Guiding actuator, teaching robot, and teaching apparatus

Abstract

The invention relates to a guiding actuator, a teaching mechanical arm and teaching equipment, the guiding actuator comprises a supporting structure, an executing element, a handle structure and a damping piece, the supporting structure comprises a support and a holding handle, the support is used for being connected with an active mechanical arm, the holding handle is connected with the support, and the holding handle is used for being held by an external operation body; the execution element is movably arranged on the bracket; the handle structure is connected with the execution element, the handle structure and the holding handle are located on the same side of the support, and the handle structure is operated by an external operation body to move; the damping piece is elastically connected between the execution element and the support so as to elastically limit movement of the execution element relative to the support. The damping piece is elastically connected to the execution element, the difficulty of operating the execution element to move can be reduced, and higher operation precision can be achieved conveniently. The teaching manipulator and the teaching equipment comprise the guide actuator and have higher operation precision.

Description

Technical Field

[0001] The present application relates to the technical field of teaching devices, and particularly to a guiding actuator, a teaching manipulator, and a teaching device. Background Art

[0002] With the development of industrial robot teaching device technology, teaching control technologies based on human-machine interaction and sensing fusion have emerged. There are usually two teaching control methods: direct teaching and offline programming. Among them, direct teaching refers to a teaching method in which an operator manually guides a teaching device to complete actions, records various parameters of the action process, and converts them into digital instructions. After teaching is completed, the teaching device can repeat the taught actions according to the instructions.

[0003] However, in current teaching devices, the sensitivity of the movement of moving elements is too high. When performing direct teaching operations on current teaching devices, it is easy to have a situation where the movement amplitude is too large, making the operation difficult when teaching the teaching device and it is not easy to achieve high operation accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a guiding actuator, a teaching manipulator, and a teaching device for the above problems.

[0005] In a first aspect of the present application, a guiding actuator is provided. The guiding actuator is used for a teaching device. The guiding actuator includes a support structure, an actuating element, a handle structure, and a damping member. The support structure includes a bracket and a holding handle. The holding handle is connected to the bracket. The holding handle is for an external operating body to hold. The bracket is for connecting to a main robotic arm. The actuating element is movably disposed on the bracket. The handle structure is connected to the actuating element and is on the same side of the bracket as the holding handle. The handle structure is for being operated by the external operating body to move. The damping member is elastically connected between the actuating element and the bracket to elastically limit the movement of the actuating element relative to the bracket.

[0006] In one embodiment, the actuating element includes a first jaw and a second jaw. At least one of the first jaw and the second jaw is movably disposed on the bracket to move in a direction closer to and away from the other. The number of the damping members is at least two. At least one of the damping members is connected between the bracket and the first jaw to elastically pull back or elastically push the first jaw in a direction away from the second jaw. And / or at least another one of the damping members is connected between the bracket and the second jaw to elastically pull back or elastically push the second jaw in a direction away from the first jaw.

[0007] In one embodiment, the handle structure includes a first handle and a second handle. The first handle is connected to the first jaw, and the second handle is connected to the second jaw. In the moving direction of the actuating element, the first handle and the second handle are located on both sides of the holding handle.

[0008] In one embodiment, the first handle includes a first ring portion. A first operation hole that is circumferentially closed is formed by penetrating from the side of the first ring portion close to the holding handle to the side away from the holding handle. The first operation hole is for the external operating body to penetrate; and / or, the second handle includes a second ring portion. A second operation hole that is circumferentially closed is formed by penetrating from the side of the second ring portion close to the holding handle to the side away from the holding handle. The second operation hole is for the external operating body to penetrate.

[0009] In one embodiment, the holding handle includes a blocking portion protruding from the outer periphery. The blocking portion is used to abut against the external operating body. The number of the blocking portions is multiple. In the moving direction of the actuating element, the multiple blocking portions are respectively arranged on opposite sides of the outer periphery of the holding handle.

[0010] In one embodiment, the bracket has a receiving groove provided in a concave manner. The support structure further includes a guide rail that spans the receiving groove; the guiding actuator further includes a terminal sensor and a first transmission structure. The terminal sensor is provided on the bracket. The first transmission structure is provided in the receiving groove and is connected between the actuating element and the terminal sensor. The terminal sensor is used to sense the movement of the actuating element.

[0011] In one embodiment, the first transmission structure includes a turntable, a first connecting rod, and a second connecting rod. The turntable is rotatably connected to the terminal sensor. The turntable includes a first connecting portion and a second connecting portion that are oppositely arranged. The first connecting rod and the second connecting rod are located on different sides of the guide rail. Two ends of the first connecting rod are respectively rotatably connected to the first jaw and the first connecting portion. Two ends of the second connecting rod are respectively rotatably connected to the second jaw and the second connecting portion. When the first jaw and the second jaw move, the first connecting rod and the second connecting rod jointly drive the turntable to rotate.

[0012] The second aspect of the present application further provides a teaching manipulator. The teaching manipulator is used as the active part of a teaching device. The teaching manipulator includes an active robotic arm, a sensing module, and the guiding actuator as described above. The guiding actuator is connected to the active robotic arm; the sensing module includes a plurality of sensors. The plurality of sensors are respectively connected between the movable elements included in the teaching manipulator and are used to sense the movement of the movable elements.

[0013] In a third aspect of the present application, a teaching device is further provided. The teaching device includes a controller, a driven manipulator, and the teaching manipulator as described above. Both the teaching manipulator and the driven manipulator are electrically connected to the controller, and the controller can control the corresponding movement of the driven manipulator according to the movement of the teaching manipulator.

[0014] In one embodiment, the teaching device further includes a safety member, the safety member is an elastomer, the number of the driven manipulators is at least two, the number of the teaching manipulators is the same as that of the driven manipulators, and the safety member is elastically connected between the teaching manipulators; and / or, the teaching device further includes a moving device, both the teaching manipulator and the driven manipulator are arranged on the moving device, and the moving device can drive the teaching manipulator and the driven manipulator to move.

[0015] In the above guiding actuator, the handle structure is connected to the actuating element, and the handle structure is also used to be operated by an external operating body (such as the hand of an operator) to move. Therefore, the handle structure can drive the actuating element to move when being externally operated. And, the handle structure and the holding handle are located on the same side of the bracket. Therefore, the external operating body can operate the movement of the handle structure while grasping the holding handle, so that the actuating element moves correspondingly. Further, the damping member is elastically connected between the actuating element and the bracket to elastically limit the movement of the actuating element relative to the bracket, so that the actuating element has a certain damping effect when being driven to move, thereby reducing the sensitivity of the movement of the actuating element and reducing the probability of the situation that the movement amplitude of the actuating element is too large due to improper operation. In other words, configuring the damping member to be elastically connected to the actuating element can reduce the difficulty of operating the movement of the actuating element and facilitate the achievement of relatively higher operation accuracy. Description of the Drawings

[0016] Figure 1 Isometric schematic view of the teaching device provided by an embodiment of the present application.

[0017] Figure 2 Is Figure 1 Isometric schematic view of the teaching manipulator in the shown teaching device.

[0018] Figure 3 Is Figure 2 Isometric schematic view of the guiding actuator in the shown teaching manipulator.

[0019] Figure 4 Is Figure 3 Front view of the shown guiding actuator.

[0020] Figure 5 Is Figure 3 Top view of the shown guiding actuator.

[0021] Figure 6 IsFigure 1 An axonometric schematic diagram of the driven manipulator in the teaching device shown.

[0022] Figure 7 For Figure 6 An axonometric schematic diagram of the driven actuator in the driven manipulator shown.

[0023] Reference numerals: 1, teaching device; 10, teaching manipulator; 11, guiding actuator; 12, active robotic arm; 13, sensing module; 13a, first sensor; 13b, second sensor; 13c, third sensor; 13d, fourth sensor; 20, driven manipulator; 21, driven actuator; 22, driven robotic arm; 30, safety component; 40, frame; 50, moving device; 100, support structure; 110, bracket; 111, receiving groove; 112, body; 113, first support portion; 114, second support portion; 120, holding handle; 121, blocking portion; 130, guide rail; 200, actuating element; 210, first jaw; 220, second jaw; 300, handle structure; 310, first handle; 311, first ring portion; 312, first operation hole; 320, second handle; 321, second ring portion; 322, second operation hole; 400, damping member; 500, end sensor; 600, first transmission structure; 610, turntable; 611, first connection portion; 612, second connection portion; 620, first connecting rod; 630, second connecting rod; 710, first base; 720, first connection seat; 730, first arm; 740, second arm; 750, second base; 760, second connection seat; 770, third arm; 780, fourth arm; 810, connection structure; 820, second transmission structure; 821, drive disk; 821a, third connection portion; 821b, fourth connection portion; 822, third connecting rod; 823, fourth connecting rod; 830, end driver; 840, fixture; 841, first clamping portion; 842, second clamping portion; 850, drive module; 851, first driver; 852, second driver; 853, third driver; 854, fourth driver; 860, vision element; O1, first axis; O2, second axis; O3, third axis; O4, fourth axis; O5, fifth axis; O6, sixth axis; O7, seventh axis; O8, eighth axis. Detailed implementation manners

[0024] In order to make the above objects, features and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0025] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application 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 should not be construed as a limitation on the present application.

[0026] In addition, if there are terms such as "first" and "second", these terms are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if there is a term "plurality", the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0027] In the present application, unless otherwise clearly specified and limited, if there are terms such as "mounted", "connected", "connected to", "fixed", etc., these terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0028] In the present application, unless otherwise clearly specified and limited, if there is a description such as a first feature being "on" or "under" a second feature, the meaning may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0029] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If present, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are only for illustrative purposes and do not represent the only implementation.

[0030] Refer to Figure 1 , Figure 1 which shows an axonometric schematic diagram of a teaching device provided by an embodiment of the present application. Figure 2 is Figure 1 an axonometric schematic diagram of a teaching manipulator in the teaching device shown. An embodiment of the present application provides a teaching device 1, which includes a controller (not shown in the figure, the same below), a teaching manipulator 10 and a driven manipulator 20. The teaching manipulator 10 can be used as the active part of the teaching device 1, and the driven manipulator 20 is the driven part of the teaching device 1. That is, the operator can control the driven manipulator 20 to complete corresponding actions by operating the movement of the teaching manipulator 10. Further, both the teaching manipulator 10 and the driven manipulator 20 are electrically connected to the controller, and the controller can control the corresponding movement of the driven manipulator 20 according to the movement of the teaching manipulator 10. For example, when operating the movement of the teaching manipulator 10, the controller can obtain data such as the joint angles and end trajectories of the teaching robot in real time, and control the driven manipulator 20 to perform corresponding actions according to the above data. Further, the teaching device 1 can also integrate relevant technologies of machine learning, and train a behavior decision-making model by collecting multi-modal data such as joint angles and end trajectories in the teaching operation. Then, the teaching device 1 can realize autonomous motion planning and dynamic adjustment based on this model in the later stage.

[0031] Please refer to Figure 1 and Figure 2 , in one embodiment, the teaching manipulator 10 and the driven manipulator 20 can have substantially the same component members, so that the driven manipulator 20 has a structural basis corresponding to the teaching manipulator 10 to perform the teaching actions of the teaching manipulator 10. The driven manipulator 20 can include a driven actuator 21 and a driven robotic arm 22. The driven actuator 21 is connected to the driven robotic arm 22, and the driven robotic arm 22 is used to drive the driven actuator 21 to move to the expected working position. The teaching manipulator 10 includes a guiding actuator 11 and a driving robotic arm 12. The guiding actuator 11 is connected to the driving robotic arm 12, and an external operating body can hold the guiding actuator 11 to make the guiding actuator 11 and the driving robotic arm 12 complete the teaching actions.

[0032] Please refer to Figure 2 and Figure 3, in one embodiment, the teaching manipulator 10 further includes an induction module 13. The induction module 13 includes a plurality of sensors, and the plurality of sensors are respectively connected between the movable elements included in the teaching manipulator 10 for sensing the movement of the movable elements. That is, the sensors can obtain data such as the joint angles and displacement dimensions of each movable element of the teaching manipulator 10 when performing a teaching action. The movable elements of the teaching manipulator 10 are, for example, the actuating element 200 and each arm portion included in the active robotic arm 12 mentioned below.

[0033] Combined with Figure 6 , the driven manipulator 20 further includes a driving module 850. The driving module 850 includes a plurality of drivers, and the plurality of drivers are respectively connected between the respective movable elements included in the driven manipulator 20 for driving the corresponding movement of the movable elements. It is easy to understand that the sensors and the drivers are respectively electrically connected to the controller, and the controller can control the drivers to output corresponding movements according to the data information fed back by the sensors, so that the driven manipulator 20 completes the corresponding actions of the teaching manipulator 10.

[0034] Please refer to Figure 3 And Figure 4 , the guiding actuator 11 provided by an embodiment of the present application includes a support structure 100, an actuating element 200, a handle structure 300 and a damping member 400. The actuating element 200, the handle structure 300 and the damping member 400 are all provided on the support structure 100. The support structure 100 includes a bracket 110 and a holding handle 120. The holding handle 120 is connected to the bracket 110, and the holding handle 120 is used for an external operating body to hold. The actuating element 200 is movably provided on the bracket 110. The handle structure 300 is connected to the actuating element 200 and is located on the same side of the bracket 110 as the holding handle 120. The handle structure 300 is used to be operated by an external operating body to move. The damping member 400 is elastically connected between the actuating element 200 and the bracket 110 to elastically limit the movement of the actuating element 200 relative to the bracket 110.

[0035] In the above guiding actuator 11, the handle structure 300 is connected to the actuating element 200, and the handle structure 300 is also used to be operated by an external operating body (such as the hand of an operator) to move. Therefore, when the handle structure 300 is operated by an external operation, it can drive the actuating element 200 to move. And, the handle structure 300 and the holding handle 120 are located on the same side of the bracket 110. Therefore, the external operating body can operate the movement of the handle structure 300 while grasping the holding handle 120, so that the actuating element 200 moves accordingly. With such a setting, the guiding actuator 11 can be operated with one hand.

[0036] Furthermore, the damping member 400 is elastically connected between the actuator 200 and the bracket 110 to elastically limit the movement of the actuator 200 relative to the bracket 110, so that the actuator 200 has a certain damping effect when driven to move, thereby reducing the sensitivity of the movement of the actuator 200 and reducing the probability of the actuator 200 moving too much due to improper operation. In other words, configuring the damping member 400 to be elastically connected to the actuator 200 can reduce the difficulty of operating the actuator 200 to move, and facilitate achieving relatively higher operating accuracy.

[0037] As one example, the actuator 200 may be constructed as an element such as a clamp, a suction cup, or a welding gun for performing a specific task.

[0038] It should be noted that the external operating body used to operate the movement of the teaching manipulator 10 in each embodiment of the present application can be configured as the operator's hand, that is, the teaching manipulator 10 can be directly manually held and operated to perform the teaching action. Of course, the present application is not limited to only using hands as the external operating body, and other operating bodies that can drive the teaching manipulator 10 to complete the teaching action can also be used as the external operating body, which can be designed according to actual needs.

[0039] See also Figure 2 In one embodiment, the bracket 110 is used to connect with the active manipulator 12, that is, by grasping the gripping handle 120, not only can the guide actuator 11 be moved to the expected position, but also the active manipulator 12 can be driven to move accordingly. It can be understood that the end effector is a component in the manipulator used to specifically complete the operation, so the guide actuator 11 (i.e., the end effector of the teaching manipulator 10) is configured to include a gripping handle 120 for the external operating body to grasp, so as to directly and effectively operate the guide actuator 11 to move to the expected position for operation, and the active manipulator 12 can also complete the corresponding action.

[0040] Please refer again Figure 3 and Figure 4, in one embodiment, the actuating element 200 includes a first jaw 210 and a second jaw 220. At least one of the first jaw 210 and the second jaw 220 is movably disposed on the bracket 110 to move in a direction closer to and away from the other. The number of the damping members 400 is at least two, and at least one damping member 400 is connected between the bracket 110 and the first jaw 210 to elastically pull back or elastically push the first jaw 210 in a direction away from the second jaw 220. Wherein, at least another damping member 400 is connected between the bracket 110 and the second jaw 220 to elastically pull back or elastically push the second jaw 220 in a direction away from the first jaw 210. Thus, when the actuating element 200 clamps, it will be subjected to the reverse elastic force of the damping member 400, and the reverse elastic force counteracts the driving force applied by the external operating body, reducing the probability that the clamping amplitude is too large due to improper control of the external driving force and damaging the article to be clamped by the driven manipulator 20. At the same time, since the reverse elastic force counteracts the driving force applied by the external operating body, the precise control requirement of the driving force can be reduced, and the operation difficulty is reduced.

[0041] Please continue to refer to Figure 4 , in one embodiment, the handle structure 300 includes a first handle 310 and a second handle 320. The first handle 310 is connected to the first jaw 210, and the second handle 320 is connected to the second jaw 220. In the moving direction of the actuating element 200, the first handle 310 and the second handle 320 are located on both sides of the holding handle 120. Thus, when the external operating body grasps the holding handle 120, the first handle 310 and the second handle 320 can be simultaneously operated to move. Taking the external operating body being configured as a hand as an example, the palm cooperates with some fingers such as the middle finger, the ring finger and the little finger to grasp the holding handle 120, and the index finger and the thumb respectively operate the first handle 310 and the second handle 320. Thus, not only can the holding handle 120 be grasped to move the guiding actuator 11 to the expected position, but also the actuating element 200 can be simultaneously operated to move. It should be emphasized that the specific grasping relationship between the hand as the external operating body and the guiding actuator 11 in this embodiment is only an example to illustrate the way of the hand operating the guiding actuator 11, and is not limited to the above-mentioned grasping method.

[0042] Please continue to refer to 3 and Figure 4 , in one embodiment, the first handle 310 includes a first ring portion 311. A circumferentially closed first operation hole 312 is formed by penetrating from the side of the first ring portion 311 close to the holding handle 120 to the side away from the holding handle 120. The first operation hole 312 is for the external operating body to penetrate. After the external operating body penetrates into the circumferentially closed first operation hole 312, the first handle 310 can be conveniently driven to move in a direction closer to and away from the second handle 320.

[0043] Similarly, the second handle 320 includes a second ring portion 321. A circumferentially closed second operation hole 322 is formed by penetrating from the side of the second ring portion 321 close to the holding handle 120 to the side away from the holding handle 120. The second operation hole 322 is for an external operating body to penetrate. After the external operating body penetrates into the circumferentially closed second operation hole 322, it can conveniently drive the second handle 320 to move in the directions of approaching and departing from the first handle 310.

[0044] Please refer to Figure 3 and Figure 4 , in one embodiment, the holding handle 120 includes a blocking portion 121 protruding from the outer periphery. The blocking portion 121 is used to abut against the external operating body, facilitating the external operating body to apply an operating force to the holding handle 120. Still taking the hand as an example of the external operating body, the finger (such as the middle finger mentioned above) that grasps the holding handle 120 can abut against the blocking portion 121 to conveniently operate the longitudinal movement of the holding handle 120 and reduce the risk of the longitudinal operating force causing the actuator 200 to shake, deflect, and other position deviation situations.

[0045] Please continue to refer to Figure 2 and Figure 3 , in one embodiment, the number of the blocking portions 121 is multiple. In the movement direction of the actuator 200, the multiple blocking portions 121 are respectively arranged on the opposite sides of the outer periphery of the holding handle 120 to correspond to the posture when the external operating body grasps the holding handle 120, facilitating the formation of an abutting relationship with the external operating body.

[0046] Please refer to Figure 4 , in one embodiment, the support structure 100 further includes a guide rail 130. The first jaw 210 and the second jaw 220 are respectively slidably engaged with the guide rail 130. Configuring the guide rail 130 can improve the smoothness of the movement of the first jaw 210 and the second jaw 220, facilitating the first jaw 210 and the second jaw 220 to have higher movement accuracy.

[0047] Please refer to Figure 3 , Figure 6 and Figure 7 , in one embodiment, the slave actuator 21 may include a fixture 840, and the fixture 840 corresponds to the actuator 200. The guiding actuator 11 further includes a terminal sensor 500. The terminal sensor 500 is used to sense the movement of the actuator 200. The terminal sensor 500 is electrically connected to the controller to transmit the sensed data information to the controller, and the controller can control the fixture 840 to perform corresponding opening and closing actions according to the above data.

[0048] Please refer to Figure 4 and Figure 5, in one embodiment, the bracket 110 has a recessed receiving groove 111, and the guide rail 130 spans across the receiving groove 111. The guiding actuator 11 further includes a first transmission structure 600. The end sensor 500 is disposed on the bracket 110, and the first transmission structure 600 is disposed in the receiving groove 111 and connected between the actuating element 200 and the end sensor 500. Since the guide rail 130 spans across the receiving groove 111, arranging the first transmission structure 600 in the receiving groove 111 facilitates the connection of the first transmission structure 600 to the first jaw 210 and the second jaw 220 without interfering with the sliding movement of the first jaw 210 and the second jaw 220 along the guide rail 130. In this embodiment, the first transmission structure 600 is drivingly connected between the end sensor 500 and the actuating element 200. Therefore, when the handle structure 300 drives the actuating element 200 to move, the movement will be correspondingly transmitted to the end sensor 500 and sensed. Thus, the movement of the actuating element 200 can be converted into data information and transmitted to the controller for controlling the operation of the fixture 840.

[0049] Please refer to Figure 3 , in one embodiment, the end sensor 500 can be embedded in the bracket 110.

[0050] Please refer to Figure 4 , in one embodiment, the first transmission structure 600 includes a turntable 610, a first connecting rod 620, and a second connecting rod 630. The turntable 610 is rotatably connected to the end sensor 500. The turntable 610 includes a first connecting portion 611 and a second connecting portion 612, which are oppositely arranged. The first connecting rod 620 and the second connecting rod 630 are located on different sides of the guide rail 130. The two ends of the first connecting rod 620 are respectively rotatably connected to the first jaw 210 and the first connecting portion 611, and the two ends of the second connecting rod 630 are respectively rotatably connected to the second jaw 220 and the second connecting portion 612. Thus, the turntable 610, the first connecting rod 620, and the first jaw 210 can form a crank-slider mechanism, and the turntable 610, the second connecting rod 630, and the second jaw 220 can form another crank-slider mechanism. When the first jaw 210 and the second jaw 220 move, the first connecting rod 620 and the second connecting rod 630 jointly drive the turntable 610 to rotate, and the end sensor 500 can sense the rotational movement of the turntable 610.

[0051] Please refer to Figure 6 and Figure 7, in one embodiment, similar to the guiding actuator 11 in structure, the driven actuator 21 includes a connecting structure 810, a second transmission structure 820, an end effector 830, and a fixture 840 as described above. The connecting structure 810 is connected to the driven robotic arm 22, and the second transmission structure 820, the end effector, and the fixture 840 are all disposed on the connecting structure 810. Among them, the fixture 840 is movably disposed on the connecting structure 810, the second transmission structure 820 is drivingly connected between the end effector 830 and the fixture 840, and the end effector 830 can drive the fixture 840 to move through the second transmission structure 820. Further, the end effector 830 can be electrically connected to the controller to drive the fixture 840 to complete the actions corresponding to the actuating element 200 under the control of the controller.

[0052] In one embodiment, the second transmission structure 820 can have the same structure as the first transmission structure 600, so as to facilitate the fixture 840 to accurately complete the actions of the actuating element 200. Please refer to Figure 7 , in one embodiment, the fixture 840 includes a first clamping portion 841 and a second clamping portion 842. The second transmission structure 820 includes a driving disk 821, a third connecting rod 822, and a fourth connecting rod 823. The end effector 830 is rotatably connected to the driving disk 821. The driving disk 821 includes a third connecting portion 821a and a fourth connecting portion 821b disposed opposite to each other. Two ends of the third connecting rod 822 are respectively rotatably connected to the first clamping portion 841 and the third connecting portion 821a, and two ends of the fourth connecting rod 823 are respectively rotatably connected to the second clamping portion 842 and the fourth connecting portion 821b. The end effector 830 can rotate the driving disk 821, and drive the first clamping portion 841 and the second clamping portion 842 to move through the third connecting rod 822 and the fourth connecting rod 823 respectively.

[0053] Please refer to Figure 7 , in one embodiment, the driven actuator 21 further includes a vision element 860. The vision element 860 is disposed on the connecting structure 810 and is used to acquire an image of the location to be operated, so as to facilitate accurate positioning. The vision element 860 can be configured as an industrial camera, for example.

[0054] Please refer to Figure 5 , in one embodiment, the bracket 110 includes a body 112, a first supporting portion 113, and a second supporting portion 114. The first supporting portion 113 and the second supporting portion 114 are both disposed on the body 112, and the first supporting portion 113 and the second supporting portion 114 are spaced apart to form the receiving groove 111 as described above. The guide rail 130 extends from the first supporting portion 113 to the second supporting portion 114 and is in a state of spanning across the receiving groove 111.

[0055] As Figure 5, in one embodiment, one end of a damping member 400 is connected to the first support portion 113, and the other end is connected to the first jaw 210. One end of another damping member 400 is connected to the second support portion 114, and the other end is connected to the second jaw 220. In this embodiment, the damping member 400 can be configured as a tension spring.

[0056] Please refer to again Figure 2 , in one embodiment, the teaching manipulator 10 includes a first base 710 and a first connecting seat 720. The first connecting seat 720 is rotatably provided on the first base 710. The active robotic arm 12 includes a first arm 730 and a second arm 740. One end of the first arm 730 is rotatable with the first connecting seat 720, and the other end is rotatably connected to the second arm 740. The end of the second arm 740 away from the first arm 730 is rotatably connected to the guiding actuator 11. The active robotic arm 12 has multiple degrees of freedom, so the operation of guiding the actuator 11 to move is smoother.

[0057] The sensing module 13 includes a first sensor 13a, a second sensor 13b, a third sensor 13c, and a fourth sensor 13d. The four can be configured as servos, so that the sensors can not only detect angles but also play a role in rotational connection. The first sensor 13a is connected between the first connecting seat 720 and the first base 710 for the first connecting seat 720 and the first base 710 to be rotatably connected about the first axis O1. The second sensor 13b is connected between the first arm 730 and the first connecting seat 720 for the first arm 730 and the first connecting seat 720 to be rotatably connected about the second axis O2. The third sensor 13c is connected between the first arm 730 and the second arm 740 for the first arm 730 and the second arm 740 to be rotatably connected about the third axis O3. The fourth sensor 13d is connected between the second arm 740 and the bracket 110 for the second arm 740 and the bracket 110 to be rotatably connected about the fourth axis O4. Among them, at least one of the first axis O1, the second axis O2, the third axis O3, and the fourth axis O4 is not parallel to the other axes. Further, the second axis O2, the third axis O3, and the fourth axis O4 are parallel, and the first axis O1 is perpendicular to the three.

[0058] Please refer to Figure 6 , in one embodiment, the driven manipulator 20 includes a second base 750 and a second connecting seat 760. The second connecting seat 760 is rotatably provided on the second base 750. The driven robotic arm 22 includes a third arm 770 and a fourth arm 780. One end of the third arm 770 is rotatable with the second connecting seat 760, and the other end is rotatably connected to the fourth arm 780. The end of the fourth arm 780 away from the third arm 770 is rotatably connected to the driven actuator 21. The driven robotic arm 22 has multiple degrees of freedom, which is convenient for driving the driven actuator 21 to move to the desired position.

[0059] The driving module 850 includes a first driver 851, a second driver 852, a third driver 853 and a fourth driver 854. The first driver 851 is connected between the second connecting seat 760 and the second base 750 to rotatably connect the second connecting seat 760 and the second base 750 about a fifth axis O5. The second driver 852 is connected between the third arm 770 and the second connecting seat 760 to rotatably connect the third arm 770 and the second connecting seat 760 about a sixth axis O6. The third driver 853 is connected between the third arm 770 and the fourth arm 780 to rotatably connect the third arm 770 and the fourth arm 780 about a seventh axis O7. The fourth driver 854 is connected between the fourth arm 780 and the connecting structure 810 to rotatably connect the fourth arm 780 and the connecting structure 810 about an eighth axis O8. Among them, at least one of the fifth axis O5, the sixth axis O6, the seventh axis O7 and the eighth axis O8 is not parallel to the other axes. Further, the sixth axis O6, the seventh axis O7 and the eighth axis O8 are parallel, and the fifth axis O5 is perpendicular to the three axes.

[0060] Among them, in combination Figure 2 and Figure 6 , the first sensor 13a corresponds to the first driver 851, so that the angle by which the second connecting seat 760 rotates relative to the second base 750 about the fifth axis O5 is the same as the angle by which the first connecting seat 720 rotates relative to the first base 710 about the first axis O1. The second sensor 13b corresponds to the second driver 852, so that the angle by which the third arm 770 rotates relative to the second connecting seat 760 about the sixth axis O6 is the same as the angle by which the second arm 740 rotates relative to the first connecting seat 720 about the second axis O2. The third sensor 13c corresponds to the third driver 853, so that the angle by which the fourth arm 780 rotates relative to the third arm 770 about the seventh axis O7 is the same as the angle by which the second arm 740 rotates relative to the first arm 730 about the third axis O3. The fourth sensor 13d corresponds to the fourth driver 854, so that the angle by which the connecting structure 810 rotates relative to the fourth arm 780 about the eighth axis O8 is the same as the angle by which the bracket 110 rotates relative to the second arm 740 about the fourth axis O4.

[0061] Please refer to Figure 1 , in one embodiment, the number of driven manipulators 20 is at least two, and the number of teaching manipulators 10 is the same as that of the driven manipulators 20. As described above, a single hand can grasp the handle 120 and operate the actuating element 200 to move, so a single hand can operate one teaching manipulator 10. Taking the number of the driven manipulators 20 and the teaching manipulators 10 being two as an example, at this time, the left and right hands can be used to operate different teaching manipulators 10 respectively.

[0062] It can be understood that the movement of the driven manipulator 20 corresponds to that of the teaching manipulator 10, and the teaching manipulator 10 is manually operated by an operator for teaching. When the guiding actuator 11 accidentally detaches from the operator's hand, the driven manipulator 20 will also perform a corresponding collapsing and falling action, which may cause an accident of crushing the workpiece placed at the working station to be operated. To reduce the risk of accidental detachment of the guiding actuator 11 of the teaching manipulator 10, please refer again to Figure 1 , in one embodiment, the teaching device 1 further includes a safety member 30. The safety member 30 is an elastomer, and the safety member 30 is elastically connected between the two teaching manipulators 10. Therefore, when the guiding actuator 11 of one of the teaching manipulators 10 detaches, the safety member 30 can play a lifting and protecting role, reducing the movement range of the detached guiding actuator 11 and reducing the risk of accidents. It can be understood that each teaching manipulator 10 generally moves in the same direction. Therefore, configuring the safety member 30 to be connected between the two teaching manipulators 10 can reduce the limitation of the movement range of the teaching manipulator 10 by the safety member 30.

[0063] Furthermore, the safety member 30 can be connected between the active robotic arms 12 of the two teaching manipulators 10. Further still, the safety member 30 can be connected between the ends of the two first arms 730 close to the second arm 740.

[0064] Please continue to refer to Figure 1 , in one embodiment, the teaching device 1 further includes a frame 40, and the teaching manipulator 10 and the driven manipulator 20 are both arranged on the frame 40. In some embodiments, for example, when the teaching device 1 includes only one teaching manipulator 10, the safety member 30 can also be connected between the teaching manipulator 10 and the frame 40. Of course, the teaching manipulator 10 and the driven manipulator 20 are not limited to being arranged on the same frame, and the two can have a large spatial distribution span.

[0065] Please continue to refer to Figure 1 , in one embodiment, the teaching device 1 further includes a moving device 50, and the teaching manipulator 10 and the driven manipulator 20 are both arranged on the moving device 50. The moving device 50 can drive the teaching manipulator 10 and the driven manipulator 20 to move. The moving device 50 can be configured as an AGV device, for example.

[0066] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity in description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0067] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A guide actuator, characterized in that: For teaching a device, the guide actuator comprises: A support structure, the support structure comprising a bracket and a gripping handle, the gripping handle being connected to the bracket, the gripping handle being used for being gripped by an external operating body, and the bracket being used for being connected to an active robotic arm; an actuator, the actuator being movably disposed on the bracket; A handle structure, the handle structure is connected to the actuator and is located on the same side of the bracket as the gripping handle, and the handle structure is used to be moved by the external operating body; A damping member is elastically connected between the actuator and the bracket to elastically limit the movement of the actuator relative to the bracket.

2. The guide actuator according to claim 1, characterized in that: The actuator comprises a first clamp and a second clamp, at least one of the first clamp and the second clamp is movably disposed on the bracket to move toward and away from the other, and the damping member is at least two in number; At least one of the damping members is connected between the bracket and the first clamping jaw to elastically pull back or elastically push the first clamping jaw away from the second clamping jaw; and / or At least another damping member is connected between the bracket and the second clamping jaw to elastically pull back or elastically push the second clamping jaw away from the first clamping jaw.

3. The guide actuator according to claim 2, characterized in that: The handle structure includes a first handle and a second handle, the first handle is connected to the first clamping jaw, and the second handle is connected to the second clamping jaw. In the movement direction of the actuator, the first handle and the second handle are located on both sides of the gripping handle.

4. The guide actuator according to claim 3, characterized in that: The first handle comprises a first ring portion, a side of the first ring portion close to the gripping handle is penetrated toward a side away from the gripping handle to form a circumferentially closed first operating hole, and the first operating hole is for the external operating body to penetrate; and / or The second handle comprises a second ring portion, and a side of the second ring portion close to the gripping handle and a side facing away from the gripping handle are penetrated to form a circumferentially closed second operating hole, and the second operating hole is for the external operating body to penetrate.

5. The guide actuator according to claim 2, characterized in that: The gripping handle includes a blocking portion protruding from the outer circumference, the blocking portion is used to abut against the external operating body, and there are multiple blocking portions. In the movement direction of the actuator, the multiple blocking portions are respectively arranged on opposite sides of the outer circumference of the gripping handle.

6. The guide actuator according to claim 2, characterized in that: The bracket has a recessed receiving groove, and the support structure further includes a guide rail, which spans across the receiving groove; The guide actuator also includes an end sensor and a first transmission structure. The end sensor is arranged on the bracket. The first transmission structure is arranged in the receiving groove and connected between the actuator and the end sensor. The end sensor is used to sense the movement of the actuator.

7. The guide actuator according to claim 6, characterized in that: The first transmission structure includes a turntable, a first connecting rod and a second connecting rod. The turntable is rotatably connected to the end sensor. The turntable includes a first connecting portion and a second connecting portion that are relatively arranged. The first connecting rod and the second connecting rod are located on different sides of the guide rail. The two ends of the first connecting rod are rotatably connected to the first clamp and the first connecting portion respectively. The two ends of the second connecting rod are rotatably connected to the second clamp and the second connecting portion respectively. When the first clamp and the second clamp move, the first connecting rod and the second connecting rod jointly drive the turntable to rotate.

8. A teaching robot, characterized in that: Serving as the active part of the teaching device, the teaching manipulator comprises an active manipulator arm, a sensing module and a guiding actuator as claimed in any one of claims 1 to 7, wherein the guiding actuator is connected to the active manipulator arm; The sensing module includes a plurality of sensors, which are respectively connected between the movable elements included in the teaching robot and are used to sense the movement of the movable elements.

9. A teaching device, characterized in that: The teaching device includes a controller, a slave manipulator and the teaching manipulator as described in claim 8, the teaching manipulator and the slave manipulator are both electrically connected to the controller, and the controller can control the corresponding movement of the slave manipulator according to the movement of the teaching manipulator.

10. The teaching device according to claim 9, characterized in that: The teaching device further comprises a safety member, which is an elastic body, the number of the driven manipulators is at least two, the number of the teaching manipulators is the same as the number of the driven manipulators, and the safety member is elastically connected between the teaching manipulators; and / or The teaching device further comprises a moving device, the teaching manipulator and the driven manipulator are both arranged on the moving device, and the moving device can drive the teaching manipulator and the driven manipulator to move.

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