CN109352628B - Intelligent teaching device for robot processing path and application method thereof - Google Patents
Intelligent teaching device for robot processing path and application method thereof Download PDFInfo
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- CN109352628B CN109352628B CN201811351563.XA CN201811351563A CN109352628B CN 109352628 B CN109352628 B CN 109352628B CN 201811351563 A CN201811351563 A CN 201811351563A CN 109352628 B CN109352628 B CN 109352628B
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- 238000012545 processing Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000002184 metal Substances 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000003754 machining Methods 0.000 claims description 6
- 239000011324 bead Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent teaching device for a robot processing path and a use method thereof, the intelligent teaching device comprises a pen-shaped shell, a plastic pipe is inserted into the top end of the inner wall of the pen-shaped shell, a plastic cap is sleeved at the top end of the plastic pipe, key switches distributed at equal intervals are inserted into the side wall of the pen-shaped shell, a first plastic ring and a second plastic ring are sleeved at the bottom end position of the side wall of the pen-shaped shell, an annular outer groove is arranged at the bottom end position of the side wall of the first plastic ring, an annular inner groove matched with the specification of the annular outer groove is arranged at the top end position of the inner wall of the second plastic ring, the annular inner groove is clamped with the annular outer groove, strip-shaped grooves are formed in the outer walls of the two sides of the pen-shaped shell, and spring pieces are clamped on the inner walls of the two strip-shaped grooves. The robot processing path point marking device is convenient to take and place, convenient to install, capable of conveniently assisting in point marking of the processing path, beneficial to improving the precision of the point marking path, beneficial to improving the reliability of the robot processing path, improving the teaching effect and avoiding the workpiece from being scratched.
Description
Technical Field
The invention relates to the technical field of robot processing path teaching, in particular to an intelligent teaching device for a robot processing path and a using method thereof.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology. Its task is to assist or replace human work, such as in the industry, construction, or dangerous work.
Along with the development of robot, can carry out machining through the robot, need formulate the processing route of robot before processing, need use teaching device, current teaching device is unstable inadequately, inconvenient regulation, the route collection process is comparatively troublesome, so the intelligent teaching device of robot processing route is proposed now.
Disclosure of Invention
Based on the technical problems in the background technology, the invention provides an intelligent teaching device for a robot processing path and a use method thereof.
The utility model provides an intelligent teaching device of robot processing route, includes the pen type casing, pen type casing inner wall top peg graft has the plastic tubing, plastic tubing top has cup jointed the plastic cap, pen type casing lateral wall scarf joint has equidistance distribution's key switch, pen type casing lateral wall bottom position has cup jointed first plastic ring and second plastic ring, first plastic ring lateral wall bottom position is equipped with annular outer groove, second plastic ring inner wall top position is equipped with the annular inside groove with annular outer groove specification looks adaptation, and annular inside groove and annular outer groove joint, pen type casing both sides outer wall all is equipped with the bar groove, and two bar groove inner wall all joint have the spring piece, first plastic ring both sides inner wall all is equipped with the lug, and two lugs respectively with two bar groove inner wall swing joint, two the spring piece bottom respectively with two lug top outer wall butt, second plastic ring lateral wall bottom position is equipped with supporting mechanism, and pen type casing bottom position toper structure, and pen type casing bottom swing joint have first ball, pen type casing bottom has the top sensor of displacement sensor through fixed with the equal joint of bar groove inner wall.
Preferably, the supporting mechanism comprises a metal ring, the bottom end position of the side wall of the second plastic ring is movably connected with the metal ring through a bearing, four supporting rods which are obliquely arranged at equal distances are welded on the side wall of the metal ring, metal discs are welded at the bottom ends of the four supporting rods, and second balls are movably connected on the outer walls of the bottom ends of the four metal discs.
Preferably, the side walls of the first plastic ring and the plastic cap are respectively provided with an annular groove, and the inner walls of the two annular grooves are respectively embedded with an LED lamp ring.
Preferably, the inner walls of two sides of the pen-shaped shell are provided with limit grooves, the outer walls of two sides of the plastic pipe are provided with limit blocks matched with the specifications of the two limit grooves, and the two limit blocks are respectively clamped with the inner walls of the two limit grooves.
Preferably, the two LED lamp rings are connected with a switch, the switch is connected with a microprocessor, the micro gyroscope and the displacement sensor are connected with the signal input end of the microprocessor through signal lines, and the key switch is connected with the microprocessor through the signal lines.
Preferably, the side wall of the pen-shaped shell is embedded with a wireless signal receiving and transmitting antenna, and the wireless signal receiving and transmitting antenna is connected with the microprocessor through a signal wire.
The application method of the intelligent teaching device of the robot processing path is characterized by comprising the following steps of:
s1: placing vision equipment, aligning the vision equipment with a robot processing table board, adjusting the vision equipment to a proper angle, and connecting an intelligent teaching device of a robot processing path with the vision equipment through a wireless signal receiving and transmitting antenna to enable the intelligent teaching device to form communication with the vision equipment;
s2: performing calibration, namely operating an intelligent teaching device of a robot processing path to dash points on a robot processing table, and enabling the state of the intelligent teaching device of the robot processing path to pass through visual equipment through a wireless signal receiving and transmitting antenna;
s3: placing a workpiece, then placing the workpiece to be processed on a robot processing table, and fine-adjusting the position of the workpiece to a proper position;
s4: the method comprises the steps of performing dotting movement, namely, extracting a plastic pipe from a pen-shaped shell to a proper length, sleeving a second plastic ring with a first plastic ring, performing dotting movement on a workpiece through an intelligent teaching device for operating a robot processing path, adjusting the position of a supporting mechanism through rotating a metal ring in the movement process, pressing the pen-shaped shell in the movement process, enabling a first ball at the bottom end of the pen-shaped shell to be in contact with the surface of the workpiece, rolling on the surface of the workpiece, and performing auxiliary dotting;
s5: generating a path, feeding data back to a microprocessor by the micro gyroscope and the displacement sensor in the stippling process, transmitting signals to visual equipment by the microprocessor through a wireless signal receiving and transmitting antenna, and processing the data by the visual equipment to generate the path;
s6: and (3) finishing teaching, storing the produced path, cleaning an intelligent teaching device of the robot processing path, and storing the intelligent teaching device in a proper position.
Preferably, in the step S4, the second plastic ring may be separated from the first plastic ring, the second plastic ring and the supporting mechanism may be removed, and the intelligent teaching device of the robot processing path after the second plastic ring and the supporting mechanism are removed may be used to perform the stippling motion.
The invention has the beneficial effects that:
1. through the supporting mechanism who sets up, cooperation second plastic ring, conveniently get and put, easy to assemble can conveniently assist the stippling of carrying out the processing route, is favorable to improving the precision of stippling the route, is favorable to promoting the reliability of robot processing route, promotes the teaching effect.
2. Through the LED lamp ring that uses, make things convenient for the position of outside vision equipment perception device, first ball and the second ball that the cooperation set up avoid the work piece to be by the fish tail, more convenient operation promotes smooth degree of operation, and the plastic tubing that the cooperation set up makes things convenient for adjusting device's length, uses under the different environment, hoisting device's application scope.
Drawings
FIG. 1 is a schematic diagram of a robot processing path intelligent teaching device;
FIG. 2 is a schematic diagram of a schematic partial cross-sectional structure of an intelligent teaching device for a robot machining path according to the present invention;
fig. 3 is a flow chart of a method for using the intelligent teaching device for the robot processing path.
In the figure: 1 first ball, 2 second ball, 3 metal disc, 4 branch, 5 second plastic ring, 6 bar groove, 7 spring spare, 8 key switch, 9 plastic tubing, 10 plastic cap, 11 first plastic ring, 12LED lamp ring, 13 metal ring, 14 pen type casings, 15 miniature gyroscope, 16 displacement sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-2, an intelligent teaching device for robot processing path comprises a pen-shaped shell 14, a plastic pipe 9 is inserted into the top end of the inner wall of the pen-shaped shell 14, a plastic cap 10 is sleeved on the top end of the plastic pipe 9, key switches 8 distributed equidistantly are inserted into the side wall of the pen-shaped shell 14, a first plastic ring 11 and a second plastic ring 5 are sleeved at the bottom end position of the side wall of the pen-shaped shell 14, an annular outer groove is arranged at the bottom end position of the side wall of the first plastic ring 11, an annular inner groove matched with the specification of the annular outer groove is arranged at the top end position of the inner wall of the second plastic ring 5, the annular inner groove is clamped with the annular outer groove, strip-shaped grooves 6 are arranged on the outer walls of two sides of the pen-shaped shell 14, spring pieces 7 are clamped on the inner walls of the two strip-shaped grooves 6, lugs are arranged on the inner walls of the two sides of the first plastic ring 11, the two lugs are respectively movably connected with the inner walls of the two strip-shaped grooves 6, the bottom ends of the two spring pieces 7 are respectively abutted with the outer walls of the top ends of the two convex blocks, the bottom end position of the side wall of the second plastic ring 5 is provided with a supporting mechanism, the supporting mechanism comprises a metal ring 13, the bottom end position of the side wall of the second plastic ring 5 is movably connected with the metal ring 13 through a bearing, four supporting rods 4 which are arranged in an equidistance inclined mode are welded on the side wall of the metal ring 13, metal discs 3 are welded at the bottom ends of the four supporting rods 4, second ball beads 2 are movably connected to the outer walls of the bottom ends of the four metal discs 3, the conical structure is arranged at the bottom end position of the pen-shaped shell 14, the bottom end of the pen-shaped shell 14 is movably connected with a first ball bead 1, the inner wall of the bottom end of the pen-shaped shell 14 is fixedly provided with a displacement sensor 16 through a bolt, and the inner wall of the pen-shaped shell 14 is close to the top end position of the displacement sensor 16 and is clamped with a miniature gyroscope 15.
In the invention, annular grooves are formed on the side walls of a first plastic ring 11 and a plastic cap 10, LED lamp rings 12 are embedded in the inner walls of the two annular grooves, limit grooves are formed on the inner walls of the two sides of a pen-shaped shell 14, limit blocks matched with the specifications of the two limit grooves are arranged on the outer walls of the two sides of a plastic pipe 9, the two limit blocks are respectively clamped with the inner walls of the two limit grooves, the two LED lamp rings 12 are connected with a switch, the switch is connected with a microprocessor, a micro gyroscope 15 and a displacement sensor 16 are connected with the signal input end of the microprocessor through signal wires, a key switch 8 is connected with the microprocessor through the signal wires, a wireless signal receiving and transmitting antenna is embedded in the side wall of the pen-shaped shell 14, the wireless signal receiving and transmitting antenna is connected with the microprocessor through the signal wires, and the model of the microprocessor is ARM9TDMI.
Referring to fig. 3, a method for using an intelligent teaching device for a robot machining path is characterized by comprising the steps of:
s1: placing vision equipment, aligning the vision equipment with a robot processing table board, adjusting the vision equipment to a proper angle, and connecting an intelligent teaching device of a robot processing path with the vision equipment through a wireless signal receiving and transmitting antenna to enable the intelligent teaching device to form communication with the vision equipment;
s2: performing calibration, namely operating an intelligent teaching device of a robot processing path to dash points on a robot processing table, and enabling the state of the intelligent teaching device of the robot processing path to pass through visual equipment through a wireless signal receiving and transmitting antenna;
s3: placing a workpiece, then placing the workpiece to be processed on a robot processing table, and fine-adjusting the position of the workpiece to a proper position;
s4: the method comprises the steps of performing dotting movement, namely, sleeving a second plastic ring 5 with a first plastic ring 11 by extracting a plastic pipe 9 with a proper length from a pen-shaped shell 14, performing dotting movement on a workpiece by operating an intelligent teaching device of a robot processing path, adjusting the position of a supporting mechanism by rotating a metal ring 13 in the movement process, pressing down the pen-shaped shell 14 in the movement process to enable a first ball 1 at the bottom end of the pen-shaped shell and a second ball 2 on the supporting mechanism to be in contact with the surface of the workpiece, rolling on the surface of the workpiece, and performing auxiliary dotting;
s5: generating a path, feeding data back to a microprocessor by the micro gyroscope 15 and the displacement sensor 16 in the stippling process, transmitting signals to visual equipment by the microprocessor through a wireless signal receiving and transmitting antenna, and processing the data by the visual equipment to generate the path;
s6: and (4) after teaching is completed, the produced path is stored, the intelligent teaching device of the robot processing path is cleaned, the robot processing path is stored at a proper position, the second plastic ring 5 can be separated from the first plastic ring 11 in the step (S4), the second plastic ring 5 and the supporting mechanism are removed, and the intelligent teaching device of the robot processing path after the second plastic ring 5 and the supporting mechanism are removed is used for stippling.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (5)
1. The utility model provides a use method of intelligent teaching device of robot processing route, its characterized in that, intelligent teaching device includes pen type casing (14), pen type casing (14) inner wall top peg graft have plastic tubing (9), plastic tubing (9) top has cup jointed plastic cap (10), pen type casing (14) lateral wall scarf joint has button switch (8) that equidistance distributes, first plastic ring (11) and second plastic ring (5) have been cup jointed to pen type casing (14) lateral wall bottom position, first plastic ring (11) lateral wall bottom position is equipped with annular outside groove, second plastic ring (5) inner wall top position be equipped with annular inside groove with annular outside groove specification looks adaptation, and annular inside groove and annular outside groove joint, pen type casing (14) both sides outer wall all is equipped with bar groove (6), and two bar groove (6) inner wall all joint have spring part (7), first plastic ring (11) both sides inner wall all is equipped with the lug, and two lugs respectively with two groove (6) inner wall swing joint, two spring part (7) bottom and two ball type casing (14) top end respectively, two ball type ball top (14) are connected to be the ball type bottom position (1), the inner wall of the bottom end of the pen-shaped shell (14) is fixedly provided with a displacement sensor (16) through a bolt, and the position, close to the top end of the displacement sensor (16), of the inner wall of the pen-shaped shell (14) is clamped with a miniature gyroscope (15);
the supporting mechanism comprises a metal ring (13), the bottom end position of the side wall of the second plastic ring (5) is movably connected with the metal ring (13) through a bearing, four supporting rods (4) which are obliquely arranged at equal intervals are welded on the side wall of the metal ring (13), metal discs (3) are welded at the bottom ends of the four supporting rods (4), and second beads (2) are movably connected with the outer walls of the bottom ends of the four metal discs (3);
the side wall of the pen-shaped shell (14) is embedded with a wireless signal receiving and transmitting antenna, and the wireless signal receiving and transmitting antenna is connected with the microprocessor through a signal wire;
the application method of the intelligent teaching device comprises the following steps:
s1: placing vision equipment, aligning the vision equipment with a robot processing table board, adjusting the vision equipment to a proper angle, and connecting an intelligent teaching device of a robot processing path with the vision equipment through a wireless signal receiving and transmitting antenna to enable the intelligent teaching device to form communication with the vision equipment;
s2: performing calibration, namely operating an intelligent teaching device of a robot processing path to dash points on a robot processing table, and enabling the state of the intelligent teaching device of the robot processing path to pass through visual equipment through a wireless signal receiving and transmitting antenna;
s3: placing a workpiece, then placing the workpiece to be processed on a robot processing table, and fine-adjusting the position of the workpiece to a proper position;
s4: the method comprises the steps of performing a stippling motion, sleeving a second plastic ring (5) with a first plastic ring (11) by extracting a plastic pipe (9) from a pen-shaped shell (14) to a proper length, performing the stippling motion on a workpiece by operating an intelligent teaching device of a robot processing path, adjusting the position of a supporting mechanism by rotating a metal ring (13) in the motion process, and pressing the pen-shaped shell in the motion process
A body (14) which enables the first ball (1) at the bottom end and the second ball (2) on the supporting mechanism to contact with the surface of the workpiece, roll on the surface of the workpiece and carry out auxiliary stippling;
s5: generating a path, feeding data back to a microprocessor by a micro gyroscope (15) and a displacement sensor (16) in the stippling process, transmitting signals to visual equipment by the microprocessor through a wireless signal receiving and transmitting antenna, and processing the data by the visual equipment to generate the path;
s6: and (3) finishing teaching, storing the produced path, cleaning an intelligent teaching device of the robot processing path, and storing the intelligent teaching device in a proper position.
2. The use method of the intelligent teaching device for the robot machining path according to claim 1, wherein annular grooves are formed in the side walls of the first plastic ring (11) and the plastic cap (10), and LED lamp rings (12) are embedded in the inner walls of the two annular grooves.
3. The method for using the intelligent teaching device for the robot machining path according to claim 1, wherein limiting grooves are formed in the inner walls of the two sides of the pen-shaped shell (14), limiting blocks matched with the specifications of the two limiting grooves are arranged on the outer walls of the two sides of the plastic pipe (9), and the two limiting blocks are respectively clamped with the inner walls of the two limiting grooves.
4. The use method of the intelligent teaching device of the robot processing path according to claim 2 is characterized in that two LED lamp rings (12) are connected with a switch, the switch is connected with a microprocessor, the micro gyroscope (15) and the displacement sensor (16) are connected with a signal input end of the microprocessor through signal lines, and the key switch (8) is connected with the microprocessor through the signal lines.
5. The method according to claim 1, wherein in S4, the second plastic ring (5) may be separated from the first plastic ring (11), the second plastic ring (5) and the supporting mechanism may be removed, and the intelligent teaching device of the robot machining path after removing the second plastic ring (5) and the supporting mechanism may be used for the stippling motion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811351563.XA CN109352628B (en) | 2018-11-13 | 2018-11-13 | Intelligent teaching device for robot processing path and application method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811351563.XA CN109352628B (en) | 2018-11-13 | 2018-11-13 | Intelligent teaching device for robot processing path and application method thereof |
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| CN109352628A CN109352628A (en) | 2019-02-19 |
| CN109352628B true CN109352628B (en) | 2024-02-27 |
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| CN110355503B (en) * | 2019-07-25 | 2020-12-04 | 陕西丝路机器人智能制造研究院有限公司 | Auxiliary teaching tool for non-contact welding robot |
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| JPH0947989A (en) * | 1995-08-08 | 1997-02-18 | Kawasaki Heavy Ind Ltd | Robot work teaching device |
| JP2001038659A (en) * | 1999-07-26 | 2001-02-13 | Toshiba Mach Co Ltd | Teaching point data measuring tool, work robot, and teaching point position and attitude data measuring method |
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