CN106826818B - Wrist mechanism of teaching equipment - Google Patents
Wrist mechanism of teaching equipment Download PDFInfo
- Publication number
- CN106826818B CN106826818B CN201710022280.XA CN201710022280A CN106826818B CN 106826818 B CN106826818 B CN 106826818B CN 201710022280 A CN201710022280 A CN 201710022280A CN 106826818 B CN106826818 B CN 106826818B
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- China
- Prior art keywords
- connecting rod
- spray gun
- rotary encoder
- connecting block
- shaft
- 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.)
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Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 210000000707 wrist Anatomy 0.000 title claims abstract description 16
- 239000007921 spray Substances 0.000 claims abstract description 40
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 238000005507 spraying Methods 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- 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 wrist mechanism of teaching equipment, which comprises a connecting block, wherein the upper end of the connecting block is connected with a spray gun connecting rod through an upper connecting shaft, and the lower end of the connecting block is connected with a telescopic connecting rod through a lower connecting shaft; two rotary encoders for recording the attitude angle of the spray gun, namely a first rotary encoder and a second rotary encoder, are arranged on the connecting block; the connecting block is internally provided with two rolling bearings and two rotating shafts, the two rotating shafts are formed by crisscross, the two rotating shafts are respectively and rotatably connected with the two rolling bearings, one ends of the two rotating shafts are positioned in the connecting block, and the other ends of the two rotating shafts extend out of the connecting block and are respectively and fixedly connected with the two rotary encoders. The wrist mechanism of the patent is provided with three rotary encoders which can effectively record the spraying tracks of three vertical planes; the problem that the prior art is interfered by a magnetic field when the attitude angle of the spray gun is recorded is solved; the stability and reliability of recording attitude angles are improved.
Description
Technical Field
The invention relates to a wrist mechanism, in particular to a wrist mechanism of teaching equipment for the spraying industry, and belongs to the field of automation.
Background
The telescopic spraying teaching mechanism of the current hemispherical operation range has the characteristics of light weight, no operation interference, large operation range and low cost. The teaching device is used for the multi-axis controller to read the motion parameter information and drive the manipulator to reproduce the operation process of the teaching mechanism, and can make up for the defect that the existing multi-axis manipulator is not suitable for complex and changeable and the spraying workpiece is frequently replaced.
However, the three-axis gyroscope mounted on the spray gun device of the teaching device can cause deviation of spraying tracks when being disturbed by magnetic fields. Therefore, there is also a problem in that the stability of the attitude angle of the recording gun apparatus needs to be improved in practical use.
Disclosure of Invention
In order to solve the technical problems, the invention provides a wrist mechanism of teaching equipment, which can well solve the problem of magnetic field interference during recording of spraying tracks.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the wrist mechanism of the teaching equipment comprises a connecting block, wherein the upper end of the connecting block is connected with a spray gun connecting rod through an upper connecting shaft, and the lower end of the connecting block is connected with a telescopic connecting rod through a lower connecting shaft; two rotary encoders for recording the attitude angle of the spray gun, namely a first rotary encoder and a second rotary encoder, are arranged on the connecting block; the connecting block is internally provided with two rolling bearings and two rotating shafts, the two rotating shafts are formed by crisscross, the two rotating shafts are respectively and rotatably connected with the two rolling bearings, one ends of the two rotating shafts are positioned in the connecting block, and the other ends of the two rotating shafts extend out of the connecting block and are respectively and fixedly connected with the two rotary encoders.
Preferably, the upper connecting shaft is rotationally connected with the spray gun connecting rod, the lower connecting shaft is fixedly connected with the telescopic connecting rod through a pin, and a hollow shaft rotary encoder is fixedly arranged on the spray gun connecting rod; and the inner ring of the hollow rotary encoder is fixedly connected with the spray gun connecting rod, and the lower end of the hollow rotary encoder is fixedly connected with the upper connecting shaft through a pin. Because the upper connecting shaft is rotationally connected with the spray gun connecting rod, the outer part of the hollow shaft rotary encoder is fixedly connected with the upper connecting shaft, and the inner part of the hollow shaft rotary encoder and the spray gun connecting rod rotate simultaneously, so that the aim of recording the rotation angle is fulfilled.
Preferably, the invention also provides another connection mode of the connecting block, the spray gun connecting rod and the telescopic connecting rod, and the aim of effectively recording the rotation angle can be achieved. The concrete contents are as follows: the upper connecting shaft is fixedly connected with the spray gun connecting rod through a pin, and the lower connecting shaft is rotationally connected with the telescopic connecting rod; the telescopic connecting rod is fixedly provided with a hollow rotary encoder.
Preferably, the first rotary encoder, the second rotary encoder and the hollow shaft rotary encoder are mutually perpendicular in space, and three mutually perpendicular encoders are combined together for recording attitude angle information of the spray gun device.
The invention has the beneficial effects that: the wrist mechanism of the patent is provided with three rotary encoders which can effectively record the spraying tracks of three vertical planes; the problem that the prior art is interfered by a magnetic field when the attitude angle of the spray gun is recorded is solved; the stability and reliability of recording attitude angles are improved. It particularly shows the following aspects:
(1) According to the spray gun device, the spray gun connecting rod positioned above and the telescopic connecting rod positioned below are connected together through the connecting block, so that the spray gun device can freely rotate in a hemisphere without interference and dead points;
(2) Three mutually perpendicular rotary encoders are adopted to replace a triaxial gyroscope, so that the problem that the magnetic field is interfered when the attitude angle of the spray gun is recorded is effectively solved;
(3) The novel spraying device has the advantages of reasonable structure, simple principle and low cost, is convenient to popularize and use in the spraying industry, and has great popularization value and high economic benefit.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged view of the side view of FIG. 1;
FIG. 3 is another embodiment of the present invention;
Wherein: 101. connecting block 102, upper connecting shaft 103, spray gun connecting rod 104, lower connecting shaft 105, telescopic connecting rod 106, rotary encoder one 107, rotary encoder two 108, rolling bearing 109, rotary shaft 110, hollow shaft rotary encoder.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
Example 1
As shown in fig. 1 and 2, a wrist mechanism of a teaching apparatus is disclosed, comprising a connection block 101, wherein the upper end of the connection block 101 is connected with a spray gun connection rod 103 through an upper connection shaft 102, and the lower end is connected with a telescopic connection rod 105 through a lower connection shaft 104; two rotary encoders for recording the attitude angle of the spray gun, namely a rotary encoder I106 and a rotary encoder II 107, are arranged on the connecting block 101; two rolling bearings 108 and two rotating shafts 109 are arranged in the connecting block 101, the two rotating shafts 109 are formed by crisscross, the two rotating shafts are respectively connected with the two rolling bearings 108 in a rotating mode, one end of each rotating shaft 109 is located in the connecting block 101, and the other end of each rotating shaft 109 extends out of the connecting block 101 and is fixedly connected with the two rotary encoders respectively.
The upper connecting shaft 102 is rotationally connected with the spray gun connecting rod 103, the lower connecting shaft 104 is fixedly connected with the telescopic connecting rod 105 through a pin, and the spray gun connecting rod 103 is fixedly provided with a hollow shaft rotary encoder 110; and the inner ring of the hollow rotary encoder 110 is fixedly connected with the spray gun connecting rod 103, and the lower end of the hollow rotary encoder is fixedly connected with the upper connecting shaft 102 through a pin. Because the upper connecting shaft 102 is in rotary connection with the spray gun connecting rod 103, the outer part of the hollow shaft rotary encoder 110 is fixedly connected with the upper connecting shaft 102, and the inner part of the hollow shaft rotary encoder and the spray gun connecting rod 103 rotate simultaneously, so that the aim of recording the rotation angle is fulfilled.
In the present embodiment, the rotary encoder one 106 and the rotary encoder two 107 are rotatably connected to the connection block 101, the hollow rotary encoder 110 is fixed to the torch connecting rod 103, and the torch connecting rod 103 is rotatably connected to the upper connection shaft. And the three rotary encoders are mutually and vertically crossed in space, and the three rotary encoders are driven by the three rotary encoders to realize free rotation of the spraying device in the hemisphere, so that the mechanism has a large operation range and no dead point or interference.
The spray gun connecting rod is characterized in that a rectangular groove is further formed in the axial direction of the spray gun connecting rod, and the rectangular groove and the positioning stop screw play an axial limiting role when the spray gun connecting rod rotates, so that 360-degree free swinging motion of the spray gun connecting rod can be realized.
Example two
As shown in fig. 3, another connection mode of the present invention is disclosed: the upper connecting shaft 102 is fixedly connected with the spray gun connecting rod 103 through a pin, and the lower connecting shaft 104 is rotatably connected with the telescopic connecting rod 105; the telescopic connecting rod 105 is fixedly provided with a hollow rotary encoder.
The connection mode of the present embodiment can realize free swinging motion instead of the mode of rotationally connecting the upper connecting shaft 102 and the gun connecting rod 103. In order to achieve the purpose of recording the attitude angle of the spray gun, the hollow shaft rotary encoder 110 is fixedly connected with the telescopic connecting rod 105, and the lower connecting shaft 104 is rotatably connected with the telescopic connecting rod 105. The present embodiment is only another improvement of the connection mode of the present patent, and other connection modes can be provided, so long as the connection mode can realize the functions and advantages of the present patent, all belong to the protection scope of the present patent.
Claims (6)
1. The wrist mechanism of the teaching equipment is characterized by comprising a connecting block (101), wherein the upper end of the connecting block (101) is connected with a spray gun connecting rod (103) through an upper connecting shaft (102), and the lower end of the connecting block is connected with a telescopic connecting rod (105) through a lower connecting shaft (104); the upper connecting shaft (102) is rotationally connected with the spray gun connecting rod (103), and the lower connecting shaft (104) is fixedly connected with the telescopic connecting rod (105) through a pin; a hollow shaft rotary encoder (110) is fixedly arranged on the spray gun connecting rod (103); two rotary encoders for recording the attitude angle of the spray gun, namely a rotary encoder I (106) and a rotary encoder II (107), are arranged on the connecting block (101); two rolling bearings (108) and two rotating shafts (109) are arranged in the connecting block (101), the two rotating shafts (109) are respectively connected with the two rolling bearings (108) in a rotating mode, one end of each rotating shaft (109) is located in the connecting block (101), and the other end of each rotating shaft extends out of the connecting block (101) and is respectively fixedly connected with the two rotary encoders; the spray gun connecting rod is axially provided with a rectangular groove, and the rectangular groove and the positioning stop screw play an axial limiting role when the spray gun connecting rod rotates.
2. The wrist mechanism of teaching apparatus according to claim 1, characterized in that the inner ring of the hollow shaft rotary encoder (110) is fixedly connected with the gun connecting rod (103), and the lower end thereof is fixedly connected with the upper connecting shaft (102) by a pin.
3. The wrist mechanism of the teaching apparatus according to claim 1, characterized in that the upper connecting shaft (102) is fixedly connected with the spray gun connecting rod (103) by a pin, and the lower connecting shaft (104) is rotatably connected with the telescopic connecting rod (105).
4. A wrist mechanism of a teaching device according to claim 3 characterized in that the telescopic connecting rod (105) is fixedly provided with a hollow shaft rotary encoder (110).
5. The wrist mechanism of the teaching apparatus according to claim 2 or 4, characterized in that the rotary encoder one (106), the rotary encoder two (107) and the hollow shaft rotary encoder (110) are spatially perpendicular to each other.
6. The wrist mechanism of the teaching device according to claim 5, characterized in that the two rotation shafts (109) are formed in a crisscross.
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 CN106826818A (en) | 2017-06-13 |
| CN106826818B true 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 |
|---|---|
| CN106826818A (en) | 2017-06-13 |
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