CN108748167B - Industrial robot demonstrator suitable for single-hand operation - Google Patents
Industrial robot demonstrator suitable for single-hand operation Download PDFInfo
- Publication number
- CN108748167B CN108748167B CN201810926005.5A CN201810926005A CN108748167B CN 108748167 B CN108748167 B CN 108748167B CN 201810926005 A CN201810926005 A CN 201810926005A CN 108748167 B CN108748167 B CN 108748167B
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- holding part
- hand holding
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- 230000001939 inductive effect Effects 0.000 claims description 18
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims 1
- 241000282376 Panthera tigris Species 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003252 repetitive effect 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
Abstract
The invention discloses an industrial robot demonstrator suitable for single-hand operation, which comprises a demonstrator shell; the upper part of the demonstrator shell is provided with a display screen; the lower part is provided with a hand holding part for one-hand operation, a power supply device is arranged in the hand holding part, and the front surface of the hand holding part is provided with a function button, a switch button and a hand wheel button; and the lower end of the hand holding part is also provided with a PG7 adapter. When a worker is placed at the hand holding part, the tension motor switch button at the front end is pressed to start the tension motor to drive the tightening shaft at the upper end to rotate so as to tighten the brace, so that the hand can be tightly pressed, a stable fixing force is given to the hand, the demonstrator can be better held, the hand is not required to be held at any time, the labor is saved, and the condition of hand slipping does not occur in a container under the fastening of the brace, so that the use is more convenient; when the user needs to take off the hand, the tensioning motor is stopped through the switch button.
Description
Technical Field
The invention relates to the field of robot operation equipment, in particular to an industrial robot demonstrator suitable for single-hand operation.
Background
The modern industry is rapidly changing and increasingly complex, continuing with flexible manufacturing, computer integrated manufacturing, fine production and parallel engineering, in production units for future industrial applications, robots are not only required to perform simple repetitive work "tireless" but can also be integrated into manufacturing systems as a highly flexible, open and friendly programmable, reconfigurable manufacturing unit with man-machine interaction functions. The realization of this capability requires the progress of the whole robot technology at the present stage, and a demonstrator is an important item.
The conventional robot demonstrator can be divided into a larger two-hand operation structure and a smaller one-hand operation structure in terms of a simple operation mode; in the prior art, a handle is not usually arranged in a demonstrator operated by one hand, but a back strap of the hand in the vertical direction is arranged on the back of the demonstrator, and when the demonstrator is held by a hand, a certain fixing force is given to the back strap; however, the fixing mode and the instability thereof require that a worker grasp the whole demonstrator at any time when using the demonstrator, which is very laborious, and the worker is likely to easily get out of hand due to perspiration and the like when using the demonstrator, thereby possibly causing safety accidents.
Disclosure of Invention
The invention aims at overcoming the defects in the prior art, and provides an industrial robot demonstrator suitable for single-hand operation, which has the following technical scheme:
an industrial robot teach suitable for single-handed operation, comprising a teach pendant housing; the upper part of the demonstrator shell is provided with a display screen; the lower part is provided with a hand holding part for one-hand operation, a power supply device is arranged in the hand holding part, and the front surface of the hand holding part is provided with a function button, a switch button and a hand wheel button; the lower end of the hand holding part is also provided with a PG7 adapter; the lower end of the back of the hand holding part is provided with a strap, and the upper end of the hand holding part is provided with a V-shaped strap through groove; a transverse mounting plate is also arranged on one side of the upper end of the demonstrator shell; the upper end part of the other side is provided with a vertical mounting plate; the vertical mounting plate extends upwards to the upper end of the demonstrator shell, a tightening shaft is arranged on the vertical mounting plate through a bearing, the tightening shaft is transversely placed, and a driven bevel gear is further arranged at the other end of the tightening shaft; the transverse mounting plate is provided with a tensioning motor which is vertically arranged, a tensioning motor rod of the tensioning motor extends upwards, the tensioning motor rod is also provided with a driving bevel gear, and the driving bevel gear corresponds to the driven bevel gear in position and is installed in a meshed manner; the braces arranged at the lower ends of the hand holding parts extend upwards and then pass through the brace through grooves to be wound on the tightening shafts; the hand holding part is also provided with a tensioning motor switch button of the tensioning motor; and the power supply of the tensioning motor comes from a power supply device in the hand grip.
Preferably, the upper end of the hand holding part is provided with an arc-shaped combining part; the arc-shaped joint part is also provided with a downward concave arc-shaped groove, the inside of the arc-shaped groove is also provided with an inward concave pressing groove, the bottom of the pressing groove is provided with an inductive switch, and the inductive switch is connected with the tensioning motor to control the start and stop of the tensioning motor; an arc pressing plate is arranged in the arc-shaped groove; the arc-shaped pressing plate is provided with a diagonal pressing rod which extends into the pressing groove; the inclined pressure rod is provided with a pressing block; and a pressure-relieving spring is further arranged between the arc-shaped groove and the arc-shaped pressing plate, the arc-shaped pressing plate is ejected out of the arc-shaped groove under the action of the pressure-relieving spring in an original state, and the arc-shaped pressing plate is pressed into the arc-shaped groove after being pressed by external force.
Preferably, the upper end of the back of the hand holding part is also provided with a pressure relieving device; the pressure release device comprises a sleeve, a pressure rod arranged in the sleeve, a pinch roller at the outer end part of the pressure rod and a pressure release spring arranged between the bottom of the sleeve and the inner end part of the pressure rod; the sleeve is installed from the outside of the demonstrator shell to the inside of the demonstrator shell, the compression bar and the pinch roller penetrate into the through groove of the strap, and the strap passes through the pinch roller and is jacked up by the pinch roller.
Preferably, a pressure relief device is further arranged between the strap through groove and the tightening shaft above, the pressure relief device is arranged on the back of the upper end of the demonstrator shell, and the pressure bar and the pressure wheel of the pressure relief device extend outwards to prop against the strap.
Preferably, the inductive switch is a proximity inductive switch and adopts a proximity switch with model number of FD-23/30; the tensioning motor is a 220V alternating current synchronous small-sized speed reducing tensioning motor with the model number of 6IK180 RGU-CFM.
Preferably, the inner side surface of the back strap is also provided with a friction strip with a stripe structure.
The beneficial effects are that: the invention has the following beneficial effects:
(1) According to the invention, the vertically placed tensioning motor and the transversely placed tightening shaft are arranged at the upper end of the demonstrator shell through the vertical and transverse mounting plates, the transmission is realized through the meshed bevel gears, the braces arranged at the lower end of the hand holding part are transitionally arranged on the tightening shaft through the V-shaped back band-pass grooves, so that when a worker is placed at the hand holding part after the arrangement, the tensioning motor switch button at the front end is pressed to start the tensioning motor to drive the tightening shaft at the upper end to rotate so as to tighten the braces, so that the hands can be tightly pressed, a stable fixing force is provided for the hands, the demonstrator can be better held without being held at any time, the labor is saved, and the condition of slipping of the hands is avoided under the fastening of the braces, so that the hand holding device is more convenient to use; when the hand is required to be removed, the tensioning motor is stopped through the switch button;
(2) The arc-shaped pressing plate is arranged in the arc-shaped combining part at one side of the upper end of the hand holding part, the arc-shaped pressing plate jacked by the jacking spring is arranged in the arc-shaped groove, when the hand holding part is used, the original position of the arc-shaped pressing plate is jacked, when the hand holding part is held by the hand, the hand tiger mouth is just pressed against the arc-shaped pressing plate, the arc-shaped pressing plate is pressed into the arc-shaped groove, the corresponding oblique pressing rod and the pressing block are also pressed into the pressing groove, the bottom of the pressing groove is provided with a proximity type inductive switch, and after the pressing block is pressed into the proximity type inductive switch, the inductive switch controls the tensioning motor to be started, and the braces are directly tightened to press the hand; when the hand is required to be taken off, the tiger mouth position is lifted, the arc-shaped pressing plate pops up under the action of the jack-up spring, the tensioning motor is turned off after the inductive switch senses no pressing block, the tensioning force of the brace disappears, the hand can be easily taken off, and the automatic control structure is more convenient and safer to use and does not need to manually start the tensioning function; the arc-shaped groove and the arc-shaped pressing plate of the device are ingenious in arrangement positions, and the positions of the tiger mouth pressed on the hand-holding part when the user holds the device are very convenient, and the device can be arranged on any side, so that the device is convenient for the user who is used to the left hand to use;
(3) The device is also provided with a pressure relief device; the back belt is jacked up through the pinch roller in the pressure relief device, and pinch roller and depression bar are also jacked up through a pressure relief spring, and through the effect of pressure relief spring after the hand is compressed like this, still there is certain pressure relief activity space, can not be fixed mechanically, makes things convenient for the hand to carry out the adjustment of some fine positions, makes the hand have certain activity space after being compressed tightly, increases the comfort level.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a side view of the present invention;
fig. 3 is an enlarged view at a in fig. 1.
Detailed Description
The invention will be further illustrated by the following drawings and specific examples, which are carried out on the basis of the technical solutions of the invention, it being understood that these examples are only intended to illustrate the invention and are not intended to limit the scope of the invention.
As shown in fig. 1, 2 and 3, an industrial robot teach suitable for one-hand operation includes a teach pendant housing 1; the upper part of the demonstrator shell 1 is provided with a display screen 2; the lower part is provided with a hand holding part 3 for one-hand operation, a power supply device is arranged in the hand holding part 3, and the front surface of the hand holding part 3 is provided with a function button 4, a switch button 5 and a hand wheel button 6; the lower end of the hand holding part 3 is also provided with a PG7 adapter 7; the lower end of the back of the hand holding part 3 is provided with a strap 8, and the upper end of the hand holding part 3 is provided with a V-shaped strap through groove 9; a transverse mounting plate 10 is also arranged on one side of the upper end of the demonstrator shell 1; while the upper end part of the other side is provided with a vertical mounting plate 11; the vertical mounting plate 11 extends upwards to the upper end of the demonstrator housing 1, a tightening shaft 13 is arranged on the vertical mounting plate 11 through a bearing 12, the tightening shaft 13 is transversely arranged, and a driven bevel gear 14 is also arranged at the other end of the tightening shaft 13; the transverse mounting plate 10 is provided with a tensioning motor 15 which is vertically arranged, a tensioning motor rod of the tensioning motor 15 extends upwards, and a driving bevel gear 16 is also arranged on the tensioning motor rod, and the driving bevel gear 16 corresponds to the driven bevel gear 14 in position and is installed in a meshed manner; the braces 8 arranged at the lower end of the hand holding part 3 extend upwards and then pass through the braces through grooves 9 to be wound on the tightening shafts 13; the hand holding part 3 is also provided with a tensioning motor switch button 106 of the tensioning motor 15; and the power supply of the tensioning motor 15 comes from the power supply device in the hand grip 3.
The upper end of the hand holding part 3 is provided with an arc-shaped combining part; a downward concave arc groove 17 is also arranged at the arc joint part, a inward concave pressing groove 18 is also arranged in the arc groove 17, a sensing switch 19 is arranged at the bottom of the pressing groove 18, and the sensing switch 19 is connected with the tensioning motor 15 to control the starting and stopping of the tensioning motor 15; an arc pressing plate 20 is arranged in the arc groove 17; the arc-shaped pressing plate 20 is provided with a diagonal pressing rod 21 which extends into the pressing groove 18; the inclined pressure rod 21 is provided with a pressing block 22; and an oblique pressure-reducing spring 23 is further arranged between the arc-shaped groove 17 and the arc-shaped pressing plate 20, under the original state, the arc-shaped pressing plate 20 is ejected out of the arc-shaped groove 17 under the action of the oblique pressure-reducing spring 23, and the arc-shaped pressing plate 20 is pressed into the arc-shaped groove 17 after being pressed by external force.
The upper end of the back of the hand holding part 3 is also provided with a pressure relieving device; the pressure relief device comprises a sleeve 24, a pressure lever 25 arranged in the sleeve 24, a pinch roller 26 at the outer end part of the pressure lever 25 and a pressure relief spring 27 arranged between the bottom of the sleeve 24 and the inner end part of the pressure lever 25; the sleeve 24 is arranged from the outside of the demonstrator shell 1 to the inside thereof, the compression bar 25 and the pinch roller 26 penetrate into the strap through groove 9, the strap 8 passes over the pinch roller 26 and is jacked up by the pinch roller 26.
A pressure relief device is also arranged between the strap through groove 9 and the tightening shaft 13 above, the pressure relief device is arranged on the back of the upper end of the demonstrator shell 1, and a pressure lever 25 and a pressure roller 26 of the pressure relief device extend outwards to prop against the strap 8; the inductive switch 19 is arranged as a proximity inductive switch and adopts a proximity switch with the model number of FD-23/30; the tensioning motor 15 is a 220V alternating current synchronous small-sized speed reducing tensioning motor with the model number of 6IK180 RGU-CFM; the inner side surface of the back strap 8 is also provided with a friction strip 81 with a stripe structure.
According to the invention, the vertically placed tensioning motor and the transversely placed tightening shaft are arranged at the upper end of the demonstrator shell through the vertical and transverse mounting plates, the transmission is realized through the meshed bevel gears, the braces arranged at the lower end of the hand holding part are transitionally arranged on the tightening shaft through the V-shaped back band-pass grooves, so that when a worker is placed at the hand holding part after the arrangement, the tensioning motor switch button at the front end is pressed to start the tensioning motor to drive the tightening shaft at the upper end to rotate so as to tighten the braces, so that the hands can be tightly pressed, a stable fixing force is provided for the hands, the demonstrator can be better held without being held at any time, the labor is saved, and the condition of slipping of the hands is avoided under the fastening of the braces, so that the hand holding device is more convenient to use; when the user needs to take off the hand, the tensioning motor is stopped through the switch button.
The arc-shaped pressing plate is arranged in the arc-shaped combining part at one side of the upper end of the hand holding part, the arc-shaped pressing plate jacked by the jacking spring is arranged in the arc-shaped groove, when the hand holding part is used, the original position of the arc-shaped pressing plate is jacked, when the hand holding part is held by the hand, the hand tiger mouth is just pressed against the arc-shaped pressing plate, the arc-shaped pressing plate is pressed into the arc-shaped groove, the corresponding oblique pressing rod and the pressing block are also pressed into the pressing groove, the bottom of the pressing groove is provided with a proximity type inductive switch, and after the pressing block is pressed into the proximity type inductive switch, the inductive switch controls the tensioning motor to be started, and the braces are directly tightened to press the hand; when the hand is required to be taken off, the tiger mouth position is lifted, the arc-shaped pressing plate pops up under the action of the jack-up spring, the tensioning motor is turned off after the inductive switch senses no pressing block, the tensioning force of the brace disappears, the hand can be easily taken off, and the automatic control structure is more convenient and safer to use and does not need to manually start the tensioning function; the arc-shaped groove and the arc-shaped pressing plate of the device are ingenious in setting positions, and the tiger mouth is pressed at the position of the hand holding part when the hand is held, so that the device is very convenient, can be arranged on any side, and is also convenient for people who get used to the left hand to use.
The device is also provided with a pressure relief device; the back belt is jacked up through the pinch roller in the pressure relief device, and pinch roller and depression bar are also jacked up through a pressure relief spring, and through the effect of pressure relief spring after the hand is compressed like this, still there is certain pressure relief activity space, can not be fixed mechanically, makes things convenient for the hand to carry out the adjustment of some fine positions, makes the hand have certain activity space after being compressed tightly, increases the comfort level.
The above detailed description is only a preferred embodiment of the present invention and is not intended to limit the scope of the claims, but all equivalent changes and modifications that can be made according to the invention as described in the claims are intended to be included in the scope of the invention.
Claims (4)
1. An industrial robot teach suitable for single hand operation, comprising a teach pendant housing (1); the upper part of the demonstrator shell (1) is provided with a display screen (2); the lower part is provided with a hand holding part (3) for one-hand operation, a power supply device is arranged in the hand holding part (3), and the front surface of the hand holding part (3) is provided with a function button (4), a switch button (5) and a hand wheel button (6); the lower end of the hand holding part (3) is also provided with a PG7 adapter (7); the method is characterized in that: the lower end of the back of the hand holding part (3) is provided with a brace (8), and the upper end of the hand holding part (3) is provided with a V-shaped back band-pass groove (9); a transverse mounting plate (10) is also arranged on one side of the upper end of the demonstrator shell (1); the upper end part of the other side is provided with a vertical mounting plate (11); the vertical mounting plate (11) extends upwards to the upper end of the demonstrator shell (1), a tightening shaft (13) is arranged on the vertical mounting plate (11) through a bearing (12), the tightening shaft (13) is transversely placed, and a driven bevel gear (14) is further arranged at the other end of the tightening shaft (13); a tensioning motor (15) which is vertically arranged is arranged on the transverse mounting plate (10), a tensioning motor rod of the tensioning motor (15) extends upwards, a driving bevel gear (16) is also arranged on the tensioning motor rod, and the driving bevel gear (16) corresponds to the driven bevel gear (14) in position and is installed in a meshed manner; the braces (8) arranged at the lower ends of the hand holding parts (3) extend upwards and then pass through the braces through grooves (9) to be wound on the tightening shafts (13); a tensioning motor switch button (106) of the tensioning motor (15) is further arranged on the hand holding part (3); and the power supply of the tensioning motor (15) is from a power supply device in the hand holding part (3);
the upper end of the hand holding part (3) is provided with an arc-shaped combining part; the arc-shaped joint part is also provided with a downward concave arc-shaped groove (17), the inside of the arc-shaped groove (17) is also provided with an inward concave pressing groove (18), the bottom of the pressing groove (18) is provided with an inductive switch (19), and the inductive switch (19) is connected with the tensioning motor (15) to control the starting and stopping of the tensioning motor (15); an arc pressing plate (20) is arranged in the arc groove (17); the arc-shaped pressing plate (20) is provided with a diagonal pressing rod (21) which extends into the pressing groove (18); a pressing block (22) is arranged on the inclined pressing rod (21); an inclined pressure-relieving spring (23) is further arranged between the arc-shaped groove (17) and the arc-shaped pressing plate (20), under the original state, the arc-shaped pressing plate (20) is ejected out of the arc-shaped groove (17) under the action of the inclined pressure-relieving spring (23), and after the arc-shaped pressing plate (20) is pressed by external force, the arc-shaped pressing plate (20) is pressed into the arc-shaped groove (17);
the upper end of the back of the hand holding part (3) is also provided with a pressure relieving device; the pressure relief device comprises a sleeve (24), a pressure lever (25) arranged in the sleeve (24), a pinch roller (26) at the outer end part of the pressure lever (25) and a pressure relief spring (27) arranged between the bottom of the sleeve (24) and the inner end part of the pressure lever (25); the sleeve (24) is installed from the outside of the demonstrator shell (1) to the inside of the demonstrator shell, the compression bar (25) and the pinch roller (26) penetrate into the strap through groove (9), the strap (8) passes through the pinch roller (26) and is jacked up by the pinch roller (26).
2. An industrial robot teach suitable for single hand operation as claimed in claim 1 wherein: and a pressure relieving device is further arranged between the back belt through groove (9) and the tightening shaft (13) above, the pressure relieving device is arranged on the back of the upper end of the demonstrator shell (1), and a pressure rod (25) and a pressure wheel (26) of the pressure relieving device extend outwards to prop against the back belt (8).
3. An industrial robot teach suitable for single hand operation as claimed in claim 1 wherein: the inductive switch (19) is arranged as a proximity inductive switch and adopts a proximity switch with the model number of FD-23/30; the tensioning motor (15) adopts a 220V alternating current synchronous small-sized speed reducing tensioning motor with the model of 6IK180 RGU-CFM.
4. An industrial robot teach suitable for single hand operation as claimed in claim 1 wherein: the inner side surface of the brace (8) is also provided with a friction strip (81) with a stripe structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810926005.5A CN108748167B (en) | 2018-08-15 | 2018-08-15 | Industrial robot demonstrator suitable for single-hand operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810926005.5A CN108748167B (en) | 2018-08-15 | 2018-08-15 | Industrial robot demonstrator suitable for single-hand operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108748167A CN108748167A (en) | 2018-11-06 |
| CN108748167B true CN108748167B (en) | 2024-03-12 |
Family
ID=63969865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810926005.5A Active CN108748167B (en) | 2018-08-15 | 2018-08-15 | Industrial robot demonstrator suitable for single-hand operation |
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| Country | Link |
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| CN (1) | CN108748167B (en) |
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| JPH11242515A (en) * | 1998-02-24 | 1999-09-07 | Yaskawa Electric Corp | Hand-held operation device |
| JP2004122243A (en) * | 2002-09-30 | 2004-04-22 | Yaskawa Electric Corp | One-hand instruction device |
| CN203244063U (en) * | 2013-04-18 | 2013-10-23 | 姚远 | Touch screen mobile phone case convenient for one-hand operation |
| CN105619423A (en) * | 2014-11-21 | 2016-06-01 | 株式会社神户制钢所 | Teaching apparatus used for operation of industrial robot |
| CN206406059U (en) * | 2016-11-30 | 2017-08-15 | 黄冈职业技术学院 | A kind of industrial robot teaching box based on ethernet communication |
| CN207087890U (en) * | 2017-08-07 | 2018-03-13 | 深圳领骏智能科技有限公司 | A kind of Robot remote device |
| CN209078748U (en) * | 2018-08-15 | 2019-07-09 | 江苏华途数控科技有限公司 | A kind of industrial robot teaching device suitable for one-handed performance |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5076996B2 (en) * | 2008-03-19 | 2012-11-21 | オムロンヘルスケア株式会社 | Blood pressure information measuring device |
| US9250652B2 (en) * | 2013-07-02 | 2016-02-02 | Hand Held Products, Inc. | Electronic device case |
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2018
- 2018-08-15 CN CN201810926005.5A patent/CN108748167B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11242515A (en) * | 1998-02-24 | 1999-09-07 | Yaskawa Electric Corp | Hand-held operation device |
| JP2004122243A (en) * | 2002-09-30 | 2004-04-22 | Yaskawa Electric Corp | One-hand instruction device |
| CN203244063U (en) * | 2013-04-18 | 2013-10-23 | 姚远 | Touch screen mobile phone case convenient for one-hand operation |
| CN105619423A (en) * | 2014-11-21 | 2016-06-01 | 株式会社神户制钢所 | Teaching apparatus used for operation of industrial robot |
| CN206406059U (en) * | 2016-11-30 | 2017-08-15 | 黄冈职业技术学院 | A kind of industrial robot teaching box based on ethernet communication |
| CN207087890U (en) * | 2017-08-07 | 2018-03-13 | 深圳领骏智能科技有限公司 | A kind of Robot remote device |
| CN209078748U (en) * | 2018-08-15 | 2019-07-09 | 江苏华途数控科技有限公司 | A kind of industrial robot teaching device suitable for one-handed performance |
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| CN108748167A (en) | 2018-11-06 |
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