Non-orthogonal six-shaft teaching rod

Abstract

The invention provides a non-orthogonal six-shaft teaching rod which comprises a large arm, a small arm, a wrist joint, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft and a sixth rotating shaft. The first rotating shaft is vertically arranged, a first crank arm is fixed to the upper end of the first rotating shaft, and the first crank arm horizontally extends out towards one side of the first rotating shaft. One end of the large arm is in rotary connection with the first crank arm through the second rotating shaft, and the axis of the second rotating shaft is consistent with the extending-out direction of the first crank arm. The other end of the large arm is in rotary connection with a second crank arm through a third crank arm, the second crank arm extends out towards one side of the large arm, and the axis of the third rotating shaft is parallel to the axis of the second rotating shaft. One end of the small arm is fixedly connected with the second crank arm, and the other end of the small arm is connected with the wrist joint. A vertical plane where the first rotating shaft and the large arm are located does not coincide with a vertical plane where the small arm is located. Potentiometers are arranged at the rotating shafts. The non-orthogonal six-shaft teaching rod adopts a non-orthogonal mode, can meet the teaching demand of a complicated space operation trajectory and is good in trajectory optimization. The wrist joint is compact in structure and good in flexibility, and the cost performance of the potentiometers is outstanding.

Description

technical field [0001] The invention relates to a robot teaching tool, in particular to a non-orthogonal six-axis teaching rod. Background technique [0002] With the continuous progress of society, people pay more and more attention to the impact of the working environment on their own health, which makes it more and more difficult to recruit people for various positions that cause serious personal injury, and the labor cost is getting higher and higher, and even some positions There is a phenomenon that people cannot be recruited. Since the country launched the Industry 4.0 plan in 2015, the application of robots has become more and more extensive, but the operation and programming of robots requires the operator to have certain professional knowledge and programming experience, which has extremely high requirements for the operator, while in the factory Most of the employees do not meet the requirements, and it is impossible for the factory to spend time cultivating such...

AI Technical Summary

Problems solved by technology

Due to the orthogonal configuration of this dragging teaching rod, the degree of freedom in space is insufficient, the joint angle is small, and the use of end space is not flexible enough. At present, the teaching rod on the market uses 6 high-precision encoders, which are expensive and occupy 100% of the total cost of the teaching rod. 70% of the total cost, not economical enough for customers

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