CN106826877A - A kind of easy Manipulation of the machine people teaching machine - Google Patents
A kind of easy Manipulation of the machine people teaching machine Download PDFInfo
- Publication number
- CN106826877A CN106826877A CN201710099605.4A CN201710099605A CN106826877A CN 106826877 A CN106826877 A CN 106826877A CN 201710099605 A CN201710099605 A CN 201710099605A CN 106826877 A CN106826877 A CN 106826877A
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- CN
- China
- Prior art keywords
- teaching
- mechanical arm
- attitude
- machine
- embedded controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The present invention provides a kind of easy Manipulation of the machine people teaching machine, including the embedded controller being connected with host computer robot control system, course attitude reference system, operation rocking bar etc., course attitude reference system includes accelerometer, gyroscope and magnetometer, course attitude reference system collects the mobile attitude of teaching machine, and send attitude track to embedded controller, embedded controller is based on the teaching attitude of the posture changing generation mechanical arm of course attitude reference system, and send the teaching posture changing track of mechanical arm to host computer robot control system, the mechanical arm that host computer robot control system controls needs mobile based on the posture changing of the mechanical arm carries out corresponding attitude movement.The operation rocking bar being connected with embedded controller is used to select the X, Y, Z axis parameter of mobile mechanical arm, so as to complete the complete teaching process of mechanical arm.
Description
Technical field
The present invention relates to robot manipulation's technical field, a kind of easy Manipulation of the machine people teaching machine is specifically provided.
Background technology
With the development of science and technology use of the various robots under various operation occasions is more and more extensive, teaching machine is machine
The important component of device people's control system, traditional teaching machine can only be manually operated arrow button or control stick to move
The mechanical arm of robot completes teaching process, and the skill set requirements to operator are higher.
Be integrated into programing function on teaching machine by traditional robot demonstrator, although facilitates online programming, but together
When also increase the volume and weight of teaching machine, and improve operating personnel enter gate threshold.
Chinese patent CN105252538A discloses a kind of Novel industrial robot teaching machine, and it is according to Inertial Measurement Unit
With the movement that camera carrys out control machinery arm, mechanical arm teaching motion track is set to follow the teaching motion track of teaching machine.But
Due to Inertial Measurement Unit price costly, making the cost of teaching machine increases, and it needs to coordinate camera, makes entirely to show
Teaching system is more complicated, and the use of the light intensity to teaching machine in the external world also has an impact.
The content of the invention
In view of the shortcomings of the prior art and defect, it is an object of the invention to provide a kind of easy Manipulation of the machine people teaching machine, should
Not only mode of operation is simple for teaching machine, more light portable, low cost, and the mode of operation with hommization, operator without
There need to be the operative skill with specialty, just can fast operating robotic arm.
To reach above-mentioned purpose, the present invention uses following technical proposals：
The present invention provides a kind of easy Manipulation of the machine people teaching machine, including the insertion being connected with host computer robot control system
Formula controller, the robot demonstrator also includes the course attitude reference system being connected with embedded controller, the course
Attitude reference system includes acceierometer sensor, gyroscope and magnetometer, the sensor of the course attitude reference system
The mobile attitude of teaching machine is collected, and sends the attitude track to the embedded controller, the embedded controller
Posture changing based on course attitude reference system produces the teaching attitude of mechanical arm, and the teaching attitude of the mechanical arm is become
The mark that switches tracks sends the host computer robot control system to, and the host computer robot control system is based on the mechanical arm
Posture changing carries out corresponding attitude movement come the mechanical arm for controlling needs mobile.
The robot demonstrator is also included：Operation rocking bar, the Pose Control list being connected with the embedded controller
Unit and joint select unit, the operation rocking bar complete mechanical arm for selecting the X, Y, Z axis parameter of control machinery arm
Teaching, the mechanical arm pose track movement that its Pose Control unit is used under manually handle pattern, its joint select unit can be with
Specific joint of mechanical arm is controlled to move.
Further, the robot demonstrator is also included：The DeadMan keys being connected with the embedded controller,
Emergency stop switch, LCDs.When the DeadMan buttons are pressed, mobile teaching machine, mechanical arm can realize teaching
Track is moved, when this key is unclamped, mechanical arm stop motion.The LCDs is used to be input into presupposed information and shows in real time
Show the motion state of teaching machine and mechanical arm.
Further, the robot demonstrator is also included：The ethernet communication being connected with the embedded controller
Module, the ethernet communication module is used for the communication carried out between teaching machine and host computer of stabilization at a high speed.
Preferably, teaching machine need not be directly connected to host computer, can be connected to router terminal, significantly expand distant behaviour
The range of application of work.
Compared with prior art, the present invention has the advantage that：
The present invention is a kind of easy Manipulation of the machine people teaching machine, and the present invention makes it have posture by course attitude reference system
Operating system, operator need not have programming basis, without carrying out coordinates matrix conversion, function be added by mobile teaching machine
Button, so as to complete the teaching process to robot, reduces the technical ability to operator with regard to the pose movement of energy control machinery arm
It is required that.
Brief description of the drawings
Fig. 1 is the main structure diagram of easily Manipulation of the machine people's teaching machine of the invention；
Fig. 2 is the right side structural representation of easily Manipulation of the machine people's teaching machine of the invention；
Fig. 3 is the structural principle block diagram of easily Manipulation of the machine people's teaching machine of the invention；
Fig. 4 is the operational flowchart that teaching machine of the present invention is controlled.
Wherein, identical explanation is not repeated to the structural elements for being labeled with same reference numerals and identical title：
1. key zone is operated；2. rocking bar is operated；3. emergency stop switch；4. LCDs；5. upper shell；6. Ethernet
The communications cable；7.DeadMan keys；8. lower house；9. teaching machine control module；10. course attitude reference system；11. magnetometers；
12. accelerometers；13. gyroscopes；14.USB interfaces；15. embedded controllers；16. ethernet communication modules；17. pose controls
Unit processed；18. joint select units.
Specific embodiment
To enable objects, features and advantages of the present invention more obvious understandable, below with reference to accompanying drawing, to of the invention
Specific implementation is described in further detail.
As depicted in figs. 1 and 2, the robot demonstrator mainly includes that operation key zone 1, operation rocking bar 2, emergent stopping are opened
Close 3, LCDs 4, upper shell 5, ethernet communication cable 6, DeadMan keys 7, lower house 8, and described operation key zone
1st, operation rocking bar 2, emergency stop switch 3, LCDs 4, DeadMan keys 7 and ethernet communication cable 6 are all connected respectively
With control module 9.
The DeadMan keys 7 are located at the back side of teaching machine, and operator is needed according to DeadMan keys ability operation robot,
And the design positioned at rear portion is in order to operator facilitates one hand to be operated.When operator unclamps DeadMan keys 7, mechanical arm
Stop teaching work, make it more safe and reliable.The emergency stop switch 3 is located at the top of teaching machine, so operation accidentally
Robot can quickly be stopped during error, other buttons are effectively avoided and sent false command because touching hard thing, improved
The security of robot motion.The operation rocking bar 2 is used for controlling the movement of robot end, and the LCDs 4 is used
To show in real time the data message of teaching machine and robot.
As shown in figure 3, the robot demonstrator includes teaching machine control module 9, embedded controller 15, with embedded control
Device processed connected course attitude reference system 10, usb 14, DeadMan keys, emergency stop switch, LCDs, ether
Net communication module 16 and operation key zone.Wherein, the usb 14 is used for pre-programmed loading and the outside volume of connection
The equipment of collecting.The course attitude reference system 10 includes magnetometer 11, accelerometer 12 and gyroscope 13.Operation key zone includes
Pose Control unit 19, joint select unit 20 and operation rocking bar.Embedded controller 15 controls system with host computer robot
System is (not shown) to be connected by ethernet communication module 16.The mobile appearance of the sensor collection teaching machine of course attitude reference system 10
State, and send the attitude track to embedded controller 15, embedded controller 15 is based on course attitude reference system 10
Posture changing produce the teaching attitude of mechanical arm, and the teaching posture changing track of the mechanical arm is sent to described upper
Machine robot control system, the host computer robot control system controls to need to move based on the posture changing of the mechanical arm
Dynamic mechanical arm carries out corresponding attitude movement.Operator's moving operation rocking bar 2, the attitude locking of mechanical arm, by rocking bar
Move the position for controlling to realize mechanical arm.
In another embodiment of the present invention, two teaching machines are connected to host computer robot and control system by router
System, controls tow-armed robot.
Due to demonstrator during teaching, it is necessary at any time observe mechanical arm situation of movement, so as to and adjustment machinery
The teaching such as the moving direction of arm, shift position parameter, observes the situation of movement of mechanical arm for convenience, shows in real time in display screen
While showing the moving parameter of mechanical arm and teaching machine, by the simulated program of host computer robot control system, can be more straight
The motion state for seeing mechanical arm seen.
If Fig. 4 is the operational flowchart that teaching machine of the present invention is controlled, comprise the following steps：
1) pre-input of the data such as teaching machine connection host computer, host computer connection robot, initial error；
2) teaching machine is enabled, course attitude reference system collects the attitude mobile message of teaching machine, and transfers data to
Embedded controller；
3) embedded controller is processed data, extracts the posture changing track of teaching machine；
4) the attitude track of mechanical arm is sent to robot control system, robot control system control by embedded controller
Mechanical arm processed is moved accordingly, push rocking bar, the attitude locking of mechanical arm, is moved with the position of rocking bar control machinery arm
It is dynamic；
5) judge whether to reach predetermined teaching positionIf it has, completing teaching；If not up to precalculated position,
Rocking bar is unclamped, repeats teaching process.
By the selection in the function button area to teaching machine of the present invention, it is also possible to select other method to carry out control machinery arm,
By the selection to joint select unit and Pose Control unit in operation key zone, operator can distinguish control machinery arm
Simple joint and with button come control machinery arm pose.
It can be seen from the foregoing description that the present invention realizes following technique effect：Added using course attitude reference system
Operation rocking bar, is movement of operator's movement teaching machine with regard to energy control machinery arm, it is not necessary to too many responsible operation, reduces behaviour
Make difficulty.By default program, operator is set to be programmed on teaching machine.
Particular embodiments described above combination accompanying drawing, is carried out to the purpose of the present invention, technical scheme and beneficial effect
Further describe, should be understood that and the foregoing is only specific embodiment of the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements done etc. should be included within the scope of the present invention.
Claims (4)
1. a kind of easy Manipulation of the machine people teaching machine, it includes the embedded controller being connected with host computer robot control system
15, it is characterised in that：The robot demonstrator also includes the course attitude reference system being connected with the embedded controller 15
System 13, the course attitude reference system 13 includes acceierometer sensor 12, gyroscope 13 and magnetometer 11, the course
The mobile attitude of the sensor collection teaching machine of attitude reference system 13, and send attitude track to embedded controller 15,
The posture changing that embedded controller 15 is based on course attitude reference system produces the teaching attitude of mechanical arm, and by mechanical arm
Teaching posture changing track sends host computer robot control system to, and the host computer robot control system is based on mechanical arm
Posture changing control to need the mobile mechanical arm carry out corresponding attitude movement.
2. easy Manipulation of the machine people teaching machine according to claim 1, it is characterised in that the robot demonstrator also includes
Have：The operation key zone 1 being connected with the embedded controller 15, the operation key zone includes operation rocking bar 2, Pose Control
Unit 17 and joint select unit 18, its described operation rocking bar 2 are completed for selecting the X, Y, Z axis parameter of mobile mechanical arm
Teaching, the mechanical arm pose track movement that the Pose Control unit 17 is used under manually handle pattern, its joint select unit
18 are used to control specific joint of mechanical arm to move.
3. a kind of method of controlling operation thereof of robot teaching, it is characterised in that comprise the following steps：
1) pre-input of the data such as teaching machine connection host computer, host computer connection robot, initial error；
2) teaching machine is enabled, course attitude reference system collects the attitude mobile message of teaching machine, and transfers data to insertion
Formula controller；
3) embedded controller is processed data, extracts the posture changing track of teaching machine；
4) the attitude track of mechanical arm is sent to robot control system, robot control system control machine by embedded controller
Tool arm is moved accordingly, push rocking bar, the attitude locking of mechanical arm, is moved with the position of rocking bar control machinery arm；
5) judge whether to reach predetermined teaching positionIf it has, completing teaching；If not up to precalculated position, unclamps
Rocking bar, repeats teaching process.
4. easy Manipulation of the machine people teaching machine according to claim 1, it is characterised in that it also includes and embedded controller
15 connected ethernet communication modules 16 and usb 14, the usb 14 be used to being loaded into default programming, debugging and
The outside editing equipment of connection；The ethernet communication module 16 carries out embedded controller and host computer machine for stabilization at a high speed
The communication of device people's control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710099605.4A CN106826877A (en) | 2017-02-23 | 2017-02-23 | A kind of easy Manipulation of the machine people teaching machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710099605.4A CN106826877A (en) | 2017-02-23 | 2017-02-23 | A kind of easy Manipulation of the machine people teaching machine |
Publications (1)
| Publication Number | Publication Date |
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| CN106826877A true CN106826877A (en) | 2017-06-13 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710099605.4A Pending CN106826877A (en) | 2017-02-23 | 2017-02-23 | A kind of easy Manipulation of the machine people teaching machine |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107331279A (en) * | 2017-08-16 | 2017-11-07 | 嘉兴锐视智能科技有限公司 | Teaching apparatus and system |
| CN107498557A (en) * | 2017-09-19 | 2017-12-22 | 坤同勃志智能科技（上海）有限公司 | The control method and system of a kind of robot |
| 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 |
| CN107696036A (en) * | 2017-08-21 | 2018-02-16 | 北京精密机电控制设备研究所 | A kind of dragging teaching machine of apery mechanical arm |
| 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 |
| CN109940290A (en) * | 2019-04-09 | 2019-06-28 | 奔腾激光(温州)有限公司 | Control system based on three-dimensional five-axis 3D laser cutting |
| CN110509282A (en) * | 2019-07-18 | 2019-11-29 | 上海大学 | A kind of cameras people remote operating device |
| CN111267129A (en) * | 2020-02-24 | 2020-06-12 | 东南大学 | Control device of accompanying robot |
| CN111347431A (en) * | 2020-04-16 | 2020-06-30 | 广东工业大学 | Robot teaching spraying method and device for teaching handheld tool |
| CN111531551A (en) * | 2020-04-22 | 2020-08-14 | 实时侠智能控制技术有限公司 | Safety demonstrator using universal tablet computer and demonstration method |
| CN112621767A (en) * | 2021-01-07 | 2021-04-09 | 重庆智能机器人研究院 | Artificial intelligence demonstrator |
| CN112847380A (en) * | 2021-02-24 | 2021-05-28 | 宿州赛尔沃德物联网科技有限公司 | Teaching method of industrial robot |
-
2017
- 2017-02-23 CN CN201710099605.4A patent/CN106826877A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107331279A (en) * | 2017-08-16 | 2017-11-07 | 嘉兴锐视智能科技有限公司 | Teaching apparatus and system |
| CN107696036B (en) * | 2017-08-21 | 2020-02-14 | 北京精密机电控制设备研究所 | Dragging demonstrator for humanoid mechanical arm |
| CN107696036A (en) * | 2017-08-21 | 2018-02-16 | 北京精密机电控制设备研究所 | A kind of dragging teaching machine of apery mechanical arm |
| 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 |
| CN107498557A (en) * | 2017-09-19 | 2017-12-22 | 坤同勃志智能科技（上海）有限公司 | The control method and system of a kind of robot |
| 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 |
| CN109940290B (en) * | 2019-04-09 | 2020-11-03 | 奔腾激光(温州)有限公司 | Control system based on three-dimensional five-axis 3D laser cutting |
| CN109940290A (en) * | 2019-04-09 | 2019-06-28 | 奔腾激光(温州)有限公司 | Control system based on three-dimensional five-axis 3D laser cutting |
| CN110509282A (en) * | 2019-07-18 | 2019-11-29 | 上海大学 | A kind of cameras people remote operating device |
| CN110509282B (en) * | 2019-07-18 | 2022-11-08 | 上海大学 | Teleoperation device of camera robot |
| CN111267129A (en) * | 2020-02-24 | 2020-06-12 | 东南大学 | Control device of accompanying robot |
| CN111267129B (en) * | 2020-02-24 | 2022-07-29 | 东南大学 | Control device of accompanying robot |
| CN111347431A (en) * | 2020-04-16 | 2020-06-30 | 广东工业大学 | Robot teaching spraying method and device for teaching handheld tool |
| CN111531551A (en) * | 2020-04-22 | 2020-08-14 | 实时侠智能控制技术有限公司 | Safety demonstrator using universal tablet computer and demonstration method |
| CN112621767A (en) * | 2021-01-07 | 2021-04-09 | 重庆智能机器人研究院 | Artificial intelligence demonstrator |
| CN112847380A (en) * | 2021-02-24 | 2021-05-28 | 宿州赛尔沃德物联网科技有限公司 | Teaching method of industrial robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20170613 |