CN104552300B - A kind of off-line programing teaching apparatus based on teaching robot and method - Google Patents
A kind of off-line programing teaching apparatus based on teaching robot and method Download PDFInfo
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- CN104552300B CN104552300B CN201410831497.1A CN201410831497A CN104552300B CN 104552300 B CN104552300 B CN 104552300B CN 201410831497 A CN201410831497 A CN 201410831497A CN 104552300 B CN104552300 B CN 104552300B
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Abstract
The present invention relates to robot field, particularly relate to a kind of off-line programing teaching robot, recorded movement and the rotation information of kinematic pair corresponding separately on joint arm by the position sensor of data collecting system respectively; And send to host computer application specific software to carry out processing by communication bus the movement of each for recorded joint arm kinematic pair and rotation information and compile, generation robot program.Also disclose a kind of offline teaching method simultaneously, only need a teaching system can the ordinary robot of any number of units of teaching, can be configured to for different configuration and the robot of structural parameters carries out teaching, significantly reduce cost and teaching operation difficulty; And the operating experience of skilled craftsman can be precipitated by mechanical arm, make whole production line reach the level of skill of skilled craftsman, be applicable to newly entering operator and go up hand operated use fast.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of off-line programing teaching apparatus based on teaching robot and method.
Background technology
At present, existing industrial robot programming mainly contains 2 kinds of forms:
1) off-line teaching, off-line teaching utilizes computer graphics achievement, sets up the model of manipulator and working environment thereof, by the operation of figure and control, off-line calculation and cook up operation track, is sent to manipulator and realizes manipulator programming after confirmation is errorless by operation track.Off-line teaching technology wouldn't be ripe, is not widely used.Because dummy model and realistic model there are differences, the effect of off-line programing teaching method is not fine, and the product of all conglomeraties lacks threedimensional model mostly in addition, is difficult to carry out popularization and application in a lot of industry.
2) directly teaching, namely usually said " by doing and illustrating " teaching.Relative to off-line programing, direct teaching is practical, easy and simple to handle, and therefore most of manipulator all adopts direct teaching.Direct teaching comprises teach box teaching and guides teaching.
Although adopt teach box teaching simple to operate, on the curved surface track that some techniques are comparatively complicated, needed numerous and diverse teaching work, efficiency is low.And in industries such as bathroom, sanitary equipment, five metals, furniture, the know-how of operator is general lower, is difficult to the complex operations grasping teach box mode.On the other hand, general manipulator does not possess the function of traction end teaching, and the manipulator cost that can draw end teaching is high, and maintainability is poor, and machines cumbersome, guides dumb, is difficult to obtain high-precision operation track.As can be seen here, no matter be the religion of teaching boxlike or guiding teaching, all there is very important defect.These defects limit the application of teach programming, further limit the application of manipulator at production line.
Patent " glazing robot off-line teaching device and teaching method " (application number 200810055478.9) is exactly the robot teaching method adopting aid in guide formula off-line programing, but it must have the identical free degree, identical hinge types and quantity, same mechanism size and identical working space with used robot, greatly limit the reasonability that it uses.
Summary of the invention
The object of the present invention is to provide a kind of novel operation principle and method, realize off-line programing teaching system and can meet various dissimilar robotic programming demand.
For reaching this object, the present invention by the following technical solutions: a kind of off-line programing teaching apparatus based on teaching robot, comprising: teaching robot, data collecting system, program compilation system, industrial robot.
Teaching robot, the joint arm that for performing process actions, described robot comprises pedestal, to be arranged on pedestal some connects successively and connected joint arm junction is set forms the damper driving damping;
Data collecting system, for gathering the attitude information of robot joint arm when performing process actions, and sends attitude information;
Program compilation system, for the information of data acquisition system is carried out program composition in a computer, and is sent to industrial robot,
The instruction that industrial robot performing a programme compiling system is transmitted and come, realizes the execution of working procedure.
Further, described attitude information comprise joint arm perform process actions time moving coordinate information, rotational angle information, velocity information.
Further, described data collecting system comprises the sensor arranged on joint arm.
A kind of off-line programing teaching robot teaching method, comprises the above-mentioned off-line programing teaching apparatus based on teaching robot, performs following steps:
Step S10, teaching robot are carried out operation task by manual drive and then drive joint arm to move, and meanwhile, the institute's position sensor being arranged on joint arm records attitude information corresponding separately on each joint arm respectively;
The attitude information recorded in step S10 is sent to host computer by communication bus by step S20, institute's position sensor;
Step S30, described host computer carry out processing to the attitude information received and compile, and in software after spotting robot, generate robot execution of programs of instructions;
The robot execution of programs of instructions generated in step S30 is sent in the robot of production line by step S40, described host computer.
Further, in step S20, the movable information of the joint arm recorded in step S10 is sent to host computer data processing software by communication bus by institute's position sensor, and movable information is carried out control program by generating heterogeneous robot after algorithm process for download by data processing software.
Further, in step S20, the angle information of each for joint arm revolute pair is sent to host computer by RS232, RS485 or CAN by institute's position sensor.
Further, in above-mentioned teaching robot and teaching method, described joint arm adopts the unpowered joint arm of aluminum alloy materials manufacture.
Further, host computer its be connected with the position sensor in the revolute pair of each joint arm by communication bus, and send broadcast and request signal to position sensor, and the attitude information of institute's position sensor transmission can be received, and then use special-purpose software to process to the attitude information received, generate target robot execution of programs of instructions; Robot its be connected with host computer by communication bus, the robot execution of programs of instructions that host computer transmits can be received, and the process actions of teaching robot can be reappeared according to robot execution of programs of instructions at production line.
Beneficial effect of the present invention is: operated by teaching system, is recorded movement and the rotation information of kinematic pair corresponding separately on joint arm by the position sensor of data collecting system respectively; And send to host computer application specific software to carry out processing by communication bus the movement of each for recorded joint arm kinematic pair and rotation information and compile, generation robot program; This invention only needs a teaching system to get final product the ordinary robot of any number of units of teaching, also can be configured to for different configuration and the robot of structural parameters carries out teaching simultaneously, significantly reduce cost and teaching operation difficulty, expand its range of application and use robot type; And the operating experience of skilled craftsman can be precipitated by mechanical arm, make whole production line reach the level of skill of skilled craftsman, be applicable to newly entering operator and go up hand operated use fast.
Accompanying drawing explanation
Fig. 1 is the off-line programing teaching apparatus schematic diagram based on teaching robot.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
This programme provides a kind of off-line programing teaching apparatus based on teaching robot, comprising: teaching robot, data collecting system, program compilation system, industrial robot.
Teaching robot, the joint arm that for performing process actions, described robot comprises pedestal, to be arranged on pedestal some connects successively and connected joint arm junction is set forms the damper driving damping;
Data collecting system, for gathering the attitude information of robot joint arm when performing process actions, and sends attitude information;
Program compilation system, for the information of data acquisition system is carried out program composition in a computer, and is sent to industrial robot,
The instruction that industrial robot performing a programme compiling system is transmitted and come, realizes the execution of working procedure.
Further, described attitude information comprise joint arm perform process actions time moving coordinate information, rotational angle information, velocity information.
Further, described data collecting system comprises the sensor arranged on joint arm.
A kind of off-line programing teaching robot teaching method, is characterized in that, comprise teaching robot's (including but not limited to above-mentioned teaching robot), perform following steps:
Step S10, teaching robot are carried out operation task by manual drive and then drive joint arm to move, and meanwhile, the institute's position sensor being arranged on joint arm records attitude information corresponding separately on each joint arm respectively;
The attitude information recorded in step S10 is sent to host computer by communication bus by step S20, institute's position sensor;
Step S30, described host computer carry out processing to the attitude information received and compile, and in software after spotting robot, generate robot execution of programs of instructions;
The robot execution of programs of instructions generated in step S30 is sent in the robot of production line by step S40, described host computer.
Further, in step S20, the movable information of the joint arm recorded in step S10 is sent to host computer data processing software by communication bus by institute's position sensor, and movable information is carried out control program by generating heterogeneous robot after algorithm process for download by data processing software.
Further, in step S20, the angle information of each for joint arm revolute pair is sent to host computer by RS232, RS485 or CAN by institute's position sensor.
Further, in above-mentioned teaching robot and teaching method, described joint arm adopts the unpowered joint arm of aluminum alloy materials manufacture.
Further, host computer its be connected with the position sensor in the revolute pair of each joint arm by communication bus, and send broadcast and request signal to position sensor, and the attitude information of institute's position sensor transmission can be received, and then use special-purpose software to process to the attitude information received, generate target robot execution of programs of instructions; Robot its be connected with host computer by communication bus, the robot execution of programs of instructions that host computer transmits can be received, and the process actions of teaching robot can be reappeared according to robot execution of programs of instructions at production line.
Robot teaching system: operating personnel or workman are based on joint arm, realize original operative's instrument to finish the work task, workman completes operation tool in whole task process, and instrument is arranged on joint arm, complete in certain operation work in teaching, thus drive joint arm motion; The structure of this joint arm teaching system is light material, and with gravity-compensated device and damping system, forms unpowered joint arm system together, greatly reduces the teaching difficulty of operating personnel, and keeps the flexibility of operation.
Data collecting system: realize the movement to the kinematic pair of each correspondence of joint arm unpowered in teaching system and rotation information collection (comprising position, speed and acceleration information in the information moving and rotate), also comprise the movable information (start and stop of such as executing means, motion of turntable etc.) of servicing unit simultaneously.
Special purpose robot's program compilation system: this system is made up of host computer and relevant special-purpose software, host computer receives the movement of the kinematic pair of each correspondence of unpowered joint arm that data collecting system transmits, the movable information of rotation information and servicing unit, and input in special purpose robot's program compilation software, software is according to the structural parameters of the robot of different structure, in conjunction with the demarcation information between joint arm and target robot, the information gathered is recompilated and generates corresponding robot application program, thus realize the present invention can for various heterogeneous robot working procedure Automatic Optimal and programmed function.
The principle of its data processing is as follows:
(1) the joint rotation angle information obtained during teaching operation just can obtain the track of joint arm end executing means after forward kinematics solution.
(2) track obtains the kinematic parameter of the end executing means of target robot through Inverse Kinematics Solution.These parameters can be compiled into tool hand fortune target robot Motor execution code.
Specifically, true or Virtual Demonstration is carried out by teaching mechanism, simultaneously, data collecting system collects associated joint arm movable information, input host computer, by host computer special-purpose software in conjunction with the demarcation information between joint arm and target robot, calculate each movable joint arm motion control information of used robot, generate control program.
Concrete actualizing technology flow process:
(1) first operator carries out certain planning to machining path, because the track of teaching will determine the operating path of target robot;
(2) operating personnel drive the instrument on teaching joint arm to process workpiece.Joint angles on each joint of data collecting system real time record teaching joint arm, and change into the position of joint motions, speed and angular speed, also can record the movable information (start and stop of such as instrument, the motion of turntable etc.) of other servicing unit simultaneously;
(3) the joint rotation angle information obtained during teaching operation just can obtain the track of joint arm end executing means after forward kinematics solution, and track obtains the kinematic parameter of each kinematic pair of target robot or the kinematic parameter of end executing means through Inverse Kinematics Solution.These parameters can be compiled into tool hand fortune target robot Motor execution code.
When target robot and joint arm isomorphism same parameter, do not need, through positive inverse kinematics mapping relations, to obtain the kinematic parameter of the joint motions pair of target robot;
When the coordinate system of the coordinate system of joint arm base and target robot base is operationally inconsistent, the coordinate conversion relation between joint arm and target robot should be considered, by the coordinate system of joint arm base and the coordinate system of target robot base operationally consistent, then the generation of robot program between joint arm and target robot is simplified through suitable demarcation, the data of the tool tip of namely joint collection, compound is simply demarcated just can directly as the track of target robot motion, simplify the generation of target robot motor program, avoid complicated data processing.
(4) in conjunction with the structural parameters of industry mechanical arm, teaching movement locus is converted automatically to the motor program of manipulator, and send to industry mechanical arm by Ethernet.
(5) industry mechanical arm reproduces teaching track, realizes manipulator glaze spraying.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (8)
1., based on a teaching robot's off-line programing teaching apparatus, it is characterized in that, comprising: teaching robot, data collecting system, program compilation system, industrial robot; Wherein, teaching robot, the joint arm that for performing process actions, described robot comprises pedestal, to be arranged on pedestal some connects successively and connected joint arm junction is set forms the damper driving damping; Data collecting system, for gathering the attitude information of robot joint arm when performing process actions, and sends attitude information; Program compilation system, for the information of data acquisition system is carried out program composition in a computer, and is sent to industrial robot, the instruction that industrial robot performing a programme compiling system is transmitted and come, and realizes the execution of working procedure.
2. the off-line programing teaching apparatus based on teaching robot according to claim 1, is characterized in that, described attitude information comprises moving coordinate information, rotational angle information, velocity information during joint arm execution process actions.
3. the off-line programing teaching apparatus based on teaching robot according to claim 1, it is characterized in that, described data collecting system comprises the sensor arranged on joint arm.
4. an off-line programing teaching robot teaching method, comprises the off-line programing teaching apparatus based on teaching robot described in any one of the claims 1 to 3, it is characterized in that, performs following steps:
Step S10, teaching robot are carried out operation task by manual drive and then drive joint arm to move, and meanwhile, the institute's position sensor being arranged on joint arm records attitude information corresponding separately on each joint arm respectively;
The attitude information recorded in step S10 is sent to host computer by communication bus by step S20, institute's position sensor;
Step S30, described host computer carry out processing to the attitude information received and compile, and in software after spotting robot, generate robot execution of programs of instructions;
The robot execution of programs of instructions generated in step S30 is sent in the robot of production line by step S40, described host computer.
5. off-line programing teaching robot teaching method according to claim 4, it is characterized in that, in step S20, the movable information of the joint arm recorded in step S10 is sent to host computer data processing software by communication bus by institute's position sensor, and movable information is carried out control program by generating heterogeneous robot after algorithm process for download by data processing software.
6. off-line programing teaching robot teaching method according to claim 4, is characterized in that, in step S20, the angle information of each for joint arm revolute pair is sent to host computer by RS232, RS485 or CAN by institute's position sensor.
7. off-line programing teaching robot teaching method according to claim 4, is characterized in that, described joint arm adopts the unpowered joint arm of aluminum alloy materials manufacture.
8. off-line programing teaching robot teaching method according to claim 4, it is characterized in that, host computer its be connected with the position sensor in the revolute pair of each joint arm by communication bus, and send broadcast and request signal to position sensor, and the attitude information of institute's position sensor transmission can be received, and then use special-purpose software to process to the attitude information received, generate target robot execution of programs of instructions; Robot its be connected with host computer by communication bus, the robot execution of programs of instructions that host computer transmits can be received, and the process actions of teaching robot can be reappeared according to robot execution of programs of instructions at production line.
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| CN104908039A (en) * | 2015-05-11 | 2015-09-16 | 东莞市金鸿自动化科技有限公司 | User usage pattern programming method for four-shaft horizontal manipulator |
| JP6017642B1 (en) | 2015-07-17 | 2016-11-02 | ファナック株式会社 | Robot operation teaching work support apparatus and teaching work support method |
| CN106466846A (en) * | 2015-08-14 | 2017-03-01 | 成都卡诺普自动化控制技术有限公司 | Robot trajectory's monitor and track reproducing method |
| CN105835073B (en) * | 2016-05-30 | 2018-02-02 | 哈工大机器人集团有限公司 | A kind of new teaching apparatus of industrial robot |
| CN105906378A (en) * | 2016-06-30 | 2016-08-31 | 苏州志英明建信息科技有限公司 | Ceramic glazing vacuum compensation machine |
| CN106354043A (en) * | 2016-11-05 | 2017-01-25 | 杭州畅动智能科技有限公司 | Control system of device |
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| CN106826769B (en) * | 2017-03-15 | 2019-06-07 | 福州大学 | A kind of quick teaching apparatus of industrial robot and its implementation |
| CN107717983A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of apery mechanical arm teaching control method |
| CN107544311A (en) * | 2017-10-20 | 2018-01-05 | 高井云 | Industrial machine human hand holds the servicing unit and method of teaching |
| CN109702736B (en) * | 2017-10-25 | 2021-01-08 | 优必选教育（深圳）有限公司 | Robot posture processing method, device and system |
| CN109227524A (en) * | 2018-10-31 | 2019-01-18 | 天津泰华易而速机器人科技有限公司 | A kind of unpowered arm multi-joint profiling teaching robot and teaching method |
| CN112454370B (en) * | 2020-10-21 | 2022-06-28 | 浙江工业大学 | Point drilling robot programming teaching method with IO freely mapped |
| CN113126568B (en) * | 2021-03-10 | 2022-08-09 | 上海乾庾智能科技有限公司 | Industrial robot operation and demonstration system based on augmented reality technology |
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| JPH11134017A (en) * | 1997-10-27 | 1999-05-21 | Honda Motor Co Ltd | Off-line teaching method |
| JP4325407B2 (en) * | 2004-01-08 | 2009-09-02 | パナソニック株式会社 | Industrial robot |
| JP3971773B2 (en) * | 2005-10-12 | 2007-09-05 | ファナック株式会社 | Offline teaching device for robots |
| CN100581753C (en) * | 2008-07-26 | 2010-01-20 | 河北理工大学 | Teaching method for glazing robot off-line teaching device |
| CN203460180U (en) * | 2013-08-12 | 2014-03-05 | 刘达 | Robot capable of directly dragging and teaching |
| CN204322082U (en) * | 2014-12-26 | 2015-05-13 | 佛山市新鹏机器人技术有限公司 | A kind of off-line programing teaching apparatus based on teaching robot |
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