CN108115711A - A kind of teaching system of robot - Google Patents
A kind of teaching system of robot Download PDFInfo
- Publication number
- CN108115711A CN108115711A CN201611070211.8A CN201611070211A CN108115711A CN 108115711 A CN108115711 A CN 108115711A CN 201611070211 A CN201611070211 A CN 201611070211A CN 108115711 A CN108115711 A CN 108115711A
- Authority
- CN
- China
- Prior art keywords
- teaching system
- teaching
- robot
- operating handle
- sensor
- 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.)
- Pending
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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
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Abstract
The present invention discloses a kind of teaching system of robot, and teaching system includes attachment device, switching device and teaching machine, wherein：Attachment device is used to be connected with the end of robot；Switching device is used to distinguish attachment device and teaching machine；Teaching machine includes sensor, operating handle and control panel, wherein：For operating handle for controlling robot motion, sensor is used to sense the track of robot motion, track and technological parameter of the control panel for recorder people movement.By the above-mentioned means, the present invention can shorten teaching period, processing quality is improved.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of teaching system of robot.
Background technology
The conventional programming techniques of applied robot, main to use teaching machine mobile robot offline in the industries such as polishing, welding
Target point is reached, taught point is then recorded by robot programming language point by point, this mode does not possess intuitive, and usually
The thousands of a points of teaching hundreds of are needed on one paths, for desired surface processing accuracy, it is necessary to which operating personnel are in surface mistake
Robot location's posture is carefully adjusted at degree.Therefore it is the polishing project of one part of completion, it usually needs the teaching of a couple of days
And test, time-consuming, laborious and easy error.
The content of the invention
The invention mainly solves the technical problem of providing a kind of teaching systems of robot, can shorten teaching period,
Improve processing quality.
In order to solve the above technical problems, one aspect of the present invention is：A kind of teaching system of robot is provided
System, the teaching system include attachment device, switching device and teaching machine, wherein：Attachment device is used for and the robot
End connects；Switching device is used to connect the attachment device and the teaching machine respectively；Teaching machine includes sensor, operation handlebar
Hand and control panel, wherein：For the operating handle for controlling the robot motion, the sensor is described for sensing
The track of robot motion, the control panel are used to record track and the technological parameter of the robot motion.
Wherein, attachment device is further provided with external interface, for being connected with other peripheral equipments.
Wherein, attachment device and the switching device are flange arrangement.
Wherein, teaching system further comprises attaching/detaching apparatus, and the attaching/detaching apparatus includes knob and knob plunger, described
After teaching machine is connected in the heart with the switching device, the knob and the knob plunger are rotated by the teaching machine and described turn
Connection device is locked.
Wherein, operating handle is two, and is provided with functionality buttons on each described operating handle, for described
Operating handle is controlled.
Wherein, the outer surface of operating handle sets plastic body and rubber handle cover.
Wherein, sensor is six-dimension force sensor.
Wherein, Action Button and corresponding state indicator light are provided on control panel.
Wherein, teaching system further includes board and body side frame, and the board is arranged on the body side frame, and the plate
Card and outgoing line side are arranged between the sensor and the robot.
Wherein, teaching system further includes shell, the shell and body side frame fixed setting.
The beneficial effects of the invention are as follows：The situation of the prior art is different from, the present invention provides a kind of teaching system of robot
System, the teaching system include attachment device, switching device and teaching machine, wherein, attachment device is for the end with robot
Connection, for switching device for connecting attachment device and teaching machine respectively, teaching machine includes sensor, operating handle and control plane
Plate, wherein, operating handle is for controlling robot motion, and sensor is used to sense the track of robot motion, and control panel is used
In the track of recorder people movement and technological parameter.Therefore, the present invention can shorten teaching period, improve processing quality.
Description of the drawings
Fig. 1 is a kind of structure diagram of teaching system provided in an embodiment of the present invention；
Fig. 2 is the structure diagram of the flange arrangement of teaching system shown in FIG. 1；
Fig. 3 is the structure diagram of operating handle shown in FIG. 1；
Fig. 4 is the structure diagram of control panel shown in FIG. 1；
Fig. 5 is the structure diagram of attaching/detaching apparatus shown in FIG. 1；
Fig. 6 is the front view of teaching system shown in FIG. 1.
Specific embodiment
Also referring to Fig. 1-Fig. 6, the teaching system 10 of the embodiment of the present invention include attachment device 1, switching device 2 and
Teaching machine 11.Wherein, attachment device 1 is used to be connected with the end of robot (not shown).
Switching device 2 is for connection attachment device 1 and teaching machine 11 respectively.So that teaching machine 11 by switching device 2 with
Robot is electrically connected, so as to carry out teaching to robot.Wherein, by designing different switching devices 2 and different shaped
Number robot be attached, can realize the interchangeability of different model robot, ensure the generalization of teaching system.
Wherein, attachment device 1 is further provided with external interface, for being connected with other peripheral equipments.Specifically, such as
Shown in Fig. 2, attachment device 1 is arranged to cube structure, and for tool there are four side, each side is respectively provided with an interface, is only shown in figure
Show interface 11 and 12.Wherein, for being connected with switching device 2, other interfaces are used to be connected with other peripheral equipments an interface.
In the present embodiment, the interface of attachment device 1 is preferably mechanical interface.
In the present embodiment, attachment device 1 and switching device 2 are flange arrangement, i.e., attachment device 1 is connecting flange, is turned
Connection device 2 is adapter flange.
Teaching machine 11 includes sensor 4, operating handle 5 and control panel 6.
Wherein, operating handle 5 is used to control robot motion.Operating handle 5 is preferably two, using setting for double handle
Meter, based on ergonomic designs, person's operation easy to operation so that operator is more stable, more accurate when exerting a force to operating handle 5
Really.Compared with 1 operating handle 5,2 operating handles 5 can avoid maloperation to a greater extent, add the safety of equipment
Property.
In other embodiments, in order to save cost, an operating handle 5 can also be only set.
Further, as shown in figure 3, functionality buttons 51 are provided on each operating handle 5, for operating handle
51 are controlled.For example, functionality buttons 51 are switch button, when proceeding by teaching, functionality buttons 51 are pressed, then are opened
Operating handle 5 is opened, operator's control operation handle 5 rotates.
Further, operating handle 5 further includes cable hole 53, the signal wires of functionality buttons 51 and operating handle 5
Motor message line is exported from cable hole 53.Wherein, the signal wire of functionality buttons 51 be used for transmission functionality buttons 51 by by
The signal generated during pressure, the signal including opening operation handle 5 and shutoff operation handle 5.The motor message line of operating handle 5 is used
The signal generated when transmitting operator's control operation handle 5 and rotating.It is possible thereby to by operator to functionality buttons 51 and behaviour
The signal formed during the operation for making handle 5 is exported by the signal wire of cable hole 53.
Further, the outer surface of operating handle 5 sets plastic body and rubber handle cover 52, increases grip feeling, prevents
It skids.
Sensor 4 is used to sense the track of robot motion, and sensor 4 is six-dimension force sensor.Three-dimensional can be sensed simultaneously
All one's effort information in space (cartesian coordinate system), i.e. three force components and three moment components.Sensor 4 passes through switching device 2
It is formed and is rigidly connected with attachment device 1 and robot, the power and moment information on any direction from robot can be perceived, and
The final track for perceiving robot motion.
Track and technological parameter of the control panel 6 for recorder people movement.As shown in figure 4, it is set on control panel 6
There are Action Button 61 and corresponding state indicator light 62.Such as switching action button 611, operation of recording button 612 and athletic performance
Button 613, comprehensive indicator light 621, position indicator 622, posture indicator light 623, MOVJ indicator lights 624, MOVL indicator lights
625 and MOVS indicator lights 626.It is thus achieved that track teaching and point teaching.And when robot works normally, only need root
Process can accurately be just reproduced according to the track of record and technological parameter, without teaching system 10 is mounted on robot end
End thus configures force snesor without every machine, can realize that a hand-held teaching system equipment timesharing is applied to per capita
Different machines people, achievees the effect that plug and play, overcomes high cost burden, and shortens teaching period, improves
Processing quality.
As shown in figure 5, teaching system 10 further comprises attaching/detaching apparatus 7, attaching/detaching apparatus 7 includes knob 71 and knob plunger
72, knob 71 is two, is arranged oppositely, knob plunger 72 and two knobs 71 are vertical.It is right in teaching machine 11 and switching device 2
After heart connection, turn knob 71 and knob plunger 72 lock teaching machine 11 and switching device 2.It, can be anti-after teaching
To turn knob 71 and knob plunger 72, teaching machine 11 and switching device 2 are separated.Therefore, attaching/detaching apparatus 7 can be realized and shown
The plug and play principle of teaching system 10, it is easy for removal and installation.
The teaching machine 11 of teaching system 10 further includes board 3 and body side frame 8, and board 3 is arranged on body side frame 8, and plate
Card 3 and outgoing line side are arranged between sensor 4 and robot.Dragging cable is avoided to generate additional interference to sensor 4.
As shown in fig. 6, teaching system 10 further includes shell 9, shell 9 and body side frame 8 are fixedly installed.Wherein, body side frame 8
Volume is more than the volume of sensor 4, and at work, working face has the fine motion of very little to sensor 4 under power/moment loading, therefore
Shell 9 is arranged to be relatively fixed with body side frame 8, in operator side, slot milling avoids shell 9 during operation from generating sensor 4
Additional effect.
Shell 9 in the present embodiment is plastic shell, is divide into upper part and lower part.
In conclusion the teaching system 10 of the present invention can shorten teaching period, processing quality is improved.And meet and insert
It is easy for removal and installation i.e. with principle, and ergonomic designs are based on, it is convenient for the user to operate, possess track teaching and point shows
Function is taught, multiple security protection ensures man-machine safety, has axis group selection and position/appearance handoff functionality.
Upper described only the embodiment of the present invention, is not intended to limit the scope of the invention, every to utilize the present invention
The equivalent structure or equivalent flow shift that specification and accompanying drawing content are made directly or indirectly is used in other relevant technologies
Field is included within the scope of the present invention.
Claims (10)
1. a kind of teaching system of robot, which is characterized in that the teaching system includes attachment device, switching device and shows
Device is taught, wherein：
The attachment device is used to be connected with the end of the robot；
The switching device is used to connect the attachment device and the teaching machine respectively；
The teaching machine includes sensor, operating handle and control panel, wherein：
For the operating handle for controlling the robot motion, the sensor is used to sense the rail of the robot motion
Mark, the control panel are used to record track and the technological parameter of the robot motion.
2. teaching system according to claim 1, which is characterized in that the attachment device is further provided with external connect
Mouthful, for being connected with other peripheral equipments.
3. according to 1 or 2 any one of them teaching system of claim, which is characterized in that the attachment device and the switching
Device is flange arrangement.
4. teaching system according to claim 3, which is characterized in that the teaching system further comprises attaching/detaching apparatus,
The attaching/detaching apparatus includes knob and knob plunger, after the teaching machine and the switching device are connected in the heart, described in rotation
Knob and the knob plunger lock the teaching machine and the switching device.
5. teaching system according to claim 1, which is characterized in that the operating handle is two, and described in each
Functionality buttons are provided on operating handle, for controlling the operating handle.
6. teaching system according to claim 5, which is characterized in that the outer surface of the operating handle sets plastic body
And rubber handle cover.
7. teaching system according to claim 1, which is characterized in that the sensor is six-dimension force sensor.
8. teaching system according to claim 1, which is characterized in that Action Button and phase are provided on the control panel
Answer status indicator lamp.
9. teaching system according to claim 1, which is characterized in that the teaching system further includes board and body side frame,
The board is arranged on the body side frame, and the board and outgoing line side are arranged on the sensor and the robot
Between.
10. teaching system according to claim 9, which is characterized in that the teaching system further includes shell, the shell
It is fixedly installed with the body side frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611070211.8A CN108115711A (en) | 2016-11-29 | 2016-11-29 | A kind of teaching system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611070211.8A CN108115711A (en) | 2016-11-29 | 2016-11-29 | A kind of teaching system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115711A true CN108115711A (en) | 2018-06-05 |
Family
ID=62225288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611070211.8A Pending CN108115711A (en) | 2016-11-29 | 2016-11-29 | A kind of teaching system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115711A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908363A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Wireless dragging teaching machine system and its active teaching method for spray robot |
| CN111300433A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Robot dragging teaching device based on six-dimensional force sensor |
| CN112497236A (en) * | 2020-12-15 | 2021-03-16 | 上海机器人产业技术研究院有限公司 | Intelligent force sense sensing module and control method thereof |
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| US4408286A (en) * | 1979-12-14 | 1983-10-04 | Hitachi, Ltd. | Method and apparatus of robot teaching |
| US6385508B1 (en) * | 2000-10-31 | 2002-05-07 | Fanuc Robotics North America, Inc. | Lead-through teach handle assembly and method of teaching a robot assembly |
| CN1676287A (en) * | 2004-03-31 | 2005-10-05 | 发那科株式会社 | Robot teaching apparatus |
| CN101722517A (en) * | 2008-10-10 | 2010-06-09 | Abb股份有限公司 | Method for teaching an industrial robot, and a correspondingly equipped industrial robot |
| DE102010019640A1 (en) * | 2010-05-06 | 2011-11-10 | Kuka Roboter Gmbh | Handheld device and method for controlling and / or programming a manipulator |
| CN103347662A (en) * | 2011-01-27 | 2013-10-09 | 松下电器产业株式会社 | Robot-arm control device and control method, robot, robot-arm control program, and integrated electronic circuit |
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2016
- 2016-11-29 CN CN201611070211.8A patent/CN108115711A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4408286A (en) * | 1979-12-14 | 1983-10-04 | Hitachi, Ltd. | Method and apparatus of robot teaching |
| US6385508B1 (en) * | 2000-10-31 | 2002-05-07 | Fanuc Robotics North America, Inc. | Lead-through teach handle assembly and method of teaching a robot assembly |
| CN1676287A (en) * | 2004-03-31 | 2005-10-05 | 发那科株式会社 | Robot teaching apparatus |
| CN101722517A (en) * | 2008-10-10 | 2010-06-09 | Abb股份有限公司 | Method for teaching an industrial robot, and a correspondingly equipped industrial robot |
| DE102010019640A1 (en) * | 2010-05-06 | 2011-11-10 | Kuka Roboter Gmbh | Handheld device and method for controlling and / or programming a manipulator |
| CN103347662A (en) * | 2011-01-27 | 2013-10-09 | 松下电器产业株式会社 | Robot-arm control device and control method, robot, robot-arm control program, and integrated electronic circuit |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908363A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Wireless dragging teaching machine system and its active teaching method for spray robot |
| CN108908363B (en) * | 2018-07-23 | 2022-04-15 | 合肥工业大学 | Wireless dragging demonstrator system for spraying robot and active demonstration method thereof |
| CN111300433A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Robot dragging teaching device based on six-dimensional force sensor |
| CN112497236A (en) * | 2020-12-15 | 2021-03-16 | 上海机器人产业技术研究院有限公司 | Intelligent force sense sensing module and control method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180605 |
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