CN204759803U - Novel robot demonstrator - Google Patents

Abstract

The utility model relates to a novel robot teaching device, which comprises a main part of the teaching device and a DeadMan button part; there are two DeadMan button parts, which are respectively arranged on both sides of the back of the main part of the teaching device, and are fixed by screws. Fixed connection. The utility model is a full-touch screen teaching device for robot control and programming, especially for the DeadMan button innovation, which greatly enhances the operability of the teaching device, and increases the life and repairability of the teaching device. Sex, reducing the production cost of the teaching pendant. At the same time, the Ipad can be taken out for off-line programming, which greatly facilitates the operation of workers. If the teaching pendant breaks down, the utility model is also more convenient in terms of maintenance and replacement.

Description

A new robot teaching device

technical field

The invention relates to a teaching device, in particular to a novel robot teaching device.

Background technique

The robot teach pendant is used to control the robot and teach the robot. Compared with other controllers, the most notable feature of the robot teach pendant is the DeadMan button. Research has found that when workers fall into an abnormal working state, they generally have two states of hand relaxation and gripping, so the DeadMan button came into being. That is, when a worker operates the robot, if there is an emergency, no matter which state the worker is in, the robot will stop immediately, and the worker can no longer continue to control the robot to prevent unnecessary damage.

For different applications, people have developed a variety of robot teaching pendants, but the principle and structure are basically the same. They all add a small control screen to the button, while the DeadMan button uses a professionally customized two-section button to achieve the above functions. Because these teach pendants are buttons, they have a series of shortcomings such as low operability, insufficient expansion functions, inconvenient operation, and short life. In addition, because the DeadMan button of the traditional teach pendant is a professionally customized button, the production cost is relatively high, and the service life is short and the repairability is poor.

Utility model content

Aiming at the deficiencies and defects of the prior art, the purpose of the present invention is to provide a new robot teaching pendant, which can satisfy all the functions of the traditional robot teaching pendant, and can improve operability and repairability, enhance expansion functionality, extended life and reduced cost.

To achieve the above object, the present invention is achieved through the following technical solutions:

A novel robot teaching device, comprising a main part of the teaching device and a DeadMan button part; there are two DeadMan button parts, respectively arranged on both sides of the back side of the main part of the teaching device, and fixedly connected with screws;

The main part of the teaching pendant includes an upper shell, a lower shell, a data cable cover, a button box, a button box cover, a selector switch, an emergency stop button, a handle, an end cover, a hand strap, an aviation plug, an Ipad shell, an Ipad machine , the back cover, the upper casing and the lower casing are fixedly connected by screws, the Ipad shell is fixedly connected on the upper casing by screws, and the back cover is fixedly connected on the lower casing by screws; the button box and the button box cover are connected by The two button boxes are fixedly connected to the two sides of the lower case by screws, the emergency stop button is fixedly connected to the left button box through nuts, and the selection switch is fixedly connected to the right button box through nuts; data Two magnetic steels are pressed into the wire cover, and are attracted to the lower part of the upper case by magnetic force; the handle is fixedly connected to the upper part of the lower case by screws; The two hand straps pass through the through holes on the two sides of the lower casing respectively and are fixed in the casing; the aviation plug is fixedly connected to the lower end of the teaching pendant casing by screws; the Ipad machine is pressed into the Ipad casing;

The DeadMan button part includes a button case, a button, a guide rod, an end cover, a linear bearing, a spring, a long push plate, a micro switch, and a short push plate; on the slope side of the lower casing, and are fixedly connected by screws and two guide rods; the two linear bearings are pressed into the stepped holes of the lower casing through fitting, and are respectively sealed by end covers, and the end covers are fixedly connected to the lower casing by screws. On the inner wall; the guide rod passes through the linear bearing, and a spring is set between the button and the end cover. Under the guidance of the two guide rods and the elastic force of the spring, the button realizes the action of pressing and rebounding; two micro movements The switch is fixedly connected to both sides of the inner wall of the button shell through screws, and installed at the same height; the long push plate is fixed to one side of the inner side of the button through screws, and the short push plate is fixed to the other side of the inner side of the button through screws; the long push plate It is 3mm shorter than the short push pedal in length, so that in the initial state, when the button is pressed 3mm, the long push pedal will make the corresponding micro switch send a signal, continue to press 3mm, and the corresponding micro switch will be activated on the long push pedal At the same time as sending a letter, the short push plate makes the corresponding micro switch send a letter.

Compared with prior art, the present invention has following advantage:

The present invention is a full touch screen teach pendant for robot control and programming, especially for the DeadMan button innovation, which greatly enhances the operability of the teach pendant, and increases the life and repairability of the teach pendant , which reduces the production cost of the teaching pendant. Simultaneously, the Ipad machine can be taken out for off-line programming, which greatly facilitates the operation of workers. If the teaching pendant breaks down, the present invention is also more convenient in terms of maintenance and replacement.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the front of the robot teaching device of the present invention.

Fig. 2 is a three-dimensional schematic diagram of the reverse side of the robot teaching device of the present invention.

Fig. 3 is a schematic diagram of the structure of the front main part of the robot teaching pendant of the present invention.

Fig. 4 is a schematic diagram of the structure of the reverse main body of the robot teaching pendant of the present invention.

Fig. 5 is an exploded perspective view of the robot teaching device of the present invention.

Fig. 6 is a schematic diagram of the mechanism of the DeadMan button part of the robot teaching pendant of the present invention.

Fig. 7 is a partially exploded perspective view of the DeadMan button of the robot teaching pendant of the present invention.

Fig. 8 is a schematic diagram of the DeadMan button of the robot teaching pendant of the present invention in the teaching pendant.

Fig. 9 is a schematic diagram of the working process of the DeadMan button of the robot teaching pendant of the present invention.

Detailed ways

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Fig. 1 and Fig. 2, a new type of robot teaching pendant includes a teaching pendant body part 10 and a DeadMan button part 20; there are two DeadMan button parts 20, which are respectively arranged on the teaching pendant body part The two sides of the back side of 10 are fixedly connected with screws.

The main part 10 of the teaching pendant includes an upper housing 101, a lower housing 102, a data line cover 103, a button box 104, a button box cover 105, a selector switch 106, an emergency stop button 107, a handle 108, an end cover 109, a hand Belt 110, aviation plug 111, Ipad shell 112, Ipad machine 113, back cover 114. See Figure 5. The upper casing 101 and the lower casing 102 are fixedly connected by screws, the Ipad shell 112 is fixedly connected on the upper casing 101 by screws, and the rear cover 114 is fixedly connected on the lower casing 102 by screws. The button box 104 and the button box cover 105 are fixedly connected by screws, and the two button boxes are fixedly connected on both sides of the lower housing 102 by screws, and the emergency stop button 107 is fixedly connected on the button box on the left side by a nut, and the selection switch 106 is connected by The nut is fixedly connected on the button box on the right side. Two magnetic steels are pressed into the data line cover 103 and can be attracted to the lower part of the upper casing 101 by magnetic force. The handle 108 is fixedly connected to the upper part of the lower casing 102 by screws. The four end caps 109 are respectively fixedly connected to both sides of the teaching pendant housing by screws, and the two hand straps 110 respectively pass through the through holes on the two sides of the lower housing 102 and are fastened in the housing. The aviation plug 111 is fixedly connected to the lower end of the teaching pendant shell by screws. The Ipad machine 113 is pressed into the Ipad shell 112 by hand. See Figure 3 and Figure 4.

The DeadMan button part includes a button shell 201 , a button 202 , a guide rod 203 , an end cover 204 , a linear bearing 205 , a spring 206 , a long push plate 207 , a micro switch 208 and a short push plate 209 . See Figure 7. The button case 201 is fixedly connected to the rear cover 114 by screws, and the button 202 is sleeved on the slope side of the button case 201 and is fixedly connected to two guide rods 203 by screws. The two linear bearings 205 are pressed into the stepped holes of the lower casing 102 through fitting, and are respectively sealed by the end caps 204, and the end caps 204 are fixedly connected to the inner wall of the lower casing 102 by screws. The guide rod 203 passes through the linear bearing 205 and a spring 206 is sleeved between the button 202 and the end cover 204, so that the button 202 can be pressed and bounced under the guidance of the two guide rods 203 and the elastic force of the spring 206. back action. The two micro switches 208 are fixedly connected to both sides of the inner wall of the button housing 201 by screws respectively, and are arranged at the same height. The long push plate 207 is fixedly connected to one side inside the button 202 by screws, and the short push plate 209 is fixedly connected to the other side inside the button 202 by screws. The long push pedal 207 is 3mm shorter than the short push pedal 209 in length, so that in the initial state, the button 202 is pressed by 3mm, and the long push pedal 207 makes the corresponding microswitch 208 send a letter, and then continues to press 3mm, and then the long push pedal 207 is pushed down by 3mm. When the push plate 207 makes the corresponding micro switch 208 send a letter, the short push plate 209 makes the corresponding micro switch 208 send a letter. See Figure 6 and Figure 8.

During operation, the worker presses the Home button on the Ipad machine 113 to release the lock screen, and takes off the data line cover 103, inserts the Ipad data line inside into the Ipad machine 113, makes the Ipad machine 113 and the control machine be connected, and then connects the data The wire cover 103 is covered. The worker puts his hand through the hand strap 110 and presses his finger on the button 202 for operation. Rotate the selector switch 106 to select the control mode. The worker presses the button lightly, and when pressing 3mm, the long push plate 207 makes the corresponding microswitch 1 send a letter. At this time, the worker can operate and control the robot. Hold or release. When holding tightly, press 3mm again under the condition of working, the short push plate will make the corresponding micro switch 2 send a letter, the robot stops, and the worker cannot operate and control; when loosened, the robot also stops, and the worker cannot operate and control control. The DeadMan button workflow is shown in Figure 9. If a sudden emergency occurs, the worker can press the emergency stop button 107, and the robot enters the emergency stop state. The reason why the present invention is designed as two DeadMan buttons on the left and right is mainly for the different operating habits of the left and right hands of the workers.

Claims (1)

1. A new type of robot teaching pendant, characterized in that it includes a teaching pendant main part (10) and a DeadMan button part (20); there are two DeadMan button parts (20), which are respectively arranged on the teaching pendant The two sides of the back of the main body part (10) of the device are fixedly connected with screws; The main part (10) of the teaching pendant includes an upper casing (101), a lower casing (102), a data line cover (103), a button box (104), a button box cover (105), and a selection switch (106) , emergency stop button (107), handle (108), end cover (109), hand strap (110), aviation plug (111), Ipad shell (112), Ipad machine (113), rear cover (114), all The upper casing (101) and the lower casing (102) are fixedly connected by screws, the Ipad casing (112) is fixedly connected to the upper casing (101) by screws, and the rear cover (114) is fixedly connected to the lower casing by screws body (102); the button box (104) and the button box cover (105) are fixedly connected by screws, and the two button boxes (104) are fixedly connected to the two sides of the lower case (102) by screws, and the emergency stop button (107 ) is fixedly connected to the button box (104) on the left side through a nut, and the selector switch (106) is fixedly connected to the button box (104) on the right side through a nut; two magnetic steels are pressed into the data line cover (103), It is attracted to the lower part of the upper housing (101) by magnetic force; the handle (108) is fixedly connected to the upper part of the lower housing (102) by screws; the four end covers (109) are respectively fixed on both sides of the teaching pendant housing by screws , the two hand straps (110) pass through the through holes on the two sides of the lower housing (102) and are fixed in the housing; the aviation plug (111) is fixedly connected to the lower end of the teaching pendant housing by screws; the The Ipad machine (113) is pressed into the Ipad shell (112); The DeadMan button part (20) includes a button housing (201), a button (202), a guide rod (203), an end cover (204), a linear bearing (205), a spring (206), a long push plate (207), Micro switch (208), short push plate (209); the button housing (201) is fixedly connected to the back cover (114) by screws, the button (202) is sleeved on the slope side of the button housing (201), and is screwed It is firmly connected with two guide rods (203); two linear bearings (205) are pressed into the step hole of the lower housing (102) through fitting, and are respectively sealed by end caps (204), and the end caps (204) pass through Screws are fixed on the inner wall of the lower case (102); the guide rod (203) passes through the linear bearing (205), and a spring (206) is set between the button (202) and the end cover (204), and the button (202 ) under the guidance of the two guide rods (203) and the elastic force of the spring (206), the action of pressing and rebounding is realized; the two micro switches (208) are respectively fixedly connected to the inner wall of the button housing (201) by screws installed on the same height; the long push plate (207) is fixed on one side of the inner side of the button (202) by screws, and the short push plate (209) is fixed on the other side of the inner side of the button (202) by screws; The push plate (207) is 3mm shorter than the short push plate (209) in length, so that in the initial state, the button (202) is pressed 3mm, and the long push plate (207) makes the corresponding micro switch (208) send a signal , continue to press 3mm again, when the long push pedal (207) makes the corresponding micro switch (208) send a letter, the short push pedal (209) makes the corresponding micro switch (208) send a letter.