Joint type robot auxiliary teaching pose adjusting device and method

Abstract

The invention discloses an auxiliary teaching pose adjusting device and method for an articulated robot, and relates to the field of robots. The problems that when an existing joint type robot is used for teaching, the pose is difficult to adjust accurately, and the soft limiting position of each shaft cannot be observed accurately are solved. An inner ring is coaxially sleeved with an outer ring, a counting sensor is installed on the inner circumferential wall of the outer ring, a plurality of counting protrusions are evenly distributed on the outer circumferential wall of the inner ring, and a plurality of indicator lamps are installed on the outer side wall of the outer ring in an annular array mode; the positioning / resetting device, the display screen and the controller are installed on the outer side wall of the outer ring, the dustproof plate and the baffle are installed on the two side end faces of the outer ring and the inner ring in the radial direction respectively, and the dustproof plate, the baffle, the outer ring and the inner ring are connected through the connecting pieces. The method is not affected by brands and models of articulated robots, and the problems that the poses of the robots are not standard, the robots are over-limited and production line debugging is frequently replaced can be effectively solved. The method is used for auxiliary teaching of the robot.

Description

Technical Field

[0001] The present invention relates to a teaching posture adjustment device and method, and in particular to an articulated robot auxiliary teaching posture adjustment device and method, and belongs to the field of robots. Background Art

[0002] The posture adjustment of industrial robots is the basis for achieving precise positioning and ensuring safe operation of equipment, especially in scenarios with limited working space, considering factors such as load and part size to complete complex path planning. This is an effective measure to improve work efficiency and ensure safety. Therefore, how to quickly and accurately adjust the posture of industrial robots is crucial.

[0003] In actual applications, industrial robots mainly operate in automatic mode. In automatic mode, the robot will run according to the pre-written program, drive the tools and workpieces to the various positions required by the process flow, and complete the instruction functions such as the interaction of input and output signals. In the process of industrial robot operation, the key positions that the end tool movement process needs to reach, such as the positions of picking and placing tools and workpieces, need to be manually controlled by the joints and tools of the industrial robot to reach the position before the program automatically runs, and the corresponding program position data is saved. This process is called robot teaching. Although some robot equipment can generate position point data through dedicated offline programming software, due to the accuracy of the model built in the offline simulation software and the actual error, in actual work, manual teaching inspection, calibration and adjustment of key positions are still required before the program runs. Therefore, although industrial robots are highly automated equipment, manually manipulating robots and tools to reach specified positions in a specific posture is still an essential basic operation.

[0004] At present, articulated industrial robots occupy a large proportion in industrial production, and their process path planning and posture adjustment are mostly debugged by professionals to find the "comfortable" point of each axis in the work, to avoid exceeding or approaching the soft limit point, which causes the robot's posture to be irregular or even the robot's center of gravity to shift. Once the production line or product needs to re-plan the path or action, it is necessary to ensure that the axes of the articulated industrial robot are at their "comfortable" points, increase the stability and smoothness of the robot's teaching action, and thus achieve the optimization of the teaching action. If the articulated robot's action is not standardized or a joint touches the software position for a long time, it will cause the robot's energy consumption to increase or the servo motors of all joints to lock. Over time, it will cause serious wear of the robot's gears, resulting in reduced repeated positioning accuracy and irreversible damage. Moreover, robots of various brands currently have the problem of being unable to view the rotation angle of the adjusted robot axis in real time during teaching, which not only causes certain troubles for beginners, but also is not conducive to the normal operation and use of the equipment.

[0005] In summary, existing articulated robots have problems such as difficulty in accurately adjusting the posture during teaching and inability to accurately observe the soft limit positions of each axis. Summary of the invention

[0006] The purpose of the present invention is to solve the problems that it is difficult to accurately adjust the posture and unable to accurately observe the soft limit position of each axis during the teaching of the existing articulated robot, and further provide an articulated robot auxiliary teaching posture adjustment device and method.

[0007] The technical solution of the present invention is:

[0008] An articulated robot auxiliary teaching posture adjustment device comprises an outer ring, an inner ring, a plurality of indicator lights, a plurality of counting protrusions, a counting sensor, a dustproof plate, a baffle, a connector, a positioner / resetter, a display screen and a controller. The outer ring is coaxially sleeved on the inner ring, and a gap is left between the outer ring and the inner ring. The counting sensor is mounted on the inner circumferential wall of the outer ring. The plurality of counting protrusions are evenly distributed on the outer circumferential wall of the inner ring, and the counting sensor counts as the counting protrusions rotate; a plurality of indicator lights are mounted on the outer side wall of the outer ring in a circular array; the positioner / resetter, the display screen and the controller are mounted on the outer side wall of the outer ring and are electrically connected to the counting sensor located on the inner side wall of the outer ring; the dustproof plate and the baffle are respectively mounted on the two side end faces in the radial direction of the outer ring and the inner ring, and the dustproof plate, the baffle, the outer ring and the inner ring are connected by a connector; wherein the dustproof plate is slidably connected to the inner ring.

[0009] Further, the counting sensor extends downward and comes into contact with the rotation of the counting protrusion.

[0010] Furthermore, an annular groove is provided on the side end surface of the inner ring, and an annular protrusion is provided on the dustproof plate, and the annular protrusion is slidably inserted in the annular groove.

[0011] Furthermore, the inner diameter of the dustproof plate is smaller than the inner diameter of the inner ring, and the inner diameter of the inner ring is smaller than the inner diameter of the baffle.

[0012] Preferably, the dustproof plate, the baffle plate, the outer ring and the inner ring are all made of flexible materials.

[0013] Furthermore, the counting protrusion is a columnar protrusion whose thickness gradually decreases along the height direction.

[0014] Preferably, the connector is a slot-type connector.

[0015] The present invention also provides a method for using the articulated robot auxiliary teaching posture adjustment device, which comprises the following steps:

[0016] Step 1: Installation of the articulated robot assisted teaching posture adjustment device;

[0017] Step 1: Open the connector, and put the dust plate, baffle, outer ring and inner ring onto the shaft of the articulated robot that needs to be adjusted, wherein the baffle contacts the robot arm;

[0018] Step 1 and 2: Align the positioner / resetter with the zero point on the axis of the articulated robot, adjust the tension of the inner and outer rings, and ensure close contact between the inner ring and the axis of the articulated robot;

[0019] Step 13: Fasten the connector to the dust plate and baffle;

[0020] Step 2: Initialization of the articulated robot assisted teaching posture adjustment device;

[0021] Click the switch of the positioning / resetting device, wait for the indicator light to display green, yellow and red in sequence, wait for the red display to end, and the display screen to synchronously display 0°, and the initialization of the auxiliary teaching posture adjustment device is completed;

[0022] Step 3: Set parameters;

[0023] Set the speed range on the controller to correspond to the rotation range of the articulated robot axis;

[0024] Step 4: Adjust the rotation angle of the robot arm;

[0025] First adjust the rotation angle of the robot arm, then observe the color of the indicator light to ensure that the color range of the indicator light corresponds to the rotation angle;

[0026] Step 5: Install the corresponding auxiliary teaching posture device according to the different number of axes of the articulated robot. At this point, the installation and debugging of the auxiliary teaching posture adjustment device of the articulated robot is completed.

[0027] Furthermore, in step 2, the process of the indicator light displaying color is as follows:

[0028] When the controller is set to 1 turn, the rotation angle is:

[0029] When the angle is between -100° and 100°, the 16 indicator lights on both sides of the positioning / resetting device light up in green.

[0030] When the angle is between -100° and -300° and between 100° and 300°, 32 indicator lights on both sides of the positioning / resetting device light up in yellow.

[0031] When the angle is from -300° to -360° and from 300° to 360°, 50 indicator lights on both sides of the positioning / resetting device light up in red;

[0032] When the controller is set to 2 turns, the rotation angle is:

[0033] When the angle is between -200° and 200°, 16 indicator lights on both sides of the positioning / resetting device light up and display green.

[0034] When the angle is between -200° and -600° and between 200° and 600°, 32 indicator lights on both sides of the positioning / resetting device light up in yellow.

[0035] When the angle is from -600° to -720° and from 600° to 720°, 50 indicator lights on each side of the positioner / resetter light up in red.

[0036] Furthermore, in step 2, the positioner / resetter is connected to the controller to achieve the reset and installation position zero point identification positioning and on / off functions of the controller.

[0037] Compared with the prior art, the present invention has the following effects:

[0038] 1. The present invention is used on each axis of an articulated robot in actual use. The robot's posture can be effectively adjusted to avoid the limit position by changing the color of the indicator light or the rotation angle displayed on the display screen, so as to improve the problems of beginners not being able to grasp the rotation angle of each axis and adapting to the difficulty of debugging when frequently changing production lines, so as to achieve the purpose of quickly adjusting the robot's posture;

[0039] 2. The present invention has a simple structure, and can realize the installation of different axes of different types of articulated industrial robots through connecting parts, and can be tightened by buckles, which is convenient for installation and disassembly, easy to operate, and intuitive;

[0040] 3. The present invention connects the axes through connectors, and the materials used are flexible materials. Therefore, the present invention is not affected by the brand and model of the articulated robot and the thickness of the axes, and has high universality.

[0041] 4. The present invention manually inputs the rotation range of each axis, defines the rotation angle of the controller, and then controls the indicator light to change its color or observes the rotation angle on the display screen, so that the operator can observe intuitively to determine the rotation angle range of each axis and ensure that the articulated industrial robot is in a "comfortable" position. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is an axonometric view of the present invention. Figure 2 yes Figure 1 main view. Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention. Figure 4 It is a debugging flow chart of the present invention; Figure 5 It is the control principle diagram of the present invention;

[0043] Among them, 1. counting sensor, 2. counting protrusion, 3. indicator light, 4. outer ring, 5. inner ring, 6. annular groove, 7. dust plate, 8. baffle, 9. connector, 10. positioning / resetting device, 11. display screen, 12. controller; DETAILED DESCRIPTION

[0044] Specific implementation method 1: Combination Figures 1 to 3 The present embodiment includes an outer ring 4, an inner ring 5, a plurality of indicator lights 3, a plurality of counting protrusions 2, a counting sensor 1, a dustproof plate 7, a baffle 8, a connecting member 9, a positioning / resetting device 10, a display screen 11 and a controller 12.

[0045] The outer ring 4 is coaxially sleeved on the inner ring 5, and a gap is left between the outer ring 4 and the inner ring 5. The counting sensor 1 is installed on the inner circumferential wall of the outer ring 4, and a plurality of counting protrusions 2 are evenly distributed on the outer circumferential wall of the inner ring 5, and the counting sensor 1 counts as the counting protrusions 2 rotate; a plurality of indicator lights 3 are installed in a circular array on the outer wall of the outer ring 4; a positioning / resetting device 10, a display screen 11 and a controller 12 are installed on the outer wall of the outer ring 4, and are electrically connected to the counting sensor 1 located on the inner wall of the outer ring 4; a dustproof plate 7 and a baffle 8 are respectively installed on the two side end faces in the radial direction of the outer ring 4 and the inner ring 5, and the dustproof plate 7, the baffle 8, the outer ring 4 and the inner ring 5 are connected by a connector 9; wherein the dustproof plate 7 and the inner ring 5 are slidably connected.

[0046] The counting sensor 1 of this embodiment is preferably embedded in the convex tooth facing the outer circumferential direction of the inner ring 5. The shape of the convex tooth is similar to the tooth on the gear. The tooth surfaces on the left and right sides of the tooth are mainly used to contact the counting protrusion 2 in a timely and accurate manner. Whether the counting protrusion 2 rotates clockwise or counterclockwise, the counting function can be achieved. At the same time, in order to ensure that the counting protrusion 2 can more accurately contact the tooth surface to achieve the purpose of counting, the shape of the counting protrusion 2 is preferably the tooth of the gear. The counting protrusion 2 is a flexible counting protrusion, which not only does not wear the tooth surface of the counting sensor 1, but also enables the counting protrusion 2 to count and pass through the counting sensor 1 smoothly when the counting sensor 1 is in a fixed position.

[0047] The number of indicator lights 3 in this embodiment is preferably 100, so as to display different numbers of indicator lights according to the rotation angle.

[0048] In addition to a counting sensor 1 on the inner side of the outer ring 4 of this embodiment, there is also a positioner / resetter and 100 indicator lights, a controller 12 and a DC power supply installation box on the outer side of the outer ring 4. The controller 12 contains a controller circuit inside, and the controller 12 is connected to the counting sensor, the indicator light 3 and the positioner / resetter 10. The controller 12 can set the range of forward and reverse rotation circles; among them, the controller 12 on the outer ring 5 can be set according to the soft limit of the rotation angle of each axis of the robot, and the range is -720° to 720°, specifically 1 circle and 2 circles, corresponding to -360° to 360° and -720° to 720° respectively, which can be set according to the rotation range of each axis of the robot.

[0049] In the present embodiment, there is a control circuit inside the outer ring 4, which connects the counting sensor, controller, indicator light and display screen. Specifically, the count value obtained by the counting sensor is transmitted to the controller, and the controller performs analysis and calculation based on the set number of circles, obtains angle information and transmits the signal to the indicator light and display screen for display.

[0050] In this embodiment, the locator / resetter 10 is connected to the controller 12, which can realize the resetting of the controller 12, and can also realize the installation position zero point identification positioning and on / off function. Each time it is turned on, the indicator light 3 will display green, yellow and red in sequence to check whether the indicator light is working normally. After the red display ends, the display screen will synchronously display 0°, indicating that the initialization of the device is completed, and then the next step can be performed.

[0051] Specific implementation method 2: Combination Figures 1 to 3 To explain this embodiment, the counting sensor 1 of this embodiment extends downward and comes into contact with the rotation of the counting protrusion 2. With such a configuration, the outer circumferential side wall of the inner ring 5 contains 180 small gears, which are the counting protrusions 2. When the counting protrusions 2 come into contact with the counting sensor 1, the counting sensor 1 obtains data and transmits it to the controller 12. The controller 12 transmits the signal to the indicator light 3 and the display screen 11. The indicator light 3 displays different colors and the display screen 11 displays the angle size. Other components and connection relationships are the same as those of the first embodiment.

[0052] Specific implementation method three: Combination Figures 1 to 3 To explain this embodiment, an annular groove 6 is provided on the side end surface of the inner ring 5 of this embodiment, and an annular protrusion is provided on the dustproof plate 7, and the annular protrusion is slidably inserted in the annular groove 6.

[0053] In this way, the annular groove 6 mainly cooperates with the annular protrusion, which not only plays a role in positioning the dustproof plate 7, but also realizes that the inner ring 5 and the dustproof plate 7 can rotate relative to each other without causing interference. The structure is simple and easy to implement. Other components and connection relationships are the same as those of the specific implementation method one or two.

[0054] As for the relative rotation between the inner ring 5 and the dustproof plate 7, as another implementation method, it can also be: the dustproof plate 7 is provided with an arc-shaped groove with a longitudinal cross-section of three quarters in the circumferential direction, and a number of balls are slidably embedded in the arc-shaped groove. Since only a part of the balls leak out, they will not fall off. They can slide with the annular groove 6. Of course, the cross-section of the annular groove 6 is an arc-shaped groove. This implementation method can reduce the sliding friction between the inner ring 5 and the dustproof plate 7, and is more flexible to use.

[0055] Specific implementation method four: Combination Figures 1 to 3 The present embodiment is described. In the present embodiment, the inner diameter of the dustproof plate 7 is smaller than the inner diameter of the inner ring 5 , and the inner diameter of the inner ring 5 is smaller than the inner diameter of the baffle plate 8 .

[0056] In this configuration, the baffle 8 is tightly connected to the outer ring 4, the dustproof plate 7 has no contact with the robot arm, the baffle 8 is in contact with the robot arm, and the dustproof plate 7 can prevent dust from entering the device. Other components and connection relationships are the same as any one of the specific embodiments 1 to 3.

[0057] Specific implementation method five: Combination Figures 1 to 3 To explain this embodiment, the dustproof plate 7, the baffle plate 8, the outer ring 4 and the inner ring 5 of this embodiment are all made of flexible materials.

[0058] Such a configuration can effectively adapt to the different brands or models of articulated robots with different axes, and can also observe the range of rotation angles of each axis in real time, increasing the universality and intuitiveness of the present invention. The other structures and components are the same as any one of the specific embodiments 1 to 4.

[0059] Specific implementation method six: Combination Figures 1 to 3 The present embodiment will be described. The counter protrusion 2 of the present embodiment is a columnar protrusion whose thickness gradually decreases along the height direction.

[0060] Such arrangement ensures that the device can contact the counting sensor 1 and has a certain elastic deformation, so that it can smoothly pass through the counting sensor 1. Other components and connection relationships are the same as any one of the specific embodiments 1 to 3.

[0061] Specific implementation method seven: Combination Figures 1 to 3 To describe this embodiment, the connector 9 in this embodiment is a slot-type connector.

[0062] In this way, the slot-type connector is convenient for connecting the dust plate 7, the baffle 8 and the outer ring 4, and also needs to be able to achieve quick disassembly and assembly. Its structure is simple and can easily adapt to the changes in the diameter of each axis of robots of different brands and models. The other components and connection relationships are the same as any one of the specific embodiments 1 to 6.

[0063] The slot-type connector of this embodiment can be adjusted according to the diameter of each axis of the robot; the outer ring and inner ring are made of polymer materials, which need to take into account the characteristics of wear resistance and high toughness. The cross-sectional shape of the slot-type connector is preferably a rectangular card with an opening, and the opening is used to be stuck on the dust plate 7 and the baffle 8, and has a certain amount of deformation.

[0064] Specific implementation method eight: Combination Figures 1 to 5 The present embodiment and the method of using the present embodiment are described, and it comprises the following steps:

[0065] Step 1: Installation of the articulated robot assisted teaching posture adjustment device;

[0066] Step 11: Open the connecting piece 9, and insert the dust plate 7, the baffle 8, the outer ring 4 and the inner ring 5 onto the shaft of the articulated robot to be adjusted, wherein the baffle 8 is in contact with the robot arm;

[0067] Step 1 and 2: Align the positioner / resetter 10 with the zero point on the axis of the articulated robot, adjust the tension of the inner ring 5 and the outer ring 4, and ensure that the inner ring 5 is in close contact with the axis of the articulated robot;

[0068] Step 13: Fasten the connector 9 onto the dustproof plate 7 and the baffle 8;

[0069] Step 2: Initialization of the articulated robot assisted teaching posture adjustment device;

[0070] Click the switch of the positioning / resetting device 10, wait for the indicator light 3 to display green, yellow and red in sequence, wait for the red display to end, and the display screen 11 to synchronously display 0°, and the initialization of the auxiliary teaching posture adjustment device is completed;

[0071] Step 3: Set parameters;

[0072] Set the speed range on the controller 12 to correspond to the rotation range of the articulated robot axis;

[0073] Step 4: Adjust the rotation angle of the robot arm;

[0074] First adjust the rotation angle of the robot arm, then observe the color of indicator light 3 to ensure that the color range of indicator light 3 corresponds to the rotation angle;

[0075] Step 5: Install the corresponding auxiliary teaching posture device according to the different number of axes of the articulated robot. At this point, the installation and debugging of the auxiliary teaching posture adjustment device of the articulated robot is completed.

[0076] Specific implementation method nine: Combination Figure 4 To illustrate this embodiment, in step 2 of this embodiment, the process of the indicator light 3 displaying the color is as follows:

[0077] When the controller 12 is set to 1 turn, the rotation angle is:

[0078] When the angle is between -100° and 100°, 16 indicator lights on both sides of the positioning / resetting device 10 light up and display green.

[0079] When the angle is between -100° and -300° and between 100° and 300°, 32 indicator lights on both sides of the positioning / resetting device 10 light up in yellow.

[0080] When -300° to -360° and 300° to 360°, 50 indicator lights on both sides of the positioning / resetting device 10 light up and display red;

[0081] When the controller 12 is set to 2 turns, the rotation angle is:

[0082] When the angle is between -200° and 200°, 16 indicator lights on both sides of the positioning / resetting device 10 light up and display green.

[0083] When the angle is between -200° and -600° and between 200° and 600°, 32 indicator lights on both sides of the positioning / resetting device 10 light up in yellow.

[0084] When the angle is from -600° to -720° and from 600° to 720°, 50 indicator lights on both sides of the positioning / resetting device 10 light up in red.

[0085] Such a configuration makes it easy to select a suitable display color according to actual needs, and the configuration is simple. Other components and connection relationships are the same as any one of the specific implementation modes 1 to 6.

[0086] Specific implementation method ten: Combination Figure 4 To explain this embodiment, in step 2 of this embodiment, the positioner / resetter 10 is connected to the controller 12 to achieve the reset and installation position zero point identification positioning and on / off functions of the controller 12.

[0087] The other components and connection relationships are the same as any one of the specific implementation modes 1 to 6.

[0088] The proportion of articulated industrial robots in industrial production is getting higher and higher, and the operation situation is also developing in the direction of refinement and precision. In order to reduce the waste of resources such as sites and space, most companies will place articulated industrial robots in relatively small spaces to achieve the rational use of resource allocation. This brings certain troubles to the installation, debugging or production line changes of articulated industrial robots. It is necessary to ask professional and technical personnel from the manufacturer to make changes, and the robot posture will be constantly changed during the debugging process to adapt to the production line or production capacity requirements, which will inevitably consume more time. For this reason, the present invention is an articulated robot auxiliary teaching posture adjustment device and method proposed for beginners or frequent changes of production lines in a small space. The present invention has a simple structure and a clever method. It can intuitively judge the rotation angle position of each axis through the color change of the indicator light or the rotation angle on the display screen, so that the operator can consciously stay away from the robot soft limit when teaching, which can not only protect the internal structure of the robot arm from damage, but also allow the operator to avoid repetitive teaching and save a lot of debugging time. At the same time, the present invention adopts conventional connectors to snap-connect the axes. After manually inputting the range, it can be installed and used immediately. After completing the teaching, it can be removed at any time. It can adapt to articulated industrial robots of different brands and models.

[0089] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An articulated robot assisted teaching posture adjustment device, characterized in that: It comprises an outer ring (4), an inner ring (5), a plurality of indicator lights (3), a plurality of counting protrusions (2), a counting sensor (1), a dustproof plate (7), a baffle (8), a connecting piece (9), a positioning / resetting device (10), a display screen (11) and a controller (12). The outer ring (4) is coaxially mounted on the inner ring (5), and a gap is left between the outer ring (4) and the inner ring (5). The counting sensor (1) is mounted on the inner circumferential wall of the outer ring (4). A plurality of counting protrusions (2) are evenly distributed on the outer circumferential wall of the inner ring (5), and the counting sensor (1) counts as the counting protrusions (2) rotate. A plurality of indicator lights (3) are mounted in a circular array on the outer wall of the outer ring (4); a positioning / resetting device (10), a display screen (11) and a controller (12) are mounted on the outer wall of the outer ring (4) and are electrically connected to a counting sensor (1) located on the inner wall of the outer ring (4); The dustproof plate (7) and the baffle plate (8) are respectively mounted on two side end surfaces of the outer ring (4) and the inner ring (5) in the radial direction, and the dustproof plate (7), the baffle plate (8), the outer ring (4) and the inner ring (5) are connected by a connecting piece (9); The dustproof plate (7) is slidably connected to the inner ring (5).

2. The articulated robot assisted teaching posture adjustment device according to claim 1, characterized in that: The counting sensor (1) extends downward and comes into contact with the counting protrusion (2) as it rotates.

3. The articulated robot assisted teaching posture adjustment device according to claim 2, characterized in that: An annular groove (6) is provided on the side end surface of the inner ring (5), and an annular protrusion is provided on the dustproof plate (7), and the annular protrusion is slidably inserted in the annular groove (6).

4. The articulated robot assisted teaching posture adjustment device according to claim 3, characterized in that: The inner diameter of the dustproof plate (7) is smaller than the inner diameter of the inner ring (5), and the inner diameter of the inner ring (5) is smaller than the inner diameter of the baffle (8).

5. The articulated robot assisted teaching posture adjustment device according to claim 1, characterized in that: The dustproof plate (7), the baffle plate (8), the outer ring (4) and the inner ring (5) are all made of flexible materials.

6. The articulated robot assisted teaching posture adjustment device according to claim 1, characterized in that: The counting protrusion (2) is a columnar protrusion whose thickness gradually decreases along the height direction.

7. The articulated robot assisted teaching posture adjustment device according to claim 1, characterized in that: The connecting piece (9) is a slot-type connecting piece.

8. A method for using the articulated robot auxiliary teaching posture adjustment device according to any one of claims 1 to 7, characterized in that: It includes the following steps: Step 1: Installation of the articulated robot assisted teaching posture adjustment device; Step 1: Open the connecting piece (9), and insert the dust plate (7), the baffle (8), the outer ring (4) and the inner ring (5) onto the shaft of the articulated robot to be adjusted, wherein the baffle (8) is in contact with the robot arm; Step 1 and 2: Align the positioning / resetting device (10) with the zero point position on the axis of the articulated robot, and adjust the tension of the inner ring (5) and the outer ring (4) to ensure that the inner ring (5) is in close contact with the axis of the articulated robot; Step 13: Fasten the connector (9) onto the dustproof plate (7) and the baffle plate (8); Step 2: Initialization of the articulated robot assisted teaching posture adjustment device; Click the switch of the positioning / resetting device (10), wait for the indicator light (3) to display green, yellow and red in sequence, wait for the red display to end, and the display screen (11) to synchronously display 0°, and the initialization of the auxiliary teaching posture adjustment device is completed; Step 3: Set parameters; Setting the rotation range on the controller (12) to correspond to the rotation range of the axis of the articulated robot; Step 4: Adjust the rotation angle of the robot arm; First adjust the rotation angle of the robot arm, then observe the color of the indicator light (3) to ensure that the color range of the indicator light (3) corresponds to the rotation angle; Step 5: Install the corresponding auxiliary teaching posture device according to the different number of axes of the articulated robot. At this point, the installation and debugging of the auxiliary teaching posture adjustment device of the articulated robot is completed.

9. The method of use according to claim 8, characterized in that: In step 2, the process of the indicator light (3) displaying color is as follows: When the controller (12) is set to 1 turn, the rotation angle is: When the angle is between -100° and 100°, 16 indicator lights on both sides of the positioning / resetting device (10) light up in green. When the angle is between -100° and -300° and between 100° and 300°, 32 indicator lights on both sides of the positioning / resetting device (10) light up in yellow. When the angle is between -300° and -360° and between 300° and 360°, 50 indicator lights on both sides of the positioning / resetting device (10) light up in red. When the controller (12) is set to 2 turns, the rotation angle is: When the angle is between -200° and 200°, 16 indicator lights on both sides of the positioning / resetting device (10) light up and display green. When the angle is between -200° and -600° and between 200° and 600°, 32 indicator lights on both sides of the positioning / resetting device (10) light up in yellow. When the angle is between -600° and -720° and between 600° and 720°, 50 indicator lights on both sides of the positioning / resetting device (10) light up in red.

10. The method of use according to claim 8, characterized in that: In step 2, the positioning / resetting device (10) is connected to the controller (12) to realize the reset and installation position zero point identification positioning and on / off functions of the controller (12).

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