CN109664273B - Industrial robot cursor dragging teaching method and system - Google Patents
Industrial robot cursor dragging teaching method and system Download PDFInfo
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- CN109664273B CN109664273B CN201910046036.6A CN201910046036A CN109664273B CN 109664273 B CN109664273 B CN 109664273B CN 201910046036 A CN201910046036 A CN 201910046036A CN 109664273 B CN109664273 B CN 109664273B
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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
Abstract
The invention provides a method and a system for teaching industrial robot cursor dragging, wherein the teaching system comprises: the robot unit is provided with an image module for acquiring images and a first cursor indicator for indicating the tail end of the robot unit; a teach pendant including a second cursor indicator for indicating a target position of the workpiece; the robot unit and the demonstrator are respectively in signal connection with the controller, the teaching method simplifies the tedious operation of the traditional demonstrator, reduces the experience requirements on operators, simultaneously, compared with an off-line programming mode, the teaching method does not need to introduce a workpiece model and an operation environment in advance, and is suitable for the processing conditions of various, small-batch and non-standard parts.
Description
Technical Field
The invention relates to the field of industrial control, in particular to a cursor dragging teaching method and system for an industrial robot.
Background
With the continuous improvement of the industrial automation degree, industrial robots are widely applied in the fields of automobile and automobile part manufacturing industry, heavy machinery, aerospace, ships, chemical industry, electronic industry and the like.
Generally, the teaching of the industrial robot mainly comprises two modes of teaching of a demonstrator and off-line programming.
And teaching the teaching device, namely, an operator moves the tail end of the robot unit to a target position by using the teaching box, and the robot joint angle information corresponding to the position is recorded in the memory. When the teaching operation is required to be reproduced, the robot controller sequentially reads the teaching positions and reproduces the teaching trajectory. The teaching demonstrator has certain requirements on operators, needs certain professional knowledge and relevant programming bases, and has a relatively long training period. Meanwhile, the teaching of the demonstrator is suitable for large-batch repetitive production, and can be repeatedly used by one-time teaching, but is not suitable for processing of various, small-batch and non-standard parts, and the teaching workload is large.
The off-line programming is the extension of robot programming language, it utilizes computer graphics to establish the geometric model of robot and its working environment, then makes off-line planning and programming for the task completed by robot, and makes dynamic simulation and collision detection for the result of programming, finally generates the robot motion code and transmits it to the robot control cabinet, so that the robot can complete the assigned task. The off-line programming requires that a robot model, working environment parameters and machining workpiece size parameters are imported in advance, and is not suitable for the conditions that the working environment is unknown and a machining element is not a standard part.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a method and a system for teaching cursor dragging of an industrial robot, which are used to solve the problem that the industrial robot is not easy to teach in the prior art.
To achieve the above and other related objects, the present invention provides an industrial robot cursor drag teaching system, comprising:
the robot unit is provided with an image module for acquiring images and a first cursor indicator for indicating the tail end of the robot;
a teach pendant including a second cursor indicator for indicating a target position of the workpiece; and the robot unit and the demonstrator are respectively in signal connection with the controller.
Optionally, the robot unit is an industrial robot having a six-degree-of-freedom robot arm.
An industrial robot cursor dragging teaching method comprises the following steps:
providing the industrial robot cursor dragging teaching system;
starting the first cursor indicator, irradiating the workpiece by the first cursor indicator and generating a first light spot, and shooting the workpiece by the image module to obtain a first image;
starting the second cursor indicator, irradiating the workpiece by the second cursor indicator and generating a second light spot, and shooting the workpiece by the image module to obtain a second image;
processing the first image and the second image to obtain the relative positions of the first light spot and the second light spot;
the robot unit controls the first light spot to move towards a direction close to the second light spot;
the image module acquires an image and judges whether the first light spot is superposed with the second light spot, if so, the robot unit stops moving, and if not, the robot unit controls the first light spot to move towards the direction close to the second light spot.
Optionally, the industrial robot cursor dragging teaching method includes: moving the second light spot and enabling the second light spot to stay at a target position, wherein the robot unit controls the first light spot to move, and coordinates when the first light spot, the second light spot and the target position coincide are defined as coordinates of a target point position; with the first light spot coinciding with the target position0The point is the original point of a Cartesian coordinate system, and a sliding coordinate system V is established; the tail end of the robot unit moves along the Z axis of the sliding coordinate system; the tail end of the robot unit rotates around an X axis, a Y axis or a Z axis of the sliding coordinate system; and obtaining a taught target attitude through the attitude change of the tail end of the robot in the sliding coordinate system.
Optionally, the target posture conversion process includes:
optionally, a transformation process from the origin of the sliding coordinate system V to the transformation matrix of the robot unit end coordinate system E is as follows:
wherein the content of the first and second substances,
obtained through the calibration data of the image module,
by the computing robot unitThe rotation angle of the middle mechanical arm is obtained,
is composed of
The inverse matrix of (c).
Optionally, the conversion process from the robot unit terminal coordinate system E to the robot base coordinate system B transformation matrix is as follows:
and theta is a key stepping angle of the second cursor indicator, and i is a rotation coordinate axis of the robot unit.
Optionally, when the robot unit end rotates around the X-axis of the sliding coordinate system:
when the robot cell tip is rotated about the Y-axis of the sliding coordinate system:
when the robot cell tip is rotated about the Z-axis of the sliding coordinate system:
as described above, the industrial robot cursor dragging teaching method and system of the present invention have the following beneficial effects:
the teaching method is adopted to teach the industrial robot, the tedious operation of the traditional teaching device is simplified, the experience requirement on operators is reduced, meanwhile, compared with an off-line programming mode, a workpiece model and an operation environment do not need to be led in advance, and the teaching method is suitable for the processing conditions of various, small-batch and non-standard parts.
Drawings
FIG. 1 is a schematic diagram of an industrial robot cursor dragging teaching system provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a teaching system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for teaching cursor dragging of an industrial robot according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating a cursor dragging algorithm provided by an embodiment of the present invention;
FIG. 5 is a functional block diagram of a teaching system provided by an embodiment of the present invention.
Description of reference numerals
10 robot cell
11 welding gun
W workpiece
20 controller
30 welding machine
40 demonstrator
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 1 to 5. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Referring to fig. 1 and 2, the present invention provides a system for teaching cursor dragging of an industrial robot, including:
the robot unit 10 is provided with an image module for acquiring images and a first cursor indicator for indicating the tail end of the robot unit 10;
a teach pendant 40, said teach pendant 40 comprising a second cursor indicator for indicating a target position of the workpiece; and a controller 20, wherein the robot unit 10 and the teach pendant 40 are respectively connected with the controller 20 through signals. The teaching unit 40 and the controller 20 may be connected wirelessly or by wire.
Further, the industrial robot cursor dragging teaching system further comprises a welding machine 30 and a welding gun 11, wherein the welding gun 11 is arranged at the tail end of the robot unit 10. Furthermore, the robot unit 10 is an industrial robot with a six-degree-of-freedom mechanical arm, the controller can integrate an image processing module, or the controller can be connected with a PC to process and identify an image shot by the image module, in a specific implementation, the industrial robot teaching system obtains a light spot image through a vision system camera, obtains a robot motion instruction according to vision processing software to enable the tail end of the robot unit to move, and a first cursor light spot moves along with a second cursor light spot to realize cursor dragging; and the second cursor indication controller sends an instruction to enable the tail end of the industrial robot unit to rotate around the sliding coordinate system to complete posture teaching.
Referring to fig. 3 and 4, an embodiment of the present invention provides a method for teaching an industrial robot by cursor dragging, and when the industrial robot is taught by the teaching method, the robot tool end does not need to move to a welding start and end position and a target posture through a complex operation of a demonstrator.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The industrial robot cursor dragging teaching method comprises the following steps:
s21: a first cursor indicator and an image module are fixedly installed at the tail end of the robot unit, so that light spots irradiated by the first cursor indicator are always in the visual field range of the image module, and a second cursor indicator controller is taught to be operated by an operator in a handheld mode;
s22: starting the robot module, starting the first cursor indicator and the image module, and teaching an operator to start the second cursor indicator again to enable light spots irradiated by the second cursor indicator to be close to the light spots irradiated by the first cursor indicator and to be in the visual field of the image module, wherein in specific implementation, before the image module is started, parameter calibration of the image module and parameter calibration of the tail ends of the image module and the robot unit are required to be carried out;
s23: performing image processing, identifying the positions of the first cursor light spot and the second cursor light spot, and controlling the tail end of the robot unit to move so that the two light spots tend to coincide;
in an embodiment, referring to fig. 4, S23 includes:
a1: starting a first cursor indicator, and taking a picture to acquire a first light spot image as a first image;
a2: then starting a second cursor indicator, and taking a picture to obtain a first light spot image and a second light spot image as a second image;
a3: processing the first and second images to distinguish the first light spot from the second light spot;
a4: processing the second image, calculating the relative positions of the two light spots, and giving a robot motion instruction;
a5: the robot moves, and the first light spot approaches to the second light spot;
a6: photographing to judge whether the two light spots are superposed or not;
a7: if the positions are overlapped, the robot stops moving;
if not, repeating the steps A2-A6 until the two light spots coincide.
S24: teaching an operator to move the second light spot to stop the second light spot at a target position of the workpiece, enabling the tail end of the robot unit to move along with the second light spot, and acquiring coordinates of the target position of the first light spot when the target positions of the first light spot, the second light spot and the workpiece are superposedCPoConverting into a robot base coordinate system B by the specific conversion process
Is a transformation matrix of the camera coordinate system C to the robot cell end coordinate system E,
is a transformation matrix of the robot cell end coordinate system E to the robot base coordinate system B,BPoand the target position is the target position under the robot base coordinate system B.
S25: the method comprises the following specific steps of establishing a sliding coordinate system V by taking the position where the first light spot coincides with the target point as the origin of the sliding coordinate system, operating a button on a second cursor indication controller, sending a motion instruction, enabling the tail end of the robot unit to move along the Z axis of the sliding coordinate system V, and enabling the tail end of the robot unit to rotate around the X axis, the Y axis or the Z axis of the sliding coordinate system V, so that the robot unit obtains a target posture, in specific implementation, operating the button on the second cursor indication controller, enabling the tail end of the robot unit to rotate around the X axis, the Y axis or the Z axis of the sliding coordinate system, and further obtaining a teaching posture of the robot unit:
establishing a sliding coordinate system V by taking the position of the first light spot coinciding with the target point as the original point of a Cartesian coordinate system;
the conversion process of the target posture is as follows:
the conversion process from the origin of the sliding coordinate system V to the transformation matrix of the robot unit terminal coordinate system E is as follows:
wherein the content of the first and second substances,
obtained through the calibration data of the image module,
obtained by calculating the rotation angle of the mechanical arm in the robot unit,
is composed of
The inverse matrix of (c).
The conversion process from the robot unit terminal coordinate system E to the robot base coordinate system B transformation matrix is as follows:
and theta is a key stepping angle of the second cursor indicator, and i is a rotation coordinate axis of the robot unit.
When the robot cell tip is rotated about the X-axis of the camera coordinate system:
when the robot cell tip is rotated about the Y-axis of the camera coordinate system:
when the robot cell tip is rotated about the Z-axis of the camera coordinate system:
in this embodiment, the XYZ direction in the sliding coordinate system V is the same as the XYZ direction in the robot base coordinate system B, and the posture of the end of the robot unit is changed by switching the X \ Y \ Z axes, thereby completing the posture teaching.
And when the welding application is specifically implemented, repeating S22-S24, recording the spatial positions of the starting point and the ending point of the welding seam and the posture of the welding gun, and finishing the teaching of the welding seam point.
FIG. 5 shows a functional block diagram of a teaching system of an embodiment of the present invention, including:
the vision processing unit 51 is used for acquiring the position of a cursor spot in an image by applying an image processing technology;
a coordinate system conversion unit 52 for converting the obtained cursor light spot from the camera coordinate system to the robot base coordinate system;
the control unit 53 controls the robot to move along with the second cursor light spot and rotate around the axis;
the storage unit 54 stores the spatial coordinates and the teaching postures of the target points.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. An industrial robot cursor dragging teaching system, comprising:
the robot unit is provided with an image module for acquiring images and a first cursor indicator for indicating the tail end of the robot;
a teach pendant including a second cursor indicator for indicating a target position of the workpiece; and
the robot unit and the demonstrator are respectively in signal connection with the controller; starting the first cursor indicator, irradiating the workpiece by the first cursor indicator and generating a first light spot, and shooting the workpiece by the image module to obtain a first image;
starting the second cursor indicator, irradiating the workpiece by the second cursor indicator and generating a second light spot, and shooting the workpiece by the image module to obtain a second image;
processing the first image and the second image to acquire the position of the first light spot in the first image, the position of the second light spot in the second image and the relative position of the first light spot and the second light spot;
the robot unit controls the first light spot to move towards a direction close to the second light spot;
the image module shoots a workpiece and judges whether the first light spot is overlapped with the second light spot or not, if so, the robot unit stops moving, and if not, the robot unit controls the first light spot to move towards the direction close to the second light spot; the industrial robot cursor dragging teaching method comprises the following steps:
moving the second light spot and enabling the second light spot to stay at a target position, wherein the robot unit controls the first light spot to move, and coordinates when the first light spot, the second light spot and the target position coincide are defined as coordinates of a target point position;
establishing a sliding coordinate system V by taking the point of the first light spot coinciding with the target position as the original point of a Cartesian coordinate system;
the tail end of the robot moves along the Z axis of the sliding coordinate system;
the tail end of the robot rotates around an X axis, a Y axis or a Z axis of the sliding coordinate system;
and obtaining the target posture of the robot tail end by changing along the sliding coordinate system.
2. An industrial robot cursor drag teaching system according to claim 1 wherein the robot cell is an industrial robot with a six degree of freedom robot arm.
3. An industrial robot cursor dragging teaching method is characterized by comprising the following steps:
providing an industrial robot cursor dragging teaching system according to any of claims 1 to 2;
starting the first cursor indicator, irradiating the workpiece by the first cursor indicator and generating a first light spot, and shooting the workpiece by the image module to obtain a first image;
starting the second cursor indicator, irradiating the workpiece by the second cursor indicator and generating a second light spot, and shooting the workpiece by the image module to obtain a second image;
processing the first image and the second image to acquire the position of the first light spot in the first image, the position of the second light spot in the second image and the relative position of the first light spot and the second light spot;
the robot unit controls the first light spot to move towards a direction close to the second light spot;
the image module shoots a workpiece and judges whether the first light spot is overlapped with the second light spot or not, if so, the robot unit stops moving, and if not, the robot unit controls the first light spot to move towards the direction close to the second light spot; the industrial robot cursor dragging teaching method comprises the following steps:
moving the second light spot and enabling the second light spot to stay at a target position, wherein the robot unit controls the first light spot to move, and coordinates when the first light spot, the second light spot and the target position coincide are defined as coordinates of a target point position;
establishing a sliding coordinate system V by taking the point of the first light spot coinciding with the target position as the original point of a Cartesian coordinate system;
the tail end of the robot moves along the Z axis of the sliding coordinate system;
the tail end of the robot rotates around an X axis, a Y axis or a Z axis of the sliding coordinate system;
and obtaining the target posture of the robot tail end by changing along the sliding coordinate system.
4. Industrial robot cursor drag teaching method according to claim 3, characterized in that the origin P of the sliding coordinate system V0The conversion process to the robot unit terminal coordinate system E transformation matrix is as follows:
wherein the content of the first and second substances,
obtained through the calibration data of the image module,
obtained by calculating the rotation angle of the mechanical arm in the robot unit,
is composed of
The inverse matrix of (c).
5. The industrial robot cursor dragging teaching method according to claim 4, wherein the transformation process from the robot cell end coordinate system E to the robot base coordinate system B transformation matrix is as follows:
and theta is a key stepping angle of the second cursor indicator, and i is a rotation coordinate axis of the robot unit.
6. An industrial robot cursor drag teaching method according to claim 5 wherein when the robot cell tip is rotated around the X-axis of a sliding coordinate system:
when the robot tip is rotated about the Y-axis of the sliding coordinate system:
when the robot tip is rotated about the Z-axis of the sliding coordinate system:
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| CN106142092A (en) * | 2016-07-26 | 2016-11-23 | 张扬 | A kind of method robot being carried out teaching based on stereovision technique |
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| EP3366433B1 (en) * | 2017-02-09 | 2022-03-09 | Canon Kabushiki Kaisha | Method of controlling robot, method of teaching robot, and robot system |
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| CN106113050A (en) * | 2016-07-05 | 2016-11-16 | 昆山华恒机器人有限公司 | The teaching method of industrial robot, control method and device, system |
| CN106142092A (en) * | 2016-07-26 | 2016-11-23 | 张扬 | A kind of method robot being carried out teaching based on stereovision technique |
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