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Teaching method of industrial robot

A technology of industrial robots and teaching methods, which is applied in the field of robots, can solve time-consuming problems, and achieve the effects of simple and convenient operation methods, quick learning and strong compatibility

Pending Publication Date: 2021-05-28
SUZHOU ANHUI SAIERWODE INTERNET OF THINGS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In actual use, this teaching method will be very time-consuming for the complex operation of the motion track. Therefore, there is an urgent need for a method and device that can teach quickly and conveniently.

Method used

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  • Teaching method of industrial robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] A teaching method for an industrial robot. The length of each mechanical arm of the industrial robot is scaled year-on-year to design an unpowered mechanical arm teaching pendant with damping adjustment. Angle sensors and damping are arranged at each joint of the unpowered mechanical arm teaching pendant. Adjust the position of each arm of the teaching pendant freely by both hands, thereby driving the angle data given by the angle sensors of each joint, and driving the industrial robot to flexibly reach the desired position or trajectory according to the operator's intention, through damping adjustment Limit the movement speed or switch of the joint, so as to control the joint linkage of the part to be driven more freely, and quickly realize the teaching operation of the industrial robot.

[0024] Through the method disclosed in this implementation example, the position of each arm of the unpowered manipulator teaching pendant is manually moved freely with both hands, th...

Embodiment 2

[0027] The unpowered mechanical arm teaching pendant includes a control unit, several angle sensors, dampers and mechanical arms, wherein several mechanical arms are connected to form an industrial robot mechanical arm structure, and several dampers are respectively installed at the joints of the rotary joints of the mechanical arms. The angle sensor is correspondingly installed on the damper, and the control unit is connected with the angle sensor.

[0028] Preferably, a damping adjuster is installed on the damper.

[0029] Preferably, the mechanical arm is configured as a telescopic structural arm, so as to increase compatibility with the length of mechanical arms produced by different manufacturers.

[0030] Preferably, the angle electronic fine-tuning is installed at each joint nearby, and the precise motion of the mechanical arm of the industrial robot can be precisely controlled through the fine-tuning at the joints.

[0031] As a specific design, the angle electronic f...

Embodiment 3

[0033] As an extension of Embodiment 1, the unpowered manipulator-type teaching pendant is used in conjunction with the panel-type teaching pendant as an extension component of the panel-type teaching pendant.

[0034] The unpowered manipulator teaching pendant can be used alone, and can also be used in conjunction with the panel teaching pendant as an expansion part of the panel teaching pendant. Angle sensors, dampers and damping adjustments are installed at each joint of the unpowered manipulator-type teach pendant, and are used together with the panel-type teach pendant as an expansion part of the panel-type teach pendant.

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Abstract

The invention discloses a teaching method of an industrial robot. An unpowered mechanical arm type teaching device with damping adjustment devices is designed according to equal-ratio scaling of lengths of all mechanical arms of the industrial robot, an angle sensor, an electronic fine tuning device, a damper and the damping adjustment device are arranged at each joint of the unpowered mechanical arm type teaching device, the positions of all arms of a teaching device are freely moved through two hands, the angle sensors at all joints are driven to give angle data, the industrial robot is driven to reach a position or a track designed by an operator, the joint linkage of a part which is desired to be driven is freely controlled by limiting the movement speed or opening and closing of the joints through the damping adjustment devices, and teaching operation of the industrial robot is quickly realized. According to the teaching method of the industrial robot, single-axis or multi-axis linkage can be rapidly realized, and complex motion trail operation teaching can be rapidly realized; the unpowered mechanical arm type teaching device can be used independently and can further be used in cooperation with a panel type teaching device, and the compatibility is higher; and the operation method is simple and convenient, the use is fast, and the teaching time is greatly shortened.

Description

technical field [0001] The invention relates to a teaching method for an industrial robot, which belongs to the technical field of robots. Background technique [0002] The teaching of existing industrial robots is to use a panel-type teaching pendant, select each joint of the industrial robot through the panel or buttons, and then send pulses to control a certain joint of the robot to several positions through the keys or handwheels, and record the coordinates of each position by pressing the key , and basically single-axis control motion, and then generate a compound motion trajectory. [0003] In actual use, this teaching method will be very time-consuming for complex operations of motion trajectories. Therefore, a convenient and fast teaching method and device are urgently needed. Contents of the invention [0004] In order to solve the problems existing in the current technology, the present invention provides a device and method capable of conveniently and quickly t...

Claims

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Application Information

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IPC IPC(8): B25J9/22
CPCB25J9/0081
Inventor 徐航
Owner SUZHOU ANHUI SAIERWODE INTERNET OF THINGS TECH CO LTD
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