CN107544311A - Industrial machine human hand holds the servicing unit and method of teaching - Google Patents
Industrial machine human hand holds the servicing unit and method of teaching Download PDFInfo
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- CN107544311A CN107544311A CN201710981016.9A CN201710981016A CN107544311A CN 107544311 A CN107544311 A CN 107544311A CN 201710981016 A CN201710981016 A CN 201710981016A CN 107544311 A CN107544311 A CN 107544311A
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Abstract
The present invention provides the servicing unit and method that a kind of industrial machine human hand holds teaching, comprises the following steps：Space sets horizontally and vertically direction sensor, catches the positional information of industrial robot, 3 d space coordinate system is established in computer；The joint sets absolute type encoder, records the numerical value of the joint original state and motion；The processor processing numerical generation parameter, uploads to computer, the adjusting parameter in the three-dimensional system of coordinate of computer, makes more accurate positioning, and generate uniform taught point.There is following beneficial effect：By the intuitive operation of direct teaching, combined with the accurate positioning of off-line teaching, the programming and modeling study that operator need not be to off-line teaching, it is only necessary to grasp simple parameter adjustment, realize and accurately position and move uniform.
Description
Technical field
The invention belongs to the production and processing technical field of industrial robot, and in particular to a kind of industrial machine human hand holds teaching
Servicing unit and method.
Background technology
At present, the teaching of industrial robot is broadly divided into direct teaching and off-line teaching.
Direct teaching (on-line teaching) refers to that technical staff moves the arm of robot by teaching box, and robot is carried out
Teaching.Direct teaching operation is simply direct, and technical staff can be programmed according to actual conditions at the scene, but there is also such as
Lower problem：1. it is difficult to the movement locus of complexity.Such as need to realize the substantial amounts of tracing point of the necessary teaching of complicated movement locus, show
Teach difficulty big.2. taught point is uneven.Artificial teaching is difficult to obtain uniform tracing point, therefore can not meet the processing technologys such as sewing
Requirement.3. taught point is inaccurate.Artificial teaching defies capture accurate tracing point, is especially not easy to Visual Observations Observations some
Occasion.
Such as the articulation of the patent No. 201510274550.7, manually trend robot, but positioning precision can not protect
Card, the full personal experience for depending on operator.
Off-line teaching is that technical staff does not carry out teaching directly to the robot of actual job, by being installed on PC
Simulation software, such as Fanuc and the ROBOTSTUDIO of ABB AB, teaching is carried out to robot in the form of threedimensional model.It is this
Teaching mode can mitigate the difficulty of teaching, the problem of effectively avoiding taught point inaccuracy, and be provided for robot motion's emulation
Means.But the editor of 3-D graphic that provides of these softwares, operational capacity are very limited, and tracing point need to be manually picked up, therefore
For the movement locus of complexity, taught point is still more, and is difficult to obtain uniform taught point.
The content of the invention
In order to solve the above technical problems, the present invention proposes the servicing unit that a kind of industrial machine human hand holds teaching, including
Drive system, mechanical structure system, interactive system and the control system of industrial robot, the industrial robot possess at least one
Individual joint,
Horizontally and vertically direction sensor is set in the place space of industrial robot, for capturing industrial robot fortune
Dynamic positional information；
Absolute type encoder is set in the joint of industrial robot, the absolute type encoder records data transfer
To processor, the processor generates parameter；
For handling the computer of the positional information and the parameter；
For generating the controller of operational order.
Preferably, the processor generates parameter according to time sequencing, and each pass is exported at interval of the identical time
Save angle of operation w and t parameter.
Preferably, the joint has reset function, sets multiple joints in a certain angle position as original state.
Preferably, the industrial robot sets memory module, for recording the parameter moved every time and operational order.
In addition, the present invention provides the householder method that a kind of industrial machine human hand holds teaching, comprise the following steps：
The joint of industrial robot is in non-enabled state；
Space sets horizontally and vertically direction sensor, catches the positional information of industrial robot, is established in computer empty
Between three-dimensional system of coordinate；
The joint sets absolute type encoder, records the numerical value of the joint original state；
Operator rotates the joint, streaks the path of setting, reaches target location, and absolute type encoder records the pass
Save the numerical value rotated；
The processor processing numerical generation parameter, uploads to computer, parameter is transformed into three-dimensional seat in a computer
The path of skimulated motion in parameter, operator are modified to the parameter of motion path；Controller generation motion simulation program；
Robot runs simulation program, judges whether to meet demand, if simulation program meets motion requirement, controller generation
The configuration processor of confirmation；If simulation program does not meet motion requirement, feedback error information, operator corrects the error of operation again
Upload data.
Preferably, after the completion of industrial robot operation, the original state that resets to before operation.
Preferably, the computer is to the path parameter of skimulated motion, extracts the positional information of key point, and key point
Set as far as possible uniform.
Preferably, the simulation program generates individually each fortune according to each joint the angle of operation w and t parameter
Dynamic program and the program of overall movement, for facilitating kinematic parameter inspection of the operator to single joint.
The present invention has following beneficial effect：By the intuitive operation of direct teaching, combined, grasped with the accurate positioning of off-line teaching
Author need not be to off-line teaching programming and modeling study, it is only necessary to grasp simple parameter adjustment, operator is direct
It during teaching, only can not ensure the accurate of positioning by naked-eye observation, but the general path information of motion can be provided, in computer
The middle parameter for not being inconsistent position is finely adjusted, and generates uniform motion state point according to motion path, and realization accurately positions
It is uniform with motion.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described.
Fig. 1 is the structured flowchart for the servicing unit that industrial machine human hand of the present invention holds teaching；
Fig. 2 is the flow chart for the householder method that industrial machine human hand of the present invention holds teaching；
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes.
As shown in figure 1, the present invention proposes the servicing unit that a kind of industrial machine human hand holds teaching, including industrial robot
Drive system, mechanical structure system, interactive system and control system, the industrial robot possesses at least one joint, one
Individual joint corresponds to two mechanical arms, and drive mechanism and controlling organization are set on joint, realizes and is turned according to programme-control joint
It is dynamic；
Horizontally and vertically direction sensor is set in the place space of industrial robot, for capturing industrial robot fortune
Dynamic positional information, when joint is moved in space, the sensor will catch the movable information of industrial robot；
Absolute type encoder is set in the joint of industrial robot, the absolute type encoder records industrial machine
The status information of people's initial position, and the information in motion process, the data transfer of record are given birth to processor, the processor
Into the parameter of motion, the parameter in each joint separately marks, and the parameter of generation is also the independent parameter in each joint；
The processor generates parameter according to time sequencing, and each joint operating angle is exported at interval of the identical time
ω and t parameter is spent, time interval is arranged on 0.005 second, by the time as short as possible, improves the accuracy for recording ω, respectively
Individual joint is labeled as ω successively1、ω2、ω3Etc., individually adjusted for the convenient movable information to each joint.
The initial position parameters and kinematic parameter of the spatial information of above-mentioned sensor record and processor record pass
It is defeated to arrive computer, first three-dimensional modeling in a computer, it is determined that initial three-dimensional system of coordinate, secondly according to the parameter of initial position,
It is determined that lower initial state information, thirdly according to the articulation parameter collected, the information of hypozygal is recorded, you can simulate
The moving displacement of industrial robot.
The rotational parameters in joint are finely adjusted in a computer, its method can not divide naked eyes similar in drawing software
The levelness and perpendicularity distinguished are adjusted, such as the rotational angle that do not measure up is adjusted into horizontal, and position, angle are not in place
Be adjusted in place, negative-feedback is realized by the fine setting and supplement of computer, the particular location of the displacement of motion adjusted accurate.
Simulation program is generated after computer disposal, industrial robot is run according to simulation program, and operator judges whether to accord with
Close and require, mechanical arm is rotated further if unqualified, or change parameter in a computer, if motion meets the requirements, controller life
Into operational order.
The operational order and parameter of generation preserve in memory, the calling data of convenient next time, or in memory
Some normal datas are stored, when needing kinematic robot next time, calls data first to operate one time, facilitates operator need not be certainly
The track of oneself design motion, and facilitate the faster left-hand seat of beginner, grasp the relation between kinematic parameter and movement locus.
The joint has reset function, sets multiple joints in a certain angle position as original state, is moving
After end, robot is resetted, the motion of convenient next time.
Below with reference to the accompanying drawings, a kind of description explanation industrial machine human hand of the second aspect of the present invention holds the auxiliary square of teaching
Method.
Embodiment 1：As shown in the flowchart of figure 2, the present invention provides the householder method that a kind of industrial machine human hand holds teaching,
Comprise the following steps：
The joint of industrial robot is in non-enabled state, and non-enabled state is that the motor in joint is closed, or
Moment of torsion is reduced, joint is in the state easily rotated by manpower；
Space sets horizontally and vertically direction sensor, catches the initial position message of industrial robot, in a computer
Establish 3 d space coordinate system；
The joint sets absolute type encoder, records the numerical value of the joint original state；
Operator rotates the joint, streaks the path of setting, reaches target location, during articulation, absolutely
The numerical value of the articulation is recorded to formula encoder, has multiple tracks groove on the optical code disk of absolute type encoder, in articulation
During, by reading the groove on code-disc, the positional information of rotation is recorded, pulse signal is produced in encoder；
Pulse signal caused by processor processing absolute type encoder, signal transacting is generated the parameter of motion, uploaded to
Computer, parameter is transformed into the path of skimulated motion in three-dimensional system of coordinate, ginseng of the operator to motion path in a computer
Number is modified；
Controller generation motion simulation program；
Robot runs simulation program, and operator judges whether to meet demand, if simulation program meets motion requirement, control
The configuration processor that device generation confirms；If simulation program does not meet motion requirement, feedback error information, operator corrects the mistake of operation
By mistake, can be by cradle head again when deviation is larger, the movement tendency and actual demand that make robot coincide, and work as deviation
When little, simulation program can be made to try one's best the demand of precision of coincideing by changing parameter on computers.After modification of program, weight
Newly-generated simulation program, compared with actual demand, until the configuration processor that program is coincide, and controller generation confirms.
When controller generates configuration processor, precision is higher during due to above-mentioned data acquisition, and packing density is larger, using inserting
Value method extracts the positional information of key point, and the setting of key point is as far as possible uniform, then by the data message component movement after diminution
Track is preserved.
The operational order and parameter of generation preserve in memory in the lump, the calling data of convenient next time, are also convenient for the later stage
Data are carried out with new adjustment.
After the completion of industrial robot operation, the original state that resets to before operation operates with convenient next time.
The simulation program is according to each joint the angle of operation w and t parameter, the program of the independent each motion of generation
With the program of overall movement, it is synchronized with the movement by the process of motion is that institute is articulate, and when adjusting joint, individually to each pass
Section is adjusted convenient inspection, therefore generates each single ω1、ω2、ω3Deng angle parameter information, facilitate operator couple
The kinematic parameter inspection of single joint.
Above step employs artificial adjustment machine directly perceived, then the method compensated with software to precision and the uniformity,
, also can be by first machine movement, in the method artificially compensated in practical application：
Embodiment 2：
Some normal datas are stored in memory in advance, establish program standard storehouse, need industrial robot motion in next time,
Or when needing to instruct beginner, standardization program is called from memory, industrial robot is transported according to blas
Row one time (interference is avoided the occurrence of in running), while each articular portion can be moved alone, facilitate operator to learn,
The signal of auxiliary parameter and modification scope, facilitate the faster left-hand seat of beginner while operation.
When operator manually adjusts industrial robot, the problem of except precision deficiency, also presence can not optimize robot
The problem of motion path, especially some complex curves, and the operating of multistation, every time motion are required for demonstrator oneself first
Conceive cumbersome, therefore operator is demonstrated by java standard library, be advantageous to study of the operator to robot, grasp fortune
Dynamic relation between parameter and movement locus.
Specific operation process is as described in Example 1.
Two groups of embodiments of the above, embodiment 1 are demonstrator's operations, secondary computer finishing program, solve direct teaching
Precision and uniformity existing defects, and off-line teaching it is not directly perceived and to program capability require it is high the problem of, incorporate and directly show
The advantages of religion and off-line teaching；
Embodiment 2 is that industrial robot is first according to set program off-line teaching, helps operator to Comlex-locus
Study, compensate for the deficiency that people can not realize to complex curve, and the use of java standard library reduces operation difficulty；Or will mark
Existing program in quasi- storehouse is matched with specific operational requirements, first calls standardization program, then aids in people according to demand to mark
The program in quasi- storehouse is intuitively adjusted, and the program of java standard library is more easily combined with real needs.
A variety of modifications to embodiment will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty
Consistent most wide scope.
Claims (8)
1. a kind of industrial machine human hand holds the servicing unit of teaching, including the drive system of industrial robot, mechanical structure system,
Interactive system and control system, the industrial robot possess at least one joint, it is characterised in that：
Horizontally and vertically direction sensor is set in the place space of industrial robot, for capturing industrial robot motion
Positional information；
Absolute type encoder is set in the joint of industrial robot, the absolute type encoder record data transfer is everywhere
Device is managed, the processor generates parameter；
For handling the computer of the positional information and the parameter；
For generating the controller of operational order.
2. a kind of industrial machine human hand according to claim 1 holds the servicing unit of teaching, it is characterised in that:The processing
Device generates parameter according to time sequencing, and each joint the angle of operation ω and t parameter are exported at interval of the identical time.
3. a kind of industrial machine human hand according to claim 1 holds the servicing unit of teaching, it is characterised in that:The joint
With reset function, multiple joints are set in a certain angle position as original state.
4. a kind of industrial machine human hand according to claim 1 holds the servicing unit of teaching, it is characterised in that:The industry
Robot sets memory module, for recording the parameter moved every time and operational order.
5. a kind of industrial machine human hand holds the householder method of teaching, it is characterised in that comprises the following steps：
The joint of industrial robot is in non-enabled state；
Space sets horizontally and vertically direction sensor, catches the positional information of industrial robot, space three is established in computer
Dimension coordinate system；
The joint sets absolute type encoder, records the numerical value of the joint original state；
Operator rotates the joint, streaks the path of setting, reaches target location, and absolute type encoder records the joint and turned
Dynamic numerical value；
The processor processing numerical generation parameter, uploads to computer, parameter is transformed into three-dimensional system of coordinate in a computer
The path of middle skimulated motion, operator are modified to the parameter of motion path；Controller generation motion simulation program；
Robot runs simulation program, judges whether to meet demand, if simulation program meets motion requirement, controller generation confirms
Configuration processor；If simulation program does not meet motion requirement, feedback error information, the error that operator corrects operation uploads again
Data.
6. a kind of industrial machine human hand according to claim 5 holds the householder method of teaching, it is characterised in that:The industry
Robot operation after the completion of, reset to operation before original state.
7. a kind of industrial machine human hand according to claim 5 holds the householder method of teaching, it is characterised in that:The calculating
Machine extracts the positional information of key point, and the setting of key point is as far as possible uniform to the path parameter of skimulated motion.
8. a kind of industrial machine human hand according to claim 5 holds the householder method of teaching, it is characterised in that:The simulation
Program generates the individually program of each motion and the journey of overall movement according to each joint the angle of operation w and t parameter
Sequence, for facilitating kinematic parameter inspection of the operator to single joint.
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| CN111612889A (en) * | 2020-05-15 | 2020-09-01 | 深圳国信泰富科技有限公司 | Robot action recognition method and action recognition system |
| CN113733107A (en) * | 2020-05-15 | 2021-12-03 | 北京配天技术有限公司 | Robot drag teaching method, robot and computer storage medium |
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