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Robot off-line teaching device and compensation teaching method

An offline teaching and teaching method technology, applied in the field of robotics, can solve problems such as the motion parameter error of the articulated arm without power teaching, and achieve the effect of reducing the difficulty of teaching operation, reducing the process of robot trajectory correction, and improving programming efficiency.

Inactive Publication Date: 2015-04-29
FOSHAN KINGPENG ROBOT TECH CO LTD
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Problems solved by technology

[0003] However, the existing offline programming teaching system has systematic errors in the motion parameters of the unpowered teaching articulated arm due to its own gravity, vibration and other non-deterministic factors during the teaching process. Therefore, generating the correct control program of the target robot becomes one of the key indicators of the quality of the unpowered teaching articulated arm system

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  • Robot off-line teaching device and compensation teaching method
  • Robot off-line teaching device and compensation teaching method
  • Robot off-line teaching device and compensation teaching method

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Embodiment Construction

[0015] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0016] Such as figure 1 As shown, the present invention provides a robot off-line teaching device, including: a teaching articulated arm, used to demonstrate robot operation; The angle information of the joints; the lower computer is used to store the computer-readable code generated by the motion trajectory and communicate with the upper computer in real time; the upper computer is used to send the computer-readable code to any robot to execute commands.

[0017] An off-line compensation teaching method for a robot, comprising the above-mentioned robot off-line teaching device, using a six-degree-of-freedom teaching joint arm as a teaching acquisition unit, installing an optical angle encoder and a data processing unit on each joint of the teaching joint arm, Each unit can independently and simult...

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Abstract

The invention relates to the field of a robot, and discloses an error compensation method of a robot off-line teaching device. According to the error compensation teaching method disclosed by the invention, by testing and analyzing the influence of system error of various teaching articulated arms on motion parameters and correcting the parameters of the various teaching articulated arms, accurate program control on a target robot is realized, and great flexibility is expressed; meanwhile, the teaching operation difficulty is reduced, the operation experience of a skilled worker can be deposited through a mechanical arm, and the skill level of the skilled worker can be achieved by the whole production line, so that tedious robot track correcting processes can be reduced, and the programming efficiency is greatly increased.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot offline teaching device and a compensation teaching method. Background technique [0002] At present, there are mainly three forms of existing industrial robot programming: 1) Online teaching programming: that is, at the robot site, the operator manually operates the teaching box to guide the robot terminal to move according to the working trajectory, and records the robot joint angle information to form a program ; When the robot is working automatically, the controller reads out the stored position information and drives the robot to repeat the trajectory and operation during teaching. 2) Robot offline programming: use computer technology to establish a virtual environment for the robot and its work, plan and program the tasks to be completed by the robot offline, and perform dynamic calculation and simulation on the programming results, and finally form a working program that mee...

Claims

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Application Information

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IPC IPC(8): B25J9/22
Inventor 秦磊禹鑫燚郑振兴周莉杨永
Owner FOSHAN KINGPENG ROBOT TECH CO LTD
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