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Robot teaching method, device and robot

A teaching method and technology of teaching device, applied in the field of robotics, can solve the problems of low operation flexibility, time-consuming and laborious work of 3D modeling import, etc., to achieve strong operability, avoid touching the equipment, and protect the damaged effect

Active Publication Date: 2021-04-16
合肥欣奕华智能机器股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, in the current teaching methods, many of them are offline teaching methods, which transfer the work of the handling site to the office; in this way, it is necessary to confirm the placement position of each equipment on the handling site in advance, and each equipment needs to be 3D Modeling is imported into offline programming software, which makes the operation less flexible, and the work of importing 3D modeling is time-consuming and laborious

Method used

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  • Robot teaching method, device and robot
  • Robot teaching method, device and robot
  • Robot teaching method, device and robot

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Embodiment Construction

[0065] A specific implementation of a teaching method and device for a robot and a robot provided in an embodiment of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0066] The inventor found in the research that the equipment located around the robot includes: single-layer glass equipment and multi-layer glass equipment; the single-layer glass equipment is mainly processing equipment. figure 1 As shown, three teaching points are generally required, which are a1, a2 and a3 respectively. Among them, a1 is the position before the manipulator of the robot takes the glass into or t...

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Abstract

The invention discloses a robot teaching method, device and robot, which determine the first information of the position of the robot relative to the preset reference position of the equipment located around the robot; determine the teaching point of the equipment relative to the preset reference position of the equipment The second information of the reference position; according to the determined first information and second information, determine the third information of the position of the teaching point of each device relative to the robot; according to the determined third information, determine that the robot is to be transported object's trajectory. Therefore, the teaching of the robot can be realized through a simple method, and the teaching process can be completed at the handling site without networking or manual input operation, which greatly improves the teaching efficiency.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot teaching method, a device and a robot. Background technique [0002] The purpose of the teaching of the glass substrate handling robot is to find out the exact position of the manipulator of the robot in the process of handling the glass substrate. In the process of glass substrate handling, in order to ensure that the manipulator can correctly pick and place the glass substrate on the peripheral equipment, it is necessary to determine the position of the teaching point through teaching to generate the movement trajectory of picking and placing the glass; after that, the robot runs the program, according to the instruction Carry out the action of picking and placing the glass. [0003] However, in the current teaching methods, many of them are offline teaching methods, which transfer the work of the handling site to the office; in this way, it is necessary to confirm the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1602B25J9/1664B25J9/1697B25J13/088
Inventor 孙毅
Owner 合肥欣奕华智能机器股份有限公司
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