Collaborative robot teaching device

Abstract

The utility model discloses a collaborative robot teaching device, which comprises a first shell, a second shell, a circuit board and a display screen, the first shell and the second shell are enclosed to form an accommodating space, the circuit board is arranged in the accommodating space, the display screen is embedded in the first shell, the second shell is provided with two bulges, and the bulges are arranged in the accommodating space. An inner cavity of each protrusion is hollow and is communicated with the containing space, one protrusion is provided with a round hole used for placing an aviation socket, and the other protrusion is provided with an opening used for placing a three-position switch. Through the structure of the two protrusions, a user can hold one of the two protrusions through the first web position of the palm when supporting the whole teaching device with the hand, and stable and comfortable use experience is obtained; meanwhile, the two protrusions can increase the internal containing space of the first shell and the second shell, and a better heat dissipation effect is achieved; and the aviation socket and the three-position switch which occupy large space are respectively arranged in the two bulges, so that the overall volume can be saved to the greatest extent.

Description

Technical Field

[0001] The utility model relates to the technical field of robot teaching, in particular to a collaborative robot teaching device. Background Art

[0002] A teach pendant is a device used for robot programming. It records and programs robot movements by simulating actual operations. In layman's terms, the teach pendant is used to control the robot arm, record the movement, trajectory, speed and other information of the task that the robot needs to perform, and then save this information in the form of a program to the controller, ultimately achieving the goal of the robot automatically completing the task without human supervision.

[0003] At present, the appearance of handheld teaching pendants is mostly square flat, slightly larger than that of tablet computers. In order to place components such as flight plugs, switches, and data interfaces, the back cover is generally designed to be thicker, making the whole thing bulky. The teaching pendant often requires the staff to hold the teaching pendant with one hand and use the other hand to touch the screen, so it is difficult to hold for a long time and the comfort is low. Utility Model Content

[0004] The main purpose of the utility model is to provide a collaborative robot teaching device, aiming to solve the technical problem that the current teaching pendant is bulky and inconvenient to hold.

[0005] In order to achieve the above-mentioned purpose, the utility model proposes a collaborative robot teaching device, comprising:

[0006] The first shell is in the shape of a flat plate;

[0007] The second shell is arranged opposite to the first shell, and the second shell is detachably connected to the first shell and encloses and forms a receiving space;

[0008] A circuit board is arranged in the accommodation space;

[0009] A display screen, embedded in the first housing and electrically connected to the circuit board;

[0010] The second shell is configured with two protrusions in a direction away from the first shell, and the inner cavity of the protrusions is hollow and communicated with the accommodating space;

[0011] One of the protrusions has a round hole on its outward side for inserting an aviation socket, and the other protrusion has an opening on its inward side for inserting a three-position switch;

[0012] The aviation socket and the three-position switch are electrically connected to the circuit board.

[0013] Wherein, the ends of the two protrusions close to each other are both provided with an arc angle, and the angle of the arc angle is 40° to 60°.

[0014] The top end of the arc angle is an arc surface with a radius of 16 mm to 18 mm.

[0015] The second shell has a length direction and a width direction, the two protrusions are respectively located at the two ends of the length direction of the second shell, and one of the two opposite side edges of the two protrusions along the width direction of the second shell is flush with the long side of the second shell, and the other of the two opposite side edges of the two protrusions along the width direction of the second shell is located in the middle section of the width direction of the second shell; the arc angle is located on the opposite sides of the two protrusions, and the three-position switch is located on the hypotenuse forming the arc angle.

[0016] The two protrusions are connected to the long side, short side and middle section of the width direction of the second shell body by arc chamfers for smooth transition.

[0017] Among them, an emergency stop control circuit, a three-position enabling circuit and a vibration motor are provided on the circuit board. The emergency stop control circuit, the three-position enabling circuit and the vibration motor are all located in a raised inner cavity with an opening, and the three-position enabling circuit is electrically connected to the three-position switch.

[0018] The circuit board also includes a main control circuit, and at least a part of the main control circuit is located in the inner cavity of the protrusion.

[0019] A heat conducting plate is also provided in the accommodation space. The heat conducting plate is attached to the main control circuit and connects the two raised inner cavities.

[0020] Wherein, the circuit board also includes a charge and discharge management circuit, and the heat conducting plate is attached to the charge and discharge management circuit;

[0021] and / or,

[0022] The circuit board also includes an Ethernet circuit, and the heat conducting plate is attached to the Ethernet circuit.

[0023] Wherein, the heat conducting plate is at least partially located in the inner cavities of the two protrusions.

[0024] The utility model provides two protruding structures on the second shell of the teaching device, so that the user can hold one of the two protrusions with the base of the palm when holding the entire teaching device, thereby achieving a more stable and comfortable use experience; at the same time, the design of the two protrusions can increase the internal accommodation space of the first shell and the second shell, thereby achieving a better heat dissipation effect; furthermore, the aviation socket and the three-position switch that occupy a larger space are respectively placed in the two protrusions, which can save the overall volume to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of a collaborative robot teaching device in one embodiment of the utility model;

[0027] Figure 2 A schematic structural diagram of a collaborative robot teaching device in another embodiment of the present invention;

[0028] Figure 3 A schematic structural diagram of a second housing in another embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of a first housing in another embodiment of the present invention;

[0030] Figure 5 A schematic structural diagram of a first housing and a circuit board in another embodiment of the present invention;

[0031] Figure 6 This is a structural schematic diagram of a first housing and a circuit board in another embodiment provided by the utility model.

[0032] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0036] To solve the problem that existing robot teaching pendants are generally bulky, such as Figures 1 to 6 As shown, the utility model proposes a collaborative robot teaching device, comprising:

[0037] The first shell 1 is in the shape of a flat plate;

[0038] The second shell 2 is arranged opposite to the first shell 1, and the second shell 2 is detachably connected to the first shell 1 and encloses a receiving space 3;

[0039] A circuit board 4 is arranged in the accommodating space 3;

[0040] The display screen 5 is embedded in the first housing 1 and electrically connected to the circuit board 4;

[0041] The second housing 2 is configured with two protrusions 21 in a direction away from the first housing 1 , and the inner cavity 31 of the protrusion 21 is hollow and communicates with the accommodating space 3 ;

[0042] A round hole 212 is provided on the outward side of one protrusion 21 for inserting an aviation socket, and an opening 211 is provided on the inward side of the other protrusion 21 for inserting a three-position switch;

[0043] The aviation socket and the three-position switch are both electrically connected to the circuit board 4 .

[0044] In this embodiment, it can be considered that the first shell 1 is the front cover of the teaching pendant, and the second shell 2 is the back cover of the teaching pendant. The first shell 1 has a display area 11, a key area 12, and a through hole for inserting the emergency stop button 7, wherein the display panel side of the display screen 5 is embedded in the display area 11 with the display panel facing outward, and a plurality of keys 6 are embedded in the key area 12. The first shell 1 and the second shell 2 can be interlocked and connected by screws, and the two are enclosed to form a receiving space 3. The circuit board 4 is in the receiving space 3 and is fixed to the first shell 1 by a plurality of screws.

[0045] The outer edge of the second shell 2 is roughly rectangular, and has a length direction and a width direction. The content of the display panel has a distinction between top, bottom, left and right for the user. Based on this, it can be considered that the two protrusions 21 are respectively located in the upper half of the width direction of the second shell 2, and are located at the left and right ends of the length direction of the second shell 2, and the two protrusions 21 are symmetrical to each other. In addition, the two protrusions 21 have two opposite side edges along the width direction of the second shell 2, one of the two side edges is flush with the upper long side of the second shell 2, and the other of the two side edges is located in the middle section of the width direction of the second shell 2, and both side edges are connected to the top surface of the protrusion 21 through a slope surface, so that the cross-section of the protrusion 21 is trapezoidal. Specifically, the two protrusions 21 are connected to the long side, short side and the middle section of the width direction of the second shell 2 through arc chamfers for smooth transition, so that the user can get a better hand feel.

[0046] refer to Figure 2 and Figure 3 The two protrusions 21 protrude from the plane where the back side of the second shell 2 is located and form a hollow inner cavity 31. The inner cavity 31 is connected to the accommodating space 3. The inner cavity 31 of the two protrusions 21 increases the internal space, which is beneficial to the heat dissipation of the circuit board 4.

[0047] refer to Figure 2 , a circular hole 212 is provided on the outer side of one protrusion 21, that is, the side facing away from the other protrusion 21, to be placed in the aviation socket, and an opening 211 is provided on the inner side of the other protrusion 21 to be placed in the three-position switch. The aviation socket located on the outer side is convenient for plugging in the aviation plug, and the position of the three-position switch corresponds to the position of the thumb when the user holds the protrusion 21, so that the convenience and use experience can be increased. As a preferred embodiment, the three-position switch is arranged on the inner side of the protrusion 21 on the right side with the display panel content as the reference direction, that is, it is convenient for the left hand to hold up the entire teaching device and hold the protrusion 21, thereby freeing up the right hand to operate on the display panel, which can adapt to the use habits of most people.

[0048] An elastic band is provided on the side of the second housing 2 facing away from the first housing 1. When the user needs to hold the teaching device, the user puts the palm into the elastic band, holds the protrusion 21 with the three-position switch with the base of the thumb and fingers, and can steadily perform the teaching operation.

[0049] In yet another embodiment, reference Figure 2 The two protrusions 21 on the second shell 2 of the collaborative robot teaching device are provided with an arc angle θ at one end close to each other, and the angle of the arc angle θ is 40° to 60°.

[0050] In this embodiment, the arc angle θ, that is, the top angle, is an arc chamfered surface, one of the two sides is the lower edge of the protrusion 21, and the other is a bevel connecting the upper edge and the lower edge of the protrusion 21. The angle of the arc angle θ is preferably 40° to 60°, corresponding to the angle of the palm of the hand. This angle is comfortable to use. As a preference, an arc angle θ of 45° can be used, which is both comfortable and convenient for mold opening of the second shell 2.

[0051] In another embodiment, the top end (i.e., the vertex) of the arc angle θ of the two protrusions 21 is an arc surface with a radius of 16 mm to 18 mm, corresponding to the opening arc of an adult's thumb and index finger, so as to reduce hand fatigue during continuous use.

[0052] In yet another embodiment, reference Figure 5 An emergency stop control circuit 41, a three-position enabling circuit 42 and a vibration motor are provided on the circuit board 4. The emergency stop control circuit 41, the three-position enabling circuit 42 and the vibration motor are all located in the inner cavity 31 of the protrusion 21 provided with an opening 211, and the three-position enabling circuit 42 is electrically connected to the three-position switch.

[0053] refer to Figure 1 The emergency stop control circuit 41 is connected to the emergency stop button 7, which is inserted through the through hole provided on the first housing 1 and protrudes from the first housing 1, and is partially inserted into the accommodation space 3. The emergency stop button 7, the three-position enabling circuit 42 and the vibration motor all have a certain volume, so they are arranged in the protrusion 21 to avoid additional increase in the depth of the accommodation space 3 and reduce the overall volume. The three-position enabling circuit 42 is arranged close to the three-position switch for easy wiring.

[0054] In yet another embodiment, reference Figure 5 The circuit board 4 also includes a main control circuit 43, which is at least partially located in the inner cavity 31 of the protrusion 21. As the part with the highest heat generation, the inner cavity 31 of the protrusion 21 can help dissipate heat and reduce the average temperature of the entire accommodating space 3.

[0055] In yet another embodiment, reference Figure 6 A heat conducting plate 44 is also provided in the accommodation space 3. The heat conducting plate 44 is attached to the main control circuit 43 and connected to the inner cavities 31 of the two protrusions 21. The heat conducting plate 44 can conduct heat generated by the main control circuit 43 and disperse it into the accommodation space 3 including the inner cavities 31 of the two protrusions 21, thereby reducing the average temperature in the entire accommodation space 3.

[0056] In another embodiment, the circuit board 4 further includes a charge and discharge management circuit 45 , and the heat conductive plate 44 is attached to the charge and discharge management circuit 45 ; and / or, the circuit board 4 further includes an Ethernet circuit 46 , and the heat conductive plate 44 is attached to the Ethernet circuit 46 .

[0057] The charge and discharge management circuit 45 and the Ethernet circuit 46 are also two major heating areas. The heat is distributed to various places in the accommodation space 3 by means of the heat conducting plate 44 , which can reduce the average temperature in the entire accommodation space 3 .

[0058] In another embodiment, the heat conducting plate 44 is at least partially located in the inner cavity 31 of the two protrusions 21. As mentioned above, the inner cavity 31 of the protrusion 21 increases the overall space of the accommodation space 3, and due to the shape of the protrusion 21, its air circulation is not as good as other accommodation spaces 3, so the heat is distributed to the inner cavity 31 by means of the heat conducting plate 44, which can reduce the average temperature in the entire accommodation space 3.

[0059] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A collaborative robot teaching device, comprising: The first shell is in the shape of a flat plate; A second shell is arranged opposite to the first shell, the second shell is detachably connected to the first shell, and the second shell is enclosed to form a receiving space; A circuit board is arranged in the accommodation space; A display screen, embedded in the first housing and electrically connected to the circuit board; It is characterized in that The second shell is configured with two protrusions in a direction away from the first shell, wherein the inner cavities of the protrusions are hollow and communicate with the accommodating space; A round hole is provided on the outward side of one of the protrusions for inserting an aviation socket, and an opening is provided on the inward side of the other protrusion for inserting a three-position switch; The aviation socket and the three-position switch are both electrically connected to the circuit board.

2. The collaborative robot teaching device according to claim 1, characterized in that: An arc angle is arranged at one end of the two protrusions close to each other, and the angle of the arc angle is 40° to 60°.

3. The collaborative robot teaching device according to claim 2, characterized in that: The top end of the arc angle is an arc surface with a radius of 16 mm to 18 mm.

4. The collaborative robot teaching device according to claim 2, characterized in that: The second shell has a length direction and a width direction, the two protrusions are respectively located at the two ends of the length direction of the second shell, and one of the two opposite side edges of the two protrusions along the width direction of the second shell is flush with the long side of the second shell, and the other of the two opposite side edges of the two protrusions along the width direction of the second shell is located in the middle section of the width direction of the second shell; the arc angle is located on the opposite sides of the two protrusions, and the three-position switch is located on the hypotenuse forming the arc angle.

5. The collaborative robot teaching device according to claim 4, characterized in that: The two protrusions are connected to the long side, the short side and the middle section in the width direction of the second shell body through a smooth transition through arc chamfers.

6. The collaborative robot teaching device according to claim 1, characterized in that: An emergency stop control circuit, a three-position enabling circuit and a vibration motor are provided on the circuit board. The emergency stop control circuit, the three-position enabling circuit and the vibration motor are all located in the inner cavity of the protrusion provided with the opening. The three-position enabling circuit is electrically connected to the three-position switch.

7. The collaborative robot teaching device according to claim 6, characterized in that: The circuit board further comprises a main control circuit, and the main control circuit is at least partially located in the inner cavity of the protrusion.

8. The collaborative robot teaching device according to claim 7, characterized in that: A heat conducting plate is also provided in the accommodation space. The heat conducting plate is attached to the main control circuit and connects the inner cavities of the two protrusions.

9. The collaborative robot teaching device according to claim 8, characterized in that: The circuit board also includes a charge and discharge management circuit, and the heat conducting plate is attached to the charge and discharge management circuit; and / or, The circuit board also includes an Ethernet circuit, and the heat conducting plate is attached to the Ethernet circuit.

10. The collaborative robot teaching device according to claim 9, characterized in that: The heat conducting plate is at least partially located in the inner cavities of the two protrusions.

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