Robot demonstrator and robot demonstration method

Abstract

The invention discloses a robot demonstrator and a robot demonstration method, which is used for improving the demonstration efficiency and realizing the automatic demonstration of a robot. The demonstration process is as follows: a demonstration coordinate of a mechanical hand in a first direction can be determined by controlling the mechanical hand to move in different directions by virtue of the demonstrator and by virtue of the detection of a first sensor which is arranged on a mechanical hand finger, a demonstration coordinate of the mechanical hand in a second direction is determined by virtue of the detection of a second sensor which is arranged on the root part of the mechanical hand finger, a demonstration coordinate of the mechanical hand in a third direction is determined by virtue of the detection of a third sensor which is arranged on a mechanical hand base, and a coordinate of a demonstration position is determined by virtue of the demonstration coordinate in the first direction, the demonstration coordinate in the second direction and the demonstration coordinate in the third direction. In the entire demonstration process, the mechanical hand does not need to be adjusted by the operating personnel, the automation of the robot demonstration process can be realized, the demonstration precision can be greatly improved, and the demonstration time can be shortened.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot teaching device and a teaching method. Background technique [0002] The purpose of the teaching of the glass substrate handling robot is to find out the exact position of the manipulator of the robot in the process of handling the glass substrate. In the process of glass substrate handling, in order to ensure that the manipulator can correctly pick and place the glass substrate, it is necessary to teach the position of the manipulator before picking and placing the glass. During the teaching process, the glass substrate is placed in the position to be picked and placed in advance, and the glass substrate is in an absolutely standard position. In the traditional teaching process, the on-site operator manually controls the movement of each axis of the manipulator, so that the manipulator moves to a relatively accurate position relative to the glass substrate. When using t...

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Problems solved by technology

[0003] The Chinese patent with the application number 200980130641.6 discloses a method that can use the existing optical sensor in the handling robot system for auxiliary teaching. Compared with the traditional teaching method, although this method can improve the teaching accuracy and However, the teaching method disclosed in this patent cannot meet the requirements of the teaching position of the glass substrate handling robot on the three degrees of freedom during the teaching process, especially the teaching of the distance in the height direction cannot be carried out, and the glass substrate cannot be satisfied. Teaching requirements for handling robots

At the same time, this teaching method only uses the signal of the sensor to determine the motion reference, and cannot allow the robot to realize automatic teaching. This makes the entire teaching process still relatively cumbersome to a certain extent, and the teaching efficiency is still not high.

[0004] To sum up, under the existing technical conditions, the robot teaching process is cumbersome, the teaching efficiency is low, and automatic teaching cannot be realized.

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