Teach pendant and robot

Abstract

A teach pendant (1000) and a robot. The teach pendant (1000) comprises a mounting structure (200) and an operating handle (300). A holding portion (210) is provided on the back of the mounting structure (200), and the mounting structure (200) can be connected to a control device. The operating handle (300) is provided with an emergency stop switch (310) and an enable switch (320), and when the operating handle (300) is mounted on the holding portion (210), the enable switch (320) is exposed from the holding portion (210). The part of the operating handle (300) protruding from the mounting structure (200) is provided with the emergency stop switch (310). The operating handle (300) can be mounted on the holding portion (210), so that the operating handle (300) and the control device are used in combination, or the operating handle (300) can be detached from the holding portion (210), so that the operating handle (300) is used separately.

Description

Teaching device and robot

[0001] This disclosure claims priority to a patent application filed with the State Intellectual Property Office of China on June 29, 2023, with application number 202310786175.9 and invention name “Teaching Device and Robot,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of robotics technology, and in particular to a teaching device and a robot. Background Art

[0003] Industrial robots can be operated and controlled through a teach pendant, but safety regulations require that robot teaching products must have an emergency stop switch and an enable switch to ensure the safe operation of industrial robots. Therefore, the teach pendant needs to be equipped with an emergency stop switch and an enable switch. Depending on the needs of different manufacturers, the teach pendant can be replaced by a control device such as a tablet computer. In order to make the tablet computer meet safety regulations, related technologies use a clamping device with an emergency stop switch and an enable switch, and then clamp the clamping device on the tablet computer, so that the tablet computer meets the relevant requirements. However, the above solution is not conducive to the operator holding it, and the flexibility of the connection between the clamping device and the tablet computer is poor, which cannot meet the usage requirements in different situations and is inconvenient to use.

[0004] Summary of the Invention

[0005] The present disclosure aims to solve at least one of the technical problems existing in the related art. To this end, the present disclosure provides a teaching device. An operator can grasp the grip portion on the back of the mounting structure, which is convenient for holding and controlling the enabling switch. The operating handle can be connected to the mounting structure and used in combination with the control device, or it can be separated from the control device and used independently to meet the different usage needs of the operator.

[0006] The present disclosure also provides a robot having the above-mentioned teaching device.

[0007] A teaching device according to an embodiment of the present disclosure includes:

[0008] A mounting structure, used to connect to the control device, with a grip portion provided on the back of the mounting structure;

[0009] An operating handle is provided with an emergency stop switch and an enabling switch. The operating handle is detachably mounted on the grip portion. When the operating handle is mounted on the grip portion, the enabling switch is exposed on the grip portion, and part of the structure of the operating handle protrudes from the mounting structure. The emergency stop switch is located on the part of the operating handle that protrudes from the mounting structure.

[0010] The teaching device according to the embodiment of the present disclosure has at least the following beneficial effects:

[0011] A grip is provided on the back of the mounting structure, and the mounting structure can be connected to the control device. The operating handle is provided with an emergency stop switch and an enable switch, and the operating handle can be installed on the grip to enable the combined use of the operating handle and the control device, or it can be removed from the grip and the operating handle can be used alone. When the operating handle is installed on the grip, the enable switch is exposed on the grip, so the operator can also conveniently control the enable switch while holding the grip, and the structural design is reasonable. The part of the operating handle protruding from the mounting structure is provided with an emergency stop switch, which is convenient for the operator to press the emergency stop switch in an emergency. For example, when it is necessary to control the robot to perform complex operations, they can be used in combination; for basic operations such as starting up, powering on and off, and enabling and disabling, the operating handle can be used alone. Therefore, it can meet the different usage needs of the operator and improve the user experience.

[0012] According to some embodiments of the present disclosure, the operating handle is further provided with an interactive component, and when the operating handle is mounted on the grip portion, at least one of the mounting structure and the grip portion shields the interactive component.

[0013] According to some embodiments of the present disclosure, the interactive component and the emergency stop switch are both located on the same side wall of the operating handle. When the operating handle is installed on the grip portion, the mounting structure shields the interactive component.

[0014] According to some embodiments of the present disclosure, the gripping portion is located in the middle of the mounting structure along the left-right direction.

[0015] According to some embodiments of the present disclosure, the mounting structure includes a protective sleeve, and the protective sleeve is formed with a receiving cavity for mounting the control device.

[0016] According to some embodiments of the present disclosure, a mounting groove is provided on the bottom wall of the accommodating cavity, and the mounting structure further includes a support plate, which is provided in the mounting groove and connected to the gripping portion.

[0017] According to some embodiments of the present disclosure, the teaching apparatus further includes a control device, which is installed in the accommodating cavity and abuts against the support plate.

[0018] According to some embodiments of the present disclosure, the support plate is provided with one of a limiting hole and a limiting protrusion, the protective sleeve is provided with the other of the limiting hole and the limiting protrusion, and the limiting protrusion is clamped in the limiting hole.

[0019] According to some embodiments of the present disclosure, a first avoidance groove is provided on the side wall of the gripping portion, and the first avoidance groove is used to avoid the enabling switch.

[0020] According to some embodiments of the present disclosure, a cable is provided at one end of the operating handle, and the end of the cable provided on the operating handle can be inserted into the gripping portion. The gripping portion is provided with a second avoidance groove, and the second avoidance groove is used to avoid the cable.

[0021] A robot according to an embodiment of the present disclosure includes the teaching device described in the above embodiment.

[0022] The robot according to the embodiment of the present disclosure has at least the following beneficial effects:

[0023] The back of the mounting structure of the teaching device is provided with a gripping portion, and the mounting structure can be connected to the control device. The operating handle is provided with an emergency stop switch and an enable switch, and the operating handle can be installed on the gripping portion to realize the combined use of the operating handle and the control device, or it can be removed from the gripping portion and the operating handle can be used alone. When the operating handle is installed on the gripping portion, the enable switch is exposed on the gripping portion, so the operator can also conveniently control the enable switch while holding the gripping portion, and the structural design is reasonable. The part of the operating handle protruding from the mounting structure is provided with an emergency stop switch, which is convenient for the operator to press the emergency stop switch in an emergency. For example, when it is necessary to control the robot to perform complex operations, they can be used in combination; for basic operations such as starting up, powering on and off, and enabling on and off, the operating handle can be used alone. Therefore, it can meet the different usage needs of the operator and improve the user experience.

[0024] Additional aspects and advantages of the present disclosure will be given in part in the description that follows and, in part, will be obvious from the description that follows, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present disclosure is further described below with reference to the accompanying drawings and embodiments, wherein:

[0026] FIG1 is a front structural schematic diagram of a teaching device according to an embodiment of the present disclosure;

[0027] FIG2 is a schematic diagram of the back structure of a teaching device according to an embodiment of the present disclosure;

[0028] FIG3 is a front view of a teaching device according to an embodiment of the present disclosure;

[0029] FIG4 is a schematic structural diagram of an operating handle according to an embodiment of the present disclosure;

[0030] FIG5 is a schematic structural diagram of an installation structure according to an embodiment of the present disclosure;

[0031] FIG6 is a schematic diagram of a teaching device tablet computer and a mounting structure separated according to an embodiment of the present disclosure;

[0032] FIG7 is an exploded schematic diagram of a teaching device according to an embodiment of the present disclosure;

[0033] FIG8 is a schematic structural diagram of the connection between the support plate and the gripping portion according to an embodiment of the present disclosure.

[0034] Figure numerals: Teaching device 1000; Tablet computer 100; Mounting structure 200; Grip portion 210; First avoidance groove 211; Second avoidance groove 212; Protective cover 220; Accommodating cavity 221; Mating surface 222; Mounting groove 223; Avoidance hole 224; Limiting protrusion 225; Cable bundle portion 226; Support plate 230; Limiting hole 231; Operating handle 300; Emergency stop switch 310; Enable switch 320; Control button 330; Cable 340; Data cable 350. DETAILED DESCRIPTION

[0035] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present disclosure and are not to be construed as limiting the present disclosure.

[0036] In the description of this disclosure, "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 terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly specifying the number or order of the technical features indicated.

[0037] A teaching pendant is a handheld device used for robot control. In a robot's motion control system, it connects to a control cabinet or motion controller via a cable. By setting motion parameters and programming the robot's motion path, the robot can operate according to the pre-programmed program. The device also allows for real-time monitoring, adjustment, and emergency stop of the robot's motion. It can also be configured in manual control mode for real-time robot movement.

[0038] Among them, the teaching device can be replaced by a control device such as a tablet computer, which has more functions and a wider range of applications. For the convenience of explanation, the subsequent embodiments are explained using a tablet computer as an example. However, the tablet computer does not have mechanical buttons such as an emergency stop switch and an enable switch, which does not comply with the corresponding safety regulations. It should be noted that the emergency stop switch is usually used in an emergency. After pressing the emergency stop switch, the power is cut off and the robot stops running to protect personal and equipment safety. The enable switch is a three-position enable switch that can operate in three positions (OFF-ON-OFF). When the enable switch is not pressed, it is in the OFF position. Pressing it lightly switches it to the ON position, and pressing it hard switches it to OFF.

[0039] In order to make the tablet computer 100 comply with the corresponding safety regulations, as shown in Figures 1 and 2, the present invention discloses a teaching device 1000 of an embodiment, the teaching device 1000 includes a mounting structure 200 and an operating handle 300, the mounting structure 200 is used to connect to the tablet computer 100, and the back of the mounting structure 200 is provided with a gripping portion 210. As shown in Figure 4, an emergency stop switch 310 is provided at the upper position of the front side wall of the operating handle 300, and an enabling switch 320 is provided on the left side of the operating handle 300. Of course, the enabling switch 320 can also be provided on the right side or the back side. The appropriate solution is selected according to the actual situation. Among them, the operating handle 300 is detachably connected to the gripping portion 210, that is, the operating handle 300 can be used in combination with the tablet computer 100, or the operating handle 300 can be disassembled and used alone. When the operating handle 300 is installed on the grip 210 , the enabling switch 320 exposes the grip 210 , and the upper end of the operating handle 300 protrudes from the mounting structure 200 and also from the tablet computer 100 , and the emergency stop switch 310 is located at the upper end of the operating handle 300 .

[0040] With the above solution, when the operator needs to use the operating handle 300 and the tablet computer 100 in combination, for example, when the operator needs to control the robot to perform complex operations. The operating handle 300 is installed on the grip portion 210, and the enable switch 320 is exposed on the grip portion 210. The grip portion 210 is set on the back of the mounting structure 200. When the operator holds the grip portion 210, it is convenient to view the screen of the tablet computer 100 and to control the enable switch 320. The structural design is reasonable and the operator is easy to operate. The part of the operating handle 300 protruding from the mounting structure 200 is provided with an emergency stop switch 310. The operator can quickly press the emergency stop switch 310 in an emergency to ensure safe operation. When basic operations such as turning on the power, turning on and off the power, and enabling the power on and off are required, the operating handle 300 can be removed and used alone. Of course, when it is necessary to export the robot's operating data or transfer files, the tablet computer 100 can be removed and used alone, or the tablet computer 100 and the mounting structure 200 can be used in combination, such as by holding the tablet computer 100 via the grip portion 210. This can meet the different usage needs of operators, provide high flexibility, and enhance the user experience.

[0041] Referring to Figures 3 and 4 , the dotted lines in Figure 3 indicate obscured structures. In an embodiment of the present disclosure, interactive components are located in the middle and lower portion of the front sidewall of the operating handle 300. These components may include one or more physical control buttons 330; alternatively, they may be a touch screen with one or more virtual buttons; or alternatively, they may be adjustment knobs, gear knobs, and the like. Because both the interactive components and the emergency stop switch 310 are located on the front sidewall of the operating handle 300, when the operating handle 300 is used alone, the interactive components can be conveniently used to control operations such as powering on and powering on the robot. In the event of an emergency, the emergency stop switch can also be pressed immediately. When the operating handle 300 is mounted on the grip 210, the mounting structure 200 obscures multiple interactive components, for example, all or some of them. That is, when viewed from the front, the interactive components are obscured by the mounting structure 200, or in other words, by the tablet computer 100. This solution effectively reduces accidental touching of the interactive components and improves operational safety.

[0042] It should be noted that, in another embodiment, when the interactive component is provided on the front end surface of the operating handle 300, it may also be blocked by the grip portion 210. It should also be noted that, in another embodiment, the interactive component may also be located on the left side wall, right side wall or rear side wall of the operating handle 300. When the operating handle 300 is mounted on the grip portion 210, the grip portion 210 can block the interactive component. In another embodiment, the front side wall and the side walls at other positions of the operating handle 300 are provided with interactive components, and the interactive components can be blocked by the grip portion 210 and the mounting structure 200.

[0043] As shown in Figure 2, in the embodiment of the present disclosure, the grip portion 210 is located in the middle of the mounting structure 200 along the left-right direction. It should be noted that the middle position can be understood as the area between one-third and two-thirds of the length of the mounting structure 200 along the left-right direction. It can be understood that positioning the grip portion 210 in the middle of the mounting structure 200 makes it convenient for both left- and right-handed operators to hold the grip portion 210. For example, if the operator is left-handed, the thumb of the left hand can contact the enable switch 320 to facilitate control of the enable switch 320, while the right hand can be used to control the emergency stop switch 310. If the operator is right-handed, the index and middle fingers of the right hand can contact the enable switch 320 to control the enable switch 320, while the left hand can control the emergency stop switch 310. Therefore, the teaching device 1000 is highly versatile, meeting the needs of different users and improving the operator's operating experience.

[0044] 2 and 5 , in an embodiment of the present disclosure, a first avoidance groove 211 is provided on the side wall of the grip portion 210. The first avoidance groove 211 is used to avoid the enabling switch 320 so that the enabling switch 320 is exposed on the grip portion 210, making it easier for the operator to operate. In an embodiment of the present disclosure, a cable 340 is provided at one end of the operating handle 300. Therefore, a second avoidance groove 212 is provided on the lower wall of the grip portion 210. The second avoidance groove 212 is used to avoid the cable 340 of the operating handle 300 so that one end of the operating handle 300 can be smoothly installed on the grip portion 210. It should be noted that the positions of the first avoidance groove 211 and the second avoidance groove 212 can be set according to actual conditions. For example, the first avoidance groove 211 can also be on the lower wall, and the second avoidance groove 212 can also be on the side wall.

[0045] 5 and 6 , in an embodiment of the present disclosure, the mounting structure 200 includes a protective cover 220. The protective cover 220 can be made of a flexible material, such as rubber, silicone, etc., to play a protective role. The protective cover 220 is formed with a housing cavity 221. The housing cavity 221 has an opening facing forward. The tablet computer 100 is disposed in the housing cavity 221. The screen of the tablet computer 100 is exposed at the opening, making it convenient for the operator to touch and operate the tablet computer 100. The protective cover 220 is used to reduce the risk of damage to the tablet computer 100 when it is bumped. For example, the protective cover 220 is mounted on all four edges of the tablet computer 100, effectively reducing friction damage to the edges of the tablet computer 100. In order to further improve the protective effect, after the tablet computer 100 is installed on the protective cover 220, a transparent structure such as protective glass can be provided at the opening.

[0046] 6 and 7 , in an embodiment of the present disclosure, the mounting structure 200 further includes a support plate 230, which is disposed within the accommodating cavity 221 and between the protective sleeve 220 and the tablet computer 100, with the tablet computer 100 and the support plate 230 abutting against each other. The gripping portion 210 is fixedly disposed on the side of the support plate 230 facing away from the tablet computer 100, and the bottom wall of the protective sleeve 220 is provided with an escape hole 224, which is used to avoid the gripping portion 210. It is understood that the support plate 230 abuts against the tablet computer 100, and can support the tablet computer 100, making it easier for the operator to grip the tablet computer 100 through the gripping portion 210, thereby preventing the gripping portion 210 from becoming loose, misaligned, or offset.

[0047] 6 and 7 , in the embodiment of the present disclosure, the protective cover 220 has a mating surface 222 that contacts and mates with the back of the tablet computer 100. The mating surface 222 is provided with a mounting groove 223, and the support plate 230 is disposed within the mounting groove 223. The placement of the support plate 230 within the mounting groove 223 limits the displacement of the support plate 230 in the left-right and up-down directions. When the tablet computer 100 is mounted in the accommodating cavity 221, the protective cover 220 and the tablet computer 100 cooperate to limit the displacement of the support plate 230 in the front-back direction.

[0048] The method of limiting the position of the support plate 230 can be achieved by fixing the support plate 230 to the protective sleeve 220. For example, as shown in Figure 7, in the embodiment of the present disclosure, the support plate 230 is provided with a limiting hole 231, and the limiting hole 231 can be multiple, and the multiple limiting holes 231 are arranged around the circumference of the support plate 230; the protective sleeve 220 is provided with a limiting protrusion 225 at the corresponding position, and the number of the limiting protrusions 225 corresponds to the limiting holes 231. And the limiting protrusion 225 is snapped into the limiting hole 231, thereby limiting the displacement of the support plate 230 in the front and rear directions. It should be noted that in another embodiment, the support plate 230 can also be provided with a limiting protrusion 225, and the protective sleeve 220 can be provided with a limiting hole 231. The appropriate solution can be selected according to the actual situation.

[0049] It should also be noted that the solution of providing the mounting groove 223 on the protective sleeve 220 can be used in combination with the solution of providing the support plate 230 with a limiting hole 231 or a limiting protrusion 225, thereby further improving the stability of the connection of the support plate 230 and effectively reducing the risk of the support plate 230 loosening and falling off.

[0050] As shown in Figure 8, in the embodiment of the present disclosure, the grip portion 210 can be connected to the support plate 230 using fasteners such as screws and bolts. This can be achieved through split injection molding, reducing manufacturing complexity. Of course, the grip portion 210 and support plate 230 can also be connected through hot melt connection, one-piece molding, or other methods. This approach enhances the overall aesthetics of the mounting structure 200 and provides a more stable connection. The one-piece molding method also reduces assembly steps and improves production efficiency.

[0051] 1 and 2 , in an embodiment of the present disclosure, the tablet computer 100 can be electrically connected to the operating handle 300 via a data cable 350 to achieve wired data transmission. The data cable 350 can be of Type-C type. It should be noted that in order to guide the routing of the data cable 350, two harness portions 226 are provided at intervals along the periphery of the protective cover 220. The data cable 350 is clipped onto the two harness portions 226, so that the routing of the data cable 350 is reasonable and aesthetically pleasing, without affecting the operator's use. Of course, the harness portions 226 can also be of other numbers, such as one, three, four, and so on.

[0052] The present disclosure discloses a robot, such as an industrial robot, comprising the teaching device 1000 of the above embodiment. The robot of the present disclosure employs the teaching device 1000 of the above embodiment. The back of the mounting structure 200 of the teaching device 1000 is provided with a grip portion 210, and the mounting structure 200 is capable of connecting to a control device. An operating handle 300 is provided with an emergency stop switch 310 and an enable switch 320. The operating handle 300 can be mounted on the grip portion 210, enabling the operating handle 300 to be used in combination with the control device, or removed from the grip portion 210 and used alone. When the operating handle 300 is mounted on the grip portion 210, the enable switch 320 is exposed from the grip portion 210, allowing the operator to conveniently control the enable switch 320 while holding the grip portion 210, resulting in a rational structural design. The portion of the operating handle 300 protruding from the mounting structure 200 is provided with an emergency stop switch 310, making it easier for the operator to press the emergency stop switch 310 in an emergency. For example, the two handles can be used together to control the robot to perform complex operations; the operating handle 300 can be used alone to perform basic operations such as power on, power on and off, and enable and disable. This can meet the different needs of operators, provide high flexibility, and improve the user experience.

[0053] Since the robot adopts all the technical solutions of the teaching device 1000 of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be repeated here.

[0054] The embodiments of the present disclosure are described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present disclosure. Industrial Applicability

[0055] The solution provided by the embodiment of the present disclosure can be applied to the field of robotics. In the embodiment of the present disclosure, a grip portion is provided on the back of the mounting structure of the teaching device, and the mounting structure can be connected to the control device. The operating handle is provided with an emergency stop switch and an enable switch, and the operating handle can be installed on the grip portion to realize the combined use of the operating handle and the control device, or it can be removed from the grip portion and the operating handle can be used alone. When the operating handle is installed on the grip portion, the enable switch is exposed on the grip portion, so the operator can also conveniently control the enable switch while holding the grip portion, and the structural design is reasonable. The part of the operating handle protruding from the mounting structure is provided with an emergency stop switch, which is convenient for the operator to press the emergency stop switch in an emergency. For example, when it is necessary to control the robot to perform complex operations, they can be used in combination; for basic operations such as starting up, powering on and off, and enabling and disabling, the operating handle can be used alone. Therefore, it can meet the different usage needs of the operator and improve the user experience.

Claims

1. A teaching device, characterized in that: include: A mounting structure, used to connect with the control device, and a grip portion is provided on the back of the mounting structure; An operating handle is provided with an emergency stop switch and an enabling switch. The operating handle can be detachably mounted on the grip portion. When the operating handle is mounted on the grip portion, the enabling switch is exposed on the grip portion, and part of the structure of the operating handle protrudes from the mounting structure. The emergency stop switch is located at the part of the structure of the operating handle protruding from the mounting structure.

2. The teaching device according to claim 1, characterized in that: The operating handle is provided with an interactive component. When the operating handle is installed on the gripping portion, at least one of the mounting structure and the gripping portion shields the interactive component.

3. The teaching device according to claim 2, characterized in that: The interactive component and the emergency stop switch are both located on the same side wall of the operating handle. When the operating handle is installed on the gripping portion, the mounting structure shields the interactive component.

4. The teaching device according to claim 1, characterized in that: The gripping portion is located in the middle of the mounting structure along the left-right direction.

5. The teaching device according to claim 1, characterized in that: The mounting structure comprises a protective sleeve, and the protective sleeve is formed with a receiving cavity for mounting the control device.

6. The teaching device according to claim 5, characterized in that: The bottom wall of the accommodating cavity is provided with a mounting groove, and the mounting structure further comprises a support plate, which is arranged in the mounting groove and connected to the holding portion.

7. The teaching device according to claim 6, characterized in that: The teaching device further comprises a control device, which is installed in the accommodating cavity and abuts against the support plate.

8. The teaching device according to claim 6, characterized in that: The support plate is provided with one of a limiting hole and a limiting convex portion, the protective sleeve is provided with the other of the limiting hole and the limiting convex portion, and the limiting convex portion is clamped in the limiting hole.

9. The teaching device according to claim 1, characterized in that: The side wall of the grip portion is provided with a first avoidance groove, and the first avoidance groove is used to avoid the enabling switch.

10. The teaching device according to claim 1, characterized in that: One end of the operating handle is provided with a cable, and one end of the operating handle provided with the cable can be inserted into the gripping portion. The gripping portion is provided with a second avoidance groove, and the second avoidance groove is used to avoid the cable.

11. A robot, characterized in that: The invention comprises a teaching device as claimed in any one of claims 1 to 10.

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