CN110370263A - A kind of teaching method of robot, device and robot - Google Patents
A kind of teaching method of robot, device and robot Download PDFInfo
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- CN110370263A CN110370263A CN201810331581.5A CN201810331581A CN110370263A CN 110370263 A CN110370263 A CN 110370263A CN 201810331581 A CN201810331581 A CN 201810331581A CN 110370263 A CN110370263 A CN 110370263A
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- Prior art keywords
- robot
- equipment
- information
- manipulator
- range sensor
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of teaching method of robot, device and robot, the first information of the position of robot relative to the preset reference position for the equipment for being located at robot periphery is determined；Determine the second information of the taught point of equipment relative to the preset reference position of the equipment；According to the first information determined and the second information, the third information of the taught point of each equipment relative to the position of robot is determined；According to the third information determined, determine that robot picks and places the motion profile of object to be handled.Therefore, the teaching to robot can be realized by simple method, and teaching process can be completed at carrying scene, it is not necessary to network, without operation is manually entered, substantially increase the efficiency of teaching.
Description
Technical field
The present invention relates to robotic technology field, espespecially a kind of teaching method of robot, device and robot.
Background technique
The purpose of glass substrate carrying robot teaching is to find out the manipulator of robot in moving glass substrate mistake
Accurate location in journey.During carrying glass sheet, in order to guarantee that manipulator can be picked and placed correctly on peripheral equipment
Glass substrate needs to determine the position of taught point by teaching, to generate the motion profile for picking and placing glass；Later, robot transports
Line program pick and place according to instruction the movement of glass.
However, many is the method for off-line teaching in current teaching method, the work at the scene of carrying is transferred to and is done
Public room carries out；So, it is necessary to which the placement position of each equipment at scene is carried in confirmation in advance, and each equipment needs to carry out three-dimensional and builds
Mould imports in off-line programming software, so that operating flexibility is lower, while the work that three-dimensional modeling imports is cumbersome and time consuming.
Based on this, the teaching to robot how is realized by simple method, is that those skilled in the art are urgently to be resolved
The technical issues of.
Summary of the invention
The embodiment of the invention provides a kind of teaching method of robot, device and robots, to pass through simple side
Method realizes the teaching to robot.
The embodiment of the invention provides a kind of teaching methods of robot, comprising:
Determine the first letter of the position of robot relative to the preset reference position for the equipment for being located at the robot periphery
Breath；
Determine the second information of the taught point of the equipment relative to the preset reference position of equipment described in this；Wherein, institute
The taught point for stating equipment is that the robot picks and places reference point on the motion profile of the object to be handled in the equipment；
According to the first information and second information determined, determine the taught point of each equipment relative to institute
State the third information of the position of robot；
According to the third information determined, determine that the robot picks and places the motion profile of the object to be handled.
It, can basis by determining the third information of position of the taught point of each equipment relative to the robot
This third information generates robot and picks and places the motion profile of the object to be handled, so that teaching is completed, so that the teaching of robot
Process becomes simply, strong operability, and teaching can be completed at carrying scene, so that the efficiency of teaching is substantially increased,
And the cost of teaching.
In a kind of possible embodiment, in above-mentioned teaching method provided in an embodiment of the present invention, the determining machine
The first information of the position of device people relative to the preset reference position for the equipment for being located at the robot periphery, specifically includes:
By the multiple movement of the robot, and it is mounted on the Distance-sensing on the manipulator of the robot
Device determines the first information of the position of robot relative to the preset reference position for the equipment for being located at the robot periphery.
Pass through the multiple mobile of robot and combine and be mounted on range sensor on the manipulator of robot, can make
The first information determined is more accurate, reduces error.
In a kind of possible embodiment, in above-mentioned teaching method provided in an embodiment of the present invention, described multiple
It is mobile for when moving twice, the multiple movement by the robot, and be mounted on the robot manipulator it
On range sensor, determine the preset reference position of the position of robot relative to the equipment that is located at the robot periphery
The first information specifically includes:
The distance on manipulator in the first time moving process of the robot, by being mounted on the robot
Sensor determines the distance between the current location of each equipment Yu the robot；
In second of moving process of the robot, according to working as each equipment determined and the robot
The distance between front position, adjustment is equipped with the distance of stretch out and draw back of the manipulator of the range sensor in real time；Again by being mounted on
Range sensor on the manipulator of the robot determines the preset reference position of each equipment relative to the machine
The first information of the current location of people；Wherein, second of mobile movement speed is less than the first time mobile movement
Speed.
It should be noted that the motion track that robot moves twice be it is duplicate, only movement speed can be
It is different；In the fast moving of first time, the Position Approximate of each equipment can be determined；In secondary movement, Ke Yigen
Move determining according to first time as a result, the distance of stretch out and draw back of manipulator is adjusted, more accurately to determine the default base of equipment
Level is set；And since second of movement is slower, it is possible to prevente effectively from the collision between manipulator and equipment, guarantees equipment and machine
Device people is against damages.
In a kind of possible embodiment, in above-mentioned teaching method provided in an embodiment of the present invention, in the machine
In second of moving process of people, and during robot rotation, the teaching method further include:
The manipulator for shrinking the robot rotates the fuselage of the robot according to the first predetermined angle；
The manipulator for stretching out the robot continues to rotate in the same direction the robot according to the second predetermined angle
Fuselage.
By stretching in rotary course to manipulator, it is possible to prevente effectively from manipulator is touched and is set in rotary course
It is standby, protect robot and equipment against damages.
In a kind of possible embodiment, in above-mentioned teaching method provided in an embodiment of the present invention, in the equipment
Predeterminated position be pasted with include the equipment taught point relative to equipment described in this preset reference position second letter
When the two dimensional code of breath, the second information of the taught point of the equipment relative to the preset reference position of equipment described in this, tool are determined
Body includes:
The camera shooting on manipulator in second of moving process of the robot, by being mounted on the robot
Head scans the two dimensional code pasted in the equipment；
Obtain the taught point of the equipment in the two dimensional code relative to equipment described in this preset reference position
Two information.
By the two dimensional code pasted in scanning device, it can be directly obtained the second information, so that determining the second information
Mode becomes simple, easy, to effectively reduce the complication of teaching process.
In a kind of possible embodiment, in above-mentioned teaching method provided in an embodiment of the present invention, in the distance
When sensor is mounted on the leftmost side finger or rightmost side finger of the manipulator of the robot, determined in the basis
The first information and second information, determine the taught point of each equipment relative to the robot position
After three information, the teaching method further include:
Determine the center that is equipped with the manipulator of the range sensor close to described equipment one end with it is described
The distance between range sensor；
According to the manipulator for being equipped with the range sensor determined close to the centre bit of described equipment one end
The distance between described range sensor is set, the third information is modified；
The third information that the basis is determined determines that the robot picks and places the movement rail of the object to be handled
Mark specifically includes:
According to the revised third information, the motion profile that the robot picks and places the object to be handled is generated.
In this way, passing through the amendment of third information, the motion profile of the pick-and-place object to be handled of robot can be made more
It is accurate to add, and reduces and picks and places error, reduces maloperation.
On the other hand, the embodiment of the invention also provides a kind of teaching apparatus of robot, comprising:
First determining module, for determining the position of robot relative to the default of the equipment for being located at the robot periphery
The first information of base position；
Second determining module, for determining the preset reference position of the taught point of the equipment relative to equipment described in this
Second information；Wherein, the taught point of the equipment is the movement rail that the robot picks and places the object to be handled in the equipment
Reference point on mark；
Third determining module, for according to the first information determined and second information, determining each described set
Third information of the standby taught point relative to the position of the robot；
4th determining module, for it is described wait remove to determine that the robot picks and places according to the third information determined
Transport the motion profile of object.
In a kind of possible embodiment, in above-mentioned teaching apparatus provided in an embodiment of the present invention, described first really
Cover half block, specifically for the multiple movement by the robot, and be mounted on the manipulator of the robot away from
From sensor, the first letter of the position of robot relative to the preset reference position for the equipment for being located at the robot periphery is determined
Breath.
In a kind of possible embodiment, in above-mentioned teaching apparatus provided in an embodiment of the present invention, described multiple
Mobile is first determining module, specifically for passing through in the first time moving process of robot when moving twice
The range sensor being mounted on the manipulator of the robot determines the current location of each equipment and the robot
The distance between；In second of moving process of the robot, according to each equipment and the robot determined
The distance between current location, adjustment is equipped with the distance of stretch out and draw back of the manipulator of the range sensor in real time；Pass through peace again
Range sensor on the manipulator of the robot determines the preset reference position of each equipment relative to described
The first information of the current location of robot；Wherein, second of mobile movement speed is less than first time movement
Movement speed.
In a kind of possible embodiment, in above-mentioned teaching apparatus provided in an embodiment of the present invention, in the machine
In second of moving process of people, and during robot rotation, first determining module is also used to shrink institute
The manipulator for stating robot rotates the fuselage of the robot according to the first predetermined angle；The manipulator of the robot is stretched out,
The fuselage of the robot is continued to rotate in the same direction according to the second predetermined angle.
In a kind of possible embodiment, in above-mentioned teaching apparatus provided in an embodiment of the present invention, in the equipment
Predeterminated position be pasted with include the equipment taught point relative to equipment described in this preset reference position second letter
When the two dimensional code of breath, second determining module, specifically for passing through installation in second of moving process of the robot
Camera on the manipulator of the robot scans the two dimensional code pasted in the equipment；Obtain the two dimension
Second information of the taught point of the equipment in code relative to the preset reference position of equipment described in this.
In a kind of possible embodiment, in above-mentioned teaching apparatus provided in an embodiment of the present invention, in the distance
When sensor is mounted on the leftmost side finger or rightmost side finger of the manipulator of the robot, determined in the basis
The first information and second information, determine the taught point of each equipment relative to the robot position
After three information, the teaching apparatus further include: correction module；
The correction module, for determining the manipulator for being equipped with the range sensor close to described equipment one end
Center and the distance between the range sensor；
According to the manipulator for being equipped with the range sensor determined close to the centre bit of described equipment one end
The distance between described range sensor is set, the third information is modified；
4th determining module is specifically used for generating the robot according to the revised third information and picking and placing
The motion profile of the object to be handled.
On the other hand, the embodiment of the invention also provides a kind of robots, comprising: such as provided in an embodiment of the present invention above-mentioned
Teaching apparatus and camera and range sensor；
The range sensor, for measure the robot position and the robot be located at the machine
The distance between preset reference position of the equipment on people periphery, and measurement result is sent to the teaching apparatus, so that described
Teaching apparatus determines the preset reference position of the position of the robot relative to the equipment that is located at the robot periphery
The first information；
The camera, for scanning preset reference position of the taught point for including equipment relative to equipment described in this
The image of second information, and described image is sent to the teaching apparatus, so that the teaching apparatus determines the equipment
Taught point relative to equipment described in this preset reference position the second information.
In a kind of possible embodiment, in above-mentioned robot provided in an embodiment of the present invention, the Distance-sensing
Device and the camera are mounted on the two sides of the same finger of the same manipulator of the robot or close to the one of ground
Side；
The end of the finger of the end of the range sensor and the manipulator is on same straight line.
To which the installation of range sensor and camera not only will not have an impact the carrying movement of manipulator, may be used also
So that the second information can be determined while the preset reference position for determining equipment, when reducing needed for teaching process
Between, improve the efficiency of teaching.
In a kind of possible embodiment, in above-mentioned robot provided in an embodiment of the present invention, the distance is passed
Sensor and the camera are installed on the leftmost side finger of the manipulator on the left of the robot；The equipment is preset
Base position is located at the rightmost side of the equipment；Or,
The range sensor and the camera are installed in the rightmost side hand of the manipulator on the right side of the robot
On finger；The preset reference position of the equipment is located at the leftmost side of the equipment.
In this way, close-in measurement may be implemented, the accuracy of measurement is improved.
The present invention has the beneficial effect that:
Teaching method, device and the robot of a kind of robot provided in an embodiment of the present invention, determine the position of robot
The first information of preset reference position relative to the equipment for being located at robot periphery；Determine that the taught point of equipment is set relative to this
Second information of standby preset reference position；According to the first information determined and the second information, the taught point of each equipment is determined
The third information of position relative to robot；According to the third information determined, determine that robot picks and places the fortune of object to be handled
Dynamic rail mark.Therefore, the teaching to robot can be realized by simple method, and teaching can be completed at carrying scene
Journey, without operation is manually entered, substantially increases the efficiency of teaching it is not necessary to network.
Detailed description of the invention
Fig. 1 and Fig. 2 is respectively the schematic diagram that robot pick and place the taught point of the movement of glass in the prior art；
Fig. 3 is one of the flow chart of teaching method provided in the embodiment of the present invention；
Fig. 4 is the positional diagram in the embodiment of the present invention between the robot provided and the equipment on periphery；
Fig. 5 is the front schematic view of the equipment for being pasted with two dimensional code provided in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the manipulator of the robot provided in the embodiment of the present invention；
Fig. 7 is the two of the flow chart of the teaching method of the robot provided in the embodiment of the present invention；
Fig. 8 and Fig. 9 is respectively the structural schematic diagram of the teaching apparatus provided in the embodiment of the present invention；
Figure 10 and Figure 11 is respectively the structural schematic diagram of the robot provided in the embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing, to a kind of teaching method of robot provided in an embodiment of the present invention, device and robot
Specific embodiment be described in detail.It should be noted that described embodiment is only that present invention a part is real
Example is applied, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall within the protection scope of the present invention.
Inventor has found that the equipment positioned at robot periphery includes: that single-glass equipment and compound glass are set under study for action
It is standby；Single-glass equipment is mainly process equipment, at this point, robot carry out pick and place glass movement taught point as shown in Figure 1,
Generally require three taught points, respectively a1, a2 and a3, wherein a1 is the position before the manipulator of robot takes glass to enter
Or the position after glass exits is put, a2 is to lift and contact the position of glass or put glass to be detached from glass after manipulator takes glass to enter
The position of glass, a3 is the position that manipulator takes glass to exit or puts the position before glass enters, and s indicates the manipulator of robot；
Dotted line shown in Fig. 1 is the motion profile generated according to three taught points.
For compound glass equipment, predominantly storage equipment, at this point, robot pick and place the taught point of the movement of glass
As shown in Fig. 2, generally requiring six taught points, that is to say, that the bottom and top be respectively necessary for three taught points, wherein
The meaning that three taught points (b1, b2 and b3) of the bottom and three top taught points (c1, c2 and c3) indicate, with Fig. 1
In three taught points (a1, a2 are identical with the meaning that a3) is indicated, be pick and place glass three key positions, and s indicate machine
The manipulator of device people；Dotted line in Fig. 2 is respectively to generate motion profile according to taught point.In addition, for picking and placing intermediate each layer glass
The taught point of glass can be calculated according to the number of plies of glass.
However, if being located at the equipment on robot periphery when having multiple, it is thus necessary to determine that the sum of taught point can be a ratio
Biggish number can unusual elapsed time if these taught points manually operate.For example, if robot periphery has 8
A equipment, if this 8 equipment are monolayer device, it is thus necessary to determine that the sum of taught point be at least 24, if this 8 equipment
When being the multi-layer device of equidistant (spacing between each layer is equal), then it needs to be determined that 48 taught points, if this 8 equipment are
When the multi-layer device of Unequal distance (spacing between each layer is unequal), it is thus necessary to determine that the quantity of taught point be generally the layer of equipment
24 times of number, therefore, taught point is determined by manual hand manipulation, it is cumbersome and time consuming.
Based on this, the embodiment of the invention provides a kind of teaching methods of robot, to realize by simple method
Teaching to robot, and teaching can be completed at carrying scene, it is not necessary to network, without operation is manually entered, greatly
The efficiency of teaching is improved greatly.
Specifically, the teaching method of a kind of robot provided in an embodiment of the present invention, as shown in figure 3, may include:
S301, the first letter of the position of robot relative to the preset reference position for the equipment for being located at robot periphery is determined
Breath；
Wherein, the robot referred in the embodiment of the present invention can be transfer robot or other have carrying function
The robot of energy, does not limit herein.
S302, the second information of the taught point of equipment relative to the preset reference position of the equipment is determined；
Wherein, the taught point of equipment is that robot picks and places the reference point on the motion profile of the object to be handled in the equipment；
By these taught points, it can determine that robot picks and places the motion profile of object to be handled, to realize robot to be handled
The carrying of object.
The first information and the second information that S303, basis are determined, determine the taught point of each equipment relative to robot
The third information of position；
The third information that S304, basis are determined, determines that robot picks and places the motion profile of object to be handled.
When determining to pick and place the motion profile of object to be handled, that is, complete the teaching of robot, later robot according to
Teaching picks and places as a result, the carrying of object to be handled can be realized.
Above-mentioned teaching method provided in an embodiment of the present invention, by determining the taught point of each equipment relative to robot
The third information of position can generate the motion profile of robot, so that teaching is completed, so that robot according to this third information
Teaching process become simply, strong operability, and teaching can be completed at carrying scene, to substantially increase teaching
Efficiency and the cost of teaching.
Certainly, before carrying out teaching to robot, it is necessary first to complete to initialize to robot, that is, to robot
Initial setting up is carried out, the initial position co-ordinates of robot are demarcated, in order to determine the pre- of equipment after robot starts movement
If the positional relationship between base position and the current location of robot.In addition, for determining the two dimensional code of the second information, equally
Need to be pasted onto the predeterminated position of equipment before robot carries out teaching, in order to the scanning and acquisition of robot.
In the specific implementation, in order to determine the first information, the preset reference of robot Yu each equipment in periphery is determined
Relative position information between position, the step S301 in above-mentioned teaching method provided in an embodiment of the present invention determine robot
Position relative to be located at robot periphery equipment preset reference position the first information, can specifically include:
By the multiple movement of robot, and it is mounted on the range sensor on the manipulator of robot, determines machine
The first information of the position of device people relative to the preset reference position for the equipment for being located at robot periphery.
Wherein, multiple movement as mentioned in the embodiments of the present invention can be moves twice, is also possible to move three times or four
Secondary movement etc., as long as the first information can be accurately determined out, so tool by repeatedly moving and range sensor
The mobile number of body does not limit herein.Therefore, pass through the multiple mobile of robot and combine the manipulator for being mounted on robot
On range sensor, the first information determined can be made more accurate, reduce error.
Specifically, in above-mentioned teaching method provided in an embodiment of the present invention, when multiple movement is moves twice, pass through
The multiple movement of robot, and it is mounted on the range sensor on the manipulator of robot, determine the position phase of robot
For the first information of the preset reference position of the equipment positioned at robot periphery, can specifically include:
In the first time moving process of robot, by the range sensor being mounted on the manipulator of robot,
Determine the distance between the current location of each equipment and robot；
In second of moving process of robot, according between each equipment determined and the current location of robot
Distance, adjustment is equipped with the distance of stretch out and draw back of the manipulator of range sensor in real time；Again by be mounted on robot manipulator it
On range sensor, determine the first information of the preset reference position of each equipment relative to the current location of robot.
Wherein, second of mobile movement speed is less than movement speed mobile for the first time；Also, Distance-sensing is installed
The Adjustment principle of the outreach of the manipulator of device are as follows: proximity device but not contact arrangement touch to avoid between equipment
It hits.For example, the outreach of manipulator can for first time mobile collection to device end distance subtract fixed one away from
From (such as 2 centimetres), in this way, proximity device but not contact arrangement can be realized；Certainly, it is merely illustrative herein, it is specific to stretch out
Distance is not limited to this.
It should be noted that the motion track that robot moves twice is duplicate, that is to say, that mobile for the first time
When, robot first moves horizontally to the right, then rotates 180 °, and then level is moved to the left, and finally rotates 180 °, completes for the first time
It is mobile；When second mobile, the motion track of robot is equally that first level to the left, rotates 180 °, then horizontally to the right, then revolve
Turn 180 °, completes second of movement；It is herein the motion track of citing robot, in the specific implementation, the movement of robot
Track is not limited to this.
Wherein, moving twice for robot, only movement speed will be different；In fast moving for first time
In, it can determine the Position Approximate of each equipment；It, can be according to the first time mobile knot determined in secondary movement
Fruit, adjustment is equipped with the distance of stretch out and draw back of the manipulator of range sensor in real time, in order to more accurately determine the pre- of equipment
If base position；And since second of movement is slower, there are time enough and space allocation that the machine of range sensor is installed
The position of tool hand guarantees that equipment and robot are against damages effectively to avoid the collision between manipulator and equipment.
Specifically, in above-mentioned teaching method provided in an embodiment of the present invention, in second of moving process of robot,
And during robot rotation, in order to avoid manipulator and the peripheral equipment of robot collide, teaching method may be used also
To include:
The manipulator for shrinking robot, according to the fuselage of the first predetermined angle rotary machine people；
The manipulator for stretching out robot, the fuselage of robot is continued to rotate in the same direction according to the second predetermined angle.
For example, the positional diagram between the equipment of robot and periphery as shown in Figure 4, the surrounding cloth of robot
8 equipment are equipped with, number is 1 to 8 respectively, and the size of equipment and the distance between equipment and robot are different, this
Place is merely illustrative, and robot and the positional relationship of each equipment in periphery are not limited to this；Wherein, 1 installation is indicated
Range sensor on the manipulator of robot, 2 indicate to be mounted on the camera on the manipulator of robot, and 3 indicate
The rotating mechanism of robot, 4 indicate the moving track of robot, and 5 indicate that the manipulator of the robot of amplification, A indicate equipment
Preset reference position.
If robot in secondary moving process, moves along track 4 and moves horizontally, completing number is setting for 1-3
Standby measurement, and need to rotate 180 ° measurement number be 4 equipment when, due to what is stretched out when manipulator 5 before main body turning,
So before rotation first withdrawing manipulator 5, that is, shrink the manipulator 5 of robot, then 90 ° of main body turning；Then it stretches again
Manipulator 5 out measure the preset reference position A for numbering the equipment for being 4 relative to the position coordinates of current robot, it
After continue to rotate in the same direction 90 ° of fuselage, with complete number be 4 equipment measurement；It is 8 to set similarly, for number
Standby measurement process is same as above, and overlaps will not be repeated.
Wherein, for before rotation first withdrawing manipulator 5 the reason of is: shown in Figure 4, manipulator 5 has
Two positions, position 1 are position when not rotating, position when position 2 is rotation, and manipulator 5 is to withdraw shape at position 2
State, at this time each finger of manipulator 5 and number be 4 equipment between have certain space, so when rotating in this case
It can occur to touch out with equipment 4 to avoid manipulator 5, if manipulator 5 is stretching state at position 2, when rotation has very much can
Equipment 4 can be touched, to collide with equipment 4；Therefore, it needs first to withdraw manipulator 5 before rotation, it can be effective
It avoids the manipulator 5 in rotary course from touching equipment, protects robot and equipment against damages.
In the specific implementation, in order to determine the second information, the taught point of equipment and the default base of the equipment are determined
Level set between relative position information, be pasted in the predeterminated position of equipment include equipment taught point relative to the equipment
Preset reference position the second information two dimensional code when, the step in above-mentioned teaching method provided in an embodiment of the present invention
S302 determines the second information of the taught point of equipment relative to the preset reference position of the equipment, can specifically include:
In second of moving process of robot, pass through the camera being mounted on the manipulator of robot, scanning
The two dimensional code pasted in equipment；
Second information of the taught point of equipment in acquisition two dimensional code relative to the preset reference position of the equipment.
Specifically, second information of the taught point of equipment relative to the preset reference position of the equipment is setting in equipment
It has been determined that in meter and production process, one group of taught point can have been set by all taught points of an equipment, it then will packet
One group of taught point containing equipment relative to the second information of the preset reference position of the equipment is converted into two dimensional code and is pasted onto set
It is very simple and convenient in order to the reading of robot on standby.In addition, the predeterminated position of two dimensional code is pasted, it can be according to machine
Depending on the scope of activities of the manipulator of people, in order to quickly and easily be collected by camera in the scope of activities of manipulator
Two dimensional code, to obtain the second information.
It should be noted that the front schematic view of the equipment for being pasted with two dimensional code as shown in Figure 5, wherein A indicates equipment
Preset reference position, p indicates to be pasted onto two dimensional code near preset reference position；Two dimensional code p can be pasted onto preset reference
Near the A of position, in order to which camera can collect two dimensional code p while range sensor measures preset reference position A；When
So, two dimensional code p can also be pasted onto other positions, however it is not limited to shown in Fig. 5, as long as can guarantee that the camera of manipulator can be with
It collects, does not limit herein.Therefore, by the two dimensional code pasted in scanning device, the second letter can be directly obtained
Breath, so that determining that the mode of the second information becomes simple, easy, to effectively reduce the complication of teaching process.
It should be pointed out that in above-mentioned teaching method provided in an embodiment of the present invention, for the ease of in range sensor
Camera can collect two dimensional code while measurement position, and range sensor 1 may be mounted at the same of robot with camera 2
The side (not providing diagram) on the two sides (as shown in Figure 4 and Figure 6) of the same finger of one manipulator or close ground；And away from
The end of the finger of end and manipulator from sensor 1 may be on same straight line (dotted line as shown in Figure 6).Cause
This, the installation of range sensor and camera not only will not have an impact the carrying movement of manipulator, it is also possible that true
While the preset reference position of locking equipment, the second information can be determined, the time needed for reducing teaching process improves teaching
Efficiency.
Further, in order to realize close-in measurement, the accuracy of measurement is improved, provided in an embodiment of the present invention above-mentioned
In teaching method, range sensor 1 and camera 2 are installed on the leftmost side finger of the manipulator on the left of robot；
The preset reference position A of equipment is located at the rightmost side of equipment, as shown in Figure 4；Or, range sensor 1 and camera 2 are respectively mounted
On the rightmost side finger of manipulator on the right side of robot；The preset reference position A of equipment is located at the leftmost side of equipment, does not give
It illustrates out.That is, range sensor 1 and camera 2 can be installed on the leftmost side finger of the manipulator in left side,
It can also be installed on the rightmost side finger of the manipulator on right side, as long as can guarantee to be equipped with range sensor 1 and take the photograph
As first 2 manipulator is improved and surveyed so as to realize close-in measurement positioned at the left and right sides with preset reference position A
The accuracy of amount, does not limit herein.
Wherein, it should be noted that the preset reference position A of equipment, during the design and producing of equipment
It has just had determined, and can be depending on the scope of activities of manipulator, in order to move up and down measurement by manipulator
To the preset reference position A of equipment；Therefore, there is no limit the specific location of preset reference position A to the embodiment of the present invention
It is fixed.
In the specific implementation, it is mounted on due to range sensor and camera on the leftmost side finger of the manipulator in left side
Or on the rightmost side finger of the manipulator on right side, thus the current location of the robot measured by range sensor with set
Positional relationship between standby preset reference position is the positional relationship between the side and preset reference position of manipulator, and
It is not the positional relationship between the center of the front end of manipulator and preset reference position.
Therefore, it in order to improve accuracy, in above-mentioned teaching method provided in an embodiment of the present invention, is determined in basis
The first information and the second information, after determining third information of the taught point of each equipment relative to the position of robot, teaching side
Method can also include:
Determine the manipulator for being equipped with range sensor between the center and range sensor of equipment one end
Distance；
Center and Distance-sensing according to the manipulator for being equipped with range sensor determined close to equipment one end
The distance between device is modified third information；
According to the third information determined, determines that robot picks and places the motion profile of object to be handled, can specifically include:
According to revised third information, the motion profile that robot picks and places object to be handled is generated.
Specifically, the structural schematic diagram of manipulator shown in Figure 6, wherein c indicates the collection point of range sensor 1,
M indicates the center of the front end of manipulator；Since range sensor 1 and camera 2 are installed in the leftmost side hand of manipulator
The two sides of finger, so the center m of front end the distance between, Ke Yiding of the collection point c of range sensor 1 apart from manipulator
Justice is corrected range, is indicated with △ L, is modified by corrected range △ L to third information, to obtain the taught point phase of equipment
For the exact positional relationship of robot, so that the motion profile of the pick-and-place object to be handled of the robot generated is more quasi-
Really, it reduces and picks and places error, reduce maloperation.
Below by specific embodiment, above-mentioned teaching method provided in an embodiment of the present invention is described in detail.
Specifically, the schematic diagram of the positional relationship of the manipulator and peripheral equipment of robot as shown in connection with fig. 4, Yi Jitu
Flow chart shown in 7, wherein moved twice with robot, range sensor and camera are installed in the machinery in left side
On the leftmost side finger of hand, preset reference position is located at for the rightmost side of equipment, to the whole process of robot teaching into
Row explanation.
S701, Initialize installation is carried out to robot；
S702, robot is moved horizontally to left end, mechanical finger opens Distance-sensing to the side of horizontal rail
Device prepares mobile for the first time；
S703, robot start to move horizontally to the right, acquire equipment 1 in real time respectively between equipment 3 and robot
Range information；
S704, robot rotate clockwise 180 °, acquire the distance between equipment 4 and robot information in real time；
S705, robot move horizontally to the left, acquire equipment 5 in real time respectively to the distance between equipment 7 and robot
Information；
S706, robot rotate clockwise 180 °, acquire the distance between equipment 8 and robot information in real time；
S707, camera is opened, prepares second of movement；
S708, robot start to move horizontally to the right, for equipment 1 to equipment 3, according to first time mobile acquisition in real time
The distance between the equipment arrived and robot information, adjustment is equipped with the distance of stretch out and draw back of the manipulator of range sensor in real time, really
The preset reference position of locking equipment is set relative to the first information of robot current location and the taught point of equipment relative to this
Second information of standby preset reference position；
S709, manipulator is withdrawn, rotates clockwise 90 ° of fuselage；
S710, manipulator is stretched out, and according to first time mobile the distance between collected equipment 4 and robot letter in real time
Breath, adjustment are equipped with the distance of stretch out and draw back of the manipulator of range sensor, determine the preset reference position of equipment 4 relative to robot
The second information of the first information of current location and the taught point of equipment 4 relative to the preset reference position of equipment 4, continues
Rotate clockwise 90 ° of fuselage；
S711, robot move horizontally to the left, mobile collected in real time according to first time for equipment 5 to equipment 7
The distance between equipment and robot information, in real time adjustment are equipped with the distance of stretch out and draw back of the manipulator of range sensor, and determination is set
Standby preset reference position is relative to the first information of robot current location and the taught point of equipment relative to the equipment
Second information of preset reference position；
S712, manipulator is withdrawn, rotates clockwise 90 ° of fuselage；
S713, manipulator is stretched out, and according to first time mobile the distance between collected equipment 8 and robot letter in real time
Breath, adjustment are equipped with the distance of stretch out and draw back of the manipulator of range sensor, determine the preset reference position of equipment 8 relative to robot
The second information of the first information of current location and the taught point of equipment 8 relative to the preset reference position of equipment 8, continues
Rotate clockwise 90 ° of fuselage；
S714, stop movement；According to the first information determined and the second information, determine the taught point of each equipment relative to
The third information of the position of robot；
S715, center and distance of the manipulator for being equipped with range sensor and camera close to equipment one end are determined
The distance between sensor；
S716, according to the manipulator for being equipped with range sensor and camera determined close to the centre bit of equipment one end
The distance between range sensor is set, third information is modified；
S717, according to revised third information, generate the motion profile for picking and placing object to be handled.
Based on the same inventive concept, the embodiment of the invention also provides a kind of teaching apparatus of robot, as shown in figure 8,
May include:
First determining module 801, for determining the position of robot relative to the default of the equipment for being located at robot periphery
The first information of base position；
Second determining module 802, for determine the taught point of equipment relative to the equipment preset reference position second
Information；Wherein, the taught point of equipment is that robot picks and places the reference point on the motion profile of the object to be handled in the equipment；
Third determining module 803, for determining the taught point of each equipment according to the first information and the second information determined
The third information of position relative to robot；
4th determining module 804, for determining that robot picks and places the movement of object to be handled according to the third information determined
Track.
In the specific implementation, in order to determine the first information, in above-mentioned teaching apparatus provided in an embodiment of the present invention, the
One determining module 801 specifically for the multiple movement by robot, and is mounted on the distance on the manipulator of robot
Sensor determines the first information of the position of robot relative to the preset reference position for the equipment for being located at robot periphery.
Specifically, in above-mentioned teaching apparatus provided in an embodiment of the present invention, when multiple movement is moves twice, first
Determining module 801, specifically in the first time moving process of robot, by being mounted on the manipulator of robot
Range sensor determines the distance between the current location of each equipment and robot；In second of moving process of robot,
According to the distance between the current location for each equipment and robot determined, adjustment is equipped with the machinery of range sensor in real time
The distance of stretch out and draw back of hand；Again by the range sensor being mounted on the manipulator of robot, the preset reference of each equipment is determined
The first information of the position relative to the current location of robot；Wherein, second of mobile movement speed is less than mobile for the first time
Movement speed.
Specifically, in above-mentioned teaching apparatus provided in an embodiment of the present invention, in second of moving process of robot,
And during robot rotation, the first determining module 801 is also used to shrink the manipulator of robot, default according to first
The fuselage of angle rotary machine people；The manipulator for stretching out robot, continues to rotate in the same direction machine according to the second predetermined angle
The fuselage of device people.
In the specific implementation, in order to determine the second information, in above-mentioned teaching apparatus provided in an embodiment of the present invention,
The predeterminated position of equipment be pasted with include equipment taught point relative to the equipment preset reference position the second information
When two dimensional code, the second determining module 802, specifically in second of moving process of robot, by being mounted on robot
Manipulator on camera, the two dimensional code pasted in scanning device；Obtain two dimensional code in equipment taught point relative to
Second information of the preset reference position of the equipment.
Specifically, in above-mentioned teaching apparatus provided in an embodiment of the present invention, robot is mounted in range sensor
When on the leftmost side finger or rightmost side finger of manipulator, according to the first information and the second information determined, determine each
After the taught point of equipment is relative to the third information of the position of robot, as shown in figure 9, teaching apparatus can also include: to repair
Positive module 805；
Correction module 805, for determine the center for being equipped with the manipulator of range sensor close to equipment one end with
The distance between range sensor；
Center and Distance-sensing according to the manipulator for being equipped with range sensor determined close to equipment one end
The distance between device is modified third information；
4th determining module 804 is specifically used for generating robot according to revised third information and picking and placing object to be handled
Motion profile.
In the specific implementation, the first determining module 801 referred in the embodiment of the present invention, can pass through the electricity in robot
Feedback unit is set to realize in seat in the plane, wherein not only to obtain robot in real time in moving process when determining the first information
Position, it is also necessary to correspond the collected distance of range sensor and the position of robot, in order in robot
Adjust the outreach for being equipped with the manipulator of range sensor in second of moving process in real time according to the information；In addition,
When the preset reference position of measuring device, it is also necessary to determine position and the Distance-sensing of robot by motor position feedback unit
The measured value of device will be calculated both as input, to determine preset reference of the position of robot relative to each equipment
The first information of position.
Based on the same inventive concept, the embodiment of the invention also provides a kind of robots, as shown in Figure 10, may include:
Such as above-mentioned teaching apparatus 1001 provided in an embodiment of the present invention and camera 1002 and range sensor 1003；
Wherein, range sensor 1003 for the position of robot measurement and robot and are located at robot periphery
The distance between preset reference position of equipment, and measurement result is sent to teaching apparatus 1001, so that teaching apparatus 1001
Determine the first information of the position of robot relative to the preset reference position for the equipment for being located at robot periphery；
Camera 1002, for scan include equipment taught point relative to the equipment preset reference position second
The image of information, and image is sent to teaching apparatus 1001, so that teaching apparatus 1001 determines that the taught point of equipment is opposite
The second information in the preset reference position of the equipment.
In the specific implementation, in above-mentioned robot provided in an embodiment of the present invention, as shown in earlier figures 6, Distance-sensing
Device and camera are mounted on the two sides of the same finger of the same manipulator of robot or the side close to ground；Distance passes
The end of the finger of the end and manipulator of sensor is on same straight line.
Specifically, in above-mentioned robot provided in an embodiment of the present invention, range sensor and camera are installed in
On the leftmost side finger of manipulator on the left of robot；The preset reference position of equipment be located at equipment the rightmost side (such as Fig. 4 and
Shown in Fig. 6)；Or, range sensor and camera are installed on the rightmost side finger of the manipulator on the right side of robot；If
Standby preset reference position is located at the leftmost side of equipment.
In the specific implementation, another robot is additionally provided in the embodiment of the present invention, as shown in figure 11, comprising: camera shooting
First 1101, range sensor 1102, motor position feedback unit 1103, processor 1104 and memory 1105；
Wherein, each module in teaching apparatus that the embodiment of the present invention refers to can realize by processor 1104,
And processor 1104 can be sent to by camera 1101 and the collected information of range sensor 1102, pass through motor position
The some information for setting the processing of feedback unit 1103 are equally also sent to processor 1104, so that processor 1104 completes all patrol
It collects processing and calculates；Also, by memory 1105 can by range sensor 1102 and the collected information of camera 1101,
And the motion profile for the pick-and-place object to be handled finally determined stores, in order to transferring for processor 1104.
The embodiment of the invention provides a kind of teaching method of robot, device and robots, determine the position of robot
The first information of preset reference position relative to the equipment for being located at robot periphery；Determine that the taught point of equipment is set relative to this
Second information of standby preset reference position；According to the first information determined and the second information, the taught point of each equipment is determined
The third information of position relative to robot；According to the third information determined, determine that robot picks and places the fortune of object to be handled
Dynamic rail mark.Therefore, the teaching to robot can be realized by simple method, and teaching can be completed at carrying scene
Journey, without operation is manually entered, substantially increases the efficiency of teaching it is not necessary to network.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (15)
1. a kind of teaching method of robot characterized by comprising
Determine the first information of the position of robot relative to the preset reference position for the equipment for being located at the robot periphery；
Determine the second information of the taught point of the equipment relative to the preset reference position of equipment described in this；Wherein, described to set
Standby taught point is that the robot picks and places the reference point on the motion profile of the object to be handled in the equipment；
According to the first information and second information determined, determine the taught point of each equipment relative to the machine
The third information of the position of device people；
According to the third information determined, determine that the robot picks and places the motion profile of the object to be handled.
2. teaching method as described in claim 1, which is characterized in that the position of the determining robot is described relative to being located at
The first information of the preset reference position of the equipment on robot periphery, specifically includes:
By the multiple movement of the robot, and it is mounted on the range sensor on the manipulator of the robot, really
Determine the first information of the position of robot relative to the preset reference position for the equipment for being located at the robot periphery.
3. teaching method as claimed in claim 2, which is characterized in that described logical when the multiple movement is to move twice
The multiple movement of the robot is crossed, and is mounted on the range sensor on the manipulator of the robot, determines machine
The first information of the position of people relative to the preset reference position for the equipment for being located at the robot periphery, specifically includes:
The Distance-sensing on manipulator in the first time moving process of the robot, by being mounted on the robot
Device determines the distance between the current location of each equipment Yu the robot；
In second of moving process of the robot, according to the present bit of each equipment and the robot determined
The distance between set, adjustment is equipped with the distance of stretch out and draw back of the manipulator of the range sensor in real time；It is described by being mounted on again
Range sensor on the manipulator of robot determines the preset reference position of each equipment relative to the robot
The first information of current location；Wherein, second of mobile movement speed is less than the first time mobile movement speed.
4. teaching method as claimed in claim 3, which is characterized in that in second of moving process of the robot, and
During robot rotation, the teaching method further include:
The manipulator for shrinking the robot rotates the fuselage of the robot according to the first predetermined angle；
The manipulator for stretching out the robot continues to rotate in the same direction the machine of the robot according to the second predetermined angle
Body.
5. teaching method as claimed in claim 3, which is characterized in that be pasted in the predeterminated position of the equipment comprising
When stating the two dimensional code of the taught point of equipment relative to the second information of the preset reference position of equipment described in this, the equipment is determined
Taught point relative to equipment described in this preset reference position the second information, specifically include:
In second of moving process of the robot, the camera on manipulator by being mounted on the robot,
Scan the two dimensional code pasted in the equipment；
Obtain the second letter of the taught point of the equipment in the two dimensional code relative to the preset reference position of equipment described in this
Breath.
6. teaching method as claimed in claim 2, which is characterized in that be mounted on the robot in the range sensor
When on the leftmost side finger or rightmost side finger of manipulator, in the first information and described second that the basis is determined
Information, after the third information for determining position of the taught point of each equipment relative to the robot, the teaching method
Further include:
Determine center and the distance of the manipulator for being equipped with the range sensor close to described equipment one end
The distance between sensor；
According to the manipulator for being equipped with the range sensor determined close to described equipment one end center with
The distance between described range sensor is modified the third information；
The third information that the basis is determined determines that the robot picks and places the motion profile of the object to be handled, tool
Body includes:
According to the revised third information, the motion profile that the robot picks and places the object to be handled is generated.
7. a kind of teaching apparatus of robot characterized by comprising
First determining module, for determining preset reference of the position of robot relative to the equipment for being located at the robot periphery
The first information of position；
Second determining module, for determine the taught point of the equipment relative to equipment described in this preset reference position second
Information；Wherein, the taught point of the equipment is that the robot picks and places on the motion profile of the object to be handled in the equipment
Reference point；
Third determining module, for determining each equipment according to the first information and second information determined
Third information of the taught point relative to the position of the robot；
4th determining module, for determining that the robot picks and places the object to be handled according to the third information determined
Motion profile.
8. teaching apparatus as claimed in claim 7, which is characterized in that first determining module is specifically used for by described
The multiple movement of robot, and it is mounted on the range sensor on the manipulator of the robot, determine the position of robot
Set the first information of the preset reference position relative to the equipment for being located at the robot periphery.
9. teaching apparatus as claimed in claim 8, which is characterized in that when the multiple movement is to move twice, described the
One determining module, specifically in the first time moving process of the robot, by the machinery for being mounted on the robot
Range sensor on hand determines the distance between the current location of each equipment Yu the robot；In the machine
In second of moving process of people, according to the distance between the current location of each equipment for determining and the robot,
Adjustment is equipped with the distance of stretch out and draw back of the manipulator of the range sensor in real time；Again by being mounted on the manipulator of the robot
On range sensor, determine the preset reference position of each equipment relative to the robot current location first
Information；Wherein, second of mobile movement speed is less than the first time mobile movement speed.
10. teaching apparatus as claimed in claim 9, which is characterized in that in second of moving process of the robot, and
During robot rotation, first determining module is also used to shrink the manipulator of the robot, according to the
One predetermined angle rotates the fuselage of the robot；The manipulator for stretching out the robot, according to the second predetermined angle along same
Continue to rotate the fuselage of the robot in direction.
11. teaching apparatus as claimed in claim 9, which is characterized in that be pasted in the predeterminated position of the equipment and include
When two dimensional code of the taught point of the equipment relative to the second information of the preset reference position of equipment described in this, described second really
Cover half block, specifically in second of moving process of the robot, by be mounted on the robot manipulator it
On camera, scan the two dimensional code pasted in the equipment；Obtain the taught point of the equipment in the two dimensional code
Second information of the preset reference position relative to equipment described in this.
12. teaching apparatus as claimed in claim 8, which is characterized in that be mounted on the robot in the range sensor
Manipulator leftmost side finger or rightmost side finger on when, in the first information and described that the basis is determined
Two information, after the third information for determining position of the taught point of each equipment relative to the robot, the teaching dress
It sets further include: correction module；
The correction module, for determining the manipulator for being equipped with the range sensor in described equipment one end
The distance between heart position and the range sensor；
According to the manipulator for being equipped with the range sensor determined close to described equipment one end center with
The distance between described range sensor is modified the third information；
4th determining module is specifically used for being generated described in the robot pick-and-place according to the revised third information
The motion profile of object to be handled.
13. a kind of robot characterized by comprising such as the described in any item teaching apparatus of claim 7-12, and camera shooting
Head and range sensor；
The range sensor, for measure the robot position and the robot be located at robot week
The distance between preset reference position of the equipment on side, and measurement result is sent to the teaching apparatus, so that the teaching
Device determine the position of the robot relative to the equipment for being located at the robot periphery preset reference position first
Information；
The camera, for scan include equipment taught point relative to equipment described in this preset reference position second
The image of information, and described image is sent to the teaching apparatus, so that the teaching apparatus determines showing for the equipment
Second information of the religion point relative to the preset reference position of equipment described in this.
14. robot as claimed in claim 13, which is characterized in that the range sensor and the camera are mounted on institute
State the two sides of the same finger of the same manipulator of robot or the side close to ground；
The end of the finger of the end of the range sensor and the manipulator is on same straight line.
15. robot as claimed in claim 14, which is characterized in that the range sensor and the camera to be respectively mounted
On the leftmost side finger of manipulator on the left of the robot；The preset reference position of the equipment is located at the equipment
The rightmost side；Or,
By the range sensor and the camera be installed in the manipulator on the right side of the robot rightmost side finger it
On；The preset reference position of the equipment is located at the leftmost side of the equipment.
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| CN201810331581.5A CN110370263B (en) | 2018-04-13 | 2018-04-13 | Robot teaching method and device and robot |
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|---|---|---|---|
| CN201810331581.5A CN110370263B (en) | 2018-04-13 | 2018-04-13 | Robot teaching method and device and robot |
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| CN102814816A (en) * | 2012-08-31 | 2012-12-12 | 深圳市华成工业控制有限公司 | Accurate original point finding method of manipulator |
| CN103561905A (en) * | 2011-06-08 | 2014-02-05 | 村田机械株式会社 | Workpiece-processing system |
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| JP2004001153A (en) * | 2002-06-03 | 2004-01-08 | Matsushita Electric Ind Co Ltd | Article recognition system |
| CN1754667A (en) * | 2004-09-28 | 2006-04-05 | 株式会社三协精机制作所 | Programme,tape box,location tester for instructing robot, and robot woring method |
| JP4849804B2 (en) * | 2004-09-28 | 2012-01-11 | 日本電産サンキョー株式会社 | Robot operation method |
| CN103561905A (en) * | 2011-06-08 | 2014-02-05 | 村田机械株式会社 | Workpiece-processing system |
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