Method and device for robotic direct lead-through teaching
A robot and strength technology, applied in the direction of robots, instruments, manipulators, etc., can solve problems such as collisions, different operating language formats, and risks
Active Publication Date: 2017-11-10
IND TECH RES INST
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Problems solved by technology
Especially if the operator is not familiar with the operation, there is a risk that the robot will collide with nearby objects or the operator itself due to incorrect operation
[0004] In addition, robots occupy a very important place in the automated production industry, and robot teaching is a very important key to control production automation. Robot teaching refers to setting a robot with a memory device. Action program, position and speed, the robot can rely on Set the information of the memory device, and repeat compound actions such as stretching, flexing, moving up and down, moving left and right, and rotating actions to achieve the sequential control of the actions required by the user. Therefore, the importance of robots to industrial production is unquestionable, but according to At present, the systems designed by the existing robot operating systems are all good and bad, and their operating language formats are different, and they lack a dynamic simulation system to check the correctness of the control operation, and because the operation of the robot must be operated on the computer keyboard, this will cause problems. Operator Inconvenience
Method used
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[0051] The specific implementation manner of the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The following examples are only used to illustrate the technical solutions of the present invention more clearly, but not to limit the protection scope of the present invention.
[0052] figure 1 It is a schematic diagram of the intuitive guiding device used in the robot according to the present invention. figure 2 It is a schematic diagram of a force guiding element according to an embodiment of the present invention. Please see first figure 1 . In this embodiment, the intuitive force guiding device 50 for a robot includes a robot 50A and a force guiding element 100 .
[0053] exist figure 1 Among them, the robot 50A is, for example, the form of a mechanical arm, but the present invention is not limited thereto. The robot 50A itself includes an operating element 51, a base 52, a first rotating element 53, a sec...
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The invention discloses a method and device for robotic direct lead-through teaching. The device includes a robot, a replacing member and a lead-through teaching member. The robot has an operation member coupled with the replacing member. The lead-through teaching member is mounted replaceably at the replacing member. The lead-through teaching member has a force sensor. The force sensor has six-axis load information. A path teaching is executed upon the operation member of the robot so as to store coordinate information.
Description
technical field [0001] The invention relates to a force guiding method and its device, and in particular to an intuitive force guiding method and its device for a robot. Background technique [0002] The robot takes the desired position and direction by manpower operation, thus teaching the robot the position and direction at this time (teaching repetition method). This traditionally most commonly used method is to operate the operation keys (steering movement keys) provided in the control panel, and teach the robot control unit through the control of the operation keys. [0003] However, this method needs to designate the moving direction of the robot by selectively using a plurality of operation keys corresponding to the coordinate axes (for example: the X axis, the Y axis, and the Z axis of the basic coordinate system of the robot). ). It takes a long time to memorize the corresponding relationship between these operation keys and the robot operation direction. Especia...
Claims
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IPC IPC(8): B25J9/18B25J9/10
CPCB25J9/10B25J9/1633B25J13/085G05B19/423G05B2219/36418G05B2219/39529G05B2219/40586Y10S901/03Y10S901/46B25J9/1664
Inventor 仲维德王俊杰谢秉澄胡晓
Owner IND TECH RES INST