CN104900104B - A kind of novel robot teaching machine - Google Patents
A kind of novel robot teaching machine Download PDFInfo
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- CN104900104B CN104900104B CN201510335771.0A CN201510335771A CN104900104B CN 104900104 B CN104900104 B CN 104900104B CN 201510335771 A CN201510335771 A CN 201510335771A CN 104900104 B CN104900104 B CN 104900104B
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Abstract
The present invention relates to a kind of novel robot teaching machine, including teaching machine main part and DeadMan button parts；The DeadMan button parts have two, are separately positioned on the both sides at the back side of the teaching machine main part, are connected firmly with screw.The present invention is a kind of all touch screen teaching machine for being used to carry out robot control and programming, innovated particularly with DeadMan buttons, the operability of teaching machine is significantly enhanced, and adds life-span and the recoverability of teaching machine, reduces the cost of manufacture of teaching machine.Meanwhile Ipad machines can be taken out, off-line programing is carried out, is very easy to the operation of worker, if teaching machine breaks down, the present invention also enhanced convenience in terms of maintenance and replacing.
Description
Technical field
The present invention relates to a kind of teaching machine, more particularly to a kind of novel robot teaching machine.
Background technology
Robot demonstrator is used for control machine people, carries out teaching to robot.Robot demonstrator and other controllers
Compare, most significant feature is exactly DeadMan buttons.Research finds, when worker is absorbed under abnormal working position, typically
There is hand to loosen and hold two states, then, DeadMan buttons arise at the historic moment.I.e. when operation robot, if burst
No matter emergency, worker which kind of above-mentioned state are in, and robot will all stop immediately, and worker can not be further continued for control machine
People, prevent unnecessary damage.
For different applications, people have developed various robot demonstrators, but principle and structure are essentially identical,
All add small control flow for button, and DeadMan buttons are then to realize above-mentioned function with two section buttons of specialty customization.These show
Teaching device, so existing, operability is not high, and expanded function is not powerful enough due to being button, and operate not convenient enough, short life
Etc. a series of shortcomings.Further, since the DeadMan buttons of traditional teaching machine are caused and are fabricated to using the button of specialty customization
This is higher, and the life-span is shorter, and recoverability is poor.
The content of the invention
In view of the shortcomings of the prior art and defect, it is an object of the invention to provide a kind of novel robot teaching machine, it is made
Can meet that the institute of traditional robot teaching machine is functional, can improve again operability and recoverability, enhancing expanded function,
Extend the life-span and reduce cost.
To reach above-mentioned purpose, what the present invention was achieved through the following technical solutions：
A kind of novel robot teaching machine, including teaching machine main part and DeadMan button parts；The DeadMan
Button part has two, is separately positioned on the both sides at the back side of the teaching machine main part, is connected firmly with screw；
The teaching machine main part is opened including upper shell, lower house, data wire lid, button box, press button box lid, selection
Pass, scram button, handle, end cap, hand strap, aviation plug, Ipad shells, Ipad machines, bonnet, the upper shell and lower house pass through
Screw is connected firmly, and the Ipad shells are connected firmly on upper shell by screw, and bonnet is connected firmly on lower house by screw；Button box and
Press button box lid is connected firmly by screw, and two button boxes are connected firmly by screw passes through spiral shell in two sides of lower house, scram button
Mother is connected firmly on the button box in left side, and selecting switch is connected firmly on the button box on right side by nut；Data wire covers press-in two
Individual magnet steel, inhaled by magnetic force in the bottom of upper shell；Button is connected firmly on the top of lower house by screw；Four end caps lead to respectively
Cross screw to connect firmly in the both sides of teaching machine shell, two hand straps are each passed through the through hole of two sides of lower house and in shell consolidated
It is fixed；Aviation plug is connected firmly in the bottom of teaching machine shell by screw；In the Ipad machines press-in Ipad shells；
The DeadMan button parts include button shell, button, guide rod, end cap, linear bearing, spring, long push pedal, micro-
Dynamic switch, short push pedal；Button shell is connected firmly by screw and covered after, and button is enclosed on the inclined-plane side of button shell, and passes through screw
Connected firmly with two guide rods；Two linear bearings are pressed into the stepped hole of lower house by coordinating, and are sealed respectively by end cap, end cap
Connected firmly by screw on the inwall of lower house；Guide rod passes through linear bearing, and spring is cased between button and end cap, button
Under the guiding of two guide rods and the elastic force effect of spring, the action pressed and rebounded is realized；Two microswitches pass through respectively
Screw is connected firmly in the both sides of button shell inwall, on sustained height；Long push pedal connects firmly one side on the inside of button by screw,
Short push pedal connects firmly the another side on the inside of button by screw；Long push pedal is than short 3mm in short push pedal length, so as to realize initial
Under state, button presses 3mm, and long push pedal transmits corresponding microswitch, and 3mm is pressed in continuation again, is made accordingly in long push pedal
Microswitch while transmit, short push pedal transmits corresponding microswitch.
Compared with prior art, the present invention has the advantage that：
The present invention is a kind of all touch screen teaching machine for being used to carry out robot control and programming, particularly with DeadMan
Button is innovated, and significantly enhances the operability of teaching machine, and adds life-span and the recoverability of teaching machine, is reduced
The cost of manufacture of teaching machine.Meanwhile Ipad machines can be taken out, off-line programing is carried out, is very easy to the operation of worker,
If teaching machine breaks down, the present invention also enhanced convenience in terms of maintenance and replacing.
Brief description of the drawings
Fig. 1 is the positive schematic perspective view of robot demonstrator of the present invention.
Fig. 2 is the schematic perspective view of robot demonstrator reverse side of the present invention.
Fig. 3 is robot demonstrator front main part structural representation of the present invention.
Fig. 4 is robot demonstrator reverse side main part structural representation of the present invention.
Fig. 5 is robot demonstrator exploded perspective schematic diagram of the present invention.
Fig. 6 is robot demonstrator DeadMan button part structural scheme of mechanism of the present invention.
Fig. 7 is robot demonstrator DeadMan button part exploded perspective schematic diagrams of the present invention.
Fig. 8 is schematic diagram of the robot demonstrator DeadMan buttons of the present invention in teaching machine.
Fig. 9 is the schematic diagram of robot demonstrator DeadMan button workflows of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described further.
As depicted in figs. 1 and 2, a kind of novel robot teaching machine, including teaching machine main part 10 and DeadMan buttons
Part 20；The DeadMan button parts 20 have two, are separately positioned on the two of the back side of the teaching machine main part 10
Side, connected firmly with screw.
The teaching machine main part 10 includes upper shell 101, lower house 102, data wire lid 103, button box 104, pressed
Button lid 105, selecting switch 106, scram button 107, handle 108, end cap 109, hand strap 110, aviation plug 111, Ipad shells
112nd, Ipad machines 113, bonnet 114.As shown in Figure 5.Upper shell 101 and lower house 102 are connected firmly by screw, and Ipad shells 112 are logical
Cross screw to connect firmly on upper shell 101, bonnet 114 is connected firmly on lower house 102 by screw.Button box 104 and press button box lid
105 are connected firmly by screw, and two button boxes are connected firmly by screw passes through spiral shell in two sides of lower house 102, scram button 107
Mother is connected firmly on the button box in left side, and selecting switch 106 is connected firmly on the button box on right side by nut.On data wire lid 103
Two magnet steel are pressed into, can be inhaled by magnetic force in the bottom of upper shell 101.Button 108 is connected firmly in lower house 102 by screw
Top.4 end caps 109 are connected firmly by screw be each passed through lower house in the both sides of teaching machine shell, two hand straps 110 respectively
The through hole of 102 two sides is simultaneously fastened in shell.Aviation plug 111 is connected firmly in the bottom of teaching machine shell by screw.
Ipad machines 113 are then entered in Ipad shells 112 with hand pressure.As shown in Fig. 3 and Fig. 4.
The DeadMan button parts include button shell 201, button 202, guide rod 203, end cap 204, linear bearing 205,
Spring 206, long push pedal 207, microswitch 208, short push pedal 209.As shown in Figure 7.Button shell 201 is connected firmly in bonnet by screw
On 114, button 202 is enclosed on the inclined-plane side of button shell 201, and is connected firmly by screw and two guide rods 203.Two linear bearings
205 are pressed into the stepped hole of lower house 102 by coordinating, and are sealed respectively by end cap 204, and end cap 204 is connected firmly by screw
On the inwall of lower house 102.Guide rod 203 is cased with spring 206 through linear bearing 205 and button 202 and end cap 204,
So, the can of button 202 is under the guiding of two guide rods 203 and the elastic force effect of spring 206, realize press and rebound it is dynamic
Make.Two microswitches 208 are connected firmly in the both sides of the inwall of button shell 201 by screw respectively, on sustained height.Long push pedal
207 connect firmly one side on the inside of button 202 by screw, and short push pedal 209 is connected firmly in the another of the inner side of button 202 by screw
Side.Long push pedal 207 is than short 3mm in the short length of push pedal 209, and so as to realize in an initial condition, button 202 presses 3mm, long push pedal
207 transmit corresponding microswitch 208, and 3mm is pressed in continuation again, transmits corresponding microswitch 208 in long push pedal 207
While, short push pedal 209 transmits corresponding microswitch 208.As shown in Fig. 6 and Fig. 8.
During operation, worker releases screen locking by the Home key on Ipad machines 113, and data wire lid 103 is removed, by the inside
Ipad data wires are inserted on Ipad machines 113, Ipad machines 113 is connected with control machine, then data wire lid 103 is covered.Worker will
Hand presses the preparation operation on button 202 through hand strap 110 and by finger.Turn selecting switch 106 selects control model.Worker
Button is gently pressed, when pressing 3mm, long push pedal 207 transmits corresponding microswitch 1, and now, worker can be to robot
Operated and controlled, such as misoperation or chance emergency, worker is hand-tight to hold or unclamp.When holding, what is worked
In the case of press 3mm again, short push pedal transmits corresponding microswitch 2, and robot stops, and worker can not operate and control；When
During release, robot equally stops, and worker can not operate and control.DeadMan buttons workflow is as shown in Figure 9.It is if prominent
Emergency is sent out, worker can press scram button 107, and robot then enters jerk state.Why the present invention is designed as a left side
Right two DeadMan buttons, primarily to for the different operating habit of worker right-hand man.
Claims (1)
1. a kind of robot demonstrator, it is characterised in that including teaching machine main part（10）With DeadMan button parts
（20）；The DeadMan button parts（20）There are two, be separately positioned on the teaching machine main part（10）The back side two
Side, connected firmly with screw；
The teaching machine main part（10）Including upper shell（101）, lower house（102）, data wire lid（103）, button box
（104）, press button box lid（105）, selecting switch（106）, scram button（107）, handle（108）, end cap（109）, hand strap
（110）, aviation plug（111）, Ipad shells（112）, Ipad machines（113）, bonnet（114）, the upper shell（101）And lower house
（102）Connected firmly by screw, the Ipad shells（112）Connected firmly by screw in upper shell（101）On, bonnet（114）Pass through spiral shell
Nail is connected firmly in lower house（102）On；Button box（104）And press button box lid（105）Connected firmly by screw, two button boxes（104）
Connected firmly by screw in lower house（102）Two sides, scram button（107）Button box in left side is connected firmly by nut
（104）On, selecting switch（106）Button box on right side is connected firmly by nut（104）On；Data wire lid（103）Upper press-in two
Individual magnet steel, inhaled by magnetic force in upper shell（101）Bottom；Handle（108）Connected firmly by screw in lower house（102）It is upper
Portion；Four end caps（109）Connected firmly respectively by screw in the both sides of teaching machine shell, two hand straps（110）It is each passed through lower casing
Body（102）The through hole of two sides and fixed in shell；Aviation plug（111）Connected firmly by screw under teaching machine shell
End；The Ipad machines（113）It is pressed into Ipad shells（112）In；
The DeadMan button parts（20）Including button shell（201）, button（202）, guide rod（203）, end cap（204）, straight line
Bearing（205）, spring（206）, long push pedal（207）, microswitch（208）, short push pedal（209）；Button shell（201）Pass through screw
Connect firmly in bonnet（114）On, button（202）It is enclosed on button shell（201）Inclined-plane side on, and pass through screw and two guide rods
（203）Connect firmly；Two linear bearings（205）Lower house is pressed into by coordinating（102）Stepped hole in, and respectively by end cap
（204）Seal, end cap（204）Connected firmly by screw in lower house（102）Inwall on；Guide rod（203）Through linear bearing
（205）, and in button（202）And end cap（204）Between be cased with spring（206）, button（202）In two guide rods（203）Lead
To and spring（206）Elastic force effect under, realize the action pressing and rebound；Two microswitches（208）Pass through screw respectively
Connect firmly in button shell（201）The both sides of inwall, on sustained height；Long push pedal（207）Connected firmly by screw in button（202）
One side of inner side, short push pedal（209）Connected firmly by screw in button（202）The another side of inner side；Long push pedal（207）Than short push pedal
（209）Short 3mm in length, so as to realize in an initial condition, button（202）Press 3mm, long push pedal（207）Make corresponding
Microswitch（208）Transmit, 3mm is pressed in continuation again, in long push pedal（207）Make corresponding microswitch（208）While transmitting,
Short push pedal（209）Make corresponding microswitch（208）Transmit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510335771.0A CN104900104B (en) | 2015-06-17 | 2015-06-17 | A kind of novel robot teaching machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510335771.0A CN104900104B (en) | 2015-06-17 | 2015-06-17 | A kind of novel robot teaching machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104900104A CN104900104A (en) | 2015-09-09 |
| CN104900104B true CN104900104B (en) | 2018-04-06 |
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ID=54032743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510335771.0A Expired - Fee Related CN104900104B (en) | 2015-06-17 | 2015-06-17 | A kind of novel robot teaching machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN104900104B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789379B (en) * | 2018-08-15 | 2023-06-27 | 江苏华途数控科技有限公司 | Multifunctional demonstrator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201979516U (en) * | 2011-02-24 | 2011-09-21 | 奇瑞汽车股份有限公司 | Industrial robot teaching controller |
| CN203552586U (en) * | 2013-11-14 | 2014-04-16 | 上海华途自动化设备有限公司 | Configuration type demonstrator |
| CN204054065U (en) * | 2014-07-29 | 2014-12-31 | 成都卡诺普自动化控制技术有限公司 | A kind of industrial robot teaching device |
| CN204315130U (en) * | 2014-12-18 | 2015-05-06 | 南京熊猫电子股份有限公司 | A kind of robot demonstrator |
| CN204759803U (en) * | 2015-06-17 | 2015-11-11 | 上海大学 | Novel robot demonstrator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8344914B2 (en) * | 2009-12-23 | 2013-01-01 | Tzu-Yuan Yeh | Intelligent multi-axial intuitive joystick suitable for use by both left-handers and right-handers |
-
2015
- 2015-06-17 CN CN201510335771.0A patent/CN104900104B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201979516U (en) * | 2011-02-24 | 2011-09-21 | 奇瑞汽车股份有限公司 | Industrial robot teaching controller |
| CN203552586U (en) * | 2013-11-14 | 2014-04-16 | 上海华途自动化设备有限公司 | Configuration type demonstrator |
| CN204054065U (en) * | 2014-07-29 | 2014-12-31 | 成都卡诺普自动化控制技术有限公司 | A kind of industrial robot teaching device |
| CN204315130U (en) * | 2014-12-18 | 2015-05-06 | 南京熊猫电子股份有限公司 | A kind of robot demonstrator |
| CN204759803U (en) * | 2015-06-17 | 2015-11-11 | 上海大学 | Novel robot demonstrator |
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| Publication number | Publication date |
|---|---|
| CN104900104A (en) | 2015-09-09 |
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| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180406 Termination date: 20200617 |