saving device, a transmission mechanism 19 arranged in the forearm 15 constitutes, one end of the transmission mechanism 19 links to each other with the motor 18, and the other end links to each other with the wrist pendulum 17, and the wrist rotation mechanism 6 is mainly composed of A motor 20 fixedly connected to the wrist pendulum 17 with a labor-saving device, a wrist swivel 21 articulated on the wrist pendulum 17, and a transmission mechanism 22 arranged in the wrist pendulum 17 constitute one end of the transmission mechanism 22 connected with the motor 20, and the other One end links to each other with wrist turn 21.

A balance cylinder 24 is arranged between the hinge point 23 of the arm seat 12 and the swivel seat 8, and the position of the hinge point 25 of the balance cylinder 24 on the swivel seat 8 is set in this way. When the boom 10 is in a vertical position, the hinge point 25 of the balance cylinder 24 on the swivel seat 8 is located on the connecting line between the hinge point 26 of the boom 10 on the swivel seat 8 and the hinge point 23 of the forearm seat 12 on the boom 10, on the swivel seat 8 and the active rod 27 of the two connecting rods 13 are provided with a balance cylinder 28, as shown in Figure 5, the balance cylinder 28 is on the pivot point 29 on the revolving seat 8 and the hinge point 14 on the active rod 27 of the two connecting rods 13 The position is set like this, when the center of gravity of the forearm part together with the wrist part 32 is positioned at the forearm seat 12 just above the hinge point 23 of the boom 10, the two hinge points 14, 29 of the balance cylinder 28 and the boom 10 hinge points 30 on the swivel seat 8 are on the same straight line. As shown in FIG. 3 , in order to make the balance cylinders 24 and 28 have a relatively constant pulling force, a corresponding air storage tank 31 is also provided to communicate with the balance cylinders 24 and 28 respectively.

As shown in Figure 4, the control of the robot is controlled by master and slave computers. The master computer controls the operation of the entire robot, and the slave computers control the operation of their respective joints. Processor 2, the communication between the master computer and the slave computer adopts parallel communication, and the trajectory data generated by teaching is stored on the hard disk of the master computer. When working, the movement trajectory data of each joint generated by the teaching is transmitted to the host through the joint position detection unit 3, the microprocessor 2, and the communication unit 4 and stored on the hard disk of the host computer. When the robot is running, the host computer passes through the communication unit 4 Microprocessor 2, drive unit 5 and external sensor signal input and various output port line control 6 controls each joint of the robot to run according to the track during teaching. During operation, the drive unit 5 and external sensor signal input and various output The mouth line control 6 continuously feeds back the motor running state data and the position state data of each joint to the industrial control PC 1, so that the industrial control PC can make correction instructions for the errors that occur during the operation process, and the PC drives the spray gun and the turntable at the same time for repeated teaching time action.

Here, quasi-closed-loop control is adopted for the control of the robot, that is, the current coordinate position of the moving joint is continuously detected, and the detected data is compared with the corresponding trajectory data. The size is compensated step by step according to the formula Y/N until the deviation is completely compensated, Y; the deviation value between the detection data and the track data, N; 2～8.

The mathematical model of reproduction execution is KI=KT/S, where KI is the programmable output pulse frequency value controlled by the program, which is used to directly control the speed of the motor; KT is a constant determined by the hardware setting, which is a double-byte The hexadecimal number, specifically 7FFEH, is equivalent to 32765 in decimal; S is the number of joint movement steps between every two adjacent very short timing intervals during the teaching process.

As shown in Figure 4, the simulation development system is implemented on each microprocessor 2, that is, the dynamic debugging program and monitoring program required for simulation are placed in the relatively fixed space of the microprocessor ROM, and then placed on the microprocessor 2 Connect a debugging, emulation keyboard interface 8 on the minimum system 7 of the single-chip microcomputer, externally connect a slave monitor keypad 9 with a display system through the interface 8, like this, the minimum system 7 of the single-chip microcomputer of the microprocessor, external RAM data, The program storage area 10, the read-write logic 11 to the external RAM and the small keyboard 9 connected together with the single-chip microcomputer minimum system 7 of the microprocessor through the keyboard interface 8 for debugging and emulation constitute a simulation development system, through the small keyboard 9 It can directly track the program operation of the system and the data of each relevant address unit, and download the program to the external RAM data and program storage of the microprocessor 2 through the communication unit 4 between the host computer 1 and the slave (microprocessor 2). area 10, or directly place it on the external RAM data and program storage area 10 of the microprocessor 2 after editing or modifying the program through the small keyboard 9, and then debug and run it on the microprocessor 2 in conjunction with the emulation system until Until these application programs meet the requirements, then these programs that meet the requirements are solidified on the ROM on the microprocessor 2 .

Claims (6)

1; A kind of hand-in-hand demonstration robot; It is characterized in that mainly by the waist rotating mechanism; Be located at the big arm swing mechanism on the waist rotating mechanism; Be located at the forearm swing mechanism of big arm swing mechanism upper end; Be located at the forearm rotating mechanism on the forearm swing mechanism; The wrist swing mechanism of being located at forearm swing mechanism front end consists of with the wrist rotating mechanism of being located at wrist swing mechanism end; The waist rotating mechanism is mainly by pedestal; The seat of rotation loose joint on pedestal; Be fixed on the pedestal and drive that seat rotates and consist of with the actuating unit of work-saving device; Big arm swing mechanism is mainly by the big arm that is articulated on the seat; It is upper that drive big arm swing and consist of with the big arm power machine structure of work-saving device to be fixed in seat; The forearm swing mechanism is mainly by little arm seat; Two connecting rods; Affixed present upper and consist of with the forearm actuating unit of work-saving device; Little arm seat is hinged on the upper end of big arm; Two connecting rods, one end is hinged on the little arm seat; The other end is with affixed present upper and link to each other with the forearm actuating unit of work-saving device; The forearm rotating mechanism is mainly by the socket shape forearm that is actively socketed on the little arm seat; Be fixed on the little arm seat and drive that forearm rotates and consist of with the forearm rotational power mechanism of work-saving device; The wrist swinging mechanism mainly by loose joint in the forearm wrist pendulum of an end wherein; Be fixed on the forearm other end and with the motor of work-saving device; The transmission mechanism that is arranged in the forearm consists of; Transmission mechanism one end links to each other with motor; The other end links to each other with the wrist pendulum; The wrist rotation mechanism is mainly by being fixed in that wrist is laid out and with the motor of work-saving device; The wrist that loose joint is laid out in wrist turns to; The transmission mechanism that is arranged in the wrist pendulum consists of; Transmission mechanism one end links to each other with motor; The other end and wrist phase inversion connect; Little arm seat be hinged on big arm pin joint and the seat between be provided with balance cylinder; The position of the pin joint on balance cylinder is present is to arrange like this; When big arm is in vertical position; Pin joint on balance cylinder is present is positioned on the line of the pin joint of big arm on present and the little arm seat pin joint on big arm; Be provided with balance cylinder between the driving lever of present and two connecting rods; The present the position upper and pin joint on the driving lever of two connecting rods of balance cylinder is to set like this; When little arm portion is positioned at little arm seat directly over the pin joint of big arm the time together with the center of gravity of wrist part; Two pin joints of balance cylinder are on the same straight line at the pin joint on the revolving bed with big arm; The control of robot is adopted main; From two-stage computer control; Master computer adopts the industry control PC; Each free degree adopt microprocessor from computer; Main; Adopt parallel communications from the communication of computer, the track data that teaching generates is stored on the master computer hard disk.

2, hand-in-hand demonstration robot according to claim 1, it is characterized in that ROBOT CONTROL is adopted accurate closed-loop control, promptly constantly detect the current coordinate position in the joint in the motion, detected data are compared with corresponding track data, when deviation appears in two data, according to the size that deviate occurs by formula Y/N carry out grading compensation, till with the deviation full remuneration, Y; Detect the deviate between data and track data, N; 2～8.

3, hand-in-hand demonstration robot according to claim 1 is characterized in that also being provided with between source of the gas and balance cylinder air accumulator.

4, hand-in-hand demonstration robot according to claim 1, it is characterized in that simulation development system is accomplished on each microprocessor, being about to required dynamic debugging routine, the monitoring programme of emulation places on the relatively-stationary space of microprocessor ROM, on the single chip microcomputer minimum system of microprocessor, connect a debugging, emulation keyboard interface then, by interface external have display system from the machine monitoring keypad.

5, hand-in-hand demonstration robot according to claim 4, it is characterized in that by keypad call on the ROM debugging routine or (with) monitoring programme comes the application program in each joint of debugging control and shows the running status in each joint, in the time of need making amendment to the application program of controlling each joint, can be by behind master computer editor or the update routine, by the communication unit between main frame and slave program is downloaded to the external RAM data of microprocessor again, the program storage area, or directly by being placed on the external RAM data of microprocessor behind keypad editor or the update routine, on the program storage area, on microprocessor, it is carried out commissioning test then in conjunction with analogue system, till these application programs meet the requirements, then with on the ROM of these satisfactory program Solidifications to the microprocessor.

6, hand-in-hand demonstration robot according to claim 1, the Mathematical Modeling that it is characterized in that reproducing execution is KI=KT/S, KI is the pulse frequency value by programme controlled output able to programme in the formula, being used for directly controlling rotating speed of motor KT is the constant that hardware setting determined, 16 system numbers for double byte, be specially 7FFEH, be equivalent to metric 32765; S is the joint motions step number between every adjacent two extremely short fixed time intervals in the teaching process.

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