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Teaching rocker, robot teaching method and robot control system

A robot and teaching technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as changing positions

Active Publication Date: 2019-06-25
合肥欣奕华智能机器股份有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the operating device for the robot is fixed on the arm of the industrial robot, so that the operation of the control device for the industrial robot is carried out in a fixed coordinate system, which makes it difficult to control the robot with the operating device for the robot under the constraints of the robot. Workers need to change location

Method used

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  • Teaching rocker, robot teaching method and robot control system
  • Teaching rocker, robot teaching method and robot control system
  • Teaching rocker, robot teaching method and robot control system

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Embodiment Construction

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0035] In the field of industrial robots, there are two important coordinate systems, namely the joint coordinate system and the world coordinate system. The joint coordinate system has six degrees of freedom to represent the six movements of the joint. The joint coordinate system is the coordinate system set in the joints of the industrial robot. The position and posture of the industrial robot in the joint coordinate system are based on the joints on the base side...

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Abstract

The invention discloses a teaching rocker, a robot teaching method and a robot control system, and relates to the technical field of industrial robot control. A process of operating a teaching deviceby an operator is simplified. A handle of the teaching rocker is provided with a finger slot, a start button and a calibration button; a storage unit stores teaching rocker calibration coordinate information when a teaching rocker coordinate system is coincident with a robot world coordinate system; a processing unit obtains coordinate conversion parameter information according to current teachingrocker coordinate information and teaching rocker calibration coordinate information when teaching motion is finished; and robot moving direction teaching information on first, second and third coordinate axes of the world coordinate system is obtained according to information collected by a first sensing component and a second sensing component and the coordinate conversion parameter information. The teaching rocker is applied to the robot teaching method. The teaching rocker, the robot teaching method and the robot control system are used in teaching of a robot control system to the robot.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, in particular to a teaching rocker, a robot teaching method, and a robot control system. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and rely on its own power and control capabilities to achieve various functions. [0003] The common industrial robot is a six-degree-of-freedom industrial robot, which is commanded by the teach pendant to realize the teaching operation of the industrial robot, but the operator controls the movement of the industrial robot by pressing the operation buttons of each degree of freedom on the teach pendant Therefore, the operator needs to confirm whether the pressed operation button is correct before pressing the operation button each time, which makes the process for the operator to operate the teaching pendant more...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/02B25J9/22B25J9/16
Inventor 孙毅王松柏王广炎
Owner 合肥欣奕华智能机器股份有限公司
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