Rapid online teaching method for safety zone of feeding and discharging manipulator

Abstract

The invention discloses a rapid online teaching method for a safety zone of a feeding and discharging manipulator. The method comprises the steps that coordinate teaching is conducted according to movement tracks of the X axis and the Z axis, and teaching points corresponding to the X axis and the Z axis are stored; two teaching points are selected based on the X-axis teaching point and stored asa left limit x1 and a right limit x2; two teaching points based on the teaching point of the Z axis are selected and stored as an upper limit z1 and a lower limit z2; the whole movement track of the Yaxis serves as a safety movement range, and a closed cube is formed as the safety zone for the movement of the manipulator based on the left limit x1, the right limit x2, the upper limit z1 and the lower limit z2; legality detection is carried out on the obtained safety zone, and if the detection is qualified, the safety zone is determined; and otherwise, the safety zone obtained at this time isgiven up, and returning is performed for reset. According to the method, motion limit coordinates do not need to be input manually, online teaching is achieved, and the setting complexity of the safety zone is reduced.

Description

technical field [0001] The application belongs to the technical field of manipulator programming and teaching, and in particular relates to a fast online teaching method for a loading and unloading manipulator safety zone. Background technique [0002] The loading and unloading manipulator is a common automatic device that can be used for loading, unloading, and processing accessories. Based on the Cartesian coordinate system X, Y, Z coordinate system. After continuous technical improvement, the loading and unloading manipulator can completely replace manual work to complete the grasping and conveying of workpieces, and has high intelligence. [0003] When the loading and unloading manipulator is working and moving, due to the different working environment and device design, there may be accidental collisions during operation, resulting in mechanical damage, so it is necessary to limit the safe working area. Usually the existing safety zone setting method is to artificiall...

AI Technical Summary

Problems solved by technology

[0003] When the loading and unloading manipulator is working and moving, due to the different working environment and device design, there may be accidental collisions during operation, resulting in mechanical damage, so it is necessary to limit the safe working area

Usually the existing safety zone setting method is to artificially record the range of the safety zone to set the movement limit of the manipulator. When judging that the manipulator enters and exits the safety zone, it is necessary to give a specified input signal to determine whether the manipulator is in the safety zone, and it usually needs to manually input the motion. Limit coordinates, coordinates cannot be taught online, there are many steps to be set, and the judgment conditions are more complicated

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