CN106826818A - A kind of Wrist mechanism of teaching device - Google Patents
A kind of Wrist mechanism of teaching device Download PDFInfo
- Publication number
- CN106826818A CN106826818A CN201710022280.XA CN201710022280A CN106826818A CN 106826818 A CN106826818 A CN 106826818A CN 201710022280 A CN201710022280 A CN 201710022280A CN 106826818 A CN106826818 A CN 106826818A
- Authority
- CN
- China
- Prior art keywords
- rotary
- connecting rod
- spray gun
- contiguous block
- wrist mechanism
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 210000000707 wrist Anatomy 0.000 title claims abstract description 18
- 239000007921 spray Substances 0.000 claims abstract description 41
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 238000005507 spraying Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Wrist mechanism of teaching device, including contiguous block, the contiguous block upper end is connected by top connecting shaft with spray gun connecting rod, and its lower end is connected by bottom connecting shaft with flexible connecting rod；Two rotary encoders for recording spray gun attitude angle, i.e. rotary encoder one and rotary encoder two are provided with the contiguous block；Two rolling bearings and two rotary shafts are provided with the contiguous block, described two rotary shafts are constituted in right-angled intersection, described two rotary shafts rotate with two rolling bearings be connected respectively, and two rotary shaft one end are located in contiguous block, the other end stretches out contiguous block and is fixedly connected with two rotary encoders respectively.Three rotary encoders are mounted with Wrist mechanism of the invention, it can effectively record three spraying profiles of vertical plane；Prior art be compensate for when spray gun attitude angle is recorded by the problem of magnetic interference；Improve the stability and reliability of record attitude angle.
Description
Technical field
The present invention relates to a kind of Wrist mechanism, more particularly to a kind of Wrist mechanism for spraying the teaching device of industry,
Belong to automatic field.
Background technology
At present, the telescopic spraying teaching mechanism of hemisphere job area there is lightweight, without operative interventions, job area
Greatly, the characteristics of low cost.The teaching device is used for multi-axis controller and reads moving parameter information, drives manipulator reproduction teaching machine
Structure operating process, can make up current multi-spindle machining hand and not be suitable for complicated and changeable, spraying workpiece replacing frequently defect.
But the three-axis gyroscope installed on the spray gun device of the teaching device can cause spraying when by magnetic interference
Track produces deviation.Therefore, need also exist for improving the problem of record spray gun device stabilization of carriage angle in actual use.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of Wrist mechanism of teaching device, the mechanism can solve very well
By the problem of magnetic interference during record spraying profile.
In order to achieve the above object, technical scheme is as follows：A kind of Wrist mechanism of teaching device, including connection
Block, the contiguous block upper end is connected by top connecting shaft with spray gun connecting rod, and its lower end passes through bottom connecting shaft and flexible company
Extension bar is connected；Two rotary encoders for recording spray gun attitude angle, i.e. rotary encoder one are provided with the contiguous block
With rotary encoder two；Two rolling bearings and two rotary shafts are provided with the contiguous block, described two rotary shafts are in ten
Word intersects composition, and described two rotary shafts rotate with two rolling bearings be connected respectively, and two rotary shaft one end are located at connection
In block, the other end stretches out contiguous block and is fixedly connected with two rotary encoders respectively.
Preferably, the top connecting shaft and spray gun connecting rod are rotated be connected, the bottom connecting shaft and flexible connection
Bar is fixedly connected by pin, and quill shaft rotary encoder is fixedly installed in the spray gun connecting rod；And the hollow rotating
The inner ring of encoder is fixedly connected with spray gun connecting rod, and its lower end is fixedly connected with top connecting shaft by pin.Because top
It is to rotate connection between connecting shaft and spray gun connecting rod, so as to realize that quill shaft rotary encoder outside is fixed with top connecting shaft
Connection, the internal purpose rotated simultaneously with spray gun connecting rod, reaches the purpose of the record anglec of rotation.
Preferably, present invention also offers contiguous block and another connection side of spray gun connecting rod and flexible connecting rod
Formula, its purpose that can also reach the effectively record anglec of rotation.Its particular content is：The top connecting shaft is led to spray gun connecting rod
Cross pin to be fixedly connected, the bottom connecting shaft is rotated with flexible connecting rod and is connected；It is fixedly installed in the flexible connecting rod
Hollow rotating encoder.
Preferably, the rotary encoder one, rotary encoder two and quill shaft rotary encoder are spatially mutual
Vertically, three mutually perpendicular encoder common combinations are used to record the attitude angle information of spray gun device.
Beneficial effects of the present invention：Three rotary encoders are mounted with the Wrist mechanism of this patent, it can effectively be recorded
Three spraying profiles of vertical plane；Prior art be compensate for when spray gun attitude angle is recorded by the problem of magnetic interference；Lifting
The stability and reliability of record attitude angle.It is in particular in following several respects：
(1) be connected to for spray gun connecting rod and underlying flexible connecting rod above by contiguous block by this patent
Together so that spray gun device can freely be rotated without interference, without dead point in hemisphere；
(2) replace three-axis gyroscope using three mutually perpendicular rotary encoders, efficiently solve in record spray gun
By the problem of magnetic interference during attitude angle；
(3) this patent is rational in infrastructure, principle is simple, low cost, is easy to be promoted the use of in industry is sprayed, and has very big pushing away
Wide value and economic benefit very high.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the invention；
Fig. 2 is the enlarged drawing of the side view of Fig. 1；
Fig. 3 is another embodiment of the invention；
Wherein：101. contiguous blocks, 102. top connecting shafts, 103. spray gun connecting rods, 104. bottom connecting shafts, 105. stretch
Connecting rod, 106. rotary encoders one, 107. rotary encoders two, 108. rolling bearings, 109. rotary shafts, the rotation of 110. quill shafts
Turn encoder.
Specific embodiment
With reference to specific embodiment, the present invention is further detailed explanation.
Embodiment one
As depicted in figs. 1 and 2, a kind of Wrist mechanism of teaching device, including contiguous block 101, the contiguous block are disclosed
101 upper ends are connected by top connecting shaft 102 with spray gun connecting rod 103, and its lower end passes through bottom connecting shaft 104 and flexible connection
Bar 105 is connected；Two rotary encoders for recording spray gun attitude angle, i.e. rotary coding are provided with the contiguous block 101
Device 1 and rotary encoder 2 107；Two rolling bearings 108 and two rotary shafts 109 are provided with the contiguous block 101,
Described two rotary shafts 109 are constituted in right-angled intersection, and described two rotary shafts rotate with two rolling bearings 108 be connected respectively,
And two one end of rotary shaft 109 are located in contiguous block 101, the other end stretch out contiguous block 101 and respectively with two rotary encoders
It is fixedly connected.
The top connecting shaft 102 and spray gun connecting rod 103 are rotated and are connected, the bottom connecting shaft 104 and flexible connection
Bar 105 is fixedly connected by pin, and quill shaft rotary encoder 110 is fixedly installed in the spray gun connecting rod 103；And it is described
The inner ring of hollow rotating encoder 110 is fixedly connected with spray gun connecting rod 103, and its lower end passes through pin with top connecting shaft 102
It is fixedly connected.Because being to rotate connection between top connecting shaft 102 and spray gun connecting rod 103, so as to realize that quill shaft rotation is compiled
The outside of code device 110 is fixedly connected with top connecting shaft 102, and the internal purpose rotated simultaneously with spray gun connecting rod 103 reaches record
The purpose of the anglec of rotation.
In the present embodiment, rotary encoder 1 and rotary encoder 2 107 are rotatably connected with contiguous block 101, hollow
Rotary encoder 110 is fixed in spray gun connecting rod 103, and spray gun connecting rod 103 is rotated with top connecting shaft and is connected.And three
Rotary encoder is mutually perpendicular to intersect in space, and above three rotates connection three rotary encoders of drive and can realize spraying dress
Freely rotating in hemisphere is put, mechanism's job area is big and without dead point, without interference.
The spray gun pitman shaft is also provided with rectangular channel upwards, and the rectangular channel is with positioning stopping screw in spray gun connecting rod
Play axial limiting during rotation so that the spray gun connecting rod can realize 360 ° of actions that freely swing.
Embodiment two
As shown in figure 3, disclosing another connected mode of the invention：The top connecting shaft 102 and spray gun connecting rod
103 are fixedly connected by pin, and the bottom connecting shaft 104 is rotated with flexible connecting rod 105 and is connected；The flexible connecting rod
Hollow rotating encoder is fixedly installed on 105.
The connected mode of the present embodiment can replace the mode that the rotation of top connecting shaft 102 and spray gun connecting rod 103 be connected and
Realize free rotation action.In order to reach the purpose of record spray gun attitude angle, the quill shaft rotary encoder 110 and flexible company
Extension bar 105 is fixedly connected, and bottom connecting shaft 104 is rotated with flexible connecting rod 105 and is connected.The present embodiment is only this patent connection side
Another improvement of formula, it can also have other to plant connected mode, as long as the connection side of this patent function and advantage can be realized
Formula belongs to the protection domain of this patent.
Claims (8)
1. a kind of Wrist mechanism of teaching device, it is characterised in that including contiguous block (101), contiguous block (101) upper end leads to
Cross top connecting shaft (102) to be connected with spray gun connecting rod (103), its lower end passes through bottom connecting shaft (104) and flexible connecting rod
(105) connect；Two rotary encoders for recording spray gun attitude angle are provided with the contiguous block (101), i.e. rotation is compiled
Code device one (106) and rotary encoder two (107)；Two rolling bearings (108) and two are provided with the contiguous block (101)
Rotary shaft (109), described two rotary shafts (109) rotate with two rolling bearings (108) be connected respectively, and two rotary shafts
(109) one end is located in contiguous block (101), and the other end stretches out contiguous block (101) and fixed with two rotary encoders respectively and connects
Connect.
2. the Wrist mechanism of teaching device according to claim 1, it is characterised in that the top connecting shaft (102) with
Spray gun connecting rod (103) rotates connection, and the bottom connecting shaft (104) is fixedly connected with flexible connecting rod (105) by pin.
3. the Wrist mechanism of teaching device according to claim 2, it is characterised in that on the spray gun connecting rod (103)
It is fixedly installed quill shaft rotary encoder (110).
4. the Wrist mechanism of teaching device according to claim 3, it is characterised in that the hollow rotating encoder
(110) inner ring is fixedly connected with spray gun connecting rod (103), and its lower end is fixedly connected with top connecting shaft (102) by pin.
5. the Wrist mechanism of teaching device according to claim 1, it is characterised in that the top connecting shaft (102) with
Spray gun connecting rod (103) is fixedly connected by pin, and the bottom connecting shaft (104) rotates with flexible connecting rod (105) and is connected.
6. the Wrist mechanism of teaching device according to claim 5, it is characterised in that on the flexible connecting rod (105)
It is fixedly installed middle control rotary encoder (110).
7. the Wrist mechanism of the teaching device according to claim 4 or 6, it is characterised in that the rotary encoder one
(106), rotary encoder two (107) and quill shaft rotary encoder (110) are spatially mutually perpendicular to.
8. the Wrist mechanism of teaching device according to claim 7, it is characterised in that described two rotary shafts (109) are in
Right-angled intersection is constituted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022280.XA CN106826818B (en) | 2017-01-12 | 2017-01-12 | Wrist mechanism of teaching equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022280.XA CN106826818B (en) | 2017-01-12 | 2017-01-12 | Wrist mechanism of teaching equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826818A true CN106826818A (en) | 2017-06-13 |
| CN106826818B CN106826818B (en) | 2024-06-07 |
Family
ID=59124073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710022280.XA Active CN106826818B (en) | 2017-01-12 | 2017-01-12 | Wrist mechanism of teaching equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826818B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1015863A (en) * | 1996-07-08 | 1998-01-20 | Mitsubishi Heavy Ind Ltd | Teaching method and device for industrial robot |
| CN200965748Y (en) * | 2006-11-07 | 2007-10-24 | 于复生 | 2-freedom robot hand for simple teaching |
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN105921327A (en) * | 2016-06-16 | 2016-09-07 | 杭州国辰机器人科技有限公司 | Telescopic spraying teaching mechanism with hemispherical operation range |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN206614550U (en) * | 2017-01-12 | 2017-11-07 | 杭州国辰机器人科技有限公司 | The Wrist mechanism of teaching device |
-
2017
- 2017-01-12 CN CN201710022280.XA patent/CN106826818B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1015863A (en) * | 1996-07-08 | 1998-01-20 | Mitsubishi Heavy Ind Ltd | Teaching method and device for industrial robot |
| CN200965748Y (en) * | 2006-11-07 | 2007-10-24 | 于复生 | 2-freedom robot hand for simple teaching |
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN105921327A (en) * | 2016-06-16 | 2016-09-07 | 杭州国辰机器人科技有限公司 | Telescopic spraying teaching mechanism with hemispherical operation range |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN206614550U (en) * | 2017-01-12 | 2017-11-07 | 杭州国辰机器人科技有限公司 | The Wrist mechanism of teaching device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106826818B (en) | 2024-06-07 |
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