CN112757261B

CN112757261B - Robot dragging teaching device, robot and robot dragging teaching method

Info

Publication number: CN112757261B
Application number: CN202110030648.3A
Authority: CN
Inventors: 姜建文; 陈永杰; 殷伟豪; 颜鲁齐; 邓楚雄
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2021-01-11
Filing date: 2021-01-11
Publication date: 2022-05-10
Anticipated expiration: 2041-01-11
Also published as: CN112757261A

Abstract

The invention discloses a robot dragging teaching device, a robot and a dragging teaching method thereof, wherein the device comprises: the control unit sends an opening instruction before the dragging teaching; the light-emitting unit (1) is turned on and emits light to provide a light source under the condition of receiving the turn-on instruction; the detection unit (2) is used for detecting the light emitted by the light-emitting unit (1) and converting the light into a voltage value when the dragging teaching is started, namely the tail end of the mechanical arm of the robot is dragged to move to the current teaching target point; and the control unit is also used for receiving the voltage value and controlling the tail end of the mechanical arm of the robot to move towards the current teaching target point according to the voltage value so as to carry out the process of dragging teaching. According to the scheme, the dragging condition of the robot during dragging teaching is detected by adopting an optical detection mode, so that the error between the position of the teaching and the actual position can be reduced, and the teaching precision of the robot during dragging teaching is improved.

Description

Robot dragging teaching device, robot and robot dragging teaching method

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot dragging teaching device, a robot and a robot dragging teaching method, in particular to a robot high-precision dragging teaching device, a robot and a robot dragging teaching method.

Background

Industrial robots are applied in more and more fields, and in an application scene where a product line has a short replacement period, the application flexibility and the deployment rapidity of the robot are required to be higher. In the related application field, a robot teaching link occupies a large amount of time, and a demonstrator or an off-line programming teaching mode adopted by an industrial robot in the related scheme needs higher professional technology for an operator, so that certain difficulty is brought to the application of the robot.

According to the dragging teaching technology, the robot is directly pulled by hands to reach a specified position or move along a specific track, and meanwhile pose data in the teaching process are recorded, so that the teaching mode is lower in technical requirement and more visual, and the teaching time in an application scene is reduced.

In the related scheme, the teaching point position or track of the robot with the dragging teaching technology is simple, but the dragging condition is observed by eyes of an operator completely during dragging teaching, the difference between the teaching point position or track and the actual track is large, and the precision is very low; teaching accuracy is different for different operators, the teaching accuracy completely depends on the operators, and problems can easily occur if teaching data are used in production.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention aims to provide a robot dragging teaching device, a robot and a robot dragging teaching method, which solve the problem that the error between a taught position and an actual position is large because an operator observes the dragging condition completely by eyes during robot dragging teaching, and achieve the effects of reducing the error between the taught position and the actual position and improving the teaching precision of the robot teaching dragging by detecting the dragging condition during robot dragging teaching by adopting an optical detection mode.

The present invention provides a robot drag teaching device, including: a light emitting unit, a detecting unit and a control unit; under the condition of preparing dragging teaching, the detection unit is installed at the central position of the tail end of a mechanical arm of the robot, a set value is stored, and after the light-emitting unit is inserted into the detection unit, the light-emitting unit is placed at the current teaching target point of the robot; the control unit is configured to send an opening instruction before dragging teaching; the light-emitting unit is configured to be turned on and emit light to provide a light source under the condition of receiving the turn-on instruction; the detection unit is configured to detect light emitted by the light emitting unit and convert the light into a voltage value when the dragging teaching is started, namely, the tail end of the mechanical arm of the robot is dragged to move to the current teaching target point; the control unit is further configured to receive the voltage value and control the tail end of the mechanical arm of the robot to move to the current teaching target point according to the voltage value so as to perform a process of drag teaching.

In some embodiments, the controlling unit, according to the voltage value, controls a robot arm end of the robot to move to the current teaching target point to perform a drag teaching process, including: if the voltage value is smaller than a first set value, re-receiving the voltage value, and allowing the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point; if the voltage value is greater than or equal to a first set value and less than a second set value, sending a deceleration signal to allow the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point and reduce the moving speed; and if the voltage value is greater than or equal to a second set value, sending a stop signal to prohibit the tail end of the mechanical arm of the robot from being continuously dragged to move to the current teaching target point.

In some embodiments, the light emitting unit has an emission port and the detection unit has a receiving port; the light emitted by the emitting port can be received by the receiving port, and under the condition that the tail end of the mechanical arm of the robot is dragged to move towards the current teaching target point and move to the current teaching target point, if the light emitting unit is not closed or does not leave the current teaching target point, the tail end of the mechanical arm of the robot cannot be dragged.

In some embodiments, in a case where the robot arm end of the robot has reached the current teaching target point and needs to move to a next teaching target point, if the light emitting unit leaves the current teaching target point, the robot arm end of the robot is allowed to move to the next teaching target point.

In some embodiments, IO communication or network communication is enabled between the light emitting unit and the detecting unit.

In some embodiments, the light emitting unit includes: an infrared light source.

In some embodiments, the detection unit comprises: the photoelectric conversion module comprises an optical lens group, a photoelectric conversion module and a current detection module; the optical lens group can converge the light emitted by the light-emitting unit to the photoelectric conversion module; the photoelectric conversion module can convert the converged light into a current value; the current detection module can amplify, filter and convert the current value to obtain a voltage value.

In some embodiments, wherein the optical lens group comprises: an optical convex lens and a light-transmitting lens; the middle area of the light-transmitting lens is provided with a light-transmitting hole, and other areas of the light-transmitting lens are not light-transmitting; under the condition that the light passes through the light holes of the light-transmitting lens and irradiates the optical convex lens, the optical convex lens converges light to the photoelectric conversion module; the photoelectric conversion module includes: a photodiode.

In some embodiments, the current detection module comprises: the device comprises a gain amplification module, a filtering module, a signal conversion module and a signal output module; the gain amplification module can amplify the current value and convert the voltage value; the filtering module can carry out filtering processing on the voltage value; the signal conversion module can perform analog-to-digital conversion on the voltage value to obtain a digital signal of the voltage value; the signal output module can output the digital signal of the voltage value to the control unit.

In accordance with the above apparatus, a further aspect of the present invention provides a robot comprising: the drag teaching device for a robot described above.

In accordance with the robot, a further aspect of the present invention provides a robot drag teaching method, including: sending an opening instruction through a control unit before dragging teaching; through the light-emitting unit, under the condition of receiving the starting instruction, starting and emitting light to provide a light source; detecting light emitted by the light-emitting unit and converting the light into a voltage value by the detection unit when the dragging teaching is started, namely the tail end of the mechanical arm of the robot is dragged to move to the current teaching target point; receiving the voltage value through a control unit, and controlling the tail end of the mechanical arm of the robot to move to the current teaching target point according to the voltage value so as to carry out a process of dragging teaching; in the case of preparing a drag teaching, the detection unit is installed at a center position of a tip of a robot arm of the robot, a set value is stored, and after the light emitting unit is inserted into the detection unit, the light emitting unit is placed at a current teaching target point of the robot.

In some embodiments, the controlling, by the control unit, a process of controlling, according to the voltage value, a robot arm end of the robot to move to the current teaching target point for drag teaching includes: if the voltage value is smaller than a first set value, re-receiving the voltage value, and allowing the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point; if the voltage value is greater than or equal to a first set value and less than a second set value, sending a deceleration signal to allow the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point and reduce the moving speed; and if the voltage value is greater than or equal to a second set value, sending a stop signal to prohibit the tail end of the mechanical arm of the robot from being continuously dragged to move to the current teaching target point.

Therefore, according to the scheme of the invention, when the dragging teaching is carried out, the illuminance at the target point is detected in an optical detection mode, and whether the robot reaches the target point is judged according to the illuminance at the target point, so that the robot is in a non-dragging state after reaching the target point; the dragging condition of the robot during dragging teaching is detected in a light detection mode, so that the error between the position to be taught and the actual position can be reduced, and the teaching precision of the robot in dragging teaching is improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a robot drag teaching apparatus according to the present invention;

FIG. 2 is a schematic structural diagram of an embodiment of a device for implementing high-precision dragging teaching of a robot according to the present invention;

FIG. 3 is a schematic flowchart illustrating an embodiment of a method for implementing high-precision drag teaching for a robot according to the present invention;

FIG. 4 is a schematic diagram of a light detection circuit according to an embodiment of the present invention;

FIG. 5 is a schematic circuit diagram of an embodiment of a light detection circuit according to the present invention;

FIG. 6 is a flowchart illustrating a drag teaching method according to an embodiment of the present invention.

The reference numbers in the embodiments of the present invention are as follows, in combination with the accompanying drawings:

1-a light-emitting unit; 2-a detection unit; 3-a light source; 4-an optical convex lens; 5-a light-transmitting lens; 6-a detection circuit composed of photosensitive elements.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to an embodiment of the present invention, there is provided a drag teaching apparatus of a robot. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The drag teaching apparatus of a robot may include:

a light emitting unit 1, a detection unit 2 and a control unit. In preparation for drag teaching, the detection unit 2 is installed at the center position of the end of the robot arm of the robot, a set value is stored, the light emitting unit 1 is inserted into the detection unit 2, and then the light emitting unit 1 is placed at the current teaching target point of the robot. The control unit is a controller of the robot. After the detection unit 2 is inserted, a storage key needs to be clicked, the current voltage value is recorded, namely the set value is recorded, and then the light-emitting unit 1 is placed at a teaching target point.

Wherein the control unit is configured to send an open instruction before the drag teaching.

The light emitting unit 1 is configured to be turned on and emit light to provide a light source (such as a light source 3) when receiving the turn-on instruction.

In some embodiments, the light emitting unit 1 includes: an infrared light source.

Specifically, the light emitting unit 1, which provides the light source 3, may be near infrared light or the like.

The detection unit 2, such as a photodetection circuit, is configured to detect the light emitted by the light emitting unit 1 and convert the light into a voltage value when the drag teaching is started, that is, when the end of the robot arm of the robot is dragged to move toward the current teaching target point.

In some embodiments, the detection unit 2 includes: the photoelectric conversion module comprises an optical lens group, a photoelectric conversion module and a current detection module. The photoelectric conversion module and the current detection module adopt a photoelectric detection circuit (such as a detection circuit 6 consisting of photosensitive elements).

The optical lens group can converge the light emitted by the light emitting unit 1 to the photoelectric conversion module. Wherein, the optical lens group includes: an optical convex lens 4 and a light transmitting lens 5. The middle area of the transparent lens 5 is provided with a transparent hole, and other areas of the transparent lens 5 are not transparent. When the light passes through the light hole of the light-transmitting lens 5 and irradiates the optical convex lens 4, the optical convex lens 4 converges the light to the photoelectric conversion module.

The photoelectric conversion module can convert the converged light into a current value. The photoelectric conversion module includes: a photodiode.

The current detection module can amplify, filter and convert the current value to obtain a voltage value.

Specifically, only the central aperture of the transparent lens 5 is transparent, and the other areas of the transparent lens 5 are opaque. When light irradiates the optical convex lens 4 through the small hole of the light-transmitting lens 5, the light is converged and irradiates a photodiode (such as a light-emitting diode LED1) of the photoelectric detection circuit, the current magnitude of the photodiode (such as a light-emitting diode LED1) is changed, light irradiation with different illumination intensities is performed, the current magnitudes are different, the illumination intensities and the current magnitudes are in a linear relation, the illumination intensities and the current magnitudes are converted into voltage values through operation and amplification, the voltages are converted into digital signals through filtering and analog-digital conversion, and the presence or absence of illumination and the illumination intensities are distinguished through the voltage values.

In some embodiments, the current detection module comprises: the circuit comprises a gain amplification module (such as a gain amplification circuit), a filtering module (such as a filtering circuit), a signal conversion module (such as a signal conversion circuit) and a signal output module (such as a signal processing circuit and an IO circuit).

The gain amplification module can amplify the current value and convert the voltage value.

The filtering module can perform filtering processing on the voltage value.

The signal conversion module can perform analog-to-digital conversion on the voltage value to obtain a digital signal of the voltage value.

The signal output module can output the digital signal of the voltage value to the control unit.

Specifically, the gain amplifying circuit employs operational amplifiers (e.g., an operational amplifier a1, an operational amplifier a2, and an operational amplifier A3). The filter circuit adopts resistors (such as a resistor R1 and a resistor R2) and capacitors (such as a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4) for filtering. The signal conversion circuit adopts an ADC conversion module (namely an analog-to-digital conversion module). And the signal processing circuit adopts a pull-down controller CPU.

The control unit is further configured to receive the voltage value and control the tail end of the mechanical arm of the robot to move to the current teaching target point according to the voltage value so as to perform a process of drag teaching.

Specifically, when the drag teaching is prepared, the detection unit 2 needs to be installed at the center of the tail end of the mechanical arm, the light-emitting unit 1 is inserted into the detection unit 2, the voltage value is saved by clicking a key, and the reset value can be reset by clicking a clear key. And then the light-emitting unit 1 is placed at a teaching target point, so that the robot dragging teaching precision can be greatly improved, and the teaching point position data is more reliable. Therefore, by means of the optical detection mode, the precision of the robot dragging the teaching points can be effectively improved.

In some embodiments, the control unit controls a process of moving the robot arm end of the robot to the current teaching target point to perform drag teaching according to the voltage value, and the process includes any one of the following control processes:

the first control process: the control unit is specifically configured to receive the voltage value again if the voltage value is smaller than a first set value, and allow the robot arm end of the robot to be continuously dragged to move to the current teaching target point. That is, the detection unit 2 is caused to continue to detect the light emitted by the light emitting unit 1 and continue to convert to a voltage value, so that the control unit continues to receive the voltage value.

Specifically, the light emitting unit 1 of the target point is turned on. And starting dragging teaching, dragging the tail end point of the robot, and moving the robot to the target point. The light detection circuit detects whether light is received, and if not, the movement can be continued.

The second control process: the control unit is specifically configured to send a deceleration signal if the voltage value is greater than or equal to a first set value and less than a second set value, so as to allow the tail end of the mechanical arm of the robot to be dragged to move to the current teaching target point continuously and reduce the moving speed.

Specifically, the light emitting unit 1 of the target point is turned on. And starting dragging teaching, dragging the tail end point of the robot, and moving the robot to the target point. The light detection circuit detects whether light is received or not, after the light detection circuit reaches the vicinity of a target point, if weak light is detected, the illuminance does not reach a set standard, the current of a photodiode (such as a Light Emitting Diode (LED) 1) is small, the voltage value is smaller than a set value, the detection unit 2 outputs a corresponding IO signal (one IO port of the robot needs to be connected), and after the robot receives the IO signal, the robot immediately decelerates and cannot drag the mechanical arm quickly.

The third control process: the control unit is specifically configured to send a stop signal to prohibit the robot arm end of the robot from being continuously dragged to move to the current teaching target point if the voltage value is greater than or equal to a second set value.

Specifically, the light emitting unit 1 of the target point is turned on. And starting dragging teaching, dragging the tail end point of the robot, and moving the robot to the target point. The light detection circuit detects whether light is received, when the light emitting unit 1 is attached to the detection unit 2 when the light reaches a target point after the light reaches the vicinity of the target point, the light detection circuit (such as the detection circuit 6 consisting of photosensitive elements) detects the light, the illuminance reaches a set standard, the current of the photodiode (such as the light emitting diode LED1) is large, the voltage value is larger than or equal to a set value, the detection unit 2 outputs a corresponding IO signal (also needs to be connected with an IO port of a robot), and the robot stops moving immediately after receiving the IO signal and is in a state incapable of dragging.

Therefore, when the drag teaching is carried out, the illuminance at the target point is detected by adopting a light detection mode to judge whether the target point is reached and the target point is in a non-dragging state after the target point is reached, so that an operator is prevented from dragging the tail end to leave the target point; moreover, the light emitting and detecting ports of the robot high-precision dragging teaching device are realized, an operator can be assisted in dragging the tail end of the robot to reach a target point, and the realization of various postures of the tail end of the robot can be met. Therefore, the teaching point position is judged by light by adopting a light detection mode, so that the phenomenon that whether the tail end of the robot reaches the target point position or not is judged by eyes of an operator to cause large error is avoided, and the precision of dragging teaching is greatly improved.

In some embodiments, the light emitting unit 1 has an emission opening and the detecting unit 2 has a receiving opening. The light emitted by the emitting port can be received by the receiving port, and under the condition that the tail end of the mechanical arm of the robot is dragged to move towards the current teaching target point and move to the current teaching target point, if the light emitting unit 1 is not closed or does not leave the current teaching target point, the tail end of the mechanical arm of the robot cannot be dragged.

Specifically, the emitting port of the light-emitting unit 1 can be combined with the receiving port of the detection unit 2, the teaching of the dragging mechanical arm is more convenient to reach a target point, the light-emitting unit 1 is not closed or taken away, the mechanical arm is in an unable dragging state, and the safety of an operator is guaranteed.

In some embodiments, in a case where the robot arm end of the robot has reached the current teaching target point and needs to move to a next teaching target point, if the light emitting unit 1 leaves the current teaching target point, the robot arm end of the robot is allowed to move to the next teaching target point.

Specifically, when the dragging mechanical arm leaves a target point and reaches the next target point, the condition that the robot cannot drag needs to be released, the light emitting unit 1 at the target point is closed or the light emitting unit 1 is taken away, the light detection circuit does not receive light and outputs a corresponding IO signal, and after the robot receives the IO signal, the robot enters a draggable state and can continue dragging towards the next target point.

In some embodiments, IO communication or network communication can be performed between the light emitting unit 1 and the detecting unit 2.

Specifically, IO signal control between the robot high-precision dragging teaching device and the robot can be replaced by network communication.

Through a large number of tests, the technical scheme of the invention is adopted, the illuminance at the target point is detected in an optical detection mode during the dragging teaching, whether the robot reaches the target point is judged according to the illuminance at the target point, so that the robot is in a non-dragging state after reaching the target point, the occurrence of large errors caused by the fact that an operator judges whether the tail end of the robot reaches the target point with eyes is avoided, and the precision during the dragging teaching is greatly improved.

According to an embodiment of the present invention, there is also provided a robot corresponding to a drag teaching apparatus of the robot. The robot may include: the drag teaching device for a robot described above.

Considering that the robot dragging teaching cannot be positioned to a teaching point with high precision, the error between the taught position and the actual position is large. The scheme of the invention provides a method and a device for realizing high-precision dragging teaching of a robot, and the precision of dragging teaching points of the robot can be effectively improved by using an optical detection mode.

Specifically, according to the scheme of the invention, during dragging teaching, a light detection mode is adopted to detect the illuminance at a target point to judge whether the target point is reached, and the target point is in a non-dragging state after the target point is reached, so that an operator is prevented from dragging the tail end to leave the target point; moreover, the light emitting and detecting ports of the robot high-precision dragging teaching device are realized, an operator can be assisted in dragging the tail end of the robot to reach a target point, and the realization of various postures of the tail end of the robot can be met. Therefore, the teaching point position is judged by light by adopting a light detection mode, the phenomenon that whether the tail end of the robot reaches the target point position is judged by eyes of an operator to cause a large error is avoided, and the precision of dragging teaching is greatly improved.

The following describes an exemplary implementation process of the scheme of the present invention with reference to the examples shown in fig. 2 to 5.

As shown in fig. 2, a device for realizing high-precision drag teaching of a robot includes: a light emitting unit 1 and a detecting unit 2, the light emitting unit 1 being embeddable in the detecting unit 2.

Wherein the light emitting unit 1 provides a light source 3, which may be near infrared light or the like. The detection unit 2 is composed of an optical convex lens 4, a transparent lens 5 and a photoelectric detection circuit (such as a detection circuit 6 composed of photosensitive elements).

The principle of the detection unit 2 is as follows: only the central aperture of the light-transmitting lens 5 is light-transmitting, and the other areas of the light-transmitting lens 5 are opaque. When light irradiates the optical convex lens 4 through the small hole of the light-transmitting lens 5, the light is converged and irradiates a photodiode (such as a light-emitting diode LED1) of the photoelectric detection circuit, the current magnitude of the photodiode (such as a light-emitting diode LED1) is changed, light irradiation with different illumination intensities is performed, the current magnitudes are different, the illumination intensities and the current magnitudes are in a linear relation, the current magnitudes are converted into voltage values through operation and amplification, the voltage values are converted into digital signals through filtering and analog-to-digital conversion, and the illumination intensity are distinguished through the voltage values.

When the drag teaching is prepared, the detection unit 2 is required to be installed at the center of the tail end of the mechanical arm, the light-emitting unit 1 is inserted into the detection unit 2, the voltage value is saved by clicking a key, and the reset value can be reset by clicking a zero clearing key; and then the light-emitting unit 1 is placed at a teaching target point, so that the robot dragging teaching precision can be greatly improved, and the teaching point position data is more reliable.

The plug-in mounting structure between the light-emitting unit 1 and the detection unit 2 is of a transmitting opening and receiving opening structure, the transmitting opening can be inserted into the receiving opening, the structure diagram accessories can be checked, the protruding transmitting opening can be seen, and the concave receiving opening can be seen.

The voltage value is stored mainly for comparison with the voltage at the time of the drag to determine whether or not the teaching point is reached. The voltage value is cleared to prevent the voltage value from being saved in the case of an operation error, and the voltage value can be cleared and the saved voltage value can be reset.

Fig. 3 is a schematic flowchart of an embodiment of a method for implementing high-precision drag teaching of a robot according to the present invention. As shown in fig. 3, a method for implementing robot high-precision drag teaching includes:

step 1, starting a light-emitting unit 1 of a target point, inserting a detection unit 2, clicking a storage key, and recording a current voltage value as a set value.

And 2, moving the tail end of the mechanical arm of the dragging machine robot to the target point. That is, the drag teaching is started, and the robot end point is dragged to move to the target point.

And 3, detecting whether the light is received by the light detection circuit, and if the light is not received, continuously moving.

After the robot reaches the vicinity of a target point, if weak light is detected, but the illuminance does not reach a set standard, the current of a photodiode (such as a Light Emitting Diode (LED) 1) is small, the voltage value is smaller than a set value, the detection unit 2 outputs a corresponding IO signal (one IO port of the robot needs to be connected), and after the robot receives the IO signal, the robot immediately decelerates and cannot rapidly drag the mechanical arm. Each mechanical arm of the robot is controlled by a motor, and the speed of the robot can be controlled by controlling the rotating speed of the motor.

When the light emitting unit 1 and the detection unit 2 are attached to each other when reaching a target point, a light detection circuit (for example, a detection circuit 6 composed of photosensitive elements) detects light, the illuminance reaches a set standard, the current of a photodiode (for example, a light emitting diode LED1) is large, the voltage value is greater than or equal to a set value, the detection unit 2 outputs a corresponding IO signal (an IO port of the robot needs to be connected), and the robot stops moving immediately after receiving the IO signal and is in a state incapable of being dragged. The motors in the mechanical arms are provided with brake structures, so that the motors can stop rotating, and the robot can stop moving.

In the scheme of the invention, the emitting port of the light-emitting unit 1 can be combined with the receiving port of the detection unit 2, the teaching of the dragging mechanical arm to reach the target point is more convenient, the light-emitting unit 1 is not closed or taken away, and the mechanical arm is in a non-dragging state, so that the safety of operators is ensured.

The mechanical arm cannot be dragged and has no relation with the structures of the transmitting opening and the receiving opening, the detection unit 2 mainly detects light transmitted by the transmitting unit 1, the light is converted into a voltage value, the voltage value is compared with a voltage value which is stored at the beginning, and when the voltage value is larger than or equal to the stored voltage value, the robot is in a non-dragging state. The light-emitting unit 1 is taken away or closed, the detection unit 2 detects that the voltage value converted from light is smaller than the stored voltage value, and the robot is enabled to restore to a draggable state through an IO signal or a network signal.

When the light emitting unit 1 is taken away or closed, the voltage value converted by the light received by the detection unit 2 is smaller than the voltage value stored at the beginning, and the robot can drag; when the light emitting unit 1 is not turned off or taken away, the voltage value converted by the light received by the detection unit 2 is greater than or equal to the voltage value stored at the beginning, and the robot cannot drag. Whether the robot can drag depends on whether the light emitted by the light emitting unit 1 is received by the detection unit 2 and whether the converted voltage value is larger than or equal to the voltage value stored at the beginning. The light-emitting unit 1 emits light normally without being turned off or taken away, and the voltage value converted by the light received by the detection unit 2 is greater than or equal to the stored voltage value, so that the robot cannot be dragged in both cases.

According to the scheme, when the dragging mechanical arm leaves a target point and reaches the next target point, the condition that the robot cannot drag needs to be removed, the light-emitting unit 1 at the target point is closed or the light-emitting unit 1 is taken away, the light detection circuit does not receive light, a corresponding IO signal is output, and after the robot receives the IO signal, the robot enters a draggable state and can continue to drag the next target point.

The IO signal control between the robot high-precision dragging teaching device and the robot can be replaced by network communication.

Fig. 4 is a schematic structural diagram of an embodiment of a photodetection circuit according to the present invention. As shown in fig. 4, the photodetection circuit (e.g., the detection circuit 6 composed of photosensitive elements) includes: the device comprises a light detection module, a gain amplification circuit, a filter circuit, a signal conversion circuit, a signal processing circuit and an IO circuit which are connected in sequence.

FIG. 5 is a schematic circuit diagram of an embodiment of a photodetection circuit according to the present invention. As shown in fig. 4, in the photodetection circuit (e.g., the photodetection circuit 6 composed of photosensitive elements) shown in fig. 4, a photodiode (e.g., the light emitting diode LED1) is used as the photodetection module. The gain amplifier circuit employs operational amplifiers (e.g., operational amplifier A1, operational amplifier A2, and operational amplifier A3). The filter circuit adopts resistors (such as a resistor R1 and a resistor R2) and capacitors (such as a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4) for filtering. The signal conversion circuit adopts an ADC conversion module (namely an analog-to-digital conversion module). The signal processing circuit adopts a pull-down controller CPU (such as a singlechip, an ARM chip and the like).

For example: the front of the operational amplifier A1 forms a detection circuit, and the operational amplifier A1 forms an amplification gain circuit; the operational amplifier A2, a capacitor C4, a capacitor C5 and a resistor R2 form a filter circuit; the operational amplifier a3 partially constitutes an IO circuit.

Since the processes and functions implemented by the robot of this embodiment substantially correspond to the embodiments, principles and examples of the apparatus shown in fig. 1, the descriptions of the embodiment are omitted for brevity, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.

Through a large number of tests, the technical scheme of the invention is adopted, the illuminance at the target point is detected in an optical detection mode during the dragging teaching, whether the robot reaches the target point is judged according to the illuminance at the target point, so that the robot is in a non-dragging state after reaching the target point, an operator can be prevented from dragging the tail end to leave the target point, the dragging teaching precision of the robot can be greatly improved, and the data of the position of the teaching point is more reliable.

According to the embodiment of the present invention, there is also provided a drag teaching method for a robot corresponding to the robot, as shown in fig. 6, which is a schematic flow chart of an embodiment of the method of the present invention. The robot drag teaching method may include: step S110 to step S140.

At step S110, a turn-on instruction is sent by the control unit before the drag teaching.

At step S120, by the light emitting unit 1, in case of receiving the turn-on instruction, it turns on and emits light to provide a light source (e.g., light source 3).

In step S130, the light emitted by the light emitting unit 1 is detected and converted into a voltage value by the detecting unit 2, such as a light detecting circuit, when the drag teaching is started, that is, the end of the robot arm of the robot is dragged to move to the current teaching target point.

In step S140, the control unit receives the voltage value, and controls the robot arm end of the robot to move to the current teaching target point to perform a drag teaching process according to the voltage value.

When preparing for drag teaching, the detection unit 2 is installed at the center position of the end of the mechanical arm of the robot, a set value is stored, the light emitting unit 1 is inserted into the detection unit 2, and then the light emitting unit 1 is placed at the current teaching target point of the robot. The control unit is a controller of the robot.

In some embodiments, the step S140 is a process of controlling, by the control unit, according to the voltage value, a robot arm end of the robot to move to the current teaching target point for performing drag teaching, where the process includes any one of the following control processes:

the first control process: and if the voltage value is smaller than a first set value, re-receiving the voltage value, and allowing the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point. That is, the detection unit 2 is caused to continue to detect the light emitted by the light emitting unit 1 and continue to convert to a voltage value, so that the control unit continues to receive the voltage value.

The second control process: and if the voltage value is greater than or equal to a first set value and less than a second set value, sending a deceleration signal to allow the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point and reduce the moving speed.

The third control process: and if the voltage value is greater than or equal to a second set value, sending a stop signal to prohibit the tail end of the mechanical arm of the robot from being continuously dragged to move to the current teaching target point.

Therefore, when the drag teaching is carried out, the illuminance at the target point is detected by adopting a light detection mode to judge whether the target point is reached and the target point is in a non-dragging state after the target point is reached, so that an operator is prevented from dragging the tail end to leave the target point; moreover, the light emitting and detecting ports of the robot high-precision dragging teaching device are realized, an operator can be assisted in dragging the tail end of the robot to reach a target point, and the realization of various postures of the tail end of the robot can be met. Therefore, the teaching point position is judged by light by adopting a light detection mode, the phenomenon that whether the tail end of the robot reaches the target point position is judged by eyes of an operator to cause a large error is avoided, and the precision of dragging teaching is greatly improved.

Since the processing and functions implemented by the method of the present embodiment substantially correspond to the embodiments, principles and examples of the robot, reference may be made to the related descriptions in the embodiments without being detailed in the description of the present embodiment, which is not described herein again.

Through a large number of tests, the technical scheme of the embodiment is adopted, the illuminance at the target point is detected in an optical detection mode when the robot is dragged for teaching, whether the robot reaches the target point is judged according to the illuminance at the target point, so that the robot is in an undrawable state after reaching the target point, errors between a taught position and an actual position can be reduced, and the precision of dragging the taught point by the robot can be effectively improved.

In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.

The above description is only an example of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A drag teaching device for a robot, comprising: the device comprises a light-emitting unit (1), a detection unit (2) and a control unit; in the case of preparing a drag teaching, the detection unit (2) is installed at the central position of the tail end of the mechanical arm of the robot, a set value is stored, the light-emitting unit (1) is inserted into the detection unit (2), and then the light-emitting unit (1) is placed at the current teaching target point of the robot; wherein the content of the first and second substances,

the control unit is configured to send an opening instruction before the dragging teaching;

the light-emitting unit (1) is configured to be turned on and emit light to provide a light source under the condition that the turn-on instruction is received; the light emitting unit (1) comprises: an infrared light source; the light-emitting unit (1) is provided with an emitting opening, and the detecting unit (2) is provided with a receiving opening; the light emitted by the emitting port can be received by the receiving port, and under the condition that the tail end of the mechanical arm of the robot is dragged to move towards the current teaching target point and move to the current teaching target point, if the light-emitting unit (1) is not closed or does not leave the current teaching target point, the tail end of the mechanical arm of the robot cannot be dragged; when the tail end of the mechanical arm of the robot reaches the current teaching target point and needs to move to the next teaching target point, if the light-emitting unit (1) leaves the current teaching target point, the tail end of the mechanical arm of the robot is allowed to move to the next teaching target point;

the detection unit (2) is configured to detect the light emitted by the light emitting unit (1) and convert the light into a voltage value when the dragging teaching is started, namely the tail end of the mechanical arm of the robot is dragged to move to the current teaching target point;

2. The drag teaching device for robot according to claim 1, wherein the control unit controls a process of moving the robot arm tip of the robot to the current teaching target point to perform drag teaching according to the voltage value, and includes:

if the voltage value is smaller than a first set value, re-receiving the voltage value, and allowing the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point;

if the voltage value is greater than or equal to a first set value and less than a second set value, sending a deceleration signal to allow the tail end of the mechanical arm of the robot to be continuously dragged to move to the current teaching target point and reduce the moving speed;

and if the voltage value is greater than or equal to a second set value, sending a stop signal to prohibit the tail end of the mechanical arm of the robot from being continuously dragged to move to the current teaching target point.

3. A robot drag teaching device according to claim 1, wherein IO communication or network communication is enabled between the light emitting unit (1) and the detection unit (2).

4. The drag teaching device of robot according to any of claims 1 to 3, wherein the detection unit (2) comprises: the photoelectric conversion module comprises an optical lens group, a photoelectric conversion module and a current detection module; wherein the content of the first and second substances,

the optical lens group can converge the light emitted by the light-emitting unit (1) to the photoelectric conversion module;

the photoelectric conversion module can convert the converged light into a current value;

5. A drag teaching device for robot according to claim 4, wherein,

the optical lens group comprises: an optical convex lens (4) and a light-transmitting lens (5); the middle area of the light-transmitting lens (5) is provided with a light-transmitting hole, and other areas of the light-transmitting lens (5) are not light-transmitting; under the condition that the light is irradiated to the optical convex lens (4) through a light hole of the light-transmitting lens (5), the optical convex lens (4) converges the light to the photoelectric conversion module;

the photoelectric conversion module includes: a photodiode.

6. The robot drag teaching apparatus according to claim 5, wherein the current detection module includes: the device comprises a gain amplification module, a filtering module, a signal conversion module and a signal output module; wherein the content of the first and second substances,

the gain amplification module can amplify the current value and convert the voltage value;

the filtering module can carry out filtering processing on the voltage value;

the signal conversion module can perform analog-to-digital conversion on the voltage value to obtain a digital signal of the voltage value;

7. A robot, comprising: a drag teaching apparatus according to any one of claims 1 to 6.

8. A drag teaching method of a robot according to claim 7, comprising:

sending an opening instruction through a control unit before dragging teaching;

by the light-emitting unit (1), under the condition of receiving the starting instruction, starting and emitting light to provide a light source; the light emitting unit (1) comprises: an infrared light source;

through a detection unit (2), when the dragging teaching is started, namely the tail end of a mechanical arm of the robot is dragged to move to the current teaching target point, light emitted by the light emitting unit (1) is detected and converted into a voltage value;

receiving the voltage value through a control unit, and controlling the tail end of the mechanical arm of the robot to move to the current teaching target point according to the voltage value so as to carry out a process of dragging teaching;

when preparing for dragging teaching, the detection unit (2) is installed at the center position of the tail end of the mechanical arm of the robot, a set value is stored, the light-emitting unit (1) is inserted into the detection unit (2), and then the light-emitting unit (1) is placed at the current teaching target point of the robot.

9. The drag teaching method for robot according to claim 8, wherein the controlling, by the control unit, the robot arm tip of the robot to move to the current teaching target point according to the voltage value to perform a drag teaching process includes: