Teaching assistance device and robot
Patent Information
- Application Number
- CN202421022369.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-11
- Publication Date
- 2025-01-07
- Estimated Expiration
- 2034-05-11
AI Technical Summary
In the existing FDS connection process, the application scenarios of teaching auxiliary devices are narrower, the teaching accuracy is poor, and it is difficult to accurately determine the location of the FDS point.
A teaching auxiliary device is designed, including a teaching body, a teaching rod and a teaching head. The tapered tip of the teaching rod can be used for teaching parts without prepunching and prepunching, through the point of the tapered tip and the part. The contact achieves high-precision teaching, and a avoiding block is installed on the outside of the teaching body to avoid collision of the jaw device during the FDS riveting process.
This device can achieve high-precision teaching in different application scenarios, adapt to parts without prepunching and prepunching, improves the accuracy of FDS points and avoids damage to the jaw device and parts.
Smart Images
Figure CN222308857U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automation equipment, in particular to a teaching auxiliary device and a robot. Background Art
[0002] The FDS process is a cold forming process that uses the central tightening shaft of the equipment to drive the screw to rotate at high speed, and after the friction between the screw and the plate to be connected generates heat and plastic deformation, it self-taps and screws. This process is a single-sided connection technology, suitable for the connection of the same metal / different metals, and is a lightweight body connection process.
[0003] The FDS connection process requires the use of a robot system to achieve automatic connection. Before the robot automatically connects, it is necessary to teach the position of each installation point on the vehicle body to determine the exact position of the FDS point. In the related art, the application scenario of the teaching auxiliary device for determining the FDS point is narrow and the teaching accuracy is poor. Utility Model Content
[0004] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.
[0005] To this end, an embodiment of the present utility model provides a teaching auxiliary device, which can meet different application scenarios and has high teaching accuracy.
[0006] The embodiment of the utility model also provides a robot.
[0007] The teaching auxiliary device of an embodiment of the utility model includes: a teaching body, one end of which is suitable for connecting with the gripper device of a robot, a cavity is provided in the teaching body, and the other end of the teaching body has an opening and is connected to the cavity; a teaching rod, one end of the teaching rod is passed through the opening and extends into the cavity, and the other end of the teaching rod has a cone tip; a teaching head, the outer peripheral contour of the teaching head is cylindrical, a mounting groove is provided in the teaching head, and the cone tip is detachably mounted in the mounting groove and is coaxially arranged with the teaching head.
[0008] According to the teaching auxiliary device of the embodiment of the utility model, since the end of the teaching rod extending into the cavity has a cone tip, when there is no pre-punched hole on the parts to be connected, the teaching head can be removed from the cone tip, and teaching can be performed directly through the cone tip on the teaching rod. Since the cone tip is in point contact with the parts to be connected, the teaching of the teaching auxiliary device can be made more accurate. When the parts to be connected are provided with pre-punched holes, the operator can select a teaching head of a suitable type and install it at the cone tip position of the teaching rod, so that the pre-punched hole can be taught to ensure the coaxiality of the teaching rod and the pre-punched hole, thereby making the teaching of the teaching auxiliary device more accurate. Therefore, the teaching auxiliary device of the embodiment of the utility model can adapt to two application scenarios in which the parts to be connected have pre-punched holes and do not have pre-punched holes, and the teaching accuracy is relatively high.
[0009] In some embodiments, the teaching auxiliary device also includes an avoidance block, which is fixedly mounted on the outside of the teaching body. In a projection plane orthogonal to the axial direction of the teaching rod, the outer peripheral contour of the teaching body is located within the outer peripheral contour of the avoidance block.
[0010] In some embodiments, a mounting hole is provided on the avoidance block, a matching hole is provided on the teaching body, and the teaching auxiliary device further includes a fastener, and the fastener is passed through the mounting hole and the matching hole.
[0011] In some embodiments, the teaching rod is slidable relative to the teaching body along the axial direction of the cavity, and the teaching auxiliary device also includes an elastic member, which is arranged in the cavity and connected to the teaching rod, and the elastic member has an elastic force that presses the teaching rod toward the teaching head.
[0012] In some embodiments, the teaching body includes a first body and a second body, the first body and the second body are detachably connected along the axial direction of the teaching rod, part of the cavity is formed in the first body, and another part of the cavity is formed in the second body, and the opening is provided on the second body.
[0013] In some embodiments, the teaching rod includes a rod body, a stop block and the cone tip, one end of the rod body extends into the cavity, the other end of the rod body extends out of the cavity and is connected to the cone tip, the stop block is arranged on the rod body and is located in the cavity, the elastic member is sleeved on the rod body and abuts against the stop block, and the elastic member has an elastic force that presses the stop block toward the direction of the teaching head.
[0014] In some embodiments, a telescopic cavity is provided on the first body, the telescopic cavity is communicated with the cavity and is coaxially arranged with the teaching rod, and one end of the teaching rod is slidably matched with the telescopic cavity.
[0015] In some embodiments, a hidden cavity is provided in the second body, the hidden cavity is communicated with the cavity through the opening, and the teaching head can be retracted into the hidden cavity along the axial direction of the teaching rod.
[0016] In some embodiments, one of the first body and the second body is provided with a first external threaded surface, and the other is provided with a first internal threaded surface, and the first external threaded surface is threadedly matched with the first internal threaded surface; and / or, the outer peripheral surface of the cone tip is provided with a second external threaded surface, and the inner peripheral surface of the mounting groove is provided with a second internal threaded surface, and the second external threaded surface is threadedly matched with the second internal threaded surface.
[0017] A robot according to another embodiment of the utility model comprises: a mechanical arm having a clamping device; a teaching auxiliary device, wherein the teaching auxiliary device is the teaching auxiliary device described in any one of the embodiments of the utility model, and the clamping device can clamp and release the teaching auxiliary device.
[0018] According to the robot of the embodiment of the utility model, since the end of the teaching rod extending into the cavity has a cone tip, when there is no pre-punched hole on the part to be connected, the teaching head can be removed from the cone tip, and teaching can be performed directly through the cone tip on the teaching rod. Since the cone tip is in point contact with the part to be connected, the teaching of the teaching auxiliary device can be made more accurate. When the part to be connected is provided with a pre-punched hole, the operator can select a teaching head of a suitable type and install it at the cone tip position of the teaching rod, so that the pre-punched hole can be taught to ensure the coaxiality of the teaching rod and the pre-punched hole, thereby making the teaching of the teaching auxiliary device more accurate. Therefore, the teaching auxiliary device of the robot of the embodiment of the utility model can adapt to two application scenarios in which the parts to be connected have pre-punched holes and do not have pre-punched holes, and the teaching accuracy is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a schematic diagram of the installation of the teaching auxiliary device and the clamping claw device of the embodiment of the utility model.
[0020] Figure 2 It is a schematic diagram of the teaching auxiliary device of the embodiment of the utility model teaching on the parts to be connected (without pre-punching holes).
[0021] Figure 3 It is a schematic diagram of the teaching auxiliary device of the embodiment of the utility model teaching on the parts to be connected (with pre-punched holes).
[0022] Figure 4 It is a partial cross-sectional view of the teaching auxiliary device of the embodiment of the utility model teaching on the parts to be connected (with pre-punched holes).
[0023] Figure 5It is a schematic diagram of the teaching auxiliary device of the embodiment of the utility model teaching on the parts to be connected.
[0024] Figure 6 It is a front view of the teaching auxiliary device of the embodiment of the utility model.
[0025] Figure 7 It is a perspective view of a teaching auxiliary device according to an embodiment of the utility model.
[0026] Figure 8 It is a cross-sectional view of a teaching auxiliary device according to an embodiment of the utility model.
[0027] Fig. 9 It is a front view of the first main body of the teaching auxiliary device of the embodiment of the utility model.
[0028] Fig.10 It is a cross-sectional view of the first main body of the teaching auxiliary device according to an embodiment of the utility model.
[0029] Fig.11 It is a front view of the second body of the teaching auxiliary device of the embodiment of the utility model.
[0030] Fig.12 It is a cross-sectional view of the second body of the teaching auxiliary device according to the embodiment of the utility model.
[0031] Fig.13 It is a schematic diagram of an avoidance block of the teaching auxiliary device according to an embodiment of the utility model.
[0032] Fig.14 It is a schematic diagram of a teaching rod of a teaching auxiliary device according to an embodiment of the utility model.
[0033] Fig.15 It is a schematic diagram of a teaching head of a teaching auxiliary device according to an embodiment of the utility model.
[0034] Reference numerals:
[0035] 1. Teaching auxiliary device;
[0036] 11. Teaching body; 111. First body; 1111. Telescopic cavity; 1112. Clamping column; 1113. Positioning block; 112. Second body; 1121. Cavity; 1122. Opening; 1123. Hidden cavity; 1124. Matching hole;
[0037] 12. teaching rod; 121. rod body; 122. cone tip; 123. stop block;
[0038] 13. Teaching head; 131. Mounting slot;
[0039] 14. Avoidance block; 141. Mounting hole;
[0040] 15. Elastic parts;
[0041] 16. Fasteners;
[0042] 2. Clamping device; 21. Clamping arm;
[0043] 3. Parts to be connected. DETAILED DESCRIPTION
[0044] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but cannot be understood as limiting the present invention.
[0045] Please refer to the following Figures 1 to 15 A teaching auxiliary device and a robot according to an embodiment of the utility model are described.
[0046] like Figures 1 to 15 As shown, the teaching auxiliary device according to the embodiment of the utility model includes: a teaching body 11, a teaching rod 12 and a teaching head 13, one end of the teaching body 11 is suitable for connecting with the gripper device 2 of the robot, a cavity 1121 is provided in the teaching body 11, the other end of the teaching body 11 has an opening 1122 and is connected with the cavity 1121, one end of the teaching rod 12 is passed through the opening 1122 and extends into the cavity 1121, the other end of the teaching rod 12 has a cone tip 122, the outer peripheral contour of the teaching head 13 is cylindrical, a mounting groove 131 is provided in the teaching head 13, the cone tip 122 is detachably installed in the mounting groove 131, and is coaxially arranged with the teaching head 13.
[0047] According to the teaching auxiliary device of the embodiment of the utility model, since the end of the teaching rod 12 extending into the cavity 1121 has a cone tip 122, when there is no pre-punched hole on the part 3 to be connected (such as Figure 2 As shown in FIG. 1 , the teaching head 13 can be removed from the cone tip 122, and teaching can be performed directly through the cone tip 122 on the teaching rod 12. Since the cone tip 122 is in point contact with the part 3 to be connected, the teaching of the teaching auxiliary device 1 can be made more accurate. Figure 3 As shown in the figure, the operator can select a suitable model of teaching head 13 and install it at the cone tip 122 position of the teaching rod 12, so that the pre-punching can be taught to ensure the coaxiality between the teaching rod 12 and the pre-punching, thereby making the teaching of the teaching auxiliary device 1 more accurate. Therefore, the teaching auxiliary device of the embodiment of the utility model can adapt to two application scenarios of the parts 3 to be connected with or without pre-punching holes, and the teaching accuracy is relatively high.
[0048] It is understandable that if Figure 3 and Figure 4As shown, when teaching the parts 3 to be connected with pre-punched holes, the teaching head 13 can be inserted into the pre-punched holes, wherein the diameter of the teaching head 13 matches the diameter of the pre-punched holes to ensure accurate FDS teaching positions.
[0049] Alternatively, if Figures 4 to 8 As shown, the teaching auxiliary device 1 further includes an avoidance block 14, which is fixedly sleeved on the outer side of the teaching main body 11, and in a projection plane orthogonal to the axial direction of the teaching rod 12, the outer peripheral contour of the teaching main body 11 is located within the outer peripheral contour of the avoidance block 14. In other words, the outer peripheral contour of the avoidance block 14 is larger than the outer peripheral contour of the teaching main body 11.
[0050] It is understandable that if there are protruding features on the parts around the FDS point, when the teaching auxiliary device 1 is teaching, the clamping device 2 is in a clamping state, and the clamping device 2 is in an open state during the FDS nail connection process. As a result, the clamping device 2 may collide with the parts, thereby damaging the clamping device 2 or the parts.
[0051] Therefore, the teaching auxiliary device of the embodiment of the utility model can simulate the state of the clamping device 2 in the open state during the teaching process by setting the avoidance block 14 on the outer side of the teaching body 11, and can effectively avoid the problem of equipment damage and deformation of parts caused by insufficient space when the clamping jaws are opened when the clamping jaws 2 are working. In other words, since the avoidance block 14 is set on the outer side of the teaching body 11, the movement and opening trajectory of the clamping jaw 2 during the FDS riveting process can be intuitively identified during the teaching process, avoiding interference between the clamping jaw 2 and the parts.
[0052] It should be noted that the external structure of the avoidance block 14 can be designed according to the actual avoidance space required, and the present application does not specifically limit the structure of the avoidance block 14.
[0053] For example, the avoidance block 14 may be snap-connected with the teaching body 11. For another example, the avoidance block 14 is connected to the teaching body 11 via a fastener 16, thereby facilitating the removal and replacement of the avoidance block 14.
[0054] In a specific example, if Figure 6 , Fig.12 and Fig.13 As shown, the avoidance block 14 is provided with a mounting hole 141, the teaching body 11 is provided with a matching hole 1124, and the teaching auxiliary device 1 further comprises a fastener 16, which is passed through the mounting hole 141 and the matching hole 1124. For example, the fastener 16 is a threaded member, which is threadedly matched with the mounting hole 141 and the matching hole 1124.
[0055] In some embodiments, Figure 8As shown, the teaching rod 12 is slidable relative to the teaching body 11 along the axial direction of the cavity 1121, and the teaching auxiliary device 1 further includes an elastic member 15, which is arranged in the cavity 1121 and connected to the teaching rod 12, and the elastic member 15 has an elastic force that presses the teaching rod 12 in the direction of the teaching head 13. It can be understood that in order to avoid the problem of rigid collision when the teaching head 13 or the cone tip 122 contacts the part 3 to be connected, the elastic member 15 can be arranged on the teaching rod 12, and since the elastic member 15 has an elastic force that presses the teaching rod 12 in the direction of the teaching head 13, it can ensure that the teaching head 13 or the cone tip 122 is effectively in contact with the part 3 to be connected, and when the pressure on the teaching head 13 or the cone tip 122 and the part 3 to be connected is greater than the elastic force of the elastic member 15, the teaching rod 12 can be forced to retract into the cavity 1121, so as to avoid rigid collision when the teaching head 13 or the cone tip 122 contacts the part 3 to be connected.
[0056] Alternatively, if Figures 8 to 12 As shown, the teaching body 11 includes a first body 111 and a second body 112, the first body 111 and the second body 112 are detachably connected along the axial direction of the teaching rod 12, a part of the cavity 1121 is formed in the first body 111, another part of the cavity 1121 is formed in the second body 112, and the opening 1122 is provided on the second body 112. Since the first body 111 and the second body 112 are detachably connected, it is convenient to process and manufacture the teaching body 11, and it is convenient for operators to disassemble and replace the elastic member 15 and the teaching rod 12.
[0057] For example, one of the first body 111 and the second body 112 is provided with a first external thread surface, and the other is provided with a first internal thread surface, and the first external thread surface is threadedly matched with the first internal thread surface. It is understandable that the first body 111 and the second body 112 can be connected by threading, thereby facilitating the processing and manufacturing of the teaching body 11, and convenient for disassembly and assembly.
[0058] In other examples, the first body 111 and the second body 112 may also be connected in a snap-fit manner.
[0059] In some embodiments, Figure 8 and Fig.14As shown, the teaching rod 12 includes a rod body 121, a stopper 123 and a cone tip 122. One end of the rod body 121 extends into the cavity 1121, and the other end of the rod body 121 extends out of the cavity 1121 and is connected to the cone tip 122. The stopper 123 is arranged on the rod body 121 and is located in the cavity 1121. The elastic member 15 is sleeved on the rod body 121 and abuts against the stopper 123. The elastic member 15 has an elastic force that presses the stopper 123 toward the teaching head 13. It can be understood that the stopper 123 is generally arranged at the middle position of the rod body 121. When the rod body 121 moves to the lower limit position, the stopper 123 can abut against one end of the second body 112 adjacent to the opening 1122 to limit the rod body 121 from continuing to move toward the opening 1122. When the rod body 121 moves to the upper limit position, the stopper 123 can abut against the end of the first body 111 away from the opening 1122 to limit the rod body 121 from continuing to move in the direction away from the opening 1122. In other words, the stopper 123 can limit the upper limit position and the lower limit position of the rod body 121 to constrain the stroke of the teaching rod 12, thereby ensuring the reliability of the connection between the teaching rod 12 and the teaching body 11.
[0060] For example, Figure 8 , Fig.14 and Fig.15 As shown, the outer circumference of the cone tip 122 is provided with a second outer thread surface, and the inner circumference of the mounting groove 131 is provided with a second inner thread surface, and the second outer thread surface is threadedly matched with the second inner thread surface. It can be understood that the cone tip 122 is threadedly matched with the teaching head 13, thereby facilitating the operator to install and remove the teaching head 13.
[0061] Alternatively, if Figure 8 and Fig.10 As shown, a telescopic cavity 1111 is provided on the first body 111, the telescopic cavity 1111 is communicated with the cavity 1121 and is coaxially arranged with the teaching rod 12, and one end of the teaching rod 12 is slidably matched with the telescopic cavity 1111. It can be understood that the upper end of the rod body 121 is slidably matched in the telescopic cavity 1111, so that the movement of the rod body 121 can be guided by the telescopic cavity 1111 to improve the accuracy of the teaching rod 12 when teaching.
[0062] Furthermore, if Figure 8 and Fig.12As shown, a hidden cavity 1123 is provided in the second body 112, and the hidden cavity 1123 is connected to the cavity 1121 through the opening 1122, and the teaching head 13 can be retracted into the hidden cavity 1123 along the axial direction of the teaching rod 12. It should be noted that the depth of the hidden cavity 1123 along the axial direction of the teaching body 11 is not less than the height of the teaching head 13. When the teaching head 13 or the cone tip 122 of the teaching auxiliary device 1 rigidly collides with the part 3 to be connected, the teaching head 13 or the cone tip 122 can be retracted into the hidden cavity 1123, thereby avoiding the rigid collision of the teaching head 13 or the cone tip 122. That is, the lower end surface of the teaching body 11 will be completely in contact with the part to increase the contact area when the teaching auxiliary device 1 and the part 3 to be connected rigidly collide, thereby reducing the probability of damage to the part or the teaching auxiliary device 1.
[0063] like Figures 1 to 6 As shown, a robot according to another embodiment of the present utility model comprises a mechanical arm and a teaching auxiliary device 1. The mechanical arm has a clamping device 2. The teaching auxiliary device 1 is the teaching auxiliary device 1 of the present utility model. The clamping device 2 can clamp and release the teaching auxiliary device 1.
[0064] Specifically, a clamping column 1112 is provided on the first body 111 to clamp the teaching rod 12 on the same axis. The clamping device 2 includes two clamping arms 21 that can be opened and closed. The two clamping arms 21 can clamp and release the clamping column 1112.
[0065] According to the robot of the embodiment of the utility model, since the end of the teaching rod 12 extending to the cavity 1121 has a cone tip 122, when there is no pre-punching hole on the part 3 to be connected, the teaching head 13 can be removed from the cone tip 122, and teaching can be performed directly through the cone tip 122 on the teaching rod 12. Since the cone tip 122 is in point contact with the part 3 to be connected, the teaching of the teaching auxiliary device 1 can be made more accurate. When there is a pre-punching hole on the part 3 to be connected, the operator can select a suitable model of the teaching head 13 and install it at the position of the cone tip 122 of the teaching rod 12, so that the pre-punching hole can be taught to ensure the coaxiality of the teaching rod 12 and the pre-punching hole, thereby making the teaching of the teaching auxiliary device 1 more accurate. Therefore, the teaching auxiliary device 1 of the robot of the embodiment of the utility model can adapt to two application scenarios with and without pre-punching holes, and the teaching accuracy is relatively high.
[0066] Alternatively, if Figure 1 and Figure 6 As shown, a positioning block 1113 is provided on the first body 111 , and the clamping device 2 can cooperate with the positioning block 1113 to prevent the teaching body 11 from rotating relative to the clamping device 2 , thereby improving the installation accuracy of the teaching auxiliary device 1 .
[0067] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0068] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0069] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0070] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0071] In the present utility model, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0072] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are illustrative and cannot be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.
Claims
1. A teaching auxiliary device, characterized in that: include: A teaching body, one end of which is suitable for connecting with the gripper device of the robot, a cavity is provided in the teaching body, and the other end of the teaching body has an opening and is connected with the cavity; A teaching rod, one end of which is passed through the opening and extends into the cavity, and the other end of which has a cone tip; The teaching head has a cylindrical outer contour, a mounting groove is provided in the teaching head, and the cone tip is detachably mounted in the mounting groove and is coaxially arranged with the teaching head.
2. The teaching auxiliary device according to claim 1, characterized in that: The teaching auxiliary device also includes an avoidance block, which is fixedly sleeved on the outside of the teaching body. In a projection plane orthogonal to the axial direction of the teaching rod, the outer peripheral contour of the teaching body is located within the outer peripheral contour of the avoidance block.
3. The teaching auxiliary device according to claim 2, characterized in that: The avoidance block is provided with a mounting hole, the teaching body is provided with a matching hole, and the teaching auxiliary device further comprises a fastener, and the fastener is passed through the mounting hole and the matching hole.
4. The teaching auxiliary device according to claim 1, characterized in that: The teaching rod is slidable relative to the teaching body along the axial direction of the cavity. The teaching auxiliary device also includes an elastic member, which is arranged in the cavity and connected to the teaching rod. The elastic member has an elastic force that presses the teaching rod toward the teaching head.
5. The teaching auxiliary device according to claim 4, characterized in that: The teaching body includes a first body and a second body, the first body and the second body are detachably connected along the axial direction of the teaching rod, part of the cavity is formed in the first body, and another part of the cavity is formed in the second body, and the opening is provided on the second body.
6. The teaching auxiliary device according to claim 4, characterized in that: The teaching rod includes a rod body, a stop block and the cone tip, one end of the rod body extends into the cavity, the other end of the rod body extends out of the cavity and is connected to the cone tip, the stop block is arranged on the rod body and is located in the cavity, the elastic member is sleeved on the rod body and abuts against the stop block, and the elastic member has an elastic force that presses the stop block toward the teaching head.
7. The teaching auxiliary device according to claim 5, characterized in that: The first main body is provided with a telescopic cavity, the telescopic cavity is communicated with the cavity and is coaxially arranged with the teaching rod, and one end of the teaching rod is slidably matched with the telescopic cavity.
8. The teaching auxiliary device according to claim 5, characterized in that: A hidden cavity is provided in the second main body, the hidden cavity is communicated with the cavity through the opening, and the teaching head can be retracted into the hidden cavity along the axial direction of the teaching rod.
9. The teaching auxiliary device according to claim 5, characterized in that: One of the first body and the second body is provided with a first external thread surface, and the other is provided with a first internal thread surface, and the first external thread surface is threadably matched with the first internal thread surface; And / or, the outer circumferential surface of the cone tip is provided with a second external threaded surface, the inner circumferential surface of the mounting groove is provided with a second internal threaded surface, and the second external threaded surface is threadably matched with the second internal threaded surface.
10. A robot, characterized in that: include: A mechanical arm having a gripper device; A teaching auxiliary device, wherein the teaching auxiliary device is the teaching auxiliary device according to any one of claims 1 to 9, and the clamping jaw device can clamp and release the teaching auxiliary device.