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Auxiliary device and method for industrial robot hand-held demonstration

A technology of industrial robots and auxiliary devices, applied in the program control and electrical program control of sequence/logic controllers, etc., can solve problems such as difficulty in obtaining uniform teaching points, difficulty in teaching, and difficulty in realizing motion trajectories.

Inactive Publication Date: 2018-01-05
高井云
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The direct teaching operation is simple and straightforward, and technicians can program on site according to the actual situation, but there are also the following problems: 1. It is difficult to realize complex motion trajectories
To realize a complex motion trajectory, a large number of trajectory points must be taught, which is difficult to teach
2. Uneven teaching points
Manual teaching is difficult to obtain uniform trajectory points, so it cannot meet the requirements of sewing and other processing techniques
3. The teaching point is not accurate
However, the editing and operation capabilities of the 3D graphics provided by these software are very limited, and the trajectory points need to be manually picked up. Therefore, for complex motion trajectories, there are still many teaching points, and it is difficult to obtain uniform teaching points.

Method used

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  • Auxiliary device and method for industrial robot hand-held demonstration
  • Auxiliary device and method for industrial robot hand-held demonstration

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Example 1: Such as figure 2 As shown in the flowchart, the present invention provides an auxiliary method for teaching an industrial robot hand, which includes the following steps:

[0040] The joints of the industrial robot are in the disabled state, which means that the drive motors of the joints are turned off, or the torque is reduced, so that the joints are in a state that is easy to rotate by humans;

[0041] Set horizontal and vertical sensors in the space to capture the initial position information of the industrial robot, and establish a spatial three-dimensional coordinate system in the computer;

[0042] An absolute encoder is set at the joint to record the value of the initial state of the joint;

[0043] The operator rotates the joint, traverses the set path, and reaches the target position. During the rotation of the joint, the absolute encoder records the value of the joint rotation. There are multiple engravings on the optical code disc of the absolute encoder....

Embodiment 2

[0053] Some standard data are pre-stored in the memory, and a standard library of programs is established. When the industrial robot needs to move next time, or when a beginner needs to be instructed, the standard program is called from the memory to make the industrial robot run according to the established program. Interference appears). At the same time, each joint part can be moved separately, which is convenient for the operator to learn. It also assists the parameter indication and modification range while running, which is convenient for beginners to get started faster.

[0054] When the operator manually adjusts the industrial robot, in addition to the problem of insufficient accuracy, there is also the problem of not being able to optimize the robot's movement path, especially for some complex curves and multi-station operation. Each movement requires the instructor to make a comparison by himself. It is troublesome, so the demonstration to the operator through the standa...

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Abstract

The invention provides an auxiliary device and method for industrial robot hand-held demonstration. The method comprises the following steps that a horizontal direction sensor and a vertical directionsensor are arranged in a space, position information of an industrial robot is captured, and a space three-dimensional coordinate system is built in a computer; an absolute type encoder is arranged at a joint, and the initial state and the motion numerical value of the joint are recorded; a processor processes the numerical value to generate parameters and uploads the parameters to the computer,and the parameters are adjusted in the three-dimensional coordinate system of the computer, so that positioning is more accurate, and uniform demonstration points are generated. The method has the advantages that visual operation of direct demonstration is accurately combined with positioning of off-line demonstration, an operator does not need to program and conduct modeling study on off-line demonstration and only needs to master simple parameter adjustment, and then accurate positioning and motion uniformizing are achieved.

Description

Technical field [0001] The invention belongs to the technical field of production and processing of industrial robots, and specifically relates to an auxiliary device and method for teaching and teaching of an industrial robot hand. Background technique [0002] At present, the teaching of industrial robots is mainly divided into direct teaching and offline teaching. [0003] Direct teaching (online teaching) means that the technician moves the robot's arm through the teaching box to teach the robot. The direct teaching operation is simple and straightforward, and the technicians can program according to the actual situation on the spot, but there are also the following problems: 1. It is difficult to achieve complex motion trajectories. To achieve complex motion trajectories, a large number of trajectory points must be taught, which is very difficult. 2. The teaching point is uneven. Manual teaching is difficult to obtain uniform track points, so it cannot meet the requirements...

Claims

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Application Information

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IPC IPC(8): G05B19/04
Inventor 高井云
Owner 高井云
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