CN108214495A - A kind of industrial robot teaching system and method - Google Patents
A kind of industrial robot teaching system and method Download PDFInfo
- Publication number
- CN108214495A CN108214495A CN201810234948.1A CN201810234948A CN108214495A CN 108214495 A CN108214495 A CN 108214495A CN 201810234948 A CN201810234948 A CN 201810234948A CN 108214495 A CN108214495 A CN 108214495A
- Authority
- CN
- China
- Prior art keywords
- hand
- data
- teaching
- held locater
- locater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention provides a kind of industrial robot teaching system and method, the system comprises：Vision positioning planning subsystem, mechanical arm automation control subsystem and industrial machinery arm, wherein vision positioning subsystem includes at least hand-held locater, data processing server and Infrared laser emission base station, wherein, hand-held locater is used to acquire spatial data, and spatial data is sent to data processing server；Data processing server is used to handle spatial data according to the pathway requirements planned in advance, data after the processing met the requirements, and the teaching in path for including data after processing and plan in advance is instructed and is sent to mechanical arm automation control subsystem；The Infrared laser emission base station is used for infrared laser Scan orientation；Mechanical arm automation control subsystem receives teaching instruction, and industrial machinery arm is controlled to carry out teaching.The present invention is easy to operate, and installation and deployment are convenient, reduces the cumbersome operation of robot path planning, reduced time cost.
Description
Technical field
The present invention relates to industrial robot teaching fields, and in particular to a kind of industrial robot teaching system and method.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robotic technology field, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductor manufacturing suffer from being widely applied.Although their form respectively has
Difference, but they all there are one it is common the characteristics of, be to receive instruction, be precisely positioned to three-dimensional (or two dimension) spatially
Certain point carry out operation.
Common six degree of freedom mechanical arm is moved along Y-axis, is moved along Z axis, turned about the X axis, around Y-axis by moving along the x-axis
Rotation turns about the Z axis common six-freedom degree composition.Due to the kinematic dexterity of sixdegree-of-freedom simulation, current industry from
It is widely used in dynamicization production system.
Six-DOF industrial robot mechanical arm is mainly used to carry out some repeatability by force instead of the mankind or danger is big
Operation.Such as welding, spraying of industry manufacture field etc. has human body certain harm and the work of danger.But complete this
The premise of item work is robot to be sent out to instruct position and appearance, it is specified that in the motion path and three dimensions of robot in advance
State, this process are known as the teaching to robot.
Teaching playback be a kind of robot field generally by the way of, i.e., by controlling what is be adapted to robot to show manually
Religion device is operated machine the joint motions of people, so that robot motion records, and pass to scheduled position, while by the position
It is delivered in robot controller, robot later can repeat the task automatically according to instruction, and operating personnel can also select not
Same coordinate system carries out teaching to robot.Since the required precision to spatial position is higher, this work usually takes longer
And process is cumbersome is susceptible to careless omission and mistake, while the method for this teaching playback for operator operative skill requirement compared with
It is high.
Artificial traction teaching is also a kind of form of teaching playback system, the arm that operator passes through artificial traction robot
Teaching is carried out to robot, this mode labor intensity is larger, for powerful robot and improper, the craftsmenship of operation
Very strong, precision is not easy to ensure.These problems considerably increase the use cost of industrial robot, semiworks or mainly from
The factory that thing nonstandardized technique workpiece is welded or manufactured is difficult direct applicable industry robot to reduce cost of labor.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of industrial robot teaching system and method, can reduce machine
The cumbersome operation of device people's path planning, significantly reduced time cost.
To achieve the above object, the present invention is achieved by the following technical programs：
In a first aspect, the embodiment of the present invention provides a kind of industrial robot teaching system, the system comprises：Vision positioning
Plan subsystem, mechanical arm automation control subsystem and industrial machinery arm, wherein：
The vision positioning subsystem includes at least hand-held locater, data processing server and Infrared laser emission base
It stands, wherein, the hand-held locater is used to acquire spatial data, and the spatial data is sent to the data processing service
Device；The data processing server is used for the space number acquired according to the pathway requirements planned in advance to the hand-held locater
According to being handled, obtain meeting data after the processing of the advance pathway requirements planned, and after the processing will be included
The teaching instruction in data and the advance path planned is sent to the mechanical arm automation control subsystem；It is described infrared
Laser emission base station is used for infrared laser Scan orientation；
The mechanical arm automation control subsystem receives the teaching that the vision positioning planning subsystem is sent and refers to
It enables, and the industrial machinery arm is controlled to carry out teaching according to described instruction.
Second aspect, the embodiment of the present invention provide a kind of industrial robot teaching method, including：
Plan that the hand-held locater in subsystem obtains the spatial data of the hand-held locater by vision positioning,
In, the spatial data is that the hand-held locater is obtained based on infrared laser Scan orientation；
By the data processing server in vision positioning planning subsystem according to the path planned in advance to the sky
Between data handled, obtain meeting the advance pathway requirements planned treated data；
Data that treated described in including and teaching instruction are sent to mechanical arm automation control subsystem, with
The mechanical arm automation control subsystem is made industrial machinery arm to be controlled to carry out teaching according to described instruction.
Industrial robot teaching system and method provided in an embodiment of the present invention, including：Vision positioning planning subsystem, machine
Tool arm automation control subsystem and industrial machinery arm, the vision positioning planning system are based on infrared laser Scan orientation, can
To export three dimensional space coordinate and posture in real time, and the three-dimensional path planned is sent to mechanical arm automation control in real time
System allows industrial machinery arm to reappear identical operation.The system operatio is easy, and installation and deployment are convenient, for operator
The training of member is simple, while compares traditional robot demonstrator, reduces the cumbersome operation of robot path planning, significantly
Reduce time cost.
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 the present invention
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structure diagram of industrial robot teaching system provided in an embodiment of the present invention；
Fig. 2 is the structure diagram of industrial robot teaching system that further embodiment of this invention provides；
Fig. 3 is the structure diagram of hand-held locater provided in an embodiment of the present invention；
Fig. 4 is the structure diagram of calibration object provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of industrial robot teaching method provided in an embodiment of the present invention.
Description of the drawings：
10- vision positionings plan subsystem；20- mechanical arms automate sub-control system；30-industrial machinery arm；
101-data processing server；102-Infrared laser emission base station；103-hand-held locater；
104-calibration object；105-wireless data receiver；106-interchanger；
201-industrial personal computer；202-mechanical arm controls driver；1- hand-held locater USB ports；
2-LED indicator lights；3-switch button；4- switching push buttons；
5- coordinate systems demarcate button；6- robots start and stop switching push button；7- cocking mechanisms；
8-vibrational feedback module；The infrared photosensitive sensors of 9-；2-10- transparent double-layer placing structures；
11-replaceable sampling tip；12-calibration object USB data interface；13-calibration object LED light；
16-Mn-Zn magnet rings；18-positioning round orifice；17-standard size fixing steel plate；
14-calibration infrared photosensitive sensor of object；15-calibration object infrared transparent bilayer placing structure.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, clear, complete description is carried out to the technical solution in the embodiment of the present invention, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
Fig. 1 is the structure diagram of industrial robot teaching system provided in an embodiment of the present invention, as shown in Figure 1, described
System includes：Vision positioning planning subsystem 10, mechanical arm automation control subsystem 20 and industrial machinery arm 30, wherein：
The vision positioning subsystem 10 includes at least hand-held locater 103, data processing server 101 and infrared laser
Transmitting base station 102, wherein, the spatial data is sent to described by the hand-held locater 103 for acquiring spatial data
Data processing server 101；The data processing server 101 is used for according to the pathway requirements planned in advance to described hand-held
The spatial data of locator acquisition is handled, and obtains meeting data after the processing of the advance pathway requirements planned, and
The teaching instruction for including data and the advance path planned after the processing is sent to the mechanical arm automation
Control subsystem；The Infrared laser emission base station 102 is used for infrared laser Scan orientation；
The mechanical arm automation control subsystem 20 receives the teaching that the vision positioning planning subsystem is sent
Instruction, and the industrial machinery arm 30 is controlled to carry out teaching according to described instruction.
Specifically, Fig. 2 is the structure diagram of industrial robot teaching system that further embodiment of this invention provides, and is such as schemed
Shown in 2, the system comprises vision positioning planning subsystem 10, mechanical arm automation control subsystem 20 and industrial machinery arms
30, wherein：
Vision positioning subsystem described in the vision positioning planning subsystem 10 includes at least hand-held locater, data processing
Server and Infrared laser emission base station, wherein, the hand-held locater is for acquiring spatial data, and by the spatial data
It is sent to the data processing server；The data processing server is used for according to the pathway requirements planned in advance to described
The spatial data of hand-held locater acquisition is handled, and obtains meeting several after the processing of advance pathway requirements plan
According to, and by the teaching instruction for including data and the advance path planned after the processing be sent to the mechanical arm from
Dynamicization control subsystem；The Infrared laser emission base station is used for infrared laser Scan orientation；
The mechanical arm automation control subsystem 20 includes an industrial personal computer 201 and robot control driver 202, institute
It states industrial personal computer 201 and receives the real time data packet that the data processing server in the vision positioning subsystem is sent, and according to institute
Stating instruction controls the robot control driver 202 that industrial machinery arm 30 is driven to reproduce the path of teaching.
In practical operating process, user can use hand-held locater according to the preset path that will have been planned in advance
The gathered data at collection point in space, and by the data transmission data processing server of acquisition, by data processing server
Processing after, by the industrial personal computer of treated data are sent to mechanical arm automation control subsystem, industrial personal computer receive described in regard
Feel the data that the data processing server in positioning subsystem is sent, and according to the instruction control in the path planned in advance
Robot controls driver robot to be driven to reproduce the path of teaching.
In specific implementation process, the advance path planned can be a variety of paths, and mould is planned comprising single-point
Formula, straight line Planning Model, multi-section-line Planning Model and circular arc Planning Model.
When the track of robotic manipulator teaching is for simple straight line and when starting and terminating point can be confirmed, single-point can be used
Sampling configuration carries out starting and terminating point sample record respectively, and server is transmitted to robotic manipulator control eventually by automatic
End carries out teaching path planning to it.
It, can be with straight line pattern to three when the track of robotic manipulator teaching is for simple straight line but when needing multiple spot operation
Straight line track in dimension space carries out sample record, and server is by the data of each point and transmission on automatic Fitting space line
Teaching path planning is carried out to it to robotic manipulator control terminal.
When the track of robotic manipulator teaching is circular arc, circular arc sampling configuration can be used to a circular arc in space
Track carries out sample record, and server is by automatic Fitting space circular arc data and is transmitted to robotic manipulator control automatically eventually
End carries out teaching path planning to it.
When the track of robotic manipulator teaching is complex is not single straight line or circular arc, multi-section-line can be used
Sampling configuration carries out the track in space sample record, and server is simultaneously high by the spatial position on all tracks and posture record
Speed is transmitted to robotic manipulator control terminal and carries out teaching path planning to it.
Infrared laser scanning is applied to the teaching of robot by industrial robot teaching system provided in an embodiment of the present invention
System, easy to operate, installation and deployment are convenient, simple for the training of operating personnel, while compare traditional robot demonstrator,
Reduce the cumbersome operation of robot path planning, significantly reduce time cost.
Optionally, the hand-held locater includes at least infrared photosensitive sensor, central processing module and radio communication mold
Block, wherein：
The infrared photosensitive sensor is used to receive the data of infrared laser that the Infrared laser emission base station is sent out；
The central processing module is used to carry out real time parsing to the data that the infrared photosensitive sensor receives, and determines institute
State the real-time posture of hand-held locater and spatial position；
The wireless communication module is used to the real-time posture of the hand-held locater and spatial position being transmitted.
On the basis of above-described embodiment, specifically, the hand-held locater includes at least infrared photosensitive sensor, center
Processing module and wireless communication module, wherein：
The infrared photosensitive sensor is used to receive the data of infrared laser that the Infrared laser emission base station is sent out；
Specifically, Fig. 3 is the structure diagram of hand-held locater provided in an embodiment of the present invention, as shown in figure 3, the hand
Holding on the shell of locator has multiple circular holes, and installation is there are one infrared photosensitive sensor in each circular hole, when the infrared light
When dependent sensor 9 receives the infrared laser of the Infrared laser emission base station 102, sensor can generate light pulse signal, lead to
Cross the central calculation processing module that built-in asic chip is converted into digital data transmission to hand-held locater 103.
In embodiments of the present invention, it is preferable that have 28 circular holes on the shell of the hand-held locater, and in each circular hole
There are one infrared photosensitive sensors for setting.
The central processing module is used to carry out real time parsing to the data that the infrared photosensitive sensor receives, and determines institute
State the real-time posture of hand-held locater and spatial position；
Stroboscopic infrared lamp array on the Infrared laser emission base station 102, which first flickers, to be synchronized, then in base station
One group of motor starts to rotate, when the infrared photosensitive sensor 9 on the hand-held locater 103 is activated, will record from
Stroboscopic infrared lamp arrays column signal is received to by the time difference between the infrared laser light source activation on motor, and by these times
Marker passing gives the FPGA in the computing unit.
FPGA in the computing unit obtains the signal from infrared light dependent sensor 9 and motion sensor IMU
Time flag transmission to computing unit in MCU on carry out fusion operation and obtaining the location information of equipment, then by wireless
Transmission unit is transferred on wireless data receiver 105 and is transmitted to data processing server 101.
Specifically, the fusion operation refers to the collected current time quilt of FPGA institutes in the computing unit
The timestamp data of the infrared photosensitive sensor 9 of activation for measured value, with space layout known to these sensors and
Posture is limit value, solves spatial position and the posture of the hand-held locater 103, and chip is passed by radio communication
Defeated, the wireless data receiver 105 is transmitted to the data processing server after receiving location information and key-press status
101。
In embodiments of the present invention, in the scan period of infrared laser each time, it is required at least six non-coplanar described red
Outer photosensitive sensor 9 is activated to obtain best effect, only 4 non-coplanar infrared photosensitive sensors 9 is needed to be activated
Solve spatial position and the posture of the hand-held locater 103, but due to the small volume of the hand-held locater 103,
Some are close (i.e. coplanarity is stronger) apart from closely spaced or angle of assembling for the infrared photosensitive sensor 9 of upper arrangement, so cloth
Totally 28 infrared photosensitive sensor 9 has been put so that angle as much as possible there can be 6 or more non-coplanar infrared photosensitive simultaneously
Sensor 9 is activated, so as to ensure the accuracy of positioning.
In embodiments of the present invention, in order to further improve positioning accuracy, in specific computation, due to described red
The outer area of of photosensitive sensor 9 about 2.5mm*2.5mm itself, that is, the time being activated not are a time point, but one
Period accurately calculates the spatial position of its center sensor point by the assembling posture of infrared photosensitive sensor.
The wireless communication module is used to carry out the real-time posture at the hand-held locater parsing and spatial position
Transmission is sent to the industrial personal computer of the mechanical arm automation control subsystem.
Infrared laser scanning is applied to the teaching of robot by industrial robot teaching system provided in an embodiment of the present invention
System, easy to operate, installation and deployment are convenient, simple for the training of operating personnel, while compare traditional robot demonstrator,
Reduce the cumbersome operation of robot path planning, significantly reduce time cost.
Optionally, the hand-held locater further includes a detachable replaceable pyramidal structure, according to different works
Make environment, change the tip length and shape of the hand-held locater by replacing different pyramidal structures.
On the basis of above-described embodiment, the hand-held locater further includes a dismountable replaceable sampling tip
11, positioned at the front end of the hand-held locater, the tip of hand-held locater can be changed by replacing different pyramidal structures
Length and shape adapt to different working environments to reach.
In addition, further include usb 1 on the hand-held locater 103, for hand-held locater carry out USB chargings and
Transmit data.
LED light 2 on the hand-held locater 103 is used to indicate the state of hand-held locater 103, including connecting shape
State matches state, electricity/charged state etc..
Infrared laser scanning is applied to the teaching of robot by industrial robot teaching system provided in an embodiment of the present invention
System, easy to operate, installation and deployment are convenient, simple for the training of operating personnel, while compare traditional robot demonstrator,
Reduce the cumbersome operation of robot path planning, significantly reduce time cost.
Optionally, the hand-held locater further includes four buttons and a cocking mechanism, wherein, four buttons point
It is not switch button, operating mode switching push button, calibration button and robot start and stop switching push button, the cocking mechanism is used to show
Teach the Sample point collection of point.
On the basis of above-described embodiment, four buttons and a cocking mechanism are also included on the hand-held locater 103.
The cocking mechanism 7 is used for the Sample point collection of taught point.The button include a switch button 3, a switching push button 4, one
A coordinate system demarcates button 5, a robot start and stop switching push button 6.The switch button 3 is used to open and close hander,
The switching push button 4 is used to switch different operating modes.The coordinate system calibration button 5 is for calibration industrial robot manually
The user coordinate system of mechanical arm.The robot start and stop switching push button 6 starts and stops teaching for remote control robot.
Infrared laser scanning is applied to the teaching of robot by industrial robot teaching system provided in an embodiment of the present invention
System, easy to operate, installation and deployment are convenient, simple for the training of operating personnel, while compare traditional robot demonstrator,
Reduce the cumbersome operation of robot path planning, significantly reduce time cost.
Optionally, the hand-held locater further includes vibrational feedback module, and the vibrational feedback module is used for when the hand
It is unreasonable or during more than threshold value to hold data that the central processing module of locator receives, starts the vibrational feedback module, shakes
Dynamic electric motor starting, sends out prompting message.
On the basis of above-described embodiment, for the hand-held locater 103 also comprising a vibrational feedback module 8, it is fixed to hold
The central processing module of position device 103 can receive the signal from data processing server 101, when data processing server is thought
The data are unreasonable or during more than acceptable threshold range, then hand-held locater 103 is notified to activate its vibrational feedback module 8,
Vibrating motor can then start, and prompting message is sent out to operator.
Optionally, the shell of the first part of the hand-held locater is molded by double-material injection-molding, is infrared impermeable finish
Material, on second part shell on circular hole is distributed with, be molded by infrared transparent material, and inside the hand-held locater circular hole
It is each that there are one infrared photosensitive sensors.
On the basis of above-described embodiment, the hand-held locater 103 is molded by double-material injection-molding, is infrared impermeable finish
Material, on second part shell on 32 circular holes are distributed with, be molded by infrared transparent material, be hand-held locater infrared transparent
Double-deck placing structure 2-10：I.e. the shell of first part uses infrared light-proof material, and shade object, that is, second part shell uses
Infrared transparent material, two kinds of materials are by secondary injection molding, and intersection is 70 degree of slopes so that the sense of infrared photosensitive sensor
Light maximum area.
In order to further improve positioning accuracy, refraction problems of the infrared light transmission shade object to infrared laser have been fully considered,
This problem is since infrared sensor is opposite unknown with the angle of Infrared laser emission base station 102, it is difficult to carry out school by algorithm
Standard so by the way that diffuse-reflective material refraction problems is selected utmostly to weaken, additionally by structure design, makes as much as possible
Close to the infrared light transmission shade object, further reduction measure inaccurate caused during the assembling of infrared photosensitive sensor 9
Error.
In invention the present embodiment, in order to further improve positioning accuracy, to the final rigging position of infrared sensor and
Angle is calibrated, which is realized by software, i.e., is laid out as with reference to being worth using known Sensor Design, really sensed
Device is activated time and position as measured value, and continuous iterated revision finally obtains accurate sensor placement and stores,
The exact position of sensor is also highly important for positioning accuracy, and the sensor placement obtained by software simulation adjustment has essence
True coordinate, but the generation of error can be caused after manual assembly, due to the uncertainty of error, each hand-held locater 103
Calibration procedure will be carried out to ensure to realize best accuracy.
Optionally, the Infrared laser emission base station is specially that two high-speed rotating electrodes drive infrared laser light source rotation
Turn, uniform scanning is by located space.
In embodiments of the present invention, specifically, the Infrared laser emission base station 102 is by two high-speed rotating motor bands
Dynamic infrared laser light source rotation, it is evenly inswept entirely by located space, meanwhile, on the Infrared laser emission base station 102 also
There is one group of stroboscopic synchronous infrared lamp array, for the timing node that laser scanning is marked to start.
Optionally, the vision positioning planning subsystem further includes calibration object 104, wireless data receiver 105 and exchanges
Machine 106, wherein：
The calibration object 104 is used to carry out the coordinate system of the coordinate system data of the robot and the hand-held locater
It is unified；
The wireless data receiver 105 is matched with the hand-held locater, for receiving the hand-held locater
That passes back is the location information of data processing server, while receives the data processing server and be sent to the hand-held positioning
The operational order of device, and described instruction is sent to the hand-held locater；
The interchanger 106 is LAN switch, for the data processing server and the mechanical arm to be controlled
Industrial personal computer in subsystem is in the same network segment, mutually by ICP/IP protocol exchanging network data packet, achievees the purpose that communication.
On the basis of above-described embodiment, the vision positioning planning subsystem further includes calibration object 104, wireless data connects
Device 105 and interchanger 106 are received, wherein,
Fig. 4 is the structure diagram of calibration object provided in an embodiment of the present invention, as shown in figure 4,104 essence of calibration object
On be an object that may be positioning, be fixed on one piece with standard size (300mm*400mm) high-precision processing standard size position
Steel plate 17 has 4~6 positioning round orifice 18 on the standard size fixing steel plate 17, represents robot system user coordinate system respectively
Origin, the point on point and y-axis in x-axis.The coordinate origin and change in coordinate axis direction of the infrared laser alignment system are by infrared
Laser emission base station determines that the coordinate origin and reference axis are referred to as system tool coordinate system, the coordinate system and industrial machine
The tool coordinates system and disunity of device people, since the tool coordinates system of industrial robot is usually located at the center of robot base,
So need a set of unified coordinate system expression way.The effect of the calibration object 104 is exactly for unified coordinate system.
Specifically, calibration 104 surface layout of object has 32 the infrared photosensitive sensors 14 of calibration objects, the calibration objects infrared
Bright bilayer placing structure 15, calibration object USB data interface 12, calibration object LED indication 13, by sensing Infrared laser emission base station
The infrared laser real-time resolving three dimensions of itself in position and posture, positioning round orifice on bid earnest 104 in prediction on such basis
18 space coordinate.
In the present embodiment of the present invention, its space coordinate vector of positioning round orifice 18 on the calibration object 104：D=D0+Δ
D·q0, wherein D0For the three-dimensional space position that calibration object exports under laser indoor positioning system tool coordinate system, Δ D is used
Property coordinate system subscript earnest 104 on object that may be positioning coordinate origin to the space three-dimensional vector of positioning round orifice 18, q0For calibration
The current attitude quaternion of object 104.
Arbitrary three not conllinear positioning round orifice 18 can determine a three-dimensional system of coordinate on the calibration object 104, at this
It is left-handed coordinate system preferably by coordinate system, it is determined that third axis can automatically determine after two axis in inventive embodiments.
After the three-dimensional system of coordinate is established, industrial machinery arm 30 need to be controlled to be moved to corresponding three positioning round orifice and obtained
And space coordinate and posture of the mechanical arm under the current tool coordinates system of itself are recorded, calculate corresponding coordinate system conversion
Parameter, similarly, the calibration object 104 also should be by being calculated conversion of itself laser coordinate system to the user coordinate system
Parameter, with this so that the coordinate system of mechanical arm and hand-held locater is unified.
Coordinate of the hand-held locater 103 in infrared laser space coordinates is transformed by machine by following formula
Coordinate under device people's user coordinate system：
(x ', y ', z ', 1)=(x, y, z, 1) T (- x0,-y0,-z0)·R
Wherein, x ', y ', z ' be space coordinate of the hand-held locater 103 under robotic user coordinate system, x, y, z
For space coordinate of the hand-held locater 103 in infrared laser space coordinates, T (- x0,-y0,-z0) empty for infrared laser
Between coordinate origin to the translation matrix of robotic user coordinate origin, R is coordinate rotation construct using unit coordinate vector
Torque battle array：
Wherein, u 'x,u′y,u′zUnit vector for robotic user coordinate system.
Coordinate of the hand-held locater 103 in infrared laser space coordinates is transformed by machine by following formula
Attitude matrix under device people's user coordinate system：
Wherein,For the attitude matrix of hand-held locater 103 under infrared laser space coordinates,For machine
The attitude matrix of hand-held locater 103 under device people's user coordinate system, then quaternary number is further converted by the attitude matrix.
The calibration object 104 realizes that robotic user coordinate system is with infrared laser positioning in addition to being used to convert coordinate system
It unites except the unification of coordinate system, is to increase the stability and reliability of alignment system there are one important role.
Due to the limitation in infrared laser scanning theory so that absolute precision when alignment system initializes every time is not high,
The operation of the initialization can be caused to include but not limited to restart Infrared laser emission base station 102,103 power shortage of hand-held locater
After restart, hand-held locater 103 is shielded to be positioned, i.e., initial infrared laser space after system initializes twice
Coordinate system is different, if not introducing another object that may be positioning, can cause every time it is abnormal occur after accuracy decline ask
Topic.
The calibration object 104 acts as this deadman, and the calibration object 104 passes through USB and data processing server 101
It is communicated and is powered, and be physically held on calibration steel plate, steel plate is fixed on above the operation babinet of whole system, works as hand
It holds locator 103 or infrared locating base station 102 is abnormal after restarting, since the space absolute position of calibration object 104 is constant,
So the infrared laser coordinate system changed can be calibrated and be demarcated by its position, entire alignment system is improved with this
Stability and reliability.
Optionally, the calibration object includes a warehouse, for placing fixed Mn-Zn magnet rings, USB data line ring-wound
A choke coil is formed on Mn-Zn magnet rings, significantly reduces the interference of medium-high frequency electromagnetic signal.
On the basis of above-described embodiment, the driver of high-power industrial robot or motor generate electromagnetism in order to prevent
Wave generates electromagnetic interference to the calibration object 104, and specifically, the calibration object includes a warehouse, for placing fixed Mn-Zn
Magnet ring 16, USB data line ring-wound form a choke coil on Mn-Zn magnet rings 16, significantly reduce medium-high frequency electromagnetism
The interference of signal.
Since coordinate system conversion can introduce inevitable systematic error, and if determine in the calibration object 104
Assembling between position object and standard size fixing steel plate 17, which generates error or surface of steel plate mismachining tolerance, leads to positioning round orifice
Error is generated between 18, then user coordinate system can generate offset, this offset can with increasing with the distance between scaling board and
Constantly accumulation.
In embodiments of the present invention, according to measuring and calculating, if processing and assembling result in the error of 1mm, entirely may be used
The spatial position calculated can then be caused to generate the error of 6-8mm in located space, this is unacceptable, in order to reduce coordinate
Error caused by system's conversion, calibration steel plate is using Precision Machining, and mismachining tolerance is not higher than 0.02mm, while assembled portion utilizes knot
Structure design limiting or a series of means such as reinforcement position cause error equally to control in 0.02mm or so, last object that may be positioning into
The accurate calibration of row is then assembled to together, and last overall processing and assembly error reach 0.1mm hereinafter, entirely can located space
In due to coordinate transfer zone come error can be controlled in below 1mm.
For method compared to artificial traction teaching, described in the teaching system of industrial robot provided by the invention
Vision positioning planning system application range is wider, can be used for various powerful robots, is not only limited to small-sized desktop
Robot.What is more important, this set system are totally independent of other robot controlling sections but and have very strong compatibility
Property, it can be that the robot being on active service carries out modular upgrading, reduce cost of labor.
Fig. 5 is the flow diagram of industrial robot teaching method provided in an embodiment of the present invention, as shown in figure 5, described
Method includes：
S501, plan that the hand-held locater in subsystem obtains the space number of the hand-held locater by vision positioning
According to, wherein, the spatial data is that the hand-held locater is obtained based on infrared laser Scan orientation；
S502, plan data processing server in subsystem according to the advance path planned to institute by vision positioning
It states spatial data to be handled, obtains meeting the advance pathway requirements planned treated data；
S503, the teaching that will include treated the data and advance path plan instruct and are sent to machine
Tool arm automation control subsystem, so that the mechanical arm automation control subsystem controls industrial machinery arm according to described instruction
Carry out teaching.
The teaching system of industrial robot based on above-mentioned offer, it is as follows to the method for industrial robot teaching；It adopts first
Spatial data is obtained with hand-held locater according to the path planned in advance, then, spatial data is handled, determines hand
The spatial position being positioned to and posture are held, the instruction for including the spatial position and posture is being transmitted to mechanical arm automation control
Subsystem, so that the mechanical arm automation control subsystem controls industrial robot to carry out teaching according to described instruction.
In practical operating process, user can use hand-held locater according to the preset path that will have been planned in advance
The gathered data at collection point in space, and by the data transmission data processing server of acquisition, by data processing server
Processing after, by the industrial personal computer of treated data are sent to mechanical arm automation control subsystem, industrial personal computer receive described in regard
Feel the data that the data processing server in positioning subsystem is sent, and according to the instruction control in the path planned in advance
Robot controls driver robot to be driven to reproduce the path of teaching.
In specific implementation process, the advance path planned can be a variety of paths, and mould is planned comprising single-point
Formula, straight line Planning Model, multi-section-line Planning Model and circular arc Planning Model.
When the track of robotic manipulator teaching is for simple straight line and when starting and terminating point can be confirmed, single-point can be used
Sampling configuration carries out starting and terminating point sample record respectively, and server is transmitted to robotic manipulator control eventually by automatic
End carries out teaching path planning to it.
It, can be with straight line pattern to three when the track of robotic manipulator teaching is for simple straight line but when needing multiple spot operation
Straight line track in dimension space carries out sample record, and server is by the data of each point and transmission on automatic Fitting space line
Teaching path planning is carried out to it to robotic manipulator control terminal.
When the track of robotic manipulator teaching is circular arc, circular arc sampling configuration can be used to a circular arc in space
Track carries out sample record, and server is by automatic Fitting space circular arc data and is transmitted to robotic manipulator control automatically eventually
End carries out teaching path planning to it.
When the track of robotic manipulator teaching is complex is not single straight line or circular arc, multi-section-line can be used
Sampling configuration carries out the track in space sample record, and server is simultaneously high by the spatial position on all tracks and posture record
Speed is transmitted to robotic manipulator control terminal and carries out teaching path planning to it.
Infrared laser scanning is applied to the teaching of robot by industrial robot teaching method provided in an embodiment of the present invention
System, easy to operate, installation and deployment are convenient, simple for the training of operating personnel, while compare traditional robot demonstrator,
Reduce the cumbersome operation of robot path planning, significantly reduce time cost.
For method compared to artificial traction teaching, institute in industrial robot teaching method provided in an embodiment of the present invention
The vision positioning planning system application range stated is wider, can be used for various powerful robots, is not only limited to small-sized
Desktop machine people.What is more important, this set system are totally independent of other robot controlling sections but and have very strong
Compatibility can be that the robot being on active service carries out modular upgrading, reduce cost of labor.
Above example is merely to illustrate technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example modifies or carries out equivalent replacement to which part technical characteristic；And these are changed or replace
It changes, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of industrial robot teaching system, which is characterized in that the system comprises：Vision positioning planning subsystem, machinery
Arm automation control subsystem and industrial machinery arm, wherein：
The vision positioning subsystem includes at least hand-held locater, data processing server and Infrared laser emission base station,
In, the hand-held locater is used to acquire spatial data, and the spatial data is sent to the data processing server；Institute
State data processing server for according to the advance pathway requirements planned to the spatial data that the hand-held locater acquires into
Row processing obtains meeting data after the processing of the advance pathway requirements planned, and will include data after the processing
And the teaching instruction in the advance path planned is sent to the mechanical arm automation control subsystem；The infrared laser
Transmitting base station is used for infrared laser Scan orientation；
The mechanical arm automation control subsystem receives the instruction of the teaching that the vision positioning planning subsystem is sent,
And the industrial machinery arm is controlled to carry out teaching according to described instruction.
2. system according to claim 1, which is characterized in that the hand-held locater includes at least infrared photosensitive sensing
Device, central processing module and wireless communication module, wherein：
The infrared photosensitive sensor is used to receive the data of infrared laser that the Infrared laser emission base station is sent out；
The central processing module is used to carry out real time parsing to the data that the infrared photosensitive sensor receives, and determines the hand
Hold the real-time posture of locator and spatial position；
The wireless communication module is used to the real-time posture of the hand-held locater and spatial position being transmitted.
3. system according to claim 1, which is characterized in that the hand-held locater further includes one detachably alternatively
The pyramidal structure of formula according to different working environments, changes the point of the hand-held locater by replacing different pyramidal structures
Hold length and shape.
4. system according to claim 1, which is characterized in that the hand-held locater further includes four buttons and one is pulled
Machine mechanism, wherein, four buttons are switch button, operating mode switching push button, calibration button and robot start and stop respectively
Switching push button, the cocking mechanism are used for the Sample point collection of taught point.
5. system according to claim 1, which is characterized in that the hand-held locater further includes vibrational feedback module, institute
State vibrational feedback module for when the hand-held locater central processing module reception data it is unreasonable or more than threshold value
When, start the vibrational feedback module, vibrating motor starts, and sends out prompting message.
6. system according to claim 1, which is characterized in that the shell of the first part of the hand-held locater passes through double
Expect injection molding, be infrared light-proof material, circular hole is distributed on second part shell, is molded by infrared transparent material,
And respectively there are one infrared photosensitive sensors inside the hand-held locater circular hole.
7. system according to claim 1, which is characterized in that the Infrared laser emission base station is specially two and revolves at a high speed
The electrode turned drives infrared laser light source rotation, and uniform scanning is by located space.
8. system according to claim 1, which is characterized in that vision positioning planning subsystem further include calibration object,
Wireless data receiver and interchanger, wherein：
The calibration object is used to the coordinate system of the coordinate system data of the robot and the hand-held locater carrying out unification；
The wireless data receiver is matched with the hand-held locater, is for receive that the hand-held locater passes back
The location information of data processing server, while receive the operation that the data processing server is sent to the hand-held locater
Instruction, and described instruction is sent to the hand-held locater；
The interchanger is LAN switch, for will be in the data processing server and the mechanical arm control subsystem
Industrial personal computer be in the same network segment, mutually by ICP/IP protocol exchanging network data packet, achieve the purpose that communication.
9. system according to claim 8, which is characterized in that the calibration object includes a warehouse, for placing fixation
Mn-Zn magnet rings, USB data line ring-wound form a choke coil on Mn-Zn magnet rings.
10. a kind of industrial robot teaching method based on the claims 1-9 any one of them systems, feature exist
In, the method includes：
Plan that the hand-held locater in subsystem obtains the spatial data of the hand-held locater by vision positioning, wherein, institute
It is that the hand-held locater is obtained based on infrared laser Scan orientation to state spatial data；
By the data processing server in vision positioning planning subsystem according to the path planned in advance to the space number
According to being handled, obtain meeting the advance pathway requirements planned treated data；
Data that treated described in including and teaching instruction are sent to mechanical arm automation control subsystem, so that institute
State mechanical arm automation control subsystem controls industrial machinery arm to carry out teaching according to described instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810234948.1A CN108214495A (en) | 2018-03-21 | 2018-03-21 | A kind of industrial robot teaching system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810234948.1A CN108214495A (en) | 2018-03-21 | 2018-03-21 | A kind of industrial robot teaching system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108214495A true CN108214495A (en) | 2018-06-29 |
Family
ID=62659800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810234948.1A Pending CN108214495A (en) | 2018-03-21 | 2018-03-21 | A kind of industrial robot teaching system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108214495A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079787A (en) * | 2018-08-20 | 2018-12-25 | 上海嘉奥信息科技发展有限公司 | The automatic hand and eye calibrating method of non-rigid robot neural network based |
| CN109128840A (en) * | 2018-07-09 | 2019-01-04 | 佛山市科莱机器人有限公司 | Shell machining benchmark localization method, remaining side cutting method and processing method of through holes |
| CN110039523A (en) * | 2019-05-20 | 2019-07-23 | 北京无远弗届科技有限公司 | A kind of industrial robot vision's servo-system, servo method and device |
| CN110076781A (en) * | 2019-06-04 | 2019-08-02 | 卢相超 | A kind of numerical control pen and numerical control path guiding system |
| CN110116116A (en) * | 2019-05-14 | 2019-08-13 | 中国地质大学（武汉） | Robotic laser cleaning path planning system based on computer vision and method |
| CN110170996A (en) * | 2019-05-09 | 2019-08-27 | 广西安博特智能科技有限公司 | A kind of quick teaching system of robot based on stereoscopic vision |
| CN110480306A (en) * | 2019-07-09 | 2019-11-22 | 金榀精密工业(苏州)有限公司 | Intelligent locating formula intelligent casting component assembly method |
| CN110605720A (en) * | 2019-10-18 | 2019-12-24 | 扬州工业职业技术学院 | Industrial robot vision system and teaching method thereof |
| CN110640738A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform of developments seizure |
| CN110640742A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform of multi-mode control |
| CN110666803A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Grabbing industrial robot for RF center positioning workpiece |
| CN110900609A (en) * | 2019-12-11 | 2020-03-24 | 浙江钱江机器人有限公司 | Robot teaching device and method thereof |
| CN110919626A (en) * | 2019-05-16 | 2020-03-27 | 广西大学 | Robot handheld teaching device and method based on stereoscopic vision |
| CN110948467A (en) * | 2019-05-16 | 2020-04-03 | 广西大学 | Handheld teaching device and method based on stereoscopic vision |
| CN111347431A (en) * | 2020-04-16 | 2020-06-30 | 广东工业大学 | Robot teaching spraying method and device for teaching handheld tool |
| CN111360789A (en) * | 2020-03-23 | 2020-07-03 | 广东美的白色家电技术创新中心有限公司 | Workpiece processing teaching method, control method and robot teaching system |
| CN111843997A (en) * | 2020-07-29 | 2020-10-30 | 上海大学 | Handheld general teaching system for mechanical arm and operation method thereof |
| CN112706168A (en) * | 2021-01-07 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Motion trail generation method and device for mechanical arm |
| CN112847300A (en) * | 2020-12-19 | 2021-05-28 | 北京工业大学 | Teaching system based on mobile industrial robot demonstrator and teaching method thereof |
| CN113119077A (en) * | 2021-04-30 | 2021-07-16 | 哈尔滨工业大学 | Industrial robot handheld teaching device and teaching method |
| CN113580108A (en) * | 2021-08-08 | 2021-11-02 | 苏州明图智能科技有限公司 | Robot-assisted teaching system based on optical tracking |
| CN113752236A (en) * | 2021-01-05 | 2021-12-07 | 北京京东乾石科技有限公司 | Mechanical arm teaching device, calibration rod and method |
| US11648667B2 (en) | 2019-11-21 | 2023-05-16 | Industrial Technology Research Institute | Processing path generating device and method thereof |
| CN117260776A (en) * | 2023-09-28 | 2023-12-22 | 北京小雨智造科技有限公司 | Man-machine interaction method and device applied to robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835073A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Novel teaching device of industrial robot |
| CN106113050A (en) * | 2016-07-05 | 2016-11-16 | 昆山华恒机器人有限公司 | The teaching method of industrial robot, control method and device, system |
| CN107363813A (en) * | 2017-08-17 | 2017-11-21 | 北京航空航天大学 | A kind of desktop industrial robot teaching system and method based on wearable device |
| CN107598977A (en) * | 2017-09-20 | 2018-01-19 | 深圳市策维科技有限公司 | A kind of method and system that the automatic teaching of robot is realized using vision and laser range finder |
-
2018
- 2018-03-21 CN CN201810234948.1A patent/CN108214495A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835073A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Novel teaching device of industrial robot |
| CN106113050A (en) * | 2016-07-05 | 2016-11-16 | 昆山华恒机器人有限公司 | The teaching method of industrial robot, control method and device, system |
| CN107363813A (en) * | 2017-08-17 | 2017-11-21 | 北京航空航天大学 | A kind of desktop industrial robot teaching system and method based on wearable device |
| CN107598977A (en) * | 2017-09-20 | 2018-01-19 | 深圳市策维科技有限公司 | A kind of method and system that the automatic teaching of robot is realized using vision and laser range finder |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128840A (en) * | 2018-07-09 | 2019-01-04 | 佛山市科莱机器人有限公司 | Shell machining benchmark localization method, remaining side cutting method and processing method of through holes |
| CN109128840B (en) * | 2018-07-09 | 2020-05-22 | 佛山市科莱机器人有限公司 | Shell machining reference positioning method, residual edge cutting method and through hole machining method |
| CN109079787B (en) * | 2018-08-20 | 2020-10-16 | 上海嘉奥信息科技发展有限公司 | Non-rigid robot automatic hand-eye calibration method based on neural network |
| CN109079787A (en) * | 2018-08-20 | 2018-12-25 | 上海嘉奥信息科技发展有限公司 | The automatic hand and eye calibrating method of non-rigid robot neural network based |
| CN110640742A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform of multi-mode control |
| CN110666803A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Grabbing industrial robot for RF center positioning workpiece |
| CN110640738A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform of developments seizure |
| CN110170996B (en) * | 2019-05-09 | 2022-08-19 | 广西安博特智能科技有限公司 | Robot rapid teaching system based on stereoscopic vision |
| CN110170996A (en) * | 2019-05-09 | 2019-08-27 | 广西安博特智能科技有限公司 | A kind of quick teaching system of robot based on stereoscopic vision |
| CN110116116A (en) * | 2019-05-14 | 2019-08-13 | 中国地质大学（武汉） | Robotic laser cleaning path planning system based on computer vision and method |
| CN110919626B (en) * | 2019-05-16 | 2023-03-14 | 广西大学 | Robot handheld teaching device and method based on stereoscopic vision |
| CN110919626A (en) * | 2019-05-16 | 2020-03-27 | 广西大学 | Robot handheld teaching device and method based on stereoscopic vision |
| CN110948467A (en) * | 2019-05-16 | 2020-04-03 | 广西大学 | Handheld teaching device and method based on stereoscopic vision |
| CN110039523A (en) * | 2019-05-20 | 2019-07-23 | 北京无远弗届科技有限公司 | A kind of industrial robot vision's servo-system, servo method and device |
| CN110076781A (en) * | 2019-06-04 | 2019-08-02 | 卢相超 | A kind of numerical control pen and numerical control path guiding system |
| CN110480306A (en) * | 2019-07-09 | 2019-11-22 | 金榀精密工业(苏州)有限公司 | Intelligent locating formula intelligent casting component assembly method |
| CN110605720A (en) * | 2019-10-18 | 2019-12-24 | 扬州工业职业技术学院 | Industrial robot vision system and teaching method thereof |
| US11648667B2 (en) | 2019-11-21 | 2023-05-16 | Industrial Technology Research Institute | Processing path generating device and method thereof |
| CN110900609A (en) * | 2019-12-11 | 2020-03-24 | 浙江钱江机器人有限公司 | Robot teaching device and method thereof |
| CN111360789A (en) * | 2020-03-23 | 2020-07-03 | 广东美的白色家电技术创新中心有限公司 | Workpiece processing teaching method, control method and robot teaching system |
| CN111347431A (en) * | 2020-04-16 | 2020-06-30 | 广东工业大学 | Robot teaching spraying method and device for teaching handheld tool |
| CN111843997A (en) * | 2020-07-29 | 2020-10-30 | 上海大学 | Handheld general teaching system for mechanical arm and operation method thereof |
| CN112847300A (en) * | 2020-12-19 | 2021-05-28 | 北京工业大学 | Teaching system based on mobile industrial robot demonstrator and teaching method thereof |
| CN113752236A (en) * | 2021-01-05 | 2021-12-07 | 北京京东乾石科技有限公司 | Mechanical arm teaching device, calibration rod and method |
| CN112706168A (en) * | 2021-01-07 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Motion trail generation method and device for mechanical arm |
| CN113119077A (en) * | 2021-04-30 | 2021-07-16 | 哈尔滨工业大学 | Industrial robot handheld teaching device and teaching method |
| CN113580108A (en) * | 2021-08-08 | 2021-11-02 | 苏州明图智能科技有限公司 | Robot-assisted teaching system based on optical tracking |
| CN117260776A (en) * | 2023-09-28 | 2023-12-22 | 北京小雨智造科技有限公司 | Man-machine interaction method and device applied to robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108214495A (en) | A kind of industrial robot teaching system and method | |
| CN110919626B (en) | Robot handheld teaching device and method based on stereoscopic vision | |
| US10717187B2 (en) | Desktop robotic arm with interchangeable end effectors | |
| CN109352658B (en) | Industrial robot positioning control method, system and computer readable storage medium | |
| US8412379B2 (en) | Robot system | |
| US20170348858A1 (en) | Multiaxial motion control device and method, in particular control device and method for a robot arm | |
| CN111958594B (en) | Semantic intelligent substation inspection operation robot system and method | |
| US20220063098A1 (en) | Remote robotic welding with a handheld controller | |
| CN110171009B (en) | Robot handheld teaching device based on stereoscopic vision | |
| CN109129492A (en) | A kind of industrial robot platform that dynamic captures | |
| CN108908363B (en) | Wireless dragging demonstrator system for spraying robot and active demonstration method thereof | |
| CN113246142B (en) | Measuring path planning method based on laser guidance | |
| CN206253303U (en) | A kind of dispenser system with dual camera | |
| CN110170996B (en) | Robot rapid teaching system based on stereoscopic vision | |
| CN110977373A (en) | Robot is with terminal actuating mechanism of eye power coordinated control | |
| JP2011104759A (en) | Teaching auxiliary tool for robot control system, teaching method using the teaching auxiliary tool, and robot control system performing teaching by the teaching method | |
| CN111432991B (en) | Robot system and method for manufacturing article using the same | |
| CN114868093A (en) | Handheld device, system and method for training at least one movement and at least one activity of a machine | |
| CN205343173U (en) | Trick coordinate system calibration device of robot | |
| DE102019134794B4 (en) | Hand-held device for training at least one movement and at least one activity of a machine, system and method. | |
| CN113119077A (en) | Industrial robot handheld teaching device and teaching method | |
| CN111360789B (en) | Workpiece processing teaching method, control method and robot teaching system | |
| CN207807706U (en) | Intelligent mobile robot with fast replacing device | |
| CN108214482A (en) | Contactless gesture introduction robot | |
| CN117863149A (en) | Teaching tool, teaching system and mechanical arm 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 |