CN108638077A - A kind of robot teaching handle - Google Patents
A kind of robot teaching handle Download PDFInfo
- Publication number
- CN108638077A CN108638077A CN201810683162.8A CN201810683162A CN108638077A CN 108638077 A CN108638077 A CN 108638077A CN 201810683162 A CN201810683162 A CN 201810683162A CN 108638077 A CN108638077 A CN 108638077A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 23
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
A kind of robot teaching handle, including pedestal, the pedestal is equipped with power interface, signal projector interface, signal receiver interface, three position switch, driver interface, motor and rotates forward button, motor reversal button, broadcasting button, records button and sensor interface, the sensor interface is four needle interfaces, and four needle interface includes transversely arranged or longitudinal arrangement enabled P2 interfaces, signal P1 interfaces, vcc interfaces and gnd interfaces successively.It is had the following advantages that compared with prior art according to robot teaching handle provided by the invention：Sensor interface in the present invention, it is simple in structure, it when specifically used, can realize the effect of plug and play, substantially reduce the debug time of robot, be very suitable for new hand's use.
Description
Technical field
The present invention relates to a kind of teaching handle more particularly to a kind of robot teaching handles.
Background technology
Growing with China's economic level, industrial output value accounting constantly rises, and industrial automation is caused to produce
Will be used wider and wider general, more and more industrial robots apply in production.And these industrial robots are producing
The convenience of operability and debugging in the process becomes one of urgent problem, mostly uses teaching machine at present for industry
Robot carries out relevant operation and debugging.Teaching machine is the important component of robot control system, and operator is by showing
Device is taught to carry out manual teaching, control robot completes different actions, and records the coordinate of each operating position point, it may be said that shows
It is interactive brain to teach device.At present but there is following problem in conventional teaching machine：Teaching machine fitting percentage is low, usually
The teaching machine that various brands machine has the control system of oneself matching per capita, and the socket on teaching machine is various, such as singly
Only motor socket, individual steering engine socket, and the sensor socket on existing teaching machine are mostly three needle sockets, robot
On sensor it is matching when remain desirable that and also need to manual operation matching process, debug time is long, and being not particularly suitable for new hand makes
With.
Usually programming robot equipment is all that could be used after sensor is arranged in host computer, in hardly possible troublesome in poeration
Hand.And robot program is typically if a sensor senses which certain signal, robot just run and order this kind of program.In
Be us is recorded controller and by different sensings the program that robot to be run is independent in the form of handle teaching
Device port can inspire.And which kind of sensor is needed to detect which kind of signal by the selection of sensor hardware to realize.And which has
Which instruction is called then to be inserted into which port by sensor to determine in port.Due to usual sensor be divided into nothing but two kinds with
Method, one is present procedure is interrupted, one is do not interrupt present procedure.
Invention content
Technical problem to be solved by the present invention lies in the deficiency for overcoming the above-mentioned prior art, provide it is a kind of it is simple in structure,
Button and interface robot teaching handle applied widely.
The main technical schemes used according to robot teaching handle provided by the invention for：Including pedestal, the pedestal
Power interface, signal projector interface, signal receiver interface, three position switch, driver interface, motor is equipped with to rotate forward and press
Key, broadcasting button, records button and sensor interface at motor reversal button, and the sensor interface is four needle interfaces, and described four
Needle interface includes transversely arranged or longitudinal arrangement enabled P2 interfaces, signal P1 interfaces, vcc interfaces and gnd interfaces successively.
Robot teaching handle provided by the invention also uses following attached technical scheme：
The driver interface includes the identical first set drive interface of structure and the second set drive interface, and described
One set drive interface includes first interface, second interface, third interface, the 4th interface, the 5th interface and the 6th interface；It is described
First interface, the third interface and the 5th interface constitute the first steering engine interface, the second interface, institute in longitudinal arrangement
It states the 4th interface and the 6th interface and constitutes the second steering engine interface in longitudinal arrangement；The first interface and the second interface
In transversely arranged composition first motor interface, the first interface and the third interface constitute the second motor in longitudinal arrangement and connect
Mouthful, the second interface and the 4th interface constitute third motor interface in longitudinal arrangement.
The motor reversal button includes first motor reverse button and the second motor reversal button, and the first motor is anti-
Turn the left end edge that button is located at the pedestal, the second motor reversal button is located at the right end edge of the pedestal；It is described
It includes that first motor rotates forward button and the second motor rotating forward button that motor, which rotates forward button, and the first motor rotates forward button and is located at institute
It states above first motor reverse button, second motor rotates forward button and is located at the second motor reversal keys upwards.
The broadcasting button includes the first broadcasting button and the second broadcasting button, and first broadcasting button is located at described the
The right side of one motor reversal button, second broadcasting button are located at the left side of the second motor reversal button；The recording
Button includes the first recording button and second records button, and the first recording button is located above first broadcasting button,
The second recording button is located above second broadcasting button.
The first set drive interface is located at the first motor and rotates forward keys upwards, the second set drive interface
Keys upwards are rotated forward positioned at second motor.
The sensor interface includes first sensor interface and second sensor interface, first sensor interface position
On the right side of the first set drive interface, the second sensor interface is located on the left of the second set drive interface.
The power interface is located in the middle part of the bottom edge of the pedestal, and three position switch is located at the power interface
Right side.
Further include serial interface, the serial interface is located at the top or left side of the power interface.
The signal receiver interface is located at the left side of the power interface, and the signal projector interface is located at described the
Between one sensor interface and the second sensor interface.
Further include pedestal, the pedestal is set on the base, and the pedestal is equipped with multiple mounting holes.
First sensor interface indicator, the second sensor interface lower section are equipped with below the first sensor interface
Equipped with second sensor interface indicator.
The first driver interface indicator light, the second set drive interface are equipped on the right side of the first set drive interface
Left side is equipped with the second driver interface indicator light.
Further include power interface indicator light, the power interface indicator light is located at the left side or top of the power interface.
It is had the following advantages that compared with prior art according to robot teaching handle provided by the invention：First, of the invention
Realize whether the interface of interrupt routine enables P2 interfaces, is used in teaching in use, child by increasing by one on sensor interface
The operation of prehension program is not needed, even if will not program, according to common thinking habit, is good at fast implementing robot program's
The realization with basic intelligent function is write, the sensor interface in the present invention is simple in structure, when specifically used, can realize i.e.
The effect of plug-and-play substantially reduces the debug time of robot, is very suitable for new hand's use；Secondly, the driving in the present invention
Device interface adapts to the robot of various structures, and different function is constituted by the combination of the different form and number of multiple interfaces
Interface, i.e. motor interface and steering engine interface can be with partial common, can it is not necessary that individual motor interface and individual steering engine is arranged
It leans on, compared with prior art, under same amount of interface case, the quantity that the present invention either connects motor still connects steering engine
Quantity be superior to the prior art, greatly improve the present invention the scope of application, simplify the layout structure of interface, reduce production
Cost reduces enor receving rate.
Description of the drawings
Fig. 1 is the structural schematic diagram of robot teaching handle of the present invention.
Specific implementation mode
Referring to Fig. 1, according to robot teaching handpiece embodiment provided by the invention, including pedestal 1, set on the pedestal 1
Have power interface 2, signal projector interface 9, signal receiver interface 10, three position switch 3, driver interface, motor rotate forward by
Key, broadcasting button, records button and sensor interface at motor reversal button, and the sensor interface is four needle interfaces, and described four
Needle interface includes transversely arranged or longitudinal arrangement enabled P2 interfaces 801, signal P1 interfaces 802, vcc interfaces 803 and gnd successively
Interface 804.Four needle interfaces in the present embodiment connect for enabled P2 interfaces 801 transversely arranged successively, signal P1 interfaces 802, vcc
803 and gnd of mouth interfaces 804.The present invention realizes whether the interface of interrupt routine enables P2 by increasing by one on sensor interface
Interface 801, even if will not program, is practised used in teaching in use, child does not need the operation of prehension program according to common thinking
It is used, it is good at fast implementing the realization of robot program write with basic intelligent function, the sensor interface of this kind of structure, structure
Simply, it when specifically used, can realize the effect of plug and play, substantially reduce the debug time of robot, be very suitable for new
Hand uses.
Referring to Fig. 1, according to the above embodiments of the present invention, the driver interface includes the identical first group of driving of structure
Device interface 71 and the second set drive interface 72, the first set drive interface 71 include first interface 701, second interface
702, third interface 703, the 4th interface 704, the 5th interface 705 and the 6th interface 706；The first interface 701, the third
Interface 703 and the 5th interface 705 constitute the first steering engine interface in longitudinal arrangement, and the second interface 702, the described 4th connect
Mouth 704 and the 6th interface 706 constitute the second steering engine interface in longitudinal arrangement；The first interface 701 and described second connects
Mouth 702 is in transversely arranged composition first motor interface, and the first interface 701 and the third interface 703 are in longitudinal arrangement structure
At the second motor interface, can control motor Unidirectional, the second interface 702 and the 4th interface 704 is in longitudinal arrangement
Third motor interface is constituted, motor Unidirectional is can control.The structure of second set drive interface 72 and first group of driving interface
Structure it is identical, be no longer described in detail herein.When above-mentioned interface as motor interface in use, first interface 701 and
Two interfaces 702 can be switched to positive and negative anodes by MCU Instruction and be controlled the rotation of motor；When above-mentioned interface connects as steering engine
When mouth, first interface 701 and second interface 702 are steering engine signal wire interface, and third interface 703 and the 4th interface 704 are
Steering engine vcc interfaces, the 5th interface 705 and the 6th interface 706 are steering engine gnd interfaces.The driver interface of this kind of structure, adaptation
In the robot of various structures, the interface of different function is made up of the combination of the different form and number of multiple interfaces, i.e., it is electric
Machine interface and steering engine interface can be reliable it is not necessary that individual motor interface and individual steering engine is arranged with partial common, with existing skill
Art is compared, under same amount of interface case, the present invention either connect motor quantity still connect steering engine quantity it is excellent
In the prior art, the scope of application of the present invention is greatly improved, the layout structure of interface is simplified, reduces production cost, reduced
Enor receving rate.
Referring to Fig. 1, according to the above embodiments of the present invention, the motor reversal button includes first motor reverse button 43
With the second motor reversal button 44, the first motor reverse button 43 is located at the left end edge of the pedestal 1, second electricity
Machine reverse button 44 is located at the right end edge of the pedestal 1；It includes that first motor rotates forward 41 He of button that the motor, which rotates forward button,
Second motor rotates forward button 42, and the first motor rotates forward button 41 and is located at 43 top of the first motor reverse button, described
Second motor rotates forward button 42 and is located at 44 top of the second motor reversal button.This kind of layout structure is easy to operate, programming is imitated
Rate is high.
Referring to Fig. 1, according to the above embodiments of the present invention, the broadcasting button is broadcast including the first broadcasting button 51 and second
Button 52 is put, first broadcasting button 51 is located at the right side of the first motor reverse button 43, second broadcasting button
52 are located at the left side of the second motor reversal button 44；The recording button includes that the first recording recording of button 61 and second is pressed
Key 62, the first recording button 61 are located at first broadcasting button, 51 top, and described second records button 62 positioned at described
Second broadcasting button, 52 top.This kind of layout structure is easy to operate, programming efficiency is high.
Referring to Fig. 1, according to the above embodiments of the present invention, the first set drive interface 71 is located at the first motor
41 top of button is rotated forward, the second set drive interface 72 is located at second motor and rotates forward 42 top of button.Can effectively it prevent
Only interference of the circuit to operation button of driver interface connection, it is easy to operate, programming efficiency is high.
Referring to Fig. 1, according to the above embodiments of the present invention, the sensor interface includes first sensor interface 81 and
Two sensor interfaces 82, the first sensor interface 81 are located at 71 right side of the first set drive interface, and described second passes
Sensor interface 82 is located at 72 left side of the second set drive interface.
According to the above embodiments of the present invention further include serial interface 83 referring to Fig. 1, the serial interface 83 is located at institute
State the top or left side of power interface 2.The present embodiment is preferably the top that serial interface 83 is located at the power interface 2.
Referring to Fig. 1, according to the above embodiments of the present invention, the power interface 2 is located in the bottom edge of the pedestal 1
Portion, three position switch 3 are located at the right side of the power interface 2.
Referring to Fig. 1, according to the above embodiments of the present invention, the signal receiver interface 10 is located at the power interface 2
Left side, the signal projector interface 9 is between 82 interface of the first sensor interface 81 and the second sensor.
Further include pedestal according to the above embodiments of the present invention, the pedestal 1 is set on the base, on the pedestal
Equipped with multiple mounting holes.When specifically used, the present invention can be fixed, operation is more convenient, quick.
Referring to Fig. 1, according to the above embodiments of the present invention, 81 lower section of the first sensor interface is equipped with first sensor
Interface indicator 811,82 lower section of the second sensor interface are equipped with second sensor interface indicator 821.Described first group
The right side of driver interface 71 is equipped with the first driver interface indicator light 711, and 72 left side of the second set drive interface is equipped with the
Two driver interface indicator lights 721.Further include power interface indicator light 21, the power interface indicator light 21 is located at the power supply
The left side or top of interface 2.The present embodiment optimization power supply interface indicator 21 is located at the top of the power interface 2.It is above-mentioned each
The setting of kind of indicator light facilitates and judges matching interface whether wiring is correct and whether wiring is firm, when operation more
It is convenient, reliability higher.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of robot teaching handle, including pedestal, the pedestal is equipped with power interface, signal projector interface, signal
Receiver interface, three position switch, driver interface, motor rotate forward button, motor reversal button, broadcasting button, record button and
Sensor interface, it is characterised in that：The sensor interface is four needle interfaces, and four needle interface includes enabled P2 interfaces, letter
Number P1 interfaces, vcc interfaces and gnd interfaces.
2. robot teaching handle according to claim 1, it is characterised in that：The driver interface includes that structure is identical
The first set drive interface and the second set drive interface, the first set drive interface includes first interface, second connects
Mouth, third interface, the 4th interface, the 5th interface and the 6th interface；The first interface, the third interface and the described 5th connect
Mouth constitutes the first steering engine interface in longitudinal arrangement, and the second interface, the 4th interface and the 6th interface are in longitudinal row
Row constitute the second steering engine interface；The first interface and the second interface are in transversely arranged composition first motor interface, described
First interface and the third interface constitute the second motor interface in longitudinal arrangement, and the second interface and the 4th interface are in
Longitudinal arrangement constitutes third motor interface.
3. robot teaching handle according to claim 2, it is characterised in that：The motor reversal button includes the first electricity
Machine reverse button and the second motor reversal button, the first motor reverse button is located at the left end edge of the pedestal, described
Second motor reversal button is located at the right end edge of the pedestal；The motor rotate forward button include first motor rotate forward button and
Second motor rotates forward button, and the first motor rotates forward button and is located above the first motor reverse button, second electricity
Machine rotates forward button and is located at the second motor reversal keys upwards.
4. robot teaching handle according to claim 3, it is characterised in that：The broadcasting button includes that the first broadcasting is pressed
Key and the second broadcasting button, first broadcasting button are located at the right side of the first motor reverse button, and described second plays
Button is located at the left side of the second motor reversal button；The recording button includes that the first recording button and the second recording are pressed
Key, the first recording button are located above first broadcasting button, and described second, which records button, is located at second broadcasting
Keys upwards.
5. robot teaching handle according to claim 3, it is characterised in that：The first set drive interface is located at institute
It states first motor and rotates forward keys upwards, the second set drive interface is located at second motor and rotates forward keys upwards.
6. robot teaching handle according to claim 5, it is characterised in that：The sensor interface includes the first sensing
Device interface and second sensor interface, the first sensor interface are located on the right side of the first set drive interface, and described the
Two sensor interfaces are located on the left of the second set drive interface.
7. robot teaching handle according to claim 6, it is characterised in that：The power interface is located at the pedestal
In the middle part of bottom edge, three position switch is located at the right side of the power interface.
8. robot teaching handle according to claim 7, it is characterised in that：Further include serial interface, the serial ports connects
Mouth is located at the top or left side of the power interface.
9. robot teaching handle according to claim 7, it is characterised in that：The signal receiver interface is located at described
The left side of power interface, the signal projector interface be located at the first sensor interface and the second sensor interface it
Between.
10. robot teaching handle according to claim 1, it is characterised in that：It is set below the first sensor interface
There is first sensor interface indicator, second sensor interface indicator is equipped with below the second sensor interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810683162.8A CN108638077A (en) | 2018-06-27 | 2018-06-27 | A kind of robot teaching handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810683162.8A CN108638077A (en) | 2018-06-27 | 2018-06-27 | A kind of robot teaching handle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108638077A true CN108638077A (en) | 2018-10-12 |
Family
ID=63750106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810683162.8A Pending CN108638077A (en) | 2018-06-27 | 2018-06-27 | A kind of robot teaching handle |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712184A (en) * | 1984-09-12 | 1987-12-08 | Haugerud Albert R | Computer controllable robotic educational toy |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN101833884A (en) * | 2010-05-17 | 2010-09-15 | 博雅创世(北京)智能科技有限公司 | Robot teaching platform |
| CN104917743A (en) * | 2013-03-14 | 2015-09-16 | 罗斯蒙特公司 | Communications unit for industrial process network |
| US20160114478A1 (en) * | 2014-10-24 | 2016-04-28 | Hiwin Technologies Corp. | Robot teaching device |
| CN206432920U (en) * | 2016-12-19 | 2017-08-22 | 榆林学院 | A kind of a variety of motor drivers based on L298N |
-
2018
- 2018-06-27 CN CN201810683162.8A patent/CN108638077A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712184A (en) * | 1984-09-12 | 1987-12-08 | Haugerud Albert R | Computer controllable robotic educational toy |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN101833884A (en) * | 2010-05-17 | 2010-09-15 | 博雅创世(北京)智能科技有限公司 | Robot teaching platform |
| CN104917743A (en) * | 2013-03-14 | 2015-09-16 | 罗斯蒙特公司 | Communications unit for industrial process network |
| US20160114478A1 (en) * | 2014-10-24 | 2016-04-28 | Hiwin Technologies Corp. | Robot teaching device |
| CN206432920U (en) * | 2016-12-19 | 2017-08-22 | 榆林学院 | A kind of a variety of motor drivers based on L298N |
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Application publication date: 20181012 |
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| RJ01 | Rejection of invention patent application after publication |