Offline programming teaching device and method based on teaching robot

Abstract

The invention relates to the field of robots, in particular to an off-line programming teaching device and method based on a teaching robot, and the device comprises a working environment simulation disc which comprises a disc body, a plurality of installation seats are fixedly connected to the disc body, and a placement platform is arranged at the top of the disc body; the teaching mechanism comprises a base, the base is detachably connected with the mounting base, a robot simulator is arranged on the base, and a sensing assembly is arranged on the robot simulator; the workpiece simulator comprises a machine body, an inertial sensor and a gyroscope are arranged in the machine body, a plurality of pressure recognition nodes are arranged on the outer surface of the machine body, and the simulation module is used for constructing a simulation environment and further used for adjusting the action track of the virtual robot based on a preset workpiece model and the pressed coordinates and converting the action track of the virtual robot to output a compiling program. By the adoption of the technical scheme, virtual simulation and manual traction can be combined, construction of the working environment is reduced, and meanwhile the operation precision of the robot is improved.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to an off-line programming teaching device and method based on a teaching robot. Background Art

[0002] Traditional robot programming mainly relies on manual teaching, that is, the operator controls the robot to move to a predetermined position through a teach pendant and records the position information so that the robot can automatically repeat the task. However, with the expansion of robot application areas, traditional teaching programming is inefficient in some situations. Therefore, offline programming technology came into being.

[0003] Offline programming allows the operator to build a three-dimensional virtual working environment for the robot in the programming software, perform trajectory planning and simulation, and finally generate an execution program to transmit to the robot. This method reduces robot downtime, improves the programming environment, and can be widely used in various robot brands to achieve optimized programming and programming of complex tasks. At the same time, it can intuitively observe and correct errors in the robot's working process. However, the working environment requires a lot of time to model, so the efficiency is relatively low.

[0004] In the prior art, for example, patent publication number CN100581753C discloses a teaching method for an offline teaching device of a glazing robot, which constructs a teaching mechanism with the same degrees of freedom, the same type and number of hinges, the same mechanism size and the same workspace as the actual glazing robot, and is manually pulled by a staff member, and the parameters of each joint are recorded to generate a control code to complete offline programming. Patent publication number CN104552300B optimizes it on this basis, additionally adds a damper, and constructs a mapping relationship between the teaching mechanism and different types of robots, so that the teaching mechanism does not need to be structurally consistent with the actual machine in use.

[0005] Although the teaching mechanism can be set up to directly restore the working environment without complex modeling, the teaching mechanism is only an empty shell and has no drive structure, which only relies on manual traction by workers. However, human hands cannot achieve the precision of the robot. Too low precision will lead to reduced fault tolerance and poor adaptability in processing, which will increase the defective rate in actual production. Summary of the invention

[0006] To solve the above problems, the present invention provides an offline programming teaching device and method based on a teaching robot, which can combine virtual simulation with manual traction to reduce the construction of the working environment while improving the operating accuracy of the robot.

[0007] In order to achieve the above object, the technical solution of the present invention is as follows: an offline programming teaching device based on a teaching robot, comprising:

[0008] Working environment simulation disk: including a disk body, on which a plurality of mounting seats are fixedly connected, and a placement platform is provided on the top of the disk body, and the placement platform is used to construct the working environment;

[0009] Teaching mechanism: comprising a base, the base is detachably connected to the mounting base, a robot simulator is arranged on the base, a sensor component is arranged on the robot simulator, the robot simulator is used to simulate the robot action by applying an external force, and the sensor component is used to detect the posture information of the robot simulator when it is in action;

[0010] Workpiece simulator: including a machine body, in which an inertial sensor and a gyroscope are arranged, the inertial sensor and the gyroscope are used to collect the movement and rotation information of the machine body in space, and a plurality of pressure identification nodes are arranged on the outer surface of the machine body, the pressure identification nodes are used to detect the pressure coordinates on the machine body;

[0011] Simulation module: used to build a simulation environment, which includes a three-dimensional coordinate system that maps the working environment simulation disk, a virtual robot and a virtual workpiece. The position of the virtual robot in the three-dimensional coordinate system is the coordinate of the mapping mounting seat, and the position of the virtual workpiece coordinate in the three-dimensional coordinate system is located by obtaining the movement and rotation information of the body in space;

[0012] The simulation module is also used to import posture information and generate a virtual robot motion trajectory; the simulation module is also used to import a preset workpiece model at the virtual workpiece coordinates, the simulation module is also used to import pressure coordinates, and the simulation module is also used to adjust the virtual robot motion trajectory based on the preset workpiece model and pressure coordinates and convert the virtual robot motion trajectory output to compile a program.

[0013] The above scheme has the following beneficial effects:

[0014] 1. In this scheme, the convenience of manual traction and the accuracy of simulation are combined. The disadvantage of manual traction is low precision, while the disadvantage of simulation is that it is cumbersome to build a working environment model. The construction of a simulated working environment is mainly to prevent the robot from colliding with obstacles in the actual working environment. Manual traction can be used directly in the actual working environment, and the robot can be controlled to avoid obstacles through manual traction to quickly complete the obstacle avoidance design.

[0015] 2. In this solution, human hands cannot achieve the precision of robots. When interacting with workpieces, the position of each workpiece will have a slight offset in actual processing. If the robot's operating accuracy is not high enough, even if the operation can be completed in trial production, due to the slight offset in the position of each workpiece, the subsequent production will show a high defective rate due to the increase in the number of processing.

[0016] Therefore, the workpiece simulator is used to disassemble the teaching, and the obstacle avoidance part that does not require too high precision is generated based on manual traction, while the part with higher precision is aligned by the simulation module in the simulation environment.

[0017] The workpiece simulator is used to simulate the condition of the workpiece. Since further correction is required in the simulation module later, the workpiece simulator does not need to be consistent with the actual workpiece. It only needs to be similar in volume to minimize the amount of correction in subsequent corrections and reduce the probability of obstacle avoidance failure due to excessive correction.

[0018] 3. In this solution, the simulation module is also used to import the preset workpiece model at the virtual workpiece coordinates. The workpiece model can be imported with the virtual workpiece as a reference, and the pressure coordinates can be used as the contact points of the robot simulator. At the same time, it acts as a bridge for converting the three-dimensional coordinate system into a reference to the virtual workpiece, and corrections are performed based on the contact points to ensure that the robot can act accurately on the workpiece.

[0019] Furthermore, the body is in a cube shape.

[0020] Beneficial effects: The cube shape facilitates the deployment of pressure recognition nodes, and is also convenient for importing preset workpiece models and adjusting contact point positions.

[0021] Furthermore, a matching component is detachably connected to the bottom of the machine body, and the matching component is used to install the machine body in a working environment constructed by placing the platform.

[0022] Beneficial effects: Usually the workpiece is fixedly connected in the working environment. By installing corresponding matching parts on the machine body, the machine body can be matched with various working environments and replace the workpiece position in various working environments.

[0023] Furthermore, one side of the disk body is fixedly connected to a frame, a top wall of the frame is fixedly connected to a transverse plate, and a bottom of the transverse plate is fixedly connected to a plurality of mounting seats.

[0024] Beneficial effects: The robot operates by hoisting in special scenarios, and the horizontal board can provide a hoisting installation position to simulate more diverse situations.

[0025] Furthermore, the robot simulator comprises a plurality of joint arms which are connected in series in sequence, and adjustable dampers are arranged between the joint arms, and the adjustable dampers are used to adjust the rotation damping of the joint arms.

[0026] Beneficial effect: Since the robot simulator is pulled by the hand, the damping between the joint arms will affect the debugging feel, and the adjustable damper can configure the damping to adjust the damping between the joint arms to an appropriate range to optimize the operating experience.

[0027] Furthermore, the articulated arms are all provided with a telescopic structure, and the outer walls of the articulated arms are all detachably connected with simulation shells, which are used to simulate the appearance of robots of different models and brands.

[0028] Beneficial effects: The length and appearance of the mechanical arms of robots of different models and brands are different. The length of each joint arm can be adjusted through the telescopic structure, so as to be adjusted according to the actual robot model and brand. The detachable simulation shell can simulate the actual robot appearance, so that when performing manual traction, the collision volume can be effectively felt, which is convenient for obstacle collision judgment.

[0029] Furthermore, a functional head mounting frame is provided at the end of the articulated arm.

[0030] Beneficial effect: The robot relies on the functional head at the end to interact with the workpiece, so the functional head mounting frame can be used to install the functional head, which is more in line with actual application conditions and can replace the functional head according to different needs.

[0031] Furthermore, the model, brand, and function head parameters of the virtual robot in the simulation module are selected and imported through the preset model repository.

[0032] Beneficial effect: The virtual robot in the simulation module is directly imported through the preset model library, and the virtual robot model can be quickly constructed.

[0033] Furthermore, the simulation module is also used to store the virtual robot motion trajectory and compiled program, and the simulation module is also used to import multiple virtual robots and virtual workpieces to perform multi-robot joint operation simulation.

[0034] Beneficial effect: In actual operations, robots are used for joint operations of multiple robots. Through the storage function of the simulation module, multiple virtual robots can be imported into the simulation environment. The control logic of the virtual robots is imported in sequence using the robot simulator, and whether there is interference between the virtual robots in the simulation environment, thereby completing the simulation of joint operations of multiple robots using only one robot simulator.

[0035] An offline programming teaching method based on a teaching robot comprises the following steps:

[0036] Step 1: Place the equipment used in the actual working environment on the placement platform to build the working environment;

[0037] Select the installation position of the robot simulator according to the use requirements, and install the robot simulator to the corresponding mounting seat, adjust the length of each joint arm in the robot simulator through the telescopic structure, and select the simulation shell of the robot used in the actual working environment for installation, and install the function head on the robot simulator through the function head mounting frame;

[0038] Select matching components that match the working environment and install them on the bottom of the machine body, and install the machine body to a position corresponding to the actual workpiece in the working environment through the matching components;

[0039] Step 2: Establish a simulation environment through the simulation module, import the virtual robot from the model repository, select the virtual robot and bind the coordinates of the virtual robot and the virtual workpiece;

[0040] Step 3, the robot simulator is driven to move by manual traction, and the robot simulator is controlled to avoid obstacles in the working environment and reach the body, so that the functional head of the robot simulator contacts the surface of the body to perform simulated actual working actions;

[0041] Step 4: The simulation module obtains the posture information collected by the sensor component, drives the virtual robot to run the obstacle avoidance part pulled by humans in the simulation environment, imports the preset workpiece model at the virtual workpiece and adjusts it to be the same as the workpiece posture state in the actual working environment, and adjusts the motion trajectory of the virtual robot according to the pressure coordinates to accurately match the virtual robot with the workpiece model;

[0042] Step 5: Export the compiled program through the simulation module.

[0043] Beneficial effect: By placing a platform to build a working environment and dividing the teaching into an obstacle avoidance part using hand traction and a correction part using a simulation module for precise calibration, the accuracy of the interaction between the robot and the workpiece is improved while retaining the trajectory planning completed by hand traction.

[0044] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is an isometric diagram of an embodiment of an off-line programming teaching device based on a teaching robot of the present invention;

[0046] Figure 2 It is a side view schematic diagram of an embodiment of an off-line programming teaching device based on a teaching robot of the present invention;

[0047] Figure 3 It is a side view schematic diagram of Embodiment 2 of the off-line programming teaching device based on the teaching robot of the present invention;

[0048] Figure 4 A schematic diagram of an articulated arm of an embodiment of an off-line programming teaching device based on a teaching robot of the present invention;

[0049] Figure 5 It is a module schematic diagram of an embodiment of an off-line programming teaching device based on a teaching robot of the present invention;

[0050] Figure 6 The figure is a schematic diagram of the steps of an embodiment of the off-line programming teaching method based on a teaching robot of the present invention.

[0051] The figure marks in the drawings of the specification include: 1. disk; 2. mounting base; 3. placement platform; 4. base; 5. robot simulator; 6. body; 7. matching components; 8. casing; 9. articulated arm; 10. telescopic structure; 11. simulation shell; 12. frame; 13. cross plate; 14. functional head mounting frame. DETAILED DESCRIPTION

[0052] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] The following is further described in detail through specific implementation methods:

[0056] Embodiment 1:

[0057] As attached Figure 1-Figure 6 As shown: An off-line programming teaching device based on a teaching robot, comprising:

[0058] Working environment simulation disk: includes a disk body 1, on which are bolted several mounting seats 2, and on the top of the disk body 1 is bolted a placement platform 3, which is used to construct a working environment. The actual working environment of this embodiment is an obstacle environment formed by a casing 8 of the workpiece, and the workpiece is bolted inside the casing 8.

[0059] Teaching mechanism: including base 4, base 4 is detachably connected to mounting base 2, robot simulator 5 is provided on base 4, sensor assembly is provided on robot simulator 5, robot simulator 5 is used to simulate robot action by applying external force, sensor assembly is used to detect posture information of robot simulator 5 when it moves, robot simulator 5 includes several joint arms 9 connected in series, adjustable dampers are installed between joint arms 9, adjustable dampers are used to adjust the rotation damping of joint arms 9, sensor assembly is several angle sensors, angle sensors are used to detect angle value of joint arms 9. Functional head mounting frame 14 is provided at the end of joint arm 9.

[0060] Workpiece simulator: includes a body 6, a power supply is provided in the body 6, the body 6 is in the shape of a circumscribed cube of the workpiece, an inertial sensor and a gyroscope are installed in the body 6, the inertial sensor and the gyroscope are used to collect the movement and rotation information of the body 6 in space, a plurality of pressure identification nodes are provided on the outer surface of the body 6, the pressure identification nodes are used to detect the pressure coordinates on the body 6, a matching component 7 is detachably connected to the bottom of the body 6, and the matching component 7 is used to install the body 6 in the working environment constructed by the placement platform 3.

[0061] Simulation module: used to build a simulation environment, which includes a three-dimensional coordinate system that maps the working environment simulation disk, a virtual robot and a virtual workpiece. The position of the virtual robot in the three-dimensional coordinate system is the coordinate of the mapping mounting seat 2. The position of the virtual workpiece coordinate in the three-dimensional coordinate system is located by obtaining the movement and rotation information of the body 6 in space;

[0062] The simulation module is also used to import posture information and generate a virtual robot motion trajectory; the simulation module is also used to import a preset workpiece model at the virtual workpiece coordinates, the simulation module is also used to import pressure coordinates, and the simulation module is also used to adjust the virtual robot motion trajectory based on the preset workpiece model and pressure coordinates and convert the virtual robot motion trajectory output to compile a program.

[0063] When in use, place the housing 8 of the actual workpiece on the placement platform 3, select a suitable mounting seat 2 according to the needs, install the robot simulator 5 on the mounting seat 2, and adjust the rotational damping through the adjustable damper, install the functional head through the functional head mounting frame 14, and the positional relationship between the housing 8 and the robot simulator 5 is the same as the actual processing. Select the same bolt chassis as the actual workpiece as the matching component 7, and assemble it on the bottom of the body 6 of the workpiece simulator. The body 6 is a circumscribed cube shape of the workpiece that can fit the size of the actual workpiece, reduce the subsequent correction amount, and reduce the probability of obstacle avoidance failure caused by excessive correction. The workpiece simulator is assembled to the position corresponding to the actual workpiece in the housing 8 through the matching component 7, and the inertial sensor and gyroscope capture the moving trajectory of the workpiece simulator to locate the spatial coordinates and rotation angle of the workpiece simulator after assembly.

[0064] In the simulation module, a simulation environment is constructed. Since the robot simulator 5 can only be installed on the mounting seat 2, the position of the virtual robot is the same as the mounting seat 2 and the number of both is limited. Through the preset template, the virtual robot coordinates can be derived according to the mounting seat 2 installed by the virtual robot. The coordinates of the virtual workpiece are directly generated by the movement and rotation information collected by the workpiece simulator. Then the preset workpiece model is imported at the virtual workpiece coordinates.

[0065] After completing the construction of the simulation environment, the staff manually pulls the virtual robot. The joint arm 9 of the virtual robot is controlled to complete the motion trajectory of avoiding the housing 8, and the functional head is against the surface of the body 6. During the manual traction, the staff can observe the workpiece model information in the simulation module and try to align the functional head with the part to be matched with the workpiece. At the same time, when completing the motion trajectory of avoiding the housing 8, space should be left as much as possible to improve the fault tolerance of obstacle avoidance.

[0066] After completing the manual traction, the simulation environment is calibrated, the contact node of the actual functional head is obtained through the pressure coordinates, and the contact node is aligned with the coordinates of the part to be matched with the workpiece. The corresponding virtual robot motion trajectory will be fine-tuned due to the correction, but because the fine-tuning amplitude is small, the virtual robot motion trajectory can still complete the avoidance function. After the correction is completed, the compiled program is exported through the simulation module to complete the offline programming.

[0067] Embodiment 2:

[0068] The difference from the above embodiment is that:

[0069] A frame 12 is fixedly connected to one side of the disk body 1 , a transverse plate 13 is fixedly connected to the top wall of the frame 12 by screws, and a plurality of mounting seats 2 are fixedly connected to the bottom of the transverse plate 13 .

[0070] The robot operates by hoisting in special scenarios, and the horizontal plate 13 can provide a hoisting installation position to simulate more diverse situations.

[0071] Embodiment 3:

[0072] The difference from the above embodiment is that: the articulated arms 9 are all provided with a telescopic structure 10, and the outer walls of the articulated arms 9 are all detachably connected with a simulation shell 11, which is used to simulate the appearance of robots of different models and brands.

[0073] The length and appearance of the mechanical arms of robots of different models and brands are different. The telescopic structure 10 can be used to adjust the length of each joint arm 9, so as to adjust it according to the actual model and brand of the robot used. The detachably connected simulation shell 11 can simulate the actual appearance of the robot used, so that when performing manual traction, the collision volume can be effectively sensed, which is convenient for obstacle collision judgment.

[0074] Embodiment 3:

[0075] The difference from the above embodiment is that the model, brand and function head parameters of the virtual robot in the simulation module are selected and imported through a preset model repository.

[0076] The virtual robot in the simulation module is directly imported through the preset model library, which can quickly build a virtual robot model.

[0077] Embodiment 4:

[0078] The difference from the above embodiment is that the simulation module is also used to store the virtual robot motion trajectory and the compiled program, and the simulation module is also used to import multiple virtual robots and virtual workpieces to perform multi-robot joint operation simulation.

[0079] In actual operations, robots are used for multiple robots working together. Through the storage function of the simulation module, multiple virtual robots can be imported into the simulation environment. The control logic of the virtual robots is imported in sequence using the robot simulator 5, and whether there is interference between the virtual robots in the simulation environment is detected, thereby completing the simulation of multiple robots working together using only one robot simulator 5.

[0080] An offline programming teaching method based on a teaching robot comprises the following steps:

[0081] Step 1: Place the equipment used in the actual working environment on the placement platform 3 to build a working environment;

[0082] Select the installation position of the robot simulator 5 according to the use requirements, and install the robot simulator 5 to the corresponding mounting seat 2, adjust the length of each joint arm 9 in the robot simulator 5 through the telescopic structure 10, and select the simulation shell 11 of the robot used in the actual working environment for installation, and install the functional head on the robot simulator 5 through the functional head mounting frame 14;

[0083] Select a matching component 7 for the matching working environment and install it on the bottom of the body 6, and install the body 6 to a position corresponding to the actual workpiece in the working environment through the matching component 7;

[0084] Step 2: Establish a simulation environment through the simulation module, import the virtual robot from the model repository, select the virtual robot and bind the coordinates of the virtual robot and the virtual workpiece;

[0085] Step 3, the robot simulator 5 is driven to move by manual traction, and the robot simulator 5 is controlled to avoid obstacles in the working environment and reach the body 6, so that the functional head of the robot simulator 5 contacts the surface of the body 6 to perform simulated actual working actions;

[0086] Step 4: The simulation module obtains the posture information collected by the sensor component, drives the virtual robot to run the obstacle avoidance part pulled by humans in the simulation environment, imports the preset workpiece model at the virtual workpiece and adjusts it to be the same as the workpiece posture state in the actual working environment, and adjusts the motion trajectory of the virtual robot according to the pressure coordinates to accurately match the virtual robot with the workpiece model;

[0087] Step 5: Export the compiled program through the simulation module.

[0088] The working environment is constructed by placing the platform 3, and the teaching is divided into an obstacle avoidance part using hand traction and a correction part using the simulation module for precise calibration. This improves the accuracy of the interaction between the robot and the workpiece while retaining the trajectory planning completed by hand traction.

[0089] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. An off-line programming teaching device based on a teaching robot, characterized in that: include: A working environment simulation disk: comprising a disk body (1), a plurality of mounting seats (2) being fixedly connected to the disk body (1), a placement platform (3) being provided on the top of the disk body (1), and the placement platform (3) being used to construct a working environment; The teaching mechanism comprises a base (4), the base (4) being detachably connected to the mounting base (2), a robot simulator (5) being provided on the base (4), a sensor component being provided on the robot simulator (5), the robot simulator (5) being used to simulate robot movements by applying external force, and the sensor component being used to detect posture information of the robot simulator (5) when in motion; The workpiece simulator comprises a machine body (6), wherein an inertial sensor and a gyroscope are arranged inside the machine body (6), the inertial sensor and the gyroscope are used to collect movement and rotation information of the machine body (6) in space, and a plurality of pressure identification nodes are arranged on the outer surface of the machine body (6), and the pressure identification nodes are used to detect pressure coordinates on the machine body (6); Simulation module: used to construct a simulation environment, the simulation environment includes a three-dimensional coordinate system of a simulated disk of a mapped working environment, a virtual robot and a virtual workpiece, the position of the virtual robot in the three-dimensional coordinate system is the coordinate of the mapped mounting seat (2), and the position of the virtual workpiece coordinate in the three-dimensional coordinate system is located by obtaining the movement and rotation information of the body (6) in space; The simulation module is also used to import posture information and generate a virtual robot motion trajectory; the simulation module is also used to import a preset workpiece model at the virtual workpiece coordinates, the simulation module is also used to import pressure coordinates, and the simulation module is also used to adjust the virtual robot motion trajectory based on the preset workpiece model and pressure coordinates and convert the virtual robot motion trajectory output to compile a program.

2. The offline programming teaching device based on the teaching robot according to claim 1 is characterized in that: The machine body (6) is in the shape of a cube.

3. The offline programming teaching device based on the teaching robot according to claim 2 is characterized in that: The bottom of the machine body (6) is detachably connected to a matching component (7), and the matching component (7) is used to install the machine body (6) in a working environment constructed by the placement platform (3).

4. The offline programming teaching device based on the teaching robot according to claim 3 is characterized in that: One side of the disk body (1) is fixedly connected to a frame (12), the top wall of the frame (12) is fixedly connected to a transverse plate (13), and the bottom of the transverse plate (13) is fixedly connected to a plurality of mounting seats (2).

5. The offline programming teaching device based on the teaching robot according to claim 4 is characterized in that: The robot simulator (5) comprises a plurality of joint arms (9) which are connected in series in sequence. Adjustable dampers are arranged between the joint arms (9), and the adjustable dampers are used to adjust the rotation damping of the joint arms (9).

6. The off-line programming teaching device based on the teaching robot according to claim 5 is characterized in that: The articulated arms (9) are all provided with a telescopic structure (10), and the outer wall of the articulated arms (9) is detachably connected with a simulation shell (11), and the simulation shell (11) is used to simulate the appearance of robots of different models and brands.

7. The off-line programming teaching device based on the teaching robot according to claim 6 is characterized in that: A functional head mounting frame (14) is provided at the end of the articulated arm (9).

8. The off-line programming teaching device based on the teaching robot according to claim 7 is characterized in that: The virtual robot model, brand, and function head parameters in the simulation module are selected and imported through the preset model repository.

9. The off-line programming teaching device based on the teaching robot according to claim 8, characterized in that: The simulation module is also used to store the virtual robot motion trajectory and compiled program. The simulation module is also used to import multiple virtual robots and virtual workpieces to simulate multi-robot joint operations.

10. An off-line programming teaching method based on a teaching robot, based on the method of the off-line programming teaching device based on a teaching robot according to claim 9, characterized in that: The following steps are involved: Step 1: Place the equipment used in the actual working environment on the placement platform (3) to construct the working environment; The installation position of the robot simulator (5) is selected according to the use requirements, and the robot simulator (5) is installed on the corresponding installation seat (2), the length of each joint arm (9) in the robot simulator (5) is adjusted by the telescopic structure (10), and the simulation shell (11) of the robot used in the actual working environment is selected for installation, and the functional head is installed on the robot simulator (5) by the functional head mounting frame (14); A matching component (7) matching the working environment is selected and installed at the bottom of the machine body (6), and the machine body (6) is installed to a position corresponding to the actual workpiece in the working environment through the matching component (7); Step 2: Establish a simulation environment through the simulation module, import the virtual robot from the model repository, select the virtual robot and bind the coordinates of the virtual robot and the virtual workpiece; Step 3, driving the robot simulator (5) to move by manual traction, and controlling the robot simulator (5) to avoid obstacles in the working environment and reach the machine body (6), so that the functional head of the robot simulator (5) contacts the surface of the machine body (6) to perform simulated actual working actions; Step 4: The simulation module obtains the posture information collected by the sensor component, drives the virtual robot to run the obstacle avoidance part pulled by humans in the simulation environment, imports the preset workpiece model at the virtual workpiece and adjusts it to be the same as the workpiece posture state in the actual working environment, and adjusts the motion trajectory of the virtual robot according to the pressure coordinates to accurately match the virtual robot with the workpiece model; Step 5: Export the compiled program through the simulation module.

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