CN113119077A - Industrial robot handheld teaching device and teaching method - Google Patents
Industrial robot handheld teaching device and teaching method Download PDFInfo
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- CN113119077A CN113119077A CN202110484376.4A CN202110484376A CN113119077A CN 113119077 A CN113119077 A CN 113119077A CN 202110484376 A CN202110484376 A CN 202110484376A CN 113119077 A CN113119077 A CN 113119077A
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- teaching
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- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- 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
Abstract
The invention discloses a handheld teaching device and a teaching method for an industrial robot, wherein the device comprises a handheld teaching pen positioning system, a mechanical arm driving controller and a mechanical arm body, wherein: the handheld teaching pen positioning system comprises an infrared laser plane scanning base station, a handheld positioner and a data processor; the infrared laser plane scanning base station is used for laser scanning and positioning of the handheld positioner; the handheld locator is used for acquiring spatial position and posture data of the handheld locator and transmitting the data to the data processor through the wireless communication module; the data processor is used for processing the space pose data collected by the handheld positioner to obtain track data and teaching instructions meeting the control requirements of the mechanical arm body and sending the data to the mechanical arm drive controller; the mechanical arm driving controller is used for controlling the mechanical arm body to operate according to the teaching instruction so as to complete the teaching process. The invention can more flexibly perform teaching and reduce the teaching cost of the robot.
Description
Technical Field
The invention belongs to the technical field of industrial robot teaching, and relates to a handheld industrial robot teaching device and a teaching method.
Background
Industrial robots have the advantages of high working efficiency, stability, reliability, good repeatability and the like, are generally used in industries such as industrial manufacturing, medical treatment, entertainment and the like, and when the robots are used for replacing people to work, the positions and postures of the robots in the operation movement process need to be specified in advance, and the process becomes teaching for the robots. The pose teaching of the traditional robot has two modes: point position teaching and off-line programming teaching of the handheld teaching device. In the hand-held demonstrator point location demonstration, a worker operates the demonstrator to control the mechanical arm to operate and record a plurality of point locations, then a track planning program built in a control system generates a control instruction of the mechanical arm, and the mechanical arm is controlled to operate according to the taught point locations. The teaching mode is suitable for the operation conditions with few point positions and low precision requirement. The off-line programming teaching technology is characterized in that a virtual simulation model of a robot and an operation environment of the robot is established by utilizing a computer technology, operation off-line planning and simulation are carried out by utilizing a computer visual programming language, after the simulation is passed, a track control instruction of a mechanical arm is generated by software, and the mechanical arm is controlled to run and operate according to a track in the simulation.
In recent years, various novel robot teaching methods have been developed, which are directed to reducing the robot teaching threshold. Representative examples are: gesture interactive teaching technology, voice instruction set teaching and manual traction teaching. The teaching method comprises the following steps that gesture interaction and voice instruction teaching technologies can recognize and analyze gestures and voice instructions of an operator, and then the mechanical arm is controlled to operate according to the intention of the operator, teaching tasks of multipoint complex tracks can not be generally completed by the teaching methods, in addition, manual traction teaching is not suitable for mechanical arms with high power and high load, the skill of the traction teaching is strong, and the precision is not easy to guarantee.
Disclosure of Invention
Aiming at the defects of the technology, the invention provides the industrial robot handheld teaching device and the teaching method, which can be used for teaching more flexibly and reducing the teaching cost of the robot.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a handheld teaching device of industrial robot, includes handheld teaching pen positioning system, arm drive controller and arm body, wherein:
the handheld teaching pen positioning system comprises an infrared laser plane scanning base station, a handheld positioner and a data processor;
the infrared laser plane scanning base station is used for laser scanning and positioning of the handheld positioner;
the handheld locator is used for acquiring spatial position and posture data of the handheld locator and transmitting the data to the data processor through the wireless communication module;
the data processor is used for processing the space pose data collected by the handheld positioner to obtain track data and teaching instructions meeting the control requirements of the mechanical arm body and sending the data to the mechanical arm drive controller;
the mechanical arm driving controller is used for controlling the mechanical arm body to operate according to the teaching instruction so as to complete the teaching process.
A method for industrial robot teaching using a device, comprising the steps of:
the method comprises the following steps that firstly, an infrared laser plane scanning base station is fixedly installed near a mechanical arm body, the laser plane scanning range can cover the conventional working space of the mechanical arm body, and an operator uses a handheld positioner to complete a teaching process;
moving a positioning tip of the handheld positioner to the starting point of the track, pressing a teaching button, sending self spatial position and posture data to a data processor by the handheld positioner during working through a wireless communication module, controlling the handheld positioner to move according to the expected track by an operator, and releasing the teaching button when the track reaches the end point of the track, so that the handheld positioner stops working;
and step three, the data processor receives the spatial pose data of the handheld positioner in the whole teaching process, outputs the teaching track to the mechanical arm drive controller after processing, and the mechanical arm body operates according to the instruction to complete the teaching process.
In the invention, the infrared laser plane scanning base station internally comprises 2 infrared laser transmitters and infrared LED arrays with mutually vertical rotating shafts, the infrared laser plane scanning base station transmits infrared synchronous flashing signals and plane laser scanning signals in horizontal and vertical planes to a space in a certain range, and the signals are used for positioning the handheld positioner.
In the present invention, the hardware portion of the handheld locator comprises an infrared light sensitive sensor, an inertial measurement unit, a microprocessor, a wireless communication module, and a replaceable tip, wherein: the tail end of the handheld locator is provided with a plurality of infrared photosensitive sensors, the infrared photosensitive elements are irradiated by plane scanning laser emitted by the infrared laser plane scanning base station to emit corresponding signals, along with the motion of the handheld locator in the teaching process, the inertial measurement unit outputs signals capable of reflecting the spatial position and the attitude information of the handheld locator, the microprocessor collects the output signals of each infrared photosensitive sensor, and the pose information of the handheld locator is obtained through calculation of a multi-sensor fusion algorithm. The infrared photosensitive sensor is essentially a photodiode sensitive to light with a specific wavelength, all sensors on the handheld positioner can receive infrared synchronous flicker signals sent by the infrared laser plane scanning base station in the working process, and when the infrared laser plane scanning base station sends laser scanning signals in a horizontal plane and a vertical plane, only the diode scanned by the laser plane can output signals.
Compared with the prior art, the invention has the following advantages:
the invention realizes a simple, convenient, quick and flexible teaching method for the industrial robot, by using the method, after related devices are fixed in position and initialized, an operator can teach the robot to finish operation with higher efficiency, and the method does not need to require the operator to have programming capability and basic knowledge of the robot, and directly finishes teaching of the mechanical arm with human will, thereby greatly reducing the cost of enterprises for using the industrial mechanical arm.
Drawings
FIG. 1 is a schematic diagram of a hardware system according to the present invention;
FIG. 2 is a schematic diagram of a mathematical model according to the present invention;
FIG. 3 is a schematic diagram of a handheld teaching pen locator according to the present invention;
FIG. 4 is a schematic view of a hand-held teaching device and teaching method of the present invention in a scenario;
in the figure: the teaching pen comprises a handheld teaching pen positioning system, 11-an infrared laser plane scanning base station, 12-a data processor, 13-a handheld positioner, 13 a-an infrared photosensitive sensor (IR diode), 13 b-an inertia measurement unit, 13 c-a wireless communication module, 13 d-a microprocessor, 13 e-a teaching start-stop button, 13 f-a power supply, 13 g-a replaceable teaching pen nib, 13 h-a USB interface and 7-a preset track of the tail end of the handheld positioner.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
The invention provides a handheld teaching device of an industrial robot, as shown in figure 1, the hardware system structure of the device comprises a handheld teaching pen positioning system 1, a mechanical arm driving controller 2 and a mechanical arm body 3, wherein:
the handheld teaching pen positioning system 1 at least comprises an infrared laser plane scanning base station 11, a data processor 12 and a handheld positioner 13.
The handheld locator 13 at least comprises an infrared photosensitive element 13a, an inertia measuring unit 13b, a wireless communication module 13c, a microprocessor 13d, a teaching start-stop button 13e, a power supply 13f, a replaceable handheld locator tip 13g and a USB interface 13h, wherein the infrared photosensitive element 13a emits corresponding signals after being irradiated by plane scanning laser emitted by the infrared laser plane scanning base station 11, and the inertia measuring unit 13b outputs signals capable of reflecting the space position and posture information of the handheld locator along with the movement of the handheld locator in the teaching process. The USB interface 13h is used for charging and data transmission. The handheld locator collects the position and posture data of the tip, and the handheld locator can identify different types of replacement tips so as to meet the teaching requirements of the mechanical arm under various scenes.
The handheld locator 13 is used for collecting the spatial position and posture data of the handheld locator in the teaching process and transmitting the data to the data processor 12 through the wireless communication module.
The data processor 12 is configured to process the spatial pose data acquired by the handheld locator 13, obtain trajectory data and teaching instructions meeting the control requirements of the robot arm, and send the data to the robot arm drive controller.
And the mechanical arm driving controller outputs a teaching instruction to control the operation of the mechanical arm.
The working principle of the industrial robot teaching device is as follows:
when teaching is carried out, an infrared laser plane scanning base station in the handheld teaching pen positioning system is fixedly installed near the mechanical arm and ensures that the laser plane scanning range can cover the conventional working space of the mechanical arm, and an operator uses the handheld positioner to carry out teaching. Firstly, the tip of a handheld locator is moved to the starting point of a track, a teaching button is pressed, the handheld locator in working sends self spatial position and attitude data to a data processor through a wireless communication module, an operator controls the handheld locator to move according to an expected track, when the track terminal point is reached, the teaching button is released, the handheld locator stops working, the data processor receives the spatial pose data of the tip of the handheld locator in the whole teaching process, the teaching track is output to a mechanical arm driving controller after processing, and the mechanical arm runs according to an instruction to complete the teaching process. The industrial robot teaching device provided by the invention adopts the handheld positioner to carry out track teaching, the teaching process is simple and direct, the teaching track can be adjusted at any time according to the operation requirement, the teaching cost of the industrial robot is reduced, and the teaching device has the advantages of simple and direct teaching process and flexible teaching track.
As shown in fig. 2, the mathematical model includes an infrared photosensor distribution three-dimensional model 4 and a spatial position and orientation model 5, in which: the infrared light sensitive element distribution three-dimensional model 4 refers to the coordinates of each light sensitive element in a handheld locator coordinate system; the spatial position and posture positioning model 5 comprises a laser plane scanning posture positioning algorithm 51, a filtering algorithm 52 and a multi-sensing fusion algorithm 53, wherein: the infrared photosensitive elements 13a in the handheld locator are irradiated by the plane scanning laser emitted by the infrared laser plane scanning base station 11 to emit corresponding signals, each infrared photosensitive element can be irradiated by the plane laser in the teaching process, and the laser plane scanning pose positioning algorithm 51 adopts the principle of triangulation and can resolve signals output by all the infrared photosensitive elements in the handheld locator into the position and the pose of the tip of the handheld locator. The multi-sensing fusion algorithm 53 is to fuse the data measured by the infrared photosensor 13a and the data measured by the inertial measurement unit 13b, and this has the following advantages: when the infrared photosensitive element fails or interference of reflected infrared light exists in a working environment, the position and posture information obtained by calculation of the infrared photosensitive element can not reflect a real condition, even a large error can be generated, and the handheld teaching pen positioning system has a stronger adaptation degree to the environment and higher tracking precision by introducing the inertial measurement unit; the trajectory tracking strategy 6 is a control method, and controls the mechanical arm body 3 to operate according to the hand-held demonstrator spatial position and posture trajectory output by the posture positioning model 5 in the mechanical arm driving controller 2, so that the teaching requirement is met.
Claims (5)
1. The utility model provides a handheld teaching device of industrial robot, its characterized in that the device is including handheld teaching pen positioning system, arm drive controller and arm body, wherein:
the handheld teaching pen positioning system comprises an infrared laser plane scanning base station, a handheld positioner and a data processor;
the infrared laser plane scanning base station is used for laser scanning and positioning of the handheld positioner;
the handheld locator is used for acquiring spatial position and posture data of the handheld locator and transmitting the data to the data processor through the wireless communication module;
the data processor is used for processing the space pose data collected by the handheld positioner to obtain track data and teaching instructions meeting the control requirements of the mechanical arm body and sending the data to the mechanical arm drive controller;
the mechanical arm driving controller is used for controlling the mechanical arm body to operate according to the teaching instruction so as to complete the teaching process.
2. The hand-held teaching device of industrial robot according to claim 1, wherein the infrared laser plane scanning base station internally comprises 2 infrared laser transmitters and infrared LED arrays with mutually perpendicular rotating shafts, and the infrared laser plane scanning base station transmits infrared synchronous flashing signals and plane laser scanning signals in horizontal and vertical planes, and the signals are used for positioning the hand-held positioner.
3. The industrial robot handheld teaching device according to claim 1 wherein the hardware part of the handheld positioner includes an infrared light sensitive sensor, an inertial measurement unit, a microprocessor, a wireless communication module and a replaceable tip, wherein: the tail end of the handheld locator is provided with a plurality of infrared photosensitive sensors, the infrared photosensitive elements are irradiated by plane scanning laser emitted by the infrared laser plane scanning base station to emit corresponding signals, along with the motion of the handheld locator in the teaching process, the inertial measurement unit outputs signals capable of reflecting the spatial position and the attitude information of the handheld locator, the microprocessor collects the output signals of each infrared photosensitive sensor, and the pose information of the handheld locator is obtained through calculation of a multi-sensor fusion algorithm.
4. The industrial robot handheld teaching device according to claim 1 or 3, wherein the infrared photosensitive sensor is a photodiode.
5. A method for industrial robot teaching using the device according to any of claims 1-4, characterized in that the method comprises the steps of:
the method comprises the following steps that firstly, an infrared laser plane scanning base station is fixedly installed near a mechanical arm body, the laser plane scanning range can cover the conventional working space of the mechanical arm body, and an operator uses a handheld positioner to complete a teaching process;
moving a positioning tip of the handheld positioner to the starting point of the track, pressing a teaching button, sending self spatial position and posture data to a data processor by the handheld positioner during working through a wireless communication module, controlling the handheld positioner to move according to the expected track by an operator, and releasing the teaching button when the track reaches the end point of the track, so that the handheld positioner stops working;
and step three, the data processor receives the spatial pose data of the handheld positioner in the whole teaching process, outputs the teaching track to the mechanical arm drive controller after processing, and the mechanical arm body operates according to the instruction to complete the teaching process.
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| CN202110484376.4A CN113119077A (en) | 2021-04-30 | 2021-04-30 | Industrial robot handheld teaching device and teaching method |
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| CN116852359A (en) * | 2023-07-04 | 2023-10-10 | 无锡斯帝尔科技有限公司 | TCP (Transmission control protocol) quick calibration device and method based on robot hand teaching device |
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