CN105252538A - Novel industrial robot demonstrator - Google Patents
Novel industrial robot demonstrator Download PDFInfo
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- CN105252538A CN105252538A CN201510751090.2A CN201510751090A CN105252538A CN 105252538 A CN105252538 A CN 105252538A CN 201510751090 A CN201510751090 A CN 201510751090A CN 105252538 A CN105252538 A CN 105252538A
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Abstract
The invention provides a novel industrial robot demonstrator. The novel industrial robot demonstrator comprises a central processing unit and an inertia posture operating system, wherein the central processing unit is connected with a robot control system and the inertia posture operating system is connected with the central processing unit. The inertia posture operating system comprises an inertia measurement unit, and the inertia measurement unit is used for collecting the movement track of the inertia measurement unit and transmits the movement track of the inertia measurement unit to the central processing unit. The central processing unit generates a mechanical arm demonstration movement track on the basis of the movement track of the inertia measurement unit and transmits the mechanical arm demonstration movement track to the robot control system. The robot control system controls mechanical arms needing to be moved to move correspondingly on the basis of the mechanical arm demonstration movement track. According to the invention, the inertia posture operating system is arranged, demonstration persons can control the mechanical arms to move by moving the demonstrator, and therefore the demonstration process can be completed, and the requirement for the operating skill of the demonstration persons is greatly lowered.
Description
Technical field
The present invention relates to industrial robot field, particularly a kind of Novel industrial robot teaching machine.
Background technology
Teaching machine is the important component part of industrial robot, common teaching machine manually direction of operating button or control stick can only carry out the mechanical arm of mobile industrial robot to complete teaching engineering, in order to ensure that mechanical arm accurately moves toward preposition, require very high to the operative skill of demonstrator.In addition, the functions such as program editing are all integrated on teaching machine body by common teaching machine, thus add the volume and weight of teaching machine, and onsite application gets up inconvenient especially.
Summary of the invention
The invention provides a kind of Novel industrial robot teaching machine, manually direction of operating button or control stick can only carry out the mechanical arm of mobile industrial robot to complete teaching engineering to solve teaching machine of the prior art, very high technical problem is required to the operative skill of demonstrator.
For solving the problem, according to technical scheme of the present invention, the invention provides a kind of Novel industrial robot teaching machine, it comprises the central processing unit be connected with the control system of robot, described Novel industrial robot teaching machine also comprises the inertia gesture operation system be connected with described central processing unit, described inertia gesture operation system comprises Inertial Measurement Unit, described Inertial Measurement Unit for collecting the motion track of described Inertial Measurement Unit, and sends the motion track of described Inertial Measurement Unit to described central processing unit; Described central processing unit produces mechanical arm teaching motion track based on the motion track of described Inertial Measurement Unit, and described mechanical arm teaching motion track being sent to the control system of described robot, the control system of described robot controls to need the mechanical arm of movement to move accordingly based on described mechanical arm teaching motion track.
Further, described Novel industrial robot teaching machine also includes: the movable joint selection unit be connected with described central processing unit, and described movable joint selection unit is used for the mechanical arm of selected machine human needs movement.
Further, described Novel industrial robot teaching machine also includes: the direction-locking unit be connected with described central processing unit, and described direction-locking unit is for locking the moving direction of the mechanical arm of described needs movement.
Further, described direction-locking unit provides the selection of multiple locking direction, after described direction-locking Unit selection locking direction, the motion track of the described Inertial Measurement Unit that described central processing unit is collected according to described Inertial Measurement Unit extracts the motion track of described Inertial Measurement Unit on this locking direction, and produces described mechanical arm teaching motion track based on the motion track of described Inertial Measurement Unit on this locking direction.
Further, described inertia gesture operation system also comprises inertia and moves multiplying power setting unit, and described inertia moves multiplying power setting unit for arranging multiplier value, and sends described multiplier value to described central processing unit; Described inertia moves after multiplying power setting unit arranges a multiplier value, and described central processing unit produces described mechanical arm teaching motion track based on the motion track of described Inertial Measurement Unit and the multiplier value of setting.
Further, described Novel industrial robot teaching machine also includes: camera head and display system, described camera head is for gathering the video information of the mechanical arm needing movement, described display system comprises display screen and indicative control unit, described display screen can show the video information from described camera head, described indicative control unit is used for arranging displaying ratio, and controls described display screen and zoom in or out described video information by described displaying ratio and show.
Further, the mobile range of described Inertial Measurement Unit becomes the first ratio with the described mobile range of the mechanical arm of movement that needs, this first ratio determined by described multiplier value, the mobile range of described mechanical arm becomes the second ratio with the mobile range of mechanical arm on described display screen of described movement, and this second ratio is determined by described displaying ratio.
Further, described Novel industrial robot teaching machine also comprises the manual system be connected with described central processing unit, and described manual system comprises manual moving step pitch setting unit and manual mobile step number setting unit; Described manual moving step pitch setting unit moves for arranging mechanical arm the distance moved a step; Described manual mobile step number setting unit is for arranging the mobile step number of mechanical arm.
Further, described Novel industrial robot teaching machine also comprises USB interface, and described USB interface is for connecting outside editing equipment.
Further, described Novel industrial robot teaching machine also comprises user-defined button, carries out Function Extension for user.
Compared with prior art, the present invention arranges inertia gesture operation system, demonstrator just controller mechanical arm can be moved by mobile teaching machine, thus complete the teaching flow process of industrial robot, greatly reduce the operative skill requirement to demonstrator.
Accompanying drawing explanation
Fig. 1 is the structural principle block diagram of Novel industrial robot teaching machine provided by the invention;
Fig. 2 is the operational flowchart under inertia gesture operation pattern;
Fig. 3 is the operational flowchart under artificial operator scheme.
Detailed description of the invention
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As described in Figure 1, present embodiments provide a kind of Novel industrial robot teaching machine, the movable joint selection unit 2 comprise central processing unit 1, being connected with central processing unit 1; Central processing unit 1 is connected by communication network with the control system (not shown) of robot; Movable joint selection unit 2 is for selecting the mechanical arm (not shown) needing movement; This Novel industrial robot teaching machine also comprises the inertia gesture operation system 4 be connected with central processing unit 1, inertia gesture operation system 4 comprises Inertial Measurement Unit 41, Inertial Measurement Unit 41 shows the motion track of Inertial Measurement Unit for collecting, and sends the motion track of Inertial Measurement Unit to central processing unit 1; Central processing unit 1 produces mechanical arm teaching motion track based on the motion track of Inertial Measurement Unit, and mechanical arm teaching motion track being sent to the control system (not shown) of robot, the control system (not shown) of robot controls to need the mechanical arm (not shown) of movement to perform corresponding action based on mechanical arm teaching motion track.
In one embodiment, described Inertial Measurement Unit can be arranged on described teaching machine body, and this is external also can be arranged at teaching machine, is connected by line or the intrinsic central processing unit of wireless and described teaching machine.The motion track of described Inertial Measurement Unit can be the motion track of described teaching machine itself.
Novel industrial robot teaching machine in the present embodiment also comprises the direction-locking unit 3 be connected with central processing unit 1, and direction-locking unit 3 is for locking the moving direction of the mechanical arm (not shown) needing movement.Preferably, direction-locking unit 1 provides multiple locking direction to select, such as comprise respectively X-direction, Y direction, Z-direction, to angular direction.After described direction-locking unit 3 selects a locking direction, the motion track of the Inertial Measurement Unit that central processing unit 1 is collected according to Inertial Measurement Unit 41 extracts the motion track of teaching machine on this locking direction, and produces mechanical arm teaching motion track based on the motion track of teaching machine on this locking direction.
In the present embodiment, inertia gesture operation system 4 also comprises inertia and moves multiplying power setting unit 42, and inertia moves multiplying power setting unit 42 for arranging multiplier value, and sends multiplier value to central processing unit 1; Inertia moves after multiplying power setting unit 42 arranges a multiplier value, and central processing unit 1 produces mechanical arm teaching motion track based on the motion track of described Inertial Measurement Unit and the multiplier value of setting.
Because demonstrator is in teaching process, need the situation of movement observing mechanical arm at any time, so that the teaching parameter such as moving direction, mobile range of timely reconditioner mechanical arm.Conveniently observe the situation of movement of mechanical arm, teaching machine is often provided with trap mechanical arm and moves the camera head of image and the display unit of display image.Existing display unit is generally just by the motion track of display screen by fixed proportion display machines mechanical arm.Use this display unit, when the actual mobile range of mechanical arm is very little, demonstrator is difficult to the motion track clearly observing mechanical arm from display screen; And when the actual mobile range of mechanical arm is very large, demonstrator may can only capture the topography of mechanical arm motion track by display screen.
In order to address this problem, the Novel industrial robot teaching machine in the present embodiment also comprises camera head (not shown) and display system 5.Described camera head is for gathering the video information of the mechanical arm needing movement.Display system 5 comprises display screen 51 and indicative control unit 52, and display screen 51 is for the video information of display machines mechanical arm, and indicative control unit 52 is used for arranging displaying ratio, and control display screen by arrange displaying ratio zoom in or out described video information.Such as, if when the mobile range of mechanical arm is too small, can arrange a larger displaying ratio by indicative control unit 51, display screen just can amplify the motion track of display machines mechanical arm, thus clearly illustrates the motion track of mechanical arm; If the mobile range of mechanical arm is excessive, can arrange a less displaying ratio by indicative control unit 51, display screen just can reduce the motion track of display machines mechanical arm, thus intactly captures the motion track of mechanical arm.
By arranging suitable displaying ratio, can ensure that demonstrator observes the situation of movement of mechanical arm clearly and completely.Coordinate position after the motion track of the mechanical arm that demonstrator shows according to display screen and mobile end, judges whether teaching object reaches.If teaching object reaches, then terminate teaching process; If teaching object not yet reaches, then, after demonstrator resets parameter such as teaching such as locking moving direction, multiplier value etc., again move teaching machine, repeat teaching process, until reach teaching object.
In sum, the mobile range of described Inertial Measurement Unit becomes the first ratio with the described mobile range of the mechanical arm of movement that needs, and this first ratio determined by described multiplier value.The mobile range of described mechanical arm and mechanical arm mobile range on a display screen different one-tenth second ratio of described movement, this second ratio is determined by described displaying ratio.By adjusting described multiplier value and described displaying ratio, operator can find oneself finally comfortable mode of operation and observing pattern.
Novel industrial robot teaching machine in the present embodiment also comprises the manual system 6 be connected with central processing unit 1; Manual system 6 comprises manual moving step pitch setting unit 61 and manual mobile step number setting unit 62; Manual moving step pitch setting unit 61 moves for arranging mechanical arm (not shown) distance moved a step; Manual mobile step number unit 62 is for arranging the mobile step number of mechanical arm (not shown).
Described Novel industrial robot teaching machine also comprises inertia and controls to make moving cell 7, USB interface 8, user-defined button 9, switch 10 and scram button 11.Described USB interface 8 is for connecting outside editing equipment.Described user-defined button 9 carries out Function Extension for user.
The operating process of the Novel industrial robot teaching machine that the present embodiment provides is as follows:
Open switch 10, teaching machine enters wait state;
Movable joint selection unit 2 selects the mechanical arm (not shown) needing movement;
Inertia controls to make moving cell 7 select to enter inertia gesture operation pattern or manual operation pattern;
One, inertia gesture operation pattern is selected: inertia gesture operation system 4 is activated.Described inertia gesture operation pattern comprises following operation or step, as shown in Figure 2: S101, direction-locking unit 3 selects one or more locking direction (abandoning selecting then to give tacit consent to not lock any moving direction), and sends locking direction to central processing unit 1; S102, inertia moves multiplying power setting unit 42 and arranges multiplier value, and multiplier value is sent to central processing unit 1 (abandoning selecting is then acquiescence multiplier value); S103, mobile teaching machine, Inertial Measurement Unit 41 collects the motion track of Inertial Measurement Unit, and sends the motion track of Inertial Measurement Unit to central processing unit 1; S104, central processing unit 1 extracts the motion track of teaching machine on locking direction according to the motion track of Inertial Measurement Unit; S105, central processing unit 1 moves based on the motion track of teaching machine on locking direction and inertia the multiplier value that multiplying power setting unit 42 arranges, the motion track of teaching machine on locking direction is accurately zoomed in or out, thus produces mechanical arm teaching motion track.Such as inertia moves multiplier value that multiplying power setting unit 42 arranges when being 3 times, and the amplitude of mechanical arm teaching motion track is 3 times of the amplitude of the motion track of teaching machine on locking direction; S106, central processing unit sends mechanical arm teaching motion track the control system of robot to, and the corresponding mechanical arm of the control system control of robot moves accordingly; Synchronously, indicative control unit arranges displaying ratio, and controls display screen zooms in or out display machines mechanical arm motion track by displaying ratio; Does S107, judge whether to reach teaching object? if reached teaching object, then complete teaching; If not yet reach teaching object, then reset parameter such as locking moving direction, multiplier value etc., repeat teaching process.
Two, manual operation pattern is selected: manual system 6 is activated.Described manual operation pattern comprises following operation or step, and as shown in Figure 3: S201, direction-locking unit 3 selects a locking direction, and sends locking direction to central processing unit 1; S202, manual moving step pitch setting unit 61 arranges the moving step pitch (namely moving the distance moved a step) of mechanical arm, and sends moving step pitch information to central processing unit; S203, manual mobile step number setting unit 62 arranges the mobile step number of mechanical arm, and sends mobile step count information to central processing unit 1; S204, the locking direction that the moving step pitch information that manual operation system 6 transmits by central processing unit 1 and mobile step count information, direction-locking unit 3 transmit sends the control system of robot to, and the corresponding mechanical arm of the control system control of robot carries out corresponding action.
When abnormal conditions appear in robot, demonstrator only need press scram button 11, namely can the movement of emergent stopping mechanical arm.The external editor such as keyboard, mouse can be connected to teaching machine by USB interface 8 by user, completes the editor of control command.User can also use custom button 9 to carry out Function Extension.
As can be seen from above description, present invention achieves following technique effect: by arranging inertia gesture operation system, making demonstrator move teaching machine and just controller mechanical arm moving, and not needing complicated manual operation, greatly reducing operation complexity; In addition, by arranging the USB interface connecting outside editing equipment, making edit routine not need to carry out on teaching machine, effectively reducing the volume and weight of teaching machine.
Above to invention has been the enough detailed description with certain particularity.Belonging to those of ordinary skill in field should be appreciated that, the description in embodiment is only exemplary, make under the prerequisite not departing from true spirit of the present invention and scope change and all should belong to protection scope of the present invention.The present invention's scope required for protection is undertaken limiting by described claims, instead of limited by the foregoing description in embodiment.
Claims (10)
1. a Novel industrial robot teaching machine, it comprises the central processing unit (1) be connected with the control system of robot, it is characterized in that: described Novel industrial robot teaching machine also comprises the inertia gesture operation system (4) be connected with described central processing unit (1), described inertia gesture operation system (4) comprises Inertial Measurement Unit (41), described Inertial Measurement Unit (41) is for collecting the motion track of described Inertial Measurement Unit (41), and send the motion track of described Inertial Measurement Unit (41) to described central processing unit (1), described central processing unit (1) produces mechanical arm teaching motion track based on the motion track of described Inertial Measurement Unit (41), and described mechanical arm teaching motion track being sent to the control system of described robot, the control system of described robot controls to need the mechanical arm of movement to move accordingly based on described mechanical arm teaching motion track.
2. Novel industrial robot teaching machine as claimed in claim 1, it is characterized in that, it also includes: the movable joint selection unit (2) be connected with described central processing unit (1), and described movable joint selection unit (2) is for the mechanical arm of selected machine human needs movement.
3. Novel industrial robot teaching machine as claimed in claim 1, it is characterized in that, it also comprises: the direction-locking unit (3) be connected with described central processing unit (1), and described direction-locking unit (3) is for locking the moving direction of the mechanical arm of described needs movement.
4. Novel industrial robot teaching machine as claimed in claim 3, it is characterized in that, described direction-locking unit (3) provides the selection of multiple locking direction, after described direction-locking unit (3) selects a locking direction, described central processing unit (1) extracts described Inertial Measurement Unit (41) motion track on this locking direction according to the motion track of the described Inertial Measurement Unit (41) that described Inertial Measurement Unit (41) is collected, and produce described mechanical arm teaching motion track based on described Inertial Measurement Unit (41) motion track on this locking direction.
5. the Novel industrial robot teaching machine as described in any one of Claims 1-4, it is characterized in that, described inertia gesture operation system (4) also comprises inertia and moves multiplying power setting unit (42), described inertia moves multiplying power setting unit (42) for arranging multiplier value, and sends described multiplier value to described central processing unit (1); Described inertia moves after multiplying power setting unit (42) arranges a multiplier value, and described central processing unit (1) produces described mechanical arm teaching motion track based on the motion track of described Inertial Measurement Unit (41) and the multiplier value of setting.
6. Novel industrial robot teaching machine as claimed in claim 5, it is characterized in that, it also comprises: camera head and display system (5), described camera head is for gathering the video information of the mechanical arm needing movement, described display system (5) comprises display screen (51) and indicative control unit (52), described display screen (51) can show the video information from described camera head, described indicative control unit (52) is used for arranging displaying ratio, and control described display screen and zoom in or out described video information by described displaying ratio and show.
7. Novel industrial robot teaching machine as claimed in claim 6, it is characterized in that, the mobile range of described Inertial Measurement Unit (41) becomes the first ratio with the described mobile range of the mechanical arm of movement that needs, this first ratio determined by described multiplier value, the mobile range of described mechanical arm becomes the second ratio with the mobile range of the mechanical arm of described movement on described display screen (51), and this second ratio is determined by described displaying ratio.
8. Novel industrial robot teaching machine as claimed in claim 6, it is characterized in that, it also comprises: the manual system (6) be connected with described central processing unit (1), and described manual system (6) comprises manual moving step pitch setting unit (61) and manual mobile step number setting unit (62); Described manual moving step pitch setting unit (61) moves for arranging mechanical arm the distance moved a step; Described manual mobile step number setting unit (62) is for arranging the mobile step number of mechanical arm.
9. Novel industrial robot teaching machine as claimed in claim 8, it is characterized in that, it also comprises USB interface (8), and described USB interface (8) is for connecting outside editing equipment.
10. Novel industrial robot teaching machine as claimed in claim 8, it is characterized in that, it also comprises user-defined button (9), carries out Function Extension for user.
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| CN105500345A (en) * | 2016-01-21 | 2016-04-20 | 烟台拓伟机械有限公司 | Separating type robot dragging and demonstrating handle and demonstrating method thereof |
| CN106041966A (en) * | 2016-07-14 | 2016-10-26 | 东莞市李群自动化技术有限公司 | Robot teaching action control method and robot teaching action control device |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| CN106873977A (en) * | 2016-12-30 | 2017-06-20 | 南京埃斯顿机器人工程有限公司 | A kind of expansible robot demonstrator based on script and plug-in unit |
| CN106965199A (en) * | 2017-05-08 | 2017-07-21 | 北京艾利特科技有限公司 | A kind of body-sensing teaching terminal and teaching method |
| CN107643696A (en) * | 2017-10-17 | 2018-01-30 | 佛山市南方数据科学研究院 | A kind of teaching robot's embedded OS |
| CN109623850A (en) * | 2018-12-04 | 2019-04-16 | 北京计算机技术及应用研究所 | A kind of Multi-channel hand-held motion control device |
| CN110142770A (en) * | 2019-05-07 | 2019-08-20 | 中国地质大学（武汉） | A kind of robot teaching system and method based on head-wearing display device |
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| CN112850114A (en) * | 2020-12-22 | 2021-05-28 | 辽宁科技大学 | Automatic sorting and boxing equipment for paper money processing assembly line |
| CN117260681A (en) * | 2023-09-28 | 2023-12-22 | 广州市腾龙信息科技有限公司 | Control system of mechanical arm robot |
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| CN105479431A (en) * | 2016-01-21 | 2016-04-13 | 烟台拓伟机械有限公司 | Inertial navigation type robot demonstration equipment |
| CN105500345A (en) * | 2016-01-21 | 2016-04-20 | 烟台拓伟机械有限公司 | Separating type robot dragging and demonstrating handle and demonstrating method thereof |
| CN106041966A (en) * | 2016-07-14 | 2016-10-26 | 东莞市李群自动化技术有限公司 | Robot teaching action control method and robot teaching action control device |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| CN110267772A (en) * | 2016-12-09 | 2019-09-20 | 韩华精密机械株式会社 | cooperative robot |
| CN110267772B (en) * | 2016-12-09 | 2022-07-12 | 韩华株式会社 | Cooperative robot |
| CN106873977A (en) * | 2016-12-30 | 2017-06-20 | 南京埃斯顿机器人工程有限公司 | A kind of expansible robot demonstrator based on script and plug-in unit |
| CN106965199A (en) * | 2017-05-08 | 2017-07-21 | 北京艾利特科技有限公司 | A kind of body-sensing teaching terminal and teaching method |
| CN107643696A (en) * | 2017-10-17 | 2018-01-30 | 佛山市南方数据科学研究院 | A kind of teaching robot's embedded OS |
| CN109623850A (en) * | 2018-12-04 | 2019-04-16 | 北京计算机技术及应用研究所 | A kind of Multi-channel hand-held motion control device |
| CN110142770A (en) * | 2019-05-07 | 2019-08-20 | 中国地质大学（武汉） | A kind of robot teaching system and method based on head-wearing display device |
| CN112850114A (en) * | 2020-12-22 | 2021-05-28 | 辽宁科技大学 | Automatic sorting and boxing equipment for paper money processing assembly line |
| CN112621767A (en) * | 2021-01-07 | 2021-04-09 | 重庆智能机器人研究院 | Artificial intelligence demonstrator |
| CN117260681A (en) * | 2023-09-28 | 2023-12-22 | 广州市腾龙信息科技有限公司 | Control system of mechanical arm robot |
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