Teaching device and robot

Abstract

The utility model discloses a teaching device and a robot. The teaching device comprises a power assembly, a handle, a detection assembly and two shifting blocks. The handle is arranged on the power assembly; the two shifting blocks are arranged in a sliding mode in the preset direction, and the two shifting blocks are in transmission connection with the power assembly; the detection assembly is arranged on the power assembly. When the teaching device works, a user can hold the handle with one hand and drive the two shifting blocks to be close to or far away from each other with the other hand so as to complete clamping and loosening action teaching of a workpiece, and in the moving process of the shifting blocks, the detection assembly can detect moving path parameters of the two shifting blocks; therefore, acquisition of moving path parameters of the shifting block is completed. Due to the fact that the handle is arranged, the user can hold the handle in the teaching operation process so as to reduce shaking of the teaching device, and therefore the comfort degree of the user in the teaching operation process is improved.

Description

Technical Field

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

[0002] With the rapid development of automation technology, robots are increasingly appearing in our field of vision. Robots are primarily used in industrial production lines to replace humans in completing simple, tedious, and repetitive tasks. Before a robot can be used, it must be programmed to perform the actions specified by the user. Compared to traditional text-based programming, teach pendant programming offers significant advantages in ease of use and speed.

[0003] In the related art, when performing teaching programming on the teaching device of the robot execution end, the user is required to manually move the two shift blocks closer to or away from each other so that the detection component can complete the data collection of the clamping action of the clamping device.

[0004] However, since robots often have multiple joints, when a user manually drives the two shift blocks to move, the entire teaching device will shake significantly, making the user less comfortable during the teaching operation. Utility Model Content

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. In a first aspect, the present invention provides a teaching device, which provides a user with better comfort during the teaching operation using the teaching device of the present application. In a second aspect, the present invention also provides a robot.

[0006] According to the first aspect of the present invention, the teaching device provided in the embodiment includes a power assembly, a handle, a detection assembly and two shift blocks; the handle is arranged on the power assembly; the two shift blocks are slidably arranged along a preset direction, and the two shift blocks are respectively connected to the power assembly in a transmission manner. Under the drive of the power assembly or the manual drive of the user, the two shift blocks can approach or move away from each other along the preset direction; the detection assembly is arranged on the power assembly and is used to detect the movement path parameters of the two shift blocks.

[0007] The teaching device of the present invention has at least the following beneficial effects: When the teaching device of the present application is in operation, the user can hold the handle with one hand and use the other hand to drive the two shift blocks toward or away from each other to complete the teaching of the clamping and releasing movements of the workpiece. During the movement of the shift blocks, the detection component can detect the movement path parameters of the two shift blocks to complete the collection of the shift block movement path parameters. Due to the provision of the handle, the user can hold the handle during the teaching operation to reduce the shaking of the teaching device, thereby improving the user's comfort during the teaching operation.

[0008] According to the teaching device described in the embodiment of the first aspect of the present invention, the handle includes a grip portion and a connecting portion. The grip portion allows the user to hold it manually. The connecting portion is provided with a snap-in hole, and part of the structure of the power component is inserted into the snap-in hole.

[0009] According to the teaching device described in the embodiment of the first aspect of the present invention, a gap connecting the snap-in holes is provided on the connecting portion, and the two ends of the connecting portion in the width direction of the gap are connected by an adjustment structure, which is used to adjust the width of the gap.

[0010] According to the teaching device described in the embodiment of the first aspect of the present invention, the power component includes a mounting seat and a driving structure, the mounting seat is provided with a slide rail extending along a preset direction, the two shift blocks can be slidably arranged on the slide rail, the mounting seat is provided with a lug, the lug is located on one side in the width direction of the slide rail, the detection component is arranged on the lug, the driving structure is arranged on the mounting seat, and is respectively connected to the two shift blocks, and the driving structure can drive the two shift blocks to move closer to or away from each other along the slide rail.

[0011] According to the teaching device described in the embodiment of the first aspect of the present invention, the driving structure includes a driver, a turntable and two connecting rods. The driver is arranged on the mounting seat and connected to the turntable. The driver is used to drive the turntable to rotate. The connecting rod and the shift block are arranged in a one-to-one correspondence. The connecting rod includes a first end and a second end relative to each other. The first end is rotatably connected to the shift block, and the second end is rotatably connected to the turntable, and the two second ends are symmetrically arranged around the rotation axis of the turntable.

[0012] According to the teaching device described in the embodiment of the first aspect of the present invention, two connecting protrusions are formed on the circumferential surface of the turntable, the two connecting protrusions are symmetrically arranged around the rotation axis of the turntable, and the two second ends are rotatably connected to the two connecting protrusions respectively.

[0013] According to the teaching device described in the embodiment of the first aspect of the present invention, the slide rail is fixedly connected to the mounting seat through a threaded connection; a limiting portion is provided on the mounting seat, and a limiting groove is formed on the limiting portion. Part of the structure of the slide rail is passed through the limiting groove, and in the width direction of the slide rail, the two opposite groove walls of the limiting groove respectively abut against the opposite ends of the slide rail.

[0014] According to the teaching device provided in the embodiment of the first aspect of the present invention, two limiting parts distributed along the preset direction are provided on the mounting seat, and a limiting groove is formed on each limiting part. The opposite ends of the slide rail in the preset direction are respectively inserted into the two limiting grooves.

[0015] According to the teaching device described in the embodiment of the first aspect of the present utility model, the dial block is provided with an insertion hole allowing the user's fingers to pass through.

[0016] The robot provided in accordance with the embodiment of the second aspect of the present invention includes the teaching device provided in the embodiment of the first aspect of the present invention; the robot also includes a robotic arm, and the teaching device is connected to the execution end of the robotic arm.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic structural diagram of a teaching device according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 A partial enlarged view of the structure at location A of the teaching device shown;

[0021] Figure 3 for Figure 1 An exploded view of the teaching device shown;

[0022] Figure 4 for Figure 3 A schematic diagram of the structure of the mounting base of the teaching device shown;

[0023] Figure 5 for Figure 3 A schematic diagram of the structure of the mounting platform of the teaching device shown;

[0024] Figure 6 This is a schematic structural diagram of a mounting base and a turntable in one embodiment of the present invention.

[0025] Reference numerals:

[0026] Power assembly 100; mounting base 110; lug 111; slide rail 112; slider 112a; limiting portion 113; limiting groove 113a; mounting platform 114; mounting area 114a; limiting member 115; driving structure 120; driver 121; turntable 122; connecting protrusion 122a; connecting rod 123; first connecting rod 123A; second connecting rod 123B;

[0027] Handle 200; grip portion 210; connecting portion 220; gap 221;

[0028] The shift block 300 ; the first shift block 300A; the second shift block 300B; and the insertion hole 310 . DETAILED DESCRIPTION

[0029] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0031] In the description of this utility model, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0033] Reference below Figures 1 to 6 The teaching device according to the first aspect of the present invention will be described in detail.

[0034] refer to Figure 1 and Figure 3 The teaching device according to the first embodiment of the present invention includes a power component 100, a handle 200, a detection component (not shown) and two shift blocks 300.

[0035] The handle 200 is provided on the power assembly 100; the two shift blocks 300 are slidably arranged along a preset direction, and the two shift blocks 300 are respectively connected to the power assembly 100 in a transmission manner. Under the drive of the power assembly 100 or the manual drive of the user, the two shift blocks 300 can approach or move away from each other along the preset direction; the detection assembly is provided on the power assembly 100 and is used to detect the movement path parameters of the two shift blocks 300.

[0036] When the teaching device of this embodiment is working, the user can hold the handle 200 with one hand, and then use the other hand to drive the two shift blocks 300 to move closer to or away from each other to complete the clamping action of the workpiece. During this process, the detection component can detect and collect the movement path parameters of the two shift blocks 300 to facilitate subsequent programming.

[0037] It is understandable that the setting of the handle 200 allows the user to hold the handle 200 when driving the two shift blocks 300 to reduce the shaking of the entire teaching device, thereby improving the user's comfort during the teaching operation.

[0038] In order to facilitate the installation of the handle 200 on the power assembly 100, in some embodiments of the present invention, reference is made to Figure 1 and Figure 3 The handle 200 includes a grip portion 210 and a connecting portion 220. The grip portion 210 allows the user to manually grip it. The connecting portion 220 is provided with a snap-in hole, and part of the structure of the power assembly 100 is inserted into the snap-in hole.

[0039] Furthermore, the user can install or remove the handle 200 on the power assembly 100 by inserting or removing the power assembly 100 from the clamping hole, and the installation or removal of the handle 200 on the power assembly 100 is more convenient and quick.

[0040] It should be noted that after the power assembly 100 is inserted into the engaging hole, the handle 200 needs to be locked and fixed to reduce the probability of the power assembly 100 automatically detaching from the engaging hole.

[0041] Based on the above problems, in a further embodiment of the present invention, referring to Figure 3 The connecting portion 220 is provided with a gap 221 connected to the snap-fit hole. The two ends of the connecting portion 220 in the width direction of the gap 221 are connected by an adjustment structure, and the adjustment structure is used to adjust the width of the gap 221.

[0042] In the teaching device of this embodiment, when it is necessary to install the handle 200 on the power component 100, the user can expand the width of the gap 221 by adjusting the structure to increase the aperture size of the clamping hole, so that the power component 100 can be smoothly inserted into the clamping hole. Then, the user can reduce the width of the gap 221 by adjusting the structure to reduce the aperture size of the clamping hole, so that the hole wall of the clamping hole can clamp the power component 100, thereby achieving the locking and fixation of the handle 200 on the power component 100.

[0043] In a further embodiment of the present invention, the adjustment structure includes a bolt and a nut. The shank of the bolt passes through both ends of the connecting portion 220 in the width direction of the gap 221 and is threadedly connected to the nut.

[0044] Furthermore, the staff can adjust the relative distance between the nut and the head of the bolt by rotating the nut, thereby adjusting the width of the gap 221.

[0045] It can be understood that the structure of the bolt and nut is simple and easy to implement.

[0046] In some embodiments of the present invention, the power component 100 includes a mounting base 110 and a driving structure 120. The mounting base 110 is provided with a slide rail 112 extending along a preset direction. Both shift blocks 300 can be slidably arranged on the slide rail 112. The mounting base 110 is provided with a lug 111. The lug 111 is located on one side in the width direction of the slide rail 112. The detection component is arranged on the lug 111. The driving structure 120 is arranged on the mounting base 110 and is respectively connected to the two shift blocks 300. The driving structure 120 can drive the two shift blocks 300 to approach or move away from each other along the slide rail 112.

[0047] For example, Figure 3 As shown, the preset direction is the left-right direction, and the mounting seat 110 is provided with a slide rail 112 extending left and right. The two shift blocks 300 are distributed along the left and right directions and can be slidably arranged on the slide rail 112. The mounting seat 110 is provided with a lug 111, which is located on the front side of the middle part of the slide rail 112, and the detection component is installed on the lug 111. The driving structure 120 is provided on the mounting seat and is connected to the two shift blocks 300 respectively.

[0048] Furthermore, when the teaching device of this embodiment is working, the user can drive the two shifting blocks 300 to slide left and right along the slide rails 112 to move closer to or away from each other. The arrangement of the slide rails 112 enables the shifting blocks 300 to slide accurately left and right.

[0049] It can be understood that since the lug 111 is arranged on the front side of the middle part of the slide rail 112, and the detection component is arranged on the lug 111, the shift block 300 can better fall within the detection area of the detection component, so that the detection component can more accurately detect the movement path parameters of the shift block 300.

[0050] In order to achieve the slidable connection between the shift block 300 and the slide rail 112, in some embodiments of the present invention, reference is made to Figure 3 Two sliders 112 a are slidably provided on the slide rail 112 , and the two shifting blocks 300 are fixedly connected to the two sliders 112 a respectively.

[0051] Furthermore, under the drive of the driving structure 120 , the shifting block 300 can drive the sliding block 112 a to slide left and right along the sliding rail 112 .

[0052] In order to reduce the influence of the slide rail 112 on the turntable 122 during the operation of the turntable 122, in some embodiments of the present invention, reference is made to Figure 3 and Figure 4 The lower end of the mounting seat 110 is formed with two mounting platforms 114 distributed on the left and right, the slide rails 112 are respectively connected to the lower ends of the two mounting platforms 114, and an installation area 114a is formed between the two mounting platforms 114. The turntable 122 is arranged in the installation area 114a.

[0053] It is understandable that by forming two mounting platforms 114 at the lower end of the mounting base 110, a mounting area 114a for accommodating the turntable can be formed between the two mounting platforms 114 to reduce the interference of the slide rail 112 on the turntable 122 during operation.

[0054] In order to enable a single driving structure 120 to simultaneously realize the movement of two shift blocks 300 in the left and right directions, in some embodiments of the present invention, reference is made to Figure 3 The driving structure 120 includes a driver 121, a turntable 122 and two connecting rods 123. The driver 121 is provided on the mounting seat 110 and connected to the turntable 122. The driver 121 is used to drive the turntable 122 to rotate along the vertical axis; the connecting rod 123 is arranged in a one-to-one correspondence with the shift block 300, and the connecting rod 123 includes a first end and a second end relative to each other. The first end is rotatably connected to the shift block 300, and the second end is rotatably connected to the turntable 122, and the two second ends are symmetrically arranged around the rotation axis of the turntable 122.

[0055] For example, Figure 3 As shown, among the two shift blocks 300, the shift block 300 located on the left is the first shift block 300A, and the shift block 300 located on the right is the second shift block 300B. Among the two connecting rods 123, the connecting rod 123 connected to the first shift block 300A is the first connecting rod 123A, and the connecting rod 123 connected to the second shift block 300B is the second connecting rod 123B. The first end of the first connecting rod 123A is rotatably connected to the first shift block 300A, and the second end of the first connecting rod 123A is rotatably connected to the turntable 122, and the second end of the first connecting rod 123A is located on one side of the rotation axis of the turntable 122. The first end of the second connecting rod 123B is rotatably connected to the second shift block 300B, and the second end of the second connecting rod 123B is rotatably connected to the turntable 122, and the second end of the second connecting rod 123B is located on one side of the rotation axis of the turntable 122.

[0056] Driven by the driver 121, the turntable 122 can rotate around the vertical axis. When the first link 123A and the second link 123B are collinear and the second end of the first link 123A is located to the left of the second end of the second link 123B, the distance between the first block 300A and the second block 300B reaches a maximum. When the first link 123A and the second link 123B are collinear and the second end of the first link 123A is located to the right of the second end of the second link 123B, the distance between the first block 300A and the second block 300B reaches a minimum.

[0057] Furthermore, the driver 121 drives the turntable 122 to rotate, so that the first connecting rod 123A and the second connecting rod 123B can respectively drive the first shift block 300A and the second shift block 300B to slide along the slide rail 112, so as to achieve the first shift block 300A and the second shift block 300B to move closer to or farther away from each other.

[0058] In order to increase the stroke of the first shift block 300A and the second shift block 300B, in a further embodiment of the present invention, referring to Figure 3 and Figure 5 Two connecting protrusions 122a are formed on the circumferential surface of the turntable 122. The two connecting protrusions 122a are symmetrically arranged around the rotation axis of the turntable 122, and the two second ends are rotatably connected to the two connecting protrusions 122a respectively.

[0059] It can be understood that by providing two connecting protrusions 122a on the circumferential surface of the turntable 122, and the two second ends are rotatably connected to the two connecting protrusions 122a respectively, the distance between the two second ends can be larger, so that when the first shift block 300A and the second shift block 300B are both located at the farthest ends, the distance between the first shift block 300A and the second shift block 300B can be larger, and when the first shift block 300A and the second shift block 300B are both located at the closest ends, the distance between the first shift block 300A and the second shift block 300B can be smaller, thereby increasing the moving stroke of both the first shift block 300A and the second shift block 300B.

[0060] In order to facilitate the installation of the slide rail 112 on the mounting base 110 , in some embodiments of the present invention, the slide rail 112 is fixedly connected to the mounting base 110 via a threaded connection.

[0061] It should be noted that when the user manually drives the shift block 300 to slide left and right along the slide rail 112, the user will inevitably apply a load in the front-to-back direction to the shift block 300. In this case, the load in the front-to-back direction applied to the shift block 300 will be transmitted to the mounting seat 110 through the slide rail 112. Accordingly, the threaded connection connecting the slide rail 112 and the mounting seat 110 will bear a larger shear force, thereby reducing the service life of the threaded connection.

[0062] Based on the above problems, in a further embodiment of the present invention, referring to Figure 3 The slide rail 112 extends in the left and right directions, and a limiting portion 113 is provided on the mounting seat 110. A limiting groove 113a extending left and right is formed on the limiting portion 113. Part of the structure of the slide rail 112 is passed through the limiting groove 113a. In the width direction of the slide rail 112, the two groove walls of the limiting groove 113a in the front and rear directions respectively abut against the two ends of the slide rail 112 in the front and rear directions.

[0063] It can be understood that since the two groove walls of the limiting groove 113a in the front-to-back direction respectively abut against the two ends of the slide rail 112 in the front-to-back direction, when the user applies a load extending forward and backward to the shift block 300, the load can be directly transmitted to the mounting seat 110 through the slide rail 112 and the groove walls of the limiting groove 113a in turn, thereby reducing the shear force on the threaded connection connecting the slide rail 112 and the mounting seat 110 and extending the service life of the threaded connection.

[0064] In order to ensure that the load along the front-to-back direction borne by the shift block 300 can be transferred to the mounting base 110 more smoothly, in a further embodiment of the present invention, two limiting portions 113 distributed along a preset direction are provided on the mounting base 110, and a limiting groove 113a is formed on each limiting portion 113, and the opposite ends of the slide rail 112 in the preset direction are respectively inserted into the two limiting grooves 113a.

[0065] For example, Figure 2 and Figure 4 As shown, the mounting seat 110 is provided with two limiting portions 113 distributed on the left and right, and each limiting portion 113 is provided with a limiting groove 113a extending left and right. The left and right ends of the slide rail 112 are respectively passed through the two limiting grooves 113a, and the shift block 300 is slidably provided on the slide rail 112 and is located between the two limiting portions 113.

[0066] It can be understood that, by providing the two limiting grooves 113 a , the load along the front-rear direction borne by the shift block 300 can be transferred to the mounting seat 110 more smoothly.

[0067] It is understandable that, since the left and right ends of the slide rail 112 are respectively provided in the two limiting grooves 113 a , when the shift block 300 slides along the slide rail 112 , the limiting portion 113 is less likely to interfere with the shift block 300 .

[0068] In order to enable the turntable 122 to rotate within a certain angle range, in some embodiments of the present invention, reference Figure 6Two limiting members 115 are provided on the mounting base 110 , and in the rotation direction of the connecting protrusion 122 a , the two limiting members 115 are respectively located on opposite sides of the connecting protrusion 122 a .

[0069] Furthermore, when the turntable 122 rotates forward by a certain angle, the connecting protrusion 122a can abut against one of the limiting members 115 to prevent the turntable 122 from continuing to rotate forward. When the turntable 122 rotates reversely by a certain angle, the connecting protrusion 122a can abut against the other limiting member 115 to prevent the turntable 122 from continuing to rotate reversely. Thus, under the limiting action of the two limiting members 115, the turntable 122 can rotate within a certain angle range, and accordingly, the two shift blocks 300 can move left and right within a certain range.

[0070] In order to make it easier for the user to move the dial block 300, in some embodiments of the present invention, Figure 1 and Figure 3 The dial block 300 is provided with an insertion hole 310 that allows the user's finger to pass through.

[0071] Furthermore, when the user needs to drive the shift block 300 to slide along the slide rail 112, the user can insert two fingers of the same hand into the insertion holes 310 on the two shift blocks 300 respectively, so that the user can smoothly drive the two shift blocks 300 closer to or farther away from each other with one hand.

[0072] The robot provided in accordance with the embodiment of the second aspect of the present invention includes the teaching device provided in the embodiment of the first aspect of the present invention; the robot also includes a robotic arm, and the teaching device is connected to the execution end of the robotic arm.

[0073] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A teaching device, characterized in that: include: Power components; a handle, provided on the power assembly; Two shift blocks are slidably arranged along a preset direction, and the two shift blocks are respectively connected to the power assembly in a transmission manner. Under the drive of the power assembly or manual drive of the user, the two shift blocks can move closer to or away from each other along the preset direction; The detection component is arranged on the power component and is used for detecting the movement path parameters of the two shifting blocks.

2. A teaching device according to claim 1, characterized in that: The handle includes a grip portion and a connecting portion. The grip portion allows a user to manually grip it. The connecting portion is provided with a snap-in hole, and a partial structure of the power assembly is inserted into the snap-in hole.

3. A teaching device according to claim 2, characterized in that: The connecting portion is provided with a gap communicating with the clamping hole, and the two ends of the connecting portion in the width direction of the gap are connected by an adjusting structure, and the adjusting structure is used to adjust the width of the gap.

4. A teaching device according to claim 1, characterized in that: The power assembly includes a mounting seat and a driving structure. The mounting seat is provided with a slide rail extending along the preset direction. The two shift blocks can be slidably arranged on the slide rail. The mounting seat is provided with a lug, and the lug is located on one side in the width direction of the slide rail. The detection assembly is arranged on the lug. The driving structure is arranged on the mounting seat and is respectively connected to the two shift blocks. The driving structure can drive the two shift blocks to move closer to or away from each other along the slide rail.

5. A teaching device according to claim 4, characterized in that: The driving structure includes a driver, a turntable and two connecting rods. The driver is arranged on the mounting seat and connected to the turntable. The driver is used to drive the turntable to rotate. The connecting rods are arranged in a one-to-one correspondence with the shift blocks. The connecting rods include a first end and a second end relative to each other. The first end is rotatably connected to the shift block, and the second end is rotatably connected to the turntable, and the two second ends are symmetrically arranged around the rotation axis of the turntable.

6. A teaching device according to claim 5, characterized in that: Two connecting protrusions are formed on the circumferential surface of the turntable. The two connecting protrusions are symmetrically arranged around the rotation axis of the turntable. The two second ends are rotatably connected to the two connecting protrusions respectively.

7. A teaching device according to claim 4, characterized in that: The slide rail is fixedly connected to the mounting seat via a threaded connection; a limiting portion is provided on the mounting seat, a limiting groove is formed on the limiting portion, and part of the structure of the slide rail is passed through the limiting groove. In the width direction of the slide rail, the two opposite groove walls of the limiting groove respectively abut against the opposite ends of the slide rail.

8. A teaching device according to claim 7, characterized in that: The mounting seat is provided with two limiting parts distributed along the preset direction, each limiting part is formed with a limiting groove, and the two opposite ends of the slide rail in the preset direction are respectively passed through the two limiting grooves.

9. The teaching device according to claim 1, characterized in that: The shift block is provided with a through hole allowing the user's fingers to pass through.

10. A robot, characterized in that: It comprises the teaching device according to any one of claims 1 to 9; the robot further comprises a robotic arm, and the teaching device is connected to the execution end of the robotic arm.

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