CN109664271A - A kind of tele-robotic teaching system based on virtual reality - Google Patents
A kind of tele-robotic teaching system based on virtual reality Download PDFInfo
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- CN109664271A CN109664271A CN201811570352.5A CN201811570352A CN109664271A CN 109664271 A CN109664271 A CN 109664271A CN 201811570352 A CN201811570352 A CN 201811570352A CN 109664271 A CN109664271 A CN 109664271A
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- 238000012937 correction Methods 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
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- 229910000831 Steel Inorganic materials 0.000 description 3
- 210000000080 chela (arthropods) Anatomy 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 231100001261 hazardous Toxicity 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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- 238000012549 training Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000005204 segregation Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of tele-robotic teaching system based on virtual reality, belong to remote teaching technical field, including pedestal, support column is installed at the top of pedestal, and the upper end inside support column is provided with link block, connecting rod is installed on the outside of link block, and one end of connecting rod is equipped with the first handover arm, upper end inside first handover arm is provided with U-shaped chain extension bar, and one end of U-shaped chain extension bar is equipped with the second handover arm, be internally provided with through-hole, through-hole is internally provided with sliding block, the side of sliding block is equipped with fixed block, and one end of fixed block is equipped with chained block, the two sides of chained block are provided with gripper clamp.The long-range programming of robot can be achieved in the present invention, reduces the working service cost of robot.
Description
Technical field
The present invention relates to a kind of teaching robot arm devices, show more particularly to a kind of tele-robotic based on virtual reality
Teaching system belongs to remote teaching technical field.
Background technique
Direct teaching, off-line teaching and Virtual Demonstration currently are specifically included that the mode of articulated arm robots' teaching programming.
At home and abroad the robot that applies is mostly teaching playback in production at present, i.e., in robot site by operator by robot
Terminal be moved to target position, and the corresponding robot joint angles information in this position is recorded into memory, then when wanting
When asking these movements of reproduction, sequence controller reads corresponding position from memory, track when robot just repeats teaching and
Operation, since it is towards operating environment, robot On-line programming by demonstration is simple and convenient, is suitable for producing in enormous quantities, be completed
This simply single i.e. so-called direct teaching of task, just refers to that the arm that robot is directly moved by people shows robot
Religion, such as the teaching of teaching box or operating stick teaching.In this teaching, in order to which teaching is convenient and obtains the quick and quasi- of information
Really, operator can choose the teaching under different coordinates, for example, can choose joint coordinate system, rectangular coordinate system and
Teaching is carried out under tool coordinates system or user coordinate system.This personnel for needing to have certain process capability can just operate, and cut
Consuming time is long when changing scheme control.
Currently, directly teaching programming the shortcomings that are as follows: 1, occupy robot activity duration；2, it is difficult the complicated movement of planning
Track and accurately linear motion；3, Programming's quality depends on the experience of programmer, and programmer is in robot work sky
Between hazardous environment in；4, robot system is a relatively independent unit, difficult to realize nothing with other systems or production process
Seam is integrated.
Robot off-line programming is that opening up for robot programming language is wide, it utilizes computer graphics, establish robot and
The geometrical model of its working environment, then being completed to robot for task carry out segregation reasons and programming, and to the knot of programming
Fruit carries out dynamic graphics simulation, and the programmed result met the requirements is finally transmitted to robot control cabinet, completes robot specified
Task；When off-line teaching, operator does not carry out teaching directly to the robot of actual job, but the operating environment that loses contact with reality
Training data is generated, teaching is carried out to robot indirectly.In off-line teaching method (off-line programing), by using in computer
Robot model's (CAD model) of storage does not require the practical generation movement of robot, just can be on the basis of teaching result to machine
The movement of device people emulates, so that it is determined that whether teaching contents appropriate and robot whether by it is intended that in the way of move.
The shortcomings that off-line teaching programs at present are as follows: such teaching mode has to the computer level of operator
It asks, especially has certain research to computer graphics, and want can have sufficient experience that can guarantee that error is small when actual motion,
Cannot simply directly on job description, more demanding for user, the function of required energy Compensating Robot systematic error
Energy, coordinate system data are still difficult to obtain.The cost of robot site debugging is very high, essentially consists in robotic programming commissioning staff
Training cost is high, leads to robot commissioning staff's lazy weight, the design of the existing each producer of robot product has differences.
Summary of the invention
The main object of the present invention be to provide for a kind of tele-robotic teaching system based on virtual reality, it can be achieved that
The long-range programming of robot reduces the working service cost of robot.
The purpose of the present invention can reach by using following technical solution:
A kind of tele-robotic teaching system based on virtual reality, including pedestal are equipped with branch at the top of the pedestal
Dagger, and the upper end inside support column is provided with link block, and connecting rod, and the one of connecting rod are equipped on the outside of the link block
End is equipped with the first handover arm, and the upper end inside the first handover arm is provided with U-shaped chain extension bar, and one end of U-shaped chain extension bar
Second handover arm is installed, described is internally provided with through-hole, and the through-hole is internally provided with sliding block, the side of the sliding block
Fixed block is installed, and one end of fixed block is equipped with chained block, the two sides of the chained block are provided with gripper clamp.
Preferably, the link block is internally provided with driving motor, and the upper end inside the first handover arm is provided with drive
Dynamic motor.
Preferably, the middle position of second handover arm side is provided with driving motor, and the output of driving motor
End is equipped with elastic drag rope, and one end of the elastic drag rope is connect with sliding block.
Preferably, the sliding block is internally provided with driving motor, and the output end of driving motor is fixed with fixed block, institute
It states and is provided with ball between fixed block and sliding block.
Preferably, the chained block is internally provided with driving motor, and workpiece is provided on the inside of gripper clamp, the folder
It holds pincers inside and is provided with pressure sensor.
Preferably, the middle position of the chassis outer side is equipped with mechanical arm control equipment, and the mechanical arm control is set
It is standby to be connect with virtual reality central station by high speed network, and human body posture tracking system, data glove, freedom degree interaction
Equipment is all connect with virtual reality central station, and the virtual reality central station and image seamless splicing correction system connect
It connects, and image seamless splicing correction system is connect with three-dimensional projector.
Advantageous effects of the invention:
1, a kind of tele-robotic teaching system based on virtual reality provided by the invention, it can be achieved that robot it is long-range
Programming, reduces the working service cost of robot.
2, a kind of tele-robotic teaching system based on virtual reality provided by the invention is coping with emergency case, into
Enter the maintenance of unmanned factory, can be realized by distal end.
3, a kind of tele-robotic teaching system based on virtual reality provided by the invention, avoids causing whole producing line
It is large-scale to influence, while avoiding personnel from entering hazardous environment and damaging.
4, a kind of tele-robotic teaching system based on virtual reality provided by the invention is a large amount of robotic programming people
The training of member provides support, solves the bottleneck problem of robot application.
5, a kind of tele-robotic teaching system based on virtual reality provided by the invention, realizes application environment true to nature
It shows.It is not only restricted to industry spot.
Detailed description of the invention
Fig. 1 is an a kind of preferred embodiment of the tele-robotic teaching system based on virtual reality according to the invention
Mechanical arm structural perspective.
In figure: 1- pedestal, 2- support column, 3- chained block, 4- chain extension bar, 5- first join arm, 6-U type chain extension bar, and 7- leads to
Hole, 8- elastic drag rope, 9- fixed block, 10- sliding block, 11- chained block, 12- gripper clamp, 13- workpiece, 14-- second join arm, 15-
Mechanical arm controls equipment.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As shown in Figure 1, a kind of tele-robotic teaching system based on virtual reality, including pedestal 1, the top of pedestal 1
Support column 2 being installed, and the upper end inside support column 2 is provided with link block 3, the outside of link block 3 is equipped with connecting rod 4, and
One end of connecting rod 4 is equipped with the first handover arm 5, and the upper end inside the first handover arm 5 is provided with U-shaped chain extension bar 6, and U-shaped chain
What one end of extension bar 6 was equipped with the second handover arm 14,16 is internally provided with through-hole 7, and through-hole 7 is internally provided with sliding block 10, sliding
The side of block 10 is equipped with fixed block 9, and one end of fixed block 9 is equipped with chained block 11, and the two sides of chained block 11 are provided with folder
Hold pincers 12.
In embodiment, as shown in Figure 1, the link block 3 is internally provided with driving motor, so as to pass through driving
Motor driven first joins arm 5 and rotates, and the upper end inside the first handover arm 5 is provided with driving motor, drives so as to pass through
Dynamic motor driven second joins arm 14 and rotates.
In embodiment, as shown in Figure 1, the middle position of second handover, 14 side of arm is provided with driving motor,
And the output end of driving motor is equipped with elastic drag rope 8, one end of the elastic drag rope 8 is connect with sliding block 10, so as to logical
Motor band movable slider 10 of overdriving slides in through-hole 7.
In embodiment, as shown in Figure 1, the sliding block 10 is internally provided with driving motor, and the output of driving motor
End is fixed with fixed block 9, so that sliding block 10 can drive fixed block 9 to rotate, is provided with rolling between the fixed block 9 and sliding block 10
Pearl, so that fixed block 9 can be rotated relative to sliding block 10.
In embodiment, as shown in Figure 1, the chained block 11 is internally provided with driving motor, so as to drive folder
12 rotation of pincers is held, and the inside of gripper clamp 12 is provided with workpiece 13, is provided with pressure sensor on the inside of the gripper clamp 12, thus
The dynamics of clamping can be passed to mechanical arm control equipment 15, it is made to stop the driving motor of the inside of chained block 11 setting
Movement.
In embodiment, as shown in Figure 1, the middle position in 1 outside of the pedestal is equipped with mechanical arm control equipment 15,
Each driving motor movement is controlled so as to control equipment 15 by mechanical arm, so that mechanical arm is driven to do corresponding movement,
Guarantee that robot can be in operation field, fulfil assignment task, the mechanical arm control equipment 15 and virtual reality central station
It is connected by high speed network, realizes remote operation and real-time status monitoring, and human body posture tracking system, data glove, freedom
Degree interactive device is all connect with virtual reality central station, wherein human body posture tracking system, data glove, freedom degree interaction
Equipment is used to detect the input action and control purpose of operator, and control information is fed back to the virtual reality central task
It stands, and correction system is spliced with image seamless by virtual reality central station and is connect, and image seamless splices correction system
It is connect with three-dimensional projector, makes three-dimensional projector that will control information and fed back through glass steel loop curtain and show and pass through.
As shown in Figure 1, a kind of tele-robotic teaching system based on virtual reality provided in this embodiment is worked
Journey is as follows:
Step 1: detecting the input action of operator by human body posture tracking system and data glove, handed over by freedom degree
The input action of operator is passed to virtual reality central station by mutual equipment；
Step 2: image seamless being passed information to by virtual reality central station and splices correction system, passes through image
Seamless spliced correction system passes information to three-dimensional projector, and three-dimensional projector is made to fed back through glass steel loop for information is controlled
Curtain, which shows, to be passed through；
Step 3: while mechanical arm is passed data to by virtual reality central station and controls equipment 15, pass through machinery
Arm controls the control of equipment 15 first handover arm 5, second and joins the completion that arm 14, fixed block 9 and gripper clamp 12 realize work.
In conclusion in the present embodiment, the input of operator is detected by human body posture tracking system and data glove
Movement, passes to virtual reality central station for the input action of operator by freedom degree interactive device, by virtually existing
Real central station passes information to image seamless splicing correction system, splices correction system by image seamless and passes information
Three-dimensional projector is passed, makes three-dimensional projector that will control information and fed back through glass steel loop curtain and show and passes through, pass through simultaneously
Virtual reality central station passes data to mechanical arm control equipment 15, controls the control of equipment 15 first by mechanical arm and hands over
It connects arm 5, second and joins the completion that arm 14, fixed block 9 and gripper clamp 12 realize work, solve the operation of 1, occupancy robot
Time；2, it is difficult the complicated motion profile of planning and accurately linear motion；3, Programming's quality depends on the experience of programmer,
And programmer is in the hazardous environment of robot working space；4, robot system is a relatively independent unit, it is difficult with
The problem of other systems or production process realize Seamless integration-.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (6)
1. a kind of tele-robotic teaching system based on virtual reality, including pedestal (1), it is characterised in that: the pedestal (1)
Top be equipped with support column (2), and the internal upper end of support column (2) is provided with link block (3), the link block (3) it is outer
Side is equipped with connecting rod (4), and one end of connecting rod (4) is equipped with the first handover arm (5), and first handover arm (5) is internal
Upper end be provided with U-shaped chain extension bar (6), and one end of U-shaped chain extension bar (6) is equipped with the second handover arm (14), (16)
It is internally provided with through-hole (7), the through-hole (7) is internally provided with sliding block (10), and the side of the sliding block (10) is equipped with solid
Determine block (9), and one end of fixed block (9) is equipped with chained block (11), the two sides of the chained block (11) are provided with gripper clamp
(12)。
2. a kind of tele-robotic teaching system based on virtual reality according to claim 1, it is characterised in that: described
Link block (3) is internally provided with driving motor, and the upper end of the first handover arm (5) inside is provided with driving motor.
3. a kind of tele-robotic teaching system based on virtual reality according to claim 1, it is characterised in that: described
The middle position of second handover arm (14) side is provided with driving motor, and the output end of driving motor is equipped with elastic drag rope
(8), one end of the elastic drag rope (8) is connect with sliding block (10).
4. a kind of tele-robotic teaching system based on virtual reality according to claim 1, it is characterised in that: described
Sliding block (10) is internally provided with driving motor, and the output end of driving motor and fixed block (9) are fixed, the fixed block (9)
Ball is provided between sliding block (10).
5. a kind of tele-robotic teaching system based on virtual reality according to claim 2, it is characterised in that: described
Chained block (11) is internally provided with driving motor, and workpiece (13), the gripper clamp are provided on the inside of gripper clamp (12)
(12) inside is provided with pressure sensor.
6. a kind of tele-robotic teaching system based on virtual reality according to claim 1, it is characterised in that: described
Middle position on the outside of pedestal (1) is equipped with mechanical arm control equipment (15), and the mechanical arm controls equipment (15) and virtual
Real central station is connected by high speed network, and human body posture tracking system, data glove, freedom degree interactive device all with
The connection of virtual reality central station, the virtual reality central station is connect with image seamless splicing correction system, and is schemed
As seamless spliced correction system is connect with three-dimensional projector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811570352.5A CN109664271A (en) | 2018-12-21 | 2018-12-21 | A kind of tele-robotic teaching system based on virtual reality |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811570352.5A CN109664271A (en) | 2018-12-21 | 2018-12-21 | A kind of tele-robotic teaching system based on virtual reality |
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| CN109664271A true CN109664271A (en) | 2019-04-23 |
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| CN201811570352.5A Pending CN109664271A (en) | 2018-12-21 | 2018-12-21 | A kind of tele-robotic teaching system based on virtual reality |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238831A (en) * | 2019-07-23 | 2019-09-17 | 青岛理工大学 | Robot teaching system and method based on RGB-D image and teaching machine |
| CN112894776A (en) * | 2021-02-23 | 2021-06-04 | 焦作大学 | Teaching device capable of being fixed at multiple angles |
-
2018
- 2018-12-21 CN CN201811570352.5A patent/CN109664271A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238831A (en) * | 2019-07-23 | 2019-09-17 | 青岛理工大学 | Robot teaching system and method based on RGB-D image and teaching machine |
| CN112894776A (en) * | 2021-02-23 | 2021-06-04 | 焦作大学 | Teaching device capable of being fixed at multiple angles |
| CN112894776B (en) * | 2021-02-23 | 2022-08-12 | 焦作大学 | Teaching device capable of being fixed at multiple angles |
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Application publication date: 20190423 |
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