Robot handheld teaching device

Abstract

The utility model provides a handheld teaching device for a robot, and relates to the technical field of industrial robot application. The robot handheld teaching device comprises a teaching end and a tracking end installed at the teaching end, the teaching end is used for being held by an operator and teaching an operation track, the tracking end carries feature information, and the feature information can be tracked or captured by a visual system to obtain a space motion track and posture information of the teaching device. According to the handheld teaching device for the robot, the tracking end is arranged on the teaching end, and the visual system can obtain the space motion track and posture information of the teaching device by tracking or capturing the feature information carried by the tracking end. During teaching, an operator only needs to hold the teaching device by hand to intuitively draw a space operation track, complicated teaching programming is not needed, the teaching operation is simple, and the teaching efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot applications, and more specifically, to a robot hand-held teaching device. Background Art

[0002] In the prior art, the teaching of the operation trajectory of a robot is mainly realized by the method of "teaching programming with a teaching pendant + playback of teaching". Specifically, an operator holds a teaching pendant to control the robot, that is, to make the execution tool installed at the end of the robot move from the starting point to the ending point along the operation trajectory. During this period, the operator needs to align and plan the positions of each point of the operation trajectory and the posture of the execution tool, and write a teaching program point by point, so that the execution tool at the end of the robot can just reproduce the taught operation trajectory in the correct posture later. During actual processing, the written teaching program is run, and the execution tool at the end of the robot reproduces the taught operation trajectory. This teaching method has a large operation difficulty, takes a long time, and has a high requirement for the consistency of tooling. Once the position of the object to be processed or the tooling changes, it is necessary to spend a long time adjusting the teaching program. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a robot hand-held teaching device to solve the technical problems of large teaching difficulty and long time consumption existing in the prior art when using the existing robot teaching pendant.

[0004] The robot hand-held teaching device provided by the utility model includes a teaching end and a tracking end installed on the teaching end. The teaching end is used for an operator to hold and teach the operation trajectory. The tracking end carries characteristic information, and the characteristic information can be tracked or captured by a vision system to obtain the spatial movement trajectory and posture information of the teaching device.

[0005] Further, one of the teaching end and the tracking end is provided with a jack, and the other is provided with a fixed shaft. The fixed shaft is inserted into the jack. The hole wall of the jack is provided with a first fixing hole, and the fixed shaft is provided with a second fixing hole. The second fixing hole and the first fixing hole are coaxially and correspondingly arranged. The teaching device further includes a quick-change structure, and the quick-change structure includes a locking member. The locking member is sequentially inserted into the first fixing hole and the second fixing hole to fix the fixed shaft in the jack.

[0006] Further, the locking member includes a pull rod which is sequentially inserted into the first fixing hole and the second fixing hole; the aperture of the first fixing hole is larger than that of the second fixing hole; the pull rod is provided with a first limiting portion which, when projected along the axis of the pull rod, is located within the first fixing hole and protrudes from the second fixing hole; the quick-change structure further includes an elastic member and a hollow bolt sleeved outside the pull rod, both of which are located on the side of the first limiting portion away from the insertion end of the pull rod, and the elastic member is located between the first limiting portion and the hollow bolt; when the teaching end and the tracking end are in a locked state, the hollow bolt is screwed into the first fixing hole and the pull rod is inserted into the second fixing hole through the elastic member, and the first limiting portion abuts against the outer peripheral wall of the fixed shaft; by compressing the elastic member in a direction away from the second fixing hole through the first limiting portion, the pull rod can be disengaged from the second fixing hole, that is, the locked state of the teaching end and the tracking end can be released.

[0007] Further, the elastic member is a helical spring.

[0008] Further, the quick-change structure further includes a base which includes an installation portion and a positioning cylinder that are perpendicular to each other and fixedly connected, and the installation portion is fixedly connected to the teaching end; at least a part of the positioning cylinder is inserted into the first installation hole of the teaching end, and the first installation hole penetrates the hole wall of the insertion hole; the central hole of the positioning cylinder forms the first fixing hole.

[0009] Further, a second limiting portion is provided at the inner end of the positioning cylinder, that is, the end away from the hollow bolt. When the tracking end and the teaching end are in a locked state, the first limiting portion abuts against the second limiting portion under the action of the elastic member.

[0010] Further, a flange sleeve is fixedly provided on the teaching end. The flange sleeve includes a first disc portion and a shaft sleeve portion. The shaft sleeve portion is fixedly inserted into the second installation hole of the teaching end. The second installation hole communicates with the first installation hole and their axes are perpendicular to each other; the central hole of the shaft sleeve portion forms the insertion hole; the shaft sleeve portion is provided with a through hole coaxial with the first fixing hole, and the pull rod is inserted into the second fixing hole after passing through the through hole; a flange shaft is fixedly provided on the tracking end. The flange shaft includes a second disc portion and an insertion shaft portion that are fixedly connected, and the insertion shaft portion forms the fixed shaft.

[0011] Further, at least one of the first disc portion and the second disc portion is provided with a positioning pin for positioning the assembly positions of the tracking end and the teaching end.

[0012] Further, the locking member further includes a handle which is fixedly provided at the outer end of the pull rod.

[0013] Further, the teaching end is a profiling structure of the robot end effector tool.

[0014] The robot handheld teaching device provided by the present utility model can produce the following beneficial effects:

[0015] For the robot handheld teaching device provided by the present utility model, a tracking end is arranged on the teaching end. The vision system can obtain the spatial motion trajectory and attitude information of the teaching device by tracking or capturing the feature information carried by the tracking end. During teaching, the operator only needs to hold the teaching device and intuitively draw the spatial operation trajectory, without the need for complex teaching programming. The teaching operation is simple and the teaching efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the provided drawings.

[0017] Figure 1 3D structural schematic diagram of the robot handheld teaching device provided by the embodiment of the present utility model;

[0018] Figure 2 3D structural schematic diagram of the teaching end of the robot handheld teaching device provided by the embodiment of the present utility model and the quick-change structure thereon;

[0019] Figure 3 Partial 3D structural schematic diagram one of the teaching end of the robot handheld teaching device provided by the embodiment of the present utility model and the quick-change structure thereon;

[0020] Figure 4 Partial 3D structural schematic diagram two of the teaching end of the robot handheld teaching device provided by the embodiment of the present utility model and the quick-change structure thereon;

[0021] Figure 5 Partial 3D structural schematic diagram three of the teaching end of the robot handheld teaching device provided by the embodiment of the present utility model and the quick-change structure thereon;

[0022] Figure 6 3D structural schematic diagram of the tracking end of the robot handheld teaching device provided by the embodiment of the present utility model;

[0023] Figure 7 Partial sectional structural schematic diagram of the robot handheld teaching device provided by the embodiment of the present utility model.

[0024] Description of the reference numerals:

[0025] 100 - Teaching end; 101 - Quick - change mounting cylinder; 102 - Holding area; 103 - Pose teaching part; 110 - Flange sleeve; 111 - First disk part; 112 - Bush part; 113 - Jack; 114 - Through - hole; 120 - First mounting hole;

[0026] 200 - Tracking end; 210 - Flange shaft; 211 - Second disk part; 212 - Insertion shaft part; 213 - Second fixing hole; 214 - Positioning pin;

[0027] 300 - Quick - change structure; 310 - Base; 311 - Mounting part; 312 - Positioning cylinder; 313 - Second limiting part; 320 - Locking part; 321 - Pull rod; 322 - First limiting part; 323 - Handle; 330 - Elastic part; 340 - Hollow bolt. Detailed implementation manners

[0028] To make the above - mentioned objects, features, and advantages of the present utility model more obvious and understandable, the following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0029] This embodiment provides a robot hand - held teaching device, as Figure 1 shown. The teaching device includes a teaching end 100 and a tracking end 200 mounted on the teaching end 100. The teaching end 100 is used for an operator to hold and teach the operation trajectory. The tracking end 200 carries characteristic information, and the characteristic information can be tracked or captured by a vision system to obtain the spatial motion trajectory and pose information of the teaching device.

[0030] For the robot hand - held teaching device provided in this embodiment, by setting the tracking end 200 on the teaching end 100, the vision system can obtain the spatial motion trajectory and pose information of the teaching device by tracking or capturing the characteristic information carried by the tracking end 200. During teaching, the operator only needs to hold the teaching device and intuitively draw the spatial operation trajectory, without the need for complex teaching programming. The teaching operation is simple and the teaching efficiency is high.

[0031] It should be noted here that the teaching end 100 exists relatively independently. Although the tracking end 200 is set on the teaching end 100 in this embodiment, the relative position relationship between the two is not fixed. For example, in other embodiments of the present application, the tracking end 200 can also be set at positions such as the side of the teaching end 100.

[0032] Specifically, the tracking end 200 can be a tracker, and the robot obtains the spatial motion trajectory and pose information of the teaching device according to the pose of the tracker. Alternatively, the tracking end 200 is a carrier attached with feature information, and the specific shape and feature information can be determined according to the actual application scenario and the vision system installation scheme. For example, the feature information can be in the form of patterns, codes, combinations of feature information, etc., and it must be ensured that it can be captured by the vision system of the robot, that is, the vision system of the robot captures and obtains the spatial motion trajectory and pose information of this teaching device as the robot motion trajectory control information.

[0033] Specifically, in this embodiment, the teaching end 100 is provided with a jack 113, and the tracking end 200 is provided with a fixed shaft, and the fixed shaft is inserted into the jack 113; the hole wall of the jack 113 is provided with a first fixing hole, and the fixed shaft is provided with a second fixing hole 213, and the second fixing hole 213 is coaxially and correspondingly arranged with the first fixing hole; the teaching device further includes a quick-change structure 300, and the quick-change structure 300 includes a locking member 320. The locking member 320 is sequentially inserted into the first fixing hole and the second fixing hole 213 to fix the fixed shaft in the jack 113. In this setting form, when installing the tracking end 200, insert the fixed shaft into the jack 113 and use the locking member 320 to lock the two; when disassembling the tracking end 200, pull out the locking member 320 from the second fixing hole 213 to release the locking state of the tracking end 200 and the teaching end 100. That is, in this embodiment, by setting the quick-change structure 300, the convenient disassembly and installation of the tracking end 200 can be realized. In actual use, the tracking end 200 can be conveniently installed on different teaching ends 100 according to different application scenarios and actual use requirements, that is, the profiling structures of different robot end effectors. In this embodiment, the teaching end 100 is a profiling structure of a welding torch.

[0034] It should be noted here that in other embodiments of the present application, the structure form of "the teaching end 100 is provided with a fixed shaft and the tracking end 200 is provided with a jack 113" can also be adopted.

[0035] From Figure 1 this perspective, the tracking end 200 is located above the quick-change structure 300, which is beneficial for the vision system to collect the feature information of the tracking end 200; the teaching end 100 is located below the quick-change structure 300, which is more convenient for the operator to hold and teach the operation trajectory.

[0036] Specifically, in this embodiment, the locking member 320 includes a pull rod 321, and the pull rod 321 is sequentially inserted into the first fixing hole and the second fixing hole 213; the aperture of the first fixing hole is larger than that of the second fixing hole 213; the pull rod 321 is provided with a first limiting portion 322, and when projected along the axis of the pull rod 321, the first limiting portion 322 is located in the first fixing hole and protrudes from the second fixing hole 213; the quick-change structure 300 further includes an elastic member 330 and a hollow bolt 340 sleeved outside the pull rod 321, both of which are located on the side of the first limiting portion 322 away from the insertion end of the pull rod 321, and the elastic member 330 is located between the first limiting portion 322 and the hollow bolt 340; when the teaching end 100 and the tracking end 200 are in the locked state, the hollow bolt 340 is screwed into the first fixing hole and the pull rod 321 is inserted into the second fixing hole 213 through the elastic member 330, and the first limiting portion 322 abuts against the outer peripheral wall of the fixed shaft; by compressing the elastic member 330 in a direction away from the second fixing hole 213 through the first limiting portion 322, the pull rod 321 can be disengaged from the second fixing hole 213, that is, the locked state of the teaching end 100 and the tracking end 200 can be released.

[0037] In this setting form, after the quick-change structure 300 is inserted into the first fixing hole, the hollow bolt 340 is screwed into the first fixing hole, and the hollow bolt 340 then pushes and compresses the elastic member 330. Further, the elastic member 330 pushes the insertion end of the pull rod 321 into the second fixing hole 213 through the first limiting portion 322 until the first limiting portion 322 is blocked, and the tracking end 200 and the teaching end 100 are locked. When the pull rod 321 is pulled outwards, the first limiting portion 322 compresses the elastic member 330, and the insertion end of the pull rod 321 is disengaged from the second fixing hole 213, thus releasing the locked state of the tracking end 200 and the teaching end 100. In short, in the locked state, the elastic member 330 makes the insertion end of the pull rod 321 insert into the second fixing hole 213 and maintains the locked state of the tracking end 200 and the teaching end 100; pulling the pull rod 321 outwards can quickly unlock, so as to achieve quick disassembly.

[0038] Specifically, in this embodiment, the elastic member 330 is a helical spring. Of course, in other embodiments of the present application, the elastic member 330 is not limited to a helical spring, and for example, it can also be a rubber tube or the like.

[0039] Specifically, in this embodiment, as Figures 2 to 3 and Figure 7As shown, the quick-change structure 300 further includes a base 310. The base 310 includes a mounting portion 311 and a positioning cylinder 312 that are perpendicular to each other and fixedly connected. The mounting portion 311 is fixedly connected to the teaching end 100; at least a part of the positioning cylinder 312 is inserted into the first mounting hole 120 of the teaching end 100, and the first mounting hole 120 penetrates the hole wall of the jack 113; the central hole of the positioning cylinder 312 forms a first fixing hole. By providing the base 310, it is possible to avoid machining a threaded first fixing hole in the teaching end 100, and only the first mounting hole 120 of the positioning cylinder 312 for mounting the base 310 needs to be machined. Of course, in other embodiments of the present application, the base 310 may not be provided, and the first fixing hole may be directly machined in the teaching end 100.

[0040] Specifically, in this embodiment, as Figure 7 shown, a second limiting portion 313 is provided at the inner end of the positioning cylinder 312, that is, the end far from the hollow bolt 340. When the tracking end 200 and the teaching end 100 are in a locked state, the first limiting portion 322 abuts against the second limiting portion 313 under the action of the elastic member 330.

[0041] Specifically, in this embodiment, as Figures 2 to 7 shown, the teaching end 100 is fixedly provided with a flange sleeve 110. The flange sleeve 110 includes a first disc portion 111 and a shaft sleeve portion 112. The shaft sleeve portion 112 is fixedly inserted into the second mounting hole of the teaching end 100. The second mounting hole communicates with the first mounting hole 120 and their axes are perpendicular to each other; the central hole of the shaft sleeve portion 112 forms a jack 113; the shaft sleeve portion 112 is provided with a through hole 114 coaxial with the first fixing hole, and the pull rod 321 is inserted into the second fixing hole 213 after passing through the through hole 114; the tracking end 200 is fixedly provided with a flange shaft 210. The flange shaft 210 includes a second disc portion 211 and an inserted shaft portion 212 that are fixedly connected, and the inserted shaft portion 212 forms a fixed shaft. Through the matching flange sleeve 110 and flange shaft 210, the quick plug-in connection between the tracking end 200 and the teaching end 100 can be realized. Of course, in other embodiments of the present application, the flange sleeve 110 and the flange shaft 210 may not be provided, and the jack 113 may be directly machined in the teaching end 100, and a fixed shaft may be provided at the tracking end 200.

[0042] Specifically, in this embodiment, at least one of the first disc portion 111 and the second disc portion 211 is provided with a positioning pin 214, and the positioning pin 214 is used to position the assembly positions of the tracking end 200 and the teaching end 100. As Figure 6As shown, in the present embodiment, the positioning pin 214 is arranged on the second disk portion 211. With such arrangement, when the tracking end 200 is installed on the teaching end 100, the pull rod 321 is first pulled outward to allow the insert shaft portion 212 of the flange shaft 210 to be smoothly inserted into the center hole of the flange sleeve 110, and then the tracking end 200 is rotated to allow the positioning pin 214 to be inserted into the corresponding positioning hole of the first disk portion 111, and the pull rod 321 can be loosened to allow the pull rod 321 to pass through the through hole 114 and be inserted into the second fixing hole 213 under the action of the elastic member 330, which is very convenient and quick.

[0043] Specifically, in this embodiment, Figure 2 , Figure 4 and Figure 5 As shown, the locking member 320 further includes a handle 323, which is fixedly disposed at the outer end of the pull rod 321. When assembling the quick-change structure 300, the elastic member 330 and the hollow bolt 340 are first sleeved onto the outside of the pull rod 321 in sequence, and then the handle 323 is installed on the outer end of the pull rod 321. Regarding the shape of the handle 323, in this embodiment, it is a disc shape, but in other embodiments of the present application, the handle 323 can also be other shapes that are convenient for pulling the pull rod 321.

[0044] Specifically, in the present embodiment, the teaching end 100 is a contoured structure of the robot's end effector. More specifically, in the present embodiment, the teaching end 100 is a contoured structure when the robot's end effector is a welding gun. However, the present application does not impose any specific restrictions on the structural appearance of the teaching end 100. If the end effector is another tool, it can also be made into a contoured structure of the corresponding tool or a shape that can guide the posture of the end effector. With such a configuration, the appearance of the teaching end 100 can intuitively guide the operator in the teaching posture; and, because the teaching device will inevitably avoid obstacles during the teaching process, after using the teaching device for teaching, since the teaching end 100 is a contoured structure, when the robot's end effector is operating, it can also effectively avoid obstacles.

[0045] In addition, in addition to allowing the operator to intuitively judge the teaching posture through the profiling structure, the profiling part of the teaching end 100 can also be designed as a simple structure that can guide the posture of the robot's end tool. By designing a direction mark on the teaching end 100, the operator can quickly understand the corresponding relationship between the handheld teaching device and the posture of the robot's end execution tool.

[0046] Furthermore, if Figure 1 As shown, the teaching end 100 can be divided into three parts: a quick-change mounting cylinder 101, a holding area 102 and a posture teaching part 103. The quick-change mounting cylinder 101 is used to fix the quick-change structure 300; the holding area 102 is used for the operator to hold during operation; the posture teaching part 103, its shape can guide the operator to teach the posture of the robot's end tool.

[0047] In summary, this embodiment provides a robot hand-held teaching device for guiding the working posture of an industrial robot. By collecting and processing the motion trajectory and attitude data of the hand-held teaching device through a vision system, the trajectory control data of the industrial robot can be obtained. Therefore, when using the robot hand-held teaching device provided in this embodiment, the teaching operation is simple and the teaching efficiency is high, that is, the robot teaching device provided in this embodiment can achieve fast teaching.

[0048] Finally, it should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0049] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot hand-held teaching device, characterized in that, It includes a teaching end (100) and a tracking end (200) installed on the teaching end (100). The teaching end (100) is used for an operator to hold and teach an operation trajectory. The tracking end (200) carries feature information, and the feature information can be tracked or captured by a vision system to obtain the spatial motion trajectory and attitude information of the teaching device.

2. The robot hand-held teaching device according to claim 1, characterized in that, One of the teaching end (100) and the tracking end (200) is provided with a jack (113), and the other is provided with a fixed shaft, and the fixed shaft is inserted into the jack (113); a first fixing hole is provided on the hole wall of the jack (113), and the fixed shaft is provided with a second fixing hole (213), and the second fixing hole (213) is coaxially and correspondingly arranged with the first fixing hole; The teaching device further includes a quick-change structure (300). The quick-change structure (300) includes a locking member (320). The locking member (320) is sequentially inserted into the first fixing hole and the second fixing hole (213) to fix the fixed shaft in the jack (113).

3. The robot hand-held teaching device according to claim 2, characterized in that The locking member (320) includes a pull rod (321), and the pull rod (321) is sequentially inserted into the first fixing hole and the second fixing hole (213); The aperture of the first fixing hole is larger than the aperture of the second fixing hole (213); the pull rod (321) is provided with a first limiting portion (322). Along the axial projection of the pull rod (321), the first limiting portion (322) is located in the first fixing hole and protrudes from the second fixing hole (213); The quick-change structure (300) further includes an elastic member (330) and a hollow bolt (340) sleeved outside the pull rod (321). Both are located on one side of the first limiting portion (322) away from the insertion end of the pull rod (321), and the elastic member (330) is located between the first limiting portion (322) and the hollow bolt (340); When the teaching end (100) and the tracking end (200) are in a locked state, the hollow bolt (340) is screwed into the first fixing hole, and through the elastic member (330), the pull rod (321) is inserted into the second fixing hole (213), and the first limiting portion (322) abuts against the outer peripheral wall of the fixed shaft; by making the elastic member (330) compressed in a direction away from the second fixing hole (213) through the first limiting portion (322), the pull rod (321) can be disengaged from the second fixing hole (213).

4. The robot hand-held teaching device according to claim 3, characterized in that, The elastic member (330) is a helical spring.

5. The robot hand-held teaching device according to claim 3 or 4, characterized in that The quick-change structure (300) further includes a base (310), and the base (310) includes a mounting portion (311) and a positioning cylinder (312) that are perpendicular to each other and fixedly connected. The mounting portion (311) is fixedly connected to the teaching end (100); at least a part of the positioning cylinder (312) is inserted into the first mounting hole (120) of the teaching end (100), and the first mounting hole (120) penetrates the hole wall of the jack (113); the central hole of the positioning cylinder (312) forms the first fixing hole.

6. The robot hand-held teaching device according to claim 5, wherein, A second limiting portion (313) is provided at the inner end of the positioning cylinder (312), that is, the end far from the hollow bolt (340). When the tracking end (200) and the teaching end (100) are in a locked state, the first limiting portion (322) abuts against the second limiting portion (313) under the action of the elastic member (330).

7. The robot hand-held teaching device according to claim 5, characterized in that, A flange sleeve (110) is fixedly provided on the teaching end (100). The flange sleeve (110) includes a first disc portion (111) and a bushing portion (112). The bushing portion (112) is fixedly inserted into the second mounting hole of the teaching end (100). The second mounting hole communicates with the first mounting hole (120) and their axes are perpendicular to each other; the central hole of the bushing portion (112) forms the jack (113); a through hole (114) coaxial with the first fixing hole is provided on the bushing portion (112), and the pull rod (321) is inserted into the second fixing hole (213) after passing through the through hole (114); A flange shaft (210) is fixedly provided on the tracking end (200). The flange shaft (210) includes a second disc portion (211) and an inserting shaft portion (212) that are fixedly connected. The inserting shaft portion (212) forms the fixed shaft.

8. The robot hand-held teaching device according to claim 7, characterized in that, A positioning pin (214) is installed on at least one of the first disc portion (111) and the second disc portion (211). The positioning pin (214) is used to position the assembly positions of the tracking end (200) and the teaching end (100).

9. The robot hand-held teaching device according to claim 3 or 4, characterized in that, The locking member (320) further includes a handle (323), and the handle (323) is fixedly provided at the outer end of the pull rod (321).

10. The robot hand-held teaching device according to any one of claims 1-4, characterized in that, The teaching end (100) is a profiling structure of the end effector of the robot.

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