CN208681583U - A kind of industrial robot teaching device having feedback function - Google Patents
A kind of industrial robot teaching device having feedback function Download PDFInfo
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- CN208681583U CN208681583U CN201821310160.6U CN201821310160U CN208681583U CN 208681583 U CN208681583 U CN 208681583U CN 201821310160 U CN201821310160 U CN 201821310160U CN 208681583 U CN208681583 U CN 208681583U
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- teaching machine
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- machine shell
- motor
- teaching
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Abstract
The utility model discloses a kind of industrial robot teaching device for having feedback function, including teaching machine shell；The teaching machine housing forward end face is provided with display screen；Display screen two sides are provided with function button, switch button, emergency stop button and handwheel analog buttons；The lower end of teaching machine shell is then provided with PG7 adapter, and the inside of teaching machine shell is then provided with processor and power supply device.The utility model overall structure is very reasonable, position setting is also very ingenious, the inside of handle is set eventually as the shaft that tactile occurs, overall structure is not take up any extra space, the operation of any hand is not interfered, hand can be made to obtain touch feeling to greatest extent again, touch feeling than some oscillatory types is more comfortable, there is a possibility that teaching machine is slipped out of the hand after the tactile generation vibration of oscillatory type, and hand is just not easy to be operated after vibrating, the structure of the utility model more saves space and saves cost, and the comfort level of tactilely-perceptible is also more preferable.
Description
Technical field
The utility model relates to a kind of robotic handling equipment field, specifically a kind of industrial machine for having feedback function
Device people's teaching machine.
Background technique
The quick and various and growing complexity requirement of modern industry, after flexible manufacturing, computer integrated manufacturing system, essence
Good production and concurrent engineering, in the production unit for facing the future industrial application, robot is with not being only required to " untiring "
Carry out simple repeated work, and can as a highly flexible, opening and have friendly human-computer interaction function it is programmable,
Reconfigurable Manufacturing Cell is fused in manufacturing industry system.The realization of this ability require robot technology at this stage it is whole into
Step, teaching machine are exactly wherein important one.
It is most of in existing robot demonstrator not have haptic feedback functions, and application No. is 2013104045647
Authorization utility model patent in haptic device and tactile software degree, which is arranged, allows user to perceive touching is installed on teaching machine
Feel effect, which may be used as in alarm system, can be very good to remind user by tactilely-perceptible；But this skill
A kind of conceptual method for warning user by tactilely-perceptible is merely provided in art, is introduced there is no specific for executing tactile feel
The tactile element known, scheme is sufficiently complete, and user cannot be made to carry out early warning using tactilely-perceptible well.
Utility model content
The purpose of this utility model is in view of the deficienciess of the prior art, providing a kind of industrial machine for having feedback function
Device people's teaching machine, its technical solution is as follows:
A kind of industrial robot teaching device having feedback function, including teaching machine shell；The teaching machine housing forward end face
It is provided with display screen；Display screen two sides are provided with function button, switch button, emergency stop button and handwheel analog buttons；
The lower end of teaching machine shell is then provided with PG7 adapter, and the inside of teaching machine shell is then provided with processor and power supply device；Institute
The upper end for the teaching machine shell stated is set as planar structure, and is horizontally arranged in the upper end of the teaching machine shell removable
The installation sleeve unloaded；The two sides of the installation sleeve reach the outside of teaching machine shell；And the lower end of the teaching machine shell
Two sides are additionally provided with the handle stretched out outward, which is folded upward at is connected with the installation sleeve of two sides afterwards；And the hand
It is also equipped with the tactile that one is vertically arranged on the inside of handle, shaft occurs, and there are gaps between the axis side wall and handle；Described
The lower end that shaft occurs for tactile is mounted on the lower end transverse part of handle by bearing block, and the upper end that shaft occurs for tactile is then protruded into
End is also equipped with a driven wheel of differential into installation sleeve and on it；And two sides are also installed respectively in the installation sleeve
Tactile generation motor；The motor bar that motor occurs for the tactile stretches out outward, and is mounted on the motor bar of two sides
Drive bevel gear；And the drive bevel gear and driven wheel of differential are engagement installation；The tactile occur motor with
The processor of teaching machine enclosure interior is connected, and the power supply of motor occurs for the tactile by the power supply of teaching machine enclosure interior
Device provides.
Preferably, motor, which occurs, for the tactile is set as brake type motor, motor bar is rotated after energization, and no power
When motor bar fix；And the tactile occurs motor and is connected by controller with processor；And in the teaching machine shell
Processor be also connected with haptic events monitoring module and haptic events processing module.
Preferably, combination of the upper end of the installation sleeve and teaching machine shell by the card slot and fixture block of setting
Detachable installation.
Preferably, the spacing between shaft and handle occurs for the tactile at least provided with 5mm；And tactile occurs to turn
4cm-8cm is set as between axis and the side wall of teaching machine shell.
Preferably, the handwheel analog buttons are arranged in teaching machine housing forward end face two sides top position, with holding
Firmly the position of thumb is corresponding after teaching machine.
The utility model has the advantages that the utility model has the following beneficial effects: user is in the teaching machine used in the utility model
When, the position of hand is operated there are two types of the method placed first is that directly holding handle；Second is that inserting a finger into touching
Feel in the gap occurred between shaft and teaching machine shell and is operated；When tactile monitor event monitoring module monitors robot
When movement or the failure of causing danger, processor is transmitted signals to after being handled by haptic events processing module, processor passes through control
Electric motor starting occurs for device control tactile processed, drives tactile that shaft rotation occurs by the transmission of the driving and driven angular wheel of engagement,
The hand of user will experience the rotation of shaft, by the touch feeling, be likely to occur during learning robot operation
Failure or deviation are checked to stop machine；Haptic device is specifically configured to that motor and tactile occurs by tactile
Shaft occurs to realize tactilely-perceptible；Installation sleeve is set in the upper end of teaching machine shell in the utility model；Electricity occurs for tactile
Machine can be very easily arranged in installation sleeve, and the handle being connected as one with installation sleeve is then accordingly arranged in two sides；And
The inside that shaft is then mounted on handle occurs for tactile, realizes that the transmission of shaft occurs for tactile by the engagement of driving and driven bevel gear,
The revolving speed of motor should be arranged relatively slow accordingly herein, it is made to have appropriate comfort level；The utility model overall structure is non-
Normal is reasonable, and position setting is also very ingenious, and the inside of handle is arranged in eventually as the shaft that tactile occurs, and overall structure does not account for
With any extra space, the operation of any hand is not interfered, and hand can be made to obtain touch feeling to greatest extent, than some
The touch feeling of oscillatory type is more comfortable, there is a possibility that teaching machine is slipped out of the hand after the tactile generation vibration of oscillatory type, and after vibration
Hand is just not easy to be operated, and the structure of the utility model more saves space and saves cost, and tactilely-perceptible is easypro
Appropriateness is also more preferable, more convenient to use.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is that processing functional block diagram occurs for the utility model tactile.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the utility model is furtherd elucidate, the present embodiment is with the utility model
Implemented under premised on technical solution, it should be understood that these embodiments are merely to illustrate the utility model rather than limit this reality
With novel range.
As depicted in figs. 1 and 2, a kind of industrial robot teaching device having feedback function, including teaching machine shell 1；It should
1 front end face of teaching machine shell is provided with display screen 2；2 two sides of display screen are provided with function button 3, switch button 4, emergency braking
Button 5 and handwheel analog buttons 6；The lower end of teaching machine shell 1 is then provided with PG7 adapter 7, the inside of teaching machine shell 1
Then it is provided with processor 8 and power supply device；The upper end of the teaching machine shell 1 is set as planar structure, and shows at this
The upper end of religion device shell 1 is horizontally arranged with dismountable installation sleeve 9；The two sides of the installation sleeve 9 reach teaching machine shell
The outside of body 1；And the lower end two sides of the teaching machine shell 1 are additionally provided with the handle 10 stretched out outward, the handle 10 to
It is connected after upper bending with the installation sleeve 9 of two sides；And the inside of the handle 10 is also equipped with a tactile hair being vertically arranged
Raw shaft 11, and there are gaps between the axis side wall and handle 10；The lower end that shaft 11 occurs for the tactile passes through bearing block
12 are mounted on the lower end transverse part of handle 10, and the upper end that shaft 11 occurs for tactile is then extend into installation sleeve 9 and on it
End is also equipped with a driven wheel of differential 13；And two sides are also separately installed with tactile generation motor 14 in the installation sleeve 9；
The motor bar that motor 14 occurs for the tactile stretches out outward, and is mounted on drive bevel gear 15 on the motor bar of two sides；
And the drive bevel gear 15 and driven wheel of differential 13 are engagement installation；Motor 14 and teaching machine occur for the tactile
Processor 8 inside shell 1 is connected, and the power supply of motor 14 occurs for the tactile by the power supply inside teaching machine shell 1
Device provides.
The tactile occurs motor 14 and is set as brake type motor, and motor bar rotates after energization, and motor when no power
Bar is fixed；And the tactile occurs motor 14 and is connected by controller 16 with processor 8；And in the teaching machine shell 1
Processor 8 be also connected with haptic events monitoring module 17 and haptic events processing module 18.
The installation sleeve 9 and the upper end of teaching machine shell 1 are detachable by the combination of the card slot and fixture block of setting
Installation；Spacing between shaft 11 and handle 10 occurs for the tactile at least provided with 5mm；And tactile occurs shaft 11 and shows
It teaches and is set as 4cm-8cm between the side wall of device shell 1.
The handwheel analog buttons 6 are arranged in 1 front end face two sides top position of teaching machine shell, hold teaching machine with hand
The position of thumb is corresponding afterwards.
User is when the teaching machine used in the utility model, the method that there are two types of the positions of hand places, and one
It is directly to hold handle to be operated；Second is that insert a finger into tactile occur in gap between shaft and teaching machine shell into
Row operation；When tactile monitor event monitoring module monitor robot cause danger movement or failure when, handled by haptic events
Processor is transmitted signals to after resume module, processor controls tactile by controller and electric motor starting occurs, and passes through engagement
The transmission of driving and driven angular wheel drives tactile that shaft rotation occurs, and the hand of user will experience the rotation of shaft, pass through
The touch feeling is likely to occur failure or deviation during learning robot operation, is checked to stop machine；Touching
Feel that device is specifically configured to that motor occurs by tactile and shaft occurs for tactile to realize tactilely-perceptible.
Installation sleeve is set in the upper end of teaching machine shell in the utility model；Motor, which occurs, for tactile very easily to set
It sets in installation sleeve, and the handle being connected as one with installation sleeve is then accordingly arranged in two sides；And tactile occurs shaft and then pacifies
Mounted in the inside of handle, realize that the transmission of shaft occurs for tactile by the engagement of driving and driven bevel gear, the revolving speed of motor is answered herein
Corresponding setting is relatively slow, it is made to have appropriate comfort level；The utility model overall structure is very reasonable, position setting
Also very ingenious, the inside of handle is set eventually as the shaft that tactile occurs, overall structure is not take up any extra space,
The operation of any hand is not interfered, and hand can be made to obtain touch feeling to greatest extent, than the touch feeling of some oscillatory types
More comfortable, there is a possibility that teaching machine is slipped out of the hand after the tactile generation vibration of oscillatory type, and hand is just not easy to be grasped after vibration
Make, the structure of the utility model more saves space and saves cost, and the comfort level of tactilely-perceptible is also more preferable, using more
Add conveniently.
Above-mentioned specific embodiment is a preferred embodiment of the utility model, is not practical new for limiting this
The implementation of type and scope of the claims, it is all made according to content described in present utility model application scope of patent protection it is equivalent
Variation and modification, should be included in the utility model patent application range.
Claims (5)
1. a kind of industrial robot teaching device for having feedback function, including teaching machine shell (1)；Before the teaching machine shell (1)
End face is provided with display screen (2)；Display screen (2) two sides are provided with function button (3), switch button (4), emergency stop button
(5) and handwheel analog buttons (6)；The lower end of teaching machine shell (1) is then provided with PG7 adapter (7), teaching machine shell (1)
Inside be then provided with processor (8) and power supply device；It is characterized by: the upper end of the teaching machine shell (1) is arranged
For planar structure, and dismountable installation sleeve (9) are horizontally arranged in the upper end of the teaching machine shell (1)；The installation
The two sides of sleeve (9) reach the outside of teaching machine shell (1)；And the lower end two sides of the teaching machine shell (1) are also set up
There is the handle (10) stretched out outward, which is folded upward at is connected with the installation sleeve of two sides (9) afterwards；And the hand
Be also equipped with the tactile that is vertically arranged on the inside of handle (10) and shaft (11) occur, and between the axis side wall and handle (10) there are
Gap；The lower end that shaft (11) occur for the tactile is mounted on the lower end transverse part of handle (10) by bearing block (12), and
The upper end that shaft (11) occur for tactile is then extend into installation sleeve (9) and end is also equipped with a driven wheel of differential on it
(13)；And described installation sleeve (9) the interior two sides are also separately installed with tactile and motor (14) occur；Motor occurs for the tactile
(14) motor bar stretches out outward, and drive bevel gear (15) are mounted on the motor bar of two sides；And the master
Dynamic bevel gear (15) and driven wheel of differential (13) are engagement installation；Motor (14) and teaching machine shell (1) occur for the tactile
Internal processor (8) is connected, and the power supply of motor (14) occurs for the tactile by the power supply of teaching machine shell (1) inside
Device provides.
2. a kind of industrial robot teaching device for having feedback function according to claim 1, it is characterised in that: described
Tactile occurs motor (14) and is set as brake type motor, and motor bar rotates after energization, and motor bar is fixed when no power；And it is described
Tactile motor (14) occur be connected with processor (8) by controller (16)；And the processing in the teaching machine shell (1)
Device (8) is also connected with haptic events monitoring module (17) and haptic events processing module (18).
3. a kind of industrial robot teaching device for having feedback function according to claim 1, it is characterised in that: described
Installation sleeve (9) and the upper end of teaching machine shell (1) are detachably installed by the combination of the card slot and fixture block of setting.
4. a kind of industrial robot teaching device for having feedback function according to claim 1, it is characterised in that: described
Spacing between shaft (11) and handle (10) occurs for tactile at least provided with 5mm；And shaft (11) and teaching machine occur for tactile
4cm-8cm is set as between the side wall of shell (1).
5. a kind of industrial robot teaching device for having feedback function according to claim 1, it is characterised in that: described
Handwheel analog buttons (6) setting holds thumb after teaching machine in teaching machine shell (1) front end face two sides top position, with hand
Position is corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821310160.6U CN208681583U (en) | 2018-08-15 | 2018-08-15 | A kind of industrial robot teaching device having feedback function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821310160.6U CN208681583U (en) | 2018-08-15 | 2018-08-15 | A kind of industrial robot teaching device having feedback function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208681583U true CN208681583U (en) | 2019-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821310160.6U Active CN208681583U (en) | 2018-08-15 | 2018-08-15 | A kind of industrial robot teaching device having feedback function |
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| Country | Link |
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| CN (1) | CN208681583U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748111A (en) * | 2018-08-15 | 2018-11-06 | 江苏华途数控科技有限公司 | A kind of industrial robot teaching device having feedback function |
-
2018
- 2018-08-15 CN CN201821310160.6U patent/CN208681583U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748111A (en) * | 2018-08-15 | 2018-11-06 | 江苏华途数控科技有限公司 | A kind of industrial robot teaching device having feedback function |
| CN108748111B (en) * | 2018-08-15 | 2024-02-02 | 江苏华途数控科技有限公司 | Industrial robot demonstrator with feedback function |
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