Demonstration device of manipulator device and manipulator device

Abstract

The invention relates to the technical field of industrial automation control, and discloses a teaching device of a manipulator device and the manipulator device, the manipulator device comprises a plurality of arm sections, and the teaching device comprises a mounting platform arranged on any arm section; the teaching pen is detachably connected with the mounting platform; one end of the steel wire is connected with the teaching pen; the angle measuring mechanism is arranged on the mounting platform, and the steel wire is slidably arranged on the angle measuring mechanism in a penetrating manner; the length measuring mechanism is arranged on the installation platform. The end, away from the teaching pen, of the steel wire is connected with the length measuring mechanism. According to the mechanical arm, an operator can conveniently hold and operate the mechanical arm with one hand, the operator can flexibly use the mechanical arm in various working scenes, the programming and debugging efficiency of the mechanical arm in industrial production is improved, and the industrial production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation control, and particularly to a teaching device for a manipulator device and a manipulator device. Background Art

[0002] In industrial production, manipulators are widely used in various automated production lines. Traditional teaching methods for manipulators usually rely on teaching devices that are large in volume and complex in operation. Such teaching devices are not only inconvenient to carry, but also have an unintuitive operation interface, resulting in low efficiency during the teaching process for operators and increasing the time costs of programming and debugging. Summary of the Invention

[0003] The purpose of the present invention is to provide a teaching device for a manipulator device and a manipulator device, aiming to solve or improve at least one of the above technical problems.

[0004] To achieve the above purpose, the present invention provides the following solution: The present invention provides a teaching device for a manipulator device, the manipulator device includes a plurality of arm segments, and the teaching device includes:

[0005] An installation platform, arranged on any one of the arm segments;

[0006] A teaching pen, detachably connected to the installation platform;

[0007] A steel wire, one end of which is connected to the teaching pen;

[0008] An angle measurement mechanism, arranged on the installation platform, the steel wire is slidably threaded through the angle measurement mechanism, and when the teaching pen pulls the steel wire to move, the angle measurement mechanism is used to obtain the angle change of the steel wire;

[0009] A length measurement mechanism, arranged on the installation platform, the end of the steel wire away from the teaching pen is connected to the length measurement mechanism, and when the teaching pen pulls the steel wire to move, the length measurement mechanism is used to obtain the telescopic length of the steel wire;

[0010] A controller, used to obtain the movement paths of the plurality of arm segments according to the angle change and telescopic length of the steel wire.

[0011] Optionally, the angle measurement mechanism includes:

[0012] A first planar angle encoder, arranged on the installation platform;

[0013] A second planar angle encoder, connected to the rotation axis of the first planar angle encoder, and the rotation axis of the second planar angle encoder is perpendicular to the rotation axis of the first planar angle encoder;

[0014] A guiding sleeve, which is connected to the rotating shaft of the second planar angle encoder, and the steel wire is threaded through the guiding sleeve.

[0015] Optionally, the length measuring mechanism includes a wire-pulling rotary encoder, which is arranged on the installation platform, and the steel wire is connected to the rotating shaft of the wire-pulling rotary encoder.

[0016] Optionally, a gyroscope sensor is arranged in the teaching pen.

[0017] Optionally, the teaching pen and the installation platform are detachably connected by a magnetic attraction method.

[0018] Optionally, the first planar angle encoder is externally coated with a first housing, and a first opening for the rotating shaft of the first planar angle encoder to extend out is formed on the first housing.

[0019] Optionally, the second planar angle encoder is externally coated with a second housing, a second opening for the rotating shaft of the second planar angle encoder to extend out is formed on the second housing, and a connecting block fixedly connected to the rotating shaft of the first planar angle encoder is fixedly connected to the second housing.

[0020] Optionally, the wire-pulling rotary encoder is externally coated with a third housing, and a third opening for the steel wire to lead out is formed on the third housing.

[0021] Optionally, the extension line of the axis of the rotating shaft of the first planar angle encoder intersects with the extension line of the axis of the second planar angle encoder.

[0022] The present invention further provides a manipulator device, including:

[0023] A plurality of arm segments;

[0024] The teaching device of the described manipulator device;

[0025] Wherein, the installation platform is arranged on any one of the arm segments.

[0026] The present invention discloses the following technical effects: By holding the teaching pen and pulling the teaching pen to move and draw a trajectory line, the angle measuring mechanism can obtain the angle change of the steel wire, and the length measuring mechanism can obtain the telescopic length of the steel wire, so as to obtain the position coordinates of the teaching pen in the three-dimensional space, and obtain the movement paths of multiple arm segments. The overall external dimension of the teaching pen is small and light, which is convenient for the operator to hold and operate with one hand, enabling the operator to use it flexibly in various working scenarios, greatly improving the convenience of teaching, especially suitable for operations in complex working environments and narrow spaces, realizing more convenient and efficient teaching control of the manipulator, reducing the programming difficulty, shortening the debugging time of the manipulator, improving the efficiency of programming and debugging of the manipulator in industrial production, improving the industrial production efficiency, providing comprehensive control means for the operator, enhancing the safety and flexibility of the manipulator operation, and meeting the diverse needs of different industrial application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0028] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 is a schematic diagram of the structure of the teaching device of the present invention;

[0030] Figure 3 is a schematic diagram of the usage state of the teaching pen of the present invention.

[0031] In the figure: 1. Arm segment; 2. Installation platform; 3. Teaching pen; 4. Steel wire; 5. Guide sleeve; 6. First housing; 7. Second housing; 8. Connecting block; 9. Third housing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Referring to Figures 1-3 , the present invention provides a teaching device for a manipulator device. The manipulator device includes multiple arm segments 1, and the teaching device includes:

[0035] The installation platform 2 is arranged on any one of the arm segments 1;

[0036] The teaching pen 3 is detachably connected to the installation platform 2;

[0037] One end of the steel wire 4 is connected to the teaching pen 3;

[0038] The angle measuring mechanism is arranged on the installation platform 2. The steel wire 4 is slidably threaded through the angle measuring mechanism. When the teaching pen 3 pulls the steel wire 4 to move, the angle measuring mechanism is used to obtain the angle change of the steel wire 4;

[0039] The length measuring mechanism is arranged on the installation platform 2. One end of the steel wire 4 far from the teaching pen 3 is connected to the length measuring mechanism. When the teaching pen 3 pulls the steel wire 4 to move, the length measuring mechanism is used to obtain the telescopic length of the steel wire 4;

[0040] The controller is used to obtain the movement paths of multiple arm segments 1 according to the angle change and telescopic length of the steel wire 4.

[0041] By holding the teaching pen 3 and pulling the teaching pen 3 to move to draw a trajectory line, the angle measuring mechanism obtains the angle change of the steel wire 4 and the length measuring mechanism obtains the telescopic length of the steel wire 4, so that the position coordinates of the teaching pen 3 in the three-dimensional space can be obtained, the movement paths of multiple arm segments 1 can be obtained. The overall external dimension of the teaching pen 3 is small and light, which is convenient for the operator to hold and operate with one hand, enabling the operator to use it flexibly in various working scenarios, greatly improving the convenience of teaching, especially suitable for operations in complex working environments and narrow spaces, solving the problems of poor portability and complex operation of the existing teaching devices, realizing more convenient and efficient teaching control of the manipulator, reducing the programming difficulty, shortening the debugging time of the manipulator, improving the efficiency of programming and debugging of the manipulator in industrial production, improving the industrial production efficiency, providing comprehensive control means for the operator, enhancing the safety and flexibility of the manipulator operation, and meeting the diverse needs of different industrial application scenarios.

[0042] Furthermore, the head of the teaching pen 3 is made of high-strength and wear-resistant steel.

[0043] Furthermore, the controller includes:

[0044] The acquisition module is used to acquire the reading values of the first-plane angle encoder, the second-plane angle encoder, and the wire-pulling rotary encoder. The acquisition module uses the SPI bus, and the calculation module uses the main control chip. The acquired data is transmitted to the main control chip through the SPI bus. The main control chip calculates the coordinate values of the point to be measured in the spherical coordinate system, the coordinate values in the space rectangular coordinate system, and the space rectangular coordinate values in the base coordinate system according to the positioning method and uploads them to the upper computer;

[0045] A calculation module, configured to calculate the coordinate value of the teaching pen 3 in the coordinate system according to the read value.

[0046] Furthermore, the coordinate system includes a spherical coordinate system, a rectangular coordinate system in space, and a rectangular coordinate system in space under the base coordinate system.

[0047] Furthermore, when the wire length of the wire 4 is 5 meters, the accuracy of the teaching pen 3 in the rectangular coordinate system in space and the rectangular coordinate system in space under the base coordinate system is 0.2 mm.

[0048] In an embodiment of the present invention, the angle measurement mechanism includes:

[0049] A first planar angle encoder, disposed on the mounting platform 2;

[0050] A second planar angle encoder, connected to the rotation axis of the first planar angle encoder, and the rotation axis of the second planar angle encoder is perpendicular to the rotation axis of the first planar angle encoder;

[0051] A guide sleeve 5, connected to the rotation axis of the second planar angle encoder, and the wire 4 is threaded through the guide sleeve 5.

[0052] When the teaching pen 3 moves, it pulls the wire 4 to move. The wire 4 pulls the guide sleeve 5 to rotate the rotation axis of the second planar angle encoder, and the rotation axis of the first planar angle encoder rotates through the displacement of the second planar angle encoder. The angle change data of the wire 4 is obtained by the rotation of the rotation axis of the first planar angle encoder and the rotation axis of the second planar angle encoder.

[0053] In an embodiment of the present invention, the length measurement mechanism includes a wire rotation encoder, disposed on the mounting platform 2, and the wire 4 is connected to the rotation axis of the wire rotation encoder.

[0054] During the elongation or winding of the wire 4, the telescopic length data of the wire is obtained by the wire rotation encoder.

[0055] In an embodiment of the present invention, a gyroscope sensor is disposed in the teaching pen 3.

[0056] The gyroscope sensor is used to monitor the placement attitude of the teaching pen 3.

[0057] In an embodiment of the present invention, the teaching pen 3 and the mounting platform 2 are detachably connected by a magnetic attraction method.

[0058] In an embodiment of the present invention, the outside of the first planar angle encoder is covered with a first housing 6, and a first opening for the rotation axis of the first planar angle encoder to extend out is provided on the first housing 6.

[0059] In an embodiment of the present invention, the second planar angle encoder is covered with a second housing 7. A second opening for the rotation shaft of the second planar angle encoder to extend out is provided on the second housing 7. A connecting block 8 fixedly connected to the rotation shaft of the first planar angle encoder is fixedly connected to the second housing 7.

[0060] In an embodiment of the present invention, the wire-pulling rotary encoder is covered with a third housing 9. A third opening for the wire 4 to lead out is provided on the third housing 9.

[0061] In an embodiment of the present invention, the extension line of the axis of the rotation shaft of the first planar angle encoder intersects with the extension line of the axis of the second planar angle encoder.

[0062] Further, the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder all have a resolution of 18 bits (262,144 subdivisions per revolution, that is, the accuracy is 0.0013733°).

[0063] Further, the first planar angle encoder, the second planar angle encoder, and the wire-pulling rotary encoder all adopt magnetic absolute encoders.

[0064] Further, the first planar angle encoder, the second planar angle encoder, the wire-pulling rotary encoder, and the gyroscope sensor cooperate with the controller to realize real-time detection of the motion posture of the teaching pen, including actions such as translation and rotation, so as to accurately convert the hand movements of the operator into motion commands of the manipulator.

[0065] Further, the teaching modes of the teaching pen 3 include jog teaching, continuous trajectory teaching, and teaching playback.

[0066] Further, the teaching pen 3 can monitor the operating state of the manipulator device in real time. When an abnormal situation (such as overload, collision, etc.) occurs, it will issue an alarm in time and stop the operation of the manipulator device to ensure the safety of the equipment and personnel.

[0067] Among them, in the jog teaching mode, the operator can make the manipulator device move precisely with a small step length by operating the buttons and gestures of the handheld teaching pen 3; in the continuous trajectory teaching mode, the teaching pen 3 can record the trajectory of the movement of the head of the teaching pen 3 in real time when the operator holds the teaching pen 3 and convert it into the movement path of the manipulator device to realize rapid programming of complex trajectories; the teaching playback mode can repeat the previously taught action sequence, which is convenient for debugging and verification.

[0068] Usage method:

[0069] The operator removes the teaching pen 3 from the installation platform 2, holds the teaching pen 3 in hand and draws a trajectory line in the working area. The teaching pen 3 is pulled out through the steel wire 4. The first planar angle encoder, the second planar angle encoder and the wire-drawing rotary encoder monitor the position coordinates of the teaching pen 3 in the three-dimensional space. The attitude of the teaching pen 3 when drawing the trajectory line is monitored by the gyroscope sensor in the teaching pen 3. After drawing the trajectory line, the teaching pen 3 is placed back on the installation platform 2. According to the trajectory line drawn by the teaching pen 3, the controller converts it into the movement paths of multiple arm segments 1, realizing the rapid programming of the trajectory for the manipulator device; when adjusting is needed during the walking action of the manipulator device along the drawn trajectory line, the controller makes adjustments according to the previously taught action sequence program.

[0070] Further, the calculation method of the coordinate values of the teaching pen 3 in the spherical coordinate system is as follows:

[0071] The reading of the wire-drawing rotary encoder is θ (rad);

[0072] The reading of the first planar angle encoder is α (rad);

[0073] The reading of the second planar angle encoder is β (rad)

[0074] The distance from the wire outlet point of the steel wire to the rotation axis of the wire-drawing rotary encoder is the radius r1;

[0075] The wire-drawing length d = (θ / 2π) · r1.

[0076] According to the fact that the sum of the squares of the two right-angled sides of a right-angled triangle is equal to the square of the hypotenuse,

[0077] The distance from the point to be measured to the center of the wire-drawing rotary encoder

[0078] The coordinate point of the teaching pen 3 in the spherical coordinate system is:

[0079] Further, the calculation method of the coordinate values of the teaching pen 3 in the space rectangular coordinate system is as follows:

[0080] The wire outlet point of the steel wire is the origin.

[0081] According to the trigonometric function, the reading of the second planar angle encoder is β,

[0082] It is obtained that the projection length of d″ on the plane of the first planar angle encoder is d ″ = d′ · cosβ and the projection length of d′ on the z-axis of the second planar angle encoder is z′ = d′ · sinβ + r1;

[0083] According to the trigonometric function, the rotation angle of the wire-drawing rotary encoder on the plane of the first planar angle encoder is α,

[0084] It is obtained that the projected length x' of d'' on the x-axis of the first planar angle encoder is x' = d''·cosα, and the projected length y' of d'' on the y-axis of the first planar angle encoder is y' = d''·sinα.

[0085] Furthermore, the calculation method of the coordinate values of the teaching pen 3 in the space rectangular coordinate system under the base coordinate system is as follows:

[0086] The coordinates of the wire outlet point relative to the space rectangular coordinate system under the base coordinate system are (x0, y0, z0).

[0087] It can be obtained that the coordinates of the teaching pen 3 in the space rectangular coordinate system under the base coordinate system are:

[0088] (x0 + d''·cosα, y0 + d''·sinα, z0 + d'·sinβ + r1)

[0089] where

[0090] where d = (θ / 2π)·r1.

[0091] The present invention also provides a manipulator device, including:

[0092] Multiple arm segments 1;

[0093] A teaching device for a manipulator device;

[0094] wherein, the mounting platform 2 is arranged on any one of the arm segments 1.

[0095] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0096] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A teaching device for a manipulator device, characterized in that, The manipulator device includes a plurality of arm segments (1), and the teaching device includes: An installation platform (2) provided on any one of the arm segments (1); A teaching pen (3) detachably connected to the installation platform (2); A steel wire (4) with one end connected to the teaching pen (3); An angle measuring mechanism provided on the installation platform (2), the steel wire (4) slidably passing through the angle measuring mechanism, and when the teaching pen (3) pulls the steel wire (4) to move, the angle measuring mechanism is used to obtain the angle change of the steel wire (4); A length measuring mechanism provided on the installation platform (2), the end of the steel wire (4) away from the teaching pen (3) being connected to the length measuring mechanism, and when the teaching pen (3) pulls the steel wire (4) to move, the length measuring mechanism is used to obtain the telescopic length of the steel wire (4); A controller for obtaining the movement paths of the plurality of arm segments (1) based on the angle change and telescopic length of the steel wire (4).

2. The teaching device of a manipulator device according to claim 1, characterized in that, The angle measuring mechanism includes: A first planar angle encoder provided on the installation platform (2); A second planar angle encoder connected to the rotating shaft of the first planar angle encoder, and the rotating shaft of the second planar angle encoder is perpendicular to the rotating shaft of the first planar angle encoder; A guiding sleeve (5) connected to the rotating shaft of the second planar angle encoder, and the steel wire (4) passes through the guiding sleeve (5).

3. The teaching device of a manipulator device according to claim 1, characterized in that, The length measuring mechanism includes a wire-pulling rotary encoder provided on the installation platform (2), and the steel wire (4) is connected to the rotating shaft of the wire-pulling rotary encoder.

4. The teaching device of a manipulator device according to claim 1, characterized in that, A gyroscope sensor is provided inside the teaching pen (3).

5. The teaching device of a manipulator device according to claim 1, characterized in that, The teaching pen (3) is detachably connected to the installation platform (2) by a magnetic attraction method.

6. The teaching device of a manipulator device according to claim 2, characterized in that, The outside of the first planar angle encoder is covered with a first housing (6), and a first opening for the rotating shaft of the first planar angle encoder to extend out is formed on the first housing (6).

7. The teaching device of a manipulator device according to claim 2, characterized in that, The outside of the second planar angle encoder is covered with a second housing (7), a second opening for the rotating shaft of the second planar angle encoder to extend out is formed on the second housing (7), and a connecting block (8) fixedly connected to the rotating shaft of the first planar angle encoder is fixedly connected to the second housing (7).

8. The teaching device of a manipulator device according to claim 3, characterized in that, The outside of the wire-pulling rotary encoder is covered with a third housing (9), and a third opening for the steel wire (4) to lead out is formed on the third housing (9).

9. The teaching device of a manipulator device according to claim 2, characterized in that, The extension line of the axis of the rotating shaft of the first planar angle encoder intersects with the extension line of the axis of the second planar angle encoder.

10. A manipulator device, characterized in that, Includes: A plurality of arm segments (1); The teaching device of a manipulator device according to any one of claims 1-9; Wherein, the installation platform (2) is provided on any one of the arm segments (1).

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