Six-connecting-rod teaching device of six-axis robot

Abstract

The invention provides a six-connecting-rod teaching device of a six-axis robot, and belongs to the technical field of robots. The problem that existing robot teaching operation is complex and long in consumed time is solved. The six-connecting-rod teaching device of the six-axis robot comprises a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and six encoders, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are sequentially connected end to end, and the six encoders are arranged on the connecting portion of an executing end and the sixth connecting rod, the connecting portion of the sixth connecting rod and the fifth connecting rod, the connecting portion of the fifth connecting rod and the fourth connecting rod, the connecting portion of the fourth connecting rod and the third connecting rod, the connecting portion of the third connecting rod and the second connecting rod and the connecting portion of the second connecting rod and the first connecting rod respectively. The device can carry out teaching by being separated from the robot, more labor is saved in operation, and the device is more convenient to operate.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a teaching tool for a robot, in particular to a teaching device for a six-bar linkage of a six-axis robot. Background technique [0002] With the continuous development of the field of machining, the use of multi-joint robots to replace workers for automated processing is getting higher and higher. The pendant for the robot to complete the task lies in how to make the various working parts of the robot to complete the movement according to the specified trajectory and coordinates. , pause, turn and other actions, these actions can only be realized by the programming engineer through programming through the teaching box. The existing programming methods mainly have the following forms: 1. Online teaching programming: On the robot site, the operator can handle it by hand or Use the teaching box to guide the robot terminal to move according to the working trajectory, and record the joi...

AI Technical Summary

Problems solved by technology

The above-mentioned operations require programming engineers to have high knowledge and special training to be competent, which makes the position of programming engineers highly dependent and the operation is not intuitive enough, but once the program obtained by programming deviates from the actual operation process , it is very inconvenient to modify the program after setting, and the workload is heavy

Therefore, it is also possible to manually directly drag the robot to teach, but because the teaching process is cumbersome, the time occupied by the robot is often longer, and it usually takes 1 to 2 working days to complete a specific operation, which affects work efficiency. When guiding the robot to move, due to the influence of the motor and deceleration mechanism inside each joint of the robot, it is often difficult to drag due to excessive resistance during operation. If the force is too large, it is easy to cause damage to the joints or internal parts of the robot.

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