Traction teaching device and robot

Abstract

The invention relates to the technical field of mechanical equipment, and particularly discloses a traction teaching device and a robot, the traction teaching device comprises a mounting seat, a force acquisition module, a traction handle and a connecting rod piece; the mounting seat is detachably connected to the tail end of the mechanical arm; the force acquisition module is arranged on the mounting seat and is in communication connection with the mechanical arm, the traction handle is arranged on the force acquisition module, one end of the connecting rod piece is arranged on the mounting seat, and the other end of the connecting rod piece is provided with an execution assembly. According to the traction teaching device, the force applied by the traction handle to the force acquisition module cannot be influenced by the execution assembly or the grabbed workpiece, so that the force acquired by the force acquisition module is the dragging force applied by a worker, and the difficulty of traction teaching is reduced; the problem that the traction teaching function is difficult to use when different execution assemblies are installed on the mechanical arm is solved, and the traction teaching experience and teaching precision are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a traction teaching device and a robot. Background Art

[0002] A robotic arm is an automated mechanical device that can receive instructions and accurately locate a point in three-dimensional space to perform operations. It is widely used in many fields such as industry, medicine, and military. The traction teaching robotic arm is a type of robotic arm that combines the complex system characteristics of high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling of the robotic arm. It also combines the advantages of teaching technology, making the operation more flexible and convenient, so as to achieve accurate handling and operation of workpieces.

[0003] At present, the traction teaching method of the traction teaching robot arm is mainly a teaching method combining end traction and a teaching pendant. In the prior art, the force collector used for traction teaching is set at the joint of the robot body, but when the end of the robot arm is installing the actuator, it is affected by the actuator itself or the grasped workpiece, making the force transmitted to the force collector more complicated, which in turn makes traction teaching difficult. Summary of the invention

[0004] The purpose of the present invention is to provide a traction teaching device and a robot to solve the problem in the prior art that the force transmitted to the force collector is relatively complex due to the influence of the actuator itself or the grasped workpiece, which in turn leads to difficulties in traction teaching.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In one aspect, the present invention provides a traction teaching device, which can be installed between a robot arm and an actuator, and the traction teaching device includes:

[0007] A mounting seat, the mounting seat being detachably connected to the end of the mechanical arm;

[0008] A force collection module, the force collection module is arranged on the mounting seat and is communicatively connected to the mechanical arm;

[0009] A traction handle, the traction handle is arranged on the force collection module;

[0010] A connecting rod, one end of which is arranged on the mounting seat, and the other end of which is provided with the actuator.

[0011] As an optional solution of the above-mentioned traction teaching device, the mounting seat, the force collection module and the traction handle are arranged in sequence along the same direction, and the force collection module is located on the side of the mounting seat away from the end of the robotic arm; one end of the connecting rod is located on the side wall of the mounting seat.

[0012] As an optional solution of the above-mentioned traction teaching device, the connecting rod includes a connecting section and a mounting section, one end of the connecting section is detachably connected to the mounting seat, the other end of the connecting section is connected to the mounting section at an angle, and the actuator is detachably connected to the free end of the mounting section.

[0013] As an optional solution of the above-mentioned traction teaching device, the force acquisition module is connected to a first connecting line, the end of the robotic arm has a first quick-plug interface, and the first connecting line is detachably connected to the first quick-plug interface.

[0014] As an optional solution of the above-mentioned traction teaching device, the traction teaching device also includes a teaching module, which is arranged on the connecting rod and is communicatively connected to the mechanical arm; the teaching module is used for teaching the operation of the mechanical arm.

[0015] As an optional solution of the above-mentioned traction teaching device, the teaching module has a plurality of teaching buttons, and the plurality of teaching buttons are arranged on a side away from the traction handle.

[0016] As an optional solution of the above-mentioned traction teaching device, the teaching module is connected to a second connecting line, the end of the robot arm has a second quick-plug interface, and the second connecting line is detachably connected to the second quick-plug interface.

[0017] As an optional solution of the above-mentioned traction teaching device, the traction teaching device also includes a fixing component, which is arranged on the connecting rod and is used for detachably fixing the execution component.

[0018] On the other hand, the present invention provides a robot, comprising the traction teaching device as described above, wherein the robot further comprises a mechanical arm, and the mounting seat is detachably connected to the end of the mechanical arm.

[0019] As an optional solution for the above-mentioned robot, the robotic arm is a collaborative robotic arm, and the collaborative robotic arm and the traction teaching device each include at least two, and the at least two collaborative robotic arms and the at least two traction teaching devices are arranged in a one-to-one correspondence.

[0020] The beneficial effects of the present invention are:

[0021] The traction teaching device comprises a mounting seat, a force collection module, a traction handle and a connecting rod. The mounting seat is detachably connected to the end of the mechanical arm, so that the traction teaching device can be repaired and replaced and can be used on different mechanical arms. The force collection module is arranged on the mounting seat and is connected to the mechanical arm in communication. The traction handle is arranged on the force collection module, and one end of the connecting rod is arranged on the mounting seat. The other end of the connecting rod is provided with an actuator component, so that when the staff moves by holding the traction handle, the traction handle can transmit the traction force applied by the staff to the force collection module, so that the force collection module sends the collected force information to the control cabinet of the mechanical arm, thereby realizing traction and dragging the end of the mechanical arm to determine the basic point position. Among them, the force collection module and the connecting rod are both arranged on a mounting seat, and the mounting seat is located at the end of the robotic arm, so that the execution component itself or the grasped workpiece will not affect the force applied by the traction handle to the force collection module, so that the force collected by the force collection module is the dragging force applied by the staff, thereby reducing the difficulty of traction teaching. Through the use of the traction teaching device, the problem of difficulty in using the traction teaching function of the robotic arm when installing different execution components is solved, and the traction teaching experience and teaching accuracy are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a traction teaching device provided by an embodiment of the present invention from a first perspective;

[0023] Figure 2 A schematic structural diagram of a traction teaching device from a second viewing angle provided by an embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram of a connecting rod provided in an embodiment of the present invention.

[0025] In the figure:

[0026] 1. Mounting seat; 2. Force acquisition module; 3. Traction handle; 4. Connecting rod; 41. Connecting section; 42. Mounting section; 5. Teaching module; 51. Teaching button; 6. Fixing assembly; 7. Robotic arm; 71. First quick-plug interface; 72. Second quick-plug interface; 8. Execution assembly. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] like Figure 1 to Figure 3 As shown, this embodiment provides a traction teaching device that can be installed between the robot arm 7 and the actuator 8.

[0032] The traction teaching device comprises a mounting seat 1, a force collection module 2, a traction handle 3 and a connecting rod 4. The mounting seat 1 is detachably connected to the end of the mechanical arm 7, so that the traction teaching device can be repaired and replaced, and can be used on different mechanical arms 7. The force collection module 2 is arranged on the mounting seat 1 and is communicatively connected to the mechanical arm 7. The traction handle 3 is arranged on the force collection module 2, and one end of the connecting rod 4 is arranged on the mounting seat 1. The other end of the connecting rod 4 is provided with an actuator 8, so that when the staff moves by holding the traction handle 3, the traction handle 3 can transmit the traction force applied by the staff to the force collection module 2, so that the force collection module 2 sends the collected force information to the control cabinet of the mechanical arm 7, thereby realizing the traction and dragging of the end of the mechanical arm 7 to determine the basic point position. Specifically, the force collection module 2 is connected to a first connecting line, and the end of the robotic arm 7 has a first quick-plug interface 71. The first connecting line is detachably connected to the first quick-plug interface 71. Therefore, through the setting of the first connecting line and the first quick-plug interface 71, a quick communication connection between the force collection module 2 and the robotic arm 7 can be achieved, which facilitates the universal use of the traction teaching device on different robotic arms 7.

[0033] Among them, the force collection module 2 and the connecting rod 4 are both arranged on the mounting seat 1, and the mounting seat 1 is located at the end of the mechanical arm 7, so that the execution component 8 itself or the grasped workpiece will not affect the force applied by the traction handle 3 to the force collection module 2, so that the force collected by the force collection module 2 is the dragging force applied by the staff, thereby reducing the difficulty of traction teaching. Through the use of the traction teaching device, the problem of difficulty in using the traction teaching function of the mechanical arm 7 when installing different execution components 8 is solved, and the experience and teaching accuracy of traction teaching are improved. Optionally, the execution component 8 is a welding gun component. Of course, the execution component 8 can also be other components, which is not specifically limited in this embodiment.

[0034] Further, the mounting seat 1, the force collection module 2 and the traction handle 3 are arranged in sequence along the same direction, and the force collection module 2 is located on the side of the mounting seat 1 away from the end of the mechanical arm 7, and one end of the connecting rod 4 is located on the side wall of the mounting seat 1, so as to reasonably arrange the spatial positions of the connecting rod 4, the force collection module 2 and the traction handle 3, prevent the connecting rod 4 from interfering with the force collection module 2 and the traction arm, and avoid the gravity of the connecting rod 4 itself from directly affecting the force collection module 2. Specifically, the connecting rod 4 includes a connecting section 41 and a mounting section 42, one end of the connecting section 41 is detachably connected to the mounting seat 1, and the other section of the connecting section 41 is connected to the mounting section 42 at an angle, and the actuator 8 is detachably connected to the free end of the mounting section 42, so that the connecting rod 4 is an L-shaped structure, so that the actuator 8 and the end of the mechanical arm 7 have a sufficient interval by setting the connecting rod 4 with an L-shaped structure, so as to facilitate the arrangement and installation of the actuator 8 and related circuits.

[0035] like Figure 1 and Figure 3 As shown, the traction teaching device also includes a teaching module 5, which is arranged on the connecting rod 4 and is connected to the mechanical arm 7 by communication. The teaching module 5 is used for teaching the mechanical arm 7, so that the staff can synchronously perform the teaching operation through the teaching module 5 during the end movement of the mechanical arm 7 held by the traction handle 3, so there is no need to use the touch screen control panel to perform a secondary operation to complete the teaching after the traction is completed, thereby improving the efficiency of human-computer interaction and meeting the needs of the site. Among them, the teaching module 5 has a plurality of teaching buttons 51, so that the teaching buttons 51 can facilitate the staff to perform the teaching operation and reduce the difficulty of operation. The plurality of teaching buttons 51 are arranged on the side away from the traction handle 3, so that the teaching buttons 51 face outward, which is convenient for the staff to identify the operation. Optionally, when the execution component 8 is a welding gun component, the teaching button 51 includes a start button, a welding wire out button, a shielding gas out button, a mode switching button, a welding confirmation / cancel button, and a confirmation button. Specifically, the teaching module 5 is connected to a second connecting line, and the end of the robotic arm 7 has a second quick-plug interface 72. The second connecting line is detachably connected to the second quick-plug interface 72. Therefore, through the setting of the second connecting line and the second quick-plug interface 72, a quick communication connection between the teaching module 5 and the robotic arm 7 can be achieved, which facilitates the universal use of the traction teaching device on different robotic arms 7.

[0036] Furthermore, the traction teaching device further includes a fixing assembly 6, which is arranged on the connecting rod 4 and is used to detachably fix the actuating assembly 8, so as to realize the rapid disassembly or replacement of the actuating assembly 8 and the connecting rod 4. Optionally, the fixing assembly 6 is a bolt assembly or a clamping fixing assembly 6. Of course, the fixing assembly 6 can also be other devices, which is not specifically limited in this embodiment.

[0037] The present embodiment also provides a robot, comprising the traction teaching device as described above, the robot also comprising a mechanical arm 7, the mounting seat 1 being detachably connected to the end of the mechanical arm 7, so that the robot can make the force collected by the force collection module 2 be the dragging force applied by the staff by using the traction teaching device as described above, thereby reducing the difficulty of traction teaching, and at the same time, through the use of the traction teaching device, the problem of difficulty in using the traction teaching function of the mechanical arm 7 when installing different execution components 8 is solved, thereby improving the traction teaching experience and teaching accuracy.

[0038] Furthermore, the robot arm 7 is a collaborative robot arm, and the collaborative robot arm and the traction teaching device each include at least two, and the at least two collaborative robot arms and the at least two traction teaching devices are arranged in a one-to-one correspondence, so that the two execution components 8 can perform collaborative operations through the two collaborative robot arms, thereby improving the operating efficiency of the robot.

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A traction teaching device, which can be installed between a robot arm (7) and an actuator (8), characterized in that: The traction teaching device comprises: A mounting seat (1), the mounting seat (1) being detachably connected to the end of the mechanical arm (7); A force collection module (2), the force collection module (2) being arranged on the mounting seat (1) and communicatively connected to the mechanical arm (7); A traction handle (3), wherein the traction handle (3) is arranged on the force collection module (2); A connecting rod (4), one end of the connecting rod (4) is arranged on the mounting seat (1), and the other end of the connecting rod (4) is provided with the actuator assembly (8).

2. The traction teaching device according to claim 1, characterized in that: The mounting seat (1), the force collection module (2) and the traction handle (3) are arranged in sequence along the same direction, and the force collection module (2) is located on the side of the mounting seat (1) away from the end of the mechanical arm (7); one end of the connecting rod (4) is located on the side wall of the mounting seat (1).

3. The traction teaching device according to claim 2, characterized in that: The connecting rod (4) comprises a connecting section (41) and a mounting section (42); one end of the connecting section (41) is detachably connected to the mounting seat (1); the other end of the connecting section (41) is connected to the mounting section (42) at an angle; and the actuator (8) is detachably connected to the free end of the mounting section (42).

4. The traction teaching device according to claim 1, characterized in that: The force acquisition module (2) is connected to a first connection line, the end of the mechanical arm (7) has a first quick-connect interface (71), and the first connection line is detachably connected to the first quick-connect interface (71).

5. The traction teaching device according to claim 1, characterized in that: The traction teaching device also includes a teaching module (5), which is arranged on the connecting rod (4) and is communicatively connected to the mechanical arm (7); the teaching module (5) is used for teaching the operation of the mechanical arm (7).

6. The traction teaching device according to claim 5, characterized in that: The teaching module (5) has a plurality of teaching buttons (51), and the plurality of teaching buttons (51) are arranged on a side away from the traction handle (3).

7. The traction teaching device according to claim 5, characterized in that: The teaching module (5) is connected to a second connecting line, the end of the mechanical arm (7) has a second quick-connect interface (72), and the second connecting line is detachably connected to the second quick-connect interface (72).

8. The traction teaching device according to claim 1, characterized in that: The traction teaching device also includes a fixing component (6), which is arranged on the connecting rod (4) and is used for detachably fixing the execution component (8).

9. A robot, characterized in that: The robot comprises a traction teaching device as claimed in any one of claims 1 to 8, wherein the robot further comprises a mechanical arm (7), and the mounting seat (1) is detachably connected to the end of the mechanical arm (7).

10. The robot according to claim 9, characterized in that: The robot arm (7) is a collaborative robot arm, and each of the collaborative robot arm and the traction teaching device comprises at least two, and the at least two collaborative robot arms and the at least two traction teaching devices are arranged in a one-to-one correspondence.

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