CN106903670B - Teaching device, robot manipulation device and control method - Google Patents

Abstract

The patent of the present invention discloses a robot traction teaching sensor, a teaching device, a robot control device and a control method, wherein the robot traction teaching sensor includes a casing, a handle located in the casing, and several switches that cooperate with the handle to generate control signals ; The teaching device and the robot control device further include a posture holder, which can adjust the position of the robot pulling the teaching sensor in real time in three-dimensional direction with the assistance of three motors to keep the posture of the teaching sensor unchanged; and also Provided is a control method for the specific operation of the above teaching device and robot control device; the teaching device or robot control device of the present invention is simple in structure and low in cost, and has strong device versatility, and can be applied to industries that do not require high speed and precision. Robot teaching or operation.

Description

Teaching device, robot manipulation device and control method

technical field

The invention relates to the field of robot design, in particular to a robot teaching technology. The traction teaching of the robot can be realized.

The invention also relates to the robot control technology in the field of robot design.

Background technique

At present, the teaching of industrial robots mainly uses a teaching box, which is observed through the operator's eyes, and commands the robot's movements with buttons. After reaching the position and posture that the observer thinks is appropriate, start the computer to record the coordinates of each point at the end of the robot, and then use it when working. The teaching action is automatically reproduced based on the recorded data. Robots working in this way cannot simply and accurately record complex trajectories, take a long time to teach, and have high requirements on operators.

The teaching method of directly dragging the end of the robot to realize the robot motion is called traction teaching. The traction teaching is intuitive, accurate and convenient, but to sense the traction action, a six-dimensional force sensor is usually required, which greatly increases the cost of the teaching device. Therefore, it has not been used on a large scale.

The Chinese patent applications with application numbers of 00119275.2 and 201320489386.8 respectively disclose robots that can be directly dragged and taught, and their main implementations are design improvements on the robot body, which can ensure the operation of manual traction robots without additional traction equipment. This method is suitable for light robots with small loads, but it is difficult to implement for robots with large loads and complex structures.

The Chinese patent application with application number 201420579247.9 discloses a manipulator teaching 3D sensing handle, which is installed on the finger end of the manipulator. . Although this method can realize the motion of the manipulator, when the manipulator finger end is not in a vertical posture, the operator's traction direction feels inconsistent with the normal motion direction, which is easy to cause misoperation.

In summary, it is of great significance to develop a low-cost, simple to implement, and highly flexible direct teaching device.

SUMMARY OF THE INVENTION

In order to improve the teaching process of the industrial robot and enhance the intuitive feeling of the operator when the robot is towing, the present invention provides a robot traction teaching sensor, which can intuitively give the operator traction teaching or traction operation feedback through structural design. And the structure is simple and the cost is low.

At the same time, the present invention also provides a teaching device and a robot control device using the above-mentioned sensor, which can further realize the self-adaptive adjustment of the posture of the sensor and reduce misoperation.

At the same time, the present invention also provides the above teaching device and the control method of the robot control device, which can further realize intuitive traction teaching or feedback of traction operation by combining the design of the control method with the controlled robot, and can reflect the teaching device. And the robot control device can realize the advantages of complex motion feedback of the robot through a simple structure design.

In order to achieve the above purpose, the robot traction teaching sensor of the present invention can adopt the following technical solutions:

A robot traction teaching sensor, comprising a casing, a handle located in the casing, and a plurality of switches, the handle includes four handle bars, and the four handle bars form a "cross" shape together, and each handle includes a top. surface, bottom surface, first side surface, second side surface; the top surface, bottom surface, first side surface, and second side surface of each handle are provided with a corresponding switch, and the top surface, bottom surface, first side surface of each handle One side surface and the second side surface respectively abut on the buttons of the corresponding switches.

The beneficial effects of the traction teaching sensor are: through the "cross"-shaped handle and the corresponding switches, the operator can intuitively provide feedback on the traction teaching or traction operation through the cooperation of each handle bar and different switches; The components, including the casing, the handle and the switch, are all low-cost components, so that the overall cost of the traction teaching sensor is low, and it is easy to manufacture and popularize.

The teaching device of the present invention can adopt the following technical solutions:

The teaching device including the above-mentioned robot traction teaching sensor also includes a posture holder for carrying the robot traction teaching sensor, and the posture holder includes a first motor, a second motor, a third motor, and a fixed first motor. The first bracket, the second bracket for fixing the second motor, the third bracket for fixing the third motor, and the output shaft of the first motor, the output shaft of the second motor, and the output shaft of the third motor are orthogonal to each other. The output shaft of the motor is connected with the robot traction teaching sensor and drives the robot traction teaching sensor to rotate. The output shaft of the second motor is connected with the first support and drives the first support to rotate. The output shaft of the third motor is connected with the second support. Connect and drive the second bracket to rotate.

Among them, the teaching device further includes a posture holder, which can adjust the position of the robot traction teaching sensor in three-dimensional direction in real time with the assistance of three motors, so as to keep the posture of the teaching sensor unchanged, so as to make the manual traction It can maintain the traction habit when it is more in line with ergonomic needs.

Compared with the teaching of the teaching box, the teaching device can be used for the teaching of complex teaching trajectories, and can be taught by hand, and the teaching personnel do not need special training. Compared with the multi-dimensional force sensor used for traction teaching, it has the advantages of being economical and affordable, and the device has strong versatility, which can be used for teaching industrial robots that do not require high speed and accuracy.

The robot control device of the present invention can adopt the following technical solutions:

The robot control device including the above-mentioned robot traction teaching sensor also includes a posture holder for carrying the robot traction teaching sensor, and the posture holder includes a first motor, a second motor, a third motor, and a fixed first motor. The first bracket, the second bracket for fixing the second motor, the third bracket for fixing the third motor, and the output shaft of the first motor, the output shaft of the second motor, and the output shaft of the third motor are orthogonal to each other. The output shaft of the motor is connected with the robot traction teaching sensor and drives the robot traction teaching sensor to rotate. The output shaft of the second motor is connected with the first support and drives the first support to rotate. The output shaft of the third motor is connected with the second support. Connect and drive the second bracket to rotate.

Among them, the robot control device also includes a posture controller, and the beneficial effects are the same as those of the teaching device. The difference from the teaching device is that the teaching device is applied to the traction teaching of the robot, while the robot control device is directly applied to the robot. control.

The control method of the teaching device or the robot control device can adopt the following technical solutions:

The four handle bars are set as a first handle bar, a second handle bar opposite to the extending direction of the first handle bar, a third handle bar extending perpendicularly to the first and second handle bars, and the extending direction of the third handle bar Opposite fourth handle bar;

The first handle rod is stretched outward to press the corresponding switch button on one side of the third handle rod and one side of the fourth handle rod, respectively, to output a first lateral movement signal;

The second handle rod is stretched out to the other side of the third handle rod and the other side of the fourth handle rod presses the corresponding switch buttons, respectively, to output a second traverse signal;

The third handle rod is stretched outwards to press the corresponding switch buttons on one side of the first handle rod and one side of the second handle rod, respectively, to output a third traverse signal;

The fourth handle rod is stretched outward to the other side of the first handle rod and the other side of the second handle rod, respectively, press the corresponding switch button, and output a fourth traverse signal;

The handle is moved upward to the top surface of the four handle bars, and the corresponding switch buttons are respectively pressed to output a first longitudinal movement signal;

The handle moves down to the bottom surface of the four handle bars and presses the corresponding switch buttons respectively to output a second longitudinal movement signal;

The handle is rotated clockwise until one side surface of the first handle rod, one side surface of the second handle rod, one side surface of the third handle rod, and one side surface of the fourth handle rod are respectively against the corresponding switch buttons, outputting a first deflection signal;

The handle is rotated counterclockwise until the other side surface of the first handle rod, the other side surface of the second handle rod, the other side surface of the third handle rod, and the other side surface of the fourth handle rod respectively abut against the corresponding switch buttons, A second deflection signal is output.

further:

The first handle bar is rotated to the bottom surface of the handle bar and the corresponding switch button is pressed, that is, the top surface of the second handle bar presses the corresponding switch button at the same time, and a first roll signal is output;

The first handle bar is rotated to the top surface of the first handle bar and the corresponding switch button is pressed, that is, the bottom surface of the second handle bar presses the corresponding switch button at the same time, and a second roll signal is output;

The third handle rod rotates to the bottom surface of the third handle rod and presses the corresponding switch button, that is, at the same time, the top surface of the fourth handle rod presses the corresponding switch button to output a first pitch signal;

The third handle rod rotates to the top surface of the third handle rod and presses the corresponding switch button, that is, at the same time, the bottom surface of the fourth handle rod presses the corresponding switch button to output a second pitch signal;

By setting different control signals, the control method is convenient to use the control signal directly for the signal control output corresponding to the execution end of the controlled robot, that is, the simple structure design of the above teaching device or robot manipulation device can be achieved by setting the output of the control signal. Realize the proper control function of the executive end.

Description of drawings

FIG. 1 is a schematic structural diagram of a teaching device or a robot manipulation device of the present invention.

FIG. 2 is a top view of the robot pulling the teaching sensor in the present invention.

FIG. 3 is a side view of the robot pulling the teaching sensor, and shows the state in the three-dimensional coordinate axis.

FIG. 4 is a schematic cross-sectional view of a robot pulling a teaching sensor.

Fig. 5 is a front view of the posture holder.

Figure 6 is a side view of the posture holder.

FIG. 7 is a plan view of the posture holder.

FIG. 8 is a schematic structural diagram of a flexible mechanical interface.

Detailed ways

Please refer to FIG. 1 to FIG. 4 , the teaching device or the robot manipulation device disclosed in this embodiment; the teaching device and the manipulation device are only in different applications, and the principles are the same. In this embodiment, the teaching device is used as an example. .

The teaching device includes a robot traction teaching sensor 1 , a posture holder 2 , and a flexible mechanical interface 3 . However, it should be noted that the traction teaching sensor can be used independently from the posture holder and the flexible mechanical interface to generate corresponding control signals.

The traction teaching sensor 1 includes a casing 11, a handle located in the casing, and a plurality of switches 13. The handle includes four handle bars 12, and the four handle bars 12 together form a "cross" shape. Each handle 12 All include a top surface 14, a bottom surface 15, a first side surface 16, and a second side surface 17; the top surface 14, bottom surface 15, first side surface 16, and second side surface 17 of each handle are provided with a corresponding switch 13. . And the top surface 14 , the bottom surface 15 , the first side surface 16 , and the second side surface 17 of each handle respectively abut on the button of the corresponding switch 13 .

In this embodiment, the switch is a low-cost and long-life micro switch. When the handle 12 is in a free state, the handle 12 is positioned in the housing by the buttons of the plurality of micro switches and the handle 12 does not press any button . There are additionally several springs in the housing to assist in positioning the handle. When the handle 12 is in a free state, the springs can position the handle 12 in the middle of the thickness of the housing 11 and keep the handle 12 from pressing any buttons.

The housing 11 includes four wrapping shells respectively surrounding the four handle bars, and each wrapping shell is provided with a top wall 181 , a bottom wall 182 , a first side wall 183 and a second side wall 184 . Each package shell is provided with four switches 13 , which are respectively one switch on the top wall 181 , one switch on the bottom wall 182 , one switch on the first side wall 183 , and one switch on the second side wall 183 . There is a switch on the 184. The buttons of the four switches are located in the package shell and abut on the handle rods in the package shell. The four switches 13 are all provided with terminals (not numbered) located outside the package shell for connecting to the robot controller.

The control method proposed by the present invention can be realized by the traction teaching sensor. For the convenience of description, the four handle bars are set as the first handle bar 121 and the second handle opposite to the extending direction of the first handle bar 121 The rod 122, a third handle rod 123 extending perpendicularly to the first and second handle rods, and a fourth handle rod 124 extending in an opposite direction to the third handle rod 123. And the state of the teaching sensor in the three-axis coordinate diagram is given in FIG. 3 for easy understanding.

The first handle bar 121 is stretched outwards (that is, in the positive direction of x in FIG. 4 ) to press the corresponding switch buttons on one side of the third handle bar 123 and one side of the fourth handle bar 124 to output a first horizontal shift signal;

The second handle rod 122 is stretched outward (ie, the negative direction of the x-axis as shown in FIG. 4 ) to the other side of the third handle rod 123 and the other side of the fourth handle rod 124 , and press the corresponding switch buttons respectively to output a the second traverse signal;

The third handle bar 123 is stretched outward (ie, the y-axis is in the positive direction in FIG. 4 ) to press the corresponding switch buttons on one side of the first handle bar 121 and one side of the second handle bar 122 to output a third traverse signal;

The fourth handle bar 124 is stretched outward (ie, the negative direction of the y-axis in FIG. 4 ) to the other side of the first handle bar 121 and the other side of the second handle bar 122 and press the corresponding switch buttons respectively, and output a the fourth traverse signal;

The handle moves upward (that is, the z-axis is positive as shown in Figure 4) to the top surfaces of the four handle bars and presses the corresponding switch buttons respectively, and outputs a first longitudinal movement signal;

The handle moves downward (that is, in the negative direction of the z-axis as shown in Fig. 4) to the bottom surface of the four handle bars and presses the corresponding switch buttons respectively, and outputs a second longitudinal movement signal;

The handle is rotated clockwise until one side surface of the first handle bar 121, one side surface of the second handle bar 122, one side surface of the third handle bar 123, and one side surface of the fourth handle bar 124 respectively abut against the corresponding switch buttons, output a first deflection signal;

The handle is rotated counterclockwise until the other side surface of the first handle bar 121, the other side surface of the second handle bar 122, the other side surface of the third handle bar 123, and the other side surface of the fourth handle bar 124 respectively abut against the corresponding The switch button, output a second deflection signal;

The first handle bar 121 rotates to the bottom surface of the first handle bar and presses the corresponding switch button, that is, at the same time, the top surface of the second handle bar 122 presses the corresponding switch button to output a first roll signal;

The first handle bar 121 rotates to the top surface of the first handle bar and presses the corresponding switch button, that is, at the same time the bottom surface of the second handle bar 122 presses the corresponding switch button to output a second roll signal;

The third handle bar 123 rotates to the bottom surface of the third handle bar and presses the corresponding switch button, that is, at the same time, the top surface of the fourth handle bar 124 presses the corresponding switch button to output a first pitch signal;

The third handle bar 123 rotates to the top surface of the third handle bar and presses the corresponding switch button, that is, at the same time the bottom surface of the fourth handle bar 124 presses the corresponding switch button to output a second pitch signal;

The first traverse signal, the second traverse signal, the third traverse signal, the fourth traverse signal, the first vertical shift signal, the second vertical shift signal, the first deflection signal, the second deflection signal, the first The roll signal, the second roll signal, the first pitch signal, and the second pitch signal are respectively used to control the output of signals corresponding to the execution end of the controlled robot. Specifically, it can be set as follows: the first traverse signal controls the execution end of the controlled robot to traverse in the first direction; the second traverse signal controls the execution end of the controlled robot to traverse in the second direction; and the first direction and the second direction is the opposite direction; the third traverse signal controls the execution end of the controlled robot to traverse in the third direction; the fourth traverse signal controls the execution end of the controlled robot to traverse in the fourth direction; and the third direction is opposite to the fourth direction and the third direction is perpendicular or orthogonal to the first direction; the first longitudinal movement signal controls the execution end of the controlled robot to move upward longitudinally; the second longitudinal movement signal controls the execution end of the controlled robot to longitudinally move downward; the first deflection signal Control the executing end of the controlled robot to deflect forward, and the second deflection signal controls the executing end of the controlled robot to deflect backward; and the first direction and the second direction are opposite directions; the first roll signal controls the executing end of the controlled robot to roll forward, The second roll signal controls the executing end of the controlled robot to roll in reverse; and the first direction and the second direction are opposite directions; the first pitch signal controls the executing end of the controlled robot to pitch forward, and the second pitch signal controls the controlled robot Control the robot's executive end to pitch in the opposite direction; and the first direction and the second direction are opposite directions.

Please refer to FIG. 5 to FIG. 7 , the attitude holder 2 carrying the robot towing the teaching sensor includes a first motor 21 , a second motor 22 , a third motor 23 , a first bracket 24 for fixing the first motor 21 , a fixing The second bracket 25 of the second motor 22 and the third bracket 26 of the third motor 23 are fixed, and the output shaft of the first motor 21, the output shaft of the second motor 22, and the output shaft of the third motor 23 are orthogonal to each other. The output shaft of a motor 21 is connected to the robot traction teaching sensor 1 and drives the robot traction teaching sensor 1 to rotate. The output shaft of the second motor 22 is connected to the first bracket 24 and drives the first bracket 24 to rotate. The third motor The output shaft of 23 is connected with the second bracket 25 and drives the second bracket 25 to rotate. The attitude holder receives the information from each rotating joint of the robot controller, calculates the real-time attitude of the position through the robot attitude calculation method, and uses this as the input signal of its own controller. The three motors in the holder are driven, so that the traction teaching sensor 1 at the front end of the posture holder keeps the posture unchanged, so that the traction habit can be maintained during manual traction, which is more ergonomic.

8 , the flexible mechanical interface 3 fixed on the third bracket 26 includes a rotating shaft 31 and two metal sheets 32 bent into obtuse angles; the upper ends of the two metal sheets 32 are hinged to the rotating shaft 31 ; The lower ends of the two metal sheets 32 are connected by a stud 33 and a locking nut; a clamping space is formed between the two metal sheets, and an elastic pad 34 is provided inside the metal sheet 32 . The two pieces of metal can be rotated around the rotating shaft, and the opening of the gripper can be adjusted corresponding to different gripping parts of the robot. After the flexible mechanical interface is positioned at the determined position of the robot, the nut can be tightened for clamping to complete the fixation of the entire teaching device. Therefore, the teaching device can be flexibly installed and used, and the versatility is improved.

To sum up, the teaching device or control device including the robot traction teaching sensor in this embodiment can intuitively provide feedback of the operator's traction teaching or traction operation through structural design, and has a simple structure and low cost. Compared with six-dimensional force sensors, there are less restrictions on the installation position and can greatly reduce the cost.

Claims (9)

1. A teaching device comprising a robot pulling a teaching sensor, the robot pulling a teaching sensor, comprising a casing, a handle located in the casing, and several switches, and the handle includes four handle bars, and the four handle bars are common. A "cross" shape is formed, and each of the handle bars includes a top surface, a bottom surface, a first side surface, and a second side surface; a corresponding switch, and the top surface, bottom surface, first side surface, and second side surface of each handle rod respectively abut on the button of the corresponding switch; It is characterized in that: it also includes a posture holder for carrying the robot traction and teaching sensor, and the posture holder includes a first motor, a second motor, a third motor, a first bracket for fixing the first motor, and a second motor for fixing the second motor. The second support of the motor and the third support of the third motor are fixed, and the output shaft of the first motor, the output shaft of the second motor, and the output shaft of the third motor are orthogonal to each other, and the output shaft of the first motor and the robot traction are shown. The teaching sensor is connected and drives the robot to pull the teaching sensor to rotate, the output shaft of the second motor is connected with the first support and drives the first support to rotate, the output shaft of the third motor is connected with the second support and drives the second support to rotate. 2. The teaching device according to claim 1, characterized in that: it further comprises a flexible mechanical interface fixed on the third bracket; the flexible mechanical interface comprises a rotating shaft and two metal sheets bent into an obtuse angle; The upper end of the metal sheet is hinged to the rotating shaft; the lower ends of the two metal sheets are connected by a stud and a locking nut; a clamping space is formed between the two metal sheets. 3 . The teaching device according to claim 1 , wherein the switch is a micro switch, and when the handle is in a free state, the handle is positioned in the casing by several buttons of the micro switch and the handle is not pressed. 4 . any button. 4. The teaching device according to claim 1, characterized in that: the casing is additionally provided with several springs for assisting the positioning of the handle, when the handle is in a free state, the spring positions the handle in the middle of the thickness of the casing and makes the handle Do not press any buttons. 5 . The teaching device according to claim 1 , wherein the housing comprises four wrapping shells respectively surrounding the four handle bars, and each wrapping shell is provided with a top wall, a bottom wall, a The first side wall and the second side wall are provided with four switches on each of the wrapping shells, one switch is provided on the top wall, one switch is provided on the bottom wall, and one switch is provided on the first side wall. The switch and the second side wall are provided with a switch; the buttons of the four switches are located in the wrapping shell and abut on the handle rod in the wrapping shell, and the four switches are all provided with terminals outside the wrapping shell for Connect the robot controller. 6. A robot control device comprising a robot pulling and teaching sensor, the robot pulling and teaching sensor, comprising a casing, a handle located in the casing, and a plurality of switches, the handle includes four handle bars, and the four handle bars are common. A "cross" shape is formed, and each of the handle bars includes a top surface, a bottom surface, a first side surface, and a second side surface; a corresponding switch, and the top surface, bottom surface, first side surface, and second side surface of each handle rod respectively abut on the button of the corresponding switch; It is characterized in that: it also includes a posture holder for carrying the robot traction and teaching sensor, and the posture holder includes a first motor, a second motor, a third motor, a first bracket for fixing the first motor, and a second motor for fixing the second motor. The second support of the motor and the third support of the third motor are fixed, and the output shaft of the first motor, the output shaft of the second motor, and the output shaft of the third motor are orthogonal to each other, and the output shaft of the first motor and the robot traction are shown. The teaching sensor is connected and drives the robot to pull the teaching sensor to rotate, the output shaft of the second motor is connected with the first support and drives the first support to rotate, the output shaft of the third motor is connected with the second support and drives the second support to rotate. 7. A method for controlling the teaching device according to claim 1 or 2 or the control method for the robot manipulation device according to claim 6, wherein the four handle bars are set as the first handle bar and the first handle bar a second handle bar opposite to the extending direction, a third handle bar extending perpendicularly to the first and second handle bars, and a fourth handle bar opposite the extending direction of the third handle bar; The first handle rod is stretched outward to press the corresponding switch button on one side of the third handle rod and one side of the fourth handle rod, respectively, to output a first lateral movement signal; The second handle rod is stretched out to the other side of the third handle rod and the other side of the fourth handle rod presses the corresponding switch buttons, respectively, to output a second traverse signal; The third handle rod is stretched outwards to press the corresponding switch buttons on one side of the first handle rod and one side of the second handle rod, respectively, to output a third traverse signal; The fourth handle rod is stretched outward to the other side of the first handle rod and the other side of the second handle rod, respectively, press the corresponding switch button, and output a fourth traverse signal; The handle is moved upward to the top surface of the four handle bars, and the corresponding switch buttons are respectively pressed to output a first longitudinal movement signal; The handle moves down to the bottom surface of the four handle bars and presses the corresponding switch buttons respectively to output a second longitudinal movement signal; The handle is rotated clockwise until one side surface of the first handle rod, one side surface of the second handle rod, one side surface of the third handle rod, and one side surface of the fourth handle rod are respectively against the corresponding switch buttons, outputting a first deflection signal; The handle is rotated counterclockwise until the other side surface of the first handle rod, the other side surface of the second handle rod, the other side surface of the third handle rod, and the other side surface of the fourth handle rod respectively abut against the corresponding switch buttons, outputting a second deflection signal; The first horizontal shift signal, the second horizontal shift signal, the third horizontal shift signal, the fourth horizontal shift signal, the first vertical shift signal, the second vertical shift signal, the first deflection signal, and the second deflection signal are respectively used for Corresponds to the signal control output of the execution end of the controlled robot. 8 . The control method according to claim 7 , wherein the first handle rod is rotated to the bottom surface of the first handle rod to press the corresponding switch button, that is, the top surface of the second handle rod presses the corresponding switch button at the same time. 9 . , output a first roll signal; The first handle bar is rotated to the top surface of the first handle bar and the corresponding switch button is pressed, that is, the bottom surface of the second handle bar presses the corresponding switch button at the same time, and a second roll signal is output; The third handle rod rotates to the bottom surface of the third handle rod and presses the corresponding switch button, that is, at the same time, the top surface of the fourth handle rod presses the corresponding switch button to output a first pitch signal; The third handle rod rotates to the top surface of the third handle rod and presses the corresponding switch button, that is, at the same time, the bottom surface of the fourth handle rod presses the corresponding switch button to output a second pitch signal; The first roll signal, the second roll signal, the first pitch signal, and the second pitch signal are also respectively used to control the output of the signals corresponding to the execution end of the controlled robot. 9. The control method according to claim 8, wherein: the first traverse signal controls the execution end of the controlled robot to traverse in the first direction; the second traverse signal controls the execution end of the controlled robot to traverse in the second direction move; and the first direction and the second direction are opposite directions; The third traverse signal controls the execution end of the controlled robot to traverse in the third direction; the fourth traverse signal controls the execution end of the controlled robot to traverse in the fourth direction; and the third direction and the fourth direction are opposite directions; The three directions are perpendicular or orthogonal to the first direction; The first longitudinal movement signal controls the executing end of the controlled robot to move vertically upward; the second longitudinal movement signal controls the executing end of the controlled robot to move vertically downward; The first deflection signal controls the executing end of the controlled robot to deflect and rotate in the forward direction, and the second deflection signal controls the executing end of the controlled robot to deflect in the reverse direction; The third pitch signal controls the executing end of the controlled robot to pitch forward, and the fourth pitch signal controls the executing end of the controlled robot to pitch backward; The fifth roll signal controls the execution end of the controlled robot to roll forward, and the sixth roll signal controls the execution end of the controlled robot to roll in the reverse direction.