CN106476035A - Robotic arm and its method taught - Google Patents
Robotic arm and its method taught Download PDFInfo
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- CN106476035A CN106476035A CN201510522206.5A CN201510522206A CN106476035A CN 106476035 A CN106476035 A CN 106476035A CN 201510522206 A CN201510522206 A CN 201510522206A CN 106476035 A CN106476035 A CN 106476035A
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- arm
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- robotic arm
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Abstract
The present invention discloses a kind of robotic arm and its method taught, and its method includes：Arm body in robotic arm working environment or control device setting suggestion device, on control device control arm, sighting device captures the image of the automatic teaching pattern of setting surface of the work, completes to recognize pattern, is starting before automatically instructing, suggestion device is controlled to give a warning, to guarantee personal security.
Description
Technical field
The present invention relates to a kind of robotic arm, especially relate to robotic arm in teaching course of action, lead to
Cross sighting device acquisition pattern image to be recognized, and be automatically performed the side of teaching action according to pattern instruction
Method.
Background technology
With the fast development of production technology, factory automation utilizes sighting device to position object, vectoring aircraft
Device arm automatically captures object and carries out assembly, to improve plant produced speed and efficiency.And affect machine
The major subjects of the automatic production efficiency of device arm, are simple and safe teaching mode, to allow robot arm
Arm quickly enters production ranks improve production efficiency.
Teaching in prior art robotic arm action, typically using the inputting interface being connected to robotic arm, compiles
Collect the mobile process of robotic arm, and simulate the mobile route of robotic arm in display device in advance.Again according to
The mobile process of editor is actual to control robotic arm to move, and carries out confirming editor's robotic arm mobile route
Feasibility.Generally just can need to complete to instruct through the excessive edit validation returning, using upper rather time-consuming inconvenience.
Separately there is prior art directly to draw robotic arm to move along the path needing, each using robotic arm
The encoder record mobile route of axle actuation means, reaches the purpose of teaching robotic arm action.But machine
Arm has inertia and moving resistance, when force traction robotic arm is mobile it is difficult to act on needs simultaneously
Path move.And in teaching course of action, operator need whole directly contact robotic arm,
Easily endanger the safety of operator.
Prior art is therefore had to allow robotic arm study action automatically, to reduce operator's directly contact machine
Device arm.Such as United States Patent (USP) case US8315455, arranges reference signs near workpieces, using machine
Sighting device (EYE-IN-HAND) on the arm of arm, captures the image of workpiece and reference signs, is computed
Unit separates and recognizes the image of reference signs, obtains the location information of workpiece, then driven machine arm is certainly
Move and shift to workpiece, grabbing workpiece is conveyed or assembles, to complete teaching action automatically.
However, aforementioned prior art utilizes sighting device teaching action automatically on the arm of robotic arm, though can
Reduce operator's directly contact robotic arm, but operator still need near workpieces setting with reference to note
Number, and mobile robotic arm, make the visual field of sighting device in reference signs arm entry, could start machine
Arm teaching action automatically.Because prior art robotic arm captures and identification image, meter all internally
Calculating unit quickly to carry out, once completing to recognize, launching automatic teaching action immediately.Operator simultaneously cannot
Learn when robotic arm starts automatic teaching action, slightly depart from the working range of robotic arm late, just have
May be clashed into by the robotic arm in movement, lead to the damage of operator, cause the problem of work safety.
Therefore, robotic arm is in teaching, still problematic urgently to be resolved hurrily.
Content of the invention
It is an object of the invention to provide a kind of robotic arm, suggestion device is set in robotic arm, makes machine
Device arm, before starting automatic teaching action, is given a warning by suggestion device, allows operator depart from machine
The working range of device arm, to guarantee personal security.
Another object of the present invention is to provide a kind of method taught of robotic arm, sets suggestion device and sends
Preset the warning of time, robotic arm restarts automatic teaching action, depart from machine with sharp operator
The working range of device arm.
Still a further object of the present invention is to provide a kind of method taught of robotic arm, sets suggestion device and sends
Complete to recognize the warning of image, wait operator to press startup button, robotic arm just starts automatic teaching
Action, to ensure the working range of operator's disengaging robotic arm.
In order to reach the purpose of aforementioned invention, the robotic arm of first embodiment of the invention, by arm body
One end is fixed on pedestal, and has reference coordinate, and the other end is sighting device on movable part installing arm.Control
Device processed connects and controls arm body to move movable part, and controls and recognize sighting device acquisition shadow on arm
Picture.Suggestion device is arranged on arm body or control device in robotic arm working environment, to send light
Or the warning of sound.In arm body working environment, setting using stickup or is drawn certainly in surface to work-piece
The pattern of dynamic teaching, pattern, with Black oval substrate, the middle English alphabet indicating white gravoply, with black engraved characters, is made
Action code for automatic teaching gripping.Wherein on control device control arm, sighting device captures the shadow of pattern
Picture, completes to recognize pattern, is starting before automatically instructing, controlling suggestion device to give a warning.
The method taught of the robotic arm of first embodiment of the invention, arranges cognizable automatic on workpiece
Teaching pattern；Traction arm body moves, and makes pattern occur in the visual field of sighting device on arm；Using arm
Upper sighting device captures pattern image；Carry out recognizing pattern；When can recognize pattern, send and complete identification
After the prompting warning of Preset Time, close prompting warning；Pattern cannot be recognized, return to continuation traction arm
Body moves；According to the teaching action of identification pattern, start automatic teaching action.
The robotic arm of second embodiment of the invention, separately in the robotic arm control device company of first embodiment
Connect screen, when capturing pattern image, in order to confirm that pattern occurs in the visual field of sighting device on arm.And
Control device sets startup button, after suggestion device sends the warning completing to recognize, is pressed by operator
Startup button, starts and automatically instructs.
The method taught of the robotic arm of second embodiment of the invention, arranges cognizable automatic on workpiece
Teaching pattern；Traction arm body moves, and makes pattern occur in the visual field of sighting device on arm；Using arm
Upper sighting device captures pattern image；Carry out recognizing pattern；Send the prompting warning completing to recognize；Manually
Start automatic teaching action；According to the teaching action of identification pattern, start automatic teaching action；By on arm
Sighting device captures workpiece image；The position of identification workpiece and shape；According to the teaching action of pattern, automatically drive
The path of motion of dynamic and recorder arm；Complete teaching action automatically.
The method taught of the robotic arm of second embodiment of the invention may be selected detect manually start from
Dynamic teaching action, closes prompting warning, or after the completion of automatic teaching action, just closes prompting warning.
Brief description
Fig. 1 is the schematic diagram of first embodiment of the invention robotic arm；
Fig. 2 arranges the top view of pattern for the present invention on workpiece；
Fig. 3 is the flow chart of the method taught of first embodiment of the invention robotic arm；
Fig. 4 is the schematic diagram of second embodiment of the invention robotic arm；
Fig. 5 is the flow chart of the method taught of second embodiment robotic arm.
Symbol description
The robotic arm of 10 first embodiments
11 arm bodies
12 control devices
13 pedestals
14 suggestion devices
15 movable parts
Sighting device on 16 arms
17 jaws
18 boards
19 workpiece
20 patterns
The robotic arm of 30 second embodiments
31 arm bodies
32 control devices
33 pedestals
34 suggestion devices
35 movable parts
Sighting device on 36 arms
37 jaws
38 screens
39 startup buttons
40 boards
41 workpiece
42 patterns
Specific embodiment
The relevant present invention is to reach above-mentioned purpose, and the technological means being adopted and its effect are now lifted preferably real
Apply example, and it is as follows to coordinate accompanying drawing to be illustrated.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the schematic diagram of first embodiment of the invention robotic arm,
Fig. 2 arranges the top view of pattern for the present invention on workpiece.The machine of first embodiment of the invention in Fig. 1
Arm 10 comprises arm body 11 and control device 12, and arm body 11 one end is fixed on motionless base
Seat 13, and there is reference coordinate M.Suggestion device 14 is set in robotic arm 10 working environment, for example
One suggestion device 14 is arranged on arm body 11, suggestion device 14 can be a warning sending light or sound
Device.The movable part 15 of arm body 11 other end, sighting device 16 and in order to grip work on installing arm
The jaw 17 of part.Arm body 11 connects control device 12, and control device 12 is provided with another prompting dress
Put 14, this suggestion device 14 can be a caution device sending light or sound.Control device 12 controls arm
Sighting device 16 and jaw 17 on the arm that the mobile movable part 15 of body 11 carries.Allow sighting device on arm
Workpiece 19 pick-up image on 16 pairs of boards 18 being seated in arm body 11 working environment, and root
According to control device 12 to the process of pick-up image and analysis, confirm workpiece 19 in the position of reference coordinate M
Put, the movable part 15 driving arm body 11 is close to workpiece 19, and grips workpiece 19 using jaw 17,
To be assembled or the teaching action such as conveying workpieces 19.
The robotic arm 10 of first embodiment of the invention, in teaching, is selected on board 18 by operator
Select the workpiece 19 that teaching is processed, and pattern 20 is arranged on workpiece 19.In Fig. 2, on board 18
Workpiece 19 surface, can be utilized to paste or draw and the mode such as set pattern 20 is set.Pattern with the present embodiment
20 illustrations, the startup pattern 20 that pattern 20 is automatic teaching with Black oval substrate, middle mark
Show the English alphabet G of white gravoply, with black engraved characters, the action code gripping for automatic teaching, with sighting device on sharp arm
16 pick-up images, and the readily discernible pattern 20 for starting automatic teaching action.The pattern of the present embodiment
20 is to illustrate, but the present invention comprises and is not limited to aforementioned pattern 20 embodiment, and pattern 20 is alternatively
Cognizable pattern, word, label or bar code etc..
The present invention is after pattern 20 is provided with, mobile roughly by operator's traction arm body 11,
Pattern 20 is made to occur in the visual field of sighting device 16 on arm.Filled by vision on the arm of arm body 11
Put 16 acquisition pattern 20 image, then Treatment Analysis are carried out to pick-up image by control device 12, such as no
Method recognizes pattern 20, and operator need to draw arm body 11 adjustment position again, until control device 12
Pattern 20 image that on arm, sighting device 16 captures can be recognized, and start automatic religion in robotic arm 10
Before leading action, the suggestion device 14 on arm body 11 or control device 12 is controlled by control device 12
Send the sound or light warning completing to recognize, and the warning being sent with suggestion device 14 continue Preset Time,
Operator are allowed to be departed from the working range of robotic arm 10, to guarantee the safety of operator.So
Afterwards in the Preset Time having crossed suggestion device 14 warning, after suggestion device 14 closes prompting warning, machine
Arm 10 just recognizes the teaching action of pattern 20, automatic machine arm 10 according to control device 12
The stroke of teaching action.
As shown in figure 3, the flow chart for first embodiment of the invention robotic arm method taught.The present invention
The step-by-step procedures of robotic arm teaching is as follows:Step R1 first, workpiece is arranged cognizable from
Dynamic teaching pattern；Step R2, traction arm body moves, and makes pattern occur in regarding of sighting device on arm
Wild；In step R3, capture pattern image using sighting device on arm；Step R4, checks whether and can recognize
Pattern？If pattern cannot be recognized, return to step R2 and continue traction arm body movement, if can recognize
Pattern, then enter step R5, before starting automatic teaching action, sends the Preset Time completing to recognize
Prompting warning；Finally in step R6, according to the teaching action of identification pattern, start automatic teaching action.
Therefore, the method taught of first embodiment of the invention robotic arm is so that it may carry in robotic arm setting
Showing device, is made robotic arm before starting automatic teaching action, is sent by suggestion device and complete identification figure
The warning of the Preset Time of sample, allows operator know that robotic arm will start automatic teaching, so that and
When depart from the working range of robotic arm, then robotic arm restarts automatic teaching action, to reach really
Protect the purpose of operator safety.
As shown in figure 4, the schematic diagram for second embodiment of the invention robotic arm.The present invention second is implemented
The robotic arm 30 of example comprises arm body 31 and control device 32, and arm body 31 one end is fixed on
Motionless pedestal 33, and there is reference coordinate M.And a suggestion device 34 is arranged on arm body 31
To send the warning such as sound or light.The movable part 35 of arm body 31 other end, sighting device on installing arm
36 and in order to grip the jaw 37 of workpiece.Arm body 31 connects control device 32, control device 32
It is provided with screen 38, startup button 39 and another suggestion device 34.Control device 32 controls arm body 31
Sighting device 36 and jaw 37 on the arm that mobile movable part 35 carries.Make sighting device 36 on arm opposed
It is placed on workpiece 41 pick-up image on board 40, and the process to pick-up image according to control device 32
And analysis, confirm that workpiece 41, in the position of reference coordinate M, drives the movable part 35 of arm body 31
Close to workpiece 41, and grip workpiece 41 using jaw 37, to be assembled or the religion such as conveying workpieces 41
Lead action.
The robotic arm 30 of second embodiment of the invention teaching when, by operator on workpiece 41
Setting pattern 42.Mobile roughly by operator's traction arm body 31, and confirm figure using screen 38
Sample 42 occurs in the visual field of sighting device 36 on arm.Pattern 42 shadow is captured by sighting device on arm 36
Picture, then Treatment Analysis identification pattern 42 is carried out by control device 32 to pick-up image, and in robotic arm
Before 30 start automatic teaching action, controlled on arm body 31 or control device 32 by control device 32
Suggestion device 34 send complete recognize warning, allow operator depart from robotic arm 30 work model
Enclose, then manually pressed the startup button 39 in pressure control device 32 by operator, robotic arm 30 is detected
Automatically instruct to startup button 39 action launching, be shut off the prompting warning of suggestion device 34, and according to control
The teaching action of device 32 identification pattern 42 processed, the stroke of automatic machine arm 30 teaching action,
To guarantee operator safety.Robotic arm 30 starts teaching action, is captured by sighting device on arm 36
Workpiece 41 image, the identification position of workpiece 41 and shape, by control device 32 according to pattern 42 teaching
Action, automatically controls driving and the movable part 35 of record arm body 31 is close and process workpiece 41
Path of motion, to complete teaching action automatically.Suggestion device 34 also can be after startup button 39 action, temporarily
When do not close, after the completion of waiting entirely teaching action automatically, just close suggestion device 34, remind operator
The working range of robotic arm 30 must not be entered in automatic teaching course of action.
As shown in figure 5, the flow chart for second embodiment of the invention robotic arm method taught.The present invention
The step-by-step procedures of robotic arm teaching is as follows:Step S1 first, workpiece is arranged cognizable from
Dynamic teaching pattern；Step S2, traction arm body moves, and confirms that pattern occurs in vision on arm by screen
The visual field of device；In step S3, capture pattern image using sighting device on arm；Step S4, is recognized
Pattern；Step S5, before starting automatic teaching action, sends the prompting warning completing to recognize；In step S6,
Manually start automatic teaching action；Step S7, captures workpiece image by sighting device on arm；Step S8, distinguishes
Know position and the shape of workpiece；Step S9, according to the teaching action of pattern, drives and recorder handss automatically
The path of motion of arm；Finally complete teaching action automatically in step S10.
Therefore, the method taught of the method taught robotic arm of second embodiment of the invention robotic arm, just
Suggestion device and startup button can be set in robotic arm, make robotic arm before starting automatic teaching action,
Send the warning completing the Preset Time identifying pattern by suggestion device, allow operator first depart from machine
The working range of arm, then started by press button starts automatic teaching action again, guarantees operator to reach
The purpose of member's safety.
As described above, only in order to convenient explanation the preferred embodiments of the present invention, the scope of the present invention is not
It is limited to this grade preferred embodiment, all any changes done according to the present invention, in the spirit without departing from the present invention
Under, all belong to the scope of the present patent application patent.
Claims (14)
1. a kind of robotic arm, comprises：
Arm body, one end is fixed on pedestal, and has reference coordinate, and the other end installs arm for movable part
Upper sighting device；
Control device, connects and controls arm body to move movable part, and controls and recognize vision dress on arm
Put pick-up image；
Suggestion device, is arranged in robotic arm working environment, to send the warning of light or sound；
Workpiece, is seated in arm body working environment, the pattern that surface setting is instructed automatically；
Wherein, on control device control arm sighting device capture pattern image, complete recognize pattern,
Start before automatically instructing, control suggestion device to give a warning.
2. robotic arm as claimed in claim 1, wherein this suggestion device are arranged on arm body or control
Device processed.
3. robotic arm as claimed in claim 1, wherein pattern are arranged on workpiece using stickup or picture
On.
4. robotic arm as claimed in claim 1, wherein this control device connect screen, capture pattern
During image, to confirm that pattern occurs in the visual field of sighting device on arm.
5. robotic arm as claimed in claim 1, wherein this control device set startup button, in prompting
After device sends the warning completing to recognize, by operator's started by press button, start and automatically instruct.
6. robotic arm as claimed in claim 1, wherein this pattern are with Black oval substrate, middle
Indicate the English alphabet of white gravoply, with black engraved characters, as the action code of automatic teaching gripping.
7. a kind of method taught of robotic arm, its step comprises：
Cognizable automatic teaching pattern is arranged on workpiece；
Traction arm body moves, and makes pattern occur in the visual field of sighting device on arm；
Capture pattern image using sighting device on arm；
Identification pattern；
Send the prompting warning completing to recognize；
According to the teaching action of identification pattern, start automatic teaching action.
8. the method taught of robotic arm as claimed in claim 7, wherein cannot recognize pattern, continue
Traction arm body moves, and makes pattern occur in the visual field of sighting device on arm.
9. the method taught of robotic arm as claimed in claim 7, wherein completes the prompting warning recognizing
After sending Preset Time, start automatic teaching action.
10. the method taught of robotic arm as claimed in claim 7, when wherein prompting warning sends default
Between after, close prompting warning.
A kind of 11. method taught of robotic arm, its step comprises：
Cognizable automatic teaching pattern is arranged on workpiece；
Traction arm body moves, and makes pattern occur in the visual field of sighting device on arm；
Capture pattern image using sighting device on arm；
Identification pattern；
Send the prompting warning completing to recognize；
Manually start automatic teaching action；
According to the teaching action of identification pattern, start automatic teaching action.
The method taught of 12. robotic arms as claimed in claim 11, wherein this automatic teaching action
Step comprises:
Workpiece image is captured by sighting device on arm；
The position of identification workpiece and shape；
According to the teaching action of pattern, the path of motion of driving and recorder arm automatically；
Complete teaching action automatically.
The method taught of 13. robotic arms as claimed in claim 11, wherein detects and manually starts certainly
Dynamic teaching action, closes prompting warning.
The method taught of 14. robotic arms as claimed in claim 11, wherein complete in automatic teaching action
Cheng Hou, just closes prompting warning.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510522206.5A CN106476035B (en) | 2015-08-24 | 2015-08-24 | Robot arm and teaching method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510522206.5A CN106476035B (en) | 2015-08-24 | 2015-08-24 | Robot arm and teaching method thereof |
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| CN106476035B CN106476035B (en) | 2021-07-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109397291A (en) * | 2018-11-19 | 2019-03-01 | 广东技术师范学院 | A method of it is picked up for teaching industrial robot |
| CN109807881A (en) * | 2017-11-20 | 2019-05-28 | 广明光电股份有限公司 | The introduction system and method for robotic arm operation track |
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| TW201531389A (en) * | 2014-02-05 | 2015-08-16 | Quanta Storage Inc | Teaching device and method for robot arm |
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| CN1754665A (en) * | 2004-09-28 | 2006-04-05 | 发那科株式会社 | Robot program production system |
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| CN109807881A (en) * | 2017-11-20 | 2019-05-28 | 广明光电股份有限公司 | The introduction system and method for robotic arm operation track |
| CN109807881B (en) * | 2017-11-20 | 2021-09-28 | 达明机器人股份有限公司 | Teaching system and method for operation track of robot arm |
| CN109397291A (en) * | 2018-11-19 | 2019-03-01 | 广东技术师范学院 | A method of it is picked up for teaching industrial robot |
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| Publication number | Publication date |
|---|---|
| CN106476035B (en) | 2021-07-27 |
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