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Handheld teaching method and device for mechanical arm

A teaching method and a technology of a robotic arm, applied in the field of robotic arms, can solve problems such as it is difficult to drag the arm group 20 to move up and down, it is impossible to hold the arm group 20 for hand-held teaching, and the control is complicated.

Inactive Publication Date: 2019-05-10
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the process of realizing the present invention, the inventors of the present invention found the following problems in the prior art: in the current technology, for the Scara mechanical arm 100, it is generally difficult to drag the support arm group 20 on the main arm 10 when teaching by hand. up and down motion
Therefore, the current technology cannot complete the hand-held teaching of the support arm group 20 dragging on the main arm 10, or the control is very complicated and difficult to implement.

Method used

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  • Handheld teaching method and device for mechanical arm
  • Handheld teaching method and device for mechanical arm
  • Handheld teaching method and device for mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0049] See figure 2 , figure 2 This is a schematic flow chart of the hand-held teaching method of a robotic arm in the first embodiment of the present invention. The hand-held teaching method of the robotic arm is applied to the SCARA robotic arm 100. The SCARA robotic arm 100 includes a main arm 10 and a support arm group 20. The main arm 10 is provided with The first driving mechanism J3, the first driving mechanism J3 is used to drive the support arm group 20 to move up and down on the main arm 10. The hand-held teaching method of the mechanical arm includes:

[0050] Step 301: Receive a first instruction to turn on handheld teaching;

[0051] After the user presses or operates the button of the SCARA robotic arm 100 to turn on the handheld teaching, the controller will receive the first instruction to turn on the handheld teaching. Of course, in the embodiment of the present invention, the controller may also receive and turn on the handheld teaching in other ways. The first ...

Embodiment approach 2

[0064] See image 3 , image 3 This is a schematic flow chart of the hand-held teaching method of the robot arm in the second embodiment of the present invention. The hand-held teaching method of the robot arm is applied to the SCARA robot arm 100. The SCARA robot arm 100 includes a main arm 10 and a support arm group 20. The main arm 10 is provided with The first driving mechanism J3, the first driving mechanism J3 is used to drive the support arm group 20 to move up and down on the main arm 10. The hand-held teaching method of the mechanical arm includes:

[0065] Step 401: Receive a first instruction to turn on handheld teaching;

[0066] After the user presses or operates the button of the SCARA robotic arm 100 to turn on the handheld teaching, the controller will receive the first instruction to turn on the handheld teaching. Of course, in the embodiment of the present invention, the controller may also receive and turn on the handheld teaching in other ways. The first instruc...

Embodiment approach 3

[0082] See Figure 4 , Figure 4 This is a structural diagram of the handheld teaching device of the robotic arm in the third embodiment of the present invention. The handheld teaching device of the robotic arm is applied to the SCARA robotic arm. The SCARA robotic arm includes a main arm and a support arm group, and the main arm is provided with a first driving mechanism The first driving mechanism is used to drive the support arm group to move up and down on the main arm. The device 500 includes: a first receiving module 501, a first control module 502, a first acquisition module 503, and a second control module 504.

[0083] The first receiving module 501 is configured to receive a first instruction to start handheld teaching;

[0084] The first control module 502 is used to control each electric drive mechanism in the support arm group to be in a disabled state;

[0085] The first obtaining module 503 is used to obtain the gravity component of the support arm group in the directi...

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Abstract

An embodiment of the invention relates to the technical field of mechanical arms, in particular to a handheld teaching method and device of a mechanical arm. The method is applied to a SCARA mechanical arm, the SCARA mechanical arm comprises a main arm and a branch arm group, the main arm is provided with a first driving mechanism, and the first driving mechanism is used for driving the branch armgroup to move up and down on the main arm. The method is characterized by comprising the following steps: receiving a first instruction for starting handheld teaching; controlling various electric drive mechanisms in the branch arm group to be in a non-enabling state; acquiring a gravity component of the branch arm group in the gravity direction; and controlling the first driving mechanism according to the gravity component to counteract the gravity component of the branch arm group in the gravity direction. Therefore, by controlling the first driving mechanism to counteract the gravity component of the branch arm group in the gravity direction, a problem that the branch arm group is difficult to drag on the main arm or teaching cannot be implemented in the handheld teaching process is solved.

Description

Technical field [0001] The embodiments of the present invention relate to the technical field of robotic arms, and in particular, to a handheld teaching method and device for a robotic arm. Background technique [0002] Teaching programming is a commonly used programming method in robot control systems. Generally, the teaching programming system must have links such as starting the teaching mode, storing the programming point, and teaching reproduction. Refer to Figure 1, figure 1 The Scara robot arm 100 is a schematic diagram of the structure. The Scara robot arm 100 includes a main arm 10 and a support arm group 20. The main arm 10 is provided with a first driving mechanism J3. The first driving mechanism J3 is used to drive the support arm group 20 in the main arm 10 The support arm group 20 includes a first arm 21, a second arm 22, and a third arm 23. One end of the first arm 21 is connected to the first driving mechanism J3 of the main arm 10, and the first arm 21 is provid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/04B25J9/16
Inventor 刘培超庄飞飞郎需林
Owner SHENZHEN YUEJIANG TECH CO LTD