CN108127668A - The teaching apparatus and robot system of a kind of teaching method of robot, robot - Google Patents
The teaching apparatus and robot system of a kind of teaching method of robot, robot Download PDFInfo
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- CN108127668A CN108127668A CN201711377871.5A CN201711377871A CN108127668A CN 108127668 A CN108127668 A CN 108127668A CN 201711377871 A CN201711377871 A CN 201711377871A CN 108127668 A CN108127668 A CN 108127668A
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- Prior art keywords
- handled
- load bearing
- teaching
- bearing equipment
- object load
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
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Abstract
The embodiment of the present invention provides the teaching apparatus and robot system of a kind of teaching method of robot, robot, is related to robotic technology field, can solve the problem of that in the prior art teaching process is complicated during to robot teaching.The teaching method includes：The corresponding facility information of mark of the object load bearing equipment to be handled is obtained according to the mark of object load bearing equipment to be handled, the facility information includes carrying out carrying position of the taught point needed for operation relative to the datum mark on the object load bearing equipment to be handled based on the object load bearing equipment to be handled；The teaching coordinate of the datum mark obtained during obtaining datum mark described in teaching；The teaching coordinate of the taught point is obtained relative to the position of the datum mark on the object load bearing equipment to be handled according to the teaching coordinate of the datum mark and the taught point.Robot teaching method provided in an embodiment of the present invention is used to carry out teaching to robot.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of teaching method of robot, the teaching dresses of robot
It puts and robot system.
Background technology
The industrial robot for carrying industry carries out carrying operation (such as from treating in the object load bearing equipment to be handled based on its periphery
Carry and take object to be handled on object load bearing equipment or object to be handled is placed on object load bearing equipment to be handled) before, it is necessary first to it is right
The process that each to be handled object load bearing equipment of the robot based on its periphery carry operation carries out teaching.It is exemplary, such as Fig. 1
It is shown, when robot periphery there are 8 object load bearing equipments 1 to be handled, then need to be based respectively on robot 8 objects to be handled and hold
Carry the process progress teaching that equipment 1 carry operation.Confirm that robot is based on each object load bearing equipment 1 to be handled by teaching
The position of each taught point when carrying out carrying operation carries the movement rail of object to be handled according to the generation of the position of each taught point
Mark.
By taking one of 2 periphery of robot object load bearing equipment 1 to be handled as an example, if object load bearing equipment to be handled is set for individual layer
It is standby, for placing an object to be handled such as glass substrate, as Fig. 2 (a) and Fig. 2 (b) show the manipulator 02 of robot 2 from treating
Glass 10 is carried out on carrying object load bearing equipment 1 picks and places action.Fig. 2 (a) be side view, Fig. 2 (b) be front view, Fig. 2 (a) and
Black origin expression in Fig. 2 (b) picks and places the taught point needed for glass 10.The manipulator 02 of robot 2 is carried from object to be handled
Glass 10 is carried out in equipment 1 generally requires 3 taught points when picking and placeing.A in Fig. 2 (a) and Fig. 2 (b) is to take 10 opportunity of glass
Tool hand 02 is into the position before object load bearing equipment 1 to be handled (after manipulator 02 exits object load bearing equipment 1 to be handled when putting glass 10
Position), B be when taking glass 10 manipulator 02 enter object load bearing equipment 1 to be handled after lift contact glass 10 position (put glass
Manipulator 02 is detached from the position of glass 10 during glass 10), manipulator 02 exits object load bearing equipment 1 to be handled when C takes glass 10
Position (manipulator 02 enters the position before object load bearing equipment 1 to be handled when putting glass 10).Dotted line expression in figure is shown by three
The movement locus of religion point generation.For an object load bearing equipment to be handled, and object load bearing equipment to be handled is monolayer device, existing
Technology needs to carry out teaching respectively to three taught points to obtain the teaching coordinate of three taught points, the teaching for completing taught point it
Afterwards, robot 2 runs program, according to instruction pick and place the work of glass 10.If there are 8 object carryings to be handled on robot periphery
Equipment 1, and each object load bearing equipment 1 to be handled is monolayer device, is shown since each object load bearing equipment 1 to be handled needs 3
Point is taught, then needs 24 taught points.
It when to robot teaching, needs to carry out teaching to each taught point due in the prior art, thus results in
Teaching process is complicated.
Invention content
The embodiment of the present invention provides the teaching apparatus and robot system of a kind of teaching method of robot, robot,
It can solve the problem of that in the prior art teaching process is complicated during to robot teaching.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that：
In a first aspect, a kind of teaching method of robot is provided, including：It is obtained according to the mark of object load bearing equipment to be handled
The corresponding facility information of mark of the object load bearing equipment to be handled, the facility information are included based on the object carrying to be handled
Equipment carries out carrying position of the taught point needed for operation relative to the datum mark on the object load bearing equipment to be handled；Acquisition is shown
The teaching coordinate of the datum mark obtained during teaching the datum mark；According to the teaching coordinate of the datum mark and described
Taught point obtains the teaching coordinate of the taught point relative to the position of the datum mark on the object load bearing equipment to be handled.
Preferably, the mark that the object load bearing equipment to be handled is obtained according to the mark of object load bearing equipment to be handled is corresponding
Facility information includes：According to the mark of the object load bearing equipment to be handled from the database of local data base and/or server
Search the facility information of the corresponding object load bearing equipment to be handled of the mark.
Preferably, the teaching method further includes：It is corresponding in the mark that the object load bearing equipment to be handled has not been obtained
In the case of facility information, user is prompted to import the facility information of the corresponding object load bearing equipment to be handled of the mark；By described in
The facility information for identifying corresponding object load bearing equipment to be handled imports local data base and/or is uploaded to the database of server.
Preferably, in the case where the object load bearing equipment to be handled is monolayer device, the facility information includes three
Taught point relative to the datum mark on the object load bearing equipment to be handled position；Alternatively, in the object load bearing equipment to be handled
In the case of for multi-layer device, the facility information carries out carrying behaviour including the top based on the object load bearing equipment to be handled
Three taught points needed for making are waited to remove relative to the position of the datum mark on the object load bearing equipment to be handled and based on described
The bottom of fortune object load bearing equipment carry three required taught points of operation relative on the object load bearing equipment to be handled
Datum mark position.
Preferably, the datum mark on object load bearing equipment to be handled is the mark being arranged on the object load bearing equipment to be handled
Note.
Second aspect provides a kind of teaching apparatus of robot, including：Memory module, the memory module are used to store
Computer executed instructions；Processing module, the computer that the processing module is used to perform the memory module storage perform
Instruction, so that the teaching apparatus of the robot performs the teaching method of robot as described above.
Preferably, the teaching apparatus further includes：Teaching machine, the teaching machine are connect with the processing module, for pair
Datum mark carries out teaching.
Preferably, the teaching apparatus further includes：Data Input Interface, for receiving the mark of object load bearing equipment to be handled
The facility information of corresponding object load bearing equipment to be handled.
Preferably, the teaching apparatus further includes：The memory module is additionally operable to storage local data base；And/or institute
Teaching apparatus is stated to further include：Communication module, the communication module is connect with server communication, for from the database of server
Obtain the corresponding facility information of mark of object load bearing equipment to be handled.
The third aspect provides a kind of robot system, the teaching apparatus including robot and above-mentioned robot, the machine
The teaching coordinate motion for the taught point that device people obtains according to the teaching apparatus of the robot.
The embodiment of the present invention provides the teaching apparatus and robot system of a kind of teaching method of robot, robot, often
The facility information of a object load bearing equipment to be handled includes carrying out carrying the taught point needed for operation based on object load bearing equipment to be handled
Relative to the position of the datum mark on object load bearing equipment to be handled, due to that can be obtained during to robot teaching datum mark
To the teaching coordinate of datum mark, thus according to the teaching coordinate and taught point of datum mark relative on object load bearing equipment to be handled
The position of datum mark can obtain based on object load bearing equipment to be handled carry the teaching coordinate of the taught point needed for operation.
Relative in the prior art, need to based on object load bearing equipment to be handled carry out carry operation needed for multiple taught points respectively into
Row teaching, since the embodiment of the present invention only needs to carry out teaching to datum mark, thus the embodiment of the present invention is to robot teaching
When, teaching process is simplified, reduces the teaching time, reduces teaching workload and labor intensity.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the distribution schematic diagram of the object load bearing equipment to be handled on a kind of robot periphery that the prior art provides；
It based on object load bearing equipment to be handled is that monolayer device is removed that Fig. 2 (a), which is a kind of robot that the prior art provides,
The side structure schematic view of taught point distribution needed for fortune operation；
It based on object load bearing equipment to be handled is that monolayer device is removed that Fig. 2 (b), which is a kind of robot that the prior art provides,
The main structure diagram of taught point distribution needed for fortune operation；
Fig. 3 is a kind of flow diagram of the teaching method of robot provided in an embodiment of the present invention；
Fig. 4 (a) for a kind of robot provided in an embodiment of the present invention based on object load bearing equipment to be handled be multi-layer device into
Row carries the side structure schematic view of the taught point distribution needed for operation；
Fig. 4 (b) for a kind of robot provided in an embodiment of the present invention based on object load bearing equipment to be handled be multi-layer device into
Row carries the main structure diagram of the taught point distribution needed for operation；
Fig. 5 is the structure of the installation position of the datum mark on a kind of object load bearing equipment to be handled provided in an embodiment of the present invention
Schematic diagram；
Fig. 6 is a kind of composition schematic diagram one of the teaching apparatus of robot provided in an embodiment of the present invention；
Fig. 7 is a kind of composition schematic diagram two of the teaching apparatus of robot provided in an embodiment of the present invention；
Fig. 8 is a kind of composition schematic diagram three of the teaching apparatus of robot provided in an embodiment of the present invention.
Reference numeral：
1- object load bearing equipments to be handled；2- robots；The manipulator of 02- robots；The teaching apparatus of 3- robots；10-
Glass；20- is marked；30- memory modules；40- processing modules；50- teaching machines；60- communication modules.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of teaching method of robot, as shown in figure 3, including：
S100, the corresponding equipment of mark that object load bearing equipment 1 to be handled is obtained according to the mark of object load bearing equipment 1 to be handled
Information, facility information include carry the required taught point of operation relative to object to be handled based on object load bearing equipment 1 to be handled
The position of datum mark on load bearing equipment 1.
Herein, object load bearing equipment 1 to be handled can be process equipment, or storage device, usually, when to be handled
When object load bearing equipment 1 is process equipment, object load bearing equipment 1 to be handled is monolayer device, for placing an object to be handled；When removing
When to transport object load bearing equipment 1 be storage device, object load bearing equipment 1 to be handled is multi-layer device, every layer can all place one it is to be handled
Object.
Wherein, for the mark of object load bearing equipment 1 to be handled (alternatively referred to as ID number) without limiting, can be number,
Letter or number and the combination of letter.Exemplary, the mark of object load bearing equipment 1 to be handled can be ID0000001.It is based on
This, in the mark of object load bearing equipment 1 to be handled in addition to including number, can also include other information object load bearing equipment for example to be handled
For monolayer device or multi-layer device, for example, the mark of object load bearing equipment 1 to be handled can be ID0000001-sig, wherein,
ID0000001 represents number, and sig table shows that object load bearing equipment 1 to be handled is monolayer device.In another example object load bearing equipment 1 to be handled
Mark can also be ID0000002-mul-32, wherein, ID0000002 represents number, and mul represents object load bearing equipment to be handled
1 is multi-layer device, and 32 represent the number of plies of object load bearing equipment 1 to be handled.Herein, it should be noted that each object carrying to be handled
There are one identify for the tool of equipment 1.
It should be noted that robot 2 is referred to based on the taught point that object load bearing equipment 1 to be handled carry needed for operation
Manipulator 02 object to be handled is taken from object load bearing equipment 1 to be handled or object to be handled is placed on object load bearing equipment 1 to be handled
Upper required taught point.Specifically, when object load bearing equipment 1 to be handled is monolayer device, as shown in Fig. 2 (a) and Fig. 2 (b), from
Object to be handled is taken on the object load bearing equipment 1 to be handled or object to be handled, which is placed on object load bearing equipment 1 to be handled, needs 3 to show
Religion point；When object load bearing equipment 1 to be handled be multi-layer device, every layer for place an object to be handled when, held from the object to be handled
It carries to take object to be handled in equipment 1 or object to be handled is placed on object load bearing equipment 1 to be handled and needs 6 taught points, such as Fig. 4
(a) and shown in Fig. 4 (b), Fig. 4 (a) is side view, and Fig. 4 (b) is front view, and the stain in Fig. 4 (a) and Fig. 4 (b) represents teaching
Point, 6 taught points are respectively to take object to be handled from the top of object load bearing equipment 1 to be handled or be placed on object to be handled to wait to remove
It transports 3 taught points needed for the top of object load bearing equipment 1 and takes object to be handled from the bottom of object load bearing equipment 1 to be handled
Or object to be handled is placed on 3 taught points needed for the bottom for carrying object load bearing equipment 1.According to object load bearing equipment to be handled
1 number of plies and 6 taught points can be calculated each layer in centre based on object load bearing equipment 1 to be handled and carry out carrying operation
Required taught point.Wherein, it takes object to be handled with the top from object load bearing equipment 1 to be handled or is placed on object to be handled and treat
For the top for carrying object load bearing equipment 1, required 3 taught points are respectively that D is that the entrance of manipulator 02 is treated when taking glass 10
The position (manipulator 02 exits the position after object load bearing equipment 1 to be handled when putting glass 10) before object load bearing equipment 1 is carried, E is
Manipulator 02 enters after object load bearing equipment 1 to be handled position (machinery when putting glass 10 for lifting contact glass 10 when taking glass 10
Hand 02 is detached from the position of glass 10), F is that manipulator 02 exits the position of object load bearing equipment 1 to be handled and (puts glass when taking glass 10
Manipulator 02 enters the position before object load bearing equipment 1 to be handled when 10).
On this basis, taught point is with object to be handled relative to the position of the datum mark on object load bearing equipment 1 to be handled
Datum mark on load bearing equipment 1 obtains position of the taught point relative to datum mark for origin.When object load bearing equipment 1 to be handled is single
During layer equipment, as shown in Fig. 2 (a) and Fig. 2 (b), three taught points relative to the position of datum mark can be respectively PosA (x1,
Y1, z1), PosB (x2, y2, z2), PosC (x3, y3, z3), wherein, PosA represents the position of A point relative datum points, and x1 is represented
In cartesian coordinate system PosA relative to datum mark X-direction distance, y1 represent cartesian coordinate system in PosA relative to base
Distance in the Y direction on schedule, z1 represent cartesian coordinate system in PosA relative to datum mark Z-direction distance；PosB represents B
Point relative to datum mark position, x2 represent cartesian coordinate system in PosB relative to datum mark X-direction distance, y2 represent
Distances of the PosB relative to datum mark in the Y direction in cartesian coordinate system, z2 represent that PosB is relative to base in cartesian coordinate system
On schedule in the distance of Z-direction；PosC represents position of the C points relative to datum mark, and x3 represents that PosC is opposite in cartesian coordinate system
In datum mark X-direction distance, y3 represent cartesian coordinate system in distances of the PosC relative to datum mark in the Y direction, z3 tables
Show PosC in cartesian coordinate system relative to datum mark Z-direction distance.When object load bearing equipment 1 to be handled is multi-layer device
When, as shown in Fig. 4 (a) and Fig. 4 (b), 6 taught points relative to the position of datum mark can be expressed as PosD (x4, y4,
Z4), PosE (x5, y5, z5), PosF (x6, y6, z6), PosG (x7, y7, z7), PosH (x8, y8, z8), PosI (x9, y9,
z9).Herein, the concrete meaning of Pos points is similar with the meaning of above-mentioned PosA, PosB and PosC, no longer repeats one by one herein.
In addition, the datum mark on object load bearing equipment 1 to be handled, as shown in figure 5, can be in object load bearing equipment 1 to be handled
One label 20 of upper setting, herein, for label 20 type without limit, can be number, pattern or letter etc.,
Can be using a fixed position on object load bearing equipment 1 to be handled as datum mark, such as by object load bearing equipment 1 to be handled
The upper left corner or the lower right corner are considered as datum mark.
Based on above-mentioned, taught point needed for operation carry relative to object to be handled based on object load bearing equipment 1 to be handled
The position of datum mark on load bearing equipment 1 can be determined during production designs object load bearing equipment 1 to be handled；Also may be used
Be before to robot teaching, what manual measurement obtained.
S101, the teaching coordinate of datum mark obtained during obtaining teaching datum mark.
Herein it will be understood by those skilled in the art that there is the coordinate system of the corresponding robot 2 for each robot 2,
The origin of the coordinate system is fixed on a precalculated position of robot 2, according to the coordinate system, the manipulator of robot 2 or robot 2
02, which moves to any position, can obtain a coordinate, therefore during to 2 teaching datum mark of robot, can obtain
To the teaching coordinate of datum mark.
It should be noted that for how to robot teaching datum mark without limit, can be same as the prior art.
For example, it may be people controls robot to move to datum mark by teaching machine, to obtain the teaching coordinate of datum mark；Can also be
Artificial guided robot moves to datum mark, so as to obtain the teaching coordinate of datum mark；Certainly it can also be and pass through off-line teaching
Mode obtain the teaching coordinate of datum mark.
S102, according to the teaching coordinate and taught point of datum mark relative to the datum mark on object load bearing equipment 1 to be handled
Position obtains the teaching coordinate of taught point.
Herein, if the teaching coordinate of the datum mark obtained during to robot teaching datum mark is (x ' 0, y ' 0, z '
0), the position of the datum mark on the first taught point object load bearing equipment 1 relatively to be handled is (x 〞 0, y 〞 0, z 〞 0), according to datum mark
Teaching coordinate (x ' 0, y ' 0, z ' 0) and (x 〞 0, y 〞 0, z 〞 0) can obtain the first taught point teaching coordinate (x0, y0,
Z0), wherein, x0=x ' 0+x 〞 0, y0=y ' 0+y 〞 0, z0=z ' 0+z 〞 0.
It should be noted that carry out carrying operation according to the teaching coordinate of datum mark and based on object load bearing equipment 1 to be handled
Required taught point can obtain carrying based on object to be handled relative to the position of the datum mark on object load bearing equipment 1 to be handled
Equipment 1 carry the teaching coordinate of the taught point needed for operation.Herein, it obtains being removed based on object load bearing equipment 1 to be handled
Teaching process is completed after the teaching coordinate of taught point needed for fortune operation, and other processes are such as according to the teaching Coordinate generation of taught point
The movement locus of object to be handled is picked and placeed, and the order that robot execution is controlled to pick and place object to be handled is same as the prior art, herein
It repeats no more.
Based on above-mentioned steps S100- step S102, if robot periphery there are multiple object load bearing equipments to be handled, work as needs
When any object load bearing equipment to be handled based on robot periphery carries out carrying operation, the object to be handled can be first passed through first and is held
The mark for carrying equipment obtains the facility information of the corresponding object load bearing equipment to be handled of the mark.
With reference to figure 1, if two object load bearing equipments to be handled of left and right are monolayer device, upper and lower six object carryings to be handled
Equipment is multi-layer device, as shown in Fig. 2 (a) and Fig. 2 (b), carries out carrying operation three taught points of needs based on monolayer device, such as
Shown in Fig. 4 (a) and Fig. 4 (b), carry out carrying operation six taught points of needs based on multi-layer device, then robot is based on periphery
Equipment to be handled carries out needing 2*3+6*6=42 taught point when carrying operation, if robot uses existing teaching method,
It needs to carry out teaching respectively to 42 taught points, according to teaching method provided in an embodiment of the present invention, due to being directed to each treat
Carry object load bearing equipment, it is only necessary to which to 2 teaching datum mark of robot, therefore to be handled equipment of the robot based on periphery is removed
The datum mark to 2 eight equipment to be handled of teaching of robot is only needed during fortune operation.
The embodiment of the present invention provides a kind of teaching method of robot, the facility information of each object load bearing equipment 1 to be handled
Including based on object load bearing equipment 1 to be handled carry the taught point needed for operation relative on object load bearing equipment 1 to be handled
The position of datum mark, since the teaching coordinate of datum mark, thus root can be obtained during to 2 teaching datum mark of robot
According to the teaching coordinate and taught point of datum mark base can be obtained relative to the position of the datum mark on object load bearing equipment 1 to be handled
In object load bearing equipment 1 to be handled carry the teaching coordinate of the taught point needed for operation.Relative in the prior art, needing pair
The multiple taught points for based on object load bearing equipment 1 to be handled carry needed for operation carry out teaching respectively, since the present invention is implemented
Example only needs to carry out teaching to datum mark, thus the embodiment of the present invention simplifies teaching process when to robot teaching, reduces
The teaching time, reduce teaching workload and labor intensity.
Based on above-mentioned, if there are multiple object load bearing equipments to be handled on robot periphery, when needing based on robot periphery
When any object load bearing equipment to be handled carries out carrying operation, the mark that can first pass through the object load bearing equipment to be handled obtains the mark
Know the facility information of corresponding object load bearing equipment to be handled.
Preferably, it is set according to the mark of the mark acquisition object load bearing equipment 1 to be handled of object load bearing equipment 1 to be handled is corresponding
Standby information includes：Being searched from the database of local data base and/or server according to the mark of object load bearing equipment 1 to be handled should
Identify the facility information of corresponding object load bearing equipment 1 to be handled.
It should be noted that all director of networking can search object carrying to be handled from the database of server
The corresponding facility information of mark of equipment 1.
Herein, each object load bearing equipment 1 to be handled has unique mark in the database of local data base or server.
It, can be in the corresponding facility information of mark that object load bearing equipment 1 to be handled is obtained according to the mark of object load bearing equipment 1 to be handled
The facility information of the corresponding object load bearing equipment 1 to be handled of the mark is only local searched in database；It can also be only in server
Database in search the facility information of the corresponding object load bearing equipment 1 to be handled of the mark；It certainly can also be in local data base
The facility information of object load bearing equipment 1 to be handled corresponding with the mark is searched in the database of server.When in local data
When the facility information of the corresponding object load bearing equipment 1 to be handled of the mark is searched in the database of library and server, for searching
Sequence without limit, can first search, can also first be searched in server database in the local database.
The embodiment of the present invention, can be after the information of object load bearing equipment 1 to be handled be obtained, by object load bearing equipment 1 to be handled
Information deposit local data base or server database, so, arbitrary robot is being held based on an object to be handled
When carrying the progress teaching of equipment 1, the equipment letter of the object load bearing equipment 1 to be handled can be obtained from local data base or server
Breath, it is achieved thereby that data sharing.
Based on above-mentioned, above-mentioned teaching method further includes：Do not finding object load bearing equipment 1 to be handled from local data base
The corresponding object load bearing equipment 1 to be handled of mark facility information or do not found in the database from server and wait to remove
Transport the facility information of the corresponding object load bearing equipment 1 to be handled of mark of object load bearing equipment 1；Alternatively, from local data base kimonos
The equipment for not finding the corresponding object load bearing equipment 1 to be handled of mark of object load bearing equipment 1 to be handled in the database of business device
In the case of information, for the first time when carrying out carrying operation based on the object load bearing equipment 1 to be handled, user is prompted to import mark pair
The facility information of object load bearing equipment 1 to be handled answered；The facility information for identifying corresponding object load bearing equipment 1 to be handled is imported this
Ground database and/or the database for being uploaded to server, so, can be from local data base and/or the number of server
According to the facility information that object load bearing equipment 1 to be handled is obtained in library.
Herein, for will identify corresponding object load bearing equipment 1 to be handled facility information import local data base and/or on
The mode of the database of server is reached without limiting, such as USB interface storage device or bluetooth etc. may be used.
Wherein it is possible to the facility information for identifying corresponding object load bearing equipment 1 to be handled is imported into local data base；It can also
It is uploaded to the database of server；Certainly local data base can also be not only imported, but also is uploaded to the database of server.
It should be noted that can by way of dialog box or send out alarm mode prompt user import mark pair
The facility information of object load bearing equipment 1 to be handled answered.
The embodiment of the present invention also provides a kind of teaching apparatus 3 of robot, as shown in fig. 6, including：Memory module 30, is deposited
Storage module 30 is used to store computer executed instructions；Processing module 40, processing module 40 is by performing based on memory module storage
Calculation machine execute instruction, so that the teaching apparatus of robot performs the teaching method of robot as described above.
Processing module 40 is used to carry out control management, such as processing module 40 is used for the action of the teaching apparatus of robot
Teaching apparatus is supported to perform step S100, S101 and step S102 in the teaching method of above-mentioned robot.Specifically.It is each
Execution sequence between step refers to above-described embodiment, and details are not described herein by the application.
Wherein, processing module 40 can be processor or controller, such as can be central processing unit (Central
Processing Unit, CPU), general processor, digital signal processor (Digital Signal Processor, DSP),
Application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC), field programmable gate array
It is (Field Programmable Gate Array, FPGA) or other programmable logic device, transistor logic, hard
Part component or its arbitrary combination.It can realize or perform and various illustratively patrol with reference to the disclosure of invention is described
Collect box, module and circuit.The processor can also be the combination for realizing computing function, such as include one or more micro- places
Manage device combination, combination of DSP and microprocessor etc..
On this basis, memory module 30 for example can be memory.
Herein, the computer executed instructions that memory module 30 stores include at least to be held in the teaching method for having above-mentioned robot
The instruction of row step S100- steps S102.
The embodiment of the present invention provides a kind of teaching apparatus 3 of robot, the facility information of each object load bearing equipment 1 to be handled
Including based on object load bearing equipment 1 to be handled carry the taught point needed for operation relative on object load bearing equipment 1 to be handled
The position of datum mark, since processing module 40 can obtain the teaching seat of datum mark during to robot teaching datum mark
Mark, thus processing module 40 according to the teaching coordinate and taught point of datum mark relative to the benchmark on object load bearing equipment 1 to be handled
The position of point can obtain based on object load bearing equipment 1 to be handled carry the teaching coordinate of the taught point needed for operation.Phase
For in the prior art, need to based on object load bearing equipment 1 to be handled carry out carry operation needed for multiple taught points respectively into
Row teaching, since the embodiment of the present invention only needs to carry out teaching to datum mark, thus the embodiment of the present invention is to robot teaching
When, teaching process is simplified, reduces the teaching time, reduces teaching workload and labor intensity.
Preferably, as shown in fig. 7, above-mentioned teaching apparatus further includes：Teaching machine 50, teaching machine 50 connect with processing module 40
It connects, for carrying out teaching to datum mark.
Herein, the teaching that can obtain datum mark during to robot teaching datum mark by teaching machine 50 is sat
Mark.
Preferably, above-mentioned teaching apparatus further includes：Data Input Interface, for receiving the mark of object load bearing equipment to be handled
The facility information of corresponding object load bearing equipment to be handled.
Wherein, for the type of Data Input Interface without limiting, such as can be usb data input interface.
The embodiment of the present invention since the teaching apparatus of robot 2 includes Data Input Interface, in this way can deposit movement
It stores up equipment and is inserted into Data Input Interface, the mark that object load bearing equipment to be handled is imported by Data Input Interface is corresponding to be handled
The facility information of object load bearing equipment.
Preferably, above-mentioned teaching apparatus further includes：Memory module 30 is additionally operable to storage local data base；And/or such as Fig. 8
Shown, above-mentioned teaching apparatus further includes：Communication module 60, communication module 60 are connect with server communication, for from server
The corresponding facility information of mark of object load bearing equipment to be handled is obtained in database.
Wherein, communication module 60 can be transceiver, transmission circuit or communication interface etc..
The embodiment of the present invention, when the teaching apparatus of robot further include communication module 60 and/or, memory module 30 is also used
When local data base is stored, object load bearing equipment 1 to be handled can be obtained from the database of local data base and/or server
The corresponding facility information of mark.
The embodiment of the present invention also provides a kind of robot system, including：The teaching of robot and robot as described above
Device 3, the teaching coordinate motion for the taught point that robot is obtained according to the teaching apparatus 3 of robot.
Wherein, the teaching apparatus 3 of robot can be integrated in robot, can also be separately independently arranged with robot,
To this without limiting.
Robot system provided in an embodiment of the present invention has the teaching of robot provided with present invention
The identical advantageous effect of device 3, since the teaching apparatus 3 of robot has been carried out being described in detail in the aforementioned embodiment, this
Place repeats no more.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, all should by the change or replacement that can be readily occurred in
It is included within the scope of the present invention.Therefore, protection scope of the present invention should using the scope of the claims as
It is accurate.
Claims (10)
1. a kind of teaching method of robot, which is characterized in that including：
The corresponding facility information of mark of the object load bearing equipment to be handled, institute are obtained according to the mark of object load bearing equipment to be handled
Facility information is stated to include waiting to remove relative to described based on the taught point that the object load bearing equipment to be handled carry needed for operation
Transport the position of the datum mark on object load bearing equipment；
The teaching coordinate of the datum mark obtained during obtaining datum mark described in teaching；
According to the teaching coordinate of the datum mark and the taught point relative to the datum mark on the object load bearing equipment to be handled
Position obtain the teaching coordinate of the taught point.
2. teaching method according to claim 1, which is characterized in that institute is obtained according to the mark of object load bearing equipment to be handled
The corresponding facility information of mark for stating object load bearing equipment to be handled includes：
The mark is searched from the database of local data base and/or server according to the mark of the object load bearing equipment to be handled
The facility information of corresponding object load bearing equipment to be handled.
3. teaching method according to claim 1 or 2, which is characterized in that the teaching method further includes：It is having not been obtained
In the case of the corresponding facility information of mark of the object load bearing equipment to be handled, user is prompted to import, and the mark is corresponding to be treated
Carry the facility information of object load bearing equipment；
The facility information of the corresponding object load bearing equipment to be handled of the mark is imported into local data base and/or is uploaded to server
Database.
4. teaching method according to claim 1, which is characterized in that the object load bearing equipment to be handled be monolayer device
In the case of, the facility information includes position of three taught points relative to the datum mark on the object load bearing equipment to be handled
It puts；
Alternatively, in the case where the object load bearing equipment to be handled is multi-layer device, the facility information includes treating based on described
The top for carrying object load bearing equipment carry three required taught points of operation relative to the object load bearing equipment to be handled
On the position of datum mark and the bottom based on the object load bearing equipment to be handled carry out carry operation needed for three show
Teach position of the point relative to the datum mark on the object load bearing equipment to be handled.
5. teaching method according to claim 1, which is characterized in that the datum mark on the object load bearing equipment to be handled is
The label being arranged on the object load bearing equipment to be handled.
6. a kind of teaching apparatus of robot, which is characterized in that including：
Memory module, the memory module are used to store computer executed instructions；
Processing module, the processing module is used to perform the computer executed instructions of the memory module storage, so that machine
The teaching apparatus of device people performs the teaching method of the robot as described in any one of claim 1-5.
7. teaching apparatus according to claim 6, which is characterized in that the teaching apparatus further includes：Teaching machine, it is described to show
Religion device is connect with the processing module, for carrying out teaching to datum mark.
8. teaching apparatus according to claim 6, which is characterized in that the teaching apparatus further includes：Data Input Interface,
For receiving the facility information of the corresponding object load bearing equipment to be handled of mark of object load bearing equipment to be handled.
9. teaching apparatus according to claim 6, which is characterized in that the teaching apparatus further includes：The memory module,
It is additionally operable to storage local data base；
And/or
The teaching apparatus further includes：Communication module, the communication module are connect with server communication, for from the number of server
According to the corresponding facility information of mark that object load bearing equipment to be handled is obtained in library.
10. a kind of robot system, which is characterized in that including：Robot and such as claim 6-9 any one of them robot
Teaching apparatus, the teaching coordinate motion for the taught point that the robot is obtained according to the teaching apparatus of the robot.
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| CN201711377871.5A CN108127668B (en) | 2017-12-19 | 2017-12-19 | Robot teaching method, robot teaching device and robot system |
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| CN201711377871.5A CN108127668B (en) | 2017-12-19 | 2017-12-19 | Robot teaching method, robot teaching device and robot system |
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| CN108127668B (en) | 2020-05-08 |
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Address after: 230013 Southwest District of Hefei City, Anhui Province Patentee after: Hefei xinyihua Intelligent Machine Co.,Ltd. Address before: 230013 Southwest District of Hefei City, Anhui Province Patentee before: HEFEI SINEVA INTELLIGENT MACHINE Co.,Ltd. |