Programming-free robot teaching data acquisition device

Abstract

The utility model relates to the technical field of robot teaching, in particular to a programming-free robot teaching data acquisition device. A programming-free robot teaching data acquisition device comprises a rotation angle detection component; an inclination angle detection assembly; a rope outlet length detection part; the rotation angle detection part is connected with the handheld part, and the rotation angle detection part is used for detecting the rotation angle of the handheld part in the horizontal direction; a box cavity is formed in the box body, and an opening communicating with the box cavity is formed in the top of the box body; the inclination angle detection assembly and the rope outlet length detection component are arranged in the box cavity; the rope body winding assembly is arranged in the box cavity; the first rope end of the rope body is connected with a handheld component located outside the box body. The programming-free robot teaching data acquisition device can assist a teaching system to automatically acquire the rotation angle data of the handheld part and the inclination angle and rope outlet length data of the rope body, and thus the robot teaching operation is very simple and convenient.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of robot teaching technology, and specifically to a programming-free robot teaching data acquisition device. Background Art

[0002] When spraying workpieces, a robotic arm (i.e., robot) is required. The robotic arm needs to be taught before normal spraying operations. Through teaching, the robotic arm knows the spraying trajectory of the workpiece in advance, and then in the subsequent normal spraying operation, the robotic arm can automatically spray the workpiece through the corresponding spraying trajectory.

[0003] Assume that the spraying trajectory of a workpiece is: first move rightward from base point a by a distance s1 to reach point b (referred to as step 1), then move downward from point b by a distance s2 to reach point c (referred to as step 2), and then move forward from point c by a distance s3 to reach point d (referred to as step 3).

[0004] The teaching method of the prior art is: firstly edit the code of step 1 to obtain code 1, edit the code of step 2 to obtain code 2, edit the code of step 3 to obtain code 3, and then integrate code 1, code 2, and code 3 to obtain the final teaching code.

[0005] The existing teaching method requires point-to-point code editing of the spray trajectory, which is cumbersome to operate; and the spray trajectory of the teaching code obtained by the preliminary editing may be different from the spray trajectory required for the actual spray operation. Therefore, it is necessary to constantly debug the teaching code to make it conform to the required spray trajectory, which makes the teaching operation more cumbersome. Utility Model Content

[0006] The purpose of the embodiments of this specification is to provide a programming-free robot teaching data acquisition device to address the deficiencies of the prior art.

[0007] The technical solutions of the embodiments of this specification are as follows:

[0008] A programming-free robot teaching data acquisition device, comprising:

[0009] Rotation angle detection component;

[0010] Tilt angle detection component;

[0011] Rope length detection component;

[0012] A handheld component, a rotation angle detection component is connected to the handheld component, and the rotation angle detection component is used to detect the rotation angle of the handheld component in the horizontal direction;

[0013] The box body has a box cavity inside, and the top of the box body has an opening connected to the box cavity; the inclination angle detection component and the rope length detection component are arranged in the box cavity;

[0014] A rope winding assembly is arranged in the box cavity;

[0015] A rope body, a first rope end of which is connected to a hand-held component located outside the box body, and a second rope end of the rope body is wound and connected to the rope body winding component after passing through the tilt angle detection component and the rope length detection component in sequence;

[0016] When the handheld component is subjected to tension, part of the rope body is pulled out from the inside of the box cavity to the outside of the box body; when the handheld component loses tension, the pulled rope body retracts from the outside of the box body back into the box cavity;

[0017] The tilt angle detection component is used to detect the tilt angle of the rope body relative to the vertical direction;

[0018] The rope length detection component is used to detect the rope length when the rope body is pulled out to the outside of the box body.

[0019] Preferably, the tilt angle detection component comprises:

[0020] A support plate is connected to the inner wall of the box cavity, and the support plate is provided with a through hole 1 for allowing the rope to pass through;

[0021] A first inclination angle detection component is connected to the top of the support plate, and the first inclination angle detection component is provided with a second through hole allowing the rope to pass through, and the first inclination angle detection component is used to detect the inclination angle of the rope in the first direction relative to the vertical direction;

[0022] A second inclination angle detection component is connected to the top of the first inclination angle detection component, and the second inclination angle detection component is provided with a through hole three for allowing the rope to pass through, and the second inclination angle detection component is used to detect the inclination angle of the rope in the second direction relative to the vertical direction;

[0023] The rotating positioning sleeve is connected to the top of the second tilt angle detection component, the sleeve hole of the rotating positioning sleeve allows the rope body to pass through, and the rotating positioning sleeve passes through the opening.

[0024] Preferably, the first tilt angle detection component comprises:

[0025] A first tilt angle detector is used to detect a first tilt angle of the rope body relative to a vertical direction in a first direction, and the first tilt angle detector is provided with a second through hole;

[0026] A first rotation support shaft is connected to a side wall of the first tilt angle detector, and a setting direction of the first rotation support shaft is perpendicular to the first direction;

[0027] The first rotating support frame is connected to the top of the supporting plate, and the first rotating support frame is provided with a first rotating support hole allowing the first rotating support shaft to pass through and rotate.

[0028] Preferably, the second tilt angle detection component comprises:

[0029] A second inclination angle detector is used to detect a second inclination angle of the rope body relative to the vertical direction in a second direction, and the second inclination angle detector is provided with a third through hole;

[0030] A second rotation support shaft is connected to the side wall of the second tilt angle detector, and the setting direction of the second rotation support shaft is perpendicular to the second direction;

[0031] The second rotation support frame is connected to the top of the first tilt angle detector, and the second rotation support frame is provided with a second rotation support hole allowing the second rotation support shaft to pass through and rotate.

[0032] Preferably, the first rotating support shaft is provided with a first limiting thread at both axial ends, and the first limiting thread is equipped with a first axial limiting nut; the second rotating support shaft is provided with a second limiting thread at both axial ends, and the second limiting thread is equipped with a second axial limiting nut.

[0033] Preferably, a positioning block is provided on the rope body, and when the handheld component loses tension, the pulled rope body is retracted from the outside of the box body into the box cavity until the positioning block abuts against the top end of the rotating positioning sleeve.

[0034] Preferably, the rope length detection component comprises:

[0035] The detector body is connected to the bottom of the support plate, and the detector body is provided with a through hole four for allowing the rope to pass through and a cavity connected to the through hole four;

[0036] The guide sleeve is installed in the through hole 4, and the guide sleeve is provided with an enlarged portion; the rope body is provided with a rope output scale value;

[0037] An image collector is embedded in the detector body, and an image collector head of the image collector is arranged toward the font magnifying part, and is used to collect pictures with the scale value of the output rope amount;

[0038] A light source is embedded in the detector body and provides light for the cavity;

[0039] The image processor is electrically connected to the image collector, and the image processor obtains the outgoing rope length of the rope body through the picture.

[0040] Preferably, the rope winding assembly comprises:

[0041] A rope drum housing is arranged below the rope output length detection component;

[0042] A rope drum, arranged in the rope drum housing;

[0043] Coil spring, the rope body is wound around the rope drum through the coil spring.

[0044] Preferably, the rope body between the rope winding assembly and the rope output length detection component is also equipped with a guide wheel.

[0045] Preferably, the box body is provided with an elastic telescopic opening and closing door at the opening.

[0046] Beneficial Effects

[0047] The programming-free robot teaching data acquisition device of the embodiment of this specification can assist the teaching system in automatically collecting the rotation angle data of the handheld component and the inclination angle and rope length data of the rope body. Based on these data, the teaching system can automatically determine the spraying position information and obtain the required spraying teaching trajectory through all the spraying position information, thereby making the robot teaching operation very simple.

[0048] Further or more detailed beneficial effects will be described in detail in conjunction with specific examples in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the overall structure of the programming-free robot teaching data acquisition device in the embodiment of this specification;

[0050] Figure 2 This is a schematic diagram of the structure of the box body in the embodiment of this specification;

[0051] Figure 3 This is a schematic diagram of the structure in which the box body is opened in the embodiment of this specification;

[0052] Figure 4 This is a schematic diagram of the structure of the tilt angle detection component and the rope winding component in the embodiment of this specification;

[0053] Figure 5 It is a structural schematic diagram of the second tilt angle detection component of the tilt angle detection assembly in the embodiment of this specification being tilted;

[0054] Figure 6 This is a schematic diagram of a structure in which a first tilt angle detection component of a tilt angle detection assembly according to an embodiment of this specification is tilted;

[0055] Figure 7 This is a schematic diagram of the structure of the inclination angle detection component, the rope length detection component and the rope winding component in the embodiment of this specification;

[0056] Figure 8 This is a schematic diagram of the structure of the rope length detection component in the embodiment of this specification;

[0057] Fig. 9 It is a schematic diagram of the structure of the handheld component in the embodiment of this specification when it is not rotated and when it is rotated. DETAILED DESCRIPTION

[0058] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0059] Since the teaching method of directly editing the spraying trajectory through code is complicated to operate, the following inventive concept is proposed in this specification:

[0060] Assume that the model of the workpiece to be sprayed is A. Now let an experienced staff member demonstrate the spraying operation on a workpiece of model A. Of course, during the demonstration, it is not necessary to actually use a spray gun to spray the workpiece. Instead, you only need to hold a spray gun substitute and go through the spray teaching process. During the spray teaching process, the teaching system will automatically record the spray position information of the spray gun substitute at each time point, and then automatically form a spray teaching trajectory based on these spray position information. That is, the staff only needs to demonstrate the spraying operation once to automatically obtain the spray teaching trajectory, without the need to manually edit the code of the spray teaching trajectory, thus making the entire teaching operation very simple. Later, when the robotic arm needs to perform normal spraying operations on a workpiece of model A, it only needs to perform the spraying operation according to the spray teaching trajectory.

[0061] When the teaching system records the spraying position information, it is necessary to use the programming-free robot teaching data acquisition device of this manual to collect relevant data. The teaching data acquisition device is an integral part of the teaching system. The specific structure of the teaching data acquisition device is introduced through Example 1.

[0062] Embodiment 1:

[0063] like Figures 1 to 7 As shown, a programming-free robot teaching data acquisition device includes: a rotation angle detection component 800, an inclination angle detection component, a rope length detection component 700, a handheld component 100, a box body 300, a rope body winding component and a rope body 200. The first rope end of the rope body 200 is connected to the handheld component 100 located outside the box body 300, and the second rope end of the rope body 200 passes through the inclination angle detection component and the rope length detection component 700 in sequence and is wound and connected with the rope body winding component.

[0064] like Figure 1 As shown, the handheld component 100 is a substitute for a spray gun. The present embodiment does not limit the specific structure of the handheld component 100, and the handheld component 100 may be similar in shape to a spray gun. The rotation angle detection component 800 is connected to the handheld component 100, and the rotation angle detection component 800 is used to detect the rotation angle of the handheld component 100 in the horizontal direction. Fig. 9 As shown, Fig. 9 is a top view of the handheld component 100, wherein: Fig. 9 (a) is a schematic diagram of the handheld component 100 rotating to the left. Fig. 9 (b) is a schematic diagram of the handheld component 100 not rotating. Fig. 9 (c) is a schematic diagram of the hand-held component 100 rotating to the right. The rotation angle detection component 800 can directly adopt an existing rotation angle detection sensor.

[0065] like Figure 2 and Figure 3 As shown, a box cavity 310 is provided inside the box body 300, and an opening communicating with the box cavity 310 is provided at the top of the box body 300. The box body 300 is provided with an elastic telescopic opening and closing door 320 at the opening, and the elastic telescopic opening and closing door 320 includes a plurality of fan-shaped door panels, for example, 6 fan-shaped door panels, and the 6 fan-shaped door panels are spliced ​​to obtain a ring-shaped elastic telescopic opening and closing door 320. The elastic telescopic opening and closing door 320 has two states, one is a fully open state, such as Figure 3 As shown; one is a completely closed state, such as Figure 2 As shown, in the fully closed state, the fan-shaped door panel is not fixed, but can be adaptively moved after receiving a force, and automatically reset by elastic force after losing the force. The elastic telescopic opening and closing door 32 of this embodiment will not hinder the movement of the rope body 200, and can block dust and prevent dust from entering the box cavity 310.

[0066] The inclination angle detection assembly and the outgoing rope length detection component 700 are arranged in the box cavity 310, and the inclination angle detection assembly is located above the outgoing rope length detection component 700. The inclination angle detection assembly is used to detect the inclination angle of the rope body 200 relative to the vertical direction. The outgoing rope length detection component 700 is used to detect the outgoing rope length of the rope body 200 when it is pulled out to the outside of the box body 300.

[0067] like Figure 4 As shown, the tilt angle detection assembly includes: a support plate 610 , a first tilt angle detection component 620 , a second tilt angle detection component 630 and a rotation positioning sleeve 640 .

[0068] The support plate 610 is connected and fixed to the inner wall of the box cavity 310, and the support plate 610 is provided with a through hole 1 for allowing the rope body 200 to pass through.

[0069] The first tilt angle detection component 620 is connected to the top of the support plate 610 and has a second through hole for allowing the rope 200 to pass through. The first tilt angle detection component 620 is used to detect the tilt angle of the rope 200 in the first direction relative to the vertical direction. The first direction may be the front-back direction.

[0070] Specifically, the first tilt angle detection component 620 includes: a first tilt angle detector 621, a first rotation support shaft 622 and a first rotation support frame 623. The first tilt angle detector 621 is used to detect the first tilt angle of the rope body 200 relative to the vertical direction in the first direction (i.e., the front-to-back direction), and the first tilt angle detector 621 is provided with a second through hole. The first rotation support shaft 622 is connected to the side wall of the first tilt angle detector 621, and the setting direction of the first rotation support shaft 622 is perpendicular to the first direction. Specifically, one first rotation support shaft 622 is connected and fixed to the left side wall of the first tilt angle detector 621, and the other first rotation support shaft 622 is connected and fixed to the right side wall of the first tilt angle detector 621. The first rotation support frame 623 is connected and fixed to the top of the support plate 610, and the first rotation support frame 621 is provided with a first rotation support hole that allows the first rotation support shaft 622 to pass through and rotate. In this embodiment, two first rotating support frames 623 are arranged in parallel, the first tilt angle detector 621 is arranged between the two first rotating support frames 623 , and a first rotating support hole of a first rotating support frame 623 is correspondingly installed with a first rotating support shaft 622 .

[0071] like Figure 4 As shown, when the rope body 200 is vertical, the first tilt angle detector 621 is in a horizontal state. At this time, the first tilt angle detected by the first tilt angle detector 621 is 0 degrees. Figure 6 As shown, when the rope body 200 tilts forward 30 degrees, the first tilt angle detector 621 is driven by the rope body 200 to tilt forward 30 degrees. At this time, the first tilt angle detected by the first tilt angle detector 621 is +30 degrees. If the rope body 200 tilts backward 18 degrees, the first tilt angle detector 621 is driven by the rope body 200 to tilt backward 18 degrees. At this time, the first tilt angle detected by the first tilt angle detector 621 is -18 degrees. In short, the tilt angle of the rope body 200 in the front-to-back direction can be detected by the first tilt angle detection component 620.

[0072] The second tilt angle detection component 630 is connected to the top of the first tilt angle detection component 620, and the second tilt angle detection component 630 is provided with a through hole 3 for allowing the rope body 200 to pass through, and the second tilt angle detection component 630 is used to detect the tilt angle of the rope body 200 relative to the vertical direction in the second direction. The second direction can be the left-right direction.

[0073] Specifically, the second inclination angle detection component 630 includes: a second inclination angle detector 631, a second rotation support shaft 632 and a second rotation support frame 633. The second inclination angle detector 631 is used to detect the second inclination angle of the rope body 200 relative to the vertical direction in the second direction (i.e., the left-right direction), and the second inclination angle detector 631 is provided with a through hole three. The second rotation support shaft 632 is connected to the side wall of the second inclination angle detector 631, and the setting direction of the second rotation support shaft 632 is perpendicular to the second direction. Specifically, one second rotation support shaft 632 is connected and fixed to the front side wall of the second inclination angle detector 631, and the other second rotation support shaft 632 is connected and fixed to the rear side wall of the second inclination angle detector 631. The second rotation support frame 633 is connected to the top of the first inclination angle detector 621, and the second rotation support frame 631 is provided with a second rotation support hole that allows the second rotation support shaft 632 to pass through and rotate. In this embodiment, two second rotating support frames 633 are arranged in parallel, the second tilt angle detector 631 is arranged between the two second rotating support frames 633, and a second rotating support shaft 632 is installed corresponding to the second rotating support hole of one second rotating support frame 633.

[0074] like Figure 4 As shown, when the rope body 200 is vertical, the second tilt angle detector 631 is in a horizontal state. At this time, the second tilt angle detected by the second tilt angle detector 631 is 0 degrees. Figure 5 As shown, when the rope body 200 tilts 32 degrees to the right, the second tilt angle detector 631 is driven by the rope body 200 to tilt 32 degrees to the right. At this time, the second tilt angle detected by the second tilt angle detector 631 is +32 degrees. If the rope body 200 tilts 20 degrees to the left, the second tilt angle detector 631 is driven by the rope body 200 to tilt 20 degrees to the left. At this time, the second tilt angle detected by the second tilt angle detector 631 is -20 degrees. In short, the tilt angle of the rope body 200 in the left and right directions can be detected by the second tilt angle detection component 630.

[0075] In addition, first limiting threads are provided at both axial ends of the first rotating support shaft 622, and the first limiting threads are equipped with first axial limiting nuts. The provision of the first axial limiting nut can prevent the first tilt angle detector 621 from moving in the left and right directions, thereby avoiding affecting the detection of the tilt angle. Second limiting threads are provided at both axial ends of the second rotating support shaft 632, and the second limiting threads are equipped with second axial limiting nuts. The provision of the second axial limiting nut can prevent the second tilt angle detector 631 from moving in the front and rear directions, thereby avoiding affecting the detection of the tilt angle.

[0076] The rotating positioning sleeve 640 is connected to the top of the second tilt angle detection component 630 , the sleeve hole of the rotating positioning sleeve 640 allows the rope body 200 to pass through, and the rotating positioning sleeve 640 passes through the opening.

[0077] The rope body 200 passes through the sleeve hole of the rotating positioning sleeve 640, the through hole 3 of the second tilt angle detector 631, the through hole 2 of the first tilt angle detector 621 and the through hole 1 of the support plate 610 from top to bottom. The setting of the rotating positioning sleeve 640 is convenient for effectively driving the first tilt angle detector 621 and the second tilt angle detector 631 to perform adaptive tilt rotation when the rope body 200 is tilted, so that the first tilt angle and the second tilt angle of the rope body 200 can be accurately obtained. The rotating positioning sleeve 640 plays a role similar to that of a wrench. If the rotating positioning sleeve 640 is not provided, then even if the rope body 200 is tilted, the first tilt angle detector 621 and the second tilt angle detector 631 cannot be effectively caused to perform adaptive tilt rotation, so that the first tilt angle and the second tilt angle of the rope body 200 cannot be accurately obtained.

[0078] like Figure 7 and Figure 8 As shown, the rope length detection component 700 includes: a detector body 710, a guide sleeve 720, an image collector 730, a light source 740 and an image processor 750.

[0079] The detector body 710 is connected to the bottom of the support plate 610, and the detector body 710 is provided with a through hole 29 711 for allowing the rope body 200 to pass through and a cavity 712 communicating with the through hole 29 711.

[0080] The through hole 4 711 is connected with the through hole 1 of the support plate 610. After the rope 200 comes out of the rope winding assembly, it first passes through the through hole 4 711 of the detector body 710, and then passes through the through hole 1, through hole 2, through hole 3 and the sleeve hole of the tilt angle detection assembly, and finally connects with the handheld component 100 outside the box body 300. When the handheld component 100 is subjected to tension, part of the rope 200 is pulled out from the inside of the box cavity 310 to the outside of the box body 300; when the handheld component 100 loses tension, the pulled rope 200 is retracted from the outside of the box body 300 to the inside of the box cavity 310.

[0081] The guide sleeve 720 is installed in the through hole 29 711, and the guide sleeve 720 is provided with an enlargement part 721. The rope body 200 passes through the guide sleeve 720, and the outer surface of the rope body 200 is provided with a rope output scale value. The enlargement part 721 of the guide sleeve 720 has the function of a magnifying glass, and can enlarge and display the rope output scale value of the rope body 200.

[0082] like Figure 1 and Figure 2As shown, the rope body 200 is provided with a positioning block 210. When the hand-held component 100 loses the pulling force, the pulled rope body 200 is retracted from the outside of the box body 300 to the inside of the box cavity 310 until the positioning block 210 abuts against the top of the rotating positioning sleeve 640. When the positioning block 210 abuts against the top of the rotating positioning sleeve 640, it indicates that the rope body 200 is in the initial state. When the rope body 200 is in the initial state, the enlarged value of the rope output amount displayed by the enlarged part 721 of the guide sleeve 720 is 0. When the hand-held component 100 is pulled by the pulling force to pull the rope body 200 outward by 5.3 cm, the enlarged value of the rope output amount displayed by the enlarged part 721 of the guide sleeve 720 is 5.3 (i.e. 5.3 cm). If the pulling force on the hand-held component 100 is slightly reduced, so that the rope body 200 is slightly retracted into the box cavity 310, that is, the length of the rope body 200 pulled out becomes 3.2 centimeters, then the enlarged rope length scale value displayed by the enlarged portion 721 of the guide sleeve 720 is 3.2 (i.e. 3.2 centimeters). In short, the enlarged portion 721 of the guide sleeve 720 will enlarge the corresponding rope length scale value according to how many centimeters the rope body 200 is pulled out (i.e. how many centimeters the rope length is).

[0083] The image collector 730 is embedded in the detector body 710, and the image acquisition head of the image collector 730 is arranged toward the font magnifying part 721, and is used to collect pictures with the scale value of the rope output amount. The light source 740 is embedded in the detector body 710, and the light source 740 provides light for the cavity 712. The image processor 750 is electrically connected to the image collector 730, and the image processor 750 obtains the rope output length of the rope body 200 through the picture.

[0084] The image collector 730 can take a picture with the rope-out amount scale value, and the image processor 750 can identify the rope-out amount scale value on the picture, and then determine the corresponding rope-out length.

[0085] like Figure 4 and Figure 7 As shown, the rope winding assembly is arranged in the box cavity 310, and the rope winding assembly includes: a rope drum housing, a rope drum 410 and a winding spring. The rope drum housing is arranged below the rope length detection component 700, the rope drum 410 is arranged in the rope drum housing, and the rope 200 is wound on the rope drum 410 through the winding spring.

[0086] The rope body 200 is wound around the rope drum 410 through a coil spring. When the rope body 200 is subjected to tension, the rope body 200 can be pulled out of the rope drum shell, and the coil spring is compressed by the rope body 200. When the rope body 200 loses tension, the coil spring will restore its original shape. During the recovery process of the coil spring, the rope body 200 is pulled back into the rope drum shell.

[0087] In addition, the rope body 200 between the rope body winding assembly and the rope length detection component 700 is also equipped with a guide wheel 500. The setting of the guide wheel 500 makes the pulling out / retracting action of the rope body 200 smoother.

[0088] When a workpiece needs to be sprayed, it is only necessary to let a worker with spraying experience hold the handheld component 100 (starting from the initial state of the rope body 200) to perform a spraying demonstration on the workpiece. During the spraying demonstration, the programming-free robot teaching data acquisition device of this embodiment can automatically collect data at a certain frequency (the rotation angle, first tilt angle, second tilt angle, and rope length collected at the same time point are a group of data) and send it to the control cabinet of the teaching system. After receiving a group of data, the control cabinet can automatically determine the corresponding spraying position information based on the group of data, and obtain the required spraying teaching trajectory through all the spraying position information, thereby making the robot teaching operation very simple.

[0089] The above embodiments are only for describing the preferred implementation of the utility model, and are not intended to limit the concept and scope of the utility model. Without departing from the design concept of the utility model, various modifications and improvements made by ordinary persons in the art to the technical solution of the utility model should fall within the protection scope of the utility model, and the technical contents of the utility model for protection have been fully recorded in the claims.

Claims

1. A programming-free robot teaching data acquisition device, characterized in that: include: Rotation angle detection component (800); Tilt angle detection component; Rope length detection component (700); A handheld component (100), the rotation angle detection component (800) being connected to the handheld component (100), the rotation angle detection component (800) being used to detect the rotation angle of the handheld component (100) in a horizontal direction; A box body (300) is provided with a box cavity (310) therein, and an opening communicating with the box cavity (310) is provided at the top of the box body (300); the inclination angle detection component and the rope output length detection component (700) are arranged in the box cavity (310); A rope winding assembly, arranged in the box cavity (310); A rope body (200), wherein a first rope end is connected to a hand-held component (100) located outside the box body (300), and a second rope end of the rope body (200) passes through the tilt angle detection component and the rope output length detection component (700) in sequence and is then wound and connected to the rope body winding component; When the handheld component (100) is subjected to a pulling force, part of the rope body (200) is pulled out from the inside of the box cavity (310) to the outside of the box body (300); when the handheld component (100) loses the pulling force, the pulled rope body (200) retracts from the outside of the box body (300) into the inside of the box cavity (310); The inclination angle detection component is used to detect the inclination angle of the rope body (200) relative to the vertical direction; The rope-out length detection component (700) is used to detect the rope-out length of the rope body (200) when the rope body (200) is pulled out to the outside of the box body (300).

2. A programming-free robot teaching data acquisition device according to claim 1, characterized in that: The tilt angle detection component comprises: A support plate (610) connected to the inner wall of the box cavity (310), and the support plate (610) is provided with a through hole 1 for allowing the rope body (200) to pass through; a first inclination angle detection component (620) connected to the top of the support plate (610), and the first inclination angle detection component (620) is provided with a second through hole allowing the rope body (200) to pass through, and the first inclination angle detection component (620) is used to detect the inclination angle of the rope body (200) in a first direction relative to a vertical direction; a second inclination angle detection component (630) connected to the top of the first inclination angle detection component (620), and the second inclination angle detection component (630) is provided with a through hole three for allowing the rope body (200) to pass through, and the second inclination angle detection component (630) is used to detect the inclination angle of the rope body (200) in a second direction relative to the vertical direction; The rotating positioning sleeve (640) is connected to the top of the second tilt angle detection component (630), the sleeve hole of the rotating positioning sleeve (640) allows the rope body (200) to pass through, and the rotating positioning sleeve (640) passes through the opening.

3. A programming-free robot teaching data acquisition device according to claim 2, characterized in that: The first tilt angle detection component (620) comprises: A first inclination angle detector (621) is used to detect in a first direction a first inclination angle of the rope body (200) relative to a vertical direction, and the first inclination angle detector (621) is provided with the second through hole; A first rotation support shaft (622) connected to a side wall of the first tilt angle detector (621), and a setting direction of the first rotation support shaft (622) is perpendicular to the first direction; The first rotation support frame (623) is connected to the top of the support plate (610), and the first rotation support frame (623) is provided with a first rotation support hole allowing the first rotation support shaft (622) to pass through and rotate.

4. A programming-free robot teaching data acquisition device according to claim 3, characterized in that: The second tilt angle detection component (630) comprises: A second inclination angle detector (631) is used to detect in a second direction a second inclination angle of the rope body (200) relative to the vertical direction, and the second inclination angle detector (631) is provided with the third through hole; A second rotation support shaft (632) connected to a side wall of the second tilt angle detector (631), and a setting direction of the second rotation support shaft (632) is perpendicular to the second direction; The second rotation support frame (633) is connected to the top of the first tilt angle detector (621), and the second rotation support frame (633) is provided with a second rotation support hole allowing the second rotation support shaft (632) to pass through and rotate.

5. A programming-free robot teaching data acquisition device according to claim 4, characterized in that: The first rotating support shaft (622) is provided with first limiting threads at both axial ends, and the first limiting threads are equipped with first axial limiting nuts; the second rotating support shaft (632) is provided with second limiting threads at both axial ends, and the second limiting threads are equipped with second axial limiting nuts.

6. A programming-free robot teaching data acquisition device according to claim 2, characterized in that: A positioning block (210) is provided on the rope body (200). When the handheld component (100) loses its pulling force, the pulled rope body (200) retracts from the outside of the box body (300) into the inside of the box cavity (310) until the positioning block (210) abuts against the top end of the rotating positioning sleeve (640).

7. The programming-free robot teaching data acquisition device according to claim 2, characterized in that: The rope length detection component (700) comprises: A detector body (710) connected to the bottom of the support plate (610), and the detector body (710) is provided with a through hole four (711) allowing the rope body (200) to pass through, and a cavity (712) communicating with the through hole four (711); A guide sleeve (720) is installed in the fourth through hole (711), and the guide sleeve (720) is provided with a font enlargement portion (721); the rope body (200) is provided with a rope output amount scale value; An image collector (730) is embedded in the detector body (710), and an image collection head of the image collector (730) is arranged toward the font magnifying portion (721), and is used to collect pictures with scale values ​​of the rope output amount; a light source (740) embedded in the detector body (710), the light source (740) providing light for the cavity (712); An image processor (750) is electrically connected to the image collector (730), and the image processor (750) obtains the output length of the rope body (200) through the image.

8. The programming-free robot teaching data acquisition device according to claim 1, characterized in that: The rope winding assembly comprises: A rope reel housing, arranged below the rope output length detection component (700); A rope drum (410) is arranged in the rope drum housing; A coil spring, wherein the rope body (200) is coiled around the rope drum (410) via the coil spring.

9. A programming-free robot teaching data acquisition device according to claim 8, characterized in that: The rope body (200) between the rope body winding assembly and the rope output length detection component (700) is also provided with a guide wheel (500).

10. The programming-free robot teaching data acquisition device according to claim 1, characterized in that: The box body (300) is provided with an elastic telescopic opening and closing door (320) at the opening.

Images