CN109664273A - A kind of industrial robot cursor dragging teaching method and system - Google Patents
A kind of industrial robot cursor dragging teaching method and system Download PDFInfo
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- CN109664273A CN109664273A CN201910046036.6A CN201910046036A CN109664273A CN 109664273 A CN109664273 A CN 109664273A CN 201910046036 A CN201910046036 A CN 201910046036A CN 109664273 A CN109664273 A CN 109664273A
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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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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The present invention provides a kind of industrial robot cursor dragging teaching method and system, teaching system include: robot cell, and the robot cell is equipped with the image module for acquiring image and is used to indicate the first cursor indicator of robot cell end；Teaching machine, the teaching machine include the second cursor indicator for being used to indicate workpiece target location；And controller, the robot cell and the teaching machine are connected with the controller in a signal way. respectively, teaching method simplifies the cumbersome operation of traditional teaching machine, reduces the skill requirement to operator, it is compared with off-line programing mode simultaneously without importing part model and operating environment in advance, the processing situation of multi items, small lot and non-standard is applicable in.
Description
Technical field
The present invention relates to industrial control fields, drag teaching method more particularly to a kind of industrial robot cursor and are
System.
Background technique
With the continuous improvement of industrial automatization, industrial robot is in automobile and auto parts and components manufacturing industry, heavy type
The fields such as machinery, aerospace, ship, chemical industry, electronics industry are widely applied.
Under normal conditions, industrial robot teaching mainly includes teaching machine teaching and off-line programing two ways.
Teaching machine teaching, that is, operator using teaching box mobile robot cell end to target position, and by this position pair
The robot joint angles information answered is recorded into memory.When requiring reproduction teaching movement, robot controller sequence is read
Teaching position reappears teaching track.Teaching machine teaching there are certain requirements operator, need certain professional knowledge and correlation
Programming basis, the training period of personnel are relatively long.Teaching machine teaching simultaneously is suitable for high-volume repeatability production, once shows
Teach Reusability, and for multi items, small lot, non-standard processing and be not suitable for, teaching heavy workload.
Off-line programing is the expansion of robot programming language, it utilizes computer graphics, establishes robot and its work
The geometrical model of environment, then being completed to robot for task carries out segregation reasons and programming, and carries out to the result of programming
Dynamic simulation and collision detection ultimately produce robot motion's code and are transmitted to robot control cabinet, specify robot completion
Task.Off-line programing requires to import robot model, working environment parameter and workpieces processing dimensional parameters in advance, for building ring
The case where border is unknown, machine component non-standard component is simultaneously not suitable for.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of draggings of industrial robot cursor
Teaching method and system, for solving the problems, such as that industrial robot is not easy teaching in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a kind of industrial robot cursor dragging teaching system
System, comprising:
Robot cell, the robot cell are equipped with the image module for acquiring image and are used to indicate robot end
First cursor indicator at end；
Teaching machine, the teaching machine include the second cursor indicator for being used to indicate workpiece target location；And controller,
The robot cell and the teaching machine are connected with the controller in a signal way. respectively.
Optionally, the robot cell is the industrial robot with six degree of freedom mechanical arm.
A kind of industrial robot cursor dragging teaching method, comprising:
The industrial robot cursor dragging teaching system is provided；
First cursor indicator is opened, first cursor indicator irradiates the workpiece and generates the first hot spot,
Described image module photograph workpiece simultaneously obtains the first image；
Second cursor indicator is opened, second cursor indicator irradiates the workpiece and generates the second hot spot,
Described image module photograph workpiece simultaneously obtains the second image；
The first image and second image are handled, the phase of first hot spot and second hot spot is obtained
To position；
The robot cell controls first hot spot and moves towards the direction close to second hot spot；
Elementary area obtains image, and judges whether first hot spot is overlapped second hot spot, if so, the machine
Device people's unit stop motion, if it is not, then the robot cell controls first hot spot towards close to second hot spot
Direction movement.
Optionally, industrial robot cursor dragging teaching method includes: mobile second hot spot, and makes second light
Spot rests on target position, and the robot cell controls the first hot spot movement, defines first hot spot, described second
Coordinate when hot spot and the target position are overlapped is aiming spot coordinate；It is overlapped with first hot spot with target position
P0Point is Cartesian coordinates origin, establishes Slide coordinate systems V；Z axis of the robot cell end along Slide coordinate systems
It is mobile；The robot cell end is rotated around the X-axis, Y-axis or Z axis of Slide coordinate systems；By in the Slide coordinate systems
The attitudes vibration of robot end obtains the targeted attitude of teaching.
Optionally, the conversion process of targeted attitude are as follows:
Optionally, conversion of the origin of the Slide coordinate systems V to robot cell's ending coordinates system E transformation matrix
Process are as follows:
Wherein,It is obtained by the nominal data of described image module,By mechanical in calculating robot's unit
Angle of rolling over obtains,ForInverse matrix.
Optionally, conversion process of robot cell's ending coordinates system E to robot basis coordinates system B transformation matrix
Are as follows:
Wherein, θ is the key step angle of second cursor indicator, and i is the rotational coordinates of the robot cell
Axis.
Optionally, when X-axis rotation of the robot cell end around Slide coordinate systems:
When Y-axis rotation of the robot cell end around Slide coordinate systems:
When Z axis rotation of the robot cell end around Slide coordinate systems:
As described above, industrial robot cursor dragging teaching method of the invention and system, have the advantages that
Using above-mentioned teaching method to industrial robot teaching, simplifies the cumbersome operation of traditional teaching machine, reduces pair
The skill requirement of operator, while being compared with off-line programing mode and importing part model and operating environment without prior, for
The processing situation of multi items, small lot and non-standard is applicable in.
Detailed description of the invention
Fig. 1 shows industrial robot cursor dragging teaching system schematic diagram provided in an embodiment of the present invention；
Fig. 2 shows teaching system structural schematic diagrams provided in an embodiment of the present invention；
Fig. 3 shows industrial robot cursor dragging teaching method flow diagram provided in an embodiment of the present invention；
Fig. 4 shows cursor Drag algorithm flow chart provided in an embodiment of the present invention；
Fig. 5 shows teaching system functional block diagram provided in an embodiment of the present invention.
Piece mark explanation
10 robot cells
11 welding guns
W workpiece
20 controllers
30 welding machines
40 teaching machines
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.
Fig. 1 is please referred to Fig. 5.It should be noted that diagram provided in the present embodiment only illustrates this in a schematic way
The basic conception of invention, only shown in schema then with related component in the present invention rather than package count when according to actual implementation
Mesh, shape and size are drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its
Assembly layout kenel may also be increasingly complex.This specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to
Cooperate the revealed content of specification, so that those skilled in the art understands and reads, being not intended to limit the invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, it should all still fall in disclosed skill
Art content obtains in the range of capable of covering.Meanwhile in this specification it is cited as "upper", "lower", "left", "right", " centre " and
The term of " one " etc. is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, relativeness
It is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
Fig. 1 and Fig. 2 are please referred to, the present invention provides a kind of industrial robot cursor dragging teaching system, comprising:
Robot cell 10, and the robot cell 10 is equipped with the image module for acquiring image and is used to indicate machine
First cursor indicator of 10 end of people's unit；
Teaching machine 40, the teaching machine 40 include the second cursor indicator for being used to indicate workpiece target location；And control
Device 20 processed, the robot cell 10 and the teaching machine 40 are connect with 20 signal of controller respectively.Wherein, teaching machine
40 can be wireless with controller 20, also can be wired.
Further, the industrial robot cursor dragging teaching system further includes welding machine 30 and welding gun 11, the welding gun
11 are arranged in the end of the robot cell 10.Further, the robot cell 10 is with six degree of freedom machinery
The industrial robot of arm, controller can integrated image processing module or controller can connect PC image module is shot
Image handled and identified, in specific implementation, industrial robot teaching system by vision system camera obtain hot spot figure
Picture, obtaining robot motion's instruction according to visual processes software makes robot cell's end movement, and the first cursor hot spot follows the
Two cursor hot spots are mobile, realize cursor dragging；Second cursor instruction controller send instruction make industrial robot unit end around
Posture teaching is completed in Slide coordinate systems rotation.
Fig. 3 and Fig. 4 are please referred to, the embodiment of the invention provides industrial robot cursors to drag teaching method, using described
When teaching method is to industrial robot teaching, make robot tool end motion to welding without the complex operations by teaching machine
Last bit is set and targeted attitude, and the operation is more convenient for the method for the present invention, reduces teaching difficulty.
It is understandable to become apparent above-mentioned purpose of the invention, feature and beneficial effect, with reference to the accompanying drawing to the present invention
Specific embodiment explain in detail.
The industrial robot cursor dragging teaching method includes the following steps:
S21: the first cursor indicator and image module is fixedly mounted in robot cell end, makes the first cursor indicator
The hot spot irradiated always image module within sweep of the eye, the second cursor indicates controller by the hand-held behaviour of teaching operation person
Make；
S22: starting robot module, the first cursor indicator of unlatching and image module, teaching operation person are then turned on second
Cursor indicator, the hot spot for irradiating the second cursor indicator are being schemed near the hot spot that the first cursor indicator irradiates, and
As module the visual field in, in specific implementation, before opening image module, need to carry out image module parameter calibration and image
The parameter calibration of module and robot cell end；
S23: carrying out image procossing, identifies the position of the first cursor hot spot and the second cursor hot spot, and controls robot list
First end movement makes two hot spots tend to be overlapped；
In specific implementation, referring to Fig. 4, S23 includes:
A1: opening the first cursor indicator, and taking pictures and obtaining the first light spot image is the first image；
A2: being then turned on the second cursor indicator, takes pictures and obtains the first hot spot and the second light spot image as the second image；
A3: the first and second images of processing distinguish the first hot spot and the second hot spot；
A4: the second image of processing calculates two hot spot relative positions, provides robot motion's instruction；
A5: robot motion, the first hot spot are close to the second hot spot；
A6: taking pictures judges whether two hot spots are overlapped；
A7: if being overlapped, robot stop motion；
Step A2-A6 is repeated if not being overlapped, until two hot spots are overlapped.
S24: mobile second hot spot of teaching operation person makes the second hot spot be stopped at workpiece target location, robot cell end
Movement is followed, obtains the position of the first hot spot when the first hot spot, the second hot spot, workpiece target location are overlapped as aiming spot seat
It marks, in specific implementation, welding teaching needs to obtain the beginning and end of weld seam, needs the first light described under camera coordinates system C
The coordinate of spotCPoIt is transformed into robot basis coordinates system B, specific conversion process is For the camera coordinates
It is transformation matrix of the C to robot cell's ending coordinates system E,For robot cell's ending coordinates system E to robot base
The transformation matrix of coordinate system B,BPoFor the target position under the robot basis coordinates system B.
S25: Slide coordinate systems V is established as Slide coordinate systems origin in the position being overlapped using first hot spot with target point,
The button on the second cursor instruction controller is operated, movement instruction is sent, makes robot cell end along the " Z of Slide coordinate systems V
Axis " is mobile, and rotates robot cell end around " X-axis ", " Y-axis " or " Z axis " of Slide coordinate systems V, makes robot list
Member obtains targeted attitude, and in specific implementation, button on operation the second cursor instruction controller makes robot cell end around cunning
" X-axis " of moving coordinate system, " Y-axis ", " Z axis " rotation, and then obtain the specific steps of robot cell's teaching posture are as follows:
Slide coordinate systems V is established as cartesian coordinate system origin in the position being overlapped using first hot spot with target point；
The conversion process of targeted attitude are as follows:
Wherein, the origin of the Slide coordinate systems V is to the transformed of robot cell's ending coordinates system E transformation matrix
Journey are as follows:
Wherein,It is obtained by the nominal data of described image module,By mechanical in calculating robot's unit
Angle of rolling over obtains,Inverse matrix.
Conversion process of robot cell's ending coordinates system E to robot basis coordinates system B transformation matrix are as follows:
Wherein, θ is the key step angle of second cursor indicator, and i is the rotational coordinates of the robot cell
Axis.
When X-axis rotation of the robot cell end around camera coordinates system:
When Y-axis rotation of the robot cell end around camera coordinates system:
When Z axis rotation of the robot cell end around camera coordinates system:
In the present embodiment, the direction XYZ in Slide coordinate systems V is identical as the direction XYZ in robot basis coordinates system B, leads to
Cross switching X Y Z axis, change robot cell's terminal angle, complete posture teaching.
When welding application is embodied, S22-S24 is repeated, records spatial position and the welding gun appearance of weld seam beginning and end
State completes spot welds teaching.
Fig. 5 shows the teaching system functional block diagram of the embodiment of the present invention, including:
Visual processing unit 51, application image processing technique obtain the position of cursor hot spot in the picture；
Obtained cursor hot spot is converted to robot basis coordinates system from camera coordinates system by coordinate system converting unit 52；
Control unit 53, control robot follow the second cursor spot motion and are pivoted；
Storage unit 54 stores the space coordinate and teaching posture of target point.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (7)
1. a kind of industrial robot cursor drags teaching system characterized by comprising
Robot cell, the robot cell are equipped with the image module for acquiring image and are used to indicate robot end's
First cursor indicator；
Teaching machine, the teaching machine include the second cursor indicator for being used to indicate workpiece target location；And
Controller, the robot cell and the teaching machine are connected with the controller in a signal way. respectively.
2. industrial robot cursor according to claim 1 drags teaching system, which is characterized in that the robot cell
For the industrial robot with six degree of freedom mechanical arm.
3. a kind of industrial robot cursor drags teaching method characterized by comprising
The described in any item industrial robot cursors of claim 1 to 2 such as are provided and drag teaching system；
First cursor indicator is opened, first cursor indicator irradiates the workpiece and generates the first hot spot, described
Image module shooting workpiece simultaneously obtains the first image；
Second cursor indicator is opened, second cursor indicator irradiates the workpiece and generates the second hot spot, described
Image module shooting workpiece simultaneously obtains the second image；
Handle the first image and second image, obtain position of first hot spot in the first image,
The relative position of position and first hot spot and second hot spot of second hot spot in second image；
The robot cell controls first hot spot and moves towards the direction close to second hot spot；
Elementary area shoots workpiece, and judges whether first hot spot is overlapped with second hot spot, if so, the machine
People's unit stop motion, if it is not, then the robot cell controls first hot spot towards the side close to second hot spot
To movement.
4. industrial robot cursor according to claim 3 drags teaching method, which is characterized in that industrial robot cursor
Dragging teaching method includes:
Mobile second hot spot, and second hot spot is made to rest on target position, robot cell's control described the
One hot spot is mobile, and defining coordinate when first hot spot, second hot spot and the target position are overlapped is target point
Position coordinates；
The point being overlapped using first hot spot with target position establishes Slide coordinate systems V as cartesian coordinate system origin；
The robot end moves along the Z axis of Slide coordinate systems；
The robot end rotates around the X-axis, Y-axis or Z axis of Slide coordinate systems；
The targeted attitude of robot end is obtained by changing along the Slide coordinate systems.
5. industrial robot cursor according to claim 3 drags teaching method, which is characterized in that the Slide coordinate systems
The point of origin P of V0To the conversion process of robot cell's ending coordinates system E transformation matrix are as follows:
Wherein,It is obtained by the nominal data of described image module,Pass through mechanical arm in calculating robot's unit
Rotational angle obtains,ForInverse matrix.
6. industrial robot cursor according to claim 3 drags teaching method, which is characterized in that the robot cell
Conversion process of the ending coordinates system E to robot basis coordinates system B transformation matrix are as follows:
Wherein, θ is the key step angle of second cursor indicator, and i is the rotational coordinates axis of the robot cell.
7. industrial robot cursor according to claim 6 drags teaching method, which is characterized in that when the robot list
When first end is around the X-axis rotation of Slide coordinate systems:
When Y-axis rotation of the robot end around Slide coordinate systems:
When Z axis rotation of the robot end around Slide coordinate systems:
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112157645A (en) * | 2020-08-07 | 2021-01-01 | 北京航天自动控制研究所 | Seven-degree-of-freedom cooperative robot intelligent controller |
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