A manipulator teaching 3D sensing handle
A technology of manipulators and sensing hands, applied in manipulators, manufacturing tools, etc., can solve the problems of complex action programming, multi-manipulator cooperative programming, inconvenient programming, low efficiency, and operational errors, etc., to achieve friendly man-machine interface, intuitive action teaching, and display The effect of high efficiency in teaching programming
Active Publication Date: 2015-12-23
润桐(苏州)技术服务有限公司
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Problems solved by technology
This teaching method has obvious disadvantages: the operator's attention must be switched between the manipulator, the workpiece and the teaching controller, the operator needs to operate with both hands at the same time, and the many buttons and function switches on the teaching controller are also easy to cause Operation errors often require repeated corrections. This teaching programming method is extremely inefficient, and it is especially inconvenient for complex action programming and multi-manipulator collaborative programming.
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[0016] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0017] Such as figure 1 As shown, a manipulator teaching 3D sensing handle includes a handle base 3, a cross arm 4, a sleeve 5, an end cap 6, a micro switch bracket 7, a handle mandrel 8, an axial reset spring pad 9, and a spring pad Support 10, micro switch 11, button switch 12, function switch 13, end cap inner ring frame 14, mandrel top cone 15, sleeve 5 is connected with end cap 6 located at the upper and lower ends through spring support 10, the upper and lower two The end caps 6 at the end are all connected to the handle base 3 through the cross arm 4; a group of micro switches 11 are installed in the end caps 6 through the micro switch bracket 7; the handle mandrel 8 is located at the end of the sleeve 5 and is located 8. The mandrel top cone 15 at the top keeps in contact with the micro switch 11; the axial return spring 9 is located between the handle mandr...
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The invention discloses a teaching 3D (Three-Dimensional) sensing handle of a manipulator which comprises a handle base, cross arms, a sleeve, end caps, a handle mandrel, an axial reset spring, spring supports, microswitches, a button switch, a selective switch and a mandrel tip cone, wherein the sleeve is connected with the end caps which are positioned on top and bottom ends by virtue of the spring supports, and the end caps at the top and bottom ends are connected with the handle base by virtue of the cross arms; one group of microswitches are arranged in the end caps by virtue of microswitch supports, and the handle mandrel is positioned on the end part of the sleeve; the mandrel tip cone which is positioned on the end part of the handle mandrel is contacted with the microswitches; the axial reset spring is arranged between the handle mandrel and the spring supports, and one group of button switch and selective switch are arranged on the handle base; the microswitches, the button switch and the selective switch are connected with a manipulator control system. The teaching 3D sensing handle can be operated by only one hand of people when used for teaching operations to the manipulator, has a user-friendly human-machine interface, provides visual operation teaching and is high in teaching efficiency.
Description
technical field [0001] The invention belongs to the field of industrial automation, and in particular relates to a manipulator teaching 3D sensing handle used in on-site teaching of industrial manipulators. Background technique [0002] In the field of industrial automation, various manipulators have been widely used. Before the manipulator is put into production operation, the operator needs to teach the motion track to it, and the control system of the manipulator records the taught motion track, and then the manipulator can reproduce the pre-taught motion track in the production running state. At present, the common method of on-site action teaching for industrial manipulators / robots is to use a teaching controller (commonly known as a teaching box) that is connected to the manipulator. This teaching method has obvious disadvantages: the operator's attention must be switched between the manipulator, the workpiece and the teaching controller, the operator needs to operate...
Claims
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IPC IPC(8): B25J13/02
Inventor 杨升张伟贲鹏程白顺科崔群
Owner 润桐(苏州)技术服务有限公司