CN210639855U

CN210639855U - Demonstrator and automatic working system

Info

Publication number: CN210639855U
Application number: CN201921176323.0U
Authority: CN
Inventors: 余刚; 李伊君; 魏佳欣; 胡飞鹏; 朱钦炜
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2019-07-23
Filing date: 2019-07-23
Publication date: 2020-05-29
Anticipated expiration: 2029-07-23

Abstract

The utility model relates to a demonstrator and automatic working system, the demonstrator includes the casing, locates controller and variable resistance and the embedding that just mutual electricity is connected are located in the casing and with the operation gyro wheel that variable resistance connects in the casing. Realized rotating the response that the operation gyro wheel can arouse the controller from the outside, the rotation of the difference of operation gyro wheel is corresponding to the response of the difference of controller, different responses can control the religion equipment and carry out different actions, the operation is direct, convenient, accurate, stable, can operate by one hand, the problem of the accident that can not in time handle that the operation of having avoided both hands caused, and operation gyro wheel and variable resistance occupation space are little, low in manufacturing cost, other part installations for the demonstrator provide convenience.

Description

Demonstrator and automatic working system

Technical Field

The utility model relates to a remote control technical field especially relates to a demonstrator and automatic work system.

Background

Along with the development of social science and technology, industrial robot's application is more and more extensive, and industrial robot's effect is not only limited to improving production efficiency, alleviateing some workman's intensity of labour, and some complicated, accurate work that depend on the manual work to be difficult to accomplish can also be accomplished to the robot, guarantees processingquality. The robot needs to be controlled by a demonstrator, the existing demonstrator basically controls the robot to move by a + key, a-key or a + key and a-key on a keyboard arranged on a system, and a rocker controls the robot to move, but the two methods in the prior art need to use two hands to operate simultaneously, are inconvenient to operate and cannot be pressed down to stop at the fastest speed in emergency; the mode of controlling with the rocker, manufacturing cost is higher, and the rocker is comparatively taken up demonstrator space moreover.

Therefore, it is desirable to provide a teach pendant and automatic work system that addresses the deficiencies of the prior art.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, the utility model provides a demonstrator and automatic working system.

The teaching aid comprises a shell, a controller and a variable resistor which are arranged in the shell and electrically connected with each other, and an operation roller which is embedded in the shell and connected with the variable resistor.

Further, one side of the shell is inwards sunken to form a groove for holding.

Furthermore, the operation roller is arranged on one side of the shell, which is provided with the groove.

Further, the surface of casing still be equipped with respectively with liquid crystal display and the touch-sensitive screen that the controller electricity is connected, the liquid crystal display with the touch-sensitive screen laminates each other and locates the embedding of casing is equipped with the one side of operation gyro wheel.

Furthermore, the emergency stop device also comprises an emergency stop operating key embedded in the shell, and the emergency stop operating key and the operating roller are embedded in the same surface of the shell.

Furthermore, the device also comprises a mode selection switch embedded in the shell, and the mode selection switch and the operation roller are embedded in the same surface of the shell.

Further, the part of the operating roller, which leaks out of the shell, can be operated, and the resistance value of the variable resistor can be adjusted through the rotation of the operating roller;

the controller may generate a control command according to a variation in the resistance value of the variable resistor.

Furthermore, the variable resistor is provided with an adjusting column used for adjusting the resistance value through rotation, one end of the adjusting column is provided with circumferential first teeth, the operation roller is provided with circumferential second teeth, the first teeth are meshed with the second teeth, and the operation roller can drive the adjusting column to rotate when rotating.

Furthermore, the variable resistor comprises a shaft body, a fixed disc fixedly sleeved on the shaft body and a rotating disc rotatably sleeved on the shaft body;

the side wall of the fixed disc comprises an insulation section and a resistance section, a resistance wire is fixedly attached to the resistance section, a connecting needle is arranged on the rotating disc, and one end of the connecting needle is attached to the resistance wire and can rotate along with the rotating disc;

the other end of the adjusting column is provided with threads, the side wall of the rotating disc is provided with third circumferential teeth, the threads of the adjusting column are meshed with the third teeth, and the rotating disc can be driven to rotate when the adjusting column rotates;

the other end of the connecting needle is connected with the controller, one end of the resistance wire is grounded, and the other end of the resistance wire is connected with the power supply.

Further, the variable resistor comprises a resistor shell and a first terminal, a second terminal and a third terminal which penetrate through the side wall of the resistor shell;

the shaft body, the fixed disc and the rotating disc are all arranged in the resistor shell, one end of the adjusting column is arranged outside the resistor shell, and the other end of the adjusting column is arranged in the resistor shell;

one end of the first wiring terminal is connected with one end of the resistance wire, the other end of the first wiring terminal is grounded, one end of the second wiring terminal is connected with the other end of the resistance wire, the other end of the second wiring terminal is connected with the power supply, one end of the third wiring terminal is connected with the other end of the connecting needle, and the other end of the third wiring terminal is connected with the controller.

Further, the ratio of the length of the insulating section to the length of the side wall of the fixed disk is 1:360-5: 360.

Furthermore, the outer side of the insulating section is provided with a pointed bulge.

Furthermore, the diapire of casing is equipped with two installation ears that are parallel to each other, two the fixed axis of rotation that is equipped with between the installation ear, the operation gyro wheel cover is located in the axis of rotation, the operation gyro wheel is kept away from the one end of diapire runs through the roof of casing.

Based on the same invention thought, the utility model also provides an operation method of the demonstrator, the operation method comprises the following steps:

acquiring a mode option and a resistance value change parameter of the variable resistor;

determining a control command according to the mode option and the resistance value change parameter;

and executing the control command.

Further, the determining a control command according to the option and the resistance value variation parameter includes:

when the mode option is brightness adjustment and the resistance value change parameter is a first direction, determining a brightness increasing command;

when the mode option is brightness adjustment and the resistance value change parameter is a second direction, determining a brightness reduction command;

when the mode option is selected axis adjustment of the taught equipment and the resistance value change parameter is a first direction, determining a forward rotation command;

a reverse command is determined when the mode option is a selected axis adjustment of the taught device and the resistance value change parameter is a second direction.

Further, the operation method further comprises:

obtaining an emergency stop operation;

generating an emergency stop command;

and executing the emergency stop command.

Based on the same invention thought, the utility model also provides an operation system of demonstrator, operation system includes:

the acquisition module is used for acquiring the mode options and the resistance value change parameters of the variable resistor;

the command module is used for determining a control command according to the mode option and the resistance value change parameter;

an execution module to execute the control command.

Based on the same invention thought, the utility model also provides an automatic working system, include the demonstrator, demonstrator operating system and receive the teaching equipment of demonstrator control.

The technical scheme of the utility model compare with closest prior art and have following advantage:

the utility model provides a demonstrator, inlay the operation gyro wheel of establishing in the casing through the setting, operating personnel can rotate the operation gyro wheel from the casing outside, the operation gyro wheel is connected with variable resistance, and variable resistance is connected with the controller electricity again, realized rotating the response that the operation gyro wheel can arouse the controller from the outside, the rotation of the difference of operation gyro wheel corresponds to the response of the difference of controller, different responses can control the action that the taught equipment carries out the difference, it is direct to operate, convenient, it is accurate, and stable, can operate by one hand, the problem of the unable timely processing accident condition that has avoided the bimanualness to cause, and operation gyro wheel and variable resistance occupation space are little, low in manufacturing cost, other part installations for the demonstrator provide convenience.

Drawings

Fig. 1 is an external structural schematic diagram of a demonstrator provided by the present invention;

fig. 2 is a schematic diagram of an internal structure of the demonstrator provided by the present invention;

fig. 3 is a schematic connection diagram of the variable resistor provided by the present invention;

fig. 4 is a schematic structural view of the varistor provided by the present invention with the top surface and the rotating disc removed;

fig. 5 is a top view of the varistor provided in the present invention with the top surface and the rotating disc removed;

fig. 6 is a schematic structural diagram of a varistor provided in the present invention with the top surface removed;

fig. 7 is a top view of a varistor provided in accordance with the present invention with the top surface removed;

fig. 8 is a schematic structural diagram of a rotary disk provided by the present invention;

fig. 9 is a schematic structural diagram of a connecting rod provided by the present invention;

fig. 10 is a flowchart of an operation method of the teaching device provided by the present invention.

Wherein, 1-shell; 2-operating the roller; 3-a groove; 4-a touch screen; 5-a liquid crystal screen; 6-emergency stop operation key; 7-mode selection switch; 8-binding tapes; 9-a bottom wall; 10-a variable resistance; 11-a conditioning column; 12-a resistive housing; 13-a first terminal; 14-a second terminal; 15-a third terminal; 16-mounting ears; 17-a rotating shaft; 18-a controller; 19-connecting needles; 20-a power supply; 21-resistance wire; 22-a shaft body; 23-fixing the disc; 24-pointed protrusions; 25-a wire; 26-a first tooth; 27-threads; 28-a rotating disc; 29-third tooth; 30-a connecting rod; 31-contact.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "second," "first," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail with reference to the accompanying examples and figures 1-10. Fig. 1 is an external structural schematic diagram of a demonstrator provided by the present invention; fig. 2 is a schematic diagram of an internal structure of the demonstrator provided by the present invention; fig. 3 is a schematic connection diagram of the variable resistor provided by the present invention; fig. 4 is a schematic structural view of the varistor provided by the present invention with the top surface and the rotating disc removed; fig. 5 is a top view of the varistor provided in the present invention with the top surface and the rotating disc removed; fig. 6 is a schematic structural diagram of a varistor provided in the present invention with the top surface removed; fig. 7 is a top view of a varistor provided in accordance with the present invention with the top surface removed; fig. 8 is a schematic structural diagram of a rotary disk provided by the present invention; fig. 9 is a schematic structural diagram of a connecting rod provided by the present invention; and fig. 10 is a flowchart of an operation method of the teaching machine according to the present invention.

The utility model provides a demonstrator, include casing 1, locate in the casing 1 and mutual electric connection's controller 18 and variable resistance 10 and inlay and locate in the casing 1 and with the operation gyro wheel 2 that variable resistance 10 connects.

Inlay the operation gyro wheel 2 of establishing in casing 1 through the setting, operating personnel can rotate operation gyro wheel 2 from casing 1 outside, operation gyro wheel 2 is connected with variable resistance 10, and variable resistance 10 is connected with controller 18 electricity again, controller 18 is the main control board in the demonstrator promptly, also be Central Processing Unit (CPU), realized rotating operation gyro wheel 2 from the outside and arousing the response of controller, the rotation of operation gyro wheel 2's difference is corresponding to the different response of controller 18, different responses can be controlled by the control and taught the equipment and carry out different actions, direct operation, convenient, accurate, stable, can operate by one hand, the problem of the unable timely processing accident situation that the operation of both hands caused has been avoided, and operation gyro wheel 2 and variable resistance 10 occupation space are little, low in manufacturing cost, other part installations for the demonstrator provide convenience.

In some embodiments of the present invention, one side of the housing 1 is recessed inward to form a groove 3 for holding. The application provides a demonstrator, can realize one-hand operation demonstrator through setting up of operation gyro wheel 2, and set up recess 3 with one side of demonstrator, can further improve the convenience of one-hand operation, one hand in left hand or the right hand can directly be put casing 1 to the demonstrator in recess 3 and grip, the stability of one-hand operation has been increased, in order to further improve the security of operation, can also fix group ribbon at the both ends of casing 1's diapire 9, bind up 8 bandage during the operation on being used for gripping the hand of demonstrator, demonstrator landing in case from the hand, be unlikely to fall to bump and arouse the damage.

In some embodiments of the present invention, the operating roller 2 is disposed inside the housing 1 where the groove 3 is disposed. When an operator holds the teaching device by one hand in the groove 3, the thumb of the operator is placed on the top wall of the shell 1, the operation roller 2 is arranged on the inner side of the groove 3, namely, the position of the operator is placed on the thumb, the axial direction of the operation roller 2 is perpendicular to the groove 3, the thumb can rotate conveniently, the operation roller 2 is further improved in operation convenience, and the teaching device can be operated by one hand more reliably.

In some embodiments of the present invention, the surface of the casing 1 is further provided with a liquid crystal screen 5 and a touch screen 4 respectively electrically connected to the controller 18, the liquid crystal screen 5 and the touch screen 4 are mutually attached and located the embedding of the casing 1 is provided with the one surface of the operating roller 2. The liquid crystal display 5 and the touch screen 4 enable the demonstrator to be operated through the touch screen 4, because the demonstrator has more operation and debugging functions, only some main operations can be performed through the operation roller 2 and the variable resistor 10, other additional functions and operations are realized by the touch screen 4, and the operation roller 2 and the variable resistor 10 mainly operate the display brightness of the screen and the forward and backward movement of the taught equipment; the liquid crystal screen 5 and the touch screen 4 are arranged from the top wall surface of the shell 1 to the top in sequence, and protective glass can be arranged on the outer side of the touch screen 4.

The utility model discloses an in some embodiments, still including inlay locate emergency stop operating key 6 in the casing 1, emergency stop operating key 6 with operating roller 2 inlays to be located on the same face of casing 1. The controller 18 can be operated by the emergency stop operation key 6, so that the controller 18 can suspend other command generation, and an emergency stop command is preferentially generated to control the taught equipment to stop running, for example, when the controller 18 runs, the robot is in accident or failure, the robot can be immediately stopped running by the emergency stop button, and then the accident is repaired or treated.

In some embodiments of the present invention, the device further comprises a mode selection switch 7 embedded in the housing 1, wherein the mode selection switch 7 and the operation roller 2 are embedded in the same plane of the housing 1. As described above, the operation roller 2 can only perform several major operations, such as adjusting the brightness of the display screen and controlling the movement of the taught device, the mode selection switch 7 can select the operation options of the operation roller 2, i.e., can switch between the adjustment of the brightness of the display screen and the movement of the taught device, in order to prevent operation accidents caused by no collision during the operation process, the mode selection switch 7 can be set in a lock shape, and the operation options can be switched by inserting a specific key into the lock-shaped switch to rotate. The current demonstrator does not have the function of adjusting display screen luminance, and the demonstrator that can adjust display screen luminance at present adjusts display screen luminance and all calls out the inside bar progress bar of system through touch-sensitive screen 4 and adjusts luminance, and it is not very convenient to operate, adjusts the luminance of display screen through the rotation of operation gyro wheel 2 in this application, and the simple operation responds rapidly.

In some embodiments of the present invention, the part of the operating roller 2 that leaks out of the housing 1 can be operated and the rotation of the operating roller 2 can adjust the resistance value of the variable resistor 10; the controller 18 may generate a control command according to a change in the resistance value of the variable resistor 10. Operating personnel can rotate the operation gyro wheel from the casing outside, and the resistance value of variable resistance has then been adjusted in the rotation of operation gyro wheel, and the resistance value change of variable resistance can cause the controller to generate different control command again, realizes promptly that the operation gyro wheel can generate different control command from the outside rotation, and different control command can control the action of being taught equipment and carry out the difference.

The utility model discloses an in some embodiments, variable resistance 10 is equipped with the regulation post 11 that is used for adjusting the resistance value through the rotation, the one end of adjusting post 11 is equipped with the first tooth 26 of circumference, operation gyro wheel 2 is equipped with the second tooth of circumference, first tooth 26 with the meshing of second tooth, can drive when operation gyro wheel 2 is rotatory adjust post 11 is rotatory. The rotation of the operation roller 2 is used for triggering the resistance value of the variable resistor 10 to change, so that the resistance value acquired by the controller 18 changes, and further a control command is generated according to the changed specific parameters. The resistance value of the general variable resistor 10 cannot be directly adjusted through the operation roller 2, so that the variable resistor 10 in the present application is provided with the adjusting column 11 for adjusting the resistance value, and the adjusting column 11 is meshed with the operation roller 2, so that the resistance value of the variable resistor 10 can be directly adjusted through the operation roller 2, and convenience is provided for converting the rotation of the operation roller 2 into a control command.

In some embodiments of the present invention, the variable resistor 10 includes a shaft 22, a fixed disc 23 fixed on the shaft 22, and a rotating disc 28 rotatably sleeved on the shaft 22; the side wall of the fixed disc 23 comprises an insulation section and a resistance section, a resistance wire 21 is fixedly attached to the resistance section, a connecting needle 19 is arranged on the rotating disc 28, and one end of the connecting needle 19 is attached to the resistance wire 21 and can rotate along with the rotating disc 28; the other end of the adjusting column 11 is provided with a thread 27, the side wall of the rotating disc 28 is provided with a circumferential third tooth 29, the thread 27 of the adjusting column 11 is meshed with the third tooth 29, and the rotating disc 28 can be driven to rotate when the adjusting column 11 rotates; the other end of the connecting needle 19 is connected with the controller 18, one end of the resistance wire 21 is grounded, and the other end of the resistance wire 21 is connected with the power supply 20. The controller 18 can recognize the voltage of the connecting pin 19, when the connecting pin 19 rotates along with the rotating disc 28, the connecting position of the connecting pin 19 and the resistance wire 21 changes, the voltage of the connecting pin 19 changes, and the controller 18 can know the rolling direction of the roller by recognizing whether the voltage is larger or smaller, so as to generate a corresponding control command. When the inner part of the adjustable resistor is adjusted to be a limit value, the connecting pin 19 continuously rotates along with the turntable, the resistance value returns to another limit value again, and then the resistance value continuously changes, namely when the operating roller 2 is rotated according to the first direction, the voltage of the connecting pin 19 is 0V, the operating roller 2 is continuously rolled according to the same direction, the voltage can become a maximum value (for example, 5V), when the operating roller 2 is rotated according to the second direction, the voltage of the connecting pin 19 is a maximum value (for example, 5V), the operating roller 2 is continuously rolled according to the same direction, the voltage can become 0V, the controller 18 can identify sudden change of the voltage, the variable resistor 10 can enable the roller to continuously roll without position limitation, the operation convenience is greatly increased, an operator does not need to observe the position of the operating roller 2, and can operate under the condition of no observation, so that the eyes can observe the brightness of the screen or the action of the taught equipment; in order to firmly fix the resistance wire 21, an installation clamping groove matched with the resistance wire 21 can be arranged on the resistance section of the side wall of the fixed disk 23, and the depth of the installation clamping groove is smaller than the thickness of the resistance, so that the resistance wire 21 can protrude out of the side wall of the fixed disk 23 after being installed in the installation clamping groove, and the connection needle 19 is convenient to be attached to the resistance wire 21; the connecting pin 19 is made of a relatively thin conductor and has a certain elasticity.

In some embodiments of the present invention, the variable resistor 10 includes a resistor housing 12 and a first terminal 13, a second terminal 14, and a third terminal 15 that extend through a sidewall of the resistor housing 12; the shaft body 22, the fixed disc 23 and the rotating disc 28 are all arranged in the resistor shell 12, one end of the adjusting column 11 is arranged outside the resistor shell 12, and the other end of the adjusting column 11 is arranged in the resistor shell 12; one end of the first terminal 13 is connected with one end of the resistance wire 21, the other end of the first terminal 13 is grounded, one end of the second terminal 14 is connected with the other end of the resistance wire 21, the other end of the second terminal 14 is connected with the power supply 20, one end of the third terminal 15 is connected with the other end of the connecting pin 19, and the other end of the third terminal 15 is connected with the controller 18. Specifically, one end of the first terminal 13 in the resistance housing 12 is connected to one end of the resistance wire 21 through a wire 25, one end of the second terminal 14 in the resistance housing 12 is connected to the other end of the resistance wire 21, one end of the third terminal 15 in the resistance housing 12 is first connected to a connecting rod 30 which is arranged on the inner wall of the resistance housing 12 and is parallel to the rotary disc 28 through a wire 25, a contact 31 is arranged on one side of the connecting rod 30 close to the rotary disc 28, the contact 31 abuts against and is connected to the surface of the rotary disc 28, the contact 31 is always connected to the rotary disc 28 during the rotation of the rotary disc 28, and the resistance wire 21, the connecting pin 19, the rotary disc 28, the contact 31, the connecting rod 30, the wire 25 and the third terminal 15 are sequentially connected. The arrangement of the housing 1 and the three terminals facilitates the overall installation of the variable resistor 10, the convenience of wiring the variable resistor 10, and the stability of connection and conduction after wiring.

In some embodiments of the present invention, the ratio of the length of the insulating section to the length of the side wall of the fixed disk 23 is 1:360 to 5: 360. The resistance wire 21 is arranged on the side wall of the fixed disk 23, but the resistance wire 21 is not closed, i.e. both ends are respectively arranged on both sides of the insulating section, and the insulating section is only used for preventing the resistance wire 21 from being closed, so that the length of the insulating section is not too large, and occupies about 1/360-5/360 of the length of the side wall of the fixed disk 23.

In some embodiments of the present invention, the insulation section is provided with a pointed protrusion 24 on the outside. When the connection needle 19 slides over the insulation section, the situation that the continuous resistance value is 0 occurs, so that the resistance value is unchanged, the voltage of the connection needle 19 acquired by the controller 18 is also unchanged, the controller 18 cannot generate a control command, the pointed protrusion 24 is arranged on the outer side of the insulation section, the connection needle 19 cannot stay in the insulation section and can quickly slide over the insulation section, the time that the resistance value is unchanged, namely the voltage is unchanged, is shortened, and the controller 18 can generate the control command at any time; but also the elasticity of the connecting pin 19 enables it to pass smoothly over the pointed projection 24.

In some embodiments of the present invention, two mounting lugs 16 parallel to each other are disposed on the bottom wall 9 of the housing 1, two rotating shafts 17 are fixedly disposed between the mounting lugs 16, the operating roller 2 is sleeved on the rotating shafts 17, and the operating roller 2 is kept away from one end of the bottom wall 9 and runs through the top wall of the housing 1. The rotating shaft 17 and the operating roller 2 can be connected through a bearing, so that friction between the rotating shaft and the operating roller during relative rotation is reduced, and smoothness of relative rotation is improved.

Based on the same invention thought, the utility model also provides an operation method of the demonstrator, the operation method comprises the following steps: s1, acquiring the mode options and the resistance value change parameters of the variable resistor; s2, determining a control command according to the mode option and the resistance value change parameter; and S3, executing the control command.

By acquiring the mode options and the resistance value change parameters of the variable resistor, the resistance value change parameters are changed into larger values or smaller values, the larger values and the smaller values correspond to different control commands in each mode, and the larger values and the smaller values also correspond to the forward rotation and the reverse rotation of the operation roller, so that the forward rotation or the reverse rotation of the operation roller corresponds to different control commands in each mode; and selecting the mode option to be adjusted, and then rotating the operation roller according to the corresponding relation to perform the required adjustment action.

In some embodiments of the present invention, the determining a control command according to the option and the resistance value variation parameter includes: when the mode option is brightness adjustment and the resistance value change parameter is a first direction, determining a brightness increasing command; when the mode option is brightness adjustment and the resistance value change parameter is a second direction, determining a brightness reduction command; when the mode option is selected axis adjustment of the taught equipment and the resistance value change parameter is a first direction, determining a forward rotation command; a reverse command is determined when the mode option is a selected axis adjustment of the taught device and the resistance value change parameter is a second direction. The first direction is one of a positive direction and a negative direction, and the second direction is the other of the positive direction and the negative direction. When the selected mode is brightness adjustment, the brightness of the display screen can be controlled by rotating the operation roller, and the rotating direction of the operation roller corresponds to the changing direction of the brightness, for example, if the operation roller rotates in the forward direction, the brightness of the display screen is increased, and if the operation roller rotates in the reverse direction, the brightness of the display screen is decreased; when the selected mode is the selected axis adjustment of the taught device, the rotation direction of the selected axis is controlled by the rotation of the operation roller, the selection of the selected axis adjustment mode of the taught device is more than the selection of the brightness adjustment mode by one step, specifically, the selected axis adjustment option of the taught device is selected through the mode selection switch, and the axis of the specifically controlled taught device is selected through entering the control system through the display screen. As for the front and back sequence of the shaft to be controlled selected by the display screen and the selected shaft adjusting option of the taught equipment selected by the mode selection switch, no certain requirement exists, the shaft and the selected shaft can be operated first, the operation roller is rotated as long as the operation of the shaft and the selected shaft is finished, and the selected shaft is rotated forwardly or reversely according to the rotating direction of the operation roller.

In some embodiments of the present invention, the method of operation further comprises: obtaining an emergency stop operation; generating an emergency stop command; and executing the emergency stop command. And the priority of the emergency stop operation is highest, and after the controller acquires the emergency stop operation, all control command generation and execution processes are stopped, and then the emergency stop command is generated and executed.

Based on the same invention thought, the utility model also provides an operation system of demonstrator, operation system includes: the acquisition module is used for acquiring the mode options and the resistance value change parameters of the variable resistor; the command module is used for determining a control command according to the mode option and the resistance value change parameter; an execution module to execute the control command.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.

For a software implementation, the techniques described herein may be implemented by means of units performing the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The teaching aid is characterized by comprising a shell (1), a controller (18) and a variable resistor (10) which are arranged in the shell (1) and electrically connected with each other, and an operation roller (2) which is embedded in the shell (1) and connected with the variable resistor (10).

2. The teach pendant of claim 1, wherein one side of the housing (1) is recessed inwardly to form a recess (3) for gripping.

3. The teach pendant according to claim 2, wherein the operation roller (2) is provided on a side of the housing (1) where the groove (3) is provided.

4. The demonstrator according to claim 1, wherein the surface of the casing (1) is further provided with a liquid crystal screen (5) and a touch screen (4) which are respectively electrically connected with the controller (18), and the liquid crystal screen (5) and the touch screen (4) are attached to each other and are arranged on the surface of the casing (1) where the operation roller (2) is embedded.

5. The demonstrator according to claim 1, further comprising an emergency stop operation key (6) embedded in the housing (1) and electrically connected to the controller (18), wherein the emergency stop operation key (6) and the operation roller (2) are embedded on the same surface of the housing (1).

6. The demonstrator according to claim 1, further comprising a mode selection switch (7) embedded in the housing (1) and electrically connected to the controller (18), wherein the mode selection switch (7) and the operation roller (2) are embedded on the same surface of the housing (1).

7. The teach pendant of claim 1, wherein a portion of the operating roller (2) that leaks out of the housing (1) is accessible for operation and rotation of the operating roller (2) adjusts a resistance value of the variable resistor (10);

the controller (18) may generate a control command according to a change in the resistance value of the variable resistor (10).

8. The demonstrator according to claim 7, wherein the variable resistor (10) is provided with an adjusting column (11) for adjusting the resistance value by rotation, one end of the adjusting column (11) is provided with a circumferential first tooth (26), the operating roller (2) is provided with a circumferential second tooth, the first tooth (26) and the second tooth are meshed, and the operating roller (2) can drive the adjusting column (11) to rotate when rotating.

9. The demonstrator according to claim 8, wherein the variable resistor (10) comprises a shaft body (22), a fixed disc (23) fixedly sleeved on the shaft body (22), and a rotating disc (28) rotatably sleeved on the shaft body (22);

the side wall of the fixed disc (23) comprises an insulation section and a resistance section, a resistance wire (21) is fixedly attached to the resistance section, a connecting needle (19) is arranged on the rotating disc (28), and one end of the connecting needle (19) is attached to the resistance wire (21) and can rotate along with the rotating disc (28);

the other end of the adjusting column (11) is provided with a thread (27), the side wall of the rotating disc (28) is provided with a circumferential third tooth (29), the thread (27) of the adjusting column (11) is meshed with the third tooth (29), and the rotating disc (28) can be driven to rotate when the adjusting column (11) rotates;

the other end of the connecting needle (19) is connected with the controller (18), one end of the resistance wire (21) is grounded, and the other end of the resistance wire (21) is connected with the power supply (20).

10. The teach pendant of claim 9, wherein the variable resistor (10) comprises a resistor housing (12) and a first terminal (13), a second terminal (14) and a third terminal (15) extending through a sidewall of the resistor housing (12);

the shaft body (22), the fixed disc (23) and the rotating disc (28) are all arranged in the resistor shell (12), one end of the adjusting column (11) is arranged outside the resistor shell (12), and the other end of the adjusting column (11) is arranged in the resistor shell (12);

one end of the first terminal (13) is connected with one end of the resistance wire (21), the other end of the first terminal (13) is grounded, one end of the second terminal (14) is connected with the other end of the resistance wire (21), the other end of the second terminal (14) is connected with the power supply (20), one end of the third terminal (15) is connected with the other end of the connecting needle (19), and the other end of the third terminal (15) is connected with the controller (18).

11. The teach pendant of claim 9, wherein the ratio of the length of the insulating section to the length of the side wall of the stationary disk (23) is 1:360-5: 360.

12. The teach pendant of claim 9, wherein the insulating segment is provided with a pointed protrusion (24) on the outside.

13. The demonstrator according to any one of claims 1 to 12, wherein two parallel mounting lugs (16) are arranged on the bottom wall (9) of the casing (1), a rotation shaft (17) is fixedly arranged between the two mounting lugs (16), the operation roller (2) is sleeved on the rotation shaft (17), and one end of the operation roller (2) far away from the bottom wall (9) penetrates through the top wall of the casing (1).

14. An automatic work system comprising the teach pendant of any one of claims 1 to 13 and a taught device controlled by the teach pendant.