CN101510372B - Appliance for teaching industrial robot teaching programming - Google Patents
Appliance for teaching industrial robot teaching programming Download PDFInfo
- Publication number
- CN101510372B CN101510372B CN200910038096XA CN200910038096A CN101510372B CN 101510372 B CN101510372 B CN 101510372B CN 200910038096X A CN200910038096X A CN 200910038096XA CN 200910038096 A CN200910038096 A CN 200910038096A CN 101510372 B CN101510372 B CN 101510372B
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- inner sleeve
- teaching
- pen
- bottom board
- robot
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Abstract
The invention discloses a teaching aid for industrial robot teaching programming, which comprises a bottom board. A nose spike is arranged on the bottom board; the teaching aid also comprises a pen and a pen cap; the pen cap comprises an inner sleeve barrel and a fastening sleeve, wherein the inner sleeve barrel is sleeved in the fastening sleeve in a dismountable way; and the pen is inserted into the inner sleeve barrel and the pen point extends the front ends of the inner sleeve barrel and the fastening sleeve. The teaching aid has the advantages of simple and reasonable structure and convenient and practical operation. When the teaching aid is used, the bottom board is fixed on an operating platform, the pen cap is installed on the arm of a robot, the pen point is in alignment with the nose spike on the bottom board to determine the relative positions between the operating platform and the robot, and then a piece of white paper is adhered on the surface of the bottom board. When the robot is moved, a plan view with certain tracks and shapes can be drawn on the piece of white paper, therefore, unnecessary damage to the nose spike on the bottom board caused by practical processing tools and the damage caused by rigid contact between equipment can be avoided. Not only the cost is reduced, but also the teaching aid facilitates the smooth implementation of the initial training and teaching.
Description
Technical field
The present invention relates to the industrial robot technical field, relate in particular to a kind of industrial robot teaching programming and use, be installed in the appliance for teaching on worktable and the robot arm.
Background technology
So-called industrial robot is exactly multi-joint manipulator or the multi-freedom robot towards industrial circle.Robotic programming is meant to making robot finish the sequence of movement description that certain task is provided with.The instruction of robot motion and operation is all controlled by program, and its common programmed method has two kinds: teach programming method and off-line programing method.Wherein the teach programming method comprises teaching, editor and track reproducing, can realize by teach box teaching and two kinds of approach of guiding type teaching.Because the teach programming mode is more directly perceived, practical, and easy and simple to handle, so this mode is extensively adopted in the industrial robot programming.
At present, adopt the teach programming method industrial robot to be carried out in the process of teaching, normally base plate is fixed on the worktable, use positioning fixture that the processing apparatus of reality is fixed on the robot arm, and processing apparatus alignd with the relative position between positioning robot and the worktable with thimble on the base plate, the mobile robot operates then.Yet, because in the initial stage of carrying out training or teaching, operating personnel's proficiency is not enough, and actual processing apparatus has very big damaging, be easy to damage the thimble on the base plate, and key equipment caused damage, therefore not only increased cost, and initial stage training or teaching brought hindered and inconvenience.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, providing a kind of is installed on worktable and the robot arm, the appliance for teaching industrial robot teaching programming of simple, easy to operate practicality rational in infrastructure is to avoid in the teaching process the unnecessary damage to equipment was caused.
Purpose of the present invention is achieved by the following technical programs:
A kind of appliance for teaching industrial robot teaching programming provided by the invention comprises base plate, and described base plate is provided with thimble; In addition, also comprise the pen and the pen cap; The described pen cap comprises inner sleeve and fastening tube, and wherein said inner sleeve is detachable to be socketed in the fastening tube; Described penholder in inner sleeve and nib stretch out the front end of inner sleeve and fastening tube.The present invention in use is fixed on base plate on the worktable, and the pen cap is installed on the robot arm, and the thimble alignment on nib and the base plate is to determine the relative position between worktable and the robot, then at the sticking obedient blank sheet of paper of backplate surface.The mobile robot just can draw out the planimetric map with certain track and shape on blank sheet of paper, thereby has avoided the damage of using actual processing apparatus that equipment is caused.
Be the length that the tightness that improves pen and flexible pen stretch out, the sidewall of inner sleeve of the present invention is provided with and presses closer screw, and the described screw that presses closer passes the sidewall of inner sleeve and withstands on the lateral surface of pen.Press closer the length that screw scalable pen stretches out and be fastened in the inner sleeve then by loosening, tighten.
Be the position of further firm inner sleeve, the pen cap of the present invention also comprises outer sleeve and spring, and the front end of described outer sleeve has through hole, back-end closure, and detachable being socketed in outside the fastening tube; The two ends of described fastening tube all have through hole, and its anterior inwall is provided with boss, and the front end of described inner sleeve withstands on this boss; Described spring is arranged in the outer sleeve and between the bottom of the rear end of inner sleeve and outer sleeve.Like this, by the boss in the fastening tube and the acting in conjunction of spring, inner sleeve just firmly is socketed in the fastening tube.Simultaneously, spring also plays buffer action, avoids that the rigidity of nib and base plate contacts in teach programming.
The present invention has following beneficial effect: simple and reasonable, and easy to operate practicality.By the pen cap pen is arranged on the robot arm, the planimetric map that uses pen to draw out to have certain track and shape has avoided using actual processing apparatus to contact the unnecessary damage that is caused to the thimble on the base plate and with the equipment rigidity to realize the teaching process.Not only reduce cost, and helped the smooth implementation of initial stage training and teaching.
Description of drawings
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing:
Fig. 1 is the front view of base plate in the embodiment of the invention appliance for teaching industrial robot teaching programming;
Fig. 2 is the side view of Fig. 1;
Fig. 3 is the structural representation of the pen cap in the embodiment of the invention appliance for teaching industrial robot teaching programming.
Among the figure: base plate 1, thimble 2, mounting hole 3, inner sleeve 4, fastening tube 5, boss 51, outer sleeve 6, spring 7 presses closer screw 8
Embodiment
Fig. 1～Fig. 3 is described to be embodiment of the invention appliance for teaching industrial robot teaching programming, is installed on worktable and the robot arm, comprises base plate 1, pen and the pen cap.
As depicted in figs. 1 and 2, base plate 1 is provided with three thimbles 2 and two mounting holes 3.Base plate 1 is installed on the worktable by mounting hole 3.
The pen that uses can be ball pen or pencil.As shown in Figure 3, the pen cap comprises inner sleeve 4, fastening tube 5, outer sleeve 6 and spring 7.The sidewall of inner sleeve 4 is provided with four and presses closer screw 8, and penholder is 4 li of inner sleeves.Press closer screw 8 pass the sidewall of inner sleeve 4 and withstand on the pen lateral surface on.Fastening tube 5 has external thread, and its two ends all have through hole, and its anterior inwall is provided with boss 51.Outer sleeve 6 has internal thread, and its front end has through hole, back-end closure.Inner sleeve 4 is socketed in the fastening tube 5, and the front end of inner sleeve 4 withstands on the boss 51 in the fastening tube 5.Outer sleeve 6 is threaded in outside the fastening tube 5.Spring 7 is arranged in the outer sleeve 6 and between the bottom of the rear end of inner sleeve 4 and outer sleeve 6.By the boss 51 in the fastening tube 5 and the acting in conjunction of spring 7, inner sleeve 4 firmly is socketed in the fastening tube 5.Simultaneously, spring also plays buffer action, avoids that the rigidity of nib and base plate contacts in teach programming.
When the pen cap was installed, at first ball pen or the pencil with suitable length inserted 4 li of inner sleeves, and pressed closer screw 8 with four it is anchored on 4 li of inner sleeves.Unclamp and press closer screw 8, can regulate the length that pen stretches out.The inner sleeve 4 that pencil or ball pen will be installed then inserts in the fastening tube 5 from the rear end of fastening tube 5, makes the front end of inner sleeve 4 withstand on the boss 51 in the fastening tube 5.Spring 7 is placed inner sleeve 4 rear ends, be inserted in outer sleeve 6, outer sleeve 6 is threaded in outside the fastening tube 5.Simultaneously, spring 7 also is pressed between outer sleeve 6 bottoms and inner sleeve 4 rear ends.Then the pen cap is located on the robot arm.
During use, three thimbles 2 on ball pen or pencil nib and the base plate 1 are alignd successively, be used for the relative position between definite worktable and the robot, then at the sticking obedient blank sheet of paper in base plate 1 surface.The mobile robot draws out the planimetric map with certain track and shape on blank sheet of paper.
Claims (1)
1. an appliance for teaching industrial robot teaching programming comprises base plate (1), and described base plate (1) is provided with thimble (2); It is characterized in that: also comprise the pen and the pen cap; The described pen cap comprises inner sleeve (4), fastening tube (5), outer sleeve (6) and spring (7), and wherein said inner sleeve (4) is detachable to be socketed in the fastening tube (5); Described penholder in inner sleeve (4) lining and nib stretch out the front end of inner sleeve (4) and fastening tube (5); The sidewall of described inner sleeve (4) is provided with and presses closer screw (8), described press closer screw (8) pass the sidewall of inner sleeve (4) and withstand on the pen lateral surface on; The front end of described outer sleeve (6) has through hole, back-end closure, and detachable being socketed in outside the fastening tube (5); The two ends of described fastening tube (5) all have through hole, and its anterior inwall is provided with boss (51), and the front end of described inner sleeve (4) withstands on this boss (51); Described spring (7) be arranged in the outer sleeve (6) and be positioned at the rear end of inner sleeve (4) and the bottom of outer sleeve (6) between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910038096XA CN101510372B (en) | 2009-03-23 | 2009-03-23 | Appliance for teaching industrial robot teaching programming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910038096XA CN101510372B (en) | 2009-03-23 | 2009-03-23 | Appliance for teaching industrial robot teaching programming |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101510372A CN101510372A (en) | 2009-08-19 |
| CN101510372B true CN101510372B (en) | 2011-07-20 |
Family
ID=41002761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910038096XA Expired - Fee Related CN101510372B (en) | 2009-03-23 | 2009-03-23 | Appliance for teaching industrial robot teaching programming |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101510372B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103354056A (en) * | 2013-07-10 | 2013-10-16 | 新乡职业技术学院 | Industrial-robot clamp for teaching |
| CN106355988B (en) * | 2016-09-22 | 2020-02-07 | 佛山华数机器人有限公司 | Multifunctional training robot |
| CN113028936B (en) * | 2021-03-04 | 2023-09-22 | 苏州玖物智能科技股份有限公司 | Mechanical arm movement track testing device and testing system |
-
2009
- 2009-03-23 CN CN200910038096XA patent/CN101510372B/en not_active Expired - Fee Related
Non-Patent Citations (1)
| Title |
|---|
| 朱龙彪等.基于示教功能的印花头控制系统设计.《制造业自动化》.2008,第30卷(第02期), * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101510372A (en) | 2009-08-19 |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110720 Termination date: 20150323 |
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| EXPY | Termination of patent right or utility model |