A fast online teaching method for the safety zone of loading and unloading manipulator

Abstract

The invention discloses a fast online teaching method in the safety zone of a loading and unloading manipulator, which includes performing coordinate teaching according to the moving tracks of the X-axis and Z-axis, saving the teaching points corresponding to the X-axis and Z-axis; teaching based on the X-axis Point select two teaching points to save as left limit x 1 and the right limit x 2 ;Based on the teaching points of the Z axis, select two teaching points and save them as the upper limit z 1 and the lower limit z 2 ;Take the entire movement track of the Y axis as the safe movement range, based on the left limit x 1 , right limit x 2 , upper limit z 1 and the lower limit z 2 , forming a closed cube as a safe area for manipulator movement; performing a legality test on the obtained safe area, and if the detection is qualified, it is determined as a safe area; otherwise, discard the obtained safe area this time, and return to reset. The invention does not need to manually input movement limit coordinates, realizes online teaching, and reduces the complexity of safety zone setting.

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

Images