CN108527405A - A kind of cooperation robot guiding teaching system - Google Patents
A kind of cooperation robot guiding teaching system Download PDFInfo
- Publication number
- CN108527405A CN108527405A CN201810278220.9A CN201810278220A CN108527405A CN 108527405 A CN108527405 A CN 108527405A CN 201810278220 A CN201810278220 A CN 201810278220A CN 108527405 A CN108527405 A CN 108527405A
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- CN
- China
- Prior art keywords
- robot
- mouse
- connector
- computer
- control system
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention discloses a kind of cooperation robots to guide teaching system, including rack, rack is fixedly connected with robot base, the end flange of end effector and robot is fixedly linked, the wireless receiver of 3D mouse is connect with computer, and the computer is connect with robot control system, and the robot control system is connected with each joint motor of robot, end effector is fixedly linked with the first connector, and the first connector is connected by the end flange of fixing piece and robot.Implementation using this system is that the power in the different size and direction applied on 3D mouse cap and torque signals are sent to computer, the Data Concurrent that computer disposal 3D mouse is sent gives robot control system, it is acted according to the intention of operator to control robot, realizes the guiding to robot.The guiding teaching system of the present invention can make that robot teaching process is easier to operate, cost is lower, versatility is stronger, and remote control operation.
Description
Technical field
The present invention relates to robot teaching system, more particularly to a kind of cooperation robot guides teaching system.
Background technology
Currently, robot field enters the golden period of development of cooperation robot.For the safety standard of specification man-machine collaboration,
International Organization for standardization has updated ISO10218 international standards, has formulated ISO TS15066 technical specifications.This standard is to the machine that cooperates
Device people's operation proposes four requirements, and one of which is exactly --- and Hand Guiding drag teaching or guiding teaching.It can
See that guiding teaching technology has become the function of cooperation robot indispensability.
Guiding teaching technology makes one to carry out human-computer interaction in the same space with robot, and operator can be more directly
The intention of oneself is passed into robot, and robot is made to be rapidly achieved designated position, to complete task, is increased substantially
Production efficiency especially has advantage outstanding in terms of realizing complicated track.
" a kind of intelligent robot dragging teaching system " disclosed in patent CN206254183U is proposed six-dimension force sensor
One end connects robot end's flange, and the other end connects Drag tool, to realize dragging teaching.Although can realize so simple
Dragging, but this mounting means greatly limits the geomery of end effector, and sextuple sensor cannot be removed after dragging,
Poor practicability, it is of high cost；It is fettered, cannot be dragged at a distance by sextuple pickup wire.
" a kind of quick teaching apparatus of industrial robot and its implementation " disclosed in patent CN106826769A passes through company
Six-dimension force sensor is mounted on flange by fitting, can fast quick-detach 6 DOF sensor, but equally because using six-dimensional force to sense
Device and additional equipment, make cost greatly increase, and cannot have distance to guide；And need gravity compensation, power the links such as conversion,
Realization process is relatively complicated.
" a kind of industrial robot dragging teaching of non-moment sensor " disclosed in patent CN107097233A passes through power
Model and external force algorithm for estimating, overcome gravity and frictional force, so that robot is in zero-force control state, to be convenient for type manual tractor
Device people moves.This mode do not increase additional cost, it can be achieved that robot freely dragging, but need very high permission exploitation
Robot controller, poor universality.
Invention content
The purpose of the present invention is to overcome the disadvantages of the prior art, provide it is a kind of it is easy to operate, at low cost, practicability is good, logical
Teaching system is guided with strong, the remote-controlled cooperation robot of property.
The technical scheme is that：
A kind of cooperation robot guiding teaching system, including rack, the rack are fixedly connected with robot base, end
The end flange of end actuator and robot is fixedly linked, and the wireless receiver of 3D mouse is connect with computer, the calculating
Machine is connect with robot control system by cable, and each joint motor of the robot control system and robot passes through electricity
Cable is connected, and end effector is fixedly linked with the first connector, and first connector passes through fixing piece and robot
End flange is connected, and operator is applied to the power and power of different size and direction on 3D mouse cap by the 3D mouse
Square signal is sent to computer, and the Data Concurrent that the computer disposal 3D mouse is sent gives robot control system,
It is acted according to the intention of operator to control robot, realizes the guiding to robot.
The beneficial effects of the present invention are：The guiding teaching system of the present invention manipulates 3D mouse can guided robot
Action, does not need special knowledge, threshold is low, easy to operate；Expensive torque sensor is replaced using 3D mouse, is eliminated
Equipment, the costs such as the mating data conversion of torque sensor substantially reduce；3D mouse can quickly be torn open after guiding teaching
It unloads, does not influence to reappear effect, teaching can be carried out to other robot, and the mounting means of 3D mouse can be easily with end
It holds actuator mounting means and changes, it is highly practical；Realization process need not be very high robot control authority, be suitable for most
Number articulated robot, it is versatile；3D mouse is wirelessly connected on computer, has broken away from the constraint of cable, can
To realize the long-range vectoring to robot.
Description of the drawings
Fig. 1 is a kind of hardware connection diagram of cooperation robot guiding teaching system of the present invention；
Fig. 2 is the structural schematic diagram of the second connector in system shown in FIG. 1；
Fig. 3 is the 3D mouse component and coordinate system schematic diagram that the present invention uses；
Fig. 4, Fig. 5 and Fig. 6 are three kinds of connection diagrams of the end hardware for the robot that the present invention uses respectively.
Specific implementation mode
The present invention will be described in detail with specific installment work mode below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of cooperation robot guides teaching system, including rack 1, the rack 1 and 2 bottom of robot
Seat is fixedly connected, and end effector 7 and the end flange 3 of robot 2 are fixedly linked.The wireless receiver 11 of 3D mouse 4 with
Computer 10 connects, and the computer 10 connect with robot control system 8 by cable, the robot control system 8 and
Each joint motor of robot 2 is connected by cable.End effector 7 is fixedly linked with the first connector 6, the first connection
Part 6 by fixing piece (such as：Screw) it is connected with the end flange 3 of robot 2.Operator is applied to by the 3D mouse 4
The power and torque signals of different size and direction on 3D mouse cap 43 are sent to computer 10, and computer 10 handles three-dimensional
The Data Concurrent that mouse 4 is sent gives robot control system 8, to control robot 2 according to the intention of operator into action
Make, realizes the guiding to robot.According to need of work determine end effector 7 axis whether the terminal shaft with robot 2
Line overlaps, as shown in Figure 5 to Figure 6.
Existing KEBA control systems may be used in robot control system 8.End effector 7 may be used existing
Sucker, clamping jaw, spray gun, welding gun etc..
Robot 2 can be existing cooperation robot (more referring to six articulated robots), can also be traditional industry machine
People.
4 market of 3D mouse is bought, and 3D mouse 4 is communicated with 10 wireless type of computer, has broken away from the beam of data line
It ties up.
As shown in Fig. 2, as one embodiment of the present invention, the pedestal 41 of the 3D mouse 4 is fixed on second
In the intermediate groove 51 of connector 5.Second connector 5 is fixedly connected by screw with the first connector 6, and described three
Dimension mouse 4 can also be connected with the second connector 5 by the modes such as magnetic absorption, Nian Jie, preferably in second connector 5
Intermediate groove 51 in be provided with multiple installation grooves 52, be separately installed with flat thin magnet in each installation groove, described three
The pedestal 41 for tieing up mouse 4 is ferromagnetic material, and 3D mouse 4 is connect with the second connector 5 using magnetic absorption, and installation and dismantling are pacified
It unloads conveniently.
As another embodiment of the invention, 3D mouse 4 is detached from robot 2, can hold, can also be placed on table
On face, according to the range of receiving of the wireless receiver 11 of 3D mouse 4, it can be guided in the range of 10 meters.Make in this way
Remote-controlled robot 2 may be implemented in the system.
Use the teaching implementation of the present apparatus for：
(1) button 42 for clicking 3D mouse 4 is powered on to 2 joint motor of robot, and click keys 42 and button 44 select
The action reference coordinate system of robot 2.The action reference coordinate system of robot 2 includes joint coordinate system, cartesian coordinate system (packet
Containing world coordinate system, tool coordinates system and workpiece coordinate system, world coordinate system, tool coordinates system and workpiece coordinate system foundation side
Method is established according to existing method).This is by the six-freedom degree (X, Y, Z, Rx, Ry, Rz) of 3D mouse 4 and institute of robot
The action reference system of selection is mapped, and under joint coordinate system, the six-freedom degree of 3D mouse maps six joint machines successively
Device people axis one arrives the rotation of axis six；Under cartesian coordinate system, the six-freedom degree of 3D mouse is sequentially mapped to six joint machines
The six-freedom degree (X, Y, Z, Rx, Ry, Rz) of device people.Apply different size and side on the mouse cap 43 of 3D mouse 4 manually
To power (torque), numerical value is transmitted to computer 10 in real time, corresponding velocity amplitude is converted into after the processing of computer 10, is transferred to machine
Device people control system 8, control robot 2 carry out under selected action reference coordinate system, in corresponding direction, with corresponding speed
Action, to realize the guiding to robot 2.In bootup process, robot control system 8 is in real time by 2 each pass of robot
The information such as the position and speed of section, the pose of TCP, speed, acceleration are transmitted to the storage of computer 10.
(2) after to be guided, the upper computer software in computer 10 automatically generates robot motion programs, is transmitted to machine
People's control system 8 runs program, realizes reproduction.
(3) after guiding teaching, can fast the second connector of quick-detach 5 and 3D mouse 4, reduce 3D mouse 4
Loss, and do not influence robot 2 and reappear effect, teaching can also be guided to other robot.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The specific implementation mode stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of cooperation robot guides teaching system, it is characterised in that：Including rack, the rack is solid with robot base
The end flange of fixed connection, end effector and robot is fixedly linked, and the wireless receiver of 3D mouse is connect with computer,
The computer is connect with robot control system by cable, each joint electricity of the robot control system and robot
Machine is connected by cable, and end effector is fixedly linked with the first connector, first connector by fixing piece with
The end flange of robot is connected, and operator is applied to different size and direction on 3D mouse cap by the 3D mouse
Power and torque signals be sent to computer, the Data Concurrent that the computer disposal 3D mouse is sent gives robot control
System processed acts to control robot according to the intention of operator, realizes the guiding to robot.
2. cooperation robot according to claim 1 guides teaching system, it is characterised in that：The bottom of the 3D mouse
Seat is fixed in the intermediate groove of the second connector, and second connector is fixedly connected by screw with the first connector.
3. cooperation robot according to claim 2 guides teaching system, it is characterised in that：In second connector
Intermediate groove in be provided with multiple installation grooves, flat thin magnet, the three-dimensional mouse are separately installed in each installation groove
Target pedestal is ferromagnetic material, and 3D mouse is connect with the second connector using magnetic absorption.
4. cooperation robot according to claim 1 guides teaching system, it is characterised in that：The 3D mouse is detached from
Robot is operated on the table by holding or putting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810278220.9A CN108527405A (en) | 2018-03-30 | 2018-03-30 | A kind of cooperation robot guiding teaching system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810278220.9A CN108527405A (en) | 2018-03-30 | 2018-03-30 | A kind of cooperation robot guiding teaching system |
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| CN108527405A true CN108527405A (en) | 2018-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810278220.9A Pending CN108527405A (en) | 2018-03-30 | 2018-03-30 | A kind of cooperation robot guiding teaching system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109412933A (en) * | 2018-09-29 | 2019-03-01 | 苏州博众机器人有限公司 | A kind of robot and its information interacting method |
| CN112770874A (en) * | 2018-09-28 | 2021-05-07 | 库卡德国有限公司 | Robot-manual guiding apparatus |
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| CN101073511A (en) * | 2007-06-26 | 2007-11-21 | 北京航空航天大学 | Minimal access bone operating robot based on 3D mouse operation |
| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
| CN102959452A (en) * | 2010-08-06 | 2013-03-06 | 日本精工株式会社 | Manipulator system and method for manipulating microscopic object to be manipulated |
| DE102015117306A1 (en) * | 2015-10-12 | 2017-04-13 | Toolmotion GmbH | Multi-axis mouse for a multi-axis robot |
| CN106826769A (en) * | 2017-03-15 | 2017-06-13 | 福州大学 | A kind of quick teaching apparatus of industrial robot and its implementation |
| CN107081758A (en) * | 2017-05-25 | 2017-08-22 | 深圳市越疆科技有限公司 | Motion control method, microcontroller and the storage medium of mechanical arm |
| CN107214699A (en) * | 2017-05-25 | 2017-09-29 | 深圳市越疆科技有限公司 | Motion control method, microcontroller and the storage medium of mechanical arm |
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2018
- 2018-03-30 CN CN201810278220.9A patent/CN108527405A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101073511A (en) * | 2007-06-26 | 2007-11-21 | 北京航空航天大学 | Minimal access bone operating robot based on 3D mouse operation |
| CN102959452A (en) * | 2010-08-06 | 2013-03-06 | 日本精工株式会社 | Manipulator system and method for manipulating microscopic object to be manipulated |
| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
| DE102015117306A1 (en) * | 2015-10-12 | 2017-04-13 | Toolmotion GmbH | Multi-axis mouse for a multi-axis robot |
| CN106826769A (en) * | 2017-03-15 | 2017-06-13 | 福州大学 | A kind of quick teaching apparatus of industrial robot and its implementation |
| CN107081758A (en) * | 2017-05-25 | 2017-08-22 | 深圳市越疆科技有限公司 | Motion control method, microcontroller and the storage medium of mechanical arm |
| CN107214699A (en) * | 2017-05-25 | 2017-09-29 | 深圳市越疆科技有限公司 | Motion control method, microcontroller and the storage medium of mechanical arm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112770874A (en) * | 2018-09-28 | 2021-05-07 | 库卡德国有限公司 | Robot-manual guiding apparatus |
| CN112770874B (en) * | 2018-09-28 | 2024-03-08 | 库卡德国有限公司 | Robot-manual guiding device |
| CN109412933A (en) * | 2018-09-29 | 2019-03-01 | 苏州博众机器人有限公司 | A kind of robot and its information interacting method |
| CN109412933B (en) * | 2018-09-29 | 2021-04-20 | 苏州博众机器人有限公司 | Robot and information interaction method thereof |
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Application publication date: 20180914 |