Trajectory teaching anti-collision end effector for industrial robot teaching

Abstract

The utility model belongs to robot demonstration technical field, it discloses a track demonstration anti -collision end effector for industrial robot teaching, including mounting panel, elastic rod body axial buffer mechanism and elastic rod body radial buffer mechanism, the through -hole that mounting panel one end set up has, the demonstration pen assembly rod is slidably installed in the through -hole, and the demonstration pen assembly rod is elastic rod body, elastic rod body axial buffer mechanism is covered on the elastic rod body and its upper end surface and the lower end surface of mounting panel abut, the top of elastic rod body radial buffer mechanism all can abut and buffer with the upper end outside wall of elastic rod body, the sidewall of mounting panel still is equipped with siren, is provided with displacement detection inductor on the elastic rod body, the panel surface on mounting panel is equipped with the inclination sensor, and displacement detection inductor and inclination sensor all are with siren electric signal link. This end effector can realize the collision buffer question of axial direction and radial direction simultaneously, and realize the collision alarm function simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of robot teaching technology, and more specifically to a trajectory teaching and anti-collision end effector for industrial robot teaching. Background Technology

[0002] An industrial robot is a multi-jointed manipulator or multi-degree-of-freedom mechanical device designed for industrial applications. It can perform reprogrammable, multi-functional, and multi-degree-of-freedom operations. The control system of an industrial robot, based on its motion program, controls the robot's movement within the workspace according to the predetermined position, posture, trajectory, operation sequence, and action time. To complete operations such as welding, cutting, spraying, grinding, gluing, and inspection, an industrial robot needs to generate a precise motion trajectory based on the actual position and shape characteristics of the workpiece to achieve these operations.

[0003] However, while existing industrial robots have collision detection and alarm functions, they only trigger when the collision force is large. Moreover, a large-force collision can damage the equipment, causing the end effector to break and generating flying debris that can injure students. Furthermore, the end effectors connected to existing industrial robots can only achieve collision buffering in the axial direction, and cannot achieve multi-directional collision buffering or collision alarm functions.

[0004] Therefore, how to provide an end effector that can simultaneously achieve collision buffering in both radial and axial directions is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the present invention provides an end effector that, by setting a radial buffer mechanism and an axial buffer mechanism of an elastic rod on the mounting plate, connects the axial buffer mechanism of the elastic rod to the teaching pen and slides at the through hole to buffer the force of the teaching pen when it is impacted in the axial direction. When subjected to radial force, the elastic rod is deflected by an angle, and at the same time, the upper end of the elastic rod is deflected in the opposite direction and contacts the radial buffer mechanism of the elastic rod to buffer and restore the deflection of the elastic rod. Furthermore, the position of the elastic rod after impact can also recover itself after impact due to the elastic element and its own material properties. This solves the problem that the end effector cannot simultaneously achieve collision buffering in the axial and radial directions, and also realizes the collision alarm function.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A trajectory teaching and collision avoidance end effector for industrial robot teaching, installed at the end of the manipulator of an industrial robot, includes:

[0008] Mounting plate, one end of the upper plate surface of the mounting plate is provided with a connecting bearing that connects to the end of the robot arm, and the other end of the mounting plate is provided with a through hole that penetrates the upper and lower plates.

[0009] A teaching pen assembly rod, wherein the teaching pen assembly rod is an elastic rod; the upper end of the elastic rod is slidably installed in the through hole;

[0010] An axial buffer mechanism with an elastic rod includes an elastic rod and an elastic element slidably sleeved on the elastic rod. The upper end of the elastic rod is slidably installed in the through hole, and the upper end face of the elastic element abuts against the lower end face of the mounting plate.

[0011] A radial buffer mechanism for an elastic rod includes multiple buffer members. The multiple buffer members are arranged at intervals along the circumferential direction of the through hole and are hinged to the upper surface of the mounting plate. The top of each buffer member is inclined towards the axis of the through hole, and the side of the top of each buffer member facing the axis of the through hole can abut against the upper outer wall of the elastic rod.

[0012] The teaching pen is slidably sleeved on the bottom of the elastic rod, and the upper end face of the teaching pen abuts against the lower end of the elastic element. A teaching signal transmitter is provided at the bottom of the teaching pen.

[0013] An alarm is mounted on the side wall of the mounting plate. A displacement sensor is provided on the elastic rod to detect the elastic displacement of the elastic element. An angle sensor is provided on the surface of the mounting plate to detect the angle deflection of the buffer element. Both the displacement sensor and the angle sensor are electrically connected to the alarm.

[0014] According to the above technical solution, this utility model discloses a trajectory teaching pendant anti-collision end effector for industrial robot teaching. It connects to the end of the robot arm via a connecting bearing. An elastic rod slides within a through hole, and an elastic element provides axial buffering force. When the teaching pen is impacted in the axial direction, the elastic rod compresses the elastic element, and a displacement sensor detects the elastic displacement of the elastic element on the elastic rod, thus realizing an alarm process after an axial collision. When the teaching pen is impacted in the radial direction, the radial buffering mechanism of the elastic rod buffers the radial force on the elastic rod. That is, the elastic rod tilts along the collision direction, and simultaneously, the upper end of the elastic rod tilts in the opposite direction of the collision, abutting against a corresponding buffer element. An angle sensor corresponding to the buffer element detects the angle deflection and transmits a signal to an alarm, triggering the alarm to indicate a collision has occurred, thereby realizing an alarm process after a radial collision. This end effector effectively absorbs collision energy through a dual buffer design of an axial buffer mechanism and a radial buffer mechanism of an elastic rod, protecting the teaching pen and robot arm from damage. At the same time, the displacement detection sensor and tilt sensor can accurately detect collisions and trigger alarms in a timely manner to remind operators to take measures. This not only improves the safety of industrial robot teaching but also extends the service life of the equipment and enhances the reliability and practicality of teaching.

[0015] Furthermore, each of the buffer components includes a mounting post, a connecting plate, and a roller. The mounting posts are vertically mounted on the upper surface of the mounting plate and are arranged at intervals along the circumference of the through hole. One end of the connecting plate is hinged to the side wall of the mounting post facing the through hole and is inclined at a preset angle. The roller is mounted on the top of the connecting plate on the side wall facing the through hole, and the outer edge of the roller can abut against the outer wall of the elastic rod.

[0016] The beneficial effects of adopting the above technical solution are as follows: the contact between the connecting plate and the outer wall of the elastic rod is achieved through rollers. When the outer edge of the roller contacts the elastic rod, it can more flexibly adapt to the movement direction of the elastic rod. When a collision occurs, the tilt angle of the connecting plate can absorb the radial impact force. Through the rotation of the rollers and the swing of the connecting plate, the radial impact force is converted into the rotational motion of the connecting plate around the hinge point, thereby effectively dispersing and buffering the collision force and protecting the teaching pen and the end of the robot from direct radial impact. The setting of the rollers also reduces the friction between the rollers and the elastic rod, ensuring that the movement of the elastic rod in the axial direction is smoother.

[0017] Furthermore, multiple tilt sensors are installed on the upper surface of the mounting plate, each corresponding to one of the multiple connecting plates, and their detection ports are arranged corresponding to the connecting plates to simultaneously detect the tilt angle change of each connecting plate.

[0018] The advantages of adopting the above technical solution are: Each tilt sensor corresponds one-to-one with a connecting plate, enabling real-time monitoring of the deflection angle of each connecting plate. When a connecting plate is deflected due to a collision, the corresponding tilt sensor can accurately capture its tilt angle change, thereby quickly determining the specific location and extent of the collision. Compared to global monitoring by a single sensor, this multi-point corresponding monitoring method provides more detailed collision information, facilitating subsequent analysis of the cause of the collision.

[0019] Furthermore, the axial buffer mechanism of the elastic rod also includes a buffer sleeve, which includes a fixed outer cylinder, a buffer spring, and a sliding inner cylinder. The fixed outer cylinder is fixed to the lower end face of the mounting plate and is arranged coaxially with the through hole. The buffer spring is coaxially installed inside the fixed outer cylinder and its upper end is fixed to the inner top end of the fixed outer cylinder. The sliding inner cylinder is coaxially slidably installed at the lower end opening of the fixed outer cylinder and its upper end is fixed to the lower end of the buffer spring. The elastic rod is slidably installed inside the sliding inner cylinder and its upper end abuts against the outer edge end face of the bottom of the sliding inner cylinder.

[0020] The beneficial effects of adopting the above technical solution are as follows: When the elastic rod is subjected to an axial impact force, the sliding inner cylinder slides inside the fixed outer cylinder, compressing the buffer spring. The buffer spring can effectively absorb and reduce the impact force, further enhancing the buffering performance of the end effector in the axial direction and protecting the teaching pen and the end of the robot from damage. The sliding inner cylinder is slidably connected to the elastic rod. When the buffering force of the elastic element reaches its limit, it continues to push the sliding inner cylinder upward to compress the buffer spring, further improving the buffering capacity.

[0021] Furthermore, the elastic rod body includes three elastic rods—elastic rod one, elastic rod two, and elastic rod three—connected coaxially from top to bottom. The outer peripheral wall of elastic rod one is slidably connected to the sliding inner cylinder, and the top end of elastic rod one can abut against the top end of the buffer member for cushioning. The elastic member includes elastic member one and elastic member two, which are respectively slidably sleeved on the outer peripheral walls of elastic rod one and elastic rod two. A baffle one is also coaxially arranged between elastic member one and elastic member two, and the baffle one is slidably installed on elastic rod one. The teaching pen is slidably sleeved on the outer peripheral wall of elastic rod three, and the top end of the teaching pen abuts against the lower end of elastic member two.

[0022] The beneficial effects of adopting the above technical solution are: elastic element one and elastic element two form a multi-stage buffer on elastic rod one and elastic rod two. When facing an impact, elastic element two first compresses to buffer, then elastic element one compresses to buffer, and finally the sliding inner cylinder and buffer spring further disperse the remaining impact force, achieving precise energy absorption, maximizing the protection of the teaching pen and the robot arm, and significantly improving the equipment's impact resistance.

[0023] Furthermore, the displacement detection sensor includes displacement detection sensor one and displacement detection sensor two, which are respectively installed on the outer side walls of elastic rod one and elastic rod two, and the detection ports are respectively arranged facing elastic rod one and elastic rod two. Both displacement detection sensor one and displacement detection sensor two are electrically connected to the alarm to realize graded alarm of the axial force buffering process.

[0024] The beneficial effects of adopting the above technical solution are as follows: Displacement detection sensor one and displacement detection sensor two are respectively installed on the outer walls of elastic rod one and two, detecting the compression displacement of elastic rod one and elastic rod two. When the teaching pen is subjected to axial force for buffering, elastic rod two and one are compressed in sequence, and the sensors can detect the displacement of the corresponding elastic rods respectively. When the displacement reaches the preset threshold, the sensors quickly transmit the signal to the alarm to realize multi-level alarm and ensure accurate monitoring of the buffering process. In the event of a slight collision, displacement detection sensor two will trigger the alarm first to remind the operator. If the collision intensifies, displacement detection sensor one will trigger the alarm again to provide timely warning, avoid equipment damage, ensure personnel safety, and improve the safety of the teaching process.

[0025] Furthermore, the axial buffer mechanism of the elastic rod also includes a second baffle. The cross-sectional diameter of the third elastic rod is larger than that of the second elastic rod. The second baffle is slidably sleeved on the outer peripheral wall of the second elastic rod, and its lower end face abuts against the outer edge of the upper end face of the third elastic rod for limitation. The upper end face of the second baffle is fixed to the lower end of the second elastic element. The top end of the teaching pen is mounted on the lower end face of the second baffle.

[0026] The cross-sectional diameter of the second elastic rod is larger than that of the first elastic rod. The lower end face of the first baffle abuts against the outer edge of the upper end face of the second elastic rod, and the upper end face of the first baffle is fixed to the lower end of the first elastic element, while the lower end face abuts against the upper end of the second elastic element.

[0027] The beneficial effects of adopting the above technical solution are: the elastic rod is designed in segments with gradually increasing cross-sectional diameter, which, together with the baffles, achieves step-by-step buffering. When the teaching pen is under force, the second baffle first compresses the second elastic element for buffering, and then the first baffle compresses the first elastic element for further buffering; when not under force, the first and second baffles respectively restrict the position of the first and second elastic elements, preventing them from detaching from the corresponding elastic rods, ensuring a smooth and controllable buffering process, and improving the stability of the teaching pen in complex operations.

[0028] Furthermore, the teaching pen includes a pen holder and a pen tip. The pen holder is coaxially sleeved on the outside of the elastic rod three, and its upper end is connected to the lower end face of the baffle two. The lower end of the pen tip is a conical tip, the upper end is open, and the outer edge is fixed to the lower end of the pen holder. The upper end of the pen tip is spaced apart from the lower end of the elastic rod three.

[0029] The beneficial effects of adopting the above technical solution are as follows: the pen holder is coaxially sleeved on the outside of the elastic rod three and connected to the baffle two to form a stable support structure, protecting the elastic rod three from radial force, reducing its lateral sway during axial movement, preventing damage caused by eccentric force, and extending the service life of the elastic rod three and the pen holder; the upper end of the pen tip is spaced apart from the lower end of the elastic rod three, so that when the teaching pen comes into contact with an object, the pen holder has room to move, and the teaching pen can be displaced upward when it is slightly bumped or subjected to force, thus improving the flexibility and adaptability of teaching operation.

[0030] Furthermore, the upper outer peripheral wall of the pen holder is provided with an internal thread, and the edge of the lower end face of the second baffle is provided with an external threaded ring that is screwed to the internal thread, and the inner peripheral wall of the external threaded ring is spaced apart from the outer peripheral wall of the elastic rod three.

[0031] The beneficial effects of adopting the above technical solution are: the pen holder and the baffle are connected by threads, which is a detachable fixed connection method. This allows the teaching pen to be quickly removed from the elastic rod three when the pen tip needs to be replaced or maintenance is required, thereby improving the efficiency of maintenance and replacement and reducing downtime.

[0032] Furthermore, the alarm includes an alarm indicator light and a buzzer.

[0033] The beneficial effects of adopting the above technical solution are: the alarm indicator light visually displays the force state and collision situation of the teaching pen through color and flashing frequency, making it easy for operators to quickly identify the alarm level. The buzzer provides real-time audible alerts, ensuring that abnormalities can be detected promptly even in noisy environments, thus improving the safety and response speed of the teaching process. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0035] Figure 1 This is a three-dimensional structural diagram of the end effector of this utility model.

[0036] Figure 2 for Figure 1 Side sectional view.

[0037] Figure 3 for Figure 1 Top sectional view.

[0038] Figure 4 This is a schematic diagram of the axial buffer mechanism of the elastic rod of this utility model.

[0039] Among them, 1-mounting plate, 11-connecting bearing, 12-through hole, 2-elastic rod axial buffer mechanism, 21-buffer sleeve, 211-fixed outer cylinder, 212-buffer spring, 213-sliding inner cylinder, 22-elastic element, 221-elastic element one, 222-elastic element two, 23-baffle one, 24-baffle two, 241-external threaded ring, 3-elastic rod radial buffer mechanism, 31-buffer element, 311-mounting column, 312-connecting plate, 313-roller, 4-teaching pen, 41-teaching signal transmitter, 42-pen holder, 421-internal thread, 43-pen tip, 5-elastic rod, 51-elastic rod one, 52-elastic rod two, 53-elastic rod three, 6-alarm, 7-controller, 8-protective housing. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] This utility model discloses a trajectory teaching and anti-collision end effector for industrial robot teaching, which is installed at the end of the manipulator of an industrial robot. Its structure includes a mounting plate 1, an axial buffer mechanism 2, and a radial buffer mechanism 3. One end of the upper surface of the mounting plate 1 is provided with a connecting bearing 11 that connects to the end of the manipulator, and the other end of the mounting plate is provided with a through hole 12 penetrating both the upper and lower surfaces. A teaching pen assembly rod, which is an elastic rod 5, is slidably installed within the through hole 12. The axial buffer mechanism 2 includes an elastic element 22 slidably sleeved on the elastic rod 5, with the upper end face of the elastic element 22 abutting against the lower end face of the mounting plate 1. The radial buffer mechanism 3 includes multiple buffer elements 31, which are arranged along the through hole 1. The components 2 are arranged circumferentially and hinged to the upper surface of the mounting plate 1. The top of each buffer component 31 is inclined towards the axis of the through hole 12. The side of the top of each buffer component 31 facing the axis of the through hole 12 can abut against the upper outer wall of the elastic rod 5. The bottom of the elastic rod 5 is also slidably fitted with a teaching pen 4, and the upper end of the teaching pen 4 abuts against the lower end of the elastic component 22. A teaching signal transmitter 41 is provided in the bottom of the teaching pen 4. An alarm 6 is also installed on the side wall of the mounting plate 1. A displacement detection sensor that can detect the elastic displacement of the elastic component 22 is provided on the elastic rod 5. An angle sensor that detects the angle deflection of the buffer component 31 is provided on the upper surface of the mounting plate 1. The displacement detection sensor and the angle sensor are both electrically connected to the alarm 6.

[0042] In a specific embodiment of the buffer 31 in this utility model, each buffer 31 includes a mounting post 311, a connecting plate 312, and a roller 313. Multiple mounting posts 311 are vertically mounted on the upper surface of the mounting plate 1 and are arranged at intervals along the circumference of the through hole 12. One end of the connecting plate 312 is hinged to the side wall of the mounting post 311 facing the through hole 12 and is inclined at a preset angle. The roller 313 is mounted on the side wall of the top of the connecting plate 312 facing the through hole 12, and the outer edge of the roller 313 can abut against the outer wall of the elastic rod 5. The contact between the connecting plate 312 and the outer wall of the elastic rod 5 is achieved through the roller 313. When the outer edge of the roller 313 contacts the elastic rod 5, it can more flexibly adapt to the movement direction of the elastic rod 5. When a collision occurs, the tilt angle of the connecting plate 312 can absorb the radial impact force. Through the rotation of the roller 313 and the swing of the connecting plate 312, the radial impact force is converted into the rotational motion of the connecting plate 312 around the hinge point, thereby effectively dispersing and buffering the collision force and protecting the teaching pen and the end of the robot from direct radial impact. The setting of the roller 313 also reduces the friction between it and the elastic rod 5, ensuring that the movement of the elastic rod 5 in the axial direction is smoother.

[0043] In the above embodiment, a protective housing 8 is also included. The protective housing 8 is installed on the upper plate surface of the mounting plate 1 corresponding to the buffer 31. The protective housing 8 is cylindrical and arranged coaxially with the elastic rod 5. When the elastic rod 5 slides axially, its upper end can abut against the inner top of the protective housing 8 to limit the axial displacement of the elastic rod 5 and protect the top of the elastic rod 5 and the buffer 31.

[0044] In the above embodiment, to facilitate angle detection of connecting plates 312 at multiple angles, multiple tilt sensors are provided and installed on the upper surface of the mounting plate 1, corresponding one-to-one with each connecting plate 312. Their detection ports are arranged corresponding to the connecting plates 312 to simultaneously detect tilt angle changes of each connecting plate 312. The one-to-one correspondence between the tilt sensors and connecting plates 312 allows for real-time monitoring of the deflection angle of each connecting plate 312. When a connecting plate 312 is deflected due to a collision, the corresponding tilt sensor can accurately capture its tilt angle change, thereby quickly determining the specific location and extent of the collision. Compared to global monitoring by a single sensor, this multi-point corresponding monitoring method provides more detailed collision information, facilitating subsequent analysis of the collision cause.

[0045] In another embodiment of the axial buffer mechanism 2 of the elastic rod in this utility model, the axial buffer mechanism 2 of the elastic rod further includes a buffer sleeve 21. The buffer sleeve 21 includes a fixed outer cylinder 211, a buffer spring 212 and a sliding inner cylinder 213. The fixed outer cylinder 211 is fixed to the lower end face of the mounting plate 1 and is arranged coaxially with the through hole 12. The buffer spring 212 is coaxially installed in the fixed outer cylinder 211 and its upper end is fixed to the inner top end of the fixed outer cylinder 211. The sliding inner cylinder 213 is coaxially slidably installed at the lower end opening of the fixed outer cylinder 211 and its upper end is fixed to the lower end of the buffer spring 212. The elastic rod 5 is slidably installed in the sliding inner cylinder 213 and the upper end of the elastic element 22 abuts against the outer edge end face of the bottom of the sliding inner cylinder 213. When the elastic rod 5 is subjected to an axial impact force, the sliding inner cylinder 213 slides within the fixed outer cylinder 211, compressing the buffer spring 212. The buffer spring 212 can effectively absorb and mitigate the impact force, further enhancing the buffering performance of the end effector in the axial direction and protecting the teaching pen and the end of the robot from damage. The sliding inner cylinder 213 is slidably connected to the elastic rod 5. When the buffering force of the elastic element 22 reaches its limit, it continues to push the sliding inner cylinder 213 upward to compress the buffer spring 212, further improving the buffering capacity.

[0046] In a specific embodiment of the elastic rod 5 in this utility model, the elastic rod 5 includes three elastic rods—elastic rod one 51, elastic rod two 52, and elastic rod three 53—connected coaxially from top to bottom. The outer peripheral wall of elastic rod one 51 is slidably connected to the sliding inner cylinder 213, and the top end of elastic rod one 51 can abut against the top end of buffer member 31 for cushioning. The elastic member 22 includes elastic member one 221 and elastic member two 222, which are respectively slidably sleeved on the outer peripheral walls of elastic rod one 51 and elastic rod two 52. A baffle one 23 is also coaxially arranged between elastic member one 221 and elastic member two 222, and the baffle one 23 is slidably installed on elastic rod one 51. A teaching pen 4 is slidably sleeved on the outer peripheral wall of elastic rod three 53, and the top end of the teaching pen 4 abuts against the lower end of elastic member two 222. This forms a multi-level cushioning effect on elastic rod one 51 and elastic rod two 52. When faced with an impact, the second elastic element 222 first compresses to buffer the impact, then the first elastic element 221 compresses to buffer the impact, and finally the sliding inner cylinder 213 and the buffer spring 212 further disperse the remaining impact force, achieving precise energy absorption, maximizing the protection of the teaching pen and the robot arm, and significantly improving the equipment's impact resistance.

[0047] In the above embodiments, to ensure its elastic performance, the elastic rod 5 can be made of materials such as spring steel, stainless steel, beryllium copper, nickel-titanium alloy, polyurethane elastomer, and silicone rubber, but is not limited to these materials. Spring steel possesses excellent tensile strength, yield strength, and elastic limit, with an elastic modulus of 200 GPa. It can withstand significant stress without permanent deformation and effectively buffers radial impacts, recovering its shape on its own. After quenching and tempering, it achieves good elasticity and toughness. Stainless steel has an elastic modulus ranging from 193 to 200 GPa, exhibiting good elastic properties. It can mitigate the impact of radial impacts and recover its shape, and also possesses corrosion resistance, maintaining stable performance even in harsh environments. Beryllium copper has an elastic modulus ranging from approximately 120 to 130 GPa, possessing a high elastic limit, high fatigue strength, and good wear resistance, enabling it to withstand frequent radial impacts. It maintains elastic properties, has good corrosion resistance, and a long service life; nickel-titanium alloy is a type of shape memory alloy with superelastic properties, a low elastic modulus ranging from 25-83 GPa, can withstand large deformations and return to its original shape, and can absorb and buffer the energy of radial impacts; polyurethane elastomer has excellent wear resistance and elasticity, with an elastic modulus ranging from 10-1000 MPa, and can meet different elasticity requirements by adjusting the formula and process. It can effectively absorb impact energy and return to its shape during radial impacts, and also has good oil resistance and ozone resistance; silicone rubber has an elastic modulus ranging from 0.1-10 MPa, is soft and elastic, can reduce the impact of radial impacts, has high chemical stability, good weather resistance, and can maintain elastic properties over a wide temperature range. Different materials can be selected to manufacture elastic rods according to different usage environments.

[0048] In the above embodiments, the elastic rod 5 of the teaching pen used for trajectory teaching has a length range of 200-300mm to facilitate trajectory drawing and teaching operations by the operator; and its diameter ranges from 10-30mm. In order to facilitate flexible operation and precise control, a fine teaching pen with a diameter range of 10-15mm is used, which is suitable for trajectory teaching with high accuracy requirements; in order to provide better stability, a coarse teaching pen with a diameter range of 20-30mm is used, which is suitable for use in occasions with high requirements for operational stability and comfort.

[0049] In the above embodiments, in order to realize the graded detection process of graded buffering, the displacement detection sensor includes displacement detection sensor one and displacement detection sensor two. Displacement detection sensor one and displacement detection sensor two are respectively installed on the outer side walls of elastic rod one 51 and elastic rod two 52, and the detection ports are respectively arranged facing elastic element one 221 and elastic element two 222. Displacement detection sensor one and displacement detection sensor two are both electrically connected to alarm 6 to realize graded alarm of axial force buffering process. Displacement detection sensors one and two are respectively installed on the outer walls of elastic rod one 51 and elastic rod two 52 to detect the compression displacement of elastic element one 221 and elastic element two 222. When the teaching pen is subjected to axial force for buffering, elastic element two 222 and elastic element one 221 are compressed in sequence. The sensors can detect the displacement of the corresponding elastic element. When the displacement reaches a preset threshold, the sensors quickly transmit the signal to the alarm to realize multi-level alarm and ensure accurate monitoring of the buffering process. In the event of a slight collision, displacement detection sensor two will trigger the alarm first to remind the operator. If the collision intensifies, displacement detection sensor one will trigger the alarm again to provide timely warning, avoid equipment damage, ensure personnel safety, and improve the safety of the teaching process.

[0050] In another embodiment of the axial buffer mechanism 2 of this utility model, the axial buffer mechanism 2 of the elastic rod further includes a second baffle 24. The cross-sectional diameter of the third elastic rod 53 is larger than that of the second elastic rod 52. The second baffle 24 is slidably sleeved on the outer peripheral wall of the second elastic rod 52, and its lower end face abuts against the outer edge of the upper end face of the third elastic rod 53 for limitation. The upper end face of the second baffle 24 is fixed to the lower end of the second elastic element 222. The top end of the teaching pen 4 is installed on the lower end face of the second baffle 24. The cross-sectional diameter of the second elastic rod 52 is larger than that of the first elastic rod 51. The lower end face of the first baffle 23 abuts against the outer edge of the upper end face of the second elastic rod 52 for limitation. The upper end face of the first baffle 23 is fixed to the lower end of the first elastic element 221, and its lower end face abuts against the upper end of the second elastic element 222. The elastic rod 5 is segmented and its cross-sectional diameter gradually increases, which, together with the baffle, achieves step-by-step buffering. When the teaching pen is subjected to force, the second baffle 24 first compresses the second elastic element 222 for buffering, and then the first baffle 23 compresses the first elastic element 221 for further buffering; when no force is applied, the first baffle 23 and the second baffle 24 respectively restrict the position of the first elastic element 221 and the second elastic element 222 to prevent them from detaching from the corresponding elastic rod 5, ensuring that the buffering process is smooth and controllable, and improving the stability of the teaching pen in complex operations.

[0051] In a specific embodiment of this utility model concerning an instruction pen 4, the instruction pen 4 includes a pen holder 42 and a pen tip 43. The pen holder 42 is coaxially sleeved on the outside of an elastic rod 53, and its upper end is connected to the lower end face of a baffle 24. The lower end of the pen tip 43 is a conical tip, the upper end is open, and the outer edge is fixed to the lower end of the pen holder 42. The upper end of the pen tip 43 is spaced apart from the lower end of the elastic rod 53. The pen holder 42 is coaxially sleeved on the outside of the elastic rod 53 and connected to the baffle 24, forming a stable support structure, protecting the elastic rod 53 from radial force, reducing its lateral sway during axial movement, preventing damage caused by eccentric force, and extending the service life of the elastic rod 53 and the pen holder 42. The spaced arrangement of the upper end of the pen tip 43 and the lower end of the elastic rod 53 allows for the movement of the pen holder 42 when the instruction pen 4 contacts an object, and allows the instruction pen 4 to shift upwards when slightly impacted or subjected to force, improving the flexibility and adaptability of instructional operations.

[0052] In the above embodiment, to facilitate the disassembly of the teaching pen 4, an internal thread 421 is provided on the outer peripheral wall of the upper end of the pen holder 42, and an external threaded ring 241 that is screwed to the internal thread 421 is also provided circumferentially on the edge of the lower end face of the baffle 24. The inner peripheral wall of the external threaded ring 241 is spaced apart from the outer peripheral wall of the elastic rod 3 53. The pen holder 42 and the baffle 2 24 are connected by threads. The threaded connection is a detachable fixed connection method, which allows the teaching pen 4 to be quickly removed from the elastic rod 3 53 when the pen tip 43 needs to be replaced or maintenance is required, thereby improving the efficiency of maintenance and replacement and reducing downtime.

[0053] In one specific embodiment of the alarm device 6 in this utility model, the alarm device 6 includes an alarm indicator light and a buzzer. The alarm indicator light visually displays the force state and collision situation of the teaching pen through color and flashing frequency, making it easy for operators to quickly identify the alarm level. The buzzer provides real-time audible alerts, ensuring that abnormalities can be detected promptly even in noisy environments, improving the safety and response speed of the teaching process.

[0054] In the above embodiment, a controller 7 is also included. The controller 7 is installed on the lower plate surface of the mounting plate 1 and arranged near the buffer sleeve 21. The controller 7 is electrically connected to the displacement detection sensor, the tilt sensor and the teaching signal transmitter 41. The controller 7 is also electrically connected to the alarm 6 and is provided with a control switch for turning the alarm 6 on and off. The controller 7 is also provided with a signal transmitter, which is wirelessly or wiredly connected to the control terminal to receive the control signal from the control terminal and feed back the detection signal to the control terminal to record the operation information and collision information.

[0055] In the above embodiment, the elastic rod 5 is also provided with a through-hole along its axial direction, so that the signal connection wire between the controller 7 and the teaching signal transmitter 41 can be connected into the through-hole, which facilitates wire management and avoids the signal wire from interfering with the teaching process.

[0056] The working principle of the trajectory teaching and anti-collision end effector for industrial robot teaching of this utility model is as follows:

[0057] The elastic rod is connected to the end effector of the robotic arm via a connecting bearing. The elastic rod slides within a through-hole. It is divided into multiple segments, each with a corresponding elastic element to provide tiered axial cushioning. When the teaching pen is impacted axially, the elastic rod compresses the elastic element, causing the lower elastic element (second segment) to cushion the impact first. The corresponding displacement sensor (second segment) detects the elastic displacement of the elastic element (second segment) on the elastic rod (second segment), triggering a level one alarm. If the axial impact force is too large, the elastic element (first segment) is compressed, and the corresponding displacement sensor (first segment) detects the elastic displacement of the elastic element (first segment) on the elastic rod (first segment), triggering an alarm. The two-level alarm realizes a graded alarm process after an axial collision, and a buffer sleeve is set to buffer the axial collision force. When the teaching pen is hit in the radial direction, the radial buffer mechanism of the elastic rod buffers the radial force on the elastic rod. That is, the elastic rod will tilt along the collision direction, and at the same time, the upper end of the elastic rod tilts in the opposite direction of the collision direction and abuts against the corresponding buffer. The tilt sensor corresponding to the buffer detects the angle deflection and transmits the signal to the alarm, triggering the alarm to issue an alarm indicating that a collision has occurred, thus realizing the alarm process after a collision in the radial direction.

[0058] This end effector effectively absorbs collision energy through a dual buffer design of an axial buffer mechanism and a radial buffer mechanism of an elastic rod, protecting the teaching pen and robot arm from damage. At the same time, the displacement detection sensor and tilt sensor can accurately detect collisions and trigger alarms in a timely manner to remind operators to take measures. This not only improves the safety of industrial robot teaching but also extends the service life of the equipment and enhances the reliability and practicality of teaching.

[0059] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0060] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A trajectory teaching and collision avoidance end effector for industrial robot teaching, installed at the end of the manipulator of an industrial robot, characterized in that, include: Mounting plate (1), one end of the upper plate surface of the mounting plate (1) is provided with a connecting bearing (11) connected to the end of the robot arm, and the other end of the mounting plate is provided with a through hole (12) penetrating the upper and lower plates. The teaching pen assembly rod is an elastic rod (5); the upper end of the elastic rod (5) is slidably installed in the through hole (12); An axial buffer mechanism (2) for an elastic rod includes an elastic element (22) that is slidably sleeved on the elastic rod (5), and the upper end face of the elastic element (22) abuts against the lower end face of the mounting plate (1). A radial buffer mechanism (3) with an elastic rod includes multiple buffer components (31). Each buffer component (31) includes a mounting post (311), a connecting plate (312), and a roller (313). The multiple mounting posts (311) are vertically mounted on the upper surface of the mounting plate (1) and are arranged at circumferential intervals along the through hole (12). One end of the connecting plate (312) is aligned with the mounting post (311) facing the through hole (12). One side wall is hinged and has a preset tilt angle. The roller (313) is installed on the side wall of the top of the connecting plate (312) facing the through hole (12). The outer edge of the roller (313) can abut against the outer wall of the elastic rod (5). The tilt angle of the connecting plate (312) can absorb radial impact force. The rotation of the roller (313) and the swing of the connecting plate (312) convert the radial impact force into the rotational motion of the connecting plate (312) around the hinge point. The teaching pen (4) is slidably sleeved on the bottom of the elastic rod (5), and the upper end face of the teaching pen (4) abuts against the lower end of the elastic element (22). A teaching signal transmitter (41) is provided in the bottom of the teaching pen (4). An alarm (6) is installed on the side wall of the mounting plate (1). The elastic rod (5) is provided with a displacement detection sensor that can detect the elastic displacement of the elastic element (22). The upper surface of the mounting plate (1) is provided with an angle sensor that detects the angle deflection of the buffer (31). The displacement detection sensor and the angle sensor are both electrically connected to the alarm (6). There are multiple angle sensors, which are installed on the upper surface of the mounting plate (1) in a one-to-one correspondence with multiple connecting plates (312). Their detection ports are arranged corresponding to the connecting plates (312) to simultaneously detect the angle change of each connecting plate (312).

2. The trajectory teaching and anti-collision end effector for industrial robot teaching according to claim 1, characterized in that, The axial buffer mechanism (2) of the elastic rod also includes a buffer sleeve (21). The buffer sleeve (21) includes a fixed outer cylinder (211), a buffer spring (212), and a sliding inner cylinder (213). The fixed outer cylinder (211) is fixed to the lower end face of the mounting plate (1) and is arranged coaxially with the through hole (12). The buffer spring (212) is coaxially installed inside the fixed outer cylinder (211) and its upper end is fixed to the inner top end of the fixed outer cylinder (211). The sliding inner cylinder (213) is coaxially slidably installed at the lower end opening of the fixed outer cylinder (211) and its upper end is fixed to the lower end of the buffer spring (212). The elastic rod (5) is slidably installed inside the sliding inner cylinder (213) and the upper end of the elastic element (22) abuts against the outer edge end face of the bottom of the sliding inner cylinder (213).

3. The trajectory teaching and anti-collision end effector for industrial robot teaching according to claim 2, characterized in that, The elastic rod body (5) includes an elastic rod one (51), an elastic rod two (52), and an elastic rod three (53) integrally and coaxially connected from top to bottom. The outer peripheral wall of the elastic rod one (51) is slidably connected to the sliding inner cylinder (213), and the top end of the elastic rod one (51) can abut against the top end of the buffer member (31) for buffering. The elastic member (22) includes an elastic member one (221) and an elastic member two (222), which are respectively slidably sleeved on the outer peripheral walls of the elastic rod one (51) and the elastic rod two (52). A baffle one (23) is also coaxially arranged between the elastic member one (221) and the elastic member two (222), and the baffle one (23) is slidably installed on the elastic rod one (51). The teaching pen (4) is slidably sleeved on the outer peripheral wall of the elastic rod three (53), and the top end of the teaching pen (4) abuts against the lower end of the elastic member two (222).

4. The trajectory teaching and anti-collision end effector for industrial robot teaching according to claim 3, characterized in that, The displacement detection sensor includes displacement detection sensor one and displacement detection sensor two. Displacement detection sensor one and displacement detection sensor two are respectively installed on the outer side walls of elastic rod one (51) and elastic rod two (52), and the detection ports are respectively arranged facing elastic element one (221) and elastic element two (222). Displacement detection sensor one and displacement detection sensor two are both electrically connected to the alarm (6) to realize graded alarm of the axial force buffering process.

5. The trajectory teaching and anti-collision end effector for industrial robot teaching according to claim 3, characterized in that, The axial buffer mechanism (2) of the elastic rod also includes a second baffle (24). The cross-sectional diameter of the third elastic rod (53) is larger than that of the second elastic rod (52). The second baffle (24) is slidably sleeved on the outer peripheral wall of the second elastic rod (52) and its lower end face abuts against the outer edge of the upper end face of the third elastic rod (53) for limitation. The upper end face of the second baffle (24) is fixed to the lower end of the second elastic element (222). The top end of the teaching pen (4) is installed on the lower end face of the second baffle (24). The cross-sectional diameter of the second elastic rod (52) is larger than that of the first elastic rod (51). The lower end face of the first baffle (23) abuts against the outer edge of the upper end face of the second elastic rod (52) for limiting. The upper end face of the first baffle (23) is fixed to the lower end of the first elastic element (221), and the lower end face abuts against the upper end of the second elastic element (222).

6. The trajectory teaching and collision avoidance end effector for industrial robot teaching according to claim 5, characterized in that, The teaching pen (4) includes a pen holder (42) and a pen tip (43). The pen holder (42) is coaxially sleeved on the outside of the elastic rod three (53), and its upper end is connected to the lower end face of the baffle two (24). The lower end of the pen tip (43) is a cone tip, the upper end is open and the outer edge is fixed to the lower end of the pen holder (42). The upper end of the pen tip (43) is spaced apart from the lower end of the elastic rod three (53).

7. The trajectory teaching and collision avoidance end effector for industrial robot teaching according to claim 6, characterized in that, The upper end of the pen holder (42) is provided with an internal thread (421) on the outer peripheral wall. The edge of the lower end face of the baffle (24) is also provided with an external thread ring (241) that is screwed to the internal thread (421). The inner peripheral wall of the external thread ring (241) is arranged at intervals with the outer peripheral wall of the elastic rod (53).

8. A trajectory teaching and collision avoidance end effector for industrial robot teaching according to any one of claims 1-7, characterized in that, The alarm (6) includes an alarm indicator light and a buzzer.

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