Separating type robot dragging and demonstrating handle and demonstrating method thereof

Abstract

The invention relates to a separating type robot dragging and demonstrating handle and a demonstrating method thereof. The defects that in the prior art, a force / torque sensor is high in cost and poor in demonstrating effect and a handle is small in movable space are overcome. The separating type robot dragging and demonstrating handle comprises a handle body. A rocker for inputting a motion locus expected by a demonstrating operator is arranged on the handle body. The output end of the rocker is connected with a sensor for converting mechanical motions into analog quantity electric signals. The output end of the sensor is connected with an analog-digital conversion ADC module for converting the analog quantity electric signals into digital quantity signals. The output end of the ADC module is connected with a communication module for achieving data exchange between the handle and an upper computer. The separating type robot dragging and demonstrating handle is large in operable space, and the operation process of the operator is quite visual; after demonstration is finished, the handle can be moved away, and the separating type is achieved, so that the demonstrating handle is used for dragging and demonstrating of multiple robots, and the cost is lowered.

Description

technical field [0001] The invention relates to a robot drag teaching handle and a teaching method thereof, in particular to a separate robot drag teaching handle and a teaching method thereof, and belongs to the technical field of robot teaching equipment and teaching methods thereof. Background technique [0002] In order to better meet the needs of future industrial applications, robots need to have better flexibility and openness, and have programmable functions with friendly human-computer interaction functions. The robot teaching system is one of the important technologies. [0003] At present, the more commonly used robot teaching method is drag teaching, relying on the operator to observe the pose of the robot end effector relative to the work object, and drag the robot to move along the work path through the operation of the teaching pendant. During the dragging process, the computer collects and records the motion data of each joint, so as to obtain the robot's wor...

AI Technical Summary

Problems solved by technology

[0005] The invention aims to solve the deficiencies in the prior art of high cost of force / torque sensors, poor teaching effect, and small movable space of the handle, and provides a separate robot dragging device with low cost, intuitive and reliable teaching effect, and large moving space of the handle. Teaching handle and its teaching method

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