Guiding executor, teaching robot and teaching device

Abstract

The application relates to a guide executor, a teaching manipulator and a teaching device. The guide executor comprises a support structure, an execution element, a handle structure and a damping element. The support structure comprises a support and a holding handle. The support is used for being connected with a driving manipulator. The holding handle is connected with the support and is used for being held by an external operator. The execution element is movably arranged on the support. The handle structure is connected with the execution element and is located on the same side of the holding handle on the support. The handle structure is used for being operated by the external operator to move. The damping element is elastically connected between the execution element and the support to elastically limit the movement of the execution element relative to the support. The damping element is elastically connected to the execution element, which can reduce the difficulty of operating the movement of the execution element and facilitate higher operation accuracy. The teaching manipulator and the teaching device comprise the above guide executor and have higher operation accuracy.

Description

Technical Field

[0001] This application relates to the field of teaching device technology, and in particular to a guide actuator, a teaching manipulator, and a teaching device. Background Technology

[0002] With the development of industrial robot teaching device technology, teaching control technology based on human-machine interaction and sensor fusion has emerged. Teaching control typically has two methods: direct teaching and offline programming. Direct teaching refers to the operator manually guiding the teaching device to complete actions, recording various parameters of the action process, and converting them into digital instructions. After teaching is complete, the teaching device can repeatedly execute the taught actions according to the instructions.

[0003] However, the motion sensitivity of the moving elements in current teaching devices is too high. When directly teaching the current teaching devices, the range of motion is too large, making it difficult to operate the teaching devices and difficult to achieve high operating accuracy. Summary of the Invention

[0004] Therefore, it is necessary to provide a guide actuator, a teaching robot, and a teaching device to address the above problems.

[0005] The first aspect of this application provides a guided actuator for use in a teaching device. The guided actuator includes a support structure, an actuator element, a handle structure, and a damping element. The support structure includes a bracket and a grip, the grip being connected to the bracket and used for gripping by an external manipulator. The bracket is used for connection to an active robotic arm. The actuator element is movably disposed on the bracket. The handle structure is connected to the actuator element and located on the same side of the bracket as the grip, the handle structure being moved by the external manipulator. The damping element is elastically connected between the actuator element and the bracket to elastically limit the movement of the actuator element relative to the bracket.

[0006] In one embodiment, the actuating element includes a first gripper and a second gripper, at least one of which is movably disposed on the support to move toward and away from the other, and the number of damping elements is at least two; wherein at least one of the damping elements is connected between the support and the first gripper to elastically pull back or elastically push the first gripper away from the second gripper; and / or wherein at least another damping element is connected between the support and the second gripper to elastically pull back or elastically push the second gripper away from the first gripper.

[0007] In one embodiment, the handle structure includes a first handle and a second handle, the first handle being connected to the first gripper and the second handle being connected to the second gripper, and the first handle and the second handle being located on both sides of the grip in the direction of movement of the actuating element.

[0008] In one embodiment, the first handle includes a first ring portion, the first ring portion extending from the side near the grip handle to the side opposite to the grip handle to form a circumferentially closed first operating hole, the first operating hole for the external operating body to pass through; and / or, the second handle includes a second ring portion, the second ring portion extending from the side near the grip handle to the side opposite to the grip handle to form a circumferentially closed second operating hole, the second operating hole for the external operating body to pass through.

[0009] In one embodiment, the grip includes a blocking portion protruding from the outer periphery for abutting against the external operating body. The number of blocking portions is multiple, and in the direction of movement of the actuator, the multiple blocking portions are respectively arranged on opposite sides of the outer periphery of the grip.

[0010] In one embodiment, the bracket has a recessed receiving groove, and the support structure further includes a guide rail that spans the receiving groove; the guide actuator further includes an end effector and a first transmission structure, the end effector being disposed in the bracket, the first transmission structure being disposed in the receiving groove and connected between the actuator and the end effector, the end effector being used to sense the movement of the actuator.

[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 end sensor. The turntable includes a first connecting portion and a second connecting portion disposed opposite to each other. 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 gripper and the first connecting portion, respectively. The two ends of the second connecting rod are rotatably connected to the second gripper and the second connecting portion, respectively. When the first gripper and the second gripper move, the first connecting rod and the second connecting rod together drive the turntable to rotate.

[0012] A second aspect of this application also provides a teaching manipulator, which serves as the active part of a teaching device. The teaching manipulator includes an active robotic arm, a sensing module, and a guide actuator as described above. The guide actuator is connected to the active robotic arm. The sensing module includes a plurality of sensors, which are respectively connected between the movable elements included in the teaching manipulator for sensing the movement of the movable elements.

[0013] A third aspect of this application also provides a teaching device, which includes a controller, a driven manipulator, and a 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 element, which is an elastic body; the number of driven manipulators is at least two; the number of teaching manipulators is the same as the number of driven manipulators; and the safety element is elastically connected between the teaching manipulators. Alternatively, the teaching device further includes a moving device, on which both the teaching manipulators and the driven manipulators are disposed; the moving device is capable of moving the teaching manipulators and the driven manipulators.

[0015] In the aforementioned guide actuator, the handle structure is connected to the actuator element. The handle structure is also designed to be moved by an external operating body (e.g., the operator's hand). Therefore, the handle structure, when operated externally, can drive the actuator element to move. Furthermore, the handle structure and the grip are located on the same side of the support, allowing the external operating body to operate the handle structure while gripping the grip, thus causing the actuator element to move accordingly. Further, a damping element is elastically connected between the actuator element and the support, elastically restricting the actuator element's movement relative to the support. This provides a damping effect when the actuator element is driven, reducing the sensitivity of the actuator element's movement and decreasing the likelihood of excessive movement due to improper operation. In other words, configuring a damping element elastically connected to the actuator element reduces the difficulty of operating the actuator element and facilitates achieving relatively higher operational precision. Attached Figure Description

[0016] Figure 1 This is an isometric schematic diagram of a teaching device provided in an embodiment of this application.

[0017] Figure 2 for Figure 1 Axonometric view of the teaching robot in the teaching device shown.

[0018] Figure 3 for Figure 2 The diagram shows an isometric view of the guide actuator in the teaching manipulator.

[0019] Figure 4 for Figure 3 The image shows a front view of the guide actuator.

[0020] Figure 5 for Figure 3 The top view of the guide actuator is shown.

[0021] Figure 6 for Figure 1 Axonometric view of the driven manipulator in the teaching device shown.

[0022] Figure 7 for Figure 6 The diagram shows an isometric view of the driven actuator in the driven manipulator.

[0023] Reference numerals: 1. Teaching device; 10. Teaching robot; 11. Guide actuator; 12. Active robot arm; 13. Sensing module; 13a. First sensor; 13b. Second sensor; 13c. Third sensor; 13d. Fourth sensor; 20. Driven robot; 21. Driven actuator; 22. Driven robot arm; 30. Safety component; 40. Frame; 50. Moving device; 100. Support structure; 110. Bracket; 111. Receiving slot; 112. Body; 1 13. First support part; 114. Second support part; 120. Grip handle; 121. Blocking part; 130. Guide rail; 200. Actuating element; 210. First gripper; 220. Second gripper; 300. Handle structure; 310. First handle; 311. First ring part; 312. First operating hole; 320. Second handle; 321. Second ring part; 322. Second operating hole; 400. Damping element; 500. End sensor; 600. First transmission structure; 610. Rotation Disc; 611, First connecting part; 612, Second connecting part; 620, First connecting rod; 630, Second connecting rod; 710, First base; 720, First connecting seat; 730, First arm; 740, Second arm; 750, Second base; 760, Second connecting seat; 770, Third arm; 780, Fourth arm; 810, Connecting structure; 820, Second transmission structure; 821, Drive disc; 821a, Third connecting part; 821b, Fourth connecting part; 822, Third connecting rod 823, fourth link; 830, end effector; 840, clamp; 841, first clamp; 842, second clamp; 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

[0024] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0025] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0026] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0029] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening 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 intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0030] See Figure 1 , Figure 1 An isometric schematic diagram of a teaching device provided in one embodiment of this application is shown. Figure 2 for Figure 1 The diagram shows an isometric view of the teaching pendant in the teaching device. One embodiment of this application provides a teaching device 1, which includes a controller (not shown, the same below), a teaching pendant 10, and a driven pendant 20. The teaching pendant 10 can be used as the active part of the teaching device 1, and the driven pendant 20 is the driven part of the teaching device 1. That is, the operator can control the driven pendant 20 to complete corresponding actions by operating the teaching pendant 10. Further, both the teaching pendant 10 and the driven pendant 20 are electrically connected to the controller, which can control the corresponding movement of the driven pendant 20 based on the movement of the teaching pendant 10. For example, when operating the teaching pendant 10, the controller can acquire data such as the joint angles and end effector trajectory of the teaching robot in real time, and control the driven pendant 20 to perform corresponding actions based on the above data. Furthermore, the teaching device 1 can also integrate relevant machine learning technologies. By collecting multimodal data such as joint angles and end-effector trajectories during the teaching operation, a behavioral decision model can be trained. In the later stages, the teaching device 1 can realize autonomous motion planning and dynamic adjustment based on this model.

[0031] Please see Figure 1 and Figure 2 In one embodiment, the teaching manipulator 10 and the driven manipulator 20 may have substantially the same constituent components, such that the driven manipulator 20 has a structural foundation corresponding to that of the teaching manipulator 10, in order to perform the teaching actions of the teaching manipulator 10. The driven manipulator 20 may include a driven actuator 21 and a driven robotic arm 22, with the driven actuator 21 connected to the driven robotic arm 22. The driven robotic arm 22 is used to move the driven actuator 21 to the expected working position. The teaching manipulator 10 includes a guiding actuator 11 and an active robotic arm 12, with the guiding actuator 11 connected to the active robotic arm 12. An external manipulator can grasp the guiding actuator 11 to enable the guiding actuator 11 and the active robotic arm 12 to complete the teaching actions.

[0032] Please see Figure 2 and Figure 3In one embodiment, the teaching pendant 10 further includes a sensing module 13, which comprises multiple sensors connected to the movable elements of the teaching pendant 10 to sense the movement of the movable elements. That is, the sensors can acquire data such as the joint angles and displacement dimensions of each movable element when the teaching pendant 10 performs a teaching action. The movable elements of the teaching pendant 10 include, for example, the actuator 200 and the various arm segments of the active robotic arm 12, as will be mentioned below.

[0033] Combination Figure 6 The driven manipulator 20 also includes a drive module 850, which comprises multiple drivers connected to the moving elements of the driven manipulator 20 to drive corresponding movements of the moving elements. It is easy to understand that the sensors and drivers are electrically connected to the controller, which can control the drivers to output corresponding movements based on the data feedback from the sensors, enabling the driven manipulator 20 to complete actions corresponding to those of the teach pendant manipulator 10.

[0034] Please see Figure 3 and Figure 4 An embodiment of this application provides a guide actuator 11 including a support structure 100, an actuator 200, a handle structure 300, and a damping element 400. The actuator 200, handle structure 300, and damping element 400 are all disposed on the support structure 100. The support structure 100 includes a bracket 110 and a grip 120. The grip 120 is connected to the bracket 110 and is used for gripping by an external operating body. The actuator 200 is movably disposed on the bracket 110. The handle structure 300 is connected to the actuator 200 and is located on the same side of the bracket 110 as the grip 120. The handle structure 300 is used to move under the operation of an external operating body. The damping element 400 is elastically connected between the actuator 200 and the bracket 110 to elastically restrict the movement of the actuator 200 relative to the bracket 110.

[0035] In the aforementioned guide actuator 11, the handle structure 300 is connected to the actuator 200. The handle structure 300 is also used to be moved by an external operating body (such as the operator's hand). Therefore, the handle structure 300 can drive the actuator 200 to move when operated externally. Furthermore, the handle structure 300 and the grip 120 are located on the same side of the bracket 110, so the external operating body can operate the handle structure 300 to move while gripping the grip 120, causing the actuator 200 to move accordingly. With this configuration, the guide actuator 11 can be operated with one hand.

[0036] Furthermore, the damping element 400 is elastically connected between the actuator 200 and the support 110 to elastically restrict the movement of the actuator 200 relative to the support 110. This provides a certain damping effect to the actuator 200 when it is driven, thereby reducing the sensitivity of the actuator 200's movement and decreasing the probability of excessive movement due to improper operation. In other words, configuring the damping element 400 elastically connected to the actuator 200 reduces the difficulty of operating the actuator 200 and facilitates achieving relatively higher operational precision.

[0037] As one example, the actuator 200 can be configured as a gripper, suction cup, or welding torch, etc., for performing a specific task.

[0038] It should be noted that, in the various embodiments of this application, the external manipulator used to operate the teaching manipulator 10 can be configured as the operator's hand, that is, the operator can directly hold the teaching manipulator 10 manually and operate it to perform teaching actions. Of course, this application is not limited to using only the hand as the external manipulator; other manipulators capable of driving the teaching manipulator 10 to complete teaching actions can also be used as external manipulators, and can be designed specifically according to actual needs.

[0039] Please see Figure 2 In one embodiment, the bracket 110 is used to connect to the active robotic arm 12. That is, by gripping the handle 120, not only can the guide actuator 11 be moved to the expected position, but the active robotic arm 12 can also be moved accordingly. It is understood that the end effector is the component in the robot arm used to specifically complete the task. Therefore, configuring the guide actuator 11 (i.e., the end effector of the teach pendant 10) to include a handle 120 for external manipulators to grip, facilitates direct and effective operation of the guide actuator 11 to move to the expected position for the task, while the active robotic arm 12 can also complete the corresponding action.

[0040] Please refer to it again. Figure 3 and Figure 4In one embodiment, the actuating element 200 includes a first gripper 210 and a second gripper 220. At least one of the first gripper 210 and the second gripper 220 is movably disposed on the support 110 to move toward and away from the other. There are at least two damping elements 400, with at least one damping element 400 connected between the support 110 and the first gripper 210 to elastically pull back or elastically push the first gripper 210 away from the second gripper 220. At least another damping element 400 is connected between the support 110 and the second gripper 220 to elastically pull back or elastically push the second gripper 220 away from the first gripper 210. Thus, when clamping, the actuating element 200 is subjected to a counter-elastic force from the damping element 400. This counter-elastic force counteracts the driving force applied by the external operating body, reducing the probability of improper external driving force control leading to excessive clamping amplitude and damage to the gripped item 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 requirements for precise control of the driving force can be reduced, thus lowering the difficulty of operation.

[0041] Please continue reading. 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 a first gripper 210, and the second handle 320 is connected to a second gripper 220. In the direction of movement of the actuator 200, the first handle 310 and the second handle 320 are located on either side of the grip handle 120. Therefore, when the external operator grips the grip handle 120, it can simultaneously operate the first handle 310 and the second handle 320. Taking a hand as an example, the palm, along with the middle, ring, and little fingers, is used to grip the grip handle 120, while the index finger and thumb operate the first handle 310 and the second handle 320 respectively. Thus, not only can the grip handle 120 be gripped to guide the actuator 11 to the desired position, but the actuator 200 can also be operated simultaneously. It should be emphasized that the specific gripping relationship between the hand and the guide actuator 11 when the hand acts as an external operating body in this embodiment is only an example to illustrate the way the hand operates the guide actuator 11, and is not limited to the gripping method described above.

[0042] Please refer to section 3. Figure 4 In one embodiment, the first handle 310 includes a first ring portion 311, with the side of the first ring portion 311 near the grip 120 extending toward the side away from the grip 120 to form a circumferentially closed first operating hole 312. The first operating hole 312 allows an external operating body to pass through, and after the external operating body passes through the circumferentially closed first operating hole 312, it can easily drive the first handle 310 to move toward and away from the second handle 320.

[0043] Similarly, the second handle 320 includes a second ring portion 321, with the side of the second ring portion 321 near the grip 120 extending toward the side away from the grip 120 to form a circumferentially closed second operating hole 322. The second operating hole 322 allows an external operating body to pass through, and after the external operating body passes through the circumferentially closed second operating hole 322, it can easily drive the second handle 320 to move toward and away from the first handle 310.

[0044] Please see Figure 3 and Figure 4 In one embodiment, the grip 120 includes a blocking portion 121 protruding from its outer periphery. The blocking portion 121 is used to abut against an external operating body, facilitating the external operating body to apply operating force to the grip 120. Taking the hand as the external operating body as an example, the fingers (such as the middle finger mentioned above) gripping the grip 120 can abut against the blocking portion 121 to facilitate the longitudinal movement of the grip 120, reducing the risk of the longitudinal operating force applied to the actuator 200 causing the actuator 200 to wobble, tilt, or otherwise deviate from its position.

[0045] Please continue reading. Figure 2 and Figure 3 In one embodiment, there are multiple blocking parts 121. In the direction of movement of the actuator 200, multiple blocking parts 121 are respectively arranged on opposite sides of the outer periphery of the grip 120 to correspond to the posture of the external operating body when gripping the grip 120, so as to facilitate the formation of an abutment relationship with the external operating body.

[0046] Please see Figure 4 In one embodiment, the support structure 100 further includes a guide rail 130, with the first gripper 210 and the second gripper 220 respectively slidingly engaged with the guide rail 130. The guide rail 130 improves the smoothness of the movement of the first gripper 210 and the second gripper 220, facilitating higher movement accuracy for both.

[0047] Please see Figure 3 , Figure 6 and Figure 7 In one embodiment, the driven actuator 21 may include a clamp 840 corresponding to the actuator 200. The guide actuator 11 also includes an end effector 500 for sensing the movement of the actuator 200. The end effector 500 is electrically connected to a controller to transmit the sensed data to the controller, which can then control the clamp 840 to perform corresponding opening and closing actions based on the data.

[0048] Please see Figure 4 and Figure 5In one embodiment, the bracket 110 has a recessed receiving groove 111, and the guide rail 130 spans the receiving groove 111. The guide actuator 11 also includes a first transmission structure 600, and an end effector 500 is disposed in the bracket 110. The first transmission structure 600 is disposed within the receiving groove 111 and connected between the actuator 200 and the end effector 500. Since the guide rail 130 spans the receiving groove 111, the first transmission structure 600 is arranged within the receiving groove 111 to facilitate connection between the first transmission structure 600 and the first gripper 210 and the second gripper 220 without interfering with the sliding movement of the first gripper 210 and the second gripper 220 along the guide rail 130. In this embodiment, the first transmission structure 600 is drively connected between the end effector 500 and the actuator 200. Therefore, when the handle structure 300 drives the actuator 200 to move, the movement will be transmitted to the end effector 500 and sensed. Thus, the motion of the actuator 200 can be converted into data information and transmitted to the controller, and used to control the action of the fixture 840.

[0049] Please see Figure 3 In one embodiment, the end sensor 500 may be embedded within the bracket 110.

[0050] Please see 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 disposed opposite to each other. 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 rotatably connected to the first gripper 210 and the first connecting portion 611, respectively. The two ends of the second connecting rod 630 are rotatably connected to the second gripper 220 and the second connecting portion 612, respectively. Thus, the turntable 610, the first connecting rod 620, and the first gripper 210 can form a crank-slider mechanism, and the turntable 610, the second connecting rod 630, and the second gripper 220 can form another crank-slider mechanism. When the first gripper 210 and the second gripper 220 move, the first link 620 and the second link 630 together drive the turntable 610 to rotate, and the end sensor 500 can sense the rotation of the turntable 610.

[0051] Please see Figure 6 and Figure 7In one embodiment, similar to the structure of the guiding actuator 11, the driven actuator 21 includes a connecting structure 810, a second transmission structure 820, an end effector 830, and a gripper 840 as described above. The connecting structure 810 is connected to the driven robotic arm 22. The second transmission structure 820, the end effector, and the gripper 840 are all disposed on the connecting structure 810. The gripper 840 is movably disposed on the connecting structure 810. The second transmission structure 820 is drively connected between the end effector 830 and the gripper 840, and the end effector 830 can drive the gripper 840 to move via the second transmission structure 820. Furthermore, the end effector 830 can be electrically connected to a controller so that the controller drives the gripper 840 to complete an action corresponding to the actuator 200.

[0052] In one embodiment, the second transmission structure 820 may have the same structure as the first transmission structure 600, so that the clamp 840 can accurately complete the movement of the actuator 200. (See also...) Figure 7 In one embodiment, the clamp 840 includes a first clamping portion 841 and a second clamping portion 842. The second transmission structure 820 includes a drive disk 821, a third connecting rod 822, and a fourth connecting rod 823. An end driver 830 is rotatably connected to the drive disk 821. The drive disk 821 includes a third connecting portion 821a and a fourth connecting portion 821b disposed opposite to each other. The two ends of the third connecting rod 822 are rotatably connected to the first clamping portion 841 and the third connecting portion 821a, respectively. The two ends of the fourth connecting rod 823 are rotatably connected to the second clamping portion 842 and the fourth connecting portion 821b, respectively. The end driver 830 enables the drive disk 821 to rotate, thereby driving the first clamping portion 841 and the second clamping portion 842 to move via the third connecting rod 822 and the fourth connecting rod 823, respectively.

[0053] Please see Figure 7 In one embodiment, the driven actuator 21 further includes a vision element 860 disposed on the connection structure 810. The vision element 860 is used to acquire an image of the work area for accurate positioning. The vision element 860 may be configured as, for example, an industrial camera.

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

[0055] like Figure 5In one embodiment, one damping element 400 is connected at one end to the first support portion 113 and at the other end to the first gripper 210. Another damping element 400 is connected at one end to the second support portion 114 and at the other end to the second gripper 220. In this embodiment, the damping element 400 may be configured as a tension spring.

[0056] Please refer to it 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 being rotatably disposed on the first base 710. The active manipulator 12 includes a first arm 730 and a second arm 740, one end of the first arm 730 being rotatably connected to the first connecting seat 720, and the other end being 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 guide actuator 11. The active manipulator 12 has multiple degrees of freedom, thus making the operation of the guide actuator 11 smoother.

[0057] The sensing module 13 includes a first sensor 13a, a second sensor 13b, a third sensor 13c, and a fourth sensor 13d. These four sensors can be configured as a servo motor, enabling them to not only detect angles but also provide rotational connections. The first sensor 13a is connected between the first connecting seat 720 and the first base 710, allowing them to rotate around a first axis O1. The second sensor 13b is connected between the first arm 730 and the first connecting seat 720, allowing them to rotate around a second axis O2. The third sensor 13c is connected between the first arm 730 and the second arm 740, allowing them to rotate around a third axis O3. The fourth sensor 13d is connected between the second arm 740 and the bracket 110, allowing them to rotate around a fourth axis O4. Among these axes, 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 other three.

[0058] Please see 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 being rotatably disposed on the second base 750. The driven manipulator 22 includes a third arm 770 and a fourth arm 780, one end of the third arm 770 being rotatably connected to the second connecting seat 760, and the other end being 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 manipulator 22 has multiple degrees of freedom, facilitating the driving of the driven actuator 21 to a desired position.

[0059] The drive 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, allowing the second connecting seat 760 and the second base 750 to be rotatably connected about a fifth axis O5. The second driver 852 is connected between the third arm 770 and the second connecting seat 760, allowing the third arm 770 and the second connecting seat 760 to be rotatably connected about a sixth axis O6. The third driver 853 is connected between the third arm 770 and the fourth arm 780, allowing the third arm 770 and the fourth arm 780 to be rotatably connected about a seventh axis O7. The fourth driver 854 is connected between the fourth arm 780 and the connecting structure 810, allowing the fourth arm 780 and the connecting structure 810 to be rotatably connected about an eighth axis O8. 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. Furthermore, 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 of them.

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

[0061] Please see 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, the handle 120 can be grasped and the actuator 200 can be operated with a single hand, thus one teaching manipulator 10 can be operated with a single hand. Taking the number of driven manipulators 20 and teaching manipulators 10 as an example, different teaching manipulators 10 can be operated by the left and right hands respectively.

[0062] It is understandable that the actions of the driven robot 20 correspond to those of the teaching robot 10, which is manually operated by the operator. If the guide actuator 11 accidentally detaches from the operator's hand, the driven robot 20 will also perform a corresponding collapse and fall action, potentially crushing the workpiece placed at the workstation. To reduce the risk of accidental detachment of the guide actuator 11 of the teaching robot 10, please refer again to... Figure 1 In one embodiment, the teaching pendant 1 further includes a safety element 30, which is an elastic body and elastically connected between the two teaching manipulators 10. Therefore, when the guide actuator 11 of one of the teaching manipulators 10 detaches, the safety element 30 can provide a lifting protection function, reducing the range of motion of the detached guide actuator 11 and lowering the risk of an accident. It is understood that the teaching manipulators 10 move approximately in the same direction; therefore, configuring the safety element 30 between the two teaching manipulators 10 reduces the restriction imposed by the safety element 30 on the range of motion of the teaching manipulators 10.

[0063] Furthermore, the safety element 30 can be connected between the active robotic arms 12 of the two teaching manipulators 10. Even further, the safety element 30 can be connected between the ends of the two first arms 730 near the second arm 740.

[0064] Please continue reading. Figure 1 In one embodiment, the teaching device 1 further includes a frame 40, on which both the teaching manipulator 10 and the driven manipulator 20 are mounted. In some embodiments, such as when the teaching device 1 includes only one teaching manipulator 10, the safety component 30 may 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; they can have a large spatial distribution span.

[0065] Please continue reading. Figure 1 In one embodiment, the teaching device 1 further includes a moving device 50, on which the teaching robot 10 and the driven robot 20 are both disposed. The moving device 50 is capable of moving the teaching robot 10 and the driven robot 20. The moving device 50 may, for example, be configured as an AGV device.

[0066] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0067] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A guiding actuator, characterized in that, For a teaching device, the guiding actuator includes: A support structure, comprising a bracket and a gripping handle, wherein the gripping handle is connected to the bracket and is used for gripping by an external manipulator, and the bracket is used for connection to an active robotic arm; An actuator, which is movably disposed on the support; A handle structure is connected to the actuator and is located on the same side of the bracket as the grip, the handle structure being moved by the operation of the external operating body; A damping element is elastically connected between the actuator and the support to elastically limit the movement of the actuator relative to the support.

2. The guide actuator according to claim 1, characterized in that, The actuating element includes a first gripper and a second gripper, at least one of the first gripper and the second gripper being movably disposed on the bracket to move toward and away from the other, and the number of damping elements is at least two; At least one of the damping elements is connected between the bracket and the first gripper to elastically pull back or elastically push the first gripper away from the second gripper; and / or At least one of the damping elements is connected between the bracket and the second gripper to elastically pull back or elastically push the second gripper away from the first gripper.

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 gripper, and the second handle is connected to the second gripper. In the direction of movement of the actuator, the first handle and the second handle are located on both sides of the grip.

4. The guide actuator according to claim 3, characterized in that, The first handle includes a first ring portion, wherein the first ring portion extends from the side near the grip handle to the side opposite to the grip handle to form a circumferentially closed first operating hole, the first operating hole allowing the external operating body to pass through; and / or The second handle includes a second ring portion, which extends from the side of the second ring portion near the grip handle to the side opposite to the grip handle to form a circumferentially closed second operating hole, through which the external operating body is inserted.

5. The guide actuator according to claim 2, characterized in that, The grip includes a protruding blocking portion on the outer periphery, which is used to abut against the external operating body. There are multiple blocking portions, which are respectively arranged on opposite sides of the outer periphery of the grip in the direction of movement of the actuator.

6. The guide actuator according to claim 2, characterized in that, The bracket has a recessed receiving groove, and the support structure also includes a guide rail that spans the receiving groove. The guide actuator further includes an end effector and a first transmission structure. The end effector is disposed on the bracket, and the first transmission structure is disposed in the receiving slot and connected between the actuator and the end effector. The end effector 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 part and a second connecting part arranged opposite to each other. 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 gripper and the first connecting part, respectively. The two ends of the second connecting rod are rotatably connected to the second gripper and the second connecting part, respectively. When the first gripper and the second gripper move, the first connecting rod and the second connecting rod together drive the turntable to rotate.

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

9. A teaching device, characterized in that, The teaching device includes a controller, a driven manipulator, and a teaching manipulator as described in claim 8. 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.

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

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