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Fast teaching method for industrial robots

An industrial robot and teaching method technology, which is applied to manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of inappropriate speed ratio, poor operability, and long time required to improve efficiency and reduce teaching. Error, the effect of improving teaching accuracy

Active Publication Date: 2020-06-09
崧智智能科技(深圳)有限公司
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Problems solved by technology

[0006] The main purpose of the present invention is to provide a fast teaching method for industrial robots to solve the problems of poor operability, low precision, long time required, inappropriate speed ratio and poor experience in existing teaching methods for industrial robots

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  • Fast teaching method for industrial robots
  • Fast teaching method for industrial robots

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Embodiment Construction

[0026] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with embodiments and drawings.

[0027] Such as figure 1 As shown, the embodiment of the present invention provides a fast teaching method of an industrial robot, which combines figure 2 with image 3 As shown, the industrial robot has a mechanical arm 1, the end of the mechanical arm 1 is equipped with an operating tool 3, the industrial robot is connected to the controller 6, and the end of the mechanical arm 1 is equipped with a drag component 2 which is connected to the controller 6. , A sensor 4 is installed at the end of the operating tool 3, and the sensor 4 is connected to the controller 6, specifically, it can be connected to the IO port input of the controller 6. The sensor 4 is provided with a contact 8, and the robot arm 1 is driven to move by dragging the dragging component 2 to d...

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Abstract

The invention discloses an industrial robot quick teaching method. The industrial robot quick teaching method comprises the steps that according to the positional relation between the tail end of an operational tool and a contact, the position transformation relation between the tail end of the operational tool and the contact is computed and converted into a transformation matrix; an industrial robot starts operating according to the preset offset to drive the contact to touch a preset number of points on a calibration plate to obtain position matrixes of all the points, and converting the position matrixes into a position matrix of the tail end of the tool; computing a posture relation matrix of a coordinate system B, corresponding to a current coordinate system A of the industrial robot, fixed to the calibration plate according to the position matrix; and finally, computing a posture matrix of a required teaching point in the coordinate system B according to the position relation between the calibration plate and an actual workpiece and a 3D model of the actual workpiece, computing a posture matrix of the required teaching point in the current coordinate system A of the industrial robot and writing the posture matrix into a controller to replace an original teaching point. Through the industrial robot quick teaching method, the teaching operation difficulty of the robot canbe reduced, the training, leaning and teaching time of users can be shortened, the efficiency can be improved, teaching errors can be reduced, and the teaching precision can be improved.

Description

Technical field [0001] The invention relates to the application technology of industrial robots, in particular to a fast teaching method of industrial robots. Background technique [0002] With the rapid development of robotics technology, industrial robots are being applied in large quantities in industrial production to improve the degree of automation and production efficiency of factories. However, in the actual application of industrial robots, it takes a lot of time to teach and program the robot. [0003] In the current application of industrial robots, the teach pendant is usually used to operate the robot when teaching and programming the robot. First, move the end tool of the robot to a key point on the work trajectory and adjust it to an appropriate posture, and then record the posture of this point. Usually, a running track needs to record dozens of points, and then program and run according to these teaching points. This method has the following drawbacks: (1) The o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1607B25J9/1664
Inventor 王佩闯陈晨刘志龙丁昊吴哲林
Owner 崧智智能科技(深圳)有限公司
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