CN108127668B - Robot teaching method, robot teaching device and robot system - Google Patents
Robot teaching method, robot teaching device and robot system Download PDFInfo
- Publication number
- CN108127668B CN108127668B CN201711377871.5A CN201711377871A CN108127668B CN 108127668 B CN108127668 B CN 108127668B CN 201711377871 A CN201711377871 A CN 201711377871A CN 108127668 B CN108127668 B CN 108127668B
- Authority
- CN
- China
- Prior art keywords
- teaching
- robot
- carrying
- equipment
- conveyed
- 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.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The embodiment of the invention provides a robot teaching method, a robot teaching device and a robot system, relates to the technical field of robots, and can solve the problem that the teaching process is complex when teaching is carried out on a robot in the prior art. The teaching method comprises the following steps: acquiring equipment information corresponding to the identifier of the object carrying equipment to be conveyed according to the identifier of the object carrying equipment to be conveyed, wherein the equipment information comprises the position of a teaching point required by carrying operation based on the object carrying equipment to be conveyed relative to a reference point on the object carrying equipment to be conveyed; acquiring teaching coordinates of the reference point obtained in the process of teaching the reference point; and obtaining the teaching coordinates of the teaching points according to the teaching coordinates of the reference points and the positions of the teaching points relative to the reference points on the object bearing equipment to be conveyed. The robot teaching method provided by the embodiment of the invention is used for teaching the robot.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a robot teaching method, a robot teaching device, and a robot system.
Background
Before an industrial robot in the transportation industry performs a transportation operation based on the object carriers around the robot (for example, taking an object from the object carrier or placing the object on the object carrier), it is necessary to teach a process of the robot performing the transportation operation based on each object carrier around the robot. For example, as shown in fig. 1, when there are 8 pieces of object mounting apparatuses 1 around the robot, it is necessary to teach a process of carrying out a carrying operation of the robot based on the 8 pieces of object mounting apparatuses 1, respectively. The teaching confirmation robot generates a movement locus for carrying the object to be carried based on the position of each teaching point when each object carrying device 1 carries out the carrying operation, and the position of each teaching point.
Taking an object carrying device 1 around the robot 2 as an example, if the object carrying device is a single-layer device for placing an object to be conveyed, such as a glass substrate, as shown in fig. 2(a) and 2(b), the robot arm 02 of the robot 2 performs a glass 10 pick-and-place operation from the object carrying device 1. Fig. 2(a) is a side view, fig. 2(b) is a front view, and a black origin in fig. 2(a) and 2(b) indicates teaching points required for taking and placing the glass 10. Generally, 3 teaching points are required for taking and placing the glass 10 from the object carrier 1 by the robot 02 of the robot 2. In fig. 2(a) and 2(B), a is a position before the robot 02 enters the device for carrying an object 1 to be conveyed when the glass 10 is taken (a position after the robot 02 exits the device for carrying an object 1 to be conveyed when the glass 10 is set), B is a position to lift the robot 02 to contact the glass 10 after the robot 02 enters the device for carrying an object 1 to be conveyed (a position where the robot 02 is separated from the glass 10 when the glass 10 is set), and C is a position to take the glass 10 when the robot 02 exits the device for carrying an object 1 to be conveyed (a position before the robot 02 enters the device for carrying an object 1 to be conveyed when the glass 10 is set). The dashed lines in the figure represent the motion trajectories generated by the three teach points. For one device for carrying an object to be carried, which is a single-layer device, teaching three teaching points is required in the prior art to obtain teaching coordinates of the three teaching points, and after the teaching of the teaching points is completed, the robot 2 runs a program and performs the work of taking and placing the glass 10 according to an instruction. If there are 8 to-be-transported object carrying devices 1 around the robot and each to-be-transported object carrying device 1 is a single-layer device, since each to-be-transported object carrying device 1 needs 3 teaching points, 24 teaching points are needed.
In the prior art, teaching needs to be performed on each teaching point when the robot is taught, so that the teaching process is complicated.
Disclosure of Invention
The embodiment of the invention provides a robot teaching method, a robot teaching device and a robot system, which can solve the problem that the teaching process is complex when teaching is carried out on a robot in the prior art.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, a teaching method for a robot is provided, including: acquiring equipment information corresponding to the identifier of the object carrying equipment to be conveyed according to the identifier of the object carrying equipment to be conveyed, wherein the equipment information comprises the position of a teaching point required by carrying operation based on the object carrying equipment to be conveyed relative to a reference point on the object carrying equipment to be conveyed; acquiring teaching coordinates of the reference point obtained in the process of teaching the reference point; and obtaining the teaching coordinates of the teaching points according to the teaching coordinates of the reference points and the positions of the teaching points relative to the reference points on the object bearing equipment to be conveyed.
Preferably, the obtaining of the device information corresponding to the identifier of the to-be-transported object carrying device according to the identifier of the to-be-transported object carrying device includes: and searching the equipment information of the object bearing equipment to be transported corresponding to the identifier from a local database and/or a database of the server according to the identifier of the object bearing equipment to be transported.
Preferably, the teaching method further includes: prompting a user to import the equipment information of the object bearing equipment to be transported corresponding to the identifier under the condition that the equipment information corresponding to the identifier of the object bearing equipment to be transported is not acquired; and importing the equipment information of the object bearing equipment to be carried corresponding to the identification into a local database and/or uploading the equipment information to a database of a server.
Preferably, in a case where the object carrying device is a single-layer device, the device information includes positions of three teaching points with respect to a reference point on the object carrying device; or, in a case where the device for carrying an object to be conveyed is a multi-layer device, the device information includes positions of three teaching points required for a conveying operation based on a topmost layer of the device for carrying an object to be conveyed with respect to a reference point on the device for carrying an object to be conveyed, and positions of three teaching points required for a conveying operation based on a bottommost layer of the device for carrying an object to be conveyed with respect to a reference point on the device for carrying an object to be conveyed.
Preferably, the reference point on the object carrying device is a mark provided on the object carrying device.
In a second aspect, there is provided a teaching apparatus for a robot, comprising: the storage module is used for storing computer execution instructions; and the processing module is used for executing the computer execution instructions stored by the storage module so as to enable the teaching device of the robot to execute the robot teaching method.
Preferably, the teaching apparatus further includes: and the demonstrator is connected with the processing module and is used for demonstrating the datum point.
Preferably, the teaching apparatus further includes: and the data input interface is used for receiving the equipment information of the object bearing equipment to be conveyed, which corresponds to the identifier of the object bearing equipment to be conveyed.
Preferably, the teaching apparatus further includes: the storage module is also used for storing a local database; and/or, the teaching device further comprises: and the communication module is in communication connection with the server and is used for acquiring the equipment information corresponding to the identifier of the object bearing equipment to be transported from the database of the server.
In a third aspect, there is provided a robot system including a robot and the teaching apparatus for a robot described above, wherein the robot moves according to teaching coordinates of teaching points obtained by the teaching apparatus for a robot.
The embodiment of the invention provides a teaching method of a robot, a teaching device of the robot and a robot system, wherein the equipment information of each object bearing device to be conveyed comprises the position of a teaching point required by carrying out a conveying operation based on the object bearing device to be conveyed relative to a reference point on the object bearing device to be conveyed, and the teaching coordinate of the reference point can be obtained in the process of teaching the reference point to the robot, so that the teaching coordinate of the teaching point required by carrying out the conveying operation based on the object bearing device to be conveyed can be obtained according to the teaching coordinate of the reference point and the position of the teaching point relative to the reference point on the object bearing device to be conveyed. Compared with the prior art, the teaching needs to be respectively performed on the plurality of teaching points required by the carrying operation based on the object carrying equipment to be carried, and the teaching needs to be performed only on the reference points in the embodiment of the invention, so that the teaching process is simplified, the teaching time is shortened, and the teaching workload and the labor intensity are reduced when the teaching is performed on the robot in the embodiment of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic distribution diagram of a device for carrying objects to be transported around a robot according to the prior art;
fig. 2(a) is a schematic side view of a robot based on a load-bearing device to be transported, showing teaching point distribution required for a single-layer device to perform a transporting operation;
fig. 2(b) is a schematic front view of teaching point distribution required for a robot to perform a carrying operation for a single-layer device based on an object-to-be-carried device in the prior art;
fig. 3 is a schematic flowchart of a robot teaching method according to an embodiment of the present invention;
fig. 4(a) is a schematic side view of teaching point distribution required by a robot for carrying a multi-layer device based on a device for carrying an object to be carried according to an embodiment of the present invention;
fig. 4(b) is a schematic front view structural diagram of teaching point distribution required by a robot for carrying a multi-layer device based on a device for carrying an object to be carried according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram illustrating a location of a datum point on the object carrying device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a first teaching apparatus for a robot according to an embodiment of the present invention;
fig. 7 is a schematic composition diagram of a teaching apparatus for a robot according to an embodiment of the present invention;
fig. 8 is a schematic composition diagram three of a teaching apparatus for a robot according to an embodiment of the present invention.
Reference numerals:
1-a device for carrying objects to be transported; 2-a robot; 02-manipulator of robot; 3-a teaching device of the robot; 10-glass; 20-marking; 30-a storage module; 40-a processing module; 50-a demonstrator; 60-communication module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a robot teaching method, as shown in fig. 3, including:
s100, acquiring device information corresponding to the identifier of the device 1 for carrying an object to be conveyed according to the identifier of the device 1 for carrying an object to be conveyed, where the device information includes a position of a teaching point required for a conveying operation based on the device 1 for carrying an object to be conveyed relative to a reference point on the device 1 for carrying an object to be conveyed.
Here, the device 1 for carrying an object to be conveyed may be a processing device or a storage device, and generally, when the device 1 for carrying an object to be conveyed is a processing device, the device 1 for carrying an object to be conveyed is a single-layer device for placing an object to be conveyed; when the transported object bearing device 1 is a storage device, the transported object bearing device 1 is a multi-layer device, and one transported object can be placed on each layer.
The identification (also referred to as ID number) of the object carrying device 1 to be carried is not limited, and may be a number, a letter, or a combination of a number and a letter. For example, the identification of the object carrying device 1 to be carried may be ID 0000001. Based on this, the identifier of the object carrying device 1 may include other information besides the number, such as whether the object carrying device is a single-layer device or a multi-layer device, for example, the identifier of the object carrying device 1 may be ID0000001-sig, where ID0000001 represents a number and sig represents that the object carrying device 1 is a single-layer device. For another example, the identifier of the object bearing device 1 may also be ID0000002-mul-32, where ID0000002 represents a number, mul represents that the object bearing device 1 is a multi-layer device, and 32 represents the number of layers of the object bearing device 1. Here, it should be noted that each object carrying device 1 has an identifier.
The teaching points required for the carrying operation based on the object mounting device 1 are teaching points required for the robot 02 of the robot 2 to pick up the object from the object mounting device 1 or place the object on the object mounting device 1. Specifically, when the device for carrying an object 1 to be conveyed is a single-layer device, as shown in fig. 2(a) and 2(b), 3 teaching points are required for taking the object to be conveyed from the device for carrying an object 1 to be conveyed or placing the object to be conveyed on the device for carrying an object 1 to be conveyed; when the object carrying device 1 is a multi-layer device, and each layer is used for placing an object to be conveyed, 6 teaching points are required for taking the object to be conveyed from the object carrying device 1 or placing the object to be conveyed on the object carrying device 1, as shown in fig. 4(a) and 4(b), fig. 4(a) is a side view, fig. 4(b) is a main view, black points in fig. 4(a) and 4(b) represent teaching points, and the 6 teaching points are 3 teaching points required for taking the object to be conveyed from the topmost layer of the object carrying device 1 or placing the object to be conveyed on the topmost layer of the object carrying device 1 and 3 teaching points required for taking the object to be conveyed from the bottommost layer of the object carrying device 1 or placing the object to be conveyed on the bottommost layer of the object carrying device 1, respectively. Teaching points required for carrying out carrying operation based on the middle layers of the object carrying equipment 1 to be carried can be calculated according to the number of layers of the object carrying equipment 1 to be carried and the 6 teaching points. Taking the object to be conveyed from the topmost layer of the object bearing device 1 or placing the object to be conveyed on the topmost layer of the object bearing device 1 as an example, the required 3 teaching points are respectively D, which is the position before the manipulator 02 enters the object bearing device 1 when the glass 10 is taken (the position after the manipulator 02 exits the object bearing device 1 when the glass 10 is put out), E, which is the position where the manipulator 02 lifts up to contact the glass 10 when the glass 10 is taken (the position where the manipulator 02 is separated from the glass 10 when the glass 10 is put out) when the manipulator 02 enters the object bearing device 1, and F, which is the position where the manipulator 02 exits the object bearing device 1 when the glass 10 is put out (the position before the manipulator 02 enters the object bearing device 1).
In addition, the position of the teaching point with respect to the reference point on the object carrying device 1 is obtained by using the reference point on the object carrying device 1 as an origin. When the object carrying device 1 to be transported is a single-layer device, as shown in fig. 2(a) and 2(b), the positions of the three teaching points relative to the reference point may be PosA (X1, Y1, Z1), PosB (X2, Y2, Z2), PosC (X3, Y3, Z3), where PosA represents the position of the point a relative to the reference point, X1 represents the distance of PosA relative to the reference point in the X direction in a cartesian coordinate system, Y1 represents the distance of PosA relative to the reference point in the Y direction in a cartesian coordinate system, and Z1 represents the distance of PosA relative to the reference point in the Z direction in the cartesian coordinate system; PosB denotes the position of the B-point relative to the reference point, X2 denotes the distance of the PosB in the X-direction relative to the reference point in a cartesian coordinate system, Y2 denotes the distance of the PosB in the Y-direction relative to the reference point in a cartesian coordinate system, Z2 denotes the distance of the PosB in the Z-direction relative to the reference point in a cartesian coordinate system; PosC denotes the position of the C point relative to the reference point, X3 denotes the distance of the PosC in the X direction relative to the reference point in a cartesian coordinate system, Y3 denotes the distance of the PosC in the Y direction relative to the reference point in a cartesian coordinate system, and Z3 denotes the distance of the PosC in the Z direction relative to the reference point in a cartesian coordinate system. When the object carrying device 1 is a multi-deck device, as shown in fig. 4(a) and 4(b), the positions of the 6 teaching points with respect to the reference point can be respectively represented as PosD (x4, y4, z4), PosE (x5, y5, z5), PosF (x6, y6, z6), PosG (x7, y7, z7), PosH (x8, y8, z8), PosI (x9, y9, z 9). Here, the specific meaning of Pos point is similar to that of PosA, PosB and PosC described above, and is not described in detail here.
In addition, as shown in fig. 5, the reference point on the object carrying device 1 may be a mark 20 provided on the object carrying device 1, where the type of the mark 20 is not limited, and may be a number, a pattern, a letter, or the like, or may be a fixed position on the object carrying device 1 as the reference point, for example, an upper left corner or a lower right corner of the object carrying device 1 is regarded as the reference point.
Based on the above, the position of the teaching point required for the carrying operation based on the object carrying device 1 with respect to the reference point on the object carrying device 1 may be determined in the process of producing and designing the object carrying device 1; or may be manually measured before teaching the robot.
S101, teaching coordinates of the reference points obtained in the process of teaching the reference points are obtained.
It will be understood by those skilled in the art herein that for each robot 2, there is a coordinate system corresponding to the robot 2, the origin of which is fixed at a predetermined position of the robot 2, and according to which coordinate system a coordinate can be obtained by moving the robot 2 or the robot arm 02 of the robot 2 to any position, so that during teaching of the reference point to the robot 2, taught coordinates of the reference point can be obtained.
How to teach the reference point to the robot is not limited and may be the same as in the related art. For example, a human can control the robot to move to the datum point through the teaching device so as to obtain teaching coordinates of the datum point; or manually guiding the robot to move to the reference point so as to obtain the teaching coordinates of the reference point; of course, teaching coordinates of the reference point may be obtained by off-line teaching.
And S102, obtaining teaching coordinates of the teaching points according to the teaching coordinates of the reference points and the positions of the teaching points relative to the reference points on the object bearing equipment 1 to be conveyed.
Here, if the teaching coordinate of the reference point obtained in the process of teaching the reference point to the robot is (x ' 0, y ' 0, z ' 0), the position of the first teaching point relative to the reference point on the object carrying device 1 is (x "0, y" 0, z "0), and the teaching coordinate (x0, y0, z0) of the first teaching point can be obtained according to the teaching coordinate (x ' 0, y ' 0, z ' 0) of the reference point and (x" 0, y "0, z" 0), where x0 is x ' 0+ x "0, y0 is y ' 0+ y" 0, and z0 is z ' 0+ z "0.
It should be noted that the teaching coordinates of the teaching points necessary for the carrying operation by the object mounting device 1 can be obtained from the teaching coordinates of the reference points and the positions of the teaching points necessary for the carrying operation by the object mounting device 1 with respect to the reference points on the object mounting device 1. Here, after teaching coordinates of teaching points required for carrying operation by the object carrying device 1 are obtained, the teaching process is completed, and other processes such as generating a motion trajectory for taking and placing the object to be carried according to the teaching coordinates of the teaching points and controlling the robot to execute a command for taking and placing the object to be carried are the same as those in the prior art, and are not described here again.
Based on the above steps S100 to S102, if there are a plurality of devices for carrying objects around the robot, when a carrying operation needs to be performed based on any one of the devices for carrying objects around the robot, first, the device information of the device for carrying objects corresponding to the identifier may be obtained through the identifier of the device for carrying objects.
Referring to fig. 1, if the two left and right devices for carrying the object to be carried are single-layer devices, and the six devices for carrying the object to be carried at the upper and lower sides are multi-layer devices, as shown in fig. 2(a) and 2(b), three teaching points are required for carrying out a carrying operation based on a single layer apparatus, as shown in fig. 4(a) and 4(b), six teaching points are required for carrying out a carrying operation based on a multi-layer apparatus, when the robot performs a transfer operation based on peripheral devices to be transferred, 2 × 3+6 × 6 — 42 teaching points are required, and if the robot adopts the existing teaching method, it is necessary to teach 42 teaching points, and if the teaching method provided by the embodiment of the present invention is adopted, since only the reference points need to be taught to the robot 2 for each device for carrying an object, the robot only needs to teach eight reference points of the device for carrying an object to be carried to the robot 2 when carrying the device for carrying the object to be carried on the basis of the peripheral devices for carrying the object.
The embodiment of the invention provides a teaching method of a robot, wherein the equipment information of each object carrying equipment 1 comprises the position of a teaching point required for carrying operation based on the object carrying equipment 1 relative to a reference point on the object carrying equipment 1, and the teaching coordinate of the reference point can be obtained in the process of teaching the reference point to the robot 2, so that the teaching coordinate of the teaching point required for carrying operation based on the object carrying equipment 1 can be obtained according to the teaching coordinate of the reference point and the position of the teaching point relative to the reference point on the object carrying equipment 1. Compared with the prior art, the teaching needs to be respectively performed on the plurality of teaching points required by the carrying operation based on the object carrying equipment 1 to be carried, and the teaching needs to be performed only on the reference points in the embodiment of the invention, so that the teaching process is simplified, the teaching time is shortened, and the teaching workload and the labor intensity are reduced when the teaching is performed on a robot in the embodiment of the invention.
Based on the above, if there are multiple devices for carrying objects to be carried around the robot, when carrying operation needs to be performed on any device for carrying objects to be carried around the robot, the device information of the device for carrying objects to be carried corresponding to the identifier may be obtained first through the identifier of the device for carrying objects to be carried.
Preferably, the obtaining of the device information corresponding to the identifier of the object bearing device 1 according to the identifier of the object bearing device 1 includes: and searching the equipment information of the object bearing equipment 1 to be transported corresponding to the identifier from a local database and/or a database of the server according to the identifier of the object bearing equipment 1 to be transported.
It should be noted that all the networked controllers may search the device information corresponding to the identifier of the object carrying device 1 to be transported from the database of the server.
Here, each object carrying device 1 has a unique identification in a local database or a database of a server. When the device information corresponding to the identifier of the object bearing device 1 to be transported is obtained according to the identifier of the object bearing device 1 to be transported, the device information of the object bearing device 1 to be transported corresponding to the identifier can be searched only in the local database; or only the device information of the object bearing device 1 to be carried corresponding to the identifier can be searched in the database of the server; of course, the device information of the object carrying device 1 to be transported corresponding to the identifier can be searched in both the local database and the database of the server. When the device information of the object bearing device 1 corresponding to the identifier is searched in both the local database and the database of the server, the search sequence is not limited, and the object bearing device can be searched in the local database or the server database.
According to the embodiment of the invention, after the information of the object bearing device 1 to be transported is obtained, the information of the object bearing device 1 to be transported is stored in the local database or the database of the server, so that when any robot is taught based on the object bearing device 1 to be transported, the device information of the object bearing device 1 to be transported can be obtained from the local database or the server, and data sharing is realized.
Based on the above, the teaching method further includes: the device information of the object bearing device 1 corresponding to the identifier of the object bearing device 1 to be transported is not found in the local database, or the device information of the object bearing device 1 corresponding to the identifier of the object bearing device 1 to be transported is not found in the database of the server; or, when the device information of the object to be transported carrying device 1 corresponding to the identifier of the object to be transported carrying device 1 is not found from the local database and the database of the server, the user is prompted to import the device information of the object to be transported carrying device 1 corresponding to the identifier when carrying operation is performed based on the object to be transported carrying device 1 for the first time; and importing the equipment information of the object bearing equipment 1 corresponding to the identifier into a local database and/or uploading the equipment information to a database of a server, so that the equipment information of the object bearing equipment 1 to be transported can be obtained from the local database and/or the database of the server.
Here, the manner of importing the device information identifying the corresponding object carrying device 1 to be transported into the local database and/or uploading the device information to the database of the server is not limited, and for example, a USB interface storage device or bluetooth may be used.
The device information of the object bearing device 1 to be transported corresponding to the identifier can be imported into a local database; or may be uploaded to a database of the server; of course, the database can be imported and uploaded to the server.
It should be noted that the user may be prompted to import the device information identifying the corresponding object carrying device 1 to be transported in a dialog box manner or an alert manner.
An embodiment of the present invention further provides a teaching apparatus 3 for a robot, as shown in fig. 6, including: the storage module 30, the storage module 30 is used for storing computer execution instructions; and a processing module 40, wherein the processing module 40 is configured to execute the computer execution instructions stored in the storage module, so that the robot teaching device executes the robot teaching method.
The processing module 40 is used to control and manage the operation of the teaching apparatus of the robot, and for example, the processing module 40 is used to support the teaching apparatus to execute steps S100, S101, and S102 in the teaching method of the robot. Specifically, the method comprises the following steps. The execution sequence among the steps is detailed in the above embodiments, and the description of the present application is omitted here.
The processing module 40 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others.
On this basis, the storage module 30 may be, for example, a memory.
Here, the computer-executable instructions stored in the storage module 30 include at least instructions for executing steps S100 to S102 in the robot teaching method.
The teaching device 3 of the robot according to the embodiment of the present invention is configured such that the device information of each object carrying device 1 includes a position of a teaching point required for a carrying operation based on the object carrying device 1 with respect to a reference point on the object carrying device 1, and the processing module 40 can obtain teaching coordinates of the reference point in teaching the reference point to the robot, so that the processing module 40 can obtain teaching coordinates of the teaching point required for the carrying operation based on the object carrying device 1 based on the teaching coordinates of the reference point and the position of the teaching point with respect to the reference point on the object carrying device 1. Compared with the prior art, the teaching needs to be respectively performed on the plurality of teaching points required by the carrying operation based on the object carrying equipment 1 to be carried, and the teaching needs to be performed only on the reference points in the embodiment of the invention, so that the teaching process is simplified, the teaching time is shortened, and the teaching workload and the labor intensity are reduced when the teaching is performed on a robot in the embodiment of the invention.
Preferably, as shown in fig. 7, the teaching device further includes: and a teaching device 50, wherein the teaching device 50 is connected with the processing module 40 and is used for teaching the reference point.
Here, teaching coordinates of the reference point can be obtained by the teaching tool 50 in the process of teaching the reference point to the robot.
Preferably, the teaching apparatus further includes: and the data input interface is used for receiving the equipment information of the object bearing equipment to be conveyed, which corresponds to the identifier of the object bearing equipment to be conveyed.
The type of the data input interface is not limited, and may be, for example, a USB data input interface.
In the embodiment of the present invention, since the teaching device of the robot 2 includes the data input interface, the mobile storage device can be inserted into the data input interface, and the device information of the object to be transported carrying device corresponding to the identifier of the object to be transported carrying device is imported through the data input interface.
Preferably, the teaching apparatus further includes: the storage module 30 is further used for storing a local database; and/or, as shown in fig. 8, the teaching device further includes: and the communication module 60 is in communication connection with the server, and is used for acquiring the device information corresponding to the identifier of the object bearing device to be transported from the database of the server.
The communication module 60 may be a transceiver, a transceiver circuit, a communication interface, or the like.
In the embodiment of the present invention, when the teaching device of the robot further includes the communication module 60, and/or the storage module 30 is further configured to store a local database, the device information corresponding to the identifier of the object bearing device 1 to be transported may be acquired from the local database and/or the database of the server.
An embodiment of the present invention further provides a robot system, including: the robot moves according to teaching coordinates of teaching points obtained by the robot teaching device 3.
The teaching device 3 for a robot may be integrated with the robot or may be provided separately from the robot, and is not limited thereto.
The robot system provided by the embodiment of the present invention has the same advantages as the teaching device 3 of the robot provided by the previous embodiment of the present invention, and since the teaching device 3 of the robot has been described in detail in the previous embodiment, no further description is given here.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. A robot teaching method comprising:
acquiring device information corresponding to the identifier of the to-be-transported object carrying device according to the identifier of the to-be-transported object carrying device, wherein the device information comprises: searching the equipment information of the object bearing equipment to be transported corresponding to the identifier from a local database and/or a database of the server according to the identifier of the object bearing equipment to be transported; the equipment information comprises the position of a teaching point required by carrying operation based on the object carrying equipment to be carried relative to a reference point on the object carrying equipment to be carried and the number of layers of the object carrying equipment to be carried;
acquiring teaching coordinates of the reference point obtained in the process of teaching the reference point;
and obtaining the teaching coordinates of the teaching points according to the teaching coordinates of the reference points and the positions of the teaching points relative to the reference points on the object bearing equipment to be conveyed.
2. The teaching method according to claim 1, wherein the teaching method further comprises: prompting a user to import the equipment information of the object bearing equipment to be transported corresponding to the identifier under the condition that the equipment information corresponding to the identifier of the object bearing equipment to be transported is not acquired;
and importing the equipment information of the object bearing equipment to be carried corresponding to the identification into a local database and/or uploading the equipment information to a database of a server.
3. The teaching method according to claim 1, wherein in a case where the object carrying device is a single-layer device, the device information includes positions of three teaching points with respect to a reference point on the object carrying device;
or, in a case where the device for carrying an object to be conveyed is a multi-layer device, the device information includes positions of three teaching points required for a conveying operation based on a topmost layer of the device for carrying an object to be conveyed with respect to a reference point on the device for carrying an object to be conveyed, and positions of three teaching points required for a conveying operation based on a bottommost layer of the device for carrying an object to be conveyed with respect to a reference point on the device for carrying an object to be conveyed.
4. The teaching method according to claim 1, wherein the reference point on the object carrying device is a mark provided on the object carrying device.
5. A teaching device for a robot, comprising:
the storage module is used for storing computer execution instructions;
a processing module for executing the computer-executable instructions stored by the storage module to cause a robot teaching device to perform a method of teaching a robot according to any of claims 1-4;
the storage module is also used for storing a local database;
and/or the presence of a gas in the gas,
the teaching apparatus further includes: the communication module is in communication connection with the server and is used for acquiring equipment information corresponding to the identifier of the object bearing equipment to be transported from a database of the server; the device information includes a position of a teaching point required for a carrying operation based on the object bearing device to be carried with respect to a reference point on the object bearing device to be carried and a number of layers of the object bearing device to be carried.
6. The teaching device according to claim 5, further comprising: and the demonstrator is connected with the processing module and is used for demonstrating the datum point.
7. The teaching device according to claim 5, further comprising: and the data input interface is used for receiving the equipment information of the object bearing equipment to be conveyed, which corresponds to the identifier of the object bearing equipment to be conveyed.
8. A robotic system, comprising: a robot and the teaching device of the robot according to any one of claims 5 to 7, wherein the robot moves according to teaching coordinates of teaching points obtained by the teaching device of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377871.5A CN108127668B (en) | 2017-12-19 | 2017-12-19 | Robot teaching method, robot teaching device and robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377871.5A CN108127668B (en) | 2017-12-19 | 2017-12-19 | Robot teaching method, robot teaching device and robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127668A CN108127668A (en) | 2018-06-08 |
| CN108127668B true CN108127668B (en) | 2020-05-08 |
Family
ID=62390661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711377871.5A Active CN108127668B (en) | 2017-12-19 | 2017-12-19 | Robot teaching method, robot teaching device and robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108127668B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352633B (en) * | 2018-12-04 | 2022-08-09 | 中冶赛迪工程技术股份有限公司 | Industrial robot teaching method and system and computer storage medium |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5856003A (en) * | 1981-09-30 | 1983-04-02 | Hitachi Ltd | Controlling method for industrial robot |
| US4831549A (en) * | 1987-07-28 | 1989-05-16 | Brigham Young University | Device and method for correction of robot inaccuracy |
| CN1671310B (en) * | 2002-07-26 | 2010-12-08 | 株式会社岛精机制作所 | Automatic cutting machine teaching device |
| JP4053550B2 (en) * | 2005-05-27 | 2008-02-27 | ファナック株式会社 | Apparatus, program, recording medium, and method for correcting teaching point |
| AT503572B1 (en) * | 2006-08-03 | 2007-11-15 | Tgw Transportgeraete Gmbh | Conveyance apparatus for depalletizing goods stacked on support, has conveyance device formed by movable receiving conveyor forming placement plane |
| CN100581753C (en) * | 2008-07-26 | 2010-01-20 | 河北理工大学 | Teaching method for glazing robot off-line teaching device |
| CN101559548A (en) * | 2009-05-12 | 2009-10-21 | 哈尔滨工程大学 | Demonstrator used for demonstrating welding robot |
| JPWO2012169374A1 (en) * | 2011-06-08 | 2015-02-23 | 村田機械株式会社 | Work processing system |
| JP5863414B2 (en) * | 2011-11-25 | 2016-02-16 | 株式会社ダイヘン | Operating device and movable machine control system |
| JP5970434B2 (en) * | 2013-08-30 | 2016-08-17 | 株式会社神戸製鋼所 | Teaching data creation system and program |
| CN105234943B (en) * | 2015-09-09 | 2018-08-14 | 大族激光科技产业集团股份有限公司 | A kind of industrial robot teaching device and method of view-based access control model identification |
-
2017
- 2017-12-19 CN CN201711377871.5A patent/CN108127668B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108127668A (en) | 2018-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10210212B2 (en) | Dynamic layout management for robotics warehouse system | |
| WO2018120210A1 (en) | Method and device for determining position information about stacking point, and robot | |
| Tsarouchi et al. | A decision making framework for human robot collaborative workplace generation | |
| CN107728584B (en) | Assembly line system, process plan support method, and computer-readable recording medium | |
| Kumar et al. | Integer programming approach to printed circuit board assembly time optimization | |
| CN109591014B (en) | Double-arm coordinated carrying method of double-arm coordinated robot | |
| CN109814434B (en) | Calibration method and device of control program | |
| Kang et al. | Recent research on computer-aided fixture planning | |
| Bonert et al. | Motion planning for multi-robot assembly systems | |
| CN108127668B (en) | Robot teaching method, robot teaching device and robot system | |
| US10860750B2 (en) | Model driven layout design for robotics warehouse | |
| TWM604014U (en) | Order data arrangement system | |
| Wan et al. | Design and implementation of agent-based robotic system for agile manufacturing: A case study of ARIAC 2021 | |
| US20220250240A1 (en) | Extensible underconstrained robotic motion planning | |
| Weiss et al. | Identification of industrial robot arm work cell use cases and a test bed to promote monitoring, diagnostic, and prognostic technologies | |
| Ranky | Collaborative, synchronous robots serving machines and cells | |
| CN106945034B (en) | Robot point location adjusting method and system | |
| Gonzalez-Rodriguez et al. | Collision-free motion planning and scheduling | |
| Choi et al. | Real‐time synchronisation method in multi‐robot system | |
| JP2007511442A (en) | System and method for load transfer actuator | |
| JP2009022996A (en) | Simulation method | |
| CN109978309B (en) | Method and device for determining working efficiency of equipment | |
| Tao et al. | Facility layouts based on differential evolution algorithm | |
| TWI661326B (en) | Semiconductor equipment throughput simulation method and semiconductor equipment throughput simulation system | |
| WO2019021938A1 (en) | Design information generating device and design support system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
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. |
|
| CP01 | Change in the name or title of a patent holder |