CN109227524A - A kind of unpowered arm multi-joint profiling teaching robot and teaching method - Google Patents
A kind of unpowered arm multi-joint profiling teaching robot and teaching method Download PDFInfo
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- CN109227524A CN109227524A CN201811299499.5A CN201811299499A CN109227524A CN 109227524 A CN109227524 A CN 109227524A CN 201811299499 A CN201811299499 A CN 201811299499A CN 109227524 A CN109227524 A CN 109227524A
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- robot
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- unpowered
- encoder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
Abstract
The present invention provides a kind of unpowered arm multi-joint profiling teaching robot's teaching methods, it include: that unpowered arm is installed by S1, robot, by the unpowered arm of outer power drive, encoder is installed in the joint of power arm, the motion state of corresponding joint is recorded by encoder；S2, the data of each encoder are acquired, are handled, obtaining mass motion track data；S3, the compiling of running track program is carried out；S4, the program of compiling is imported into the robot of corresponding brand, and then realizes the function of teaching playback.Unpowered arm multi-joint profiling teaching robot of the present invention can be applied to need the occasion of complicated track teaching, can automatically generate robot program and track reproducing；Manipulation of the machine people method is simple, direct, and a line operator of absolutely not programming experience can be made to realize the application to robot.
Description
Technical field
The invention belongs to robotic technology field, more particularly, to a kind of unpowered arm multi-joint profiling teaching robot and
Teaching method.
Background technique
With the expansion of robot technology application and the raising of job task complexity, the program editing of robot
Ability already becomes an important factor for restricting robot development, and hand-held teaching machine teaching mode is just come into being.Due to above-mentioned side
Method passes through positive inverse kinematics and interpolation processing, calculating further according to the point of acquisition by acquisition key point input controller, teaching machine
Corresponding motion profile out, it is more demanding to operator and controller, make it be difficult to popularize in medium-sized and small enterprises.That is teaching
Traditional approach is that the people that operated machine by teaching box stores mechanical movement or handling machine people's pose data to realize, need using
Personnel have robot manipulation's skills and experience.
Summary of the invention
In view of this, the present invention is directed to propose a kind of unpowered arm multi-joint profiling teaching robot and teaching method, with
It solves existing operating experience technology, teaching robot to be needed to operate machine people, storage mechanical movement or processing by teaching box
Robot pose data are come the problem of realization.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of unpowered arm multi-joint profiling teaching robot's teaching method, comprising:
Unpowered arm is installed by S1, robot, by the unpowered arm of outer power drive, installs coding in the joint of power arm
Device records the motion state of corresponding joint by encoder；
S2, the data of each encoder are acquired, are handled, obtaining mass motion track data；
S3, the compiling of running track program is carried out；
S4, the program of compiling is imported into the robot of corresponding brand, and then realizes the function of teaching playback.
Further, in the step S1, the position signal of each articulation of encoder output robot.
Further, in the step S2, according to encoder acquire each joint motor location information of robot, carry out from
Line simulation modeling.
Further, off-line simulation modeling is that 3D robot motion's locus model is established by simulation softwares.
Further, in the step S3, running track program is automatically generated by imitating robotic programming technical software.
A kind of unpowered arm multi-joint profiling teaching robot, including robot body, data acquisition module, off-line simulation
Modeling module；
The robot body uses unpowered arm, and the joint of each power arm is installed encoder, adopted by encoder
Collect the motion information in joint；
The data acquisition module is used to acquire the data information of encoder, and data information is sent to off-line simulation and is built
Mould module；
The off-line simulation modeling module carries out 3D according to the data information of the encoder of acquisition using 3D modeling software and builds
Mould, and carry out motion profile optimization.
Further, the robot includes pedestal, large arm, forearm, wrist, passes through the unpowered arm of outer power drive.
It further, further include program compiled module, the modeling by program compiled module to off-line simulation modeling module
As a result program compiling conversion is carried out.
Compared with the existing technology, unpowered arm multi-joint profiling teaching robot of the present invention and teaching method have
Following advantage:
Unpowered arm multi-joint profiling teaching robot of the present invention and teaching method can be applied to need complexity
The occasion of track teaching can automatically generate robot program and track reproducing；Manipulation of the machine people method is simple, direct, can make
A line operator of programming experience does not realize the application to robot entirely；Robot application is flexible, is not limited by place；It is complete
After teaching, being participated in completely without programming technician, robot interior system automatically records the motion profile of teaching process,
Track data is formed, production flowing water is realized, the effect of teaching movement is constantly repeated on line.Solve the problems, such as it is to extend new show
Religion mode, and can be matched with Multiple Type robot, it is suitble to a kind of a kind of profiling teaching robot without programming experience personnel
Device.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is unpowered arm multi-joint profiling teaching robot's teaching method flow chart described in the embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, a kind of unpowered arm multi-joint profiling teaching robot and teaching method, pass through each joint encoders
Record motion state, and by data collection system, off-line simulation modeling software, imitate robotic programming technical software obtain with
The robot program that various brand industrial robots match, to program be imported in the robot of corresponding brand, realization is shown
The function of reproducing is taught, the teaching mode that cannot achieve the industrial robot of dragging teaching is extended.
Step includes:
Unpowered arm is installed by S1, robot, by the unpowered arm of outer power drive, installs coding in the joint of power arm
Device records the motion state of corresponding joint by encoder；
S2, the data of each encoder are acquired, are handled, obtaining mass motion track data；
S3, the compiling of running track program is carried out；
S4, the program of compiling is imported into the robot of corresponding brand, and then realizes the function of teaching playback.
In the step S1, the position signal of each articulation of encoder output robot.
In the step S2, according to each joint motor location information of robot that encoder acquires, carries out off-line simulation and build
Mould.
Off-line simulation modeling is that 3D robot motion's locus model is established by simulation softwares.
In the step S3, is established by simulation softwares after completing 3D robot motion locus model, pass through imitation
Robotic programming technical software automatically generates running track program.It does not need technical staff and carries out program compiling again.
A kind of unpowered arm multi-joint profiling teaching robot, including it is robot body and data acquisition module, offline
Simulation modeling module；
The robot body uses unpowered arm, and the joint of each power arm is installed encoder, adopted by encoder
Collect the motion information in joint；
The data acquisition module is used to acquire the data information of encoder, and data information is sent to off-line simulation and is built
Mould module；
The off-line simulation modeling module is using robot modeling with Intelligent track optimization Simulation software according to the volume of acquisition
The data information of code device carries out 3D modeling, and carries out motion profile optimization.
The robot includes pedestal, large arm, forearm, wrist, passes through the unpowered arm of outer power drive.
Further include program compiled module, journey is carried out by modeling result of the program compiled module to off-line simulation modeling module
Sequence compiling conversion.
Profiling teaching robot device holds robot wrist by manpower, and robot teaching is realized in dragging.Pass through each pass
Save encoder and record motion state, obtain the motion pose parameter in teaching robot space joint, and by data collection system,
Off-line simulation software establishes 3D virtual environment, and offline optimization track obtains the machine to match with various brands and model industrial robot
Device people's motion trace data is realized the function of teaching playback, is extended so as to import data to corresponding robot controller
It cannot achieve the teaching mode of the industrial robot of dragging teaching.
This profiling multi-joint teaching robot's device can be applied to all kinds of common robot applications, as Control During Paint Spraying by Robot,
Welding, carrying, sorting etc..Its workflow is as follows:
1. manpower holds the wrist of robot, directly dragging robot carries out teaching movement.
2. the position signal of each joint motor rotation of encoder output robot.
3. obtaining each oint motion trajectory of mechanical arm.
4. being modeled using robot simulation simulation software.
5. automatically generating running track program by imitating robotic programming software.
6. program importing robot controller is worked.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of unpowered arm multi-joint profiling teaching robot's teaching method characterized by comprising
Unpowered arm is installed by S1, robot, by the unpowered arm of outer power drive, installs encoder in the joint of power arm, leads to
Cross the motion state of encoder record corresponding joint；
S2, the data of each encoder are acquired, are handled, obtaining mass motion track data；
S3, the compiling of running track program is carried out；
S4, the program of compiling is imported into the robot of corresponding brand, and then realizes the function of teaching playback.
2. unpowered arm multi-joint profiling teaching robot's teaching method according to claim 1, it is characterised in that: described
In step S1, the position signal of each articulation of encoder output robot.
3. unpowered arm multi-joint profiling teaching robot's teaching method according to claim 1, it is characterised in that: described
In step S2, according to each joint motor location information of robot that encoder acquires, off-line simulation modeling is carried out.
4. unpowered arm multi-joint profiling teaching robot's teaching method according to claim 3, it is characterised in that: offline
Simulation modeling is that 3D robot motion's locus model is established by simulation softwares.
5. unpowered arm multi-joint profiling teaching robot's teaching method according to claim 4, it is characterised in that: described
In step S3, running track program is automatically generated by imitating robotic programming technical software.
6. a kind of robot using unpowered arm multi-joint profiling teaching robot's teaching method described in claim 1,
It is characterized in that: including robot body, data acquisition module, off-line simulation modeling module；
The robot body uses unpowered arm, and the joint of each power arm installs encoder, acquired and closed by encoder
The motion information of section；
The data acquisition module is used to acquire the data information of encoder, and data information is sent to off-line simulation modeling mould
Block；
The off-line simulation modeling module carries out 3D modeling according to the data information of the encoder of acquisition using 3D modeling software, and
Carry out motion profile optimization.
7. unpowered arm multi-joint profiling teaching robot's teaching method according to claim 6, it is characterised in that: described
Robot includes pedestal, large arm, forearm, wrist, passes through the unpowered arm of outer power drive.
8. unpowered arm multi-joint profiling teaching robot's teaching method according to claim 6, it is characterised in that: also wrap
Program compiled module is included, program compiling conversion is carried out by modeling result of the program compiled module to off-line simulation modeling module.
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| CN201811299499.5A CN109227524A (en) | 2018-10-31 | 2018-10-31 | A kind of unpowered arm multi-joint profiling teaching robot and teaching method |
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| CN201811299499.5A CN109227524A (en) | 2018-10-31 | 2018-10-31 | A kind of unpowered arm multi-joint profiling teaching robot and teaching method |
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Cited By (5)
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| CN110142748A (en) * | 2019-07-15 | 2019-08-20 | 常州固高智能装备技术研究院有限公司 | A kind of quick teaching system of robot suitable for spraying welding profession and method |
| CN110421559A (en) * | 2019-06-21 | 2019-11-08 | 国网安徽省电力有限公司淮南供电公司 | The teleoperation method and movement locus base construction method of distribution network live line work robot |
| CN111360794A (en) * | 2020-03-31 | 2020-07-03 | 实时侠智能控制技术有限公司 | Teaching system adaptive to various models of robots and teaching method thereof |
| CN112454371A (en) * | 2020-10-23 | 2021-03-09 | 德屹智能科技(扬州)有限公司 | Robot teaching system |
| CN113946156A (en) * | 2021-12-20 | 2022-01-18 | 广州朗国电子科技股份有限公司 | Motion path teaching control method and control system of wheeled robot |
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