Pulling cable encoder outlet port positioning mechanism

Abstract

The utility model relates to a pull -in line encoder outlet positioner, including teaching box center distance positioning subassembly and pull -in rope dust removal subassembly, teaching box center distance positioning subassembly is fixed on teaching box upper cover, teaching box center distance positioning subassembly is equipped with through -hole, and the through -hole sets up in pull -in line encoder outlet, and pull -in rope dust removal subassembly includes dust cover, and the dust cover sets up in pull -in line encoder outlet, and the dust cover is fixed on teaching box center distance positioning subassembly. Teaching box center distance positioning subassembly does not contact with pull -in line encoder, such that the position of pull -in line encoder outlet is no longer influenced by the installation position of pull -in line encoder, but is decided by the center distance distance precision of teaching box center distance positioning subassembly itself, thereby the accuracy of manual teaching data acquisition and robot action reproduction is improved. Through pull -in rope dust removal subassembly, the service life of pull -in line encoder can be prolonged, thereby the reliability of equipment use is improved, and production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to a positioning mechanism for the outlet of a pull-wire encoder, belonging to the field of encoder technology. Background Technology

[0002] Painting factories generally face two major challenges: First, frequent switching between multiple product types and small batches of orders requires specialized engineers to write programs line by line for traditional robots, and the debugging cycle, often taking several days, directly reduces effective production capacity. Second, the painting environment is harsh, with paint mist, dust, and changes in light placing extremely high demands on the stability of the control system. Among these aspects, the programming bottleneck is particularly prominent—when faced with the complex trajectories of irregularly shaped parts, traditional methods are both time-consuming and labor-intensive, and must rely on specialized technical personnel, becoming a major obstacle to improving efficiency and quality.

[0003] The no-programming teaching system directly addresses pain points by simplifying programming challenges through a manual teaching approach. Operators can quickly set spraying paths for complex workpieces simply by following an intuitive teaching process; even those with no programming experience can easily get started, significantly lowering the barrier to entry.

[0004] The core logic of the no-code teaching system is to break down the traditional programming barriers through "human teaching": operators do not need any coding background; they simply hold the handle and drive the spray gun to demonstrate spraying on-site, and the system can record the trajectory in real time and automatically generate the program. This "what you see is what you get" mode compresses the programming process, which originally took several days, to a few hours or even tens of minutes, perfectly matching the "small batch, multiple batches" production rhythm of the spraying industry.

[0005] The core components of the programming-free teaching pendant system include a teaching pendant box, a teaching handle, an industrial computer, and I / O modules. The teaching pendant box is a rectangular box containing three pull-wire encoders. The pull wires are connected to the teaching handles and are used to measure the movement trajectory of the handles during manual teaching. The pull-wire encoders measure linear displacement or rotational angle by extending or retracting the pull wires: when the wires extend or retract, the internal mechanical structure drives photoelectric or magnetoelectric components to generate electrical signals, which are then processed by a decoder to obtain precise displacement or rotational angle values.

[0006] In related technologies, the encoder is fixed to the bottom cover of the teaching box by bolt through holes on the bottom surface of the wire encoder. However, the gap between the through hole and the bolt is too large, making it impossible to accurately position the encoder, resulting in deviation in the installation position. The center distance between the three wire encoder outlets fluctuates, directly affecting the measurement data of manual teaching, which in turn causes the robot to deviate from the trajectory.

[0007] When a pull-wire encoder is in operation, the pull rope is inevitably exposed to a complex environment, and fine particles such as dust mixed in the air will adhere to it for a long time. When the pull rope is retrieved, dust is brought into the encoder and accumulates, affecting its normal operation and service life, and may even cause the pull rope to jam and become unretrievable, ultimately causing the encoder to malfunction. Utility Model Content

[0008] This utility model provides a wire encoder outlet positioning mechanism, aiming to solve at least one of the technical problems existing in the prior art. To this end, this utility model proposes a wire encoder outlet positioning mechanism where the position of the wire encoder outlet is determined by the accuracy of the center distance between the center of the teach pendant and the positioning component itself, improving the accuracy of manual teaching data acquisition and robot motion reproduction; the use of a wire dust removal component extends the service life of the wire encoder, thereby improving the reliability of equipment use and increasing production efficiency.

[0009] The technical solution of this utility model relates to a positioning mechanism for the outlet of a draw-wire encoder, including: A center distance positioning component for a teaching box is fixed to the top cover of the teaching box. The center distance positioning component for the teaching box has a through hole, which is located at the output port of the pull-wire encoder. A pull-cord dust removal assembly, comprising a dust cover disposed at the output port of the pull-cord encoder, and the dust cover being fixed on the center distance positioning assembly of the teaching box.

[0010] Furthermore, the pull-cord dust removal assembly includes a dust removal filter cotton, which is disposed between the dust cover and the output port of the pull-cord encoder, so that the pull cord of the pull-cord encoder passes through the dust removal filter cotton.

[0011] Furthermore, the center distance positioning component of the teaching box includes a center distance positioning plate, and the through hole is disposed on the right side of the center distance positioning plate.

[0012] Furthermore, the center distance positioning plate is provided with splicing fastening bolt holes, which are located between the center of the center distance positioning plate and the through hole and are offset towards the position of the through hole.

[0013] Furthermore, the center distance positioning plate is provided with a splicing positioning step, which is located between the through hole and the splicing fastening bolt hole, and is located on the upper side of the center distance positioning plate.

[0014] Furthermore, the center distance positioning plate is provided with splicing fastening bolt holes, which are located at the upper left corner of the center distance positioning plate.

[0015] Furthermore, the center distance positioning plate is provided with a splicing positioning boss, which is located on the left side of the center distance positioning plate.

[0016] Furthermore, the center distance positioning component of the teaching box includes a first bolt, which passes through the splicing fastening bolt hole and the splicing fastening bolt thread hole, so that the multiple center distance positioning plates are spliced ​​together.

[0017] Furthermore, the splicing positioning boss is spliced ​​with the splicing positioning step, thereby splicing multiple center distance positioning plates together.

[0018] Furthermore, the dust cover is provided with a dust cover thread, and the center distance positioning plate is provided with a positioning plate thread. The dust cover thread and the positioning plate thread cooperate with each other to fix the dust cover and the center distance positioning plate together.

[0019] The beneficial effects of this utility model are as follows.

[0020] The cable encoder outlet positioning mechanism of this utility model includes a teaching box center distance positioning component and a cable dust removal component. The teaching box center distance positioning component is fixed to the teaching box cover and has a through hole located at the cable encoder outlet. The cable dust removal component includes a dust cover located at the cable encoder outlet and is fixed to the teaching box center distance positioning component.

[0021] The center distance positioning component of the teach pendant does not contact the wire encoder. In this way, the position of the wire encoder outlet is no longer affected by the installation position of the wire encoder, but is determined by the center distance accuracy of the center distance positioning component itself, thereby improving the accuracy of manual teaching data acquisition and robot motion reproduction.

[0022] By using a pull-cord dust removal assembly, the service life of the pull-cord encoder can be extended, thereby improving the reliability of the equipment and increasing production efficiency. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the external appearance of the wire encoder outlet positioning mechanism according to an embodiment of the present utility model.

[0024] Figure 2 This is a schematic diagram of the positioning mechanism for the output port of the pull-wire encoder according to an embodiment of the present utility model.

[0025] Figure 3 This is a structural schematic diagram of the center distance positioning component of the teaching box according to an embodiment of the present utility model.

[0026] Figure 4 This is a structural schematic diagram of the center distance positioning plate and the pull rope dust removal assembly according to an embodiment of the present utility model.

[0027] Figure 5 This is a schematic diagram of a dust cover according to an embodiment of the present utility model.

[0028] Figure 6 This is a structural diagram of the combination of the center distance positioning component of the teaching box and the pull rope dust removal component according to an embodiment of the present utility model.

[0029] Figure 7 This is a schematic diagram of the appearance of the wire encoder outlet positioning mechanism according to an embodiment of the present invention, without the addition of the teaching box center distance positioning component and the pull rope dust removal component.

[0030] Figure 8 This is a schematic diagram of the positioning mechanism for the output port of the pull-wire encoder according to an embodiment of the present utility model, without the addition of the teaching box center distance positioning component and the pull-wire dust removal component.

[0031] Explanation of reference numerals in the attached figures: 100. Center distance positioning component of teaching box; 110. Through hole; 120. Center distance positioning plate; 121. Splicing fastening bolt hole; 122. Splicing positioning step; 123. Splicing fastening bolt thread hole; 124. Splicing positioning boss; 125. Reverse bolt hole; 130. First bolt; 200. Pull-cord dust collector assembly; 210. Dust cover; 211. Dust cover thread; 212. Dust cover positioning step; 220. Dust collector filter cotton; 300. Teaching box; 310. Teaching box top cover; 320. Teaching box bottom cover; 321. Teaching box bottom cover bolts; 400, Pull-wire encoder; 410, Pull-wire encoder outlet; 420, Pull-wire encoder pull cord; 430, Pull-wire encoder bottom bolt hole. Detailed Implementation

[0032] The following will provide a clear and complete description of the concept, specific structure, and technical effects of this utility model in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of this utility model. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0033] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or it can be indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this utility model are only relative to the relative positional relationships of the various components of this utility model in the accompanying drawings.

[0034] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for the purpose of describing particular embodiments only and not for limiting the scope of the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0035] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0036] See Figure 7 The present invention relates to a positioning mechanism for the output port of a pull-wire encoder, comprising a teaching box 300, wherein a pull-wire encoder 400 is installed inside the teaching box 300, and a pull-wire encoder output port 410 is provided on the upper part of the pull-wire encoder 400, and the upper cover 310 of the teaching box is provided with the pull-wire encoder output port 410.

[0037] See Figure 8 In a specific embodiment, the bottom cover 320 of the teaching box is provided with a bottom cover bolt 321, and the bottom of the pull encoder 400 is provided with a bottom bolt hole 430. The bottom cover bolt 321 and the bottom bolt hole 430 of the pull encoder cooperate with each other to fix the pull encoder 400 and the bottom cover 320 of the teaching box.

[0038] In a specific embodiment, the pull cord 420 of the pull encoder is connected to the teach handle.

[0039] In a specific embodiment, the teaching box 300 is provided with three pull-wire encoders 400 inside, the teaching box bottom cover 320 is provided with multiple teaching box bottom cover bolts 321, the bottom of the pull-wire encoder 400 is provided with multiple pull-wire encoder bottom bolt holes 430, the upper part of the pull-wire encoder 400 is provided with multiple pull-wire encoder outlets 410, and the teaching box top cover 310 is provided with multiple pull-wire encoder outlets 410.

[0040] In a specific embodiment, the teach pendant 300 has the appearance of a cuboid box.

[0041] See Figures 1 to 6 The present invention relates to a positioning mechanism for the cable encoder outlet, comprising a teaching box center distance positioning component 100 and a cable dust removal component 200. The teaching box center distance positioning component 100 is fixed to the teaching box cover 310 and has a through hole 110 located at the cable encoder outlet 410. The cable dust removal component 200 includes a dust cover 210 located at the cable encoder outlet 410 and is fixed to the teaching box center distance positioning component 100.

[0042] Understandably, the center distance positioning component 100 of the teach pendant does not contact the wire encoder 400. Therefore, the position of the wire encoder outlet 410 is no longer affected by the installation position of the wire encoder 400, but is determined by the center distance accuracy of the center distance positioning component 100 itself, thereby improving the accuracy of manual teaching data acquisition and robot motion reproduction. The wire dust removal component 200 extends the service life of the wire encoder 400, thus improving equipment reliability and production efficiency.

[0043] See Figure 1 In a specific embodiment, the center distance positioning component 100 of the teaching box is provided with three through holes 110.

[0044] In a specific embodiment, the center distance positioning plate 120 is provided with a plurality of reverse bolt holes 125, and the center distance positioning assembly 100 of the teaching box and the teaching box cover 310 are fixedly connected by a second bolt passing through the reverse bolt holes 125. Specifically, see Figure 4 The center distance positioning plate 120 has three reverse bolt holes 125 arranged from left to right.

[0045] In the application embodiment, the center distance positioning component 100 of the teach pendant is manufactured by a CNC machine tool.

[0046] In the application embodiment, the center distance positioning component 100 of the teaching box and the pull rope dust removal component 200 are manufactured by CNC machine tools.

[0047] It should be noted that, in response to the dimensional accuracy problem of the center distance of the wire encoder, this invention designs a wire encoder outlet positioning mechanism. The center distance positioning component 100 of the teach pendant is fixed to the upper cover 310 of the teach pendant by a second bolt. The three through holes 110 on the center distance positioning component 100 of the teach pendant correspond to the outlet positions of the three wire encoders, but the center distance positioning component 100 of the teach pendant does not contact the wire encoder 400. In this way, the outlet position of the wire encoder is no longer affected by the installation position of the wire encoder 400, but is determined by the center distance accuracy of the center distance positioning component 100 of the teach pendant itself.

[0048] It should be understood that the parts of this invention are machined using CNC machine tools. The machining precision of the CNC machine tools ensures the center distance between the three through holes on the center distance positioning component of the teach pendant, thereby strictly ensuring that the dimensional accuracy of the center distance between the three wire encoder outlets meets the requirements. It is worth noting that the center distance positioning component of the teach pendant can also be machined from a single flat panel, which consumes more material but also achieves higher precision.

[0049] Specifically, CNC machine tools are short for "Computer Numerical Control machine tools". CNC machine tools use computer programs to replace manual operation and precisely control parameters such as the movement trajectory, speed, and feed rate of the cutting tool, thereby automatically completing machining processes such as cutting, drilling, milling, and turning of materials such as metal, plastic, and wood.

[0050] See Figure 2 In some embodiments, the pull-cord dust removal assembly 200 includes a dust removal filter cotton 220, which is disposed between the dust cover 210 and the pull-cord encoder outlet 410, so that the pull cord 420 of the pull-cord encoder passes through the dust removal filter cotton 220.

[0051] It should be understood that, in response to the problem of dust adhering to the pull rope, this invention designs a pull rope encoder outlet positioning mechanism, in which the pull rope dust removal component 200 is installed at the corresponding position of the pull rope encoder outlet. When the pull rope is retracted, it first passes through the pull rope dust removal component 200 to achieve the effect of removing dust and powder from the pull rope.

[0052] See Figure 4 In some embodiments, the center distance positioning component 100 of the teaching box includes a center distance positioning plate 120, and a through hole 110 is disposed on the right side of the center distance positioning plate 120.

[0053] Specifically, the center distance positioning assembly 100 of the teaching pendant includes multiple center distance positioning plates 120. Three center distance positioning plates 120 are combined to form one teaching pendant center distance positioning assembly 100, which is connected and fastened to the teaching pendant top cover 310 by a second bolt. A dust cover 210 is connected and fastened to the corresponding through hole 110 of the center distance positioning plate 120 via a dust cover thread 211. A dust filter cotton 220 is inserted between the dust cover 210 and the center distance positioning plate 120 for cleaning dust from the pull rope.

[0054] In another possible implementation, the center distance positioning component 100 of the teach pendant is triangular, and each triangle of the center distance positioning component 100 of the teach pendant is provided with a through hole 110, which is located at the wire encoder outlet 410.

[0055] Among them, the dimensional accuracy of the center distance between the three wire encoder outlets 410 inside the teaching box 300 has a decisive impact on the stability and accuracy of manual teaching data measurement, and must be strictly guaranteed.

[0056] See Figure 4 In some embodiments, the center distance positioning plate 120 is provided with splicing fastening bolt holes 121, which are located between the center of the center distance positioning plate 120 and the through hole 110 and are biased towards the through hole 110.

[0057] See Figure 4 In some embodiments, the center distance positioning plate 120 is provided with a splicing positioning step 122, which is disposed between the through hole 110 and the splicing fastening bolt hole 121, and is disposed on the upper side of the center distance positioning plate 120.

[0058] See Figure 4 In some embodiments, the center distance positioning plate 120 is provided with splicing fastening bolt holes 123, which are located at the upper left corner of the center distance positioning plate 120.

[0059] See Figure 4 In some embodiments, the center distance positioning plate 120 is provided with a splicing positioning boss 124, which is located on the left side of the center distance positioning plate 120.

[0060] See Figure 3 In some embodiments, the center distance positioning assembly 100 of the teaching box includes a first bolt 130, which passes through the splicing fastening bolt hole 121 and the splicing fastening bolt thread hole 123 to splice the multiple center distance positioning plates 120 together.

[0061] In some embodiments, the splicing positioning boss 124 and the splicing positioning step 122 are spliced ​​together to splice multiple center distance positioning plates 120.

[0062] See Figure 5 and Figure 6 In some embodiments, the dust cover 210 is provided with a dust cover thread 211, and the center distance positioning plate 120 is provided with a positioning plate thread (not shown in the figure). The dust cover thread 211 and the positioning plate thread cooperate with each other to fix the dust cover 210 and the center distance positioning plate 120 together.

[0063] It should be noted that the center distance positioning component 100 of the teaching box and the pull rope dust removal component 200 are designed as an integrated structure for combined installation. The dust cover 210 is fixed to the center distance positioning plate 120 through the dust cover thread 211, forming a whole. The overall appearance is compact and beautiful, the installation is convenient and space-saving, and it can effectively solve technical problems.

[0064] See Figure 5 and Figure 6 In a specific embodiment, the dust cover 210 is provided with a dust cover positioning step 212, and the center distance positioning plate 120 is provided with a positioning plate positioning step (not shown in the figure). The dust cover positioning step 212 and the positioning plate positioning step cooperate with each other to fix the dust cover 210 and the center distance positioning plate 120 together.

[0065] In a specific embodiment, dust removal filter cotton is pressed inside the dust cover, so that the pull rope is covered and wiped by the dust removal filter cotton.

[0066] Specifically, the space between the dust cover 210 and the cable encoder outlet 410 is filled with dust-collecting filter cotton 220. After the pull rope comes out of the cable encoder outlet 410, it first passes through the pull rope dust collection assembly 200, and then the pull rope is connected to the teach pendant handle. When the pull rope springs back and retracts into the cable encoder 400, the pull rope will first pass through the pull rope dust collection assembly 200, and then be retracted into the inside of the cable encoder 400, thus ensuring that as little dust as possible is brought into the cable encoder 400. When the dust accumulates to a certain level and needs to be cleaned, simply loosen the dust cover 210, replace it with a new dust-collecting filter cotton 220, and then screw the dust cover 210 back on.

[0067] Understandably, the center distance between the three wire encoder outlets 410 is guaranteed with strict positioning accuracy, thus ensuring the accuracy of manual teaching data acquisition and robot motion reproduction. Timely and effective cleaning of dust on the wires significantly reduces the amount of dust brought back to the inside of the wire encoder 400 during wire retrieval, extending the lifespan of the wire encoder 400 and thereby improving equipment reliability and production efficiency.

[0068] Specifically, this invention is not limited to the spraying industry, but can also be applied to other industries requiring precise positioning of the center distance between the outlets of multiple pull-wire encoders and dust prevention and removal of the pull-wire encoder cords. The center distance positioning assembly 100 of the teaching box, composed of three center distance positioning plates 120, can be machined from a single flat plate. In addition to the dust removal filter cotton 220, other cleaning parts or materials can also be used for dust removal and powder removal.

[0069] The above description is merely a preferred embodiment of this utility model. This utility model is not limited to the above-described embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure, as long as they achieve the same technical effect, should be included within the scope of protection of this disclosure and fall under the protection scope of this utility model. Within the protection scope of this utility model, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A cable encoder outlet positioning mechanism, characterized in that, include: The center distance positioning component (100) of the teaching box is fixed to the upper cover (310) of the teaching box. The center distance positioning component (100) of the teaching box is provided with a through hole (110), which is located at the output port (410) of the pull-wire encoder. A pull-cord dust removal assembly (200) includes a dust cover (210), which is disposed at the output port (410) of the pull-cord encoder and is fixed on the center distance positioning assembly (100) of the teaching box.

2. The cable encoder outlet positioning mechanism according to claim 1, characterized in that, The pull-cord dust removal assembly (200) includes a dust removal filter cotton (220), which is disposed between the dust cover (210) and the pull-cord encoder outlet (410) so that the pull cord (420) of the pull-cord encoder passes through the dust removal filter cotton (220).

3. The cable encoder outlet positioning mechanism according to claim 1, characterized in that, The teaching box center distance positioning component (100) includes a center distance positioning plate (120), and the through hole (110) is disposed on the right side of the center distance positioning plate (120).

4. The cable encoder outlet positioning mechanism according to claim 3, characterized in that, The center distance positioning plate (120) is provided with splicing fastening bolt holes (121). The splicing fastening bolt holes (121) are located between the center of the center distance positioning plate (120) and the through hole (110) and are biased towards the through hole (110).

5. The cable encoder outlet positioning mechanism according to claim 4, characterized in that, The center distance positioning plate (120) is provided with a splicing positioning step (122), which is located between the through hole (110) and the splicing fastening bolt hole (121), and the splicing positioning step (122) is located on the upper side of the center distance positioning plate (120).

6. The cable encoder outlet positioning mechanism according to claim 5, characterized in that, The center distance positioning plate (120) is provided with splicing fastening bolt holes (123), which are located at the upper left corner of the center distance positioning plate (120).

7. The cable encoder outlet positioning mechanism according to claim 5, characterized in that, The center distance positioning plate (120) is provided with a splicing positioning boss (124), which is located on the left side of the center distance positioning plate (120).

8. The cable encoder outlet positioning mechanism according to claim 6, characterized in that, The center distance positioning component (100) of the teaching box includes a first bolt (130), which passes through the splicing fastening bolt hole (121) and the splicing fastening bolt thread hole (123) to splice the multiple center distance positioning plates (120).

9. The cable encoder outlet positioning mechanism according to claim 7, characterized in that, The splicing positioning boss (124) is spliced ​​with the splicing positioning step (122) to splice multiple center distance positioning plates (120).

10. The cable encoder outlet positioning mechanism according to claim 3, characterized in that, The dust cover (210) is provided with a dust cover thread (211), and the center distance positioning plate (120) is provided with a positioning plate thread. The dust cover thread (211) and the positioning plate thread cooperate with each other to fix the dust cover (210) and the center distance positioning plate (120) together.

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