CN108638077A - A kind of robot teaching handle - Google Patents

Abstract

A teaching handle for a robot, including a base, on which are provided a power supply interface, a signal transmitter interface, a signal receiver interface, a three-speed switch, a driver interface, a motor forward rotation button, a motor reverse rotation button, and a play button . A recording button and a sensor interface, the sensor interface is a four-pin interface, and the four-pin interface includes an enable P2 interface, a signal P1 interface, a vcc interface and a gnd interface arranged horizontally or vertically in sequence. Compared with the prior art, the robot teaching handle provided by the present invention has the following advantages: the sensor interface in the present invention has a simple structure, and can realize the plug-and-play effect during specific use, which greatly shortens the debugging time of the robot. Very suitable for novices to use.

Description

A robot teaching handle

technical field

The invention relates to a teaching handle, in particular to a robot teaching handle.

Background technique

With the increasing development of my country's economic level, the proportion of industrial output value continues to rise, resulting in the application of industrial automation production is becoming more and more extensive, and more and more industrial robots are used in production. The operability and debugging convenience of these industrial robots in the production process have become one of the problems that need to be solved urgently. At present, teaching pendants are mostly used for related operations and debugging of industrial robots. The teaching pendant is an important part of the robot control system. The operator performs manual teaching through the teaching pendant, controls the robot to complete different actions, and records the coordinates of each action point. It can be said that the teaching pendant is the brain of man-machine dialogue . At present, the conventional teaching pendant has the following problems: the adaptation rate of the teaching pendant is low. Generally, each brand of robot has its own control system to match the teaching pendant, and there are many sockets on the teaching pendant, such as A separate motor socket, a separate steering gear socket, and the sensor sockets on the existing teach pendant are mostly three-pin sockets. The sensors on the robot need to be matched with them, and the matching process needs to be manually operated, which takes a long time to debug. Especially not suitable for novices.

Usually programming robot equipment can only be used after the upper computer is equipped with sensors, which is troublesome and difficult to operate. The robot program is usually a program such as which command the robot runs if the sensor detects a certain signal. So we separate the program to be run by the robot and record it to the controller in the form of handle teaching, which can be triggered by different sensor ports. Which signal needs to be detected by which sensor is realized by the choice of sensor hardware. Which port calls which command is determined by which port the sensor is plugged into. Usually, sensors are divided into two usages, one is to interrupt the current program, and the other is not to interrupt the current program.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the deficiencies of the above-mentioned prior art, and provide a robot teaching handle with a simple structure and a wide application range of buttons and interfaces.

According to the main technical scheme adopted by the robot teaching handle provided by the present invention, it includes a base, and the base is provided with a power interface, a signal transmitter interface, a signal receiver interface, a three-speed switch, a driver interface, and a forward rotation of the motor. Button, motor reverse button, play button, record button and sensor interface, the sensor interface is a four-pin interface, and the four-pin interface includes enabling P2 interface, signal P1 interface, vcc interface and gnd interface.

The robot teaching handle provided by the present invention also adopts the following subsidiary technical solutions:

The driver interface includes a first group of driver interfaces and a second group of driver interfaces with the same structure, and the first group of driver interfaces includes a first interface, a second interface, a third interface, a fourth interface, a fifth interface and a sixth interface. Interface; the first interface, the third interface and the fifth interface are vertically arranged to form the first servo interface, and the second interface, the fourth interface and the sixth interface are vertically arranged to form The second servo interface; the first interface and the second interface are arranged horizontally to form a first motor interface, and the first interface and the third interface are arranged vertically to form a second motor interface, and the second interface is arranged vertically to form a second motor interface. The interface and the fourth interface are vertically arranged to form a third motor interface.

The motor reversing button includes a first motor reversing button and a second motor reversing button, the first motor reversing button is located on the left edge of the base, and the second motor reversing button is located on the base The right end edge of the seat; the motor forward rotation button includes a first motor forward rotation button and a second motor forward rotation button, the first motor forward rotation button is located above the first motor reverse rotation button, and the second motor The forward rotation button is located above the reverse rotation button of the second motor.

The play button includes a first play button and a second play button, the first play button is located on the right side of the first motor reverse button, and the second play button is located on the right side of the second motor reverse button On the left side: the record button includes a first record button and a second record button, the first record button is located above the first play button, and the second record button is located above the second play button.

The first group of driver interfaces is located above the first motor forward rotation button, and the second group of driver interfaces is located above the second motor forward rotation button.

The sensor interface includes a first sensor interface and a second sensor interface, the first sensor interface is located on the right side of the first group of driver interfaces, and the second sensor interface is located on the left side of the second group of driver interfaces.

The power interface is located in the middle of the bottom edge of the base, and the three-position switch is located on the right side of the power interface.

It also includes a serial port, and the serial port is located above or on the left side of the power supply port.

The signal receiver interface is located on the left side of the power supply interface, and the signal transmitter interface is located between the first sensor interface and the second sensor interface.

It also includes a base, the base is arranged on the base, and the base is provided with a plurality of fixing holes.

A first sensor interface indicator light is provided below the first sensor interface, and a second sensor interface indicator light is provided below the second sensor interface.

A first driver interface indicator light is provided on the right side of the first group of driver interfaces, and a second driver interface indicator light is provided on the left side of the second group of driver interfaces.

It also includes an indicator light of the power interface, and the indicator light of the power interface is located on the left side or above the power interface.

Compared with the prior art, the robot teaching handle provided by the present invention has the following advantages: First, the present invention adds an interface to realize whether to interrupt the program through the sensor interface, that is, the P2 interface. When used in teaching, children do not need to understand The operation of the program, even if you don’t know how to program, according to the usual thinking habits, you can quickly realize the writing of the robot program and the realization of the basic intelligent functions. The sensor interface in the present invention has a simple structure and can realize plug-and-play in specific use. The effect greatly shortens the debugging time of the robot, which is very suitable for novices; secondly, the driver interface in the present invention is suitable for robots with various structures, and the combination of different forms and numbers of multiple interfaces constitutes different functions. The interface, that is, the motor interface and the steering gear interface can be partially shared, and there is no need to set up a separate motor interface and a separate steering gear. The number of steering gears is better than that of the prior art, which greatly improves the scope of application of the present invention, simplifies the layout structure of the interface, reduces the production cost, and reduces the misconnection rate.

Description of drawings

Fig. 1 is a structural schematic diagram of a robot teaching handle of the present invention.

Detailed ways

Referring to Fig. 1, according to the embodiment of the robot teaching handle provided by the present invention, it includes a base 1, and the base 1 is provided with a power supply interface 2, a signal transmitter interface 9, a signal receiver interface 10, a three-speed switch 3, Driver interface, motor forward rotation button, motor reverse button, play button, recording button and sensor interface, the sensor interface is a four-pin interface, and the four-pin interface includes enabling P2 interfaces 801, which are arranged horizontally or vertically in sequence, Signal P1 interface 802 , vcc interface 803 and gnd interface 804 . The four-pin interface in this embodiment is an enabling P2 interface 801 , a signal P1 interface 802 , a vcc interface 803 and a gnd interface 804 arranged horizontally in sequence. The present invention adds an interface on the sensor interface to realize whether to interrupt the program, that is, the P2 interface 801. When used in teaching, children do not need to understand the operation of the program. Even if they do not know how to program, they can quickly realize the robot according to the usual thinking habits. The programming of the program and the realization of basic intelligent functions, the sensor interface of this structure is simple in structure, and can realize the plug-and-play effect in actual use, which greatly shortens the debugging time of the robot, and is very suitable for novices.

1, according to the above-mentioned embodiment of the present invention, the driver interface includes a first group of driver interfaces 71 and a second group of driver interfaces 72 with the same structure, and the first group of driver interfaces 71 includes a first interface 701, a second The interface 702, the third interface 703, the fourth interface 704, the fifth interface 705 and the sixth interface 706; the first interface 701, the third interface 703 and the fifth interface 705 are arranged longitudinally to form the first rudder Machine interface, the second interface 702, the fourth interface 704 and the sixth interface 706 are arranged vertically to form the second servo interface; the first interface 701 and the second interface 702 are arranged horizontally to form The first motor interface, the first interface 701 and the third interface 703 are arranged longitudinally to form the second motor interface, which can control the motor to run in one direction, and the second interface 702 and the fourth interface 704 are arranged longitudinally Constitute the third motor interface, which can control the motor to run in one direction. The structure of the second group of driver interfaces 72 is exactly the same as that of the first group of driver interfaces, and will not be described in detail here. When the above-mentioned interface is used as a motor interface, the first interface 701 and the second interface 702 can be switched to positive and negative according to the instructions of the single-chip microcomputer to control the rotation of the motor; when the above-mentioned interface is used as a servo interface, the first interface 701 and the second The interface 702 is the signal line interface of the steering gear, the third interface 703 and the fourth interface 704 are the vcc interface of the steering gear, the fifth interface 705 and the sixth interface 706 are the gnd interface of the steering gear. The driver interface of this structure is suitable for robots with various structures, and interfaces with different functions are formed through the combination of different forms and numbers of multiple interfaces, that is, the motor interface and the servo interface can be partially shared, and there is no need to set up a separate motor The interface and the independent steering gear are reliable. Compared with the prior art, under the same number of interfaces, the present invention is superior to the prior art in terms of the number of connected motors and the number of connected steering gears, greatly improving the scope of application of the present invention , which simplifies the layout structure of the interface, reduces the production cost, and reduces the misconnection rate.

Referring to FIG. 1 , according to the above-mentioned embodiment of the present invention, the motor reversing button includes a first motor reversing button 43 and a second motor reversing button 44, and the first motor reversing button 43 is located on the base 1 The left edge of the left end, the second motor reverse button 44 is located at the right edge of the base 1; the motor forward button includes the first motor forward button 41 and the second motor forward button 42, the first The motor forward rotation button 41 is located above the first motor reverse rotation button 43 , and the second motor forward rotation button 42 is located above the second motor reverse rotation button 44 . This kind of layout structure is easy to operate and has high programming efficiency.

Referring to Fig. 1, according to the above-mentioned embodiment of the present invention, the play button includes a first play button 51 and a second play button 52, the first play button 51 is located on the right side of the first motor reverse button 43, The second play button 52 is located on the left side of the second motor reverse button 44; the record button includes a first record button 61 and a second record button 62, and the first record button 61 is located at the first Above the play button 51 , the second record button 62 is located above the second play button 52 . This kind of layout structure is easy to operate and has high programming efficiency.

Referring to FIG. 1 , according to the above-mentioned embodiment of the present invention, the first group of driver interfaces 71 is located above the first motor forward rotation button 41 , and the second group of driver interfaces 72 is located above the second motor forward rotation button 42 above. It can effectively prevent the line connected to the driver interface from interfering with the operation button, and is easy to operate and high in programming efficiency.

1, according to the above-mentioned embodiment of the present invention, the sensor interface includes a first sensor interface 81 and a second sensor interface 82, the first sensor interface 81 is located on the right side of the first group of driver interfaces 71, the The second sensor interface 82 is located on the left side of the second group of driver interfaces 72 .

Referring to FIG. 1 , according to the above-mentioned embodiment of the present invention, a serial interface 83 is also included, and the serial interface 83 is located above or on the left side of the power interface 2 . In this embodiment, preferably, the serial interface 83 is located above the power interface 2 .

Referring to FIG. 1 , according to the above-mentioned embodiment of the present invention, the power interface 2 is located in the middle of the bottom edge of the base 1 , and the three-position switch 3 is located on the right side of the power interface 2 .

Referring to FIG. 1 , according to the above-mentioned embodiment of the present invention, the signal receiver interface 10 is located on the left side of the power supply interface 2, and the signal transmitter interface 9 is located at the first sensor interface 81 and the second sensor interface. Between 82 interfaces.

According to the above-mentioned embodiment of the present invention, it also includes a base, the base 1 is arranged on the base, and a plurality of fixing holes are provided on the base. During specific use, the present invention can be fixed, and the operation is more convenient and quick.

Referring to FIG. 1 , according to the above-mentioned embodiment of the present invention, a first sensor interface indicator light 811 is provided below the first sensor interface 81 , and a second sensor interface indicator light 821 is provided below the second sensor interface 82 . A first driver interface indicator 711 is provided on the right side of the first group of driver interfaces 71 , and a second driver interface indicator 721 is provided on the left side of the second group of driver interfaces 72 . It also includes a power interface indicator light 21 , and the power interface indicator light 21 is located on the left side or above the power interface 2 . In this embodiment, it is preferred that the indicator light 21 of the power interface is located above the power interface 2 . The setting of the above-mentioned various indicator lights is convenient for judging whether the matching interface is connected correctly, and whether the connection is reliable, and the operation is more convenient and more reliable.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. a kind of robot teaching handle, including pedestal, the pedestal is equipped with power interface, signal projector interface, signal Receiver interface, three position switch, driver interface, motor rotate forward button, motor reversal button, broadcasting button, record button and Sensor interface, it is characterised in that：The sensor interface is four needle interfaces, and four needle interface includes enabled P2 interfaces, letter Number P1 interfaces, vcc interfaces and gnd interfaces.

2. robot teaching handle according to claim 1, it is characterised in that：The driver interface includes that structure is identical The first set drive interface and the second set drive interface, the first set drive interface includes first interface, second connects Mouth, third interface, the 4th interface, the 5th interface and the 6th interface；The first interface, the third interface and the described 5th connect Mouth constitutes the first steering engine interface in longitudinal arrangement, and the second interface, the 4th interface and the 6th interface are in longitudinal row Row constitute the second steering engine interface；The first interface and the second interface are in transversely arranged composition first motor interface, described First interface and the third interface constitute the second motor interface in longitudinal arrangement, and the second interface and the 4th interface are in Longitudinal arrangement constitutes third motor interface.

3. robot teaching handle according to claim 2, it is characterised in that：The motor reversal button includes the first electricity Machine reverse button and the second motor reversal button, the first motor reverse button is located at the left end edge of the pedestal, described Second motor reversal button is located at the right end edge of the pedestal；The motor rotate forward button include first motor rotate forward button and Second motor rotates forward button, and the first motor rotates forward button and is located above the first motor reverse button, second electricity Machine rotates forward button and is located at the second motor reversal keys upwards.

4. robot teaching handle according to claim 3, it is characterised in that：The broadcasting button includes that the first broadcasting is pressed Key and the second broadcasting button, first broadcasting button are located at the right side of the first motor reverse button, and described second plays Button is located at the left side of the second motor reversal button；The recording button includes that the first recording button and the second recording are pressed Key, the first recording button are located above first broadcasting button, and described second, which records button, is located at second broadcasting Keys upwards.

5. robot teaching handle according to claim 3, it is characterised in that：The first set drive interface is located at institute It states first motor and rotates forward keys upwards, the second set drive interface is located at second motor and rotates forward keys upwards.

6. robot teaching handle according to claim 5, it is characterised in that：The sensor interface includes the first sensing Device interface and second sensor interface, the first sensor interface are located on the right side of the first set drive interface, and described the Two sensor interfaces are located on the left of the second set drive interface.

7. robot teaching handle according to claim 6, it is characterised in that：The power interface is located at the pedestal In the middle part of bottom edge, three position switch is located at the right side of the power interface.

8. robot teaching handle according to claim 7, it is characterised in that：Further include serial interface, the serial ports connects Mouth is located at the top or left side of the power interface.

9. robot teaching handle according to claim 7, it is characterised in that：The signal receiver interface is located at described The left side of power interface, the signal projector interface be located at the first sensor interface and the second sensor interface it Between.

10. robot teaching handle according to claim 1, it is characterised in that：It is set below the first sensor interface There is first sensor interface indicator, second sensor interface indicator is equipped with below the second sensor interface.