CN208896102U - A kind of mechanical arm learning from instruction system - Google Patents
A kind of mechanical arm learning from instruction system Download PDFInfo
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- CN208896102U CN208896102U CN201821032276.8U CN201821032276U CN208896102U CN 208896102 U CN208896102 U CN 208896102U CN 201821032276 U CN201821032276 U CN 201821032276U CN 208896102 U CN208896102 U CN 208896102U
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Abstract
The utility model relates to a kind of mechanical arm learning from instruction systems, including robot arm device, teaching arm assembly and controller；Robot arm device includes multiple steering engines for being sequentially connected the free mechanical arm connect and corresponding each free manipulator motion of driving；Teaching arm assembly includes being used to record voltage when free teaching arm turns to different location with free mechanical arm free teaching arm, and the gear potentiometer on each free teaching arm correspondingly, gear potentiometer；Steering engine and gear potentiometer are connect with controller.Manual rotatably mounted teaching arm is to a certain position, corresponding gear potentiometer records corresponding voltage value and is sent to controller, controller can control corresponding steering engine to move according to the voltage value, and steering engine movement drives corresponding free manipulator motion, to realize the learning from instruction of robot arm device.The system can not only reduce robot arm device development difficulty and cost, and the action learning effect of robot arm device can be allowed intuitively to show, and reduce the development cycle.
Description
Technical field
The utility model relates to mechanical arm technical fields, more particularly, to a kind of mechanical arm learning from instruction system.
Background technique
With the progress of science and technology, robot arm device has also obtained significant progress, utilizes mechanical arm in industrial circle
Device is produced, and can significantly be saved labour, be improved production efficiency.But existing robot arm device development difficulty is big,
It is at high cost, debug comparatively laborious in development process, action learning effect is not intuitive, and the development cycle is long.
Summary of the invention
The purpose of the utility model is to overcome deficiencies in the prior art, provide a kind of mechanical arm learning from instruction system,
Robot arm device development difficulty and cost can be not only reduced, and the action learning effect of robot arm device can be allowed intuitively to show
Come, reduces the development cycle.
In order to achieve the above objectives, the technical solution adopted in the utility model is:
A kind of mechanical arm learning from instruction system, including robot arm device, teaching arm assembly and controller are provided；The machinery
Arm assembly includes multiple steering engines for being sequentially connected the free mechanical arm connect and corresponding each free manipulator motion of driving；Teaching
Arm assembly includes and free mechanical arm free teaching arm, and the gear current potential on each free teaching arm correspondingly
Device, gear potentiometer are used to record voltage when free teaching arm turns to different location；Steering engine and gear potentiometer with control
Device connection processed.
In above scheme, manual rotatably mounted teaching arm to a certain position, record accordingly by corresponding gear potentiometer
Voltage value is simultaneously sent to controller, and controller can control corresponding steering engine to move according to the voltage value, steering engine movement driving pair
The free manipulator motion answered, to realize the learning from instruction of robot arm device.A kind of mechanical arm learning from instruction of the utility model system
System, can not only reduce robot arm device development difficulty and cost, and the action learning effect of robot arm device can be allowed intuitively to open up
Reveal and, reduces the development cycle.
Preferably, robot arm device is mounted on the base, and pedestal and teaching arm assembly are mounted on a demonstration platform；Control
Device processed is set on the demonstration platform.Setting is easy to use in this way convenient for the movement of the mechanical arm learning from instruction system.
It preferably, further include touch screen connected to the controller, the touch screen is used for control of the user to controller.
Setting is easy to implement human-computer interaction function in this way, facilitates the learning from instruction of control robot arm device.
Preferably, one of steering engine is acted for controlling corresponding free mechanical arm for clamping, and remaining steering engine is used for
Corresponding free mechanical arm rotation is controlled to realize the free manipulator motion acted for clamping to any spatial position.For
The free mechanical arm of clamping movement is two grippers, when controlling the steering engine movement of the free mechanical arm movement, two grippers
Clamping angulation change, to clamp different articles；Since in the industrial production, object can be clamped commonly using robot arm device
Product, therefore robot arm device is carried out to clamp relevant learning from instruction, it is significant.
It is further preferred that free mechanical arm, steering engine, free teaching arm and gear potentiometer are five.It is arranged in this way
So that the freedom degree of robot arm device and teaching arm assembly is five, convenient for controlling free manipulator motion to any space bit
It sets.
It is further preferred that multiple steering engines are respectively to be used to control corresponding free mechanical arm to be moved forward and backward, rotation, press from both sides
The back-and-forth motion steering engine that takes, vertically move and move horizontally rotate steering wheel, clamps steering engine, vertically moves steering engine and move horizontally
Steering engine；Multiple gear potentiometers be respectively be used to record corresponding free teaching arm be moved forward and backward, rotate, clamping, vertically moving and
The back-and-forth motion potentiometer that moves horizontally rotational potentiometer, clamps potentiometer, vertically moves potentiometer and moves horizontally current potential
Device.
Compared with prior art, the utility model has the beneficial effects that
A kind of mechanical arm learning from instruction system of the utility model, manual rotatably mounted teaching arm are corresponding to a certain position
Gear potentiometer records corresponding voltage value and is sent to controller, and controller can control corresponding rudder according to the voltage value
Machine movement, steering engine movement drive corresponding free manipulator motion, and to realize the learning from instruction of robot arm device, which shows
Teaching learning system, can not only reduce robot arm device development difficulty and cost, and the action learning of robot arm device can be allowed to imitate
Fruit intuitively shows, and reduces the development cycle.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of mechanical arm learning from instruction system of the present embodiment；
Fig. 2 is a kind of block schematic illustration of mechanical arm learning from instruction system of the present embodiment；
Drawing reference numeral: 1 pedestal；2 are moved forward and backward steering engine；3 rotate steering wheels；4 clamping steering engines；5 grippers；6 vertically move rudder
Machine；8 move horizontally steering engine；9 rotational potentiometers；10 clamping potentiometers；11 move horizontally potentiometer；12 vertically move potentiometer；
13 are moved forward and backward potentiometer；100 robot arm devices；200 teaching arm assemblies.
Specific embodiment
The utility model is further described With reference to embodiment.Wherein, being given for example only property of attached drawing
Illustrate, expression is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this reality is better described
With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability
For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore retouch in attached drawing
The term for stating positional relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Embodiment
A kind of mechanical arm learning from instruction system of the present embodiment, as shown in Figure 1 to Figure 2, including robot arm device 100, teaching
Arm assembly 200 and controller；The robot arm device 100 is sequentially connected the free mechanical arm connect and corresponding driving often including multiple
The steering engine of one free manipulator motion；Teaching arm assembly 200 include with free mechanical arm free teaching arm correspondingly, and
Gear potentiometer on each free teaching arm, gear potentiometer turn to different location for recording free teaching arm
When voltage；Steering engine and gear potentiometer are connect with controller.
When using the system, manual rotatably mounted teaching arm to a certain position, record accordingly by corresponding gear potentiometer
Voltage value and be sent to controller, controller can control corresponding steering engine to move according to the voltage value, steering engine movement driving
Corresponding free manipulator motion, to realize the learning from instruction of robot arm device.A kind of mechanical arm learning from instruction of the utility model
System can not only reduce robot arm device development difficulty and cost, and the action learning effect of robot arm device can be allowed intuitive
It shows, reduces the development cycle.
Wherein, robot arm device 100 is installed on pedestal 1, and pedestal 1 and teaching arm assembly 200 are mounted on a teaching and put down
On platform；Controller is set on the demonstration platform.Setting conveniently makes in this way convenient for the movement of the mechanical arm learning from instruction system
With.
In addition, further including touch screen connected to the controller, the touch screen is used for control of the user to controller.This
Sample setting is easy to implement human-computer interaction function, facilitates the learning from instruction of control robot arm device.
In the present embodiment, one of steering engine is acted for controlling corresponding free mechanical arm for clamping, remaining steering engine
For controlling corresponding free mechanical arm rotation to realize the free manipulator motion acted for clamping to any spatial position.
Free mechanical arm for clamping movement is two grippers 5, when controller controls the steering engine movement of the free mechanical arm movement,
The clamping angulation change of two grippers 5, to clamp different articles；Due to that in the industrial production, mechanical arm can be commonly used
Device 100 clamps article, therefore carries out clamping relevant learning from instruction to robot arm device 100, significant.
Wherein, free mechanical arm, steering engine, free teaching arm and gear potentiometer are five.Setting is so that mechanical in this way
The freedom degree of arm assembly and teaching arm assembly is five, convenient for controlling free manipulator motion to any spatial position.
In addition, multiple steering engines are respectively to be used to control corresponding free mechanical arm to be moved forward and backward, rotate, clamp, vertically move
And move horizontally back-and-forth motion steering engine 2, rotate steering wheel 3, clamping steering engine 4, vertically move steering engine 6 and move horizontally steering engine 8；It is more
A gear potentiometer is respectively to be used to record corresponding free teaching arm to be moved forward and backward, rotate, clamp, vertically move and move horizontally
Back-and-forth motion potentiometer 13, rotational potentiometer 9, clamping potentiometer 10, vertically move potentiometer 12 and move horizontally potentiometer
11。
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (6)
1. a kind of mechanical arm learning from instruction system, which is characterized in that including robot arm device (100), teaching arm assembly (200) and
Controller；The robot arm device (100) includes multiple being sequentially connected the free mechanical arm connect and corresponding driving each freedom
The steering engine of manipulator motion；Teaching arm assembly (200) include with free mechanical arm free teaching arm correspondingly, and be set to every
Gear potentiometer on one free teaching arm, gear potentiometer are used to record electricity when free teaching arm turns to different location
Pressure；Steering engine and gear potentiometer are connect with controller.
2. a kind of mechanical arm learning from instruction system according to claim 1, which is characterized in that robot arm device (100) peace
Loaded on pedestal (1), pedestal (1) and teaching arm assembly (200) are mounted on a demonstration platform；Controller is set to the teaching
On platform.
3. a kind of mechanical arm learning from instruction system according to claim 1, which is characterized in that further include being connect with controller
Touch screen, the touch screen be used for control of the user to controller.
4. a kind of mechanical arm learning from instruction system according to any one of claims 1 to 3, which is characterized in that one of them
Steering engine is acted for controlling corresponding free mechanical arm for clamping, and remaining steering engine is for controlling corresponding free mechanical arm rotation
To realize the free manipulator motion acted for clamping to any spatial position.
5. a kind of mechanical arm learning from instruction system according to claim 4, which is characterized in that free mechanical arm, steering engine, from
It is five by teaching arm and gear potentiometer.
6. a kind of mechanical arm learning from instruction system according to claim 5, which is characterized in that multiple steering engines are respectively to be used for
Control corresponds to back-and-forth motion steering engine (2), the rotation that free mechanical arm is moved forward and backward, rotates, clamps, vertically moves and moves horizontally
Steering engine (3), vertically moves steering engine (6) and moves horizontally steering engine (8) clamping steering engine (4)；Multiple gear potentiometers are respectively to be used for
Back-and-forth motion potentiometer (13) that the corresponding free teaching arm of record is moved forward and backward, rotates, clamps, vertically moves and moves horizontally,
Rotational potentiometer (9), vertically moves potentiometer (12) and moves horizontally potentiometer (11) clamping potentiometer (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821032276.8U CN208896102U (en) | 2018-07-02 | 2018-07-02 | A kind of mechanical arm learning from instruction system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821032276.8U CN208896102U (en) | 2018-07-02 | 2018-07-02 | A kind of mechanical arm learning from instruction system |
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| CN208896102U true CN208896102U (en) | 2019-05-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919639A (en) * | 2018-09-19 | 2020-03-27 | 华东至正工业自动化(常熟)有限公司 | Articulated teaching arm and teaching method based on same |
| CN113182221A (en) * | 2021-05-07 | 2021-07-30 | 陈沐希 | Intelligent sorting hand applied to customs clearance articles in nuclear radiation high-risk area |
| CN114193429A (en) * | 2020-09-18 | 2022-03-18 | 北京机械设备研究所 | Desktop-level demonstration type mechanical arm |
-
2018
- 2018-07-02 CN CN201821032276.8U patent/CN208896102U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919639A (en) * | 2018-09-19 | 2020-03-27 | 华东至正工业自动化(常熟)有限公司 | Articulated teaching arm and teaching method based on same |
| CN114193429A (en) * | 2020-09-18 | 2022-03-18 | 北京机械设备研究所 | Desktop-level demonstration type mechanical arm |
| CN113182221A (en) * | 2021-05-07 | 2021-07-30 | 陈沐希 | Intelligent sorting hand applied to customs clearance articles in nuclear radiation high-risk area |
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