CN114670223A - Robot control handle with safety switch and method - Google Patents
Robot control handle with safety switch and method Download PDFInfo
- Publication number
- CN114670223A CN114670223A CN202210205493.7A CN202210205493A CN114670223A CN 114670223 A CN114670223 A CN 114670223A CN 202210205493 A CN202210205493 A CN 202210205493A CN 114670223 A CN114670223 A CN 114670223A
- Authority
- CN
- China
- Prior art keywords
- robot
- control handle
- safety
- handle
- force sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
Abstract
The invention belongs to the technical field of robots, and particularly relates to a robot control handle with a safety switch and a method. The six-dimensional force sensor is arranged on the base, the control handle is movably arranged on the six-dimensional force sensor, and the six-dimensional force sensor is used for detecting stress information of the control handle; the safety button is arranged on the control handle and used for judging whether an operator normally operates the control handle. The teaching operation of the robot can be realized only by controlling the moving direction and the pressing information of the control handle, the control of the robot is simplified, so that the control handle can finish teaching actions in any direction and any position, and the operation freedom degree of the robot is greatly enhanced.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot control handle with a safety switch and a method.
Background
Corresponding to the robot arc welding application, especially, the space curve precision operation is carried out in a narrow space, and a lot of experience and a welding process angle are needed. At present, the teaching work of the traditional industrial robot has the modes of teaching through teaching box operation, off-line programming, on-line programming, robot vision, welding seam tracking, dragging and the like, and the mode of manually dragging the teaching is more superior in consideration of the diversity, complexity and safety of welding workpieces.
The application number is 201810514806.0, the name is Chinese invention patent of a direct dragging teaching system and method based on force sensor, wherein in the recorded technology, a six-dimensional force sensor is used for collecting the stress information of an end effector in the process of dragging the end effector to move by a doctor; the industrial personal computer performs gravity compensation on stress information of the end effector acquired by the six-dimensional force sensor, and obtains external force information when a doctor drags the end effector to move; the industrial personal computer generates a robot motion instruction according to external force information when a doctor drags the end effector to move, and the robot controller controls the robot to move according to the motion instruction. Different from dentists who do operations in the welding application process, the welding robot end effector is a welding gun, and firstly, the welding gun of the end effector of the robot generally has a wire feeding cable connected with a wire feeder, so that the welding gun of the end effector not only contains the gravity load of the gravity load, but also contains the elastic force load of a wire feeding cable of a wire feeding system and the damping load of the wire feeding system. Secondly, the approach of this patent document requires one force sensor for one robot, and one force sensor cannot correspond to a plurality of robots because of the configuration constraint that a six-dimensional force sensor is connected in series between the robot and the end effector. Finally, the arc welding application working range of the robot has more singular solutions, is not suitable for gravity compensation, and can not realize man-machine separation in harmful environments.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a robot control handle including a safety switch and a method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
the embodiment of the invention provides a robot control handle with a safety switch, which comprises a base, an operation handle, a six-dimensional force sensor and a safety button, wherein the six-dimensional force sensor is arranged on the base, the operation handle is movably arranged on the six-dimensional force sensor, and the six-dimensional force sensor is used for detecting stress information of the operation handle; the safety button is arranged on the control handle and used for judging whether an operator normally operates the control handle.
In one possible implementation, the safety button includes a plurality of safety contacts disposed outside the handle and a plurality of piezoceramic sensors disposed inside the handle.
In one possible implementation manner, the control handle adopts an elastic insulating shell; the piezoelectric ceramic sensors are sequentially arranged in the control handle in a height mode; the plurality of safety contacts correspond to the plurality of piezoelectric ceramic sensors one by one.
In one possible implementation, the safety contact is a conductor for measuring the body resistance of the operator; when the operator releases the operating handle, the safety contact sends a pause signal.
In a possible implementation manner, the control handle is provided with a confirmation button, a cancel button and a sensitivity adjusting button in sequence along the height direction.
In one possible implementation manner, the base comprises a fixing device, a lower connecting piece and an upper connecting piece, wherein the lower connecting piece is connected to the bottom of the upper connecting piece, and the lower connecting piece is connected with a fixture through the fixing device; the six-dimensional force sensor is arranged on the upper connecting piece.
Another embodiment of the present invention provides a control method using the robot control handle including the safety switch as described above, the control method including the steps of:
1) arranging a robot control handle in a control environment; arranging the robot and the robot controller in an isolating device, wherein a robot control handle is communicated with the robot controller;
2) an operator operates the control handle in a control environment, the six-dimensional force sensor detects stress information of the control handle and sends the collected stress information to the robot controller;
3) the robot controller receives the stress information sent by the six-dimensional force sensor, obtains the motion path information of the robot according to the stress information, and controls the robot to move according to the obtained motion path information.
In a possible implementation, when the operator releases the operating handle, a safety contact on the operating handle sends a pause signal; and after receiving the pause signal sent by the safety contact, the robot controller controls the robot to pause.
In one possible implementation, when the operator grips the control handle, a piezoelectric ceramic sensor in the control handle sends out a pause signal; and after receiving the pause signal sent by the piezoelectric ceramic sensor, the robot controller controls the robot to pause.
In a possible implementation mode, teaching intentions when the control handle moves are stored on line through a confirmation button, and regret is performed through a cancel button.
The invention has the advantages and beneficial effects that: the robot control handle with the safety switch can realize teaching operation of the robot by controlling the moving direction and the holding information of the control handle, simplifies the control of the robot, so that the control handle can finish teaching action in any direction and any position, and the operation freedom degree of the robot is greatly enhanced.
According to the teaching robot, the robot control handle and the robot are arranged independently, man-machine separation is realized in a harmful environment through the isolation device, teaching is performed on the robot according to the working path generated by the teaching box, a worker does not need to manually drag the teaching robot to move, teaching operation is simple and convenient, the teaching robot is suitable for teaching scenes for processing workpieces with complex structures or large volumes, and teaching efficiency is improved.
The invention can be applied to the microbial environment with toxicity, harm, bacteria, virus and the like; welding expert database data can be optimized through arc light online welding fine adjustment; the thermal cutting expert database data can be optimized through the fine adjustment of the thermal cutting by plasma flame; the spraying expert database data can be optimized through online spraying fine adjustment through the spraying splashing effect; the polishing expert database data can be optimized by polishing effects, such as polishing sparks, and online polishing fine tuning.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is an isometric view of a robotic control handle incorporating a safety switch of the present invention;
FIG. 2 is a front view of a robot control handle incorporating a safety switch of the present invention;
FIG. 3 is a sectional view taken along line B-B of FIG. 2;
FIG. 4 is a schematic view of the application of the control handle of the robot incorporating the safety switch of the present invention;
in the figure: the robot comprises a robot body 1, a robot controller 2, an end effector 3, a temporary fixing device 4, a lower connecting piece 5, an upper connecting piece 6, a six-dimensional force sensor 7, a control handle 8, a safety button 9, a safety contact 901, a piezoelectric ceramic sensor 902, a confirmation button 10, a cancel button 11, a sensitivity adjusting button 12, a fixture 13, an isolating device 14, an on-site monitoring device 15, a visual display 16, a 5G communication 17 and a control environment 18.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides a robot control handle including a safety switch, which can control a robot by controlling a moving direction and hand-holding information of a control handle, and simplify control of the robot, so that the control handle can complete control in any direction and any position. Referring to fig. 1 and 2, the robot control handle with the safety switch comprises a base, an operation handle 8, a six-dimensional force sensor 7 and a safety button 9, wherein the six-dimensional force sensor 7 is arranged on the base, the operation handle 8 is movably arranged on the six-dimensional force sensor 7, and the six-dimensional force sensor 7 is used for detecting stress information of the operation handle 8; the safety button 9 is arranged on the control handle 8, and the safety button 9 is used for judging whether the operator normally operates the control handle 8.
Referring to fig. 3, in the embodiment of the present invention, the safety button 9 includes a plurality of safety contacts 901 disposed outside the manipulation knob 8 and a plurality of piezoelectric ceramic sensors 902 disposed inside the manipulation knob 8. The control handle 8 adopts an elastic insulating shell; the piezoelectric ceramic sensors 902 are sequentially arranged in the control handle 8 in a height mode; the plurality of safety contacts 901 correspond one-to-one to the plurality of piezoceramic sensors 902.
Specifically, the safety contact 901 is a conductor, and the human body resistance of the operator is measured by using a trace voltage; when safety problems occur, an operator releases the control handle 8, and the safety contact 901 sends out a pause signal; that is, when the operator releases the handle 8, the safety contact 901 changes from contacting the human body resistance to contacting air, and the control system can judge that the human body is released and control the robot to safely suspend because the air is different from the human body resistance.
When safety problems occur, an operator suddenly tenses to hold the control handle 8, the elastic insulating shell of the control handle 8 transmits abnormal gripping force of a human body due to tense to the piezoelectric ceramic sensor 902 of the safety button 9, the piezoelectric ceramic sensor 902 generates abnormal pressure electric signals and outputs the abnormal pressure electric signals, and the control system controls the robot to be safely suspended.
Furthermore, a confirmation button 10, a cancel button 11 and a sensitivity adjusting button 12 are sequentially arranged on the control handle 8 along the height direction, wherein the sensitivity adjusting button 12 is used for teaching the hand sensitivity of the user when the control handle 8 moves; the confirm button 10 and the cancel button 11 are used for quick online storage and remoter of teaching intentions when the manipulation knob 8 is moved, respectively. The confirmation button 10, the cancel button 11, and the sensitivity adjustment button 12 are preferably pressure sensitive switches.
Referring to fig. 2, in the embodiment of the present invention, the base includes a fixing device 4, a lower connecting member 5 and an upper connecting member 6, wherein the lower connecting member 5 is connected to the bottom of the upper connecting member 6, and the lower connecting member 5 is connected to a fixture 13 through the fixing device 4; the six-dimensional force sensor 7 is arranged on the upper connecting piece 6. Specifically, the fixing device 4 is fastened and fixed by bolts and nuts, and can also be a mechanical self-locking elbow clamp, an electromagnet, a sucker or any commercially available device capable of being temporarily fixed.
According to the robot control handle with the safety switch, the six-dimensional force sensor is used for detecting and outputting full force information of a three-dimensional space of the control handle, and the control system receives three-dimensional space stress information of the detection control handle sent by the six-dimensional force sensor, so that position deviation information of the detection control handle is obtained, the control system obtains motion path information of the robot, and control operation of the robot can be achieved; when an operator controls the control handle, the state of the operator holding the control handle is monitored in real time through the safety contact and the piezoelectric ceramic sensor. When the control handle is loosened or held tightly, the safety contact and the piezoelectric ceramic sensor send out pause signals, so that the robot pauses, the potential safety hazard of production is avoided, and the operation safety is improved.
Another embodiment of the present invention provides a control method, which is implemented by using the robot control handle with a safety switch in any of the above embodiments, and as shown in fig. 4, the control method includes the following steps:
1) the robot control handle is arranged in the control environment 18; arranging the robot 1 and the robot controller 2 in the isolation device 14, wherein the robot control handle is communicated with the robot controller 2;
2) an operator operates the control handle 8 in the control environment 18, the six-dimensional force sensor 7 detects stress information of the control handle 8 and sends the collected stress information to the robot controller 2;
3) the robot controller 2 receives the stress information sent by the six-dimensional force sensor 7, obtains the motion path information of the robot 1 according to the stress information, and controls the robot 1 to move according to the obtained motion path information.
During the operation, the teaching intention when the manipulation knob 8 is moved is stored on-line by the confirmation button 10, and regret is performed by the cancel button 11. When the operator releases the control handle 8, the safety contact 901 on the control handle 8 sends a pause signal; the robot controller 2 controls the robot 1 to pause after receiving the pause signal sent by the safety contact 901. When an operator holds the control handle 8 tightly, the piezoelectric ceramic sensor 902 in the control handle 8 sends a pause signal; the robot controller 2 receives the pause signal sent by the piezoceramic sensor 902 and controls the robot 1 to pause.
The isolation device 14 divides the interior from the exterior environment into different physical co-spaces, the isolation device 14 preferably being a filter glass. The isolation device 14 contains the robot 1, the robot controller 2 and the on-site monitoring 15, and the execution end of the robot 1 is provided with the end effector 3, in this embodiment, the end effector 3 is a welding gun. The operation environment 18 contains a visual display 16, and all the devices in the isolation device 14 perform real-time data interaction with all the devices in the operation environment 18 through 5G communication 17. The on-site monitoring 15 is monitoring, sensors, etc., and the visual display 16 is a display. The field monitor 15 can remotely transmit the welding image 5G from time to the visual display 16 for viewing the attenuated arc and thereby fine-tuning the spatial trajectory of the end effector 3.
Alternatively, the isolation device 14 may be a room in which the robot 1 and the robot controller 2 are arranged. The operation environment 18 is another room, the fixture 13 is arranged in the room, and the six-dimensional force sensor 7 and the operation handle 8 are temporarily fixed on the fixture 13 through a base, so that the environment of bacteria and microorganisms is avoided or the harm of spraying dust is avoided. Or, 5G real-time communication can be fused, the six-dimensional force sensor 7 and the control handle 8 can be located in one region, and the robot 1 and the robot controller 2 can be located in another region.
The robot control handle and the robot are arranged in relatively independent spaces, so that the robot is separated from the harmful environment, and meanwhile, the two environments can be remotely operated in different places in real time through a 5G technology. The robot control handle guides the robot end effector (welding gun) to move, the stress information of the control handle is collected through the multi-dimensional force sensor, the robot controller obtains the motion path information of the robot through the stress information, the hand acting force of an operator can be sensed accurately, and flexible and accurate control teaching in the welding teaching process is achieved. Simultaneously, through the security of safety button real-time supervision controlling, avoid appearing misoperation and the potential safety hazard, whole control process need not the staff and manually pulls the teaching robot and remove, and teaching easy operation is convenient, and applicable teaching scene in handling complicated or bulky work piece of structure has improved teaching efficiency.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot control handle with a safety switch is characterized by comprising a base, an operation handle (8), a six-dimensional force sensor (7) and a safety button (9), wherein the six-dimensional force sensor (7) is arranged on the base, the operation handle (8) is movably arranged on the six-dimensional force sensor (7), and the six-dimensional force sensor (7) is used for detecting stress information of the operation handle (8); the safety button (9) is arranged on the control handle (8), and the safety button (9) is used for judging whether an operator normally operates the control handle (8).
2. The robot control handle with safety switch of claim 1, characterized in that the safety button (9) comprises a plurality of safety contacts (901) arranged outside the handling grip (8) and a plurality of piezo ceramic sensors (902) arranged inside the handling grip (8).
3. The robot control handle with safety switch of claim 2, characterized in that the control handle (8) is an elastic insulating shell; the piezoelectric ceramic sensors (902) are sequentially arranged in the control handle (8) along the height mode; the plurality of safety contacts (901) correspond to the plurality of piezoceramic sensors (902) one by one.
4. The robot control handle with safety switch of claim 2, characterized in that the safety contact (901) is a conductor for measuring the operator's body resistance; when the operator releases the operating handle (8), the safety contact (901) sends a pause signal.
5. The robot control handle with safety switch according to claim 2, wherein the control handle (8) is provided with a confirmation button (10), a cancel button (11) and a sensitivity adjustment button (12) in order along the height direction.
6. The robot control handle with safety switch of claim 2, characterized in that the base comprises a fixing device (4), a lower connecting piece (5) and an upper connecting piece (6), wherein the lower connecting piece (5) is connected to the bottom of the upper connecting piece (6), and the lower connecting piece (5) is connected with a fixture (13) through the fixing device (4); the six-dimensional force sensor (7) is arranged on the upper connecting piece (6).
7. A control method using a robot control handle having a safety switch according to any one of claims 2 to 6, characterized in that the control method comprises the steps of:
1) -arranging a robot control handle in a control environment (18); arranging a robot (1) and a robot controller (2) in an isolating device (14), wherein a robot control handle is communicated with the robot controller (2);
2) an operator operates the control handle (8) in a control environment (18), the six-dimensional force sensor (7) detects stress information of the control handle (8) and sends the collected stress information to the robot controller (2);
3) The robot controller (2) receives the stress information sent by the six-dimensional force sensor (7), obtains the motion path information of the robot (1) according to the stress information, and controls the robot (1) to move according to the obtained motion path information.
8. A control method according to claim 7, characterized in that when the operator releases the operating handle (8), a pause signal is emitted by a safety contact (901) on the operating handle (8); and after receiving the pause signal sent by the safety contact (901), the robot controller (2) controls the robot (1) to pause.
9. A control method according to claim 7, characterized in that when the operator grips the handlebar (8), a piezo ceramic sensor (902) in the handlebar (8) emits a pause signal; the robot controller (2) receives a pause signal sent by the piezoelectric ceramic sensor (902) and then controls the robot (1) to pause.
10. The control method according to claim 7, wherein the intention of teaching when the manipulation knob (8) is moved is stored on-line by a confirmation button (10), and remorsed by a cancel button (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210205493.7A CN114670223A (en) | 2022-03-04 | 2022-03-04 | Robot control handle with safety switch and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210205493.7A CN114670223A (en) | 2022-03-04 | 2022-03-04 | Robot control handle with safety switch and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114670223A true CN114670223A (en) | 2022-06-28 |
Family
ID=82072663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210205493.7A Pending CN114670223A (en) | 2022-03-04 | 2022-03-04 | Robot control handle with safety switch and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114670223A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102150089A (en) * | 2008-07-21 | 2011-08-10 | Keba股份公司 | Method of operating a mobile hand-operated device for outputting or enabling potentially dangerous control commands and corresponding hand-operated device |
| JP2015511544A (en) * | 2012-03-26 | 2015-04-20 | ロボティーク・トワ・ディモンション・エルベートワデＲｏｂｏｔｉｑｕｅｓ ３ Ｄｉｍｅｎｓｉｏｎｓ Ｒｂ３Ｄ | Manual control aid for robots |
| CN104870864A (en) * | 2012-12-18 | 2015-08-26 | Zf腓德烈斯哈芬股份公司 | Gear change lever device for a vehicle gearing, evaluation device for a gear change lever device and method for the electronic activation of a vehicle device |
| CN107106249A (en) * | 2015-01-16 | 2017-08-29 | 奥林巴斯株式会社 | Operate input unit and medical manipulator system |
| CN109927056A (en) * | 2017-12-19 | 2019-06-25 | 合肥欣奕华智能机器有限公司 | A kind of teaching rocking bar and robot teaching method, robot control system |
| CN111300433A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Robot dragging teaching device based on six-dimensional force sensor |
| KR20200077131A (en) * | 2018-12-20 | 2020-06-30 | 전자부품연구원 | Multi-axis controller with self-weight compensation function |
| CN113655845A (en) * | 2021-10-20 | 2021-11-16 | 苏州好博医疗器械股份有限公司 | Control method of handheld emergency stop device |
-
2022
- 2022-03-04 CN CN202210205493.7A patent/CN114670223A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102150089A (en) * | 2008-07-21 | 2011-08-10 | Keba股份公司 | Method of operating a mobile hand-operated device for outputting or enabling potentially dangerous control commands and corresponding hand-operated device |
| JP2015511544A (en) * | 2012-03-26 | 2015-04-20 | ロボティーク・トワ・ディモンション・エルベートワデＲｏｂｏｔｉｑｕｅｓ ３ Ｄｉｍｅｎｓｉｏｎｓ Ｒｂ３Ｄ | Manual control aid for robots |
| CN104870864A (en) * | 2012-12-18 | 2015-08-26 | Zf腓德烈斯哈芬股份公司 | Gear change lever device for a vehicle gearing, evaluation device for a gear change lever device and method for the electronic activation of a vehicle device |
| CN107106249A (en) * | 2015-01-16 | 2017-08-29 | 奥林巴斯株式会社 | Operate input unit and medical manipulator system |
| CN109927056A (en) * | 2017-12-19 | 2019-06-25 | 合肥欣奕华智能机器有限公司 | A kind of teaching rocking bar and robot teaching method, robot control system |
| CN111300433A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Robot dragging teaching device based on six-dimensional force sensor |
| KR20200077131A (en) * | 2018-12-20 | 2020-06-30 | 전자부품연구원 | Multi-axis controller with self-weight compensation function |
| CN113655845A (en) * | 2021-10-20 | 2021-11-16 | 苏州好博医疗器械股份有限公司 | Control method of handheld emergency stop device |
Non-Patent Citations (1)
| Title |
|---|
| 主编徐学东: "《材料成形过程控制原理及应用》" * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11039895B2 (en) | Industrial remote control robot system | |
| US11040456B2 (en) | Robot operating apparatus provided with handles for operating robot | |
| CN110919626B (en) | Robot handheld teaching device and method based on stereoscopic vision | |
| US9433470B2 (en) | Surgical robot system and method for controlling surgical robot system | |
| CN108214495A (en) | A kind of industrial robot teaching system and method | |
| US9604357B2 (en) | Robot and device having multi-axis motion sensor, and method of use thereof | |
| US8459867B2 (en) | X-ray apparatus and medical workstation | |
| US20130178980A1 (en) | Anti-collision system for moving an object around a congested environment | |
| US20130338830A1 (en) | Device and method for programming an handling apparatus | |
| JP2018526234A (en) | Robot mounting device | |
| Wistort et al. | Electric field servoing for robotic manipulation | |
| JPH09216183A (en) | Robot three-dimensional position/posture teaching system | |
| US9981393B2 (en) | Remote attaching and detaching device including cell camera | |
| JP5093498B2 (en) | Manipulator system | |
| JP2007143704A (en) | Ultrasonic probe moving holding device | |
| CN114670223A (en) | Robot control handle with safety switch and method | |
| CN114571491A (en) | Robot control device based on force sensor and teaching method | |
| Lenz et al. | Bimanual telemanipulation with force and haptic feedback and predictive limit avoidance | |
| JP5446574B2 (en) | Robot operating method and robot operating device | |
| WO2020130559A2 (en) | User interface device, master console of surgical robot device, and operation method of master console | |
| JP6882317B2 (en) | Systems and methods for spatially moving objects using manipulators | |
| CN209734148U (en) | Portable control device of surgical robot | |
| CN110732814A (en) | intelligent welding robot based on vision technology | |
| CN220593160U (en) | Remote switch control robot | |
| CN113675780B (en) | Hand-type key device and power distribution live working system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |