Unpowered articulated arm type demonstrator and application thereof in industrial robot

A technology of industrial robots and articulated arms, which can be used in educational appliances, instruments, claw arms, etc., can solve the problems of high cost, large error, and slow robot teaching speed, and achieve low cost, fast teaching speed, and improved range of motion Effect

Inactive Publication Date: 2015-07-08
MAANSHAN FANGHONG AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Aiming at the problems in the prior art that the teaching speed of the robot cannot be coordinated by multiple joints during the teaching, the teaching speed of the robot is slow, the error is large when the teaching speed is fast, and the error is small and the cost is high. The present invention provides a non-powered joint arm teaching Devices and their applications in industrial robots

Method used

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  • Unpowered articulated arm type demonstrator and application thereof in industrial robot
  • Unpowered articulated arm type demonstrator and application thereof in industrial robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] A kind of unpowered articulated arm type teaching pendant of this embodiment comprises unpowered articulated arm structure, Mocap equipment and auxiliary computer, such as figure 2 As shown, the structure of the unpowered articulated arm includes an articulated arm A1, a joint A2, an articulated arm B3, a joint B4, an articulated arm C5, a probe 6 and a recording button 7, wherein: the articulated arm A1 and the articulated arm B3, the joint The arm B3 and the articulated arm C5 are connected sequentially through joints A2 and B4; the probe 6 is detachably connected to the end of the articulated arm A1, and the recording button 7 is fixedly connected to the side of the articulated arm A1; the Mocap device is set On the articulated arm A1, the articulated arm B3 and the articulated arm C5; the auxiliary computer is connected to the Mocap device through wireless communication, which is convenient for collecting and capturing motion data at any time.

[0046] The applicat...

Embodiment 2

[0054] The basic structure of the non-powered articulated arm teaching pendant of this embodiment is the same as that of Embodiment 1, the difference is that the joints A2 and B4 are universal joints, so that the measuring head can reach any direction within the length range of the articulated arm. The position is convenient for the collection of position data; and the rotation angle sensors perpendicular to each other are provided; the articulated arm A1 and the articulated arm B3 are telescopic rod-shaped structures with variable length, which can improve the range of motion of the articulated arm and improve the versatility of the device ; And a displacement sensor is provided. The use of the rotation angle sensor and the displacement sensor can improve the cross confirmation of the collection point of the joint arm and improve the accuracy of the data collection point;

[0055] The application of a non-powered articulated arm teaching pendant in an industrial robot in this...

Embodiment 3

[0062] An unpowered articulated arm teaching pendant in this embodiment has the same structure as that in Embodiment 2.

[0063] The application of a non-powered articulated arm teaching pendant in an industrial robot in this embodiment includes the following steps:

[0064] A. Positioning confirmation: The operator moves and locates the teaching point of the point-to-point movement, linear movement, and arc movement that need to be recorded by swinging the unpowered articulated arm structure through the probe 6. The probe 6 can move around the X and X of the joint A2. Z-axis rotation, articulated arm B3 can rotate around the Y-axis of joint B4, or let articulated arm B3 and articulated arm C5 rotate around the X-axis through joint B4, and the joint arm C5 and the industrial robot can rotate around the Z-axis through rotation. Swing up and down around the X axis, press the record button 7; combined with a three-coordinate measurement system, improve the accuracy of the teachin...

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Abstract

The invention discloses an unpowered articulated arm type demonstrator and an application thereof in an industrial robot, and belongs to the technical field of the industrial robot. The unpowered articulated arm type demonstrator comprises an unpowered articulated arm structure, a Mocap device and an auxiliary computer, wherein the unpowered articulated arm structure comprises an articulated arm A, a joint A, an articulated arm B, a joint B, an articulated arm C, a measuring head and a record button, the articulated arm A and the articulated arm B, and the articulated arm B and the articulated arm C are movably connected through the joint A and the joint B in sequence, the measuring head is detachably connected at the tail of the articulated arm A, the record button is fixedly connected with the side face of the articulated arm A, the Mocap device is arranged on the articulated arm A, the articulated arm B and the articulated arm C, and the auxiliary computer is connected with the Mocap device in wired or wireless communication mode. The unpowered articulated arm type demonstrator and the application thereof in the industrial robot can achieve the purpose of being high in teaching speed and high in accuracy for the industrial robot.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a non-power articulated arm teaching device and its application in industrial robots. Background technique [0002] At present, the teaching of industrial robot manufacturers around the world is taught through the teaching pendant. Before a robot works, the staff of the manufacturer need to use the teaching pendant to program the trajectory of the robot using the Cartesian coordinate system, the joint coordinate system and the cylindrical coordinate system. , "guidance" the robot to move according to the expected action of people, but the teaching process is cumbersome, and it is necessary to constantly adjust the robot posture to complete the trajectory positioning of the required work. The simple trajectory will not show shortcomings. When teaching is required When the trajectory is too complicated, it is often necessary to design several transition points...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/22B25J17/00B25J18/06B25J18/04B25J19/02G09B25/02
Inventor 吴德寒李红伟许芳宏
Owner MAANSHAN FANGHONG AUTOMATION TECH
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