Articulated teaching arm and teaching method based on same

A teaching method and articulated technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of long teaching time, unfriendly teaching, high difficulty, etc., and achieve the effect of simple teaching process

Inactive Publication Date: 2020-03-27
华东至正工业自动化(常熟)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Industrial robots are widely used in welding, spraying, grinding and polishing, palletizing and other industrial fields. The traditional teaching box is not friendly to the teaching of complex trajectories, and the teaching time is long and difficult.
In the industry, offline teaching can also be used to teach complex trajectories. However, offline programming needs to provide accurate 3D models. At the same time, the robot needs to have high absolute positioning accuracy. The subsequent trajectory adjustment process is complicated and not intuitive.

Method used

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  • Articulated teaching arm and teaching method based on same
  • Articulated teaching arm and teaching method based on same
  • Articulated teaching arm and teaching method based on same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] refer to image 3 , the teaching arm is installed on the flange of the robot 8 through the teaching arm flange 1 to form a series teaching, the robot 8 is installed on the base 9, the coordinate system of the base 9 is O, and the robot 8 is connected to the teaching arm The coordinate system at the end of the teaching arm is A, the coordinate system at the end of the teaching arm connected to the robot 8 is B, and the coordinate system at the end of the teaching arm away from the robot 8 is C.

[0047] Based on the above-mentioned articulated teaching arm, this embodiment proposes a teaching method for an articulated teaching arm, including the following steps:

[0048] Step 1: The robot is in a static state during the serial teaching process, and the end pose of the robot is calculated by reading the angles of each joint on the teach pendant; the second transformation matrix of the end pose matrix of the robot relative to its base coordinate system for:

[0049]

...

Embodiment 2

[0059] refer to Figure 4 , in order to be able to teach more intuitively and conveniently, another teaching method is adopted, that is, parallel teaching. The parallel teaching uses the upper computer PC and the teaching arm as the client, and the robot controller as the server. Communicate with each other through Ethernet, the upper computer PC and the robot controller are directly connected through a crossover cable, write the client program on the upper computer, and at the same time do data acquisition and data processing for the encoder of the teaching arm, the upper computer PC and the robot controller The inter-communication protocol stack is realized by Socket, and the robot 8 and the teaching arm are placed in parallel in space, and the steps include:

[0060] The first step: set up a coordinate system, the base coordinate system of the robot 8 is O 1 -X 1 Y 1 Z 1 , the base coordinate system of the teaching arm is O 2 -X 2 Y 2 Z 2 , both have the same refere...

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Abstract

The invention relates to the technical field of industrial robots, and discloses an articulated teaching arm and a teaching method based on the same. The articulated teaching arm comprises a teachingarm flange plate, a teaching arm flange plate bottom arm, a first teaching arm joint, a teaching arm middle arm, a second teaching arm joint, a teaching arm upper arm and a third teaching arm joint, wherein the teaching arm flange plate is welded at the bottom of the teaching arm flange plate bottom arm; the top of the teaching arm flange plate bottom arm is movably connected with the teaching armmiddle arm through the first teaching arm joint; the teaching arm middle arm is movably connected with the teaching arm upper arm through the second teaching arm joint; the teaching arm is installedon a flange plate of the robot through the teaching arm flange plate to form series teaching. Two novel teaching methods of series type teaching and parallel type teaching are put forward, by means ofthe teaching mechanical arm, the problems that a traditional teaching box teaching method is low in teaching efficiency, poor in interactivity, high in requirement for programming of operators and the like are solved, and the teaching process is simpler and more convenient.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an articulated teaching arm and a teaching method based on the teaching arm. Background technique [0002] Industrial robots are widely used in welding, spraying, grinding and polishing, palletizing and other industrial fields. The traditional teaching box is not friendly to the teaching of complex trajectories, and the teaching time is long and difficult. In the industry, offline teaching can also be used to teach complex trajectories. However, offline programming needs to provide accurate 3D models. At the same time, the robot needs to have high absolute positioning accuracy. The subsequent trajectory adjustment process is complicated and not intuitive. With the help of a third-party auxiliary teaching device, there is an urgent realistic demand to change the traditional teaching method to simplify the existing teaching process. Contents of the invention [0003] T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/16
CPCB25J9/08B25J9/1605B25J9/1664
Inventor 王丹王玉珍
Owner 华东至正工业自动化(常熟)有限公司
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