CN106903670A - Robot draws teaching inductor, teaching apparatus, robot actuation means and control method - Google Patents
Robot draws teaching inductor, teaching apparatus, robot actuation means and control method Download PDFInfo
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- CN106903670A CN106903670A CN201710144235.1A CN201710144235A CN106903670A CN 106903670 A CN106903670 A CN 106903670A CN 201710144235 A CN201710144235 A CN 201710144235A CN 106903670 A CN106903670 A CN 106903670A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The present invention discloses a kind of robot traction teaching inductor, teaching apparatus, robot actuation means and control method, and wherein robot traction teaching inductor includes that shell, the handle in shell and handle coordinate to produce some switches of control signal；Teaching apparatus, robot actuation means further comprise attitude retainer, the position that robot draws teaching inductor can be adjusted in real time so that teaching inductor keeps attitude constant by the three-dimensional that aids in of three motors；And also control method during there is provided above-mentioned teaching apparatus, robot actuation means concrete operations；Teaching apparatus of the invention or robot actuation means simple in structure and low in cost, device highly versatile, are applicable to speed, required precision industrial machinery people teaching or operation not bery high.
Description
Technical field
The present invention relates to Robot Design field, especially a kind of robot teaching technology.It is capable of achieving the traction of robot
Teaching.
Present invention simultaneously relates to the Robot Control Technology in Robot Design field.
Background technology
The teaching of current industrial robot mainly uses teaching box, by the eye observation of operator, machine is commanded with button
Device human action, reaches viewer believes that after suitable position and attitude, starting computer by robot end's each point coordinate record
Get off, reappear teaching action during work automatically further according to record data.With the robot of the mode of operation, it is impossible to simple essence
Complex track really is recorded, teaching is time-consuming more long, and operator is required higher.
Realize that the teaching mode of robot motion is referred to as drawing teaching directly to drag robot end.Traction teaching is straight
See, it is accurate, convenient, but action to sense traction generally then needs to use six-dimension force sensor so that teaching apparatus into
Originally greatly increase.Therefore also used on a large scale.
The Chinese patent application of Application No. 00119275.2,201320489386.8 discloses can directly drag respectively
The robot of teaching, its main embodiment is that improvement is designed on robot body, in the feelings without extra pulling equipment
Ensure that hand traction machine people runs under condition.The method is applicable for small load lightweight robotic, but for heavy load, knot
The complicated robot of structure is difficult to.
The Chinese patent application of Application No. 201420579247.9 discloses a kind of manipulator teaching 3D sensings handle, peace
Finger tip operator loaded on manipulator holds 3D sensing handle hitching machinery hands, and tractive force is delivered on microswitch, control machine
Tool hand follows motion.Though the method can realize the motion of manipulator, when manipulator finger tip non-vertical attitude, operator's
Lead is felt not meeting proper motion direction, easily causes maloperation.
In sum, a kind of low cost is studied, realizes that simply the strong direct teaching apparatus of flexibility are significant.
The content of the invention
In order to improve industrial robot teaching process, the visual sense of operator when enhancing robot draws, the present invention is carried
A kind of robot traction teaching inductor is supplied, teaching or traction behaviour intuitively can have been drawn to operator by structure design
The feedback of work, and simple in structure and low in cost.
Meanwhile, the present invention is also provided using the teaching apparatus and robot actuation means of above-mentioned inductor, can be further
Realize inductor attitude-adaptive adjustment, reduce maloperation.
Meanwhile, present invention also offers above-mentioned teaching apparatus and the control method of robot actuation means, can be by control
The design of method processed further realizes intuitively drawing the feedback of teaching or draw operations with being combined by man-controlled mobile robot, and can
Embody teaching apparatus and robot actuation means and be capable of achieving what robot compound action fed back by simple structure design
Advantage.
To reach above-mentioned purpose, robot traction teaching inductor of the present invention can be adopted the following technical scheme that：
A kind of robot draws teaching inductor, including shell, the handle in shell, some switches, the handle
Including four handlebars, and four handlebars are collectively forming " ten " font, and described each handle includes top surface, bottom surface, first
Side, second side；The top surface of each handle, bottom surface, first side, second side outside are equipped with one and corresponding open
Close, and the top surface of each handle, bottom surface, first side, second side are born against on the button to inductive switch.
The traction teaching inductor has the beneficial effect that：Can be with by " ten " font handle and some switches being correspondingly arranged
Intuitively draw the feedback of teaching or draw operations to operator from the cooperation of different switches by each handlebar；And adopt
Element, including shell, handle and switch are element with low cost, make the holistic cost of the traction teaching inductor low
It is honest and clean, it is easy to manufacture and popularization.
Teaching apparatus of the present invention can be adopted the following technical scheme that：
Teaching apparatus including above-mentioned robot traction teaching inductor also include being used to carry robot traction teaching sense
Answer the attitude retainer of device, the attitude retainer includes the first motor, the second motor, the 3rd motor, fixes the first motor
First support, the second support for fixing the second motor, the 3rd support for fixing the 3rd motor, and the output shaft of the first motor,
The output shaft of two motors, the 3rd motor output shaft it is mutually orthogonal, the output shaft of the first motor and robot traction teaching sensing
Device connection and band mobile robot traction teaching inductor is rotated, the output shaft of the second motor is connected with first support and drives first
Holder pivots, the output shaft of the 3rd motor is connected with second support and drives second support to rotate.
Wherein, the teaching apparatus further comprises attitude retainer, can aid in three-dimensional side by three motors
To in real time to robot traction teaching inductor position be adjusted so that teaching inductor keep attitude it is constant so that
Traction can be kept to be accustomed to during artificial traction, more meet ergonomics needs.
The teaching apparatus can be used for the teaching of complicated teaching track compared to teaching box teaching, and can do in one's hands
Hand teaching, teaching personnel are without special training.And the multi-dimension force sensor for drawing teaching is compared, with economical and practical etc. excellent
Point, device highly versatile is applicable to speed, required precision industrial machinery people's teaching not bery high.
Robot actuation means of the present invention can be adopted the following technical scheme that：
Robot actuation means including above-mentioned robot traction teaching inductor also include being used to carry robot traction
The attitude retainer of teaching inductor, the attitude retainer includes the first motor, the second motor, the 3rd motor, fixes first
The output of the first support of motor, the second support for fixing the second motor, the 3rd support for fixing the 3rd motor, and the first motor
Axle, the output shaft of the second motor, the 3rd motor output shaft it is mutually orthogonal, the output shaft of the first motor draws teaching with robot
Inductor connection and band mobile robot traction teaching inductor rotation, the output shaft of the second motor are connected and drive with first support
First support is rotated, and the output shaft of the 3rd motor is connected with second support and drives second support to rotate.
Wherein, the robot actuation means equally contain the beneficial effect of attitude controller, beneficial effect and teaching apparatus
Really identical, different from teaching apparatus is the traction teaching that teaching apparatus are applied to robot, and robot actuation means are straight
Scoop out the manipulation for robot.
And the control method of the teaching apparatus or robot actuation means can use following technical scheme：
Four handlebars be set to the first-hand shank second-hand shank opposite with first-hand shank bearing of trend and
Vertically extending 3rd handlebar of first, second handlebar fourth handlebar opposite with the 3rd handlebar bearing of trend；
The first-hand shank stretch out to one side of the 3rd handlebar and one side of the 4th handlebar respectively by
Corresponding shift knob is pressed, a first traversing signal is exported；
Second-hand's shank is stretched out to the 3rd another side of handlebar and the 4th another side of handlebar point
Corresponding shift knob is not pressed, exports a second traversing signal；
3rd handlebar stretch out to one side of first-hand shank and one side of second-hand's shank respectively by
Corresponding shift knob is pressed, a 3rd traversing signal is exported；
4th handlebar is stretched out to another side of first-hand shank and another side of second-hand's shank point
Corresponding shift knob is not pressed, exports a 4th traversing signal；
The handle is moved upward to four top surfaces of handlebar and presses corresponding shift knob respectively, exports one first
Vertical shift signal；
The handle is moved downward to four bottom surfaces of handlebar and presses corresponding shift knob respectively, exports one second
Vertical shift signal；
The handle is clockwise to a side, a side of second-hand's shank, the 3rd hand of first-hand shank
One side of shank, a side of the 4th handlebar bear against corresponding shift knob, export one first deflection letter
Number；
The handle is rotated counterclockwise to another side of first-hand shank, another side of second-hand's shank,
Another side of three handlebars, another side of the 4th handlebar bear against corresponding shift knob, output one the
Two defection signals.
Further：
The bottom surface that the first-hand shank turns to handlebar presses corresponding shift knob, i.e. second-hand's shank simultaneously
Top surface presses corresponding shift knob, exports a first rolling signal；
The top surface that the first-hand shank turns to first-hand shank presses corresponding shift knob, i.e., while second handle
The bottom surface of bar presses corresponding shift knob, exports a second rolling signal；
The bottom surface that 3rd handlebar turns to the 3rd handlebar presses corresponding shift knob, i.e., while the 4th handle
The top surface of bar presses corresponding shift knob, exports one first flexion-extension signal；
The top surface that 3rd handlebar turns to the 3rd handlebar presses corresponding shift knob, i.e., while the 4th handle
The bottom surface of bar presses corresponding shift knob, exports one second flexion-extension signal；
The control method is by setting different control signals consequently facilitating control signal is directly used in into the controlled machine of correspondence
The signal controlled output of device people's actuating station, i.e., can make above-mentioned teaching apparatus or the simple structure design of robot actuation means logical
Cross the setting output of control signal and be achieved the due manipulation function to actuating station.
Brief description of the drawings
Fig. 1 is the structural representation of teaching apparatus of the present invention or robot actuation means.
Fig. 2 is the top view of robot traction teaching inductor in the present invention.
Fig. 3 is the side view that robot draws teaching inductor, and shows the state in 3-D walls and floor.
Fig. 4 is the generalized section that robot draws teaching inductor.
Fig. 5 is the front view of attitude retainer.
Fig. 6 is the side view of attitude retainer.
Fig. 7 is the top view of attitude retainer.
Fig. 8 is the structural representation of flexible machinery mouthpiece.
Specific embodiment
Refer to shown in Fig. 1 to Fig. 4, be the teaching apparatus or robot actuation means disclosed in the present embodiment；Show
Teaching device and actuation means are that, using difference, principle is identical, in the present embodiment by taking teaching apparatus as an example.
The teaching apparatus include that robot draws teaching inductor 1, attitude retainer 2, flexible machinery mouthpiece 3.But it should
, it is noted that the traction teaching inductor can depart from that attitude retainer and flexible machinery mouthpiece are used alone and generation is corresponding
Control signal.
Wherein traction teaching inductor 1 includes shell 11, the handle in shell, some switches 13, the handle bag
Four handlebars 12 are included, and four handlebars 12 are collectively forming " ten " font, described each handle 12 includes top surface 14, bottom surface
15th, first side 16, second side 17；The top surface 14 of each handle, bottom surface 15, first side 16, outside second side 17
Side is equipped with a corresponding switch 13.And the top surface 14 of each handle, bottom surface 15, first side 16, second side 17 are distinguished
It is resisted against on the button to inductive switch 13.
In the present embodiment, the switch is cheap and long lifespan microswitch, when handle 12 is located at free shape
During state, handle 12 is positioned in shell by the button of some microswitches and handle 12 does not press any button.Shell
In can also be provided with some springs of auxiliary positioning handle in addition, when handle 12 is located at free state, spring can be by handle 12
It is positioned at the centre position of the thickness of shell 11 and handle 12 is not pressed any button.
The shell 11 includes four respectively around four parcel housings 18 of handlebar, and described each parcel housing 18 is equal
It is provided with roof 181, bottom wall 182, the first side wall 183, second sidewall 184.Each parcel housing 18 is provided with four switches 13, point
Not Wei the roof 181 be provided with a switch, bottom wall 182 and be provided with a switch, the first side wall 183 and be provided with one and open
Close, second sidewall 184 is provided with a switch.This four buttons of switch are located in parcel housing 18 and against the parcel housing
On handlebar in 18, this four switches 13 are equipped with and are used to connect robot positioned at the terminals (non-label) wrapped up outside housing
Controller.
Wherein, control method proposed by the present invention can be realized by the traction teaching inductor, for convenience of description, institute
State four handlebars and be set to the second-hand shank 122 opposite with the bearing of trend of first-hand shank 121 of first-hand shank 121 and
First, vertically extending 3rd handlebar 123 of second-hand's shank fourth handlebar opposite with the bearing of trend of the 3rd handlebar 123
124.And state of the teaching inductor in triaxial coordinate figure is presented in Fig. 3 to facilitate understanding.
The first-hand shank 121 stretch out (i.e. as the x in Fig. 4 is positive) to 123 1 sides of the 3rd handlebar with
4th side of handlebar 124 1 presses corresponding shift knob respectively, exports a first traversing signal；
Second-hand's shank 122 is stretched out (i.e. such as the x-axis negative sense in Fig. 4) to the 3rd another side of handlebar 123
Face presses corresponding shift knob respectively with the 4th another side of handlebar 124, exports a second traversing signal；
3rd handlebar 123 is stretched out (i.e. as the y-axis in Fig. 4 is positive) to 121 1 sides of first-hand shank
Corresponding shift knob is pressed respectively with 122 1 sides of second-hand's shank, exports a 3rd traversing signal；
4th handlebar 124 is stretched out (i.e. such as the y-axis negative sense in Fig. 4) to another side of first-hand shank 121
Face presses corresponding shift knob respectively with another side of second-hand's shank 122, exports a 4th traversing signal；
The handle moves up (i.e. as the z-axis in Fig. 4 is positive) to four top surfaces of handlebar and presses corresponding respectively
Shift knob, exports a first vertical shift signal；
The handle moves down (i.e. such as the z-axis negative sense in Fig. 4) to four bottom surfaces of handlebar and presses corresponding respectively
Shift knob, exports a second vertical shift signal；
The handle be clockwise to a side of first-hand shank 121, a side of second-hand's shank 122,
One side of the 3rd handlebar 123, a side of the 4th handlebar 124 bear against corresponding shift knob, output one
Individual first defection signal；
The handle is rotated counterclockwise to another side of another side of first-hand shank 121, second-hand's shank 122
Face, another side of the 3rd handlebar 123, another side of the 4th handlebar 124 bear against corresponding shift knob,
One the second defection signal of output；
The bottom surface that the first-hand shank 121 turns to first-hand shank presses corresponding shift knob, i.e., while second
The top surface of handlebar 122 presses corresponding shift knob, exports a first rolling signal；
The top surface that the first-hand shank 121 turns to first-hand shank presses corresponding shift knob, i.e., while second
The bottom surface of handlebar 122 presses corresponding shift knob, exports a second rolling signal；
The bottom surface that 3rd handlebar 123 turns to the 3rd handlebar presses corresponding shift knob, i.e., while the 4th
The top surface of handlebar 124 presses corresponding shift knob, exports one first flexion-extension signal；
The top surface that 3rd handlebar 123 turns to the 3rd handlebar presses corresponding shift knob, i.e., while the 4th
The bottom surface of handlebar 124 presses corresponding shift knob, exports one second flexion-extension signal；
The first traversing signal, the second traversing signal, the 3rd traversing signal, the 4th traversing signal, the first vertical shift signal,
Second vertical shift signal, the first defection signal, the second defection signal, the first rolling signal, the second rolling signal, first pitch letter
Number, second flexion-extension signal be used to respectively correspondence by man-controlled mobile robot actuating station signal controlled output.Specifically may be configured as：First
Traversing signal control is traversing to first direction by man-controlled mobile robot actuating station；Second traversing signal control by man-controlled mobile robot actuating station to
Second direction is traversing；And first direction and second direction are rightabout；3rd traversing signal control is by man-controlled mobile robot actuating station
It is traversing to third direction；4th traversing signal control is traversing to fourth direction by man-controlled mobile robot actuating station；And third direction and
Four directions are rightabout；And third direction and first direction perpendicular or orthogonal to；The control of first vertical shift signal is held by man-controlled mobile robot
The upward vertical shift in row end；Second vertical shift signal is controlled by the downward vertical shift of man-controlled mobile robot actuating station；The controlled machine of first defection signal control
Device people's actuating station positive deflection, the control of the second defection signal are reversely deflected by man-controlled mobile robot actuating station；And first direction and second
Direction is rightabout；The control of first rolling signal is controlled by the rolling of man-controlled mobile robot actuating station forward direction, the control of the second rolling signal
The reverse rolling of robot actuating station；And first direction and second direction are rightabout；First pitches the controlled machine of signal control
The positive flexion-extension of people's actuating station, the second flexion-extension signal control are reversely pitched by man-controlled mobile robot actuating station；And first direction and second party
To being rightabout.
Include the first motor incorporated by reference to the attitude retainer 2 for shown in Fig. 5 to Fig. 7, carrying robot traction teaching inductor
21st, the second motor 22, the 3rd motor 23, the first support 24 for fixing the first motor 21, the second support of fixing the second motor 22
25th, the 3rd support 26 of the 3rd motor 23, and the output shaft of the first motor 21, the output shaft of the second motor 22, the 3rd electricity are fixed
The output shaft of machine 23 is mutually orthogonal, and output shaft and the robot of the first motor 21 draw teaching inductor 1 and be connected and band movement machine
People's traction teaching inductor 1 is rotated, and the output shaft of the second motor 22 is connected with first support 24 and drives first support 24 to rotate,
The output shaft of the 3rd motor 23 is connected with second support 25 and drives second support 25 to rotate.Attitude retainer is received and comes from machine
The information of each cradle head of people's controller, the real-time attitude meter of position is carried out by robot pose operation method
Calculate, as the input signal of own controller, carried out after signal negates in own controller, to three in attitude retainer
Motor is driven so that the traction teaching inductor 1 of attitude retainer front end keeps attitude constant, so that artificial traction
When can keep traction be accustomed to, more meet ergonomics needs.
Also, incorporated by reference to shown in Fig. 8, wherein the flexible machinery mouthpiece 3 being fixed on the 3rd support 26 includes rotating shaft 31, two
The individual obtuse-angulate sheet metal 32 of bending；The upper end of described two sheet metals 32 is articulated with rotating shaft 31；Two lower ends of sheet metal 32
Connected by stud 33 and locking nut；Grasping part is formed between described two sheet metals, the inner side of sheet metal 33 is provided with bullet
Property pad 34.Two panels sheet metal can rotate around the shaft, correspondence different machines people's retaining part, adjust clamper aperture.By flexible machine
Tool interface position after robot determines position, can tightening nut be clamped, complete the whole teaching apparatus of attitude fixation.From
And the teaching apparatus can be installed and used flexibly, versatility is improve.
In sum, the present embodiment includes that robot draws the teaching apparatus or control device of teaching inductor, energy
The feedback of teaching or draw operations, and simple in structure and low in cost are enough intuitively drawn to operator by structure design.
Compared with six-dimension force sensor, installation site limitation is few, and can substantially reduce cost.
Claims (10)
1. a kind of robot draws teaching inductor, it is characterised in that：
Handle, some switches including shell, in shell, the handle include four handlebars, and four handlebars are total to
With " ten " font is formed, described each handle includes top surface, bottom surface, first side, second side；The top of each handle
Face, bottom surface, first side, second side outside are equipped with a corresponding switch, and each handle top surface, bottom surface, first
Side, second side are born against on the button to inductive switch.
2. robot according to claim 1 draws teaching inductor, it is characterised in that：The switch is microswitch,
When handle is located at free state, handle is positioned in shell by the button of some microswitches and handle is not pressed and appointed
What button.
3. robot according to claim 1 draws teaching inductor, it is characterised in that：Auxiliary is further provided with shell
Some springs of position fixing handle, when handle is located at free state, the centre position that handle is positioned at outer casing thickness by spring is simultaneously
Handle is set not press any button.
4. the robot according to claim 1 or 2 or 3 draws teaching inductor, it is characterised in that：The shell includes four
It is individual respectively around four parcel housings of handlebar, described each parcel housing is equipped with roof, bottom wall, the first side wall, second
Side wall, each parcel housing is provided with four switches, and respectively described roof is provided with a switch, bottom wall and is provided with one and opens
Close, the first side wall is provided with a switch, second sidewall and is provided with a switch；This four buttons of switch are located at parcel housing
Interior and against on the handlebar in the parcel housing, the terminals that this four switches are equipped with outside parcel housing are used to connect
Robot controller.
5. it is a kind of including any one of Claims 1-4 robot draw teaching inductor teaching apparatus, it is characterised in that：
Also include being used to carry the attitude retainer that robot draws teaching inductor, the attitude retainer includes the first motor, the
Two motors, the 3rd motor, the first support for fixing the first motor, the second support for fixing the second motor, fix the 3rd motor
3rd support, and the output shaft of the output shaft of the first motor, the output shaft of the second motor, the 3rd motor is mutually orthogonal, the first electricity
The output shaft of machine draws teaching inductor and is connected and band mobile robot traction teaching inductor rotation with robot, the second motor
Output shaft is connected with first support and drives first support to rotate, and the output shaft of the 3rd motor is connected with second support and drives
Two holder pivots.
6. teaching apparatus according to claim 5, it is characterised in that：Also include the flexible mechanical being fixed on the 3rd support
Interface；Flexible machinery mouthpiece includes rotating shaft, two obtuse-angulate sheet metals of bending；The upper end of described two sheet metals is articulated with and turns
Axle；Two lower ends of sheet metal are connected by stud and locking nut；Grasping part is formed between described two sheet metals.
7. it is a kind of including any one of claims 1 to 3 robot draw teaching inductor robot actuation means, its feature
It is：Also include being used to carry the attitude retainer that robot draws teaching inductor, the attitude retainer includes the first electricity
Machine, the second motor, the 3rd motor, the first support for fixing the first motor, the second support for fixing the second motor, fix the 3rd electricity
3rd support of machine, and the output shaft of the output shaft of the first motor, the output shaft of the second motor, the 3rd motor is mutually orthogonal, the
The output shaft of one motor draws teaching inductor and is connected and band mobile robot traction teaching inductor rotation with robot, and second is electric
The output shaft of machine is connected with first support and drives first support to rotate, and the output shaft of the 3rd motor is connected and band with second support
Dynamic second support is rotated.
8. the control method of a kind of teaching apparatus as described in claim 5 or 6 or robot actuation means as described in claim 7,
It is characterized in that：Four handlebars be set to the first-hand shank second-hand shank opposite with first-hand shank bearing of trend,
The 3rd handlebar vertically extending with first, second handlebar fourth handlebar opposite with the 3rd handlebar bearing of trend；
The first-hand shank is stretched out to one side of the 3rd handlebar and one side of the 4th handlebar and presses right respectively
The shift knob answered, exports a first traversing signal；
Second-hand's shank stretch out to the 3rd another side of handlebar and the 4th another side of handlebar respectively by
Corresponding shift knob is pressed, a second traversing signal is exported；
3rd handlebar is stretched out to one side in one side of first-hand shank and second-hand's shank and presses right respectively
The shift knob answered, exports a 3rd traversing signal；
4th handlebar stretch out to another side of first-hand shank and another side of second-hand's shank respectively by
Corresponding shift knob is pressed, a 4th traversing signal is exported；
The handle is moved upward to four top surfaces of handlebar and presses corresponding shift knob respectively, exports first vertical shift
Signal；
The handle is moved downward to four bottom surfaces of handlebar and presses corresponding shift knob respectively, exports second vertical shift
Signal；
The handle is clockwise to a side, a side of second-hand's shank, the 3rd handlebar of first-hand shank
A side, a side of the 4th handlebar bear against corresponding shift knob, export first defection signal；
The handle is rotated counterclockwise to another side of first-hand shank, another side of second-hand's shank, the 3rd hand
Another side of shank, another side of the 4th handlebar bear against corresponding shift knob, and output one second is inclined
Rotaring signal；
The first traversing signal, the second traversing signal, the 3rd traversing signal, the 4th traversing signal, the first vertical shift signal, second
Vertical shift signal, the first defection signal, the second defection signal are used to correspondence by the signal controlled output of man-controlled mobile robot actuating station respectively.
9. control method as claimed in claim 8, it is characterised in that：The first-hand shank turns to the bottom of first-hand shank
Face presses corresponding shift knob, i.e., the top surface of second-hand's shank presses corresponding shift knob simultaneously, exports one first rolling
Rotaring signal；
The top surface that the first-hand shank turns to first-hand shank presses corresponding shift knob, i.e. second-hand's shank simultaneously
Bottom surface presses corresponding shift knob, exports a second rolling signal；
The bottom surface that 3rd handlebar turns to the 3rd handlebar presses corresponding shift knob, i.e. the 4th handlebar simultaneously
Top surface presses corresponding shift knob, exports one first flexion-extension signal；
The top surface that 3rd handlebar turns to the 3rd handlebar presses corresponding shift knob, i.e. the 4th handlebar simultaneously
Bottom surface presses corresponding shift knob, exports one second flexion-extension signal；
First rolling signal, the second rolling signal, the first flexion-extension signal, the second flexion-extension signal are equally used to the controlled machine of correspondence respectively
The signal controlled output of device people's actuating station.
10. control method as claimed in claim 9, it is characterised in that：First traversing signal control is by man-controlled mobile robot actuating station
It is traversing to first direction；Second traversing signal control is traversing to second direction by man-controlled mobile robot actuating station；And first direction and
Two directions are rightabout；
3rd traversing signal control is traversing to third direction by man-controlled mobile robot actuating station；4th traversing signal control is by man-controlled mobile robot
Actuating station is traversing to fourth direction；And third direction and fourth direction are rightabout；And third direction is vertical with first direction
Or it is orthogonal；
First vertical shift signal is controlled by the upward vertical shift of man-controlled mobile robot actuating station；Second vertical shift signal is controlled by man-controlled mobile robot actuating station
Downward vertical shift；
The control of first defection signal is rotated by man-controlled mobile robot actuating station positive deflection, the control of the second defection signal is held by man-controlled mobile robot
Row end reversely deflects.
3rd pitches signal control pitches signal control by man-controlled mobile robot actuating station by the positive flexion-extension of man-controlled mobile robot actuating station, the 4th
Reversely pitch.
The control of 5th rolling signal is by the rolling of man-controlled mobile robot actuating station forward direction, the control of the 6th rolling signal by man-controlled mobile robot actuating station
Reverse rolling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144235.1A CN106903670B (en) | 2017-03-10 | 2017-03-10 | Teaching apparatus, robot control device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144235.1A CN106903670B (en) | 2017-03-10 | 2017-03-10 | Teaching apparatus, robot control device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903670A true CN106903670A (en) | 2017-06-30 |
| CN106903670B CN106903670B (en) | 2019-07-16 |
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| CN201710144235.1A Active CN106903670B (en) | 2017-03-10 | 2017-03-10 | Teaching apparatus, robot control device and control method |
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| CN109087343A (en) * | 2018-09-07 | 2018-12-25 | 中科新松有限公司 | A kind of generation method and system of workpiece grabbing template |
| CN109093599A (en) * | 2018-09-07 | 2018-12-28 | 中科新松有限公司 | A kind of crawl teaching method and system |
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| CN106903670B (en) | 2019-07-16 |
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