Tail end coordinate ball for robot demonstration

Abstract

The invention discloses a tail end coordinate ball for robot demonstration. The tail end coordinate ball comprises a central ball body, an x-axis coordinate, a y-axis coordinate, a z-axis coordinate and a connecting flange; the central ball body is provided with a plurality of threaded mounting holes which are mutually perpendicular in pairs, the x-axis coordinate, the y-axis coordinate, the z-axis coordinate and the connecting flange, the x-axis coordinate, the y-axis coordinate and the z-axis coordinate are respectively connected with the central ball body through the threaded mounting holes, one end of the connecting flange is connected with the central ball body through the threaded mounting holes which are mutually perpendicular in pairs on the central ball body, the other end of theconnecting flange is connected with a robot rail end joint, and the x-axis coordinate, the y-axis coordinate, the z-axis coordinate and the connecting flange are assembled to form a Descartes rectangular coordinate system. The tail end coordinate ball for robot demonstration is convenient to install and adjust, can adapt to different robot joint coordinate systems, and can conveniently and visually display the space position and posture of the tail end joint of the robot, so that the debugging efficiency and accuracy of the robot can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of robot teaching, in particular to an end coordinate ball for robot teaching. Background technique [0002] From the late 1950s to the 1990s, most of the industrial robots used in the world were teaching reproduction industrial robots (ie, the first generation of robots). Before the 1980s, there were mostly two teaching methods of manual guidance end effector (commonly known as hand-held teaching) and mechanical simulation device. In the occasions of point-to-point (point-position control) and no need for very precise path control, the above-mentioned The teaching method can reduce costs; industrial robots produced from the second half of the 1980s to the 1990s generally have two functions of manual guidance and teaching box teaching. Using the teaching box to teach can greatly improve the control accuracy, and can control the speed of the robot, and avoid the heavy operation of manual guidance. Most of t...

AI Technical Summary

Problems solved by technology

However, since the end flange of the robot is usually a cylindrical structure, its spatial positioning or attitude adjustment movement is not intuitive enough

For robot application engineers, the unintuitive end joint motion will bring certain difficulties to the robot debugging work, such as: the installation error of the end tool makes the robot joint motion range not effectively utilized, and the robot has a singularity in the normal motion range, etc.

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