How to adjust the placement and grasping orientation of the robot

Create Date: 2024-8-30 12:03:23|Source: NACHI / Nachi Fujikoshi

How to adjust the placement of the robot

How to adjust the placement and grasping orientation of the robot

　　In the form of teaching, grab an iron plate, and the process performs to move the iron plate to the release position, and the release direction should be: the long side (418mm) and the short side (80mm) of the iron plate should be parallel to the front and left side of the fixture respectively, and leave a distance of 1-2cm, and the Z-axis should be attached to the pressure table. Then the distance to the current position is the release direction or the release direction is directly corrected. After correcting the orientation, manually remove the iron plate from the press, and remember not to perform it in order, as there is a risk of damaging the manipulator.

After there is no problem with the release direction, adjust the orientation H to the upper left corner, the debugging method here: do not grab the iron plate, the order is performed to the release direction, and then in the current direction, the manual speed is adjusted to 3, and then press x+ N times, Y-N times (how many times depends on the actual situation), and then correct the original orientation, and then perform in the order, see how much the azimuth difference, which side has a seam to adjust that side, manually adjust to the direction H of the square, for example, there is a seam on the left, you should press x+ again. After the adjustment is completed, the process is adjusted to process 0 and the order is re-executed.

When there is no problem, switch to the recycled form and start from process 0 and run actively.

How to adjust the gripping position

The order is moved to the grasping direction, note that the adjustment of the grasping direction when unstacking should be set from the bottom iron plate, so the iron plate needs to be moved away first, and the orientation of the first iron plate of the grabbing list is vacated, and the selection of the grasping direction should meet the following points: 1. Do not touch the baffle in front of the manipulator. 2. The grasping direction should be as close to the center as possible, 3. The orientation can be pressed deeper, and it is best to touch the switch just now.

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