Teaching mechanism and teaching device thereof

Abstract

The utility model discloses a teaching mechanism and a teaching device thereof. The teaching mechanism comprises a main body; the transmission assembly comprises a rotating shaft, and the rotating shaft is rotatably arranged on the main body; the operation assembly is movably connected to the main body and the transmission assembly, and the operation assembly moves close to or away from the axis of the rotating shaft; the clamping assembly is movably connected to the main body and the transmission assembly, and the clamping assembly moves close to or away from the axis of the rotating shaft; the operating assembly is in linkage with the clamping assembly through the transmission assembly, the maximum opening and closing distance of the clamping assembly is larger than the maximum opening and closing distance of the operating assembly, the situation that the maximum opening and closing distance of the clamping assembly is limited to the distance range convenient to control by hands of an operator is avoided, and the problem of data collection is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of simulation robots, in particular to a teaching mechanism and teaching device thereof. BACKGROUND

[0002] With the rapid development of automation technology, robots appear more and more in people's vision. Robots are mainly used on industrial production lines to replace humans to complete some simple, tedious and repetitive tasks. Before the robot is used, the robot needs to be programmed so that the robot can complete the preset action. Compared with traditional text code programming, the teach pendant teaching programming has obvious advantages in ease of use and speed.

[0003] In the related art, the operation assembly and the clamping assembly of the teaching mechanism are integrally arranged, so that the actual opening distance of the clamping assembly is limited to the distance range that is convenient for the operator to control, instead of the maximum distance that the clamping assembly can open, resulting in the lack of data collection or poor comfort of the operator during the teaching operation. UTILITY MODEL CONTENT

[0004] The utility model discloses a teaching mechanism, the operation assembly and clamping assembly of teaching mechanism are independently arranged, and the linear velocity proportional relationship of the linkage of clamping assembly and operation assembly is increased, effectively solve the problem of the lack of data collection or the poor comfort of the operator during the teaching operation.

[0005] According to the first aspect of the utility model, a teaching mechanism is provided, comprising:

[0006] A main body;

[0007] A transmission assembly comprising a rotating shaft, the rotating shaft being rotatably arranged on the main body;

[0008] An operation assembly movably connected to the main body and the transmission assembly, the operation assembly moving along the axis of the rotating shaft towards or away from the rotating shaft;

[0009] A clamping assembly movably connected to the main body and the transmission assembly, the clamping assembly moving along the axis of the rotating shaft towards or away from the rotating shaft;

[0010] The operation assembly is linked with the clamping assembly through the transmission assembly, and the maximum opening distance of the clamping assembly is greater than the maximum opening distance of the operation assembly.

[0011] In some embodiments, the teaching mechanism further comprises a detection assembly arranged on the main body for detecting and / or recording the moving path parameters of the clamping assembly.

[0012] In some embodiments, the main body comprises a mounting base and a first guide rail connected to the mounting base, the first guide rail movably connected to the operating assembly, the operating assembly moving along the extending direction of the first guide rail.

[0013] In some embodiments, the main body comprises a second guide rail connected to the mounting base, the second guide rail movably connected to the clamping assembly, the clamping assembly moving along the extending direction of the second guide rail.

[0014] In some embodiments, the first guide rail movably connected to the clamping assembly, the clamping assembly moving along the extending direction of the first guide rail.

[0015] In some embodiments, the clamping assembly comprises a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw moving towards or away from each other.

[0016] In some embodiments, the first clamping jaw and the second clamping jaw each have a base and a clamping portion, the clamping portion comprising a clamping segment and an extending segment, the extending segment connected to the base, the extending segment and the base correspondingly surrounding a clamping space, the operating assembly at least partially arranged in the clamping space and connected to the main body in the clamping space.

[0017] In some embodiments, the operating assembly comprises a first handle and a second handle, the first handle and the second handle moving towards or away from each other.

[0018] In some embodiments, the transmission assembly further comprises a first rotating member and a first connecting member, the first rotating member coaxially rotating with the rotating shaft; one end of the first connecting member connected to the first rotating member and the other end connected to the clamping assembly.

[0019] In some embodiments, the transmission assembly further comprises a second connecting member, one end of the second connecting member connected to the first rotating member and the other end connected to the operating assembly.

[0020] In some embodiments, the linear speed of the operating assembly is less than the linear speed of the clamping assembly.

[0021] The utility model discloses demonstration mechanism has at least following beneficial effect: when the demonstration mechanism of the application works, the operating assembly is linked with the clamping component through the transmission assembly, because the opening and closing distance of the clamping component is increased, the maximum opening and closing distance of the clamping component is greater than the maximum opening and closing distance of the operating assembly, avoids the maximum opening and closing distance of the clamping component is limited to the distance range of the hand of operator's convenient control, leads to the missing problem of the acquisition data, solves the convenience problem of data acquisition, improves the comfort degree of user in the demonstration operation process to some extent.

[0022] According to the second aspect of the utility model, a demonstration device is provided, which comprises the demonstration mechanism provided by the first aspect of the utility model; the demonstration device comprises a mechanical arm with at least one joint, and the demonstration device is connected to an execution end of the mechanical arm.

[0023] Additional aspects and advantages of the utility model will be partially given in the following description, partially will become obvious from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0024] The utility model will be further explained in connection with the drawings and embodiments;

[0025] Figure 1 It is structural schematic diagram of demonstration mechanism of an embodiment of the utility model;

[0026] Figure 2 It is explosion structural schematic diagram of demonstration mechanism of the utility model embodiment;

[0027] Figure 3 It is cross section schematic diagram of demonstration mechanism of the utility model embodiment;

[0028] Figure 4 It is explosion structural schematic diagram of demonstration mechanism of an embodiment of the utility model only containing operating assembly;

[0029] Figure 5 It is explosion structural schematic diagram of demonstration mechanism of an embodiment of the utility model only containing clamping component;

[0030] Figure 6 It is open state structural schematic diagram of demonstration mechanism of an embodiment of the utility model;

[0031] Figure 7 It is open state structural schematic diagram of demonstration device of an embodiment of the utility model

[0032] REFERENCE NUMERALS:

[0033] 1000, demonstration device; 100, demonstration mechanism; 200, mechanical arm; 201, execution end;

[0034] 10, main body; 11, mounting seat; 111, rotating hole; 112, mounting bracket; 112A, first mounting bracket; 112B, second mounting bracket; 113, mounting chamber; 12, guide rail; 12A, first guide rail; 12B, second guide rail; 13, mounting space;

[0035] 20, transmission assembly; 21, rotating shaft; O, shaft center; 22, rotating member; 22A, first rotating member; 22B, second rotating member; 23, first connecting member; 24, second connecting member; 25, first bearing; 26, second bearing;

[0036] 30, operation assembly; 31, guide rail matching member; 32, handle; 32A, first handle; 32B, second handle; 321, operation mounting portion; 322, handle operation portion; 323, operation hole;

[0037] 40, clamping assembly; 41, clamping jaw; 41A, first clamping jaw; 41B, second clamping jaw; 411, base; 412, clamping portion; 4121, clamping segment; 4122, extension segment; 44, clamping space. DETAILED DESCRIPTION

[0038] This part will describe the specific embodiments of the present application in detail, the preferred embodiments of the present application are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as a limitation on the protection scope of the present application.

[0039] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, up, down, etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as a limitation on the present application.

[0040] In the description of the present application, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. is not included in the number, above, below, etc. is included in the number. If there is a description of the first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0041] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection should be understood broadly, and the specific meaning of the above words in the utility model can be determined by the person skilled in the art in combination with the specific content of the technical scheme.

[0042] In the description of the utility model, the description of the reference terms '' an embodiment '', '' some embodiments '', '' illustrative embodiment '', '' example '', '' specific example '' or '' some examples '' means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the utility model.In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0043] The utility model will be further explained in detail in combination with the drawings.

[0044] Please refer to Figure 1 、 Figure 2 The utility model provides a kind of teaching mechanism 100 of embodiment, including main body 10, transmission assembly 20, operating assembly 30 and clamping assembly 40, transmission assembly 20 is rotated with the rotation hole 111 on main body 10 by rotating shaft 21 and is connected, realize the rotary motion of transmission assembly 20 within certain angle on main body 10;Clamping assembly 40 includes first jaw 41A and second jaw 41B, clamping assembly 40 is connected with the guide rail 12 of main body 10, and slide in the extension direction on guide rail 12;First jaw 41A and second jaw 41B simultaneously move on guide rail 12, but the direction of movement is opposite;That is, realize that clamping assembly 40 moves along the axis O of approaching or away from the rotating shaft 21;

[0045] Operating assembly 30 includes handle 32, handle 32 is divided into first handle 32A and second handle 32B, operating assembly 30 is connected with the guide rail 12 of main body 10, and slide in the extension direction on guide rail 12;First handle 32A and second handle 32B simultaneously move on guide rail 12, but the direction of movement is opposite;That is, realize that clamping assembly 40 moves along the axis O of approaching or away from the rotating shaft 21;

[0046] Transmission assembly 20 includes rotating shaft 21, rotating part 22, first connecting piece 23 and second connecting piece;First connecting piece 23 one end articulates clamping assembly 40, and the other end of first connecting piece 23 articulates rotating part 22;Second connecting piece 24 one end articulates clamping assembly 40, and the other end of second connecting piece 24 connects rotating part 22.It needs to be explained that the articulation in the above embodiment, it can also be other rotatable connection mode, for example, pivot, rotatable riveting etc.

[0047] The first connecting member 23 has a length greater than the second connecting member 24, so that the first connecting member 23 can have a greater opening distance when the rotating member 22 rotates, i.e., the clamping assembly 40 has a greater opening distance compared to the operating assembly 30.

[0048] Please refer to Figure 1 、 Figure 2 and Figure 6 In some embodiments, the distance between the connection position of the first connecting member 23 and the first rotating member 22A and the axis O of the rotating shaft 21 is greater than the distance between the connection position of the second connecting member 24 and the first rotating member 22A and the axis O of the rotating shaft 21, i.e., when the first rotating member 22A rotates, the linear velocity of the clamping assembly 40 is greater than the linear velocity of the operating assembly 30. The linear velocity can be represented by the linear velocity V1 of the connection position of the first connecting member 23 and the first rotating member 22A and the linear velocity V2 of the connection position of the second connecting member 24 and the first rotating member 22A. The linear velocity satisfies: V1>V2; The linear velocity can also be represented by the speed V3 of the connection position of the first connecting member 23 and the clamping assembly 40 on the first guide rail 12A, and the speed V4 of the connection position of the second connecting member 24 and the clamping assembly 40 on the first guide rail 12A. The linear velocity satisfies: V3>V4.

[0049] In some embodiments, the clamping assembly 40 includes a first clamping jaw 41A, a second clamping jaw 41B, and at least two guide rail matching members. The guide rail matching members 31 are respectively installed on the side of the first clamping jaw 41A and the second clamping jaw 41B facing the main body 10. The guide rail matching members 31 are provided with matching grooves on the side away from the clamping jaw 41, which are used to adapt to the sliding connection of the first guide rail 12A, so as to realize the opposite movement of the first clamping jaw 41A and the second clamping jaw 41B along the two extension directions of the first guide rail 12A. It should be noted that the number of clamping jaws 41 adapted to the guide rail matching members 31 usually depends on the width of the side of the clamping jaw 41 facing the main body 10 and the width of the guide rail matching member 31, i.e., when the width of the side of the clamping jaw 41 facing the main body 10 is equal to 5:1 compared to the width of the guide rail matching member 31, the number of clamping jaws 41 adapted to the guide rail matching member 31 is 1-5. Under this adaptation rule, the guide rail matching member 31 can avoid or reduce the width protruding from the first clamping jaw 41A or the second clamping jaw 41B, thereby avoiding the gap of the clamping assembly 40 and / or the inability to open the first guide rail 12A to the maximum distance.

[0050] In some embodiments, the operation assembly 30 comprises a first handle 32A, a second handle 32B, and at least two guide rail matching pieces 31, the guide rail matching pieces 31 are respectively arranged on the side of the first handle 32A and the second handle 32B away from the body 10, and the guide rail matching pieces 31 are provided with a matching groove on the side away from the handle 32, which is used to adapt to the sliding connection of the first guide rail 12A, so as to realize the opposite movement of the first handle 32A and the second handle 32B along two extension directions of the first guide rail 12A. It should be noted that the number of the first handle 32A or the second handle 32B matched with the guide rail matching piece 31 usually depends on the width of the side of the handle 32 away from the body 10 and the width of the guide rail matching piece 31, that is, when the width of the side of the handle 32 away from the body 10 is equal to 5:1 of the width of the guide rail matching piece 31 (not shown in the figure), the number of the handle 32 matched with the guide rail matching piece 31 is 1-5. Under this matching rule, the guide rail matching piece 31 can avoid or reduce the width protruding from the first handle 32A or the second handle 32B, so as to avoid the gap of the clamping assembly 40 and / or the maximum distance of the first guide rail 12A that cannot be opened.

[0051] In some embodiments, the clamping assembly 40 and the operation assembly 30 are installed on the first guide rail 12A, the distance between the two guide rail matching pieces 31 of the clamping assembly 40 is greater than the distance between the two guide rail matching pieces 31 of the operation assembly 30, and the teaching mechanism 100 reduces the complexity of the teaching mechanism 100 through structural optimization, and at the same time reduces the thickness of the teaching mechanism 100, that is, reduces the lever force of the object to the teaching mechanism 100 when the teaching mechanism 100 clamps the object, which is beneficial to the stability of the clamping assembly 40 of the teaching mechanism 100 in use, and improves the teaching experience of the operator.

[0052] Please refer to Figures 2-3 In some embodiments, the body 10 of the teaching mechanism 100 comprises a mounting seat 11, a mounting bracket 112, and a first guide rail 12A, the mounting bracket 112 is arranged on both sides of the rotating hole 111 of the mounting seat 11, the mounting bracket 112 extends in the direction away from the clamping assembly 40 by the same thickness, and the extension end is provided with a mounting surface, the mounting bracket 112, the mounting seat 11, and the first guide rail 12A are arranged to surround an open mounting space 13 on the mounting surface of the first guide rail 12A, the rotating shaft 21 of the transmission assembly 20 is matched with the rotating hole 111 of the mounting seat 11, so that the transmission assembly 20 is at least partially installed in the mounting space 13, the depth of the mounting space 13 is the same as the thickness direction (Y'-Y) of the mounting bracket 112 extending in the direction away from the clamping assembly 40, and the first connecting piece 23 and the second connecting piece 24 of the transmission assembly 20 are all rotated in the depth projection of the mounting space 13. It should be noted that the width direction (X'-X) and the thickness direction (Y'-Y) are identified in Figure 2 .

[0053] In some embodiments, the first rotating member 22A of the transmission assembly 20 is limited in rotation by the mounting bracket 112, i.e. the maximum opening distance LA of the clamping assembly 40 is limited by the rotation angle of the first rotating member 22A, regardless of the length of the first connecting member 23 and other factors.

[0054] In some embodiments, the teaching mechanism 100 further comprises a detection assembly (not shown) disposed on the main body 10 and at least partially installed in the mounting cavity 113 of the mounting base 11, for detecting and / or recording the movement path parameters of the clamping assembly 40. In this embodiment, the detection assembly (not shown) is partially disposed on the mounting base 11 of the main body 10, and the detection assembly (not shown) comprises an encoder installed on the mounting base 11 away from the clamping assembly 40, for detecting the rotation angle of the rotating shaft 21. The encoder information obtained from the rotation angle is processed in combination with other information, and the encoder information is matched with the movement path parameters of the clamping assembly 40, including the distance parameter within the maximum opening distance, the movement trajectory parameter, the movement speed and the movement real-time acceleration, to finally complete the teaching work in this embodiment.

[0055] In the specific embodiment, the detection assembly (not shown) further comprises a distance detection sensor of the clamping assembly 40 and / or the operation assembly 30, which matches the distance parameter detected in real time with the encoder information collected by the encoder, to further complete the more accurate matching. The distance detection sensor can be a visual sensor, a laser sensor or other sensors capable of distance measurement, as long as the structure and hardware permit.

[0056] In the specific embodiment, the distance parameter matched with the encoder information can also be input in advance or by supplementing.

[0057] In the specific embodiment, the detection assembly (not shown) further comprises a distance detection sensor, which matches the size of the clamped object detected in real time with the encoder information collected by the encoder, to further complete the more accurate matching. The distance detection sensor can be a visual sensor, a laser sensor or other sensors capable of distance measurement, as long as the structure and hardware permit.

[0058] Please refer to Figure 1 , Figure 2 and Figure 5In some embodiments, the clamping assembly 40 comprises a first clamping jaw 41A and a second clamping jaw 41B, both of which have a base 411 and a clamping portion 412, the base 411 is provided with a guide rail fitting 31 near one side of the main body 10, the clamping portion 412 comprises a clamping section 4121 and an extension section 4122, the extension section 4122 is connected to the base 411, the extension section 4122 and the base 411 correspondingly surround a clamping space 44, the operation assembly 30 is at least partially arranged in the clamping space 44 and connected with the main body 10 in the clamping space 44, so that the clamping assembly 40 and the operation assembly 30 do not interfere with each other when the first guide rail 12A is used.

[0059] Please refer to Figure 1 , Figure 2 and Figure 6 In some embodiments, under the control of the operator, the first handle 32A and the second handle 32B move away from each other, at this time, the opening distance of the operation assembly 30 gradually increases, the first handle 32A and the second handle 32B drive the second connecting piece 24 to move, the second connecting piece 24 generates a torque on the rotating piece 22, prompting the rotating piece 22 to rotate and in turn making the rotating shaft 21 and the first connecting piece 23 rotate, as shown in Figure 6 The rotating angle of the rotating piece 22 is clockwise rotation, the first connecting piece 23 is at both ends of the rotating piece 22, when the rotating piece 22 rotates, the two first connecting pieces 23 move in different directions, in turn driving the clamping assembly 40 connected to the other end of the first rotating piece 22A, the first clamping jaw 41A and the second clamping jaw 41B of the clamping assembly 40 also synchronously move away from each other, at this time, the opening distance of the clamping assembly 40 gradually increases, and the maximum opening distance LA of the clamping assembly 40 is greater than the maximum opening distance LB of the operation assembly 30.

[0060] In specific embodiments, in combination with Figure 4 and Figure 5 , the clamping assembly 40 and the operation assembly 30 can be arranged on the guide rail 12 of the main body 10, the clamping assembly 40 and the operation assembly 30 move along the extension direction (X-X') of the guide rail 12 to approach or move away from the axis O of the rotating shaft 21, the guide rail 12 can be the same guide rail 12 or different guide rails 12, that is, it can be simultaneously installed on the first guide rail 12A, or it can be respectively installed on the first guide rail 12A and the second guide rail 12B. Based on the installation of the guide rail 12, the installation support 112 used for installing the guide rail 12 is also different, which is specifically manifested as follows: if there are multiple guide rails 12, the positions of the multiple guide rails 12 in the Y-Y' direction are different, at this time, the rotating piece 22 also needs to be independently arranged, that is, the clamping assembly 40 and the operation assembly 30 are arranged on the first rotating piece 22A and the second rotating piece 22B respectively.

[0061] It can be understood that the linear speed of the first clamping jaw 41A and the second clamping jaw 41B of the clamping assembly 40 moving away from each other can also be greater than the linear speed of the first handle 32A and the second handle 32B of the operating assembly 30 moving away from each other; or, the average speed of the first clamping jaw 41A and the second clamping jaw 41B of the clamping assembly 40 moving away from each other can also be greater than the average speed of the first handle 32A and the second handle 32B of the operating assembly 30 moving away from each other.

[0062] It can be understood that in order to make the maximum opening distance LA of the clamping assembly 40 greater than the maximum opening distance LB of the operating assembly 30, the parameters of the structure need to be changed; for example, the rotation angle of the clamping assembly 40 and the operating assembly 30 relative to the rotation shaft 21 is changed, or the radius of the clamping assembly 40 and the operating assembly 30 relative to the rotating member 22 is changed, or the length ratio of the first connecting member 23 and the second connecting member 24 is changed, which will not be described in detail here.

[0063] In a specific embodiment, when the rotating member 22 of the transmission assembly 20 rotates, it is limited in rotation by the mounting bracket 112. In an independent consideration of the restricting factors, the maximum opening distance of the clamping assembly 40 and the operating assembly 30 is restricted by the rotation angle of the first rotating member 22A, the radius of the clamping assembly 40 and the operating assembly 30 relative to the rotating member 22, the length of the first connecting member 23 and the second connecting member 24, and the length of the guide rail 12.

[0064] It can be understood that, without considering other factors, the maximum opening distance LA of the clamping assembly 40 is also restricted by the maximum opening distance LB of the operating assembly 30, which is the result of the linkage between the two.

[0065] It can be understood that the rotation angle of the rotating member 22 can be changed according to the structure change of the transmission assembly 20, which will not be described in detail here.

[0066] Please refer to Figures 4-6In some embodiments, the operation assembly 30 includes a first handle 32A and a second handle 32B, the operation assembly 30 is connected with the first guide rail 12A of the main body 10 and slides in the extending direction of the first guide rail 12A; the first handle 32A and the second handle 32B move simultaneously on the first guide rail 12A but in opposite directions; that is, the clamping assembly 40 moves towards or away from the axis O of the rotating shaft 21; the clamping assembly 40 includes a first clamping jaw 41A and a second clamping jaw 41B, the clamping assembly 40 is connected with the second guide rail 12B of the main body 10 and slides in the extending direction of the second guide rail 12B; the first clamping jaw 41A and the second clamping jaw 41B move simultaneously on the second guide rail 12B but in opposite directions; that is, the clamping assembly 40 moves towards or away from the axis O of the rotating shaft 21; based on the present embodiment, the operation assembly 30 and the clamping assembly 40 can move in different guide rails 12, specifically, the rotating shaft 21 of the transmission assembly 20 can include a plurality of rotating members 22, the plurality of rotating members 22 are arranged at different positions in the Y direction, the operation assembly 30 drives the transmission assembly 20 under the control of the operator, the transmission assembly 20 drives the clamping assembly 40 to move towards or away from the axis O of the rotating shaft 21, thereby realizing the linkage between the transmission assembly 20 and the clamping assembly 40.

[0067] Referring to Figure 3 In some embodiments, the rotating shaft 21 of the transmission assembly 20 passes through the matching rotating hole 111 of the mounting seat 11, the transmission assembly 20 is further provided with at least one bearing, the present embodiment includes a first bearing 25 and a second bearing 26, which are respectively installed on both sides of the rotating hole 111, wherein the inner side of the first bearing 25 and the second bearing 26 is connected with the outer side of the rotating shaft 21 and rotates with the rotating shaft 21, the outer side of the first bearing 25 and the second bearing 26 is connected with the inner side of the rotating hole 111, thereby ensuring the relative movement between the rotating shaft 21 and the rotating hole 111 and not interfering with each other.

[0068] Referring to Figures 4-6 In some embodiments, the main body 10 includes a mounting seat 11, a second mounting bracket 112B provided on the mounting seat 11 and a second guide rail 12B provided on one side of the second mounting bracket 112B, the transmission assembly 20 is at least partially arranged in the mounting space 13 surrounded by the mounting seat 11, the second mounting bracket 112B and the second guide rail 12B, the transmission assembly 20 includes a rotating shaft 21 installed in the rotating hole 111 and a second rotating member 22B coaxially rotating with the rotating shaft 21, the second rotating member 22B is connected with two second connecting members 24, the two second connecting members 24 are symmetrical relative to the axis O of the rotating shaft 21; the operation assembly 30 includes an operation mounting part 321 and a handle operation part 322, the operation mounting part 321 is provided with a guide rail matching part 31 close to one side of the main body 10, the handle operation part 322 is provided with an operation hole 323, which is convenient for the operator to put his fingers through to control the handle operation part 322.

[0069] In some embodiments, the main body 10 comprises a mounting seat 11, a first mounting bracket 112A arranged on the mounting seat 11, and a first guide rail 12A arranged on one end surface of the first mounting bracket 112A. A transmission assembly 20 is arranged at least partially in a mounting space 13 surrounded by the mounting seat 11, the first mounting bracket 112A, and the first guide rail 12A. The transmission assembly 20 comprises a rotating shaft 21 arranged in the rotating hole 111, and a first rotating member 22A coaxially rotating with the rotating shaft 21. The first rotating member 22A is connected with two first connecting members 23, and the two first connecting members 23 are symmetrical with respect to the axis O of the rotating shaft 21. The clamping assembly 40 comprises a first clamping jaw 41A and a second clamping jaw 41B. The first clamping jaw 41A and the second clamping jaw 41B each have a base 411 and a clamping portion 412. The base 411 is arranged with a guide rail matching member 31 near one side of the main body 10. The clamping portion 412 is directly or indirectly connected with the base 411 and is located away from the main body 10. The first clamping jaw 41A and the second clamping jaw 41B are close to each other and cooperate to clamp an object.

[0070] In some embodiments, the clamping assembly 40 comprises a first clamping jaw 41A and a second clamping jaw 41B. The first clamping jaw 41A and the second clamping jaw 41B each have a base 411 and a clamping portion 412. The base 411 is arranged with a guide rail matching member 31 near one side of the main body 10. The clamping portion 412 comprises a clamping segment 4121 and an extension segment 4122. The extension segment 4122 is connected to the base 411. The extension segment 4122 and the base 411 correspondingly surround a clamping space 44, which facilitates better adaptation to different clamped objects. The extension segment 4122 is also provided with a hollow structure to reduce the material cost of the clamping jaw 41.

[0071] It can be understood that the first rotating member 22A and the second rotating member 22B can be other shapes symmetrical to the axis O of the rotating shaft 21, such as circular, strip-shaped, etc.

[0072] It can be understood that the operation assembly 30 and the clamping assembly 40 can not be arranged in the same guide rail 12 for linkage movement, that is, the linkage core is that the parts of the transmission assembly 20 connected with the operation assembly 30 and the clamping assembly 40 are the same, for example, the rotating shaft 21 is the same.

[0073] In some embodiments, the first clamping jaw 41A and the second clamping jaw 41B are generally symmetrical with respect to the axis O of the rotating shaft 21 of the transmission assembly 20, and the speed of the first clamping jaw 41A and the second clamping jaw 41B on the guide rail 12 is the same.

[0074] In some embodiments, the first rotating member 22A and the second rotating member 22B coaxially rotate, and the length of the first rotating member 22A is greater than that of the second rotating member 22B, that is, the edge linear velocity of the first rotating member 22A is greater than that of the second rotating member 22B when coaxially rotating.

[0075] In some embodiments, the first connecting member 23 is longer than the second connecting member 24, so that the first connecting member 23 can have a larger opening and closing distance when the first rotating member 22A rotates.

[0076] In some embodiments, the operation assembly 30 includes a first handle 32A and a second handle 32B, each of which includes an operation mounting portion 321 and a handle operation portion 322, and the handle operation portion 322 is provided with an operation hole 323 through which an operator can insert his fingers, and the cross section of the operation hole 323 is larger than the cross section of at least two fingers, so that the operator can insert more fingers of the same hand, thereby enabling the user to smoothly drive the first handle 32A and the second handle 32B to move closer to or away from each other with one hand, improving the teaching experience.

[0077] In some embodiments, the first handle 32A and the second handle 32B are asymmetrically arranged, mainly in that the cross sections of the operation holes 323 on the handle operation portions 322 are different, for example, the cross section of the operation hole 323 of the first handle 32A can only pass through one finger, and the cross section of the operation hole 323 of the second handle 32B can pass through at least multiple fingers; when multiple teaching mechanisms 100 are used at the same time, different handles 32 can be matched to adapt to the left and right hands of the operator.

[0078] Please refer to Figure 7 According to the embodiment of the utility model, the teaching device 1000 includes the teaching mechanism 100 provided in the above embodiments of the utility model; the teaching device 1000 includes a mechanical arm 200 with at least one joint, and the main body 10 of the teaching mechanism 100 is connected to the execution end 201 of the mechanical arm 200.

[0079] It should be noted that many components mentioned in the present application are general standard components or components known to those skilled in the art, and their structure and principle can be known by the technical personnel through technical manual or through conventional experimental method.

[0080] It should be noted that in the present specification, relationship terms such as first and second are only used to distinguish one entity from another, and do not necessarily require or imply any such actual relationship or order between the entities.

[0081] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements, reasonable combinations and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A teaching apparatus characterized by comprising: The device comprises: a main body; a transmission assembly comprising a rotating shaft rotatably arranged on the main body; an operation assembly movably connected to the main body and the transmission assembly, the operation assembly moving towards or away from the axis of the rotating shaft; a clamping assembly movably connected to the main body and the transmission assembly, the clamping assembly moving towards or away from the axis of the rotating shaft; the operation assembly is linked to the clamping assembly through the transmission assembly, and the maximum opening distance of the clamping assembly is greater than that of the operation assembly.

2. A teaching mechanism according to claim 1, wherein The device further comprises a detection assembly arranged on the main body for detecting and / or recording the movement path parameters of the clamping assembly.

3. The teaching mechanism of claim 1, wherein The main body comprises a mounting seat and a first guide rail connected to the mounting seat, the first guide rail being movably connected to the operation assembly, and the operation assembly moving along the extension direction of the first guide rail.

4. A teaching mechanism according to claim 3, wherein The main body comprises a second guide rail connected to the mounting seat, the second guide rail being movably connected to the clamping assembly, and the clamping assembly moving along the extension direction of the second guide rail.

5. A teaching mechanism according to claim 3, wherein The first guide rail is movably connected to the clamping assembly, and the clamping assembly moves along the extension direction of the first guide rail.

6. The teaching mechanism of claim 1, wherein The clamping assembly comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw move towards or away from each other.

7. A teaching mechanism according to claim 6, wherein The first clamping jaw and the second clamping jaw each have a base and a clamping portion, the clamping portion comprising a clamping segment and an extension segment, the extension segment being connected to the base, and the extension segment and the base correspondingly surrounding a clamping space, the operation assembly being at least partially arranged in the clamping space and connected to the main body in the clamping space.

8. A teaching mechanism according to claim 1 or 7, wherein The operation assembly comprises a first handle and a second handle, and the first handle and the second handle move towards or away from each other.

9. The teaching mechanism of claim 1, wherein The transmission assembly further comprises a first rotating member and a first connecting member, the first rotating member being coaxially rotatable with the rotating shaft; one end of the first connecting member is connected to the first rotating member, and the other end is connected to the clamping assembly.

10. A teaching mechanism according to claim 9, wherein The transmission assembly further comprises a second connecting member, one end of the second connecting member being connected to the first rotating member, and the other end being connected to the operation assembly.

11. The teaching mechanism of claim 1, wherein The linear speed of the operation assembly is less than that of the clamping assembly.

12. An apparatus for teaching, comprising: The device comprises a teaching mechanism according to any one of claims 1 to 9; and the teaching device comprises a mechanical arm with at least one joint, and the teaching mechanism is connected to the execution end of the mechanical arm.

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