CN115533925A - Robot teaching method and device, computer equipment and storage medium - Google Patents
Robot teaching method and device, computer equipment and storage medium Download PDFInfo
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- CN115533925A CN115533925A CN202211200328.9A CN202211200328A CN115533925A CN 115533925 A CN115533925 A CN 115533925A CN 202211200328 A CN202211200328 A CN 202211200328A CN 115533925 A CN115533925 A CN 115533925A
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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
Abstract
The invention provides a robot teaching method, a robot teaching device, computer equipment and a storage medium, wherein the method comprises the following steps: receiving a robot motion track programming request; calling point location variables of the types of products to be processed from a preset point location variable library according to the robot motion trail programming request so as to allow workers to write a robot motion trail program according to the point location variables; when teaching is carried out, calling the point location variable corresponding to the type of the product to be processed in the point location variable library according to the robot motion track program so that a worker can teach the point location variable according to the point location variable to obtain point location data corresponding to the point location variable; and updating the point position data into the robot motion track program to form a complete robot motion track program so as to finish teaching. The point position is determined more directly, the operation is simpler, the teaching accuracy is high, the motion track program cannot be modified, and the teaching efficiency and accuracy are improved.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to a robot teaching method, a robot teaching device, computer equipment and a storage medium.
Background
With the rapid development of the robot field in recent years, industrial robots have become the dominant force in the production lines of loading, unloading, stacking, spraying, welding, assembling and the like. Compared with the manual work, the industrial robot has the advantages of high precision, fast beat, strong repeatability, low error rate and inexperience, and can excellently complete a plurality of daily production tasks. Therefore, the convenient human-computer interaction and the rapid programming teaching become the focus of attention.
In some industrial scenes, for example, in a small household appliance production field, a working industrial robot is generally controlled by teaching and planning all actions, and correspondingly, some position points through which a motion trail passes are required to be taught, and the position points are also called point locations. However, functions in the demonstrator are complicated, running programs corresponding to different products are different, pointed selection is needed when point positions are taught, currently, corresponding point position variables are directly found in a track running program for teaching specific point positions, but in the face of lengthy programs, workers with low professional skill level often spend a lot of time searching for corresponding point position variables, and if the point position variables are selected incorrectly and do not correspond to actual point position data, teaching causes modification of the motion track program, so that the industrial robot runs abnormally and cannot meet the requirements of normal production.
Therefore, in the prior art, the point location teaching method directly and manually searching point location variables from the track running program in the program has the problems of low efficiency, high difficulty and high error probability.
Disclosure of Invention
In order to solve the problems of low efficiency, high difficulty and high error tendency existing in the mode of directly searching point position variables from a track running program in the program by manpower in the prior art for point position teaching, the invention provides a robot teaching method, a device, computer equipment and a storage medium, and improves the method and the device.
In order to solve the technical problems, the invention provides the following technical scheme:
a robot teaching method comprising the steps of:
receiving a robot motion track programming request;
calling point location variables of the types of the products to be processed from a preset point location variable library according to the robot motion trail programming request so as to allow workers to compile robot motion trail programs according to the point location variables, wherein the point location variables are used for identifying point locations through which the robot motion trail passes during product processing;
when teaching is carried out, calling the point location variable corresponding to the type of the product to be processed in the point location variable library according to the robot motion track program so that a worker can teach the point location variable according to the point location variable to obtain point location data corresponding to the point location variable;
and updating the point position data into the robot motion trail program to form a complete robot motion trail program and finish teaching.
Preferably, before calling a point location variable of a type of a product to be processed from a preset point location variable library according to the robot motion trajectory programming request, the method further includes:
creating a point location variable library;
dividing the point location variable library into different point location variable areas, wherein the different point location variable areas correspond to different product types;
and constructing a plurality of point location variables in the point location variable region, wherein the point location variables correspond to the product types.
Preferably, the point location variables at least include a material taking point location variable, a waiting point location variable and a material discharging point location variable, and each point location variable is provided with a corresponding point location identification mark.
Preferably, the point location variables are arranged in sequence according to the path of the motion trail of the robot.
Preferably, the updating the point location data into the robot motion trajectory program to form a complete robot motion trajectory program further includes:
calculating the distance between the point location data corresponding to two adjacent point location variables to obtain a point location distance;
if the point location distance is within a preset threshold range, determining that the corresponding two adjacent point location data are normal;
and if the point location distance is not within the preset threshold range, determining that the two adjacent point location data are abnormal, and sending a prompt to check the two adjacent point location data.
Preferably, the constructing a plurality of point location variables in the point location variable region, where the point location variables correspond to the product types, further includes:
and setting a preset threshold range of the point location distance between two adjacent point location variables.
Preferably, before calling the point location variable of the type of the product to be processed from a preset point location variable library according to the robot motion trajectory programming request, the method further includes:
and determining the type of the product to be processed according to the robot motion track programming request.
The present invention also provides a robot teaching device, comprising:
the request receiving unit is used for receiving a robot motion trail programming request;
the first variable calling unit is used for calling point location variables of types of products to be processed from a preset point location variable library according to the robot movement track programming request so as to allow a worker to compile a robot movement track program according to the point location variables, and the point location variables are used for identifying point locations through which the robot movement track passes during product processing;
the second variable calling unit is used for calling the point location variable corresponding to the type of the product to be processed in the point location variable library according to the robot motion track program during teaching so that a worker can teach the point location variable according to the point location variable to obtain point location data corresponding to the point location variable;
and the variable updating unit is used for updating the point position data into the robot motion trail program to form a complete robot motion trail program and finish teaching.
The invention also provides computer equipment comprising a memory and a processor, wherein the memory stores a computer program, and the processor realizes the robot teaching method when executing the computer program.
The present invention also provides a computer storage medium storing a computer program which, when executed by a processor, implements the robot teaching method of the present invention.
According to the robot teaching method, the robot teaching device, the computer equipment and the storage medium, point location variables of product types to be processed are called from a preset point location variable library, and the point location variables are used for marking point locations through which a robot motion trail passes when the products are processed; compiling a robot motion track program according to the point position variable; when teaching is carried out, point location variables corresponding to the product types in the point location variable library are selected according to the robot motion track program, teaching is carried out according to the point location variables, point location data corresponding to the point location variables are obtained, the point location data are updated into the robot motion track program, teaching is completed, only the point location variables corresponding to the product types need to be found in the point location variable library for teaching, point location determination is more direct, operation is simpler, teaching accuracy is high, the motion track program cannot be modified, abnormal operation of an industrial robot due to teaching errors does not need to be worried about, and teaching efficiency and accuracy are improved.
Drawings
Fig. 1 is a schematic application environment diagram of a robot teaching method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a robot teaching method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart illustrating a process of creating a preset point position variable library in the robot teaching method according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of point location data determination in the robot teaching method according to the first embodiment of the present invention;
fig. 5 is a block diagram of a robot teaching device according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Fig. 1 is a diagram of an application environment of a robot teaching method according to an embodiment of the present invention, as shown in fig. 1, in the application environment, a terminal 110 and a robot 120 are included.
The terminal 110 may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, and the like. The terminal 110 and the robot 120 may be connected through a network, and the present invention is not limited thereto.
The robot 120 may be an industrial robot or a domestic robot, mainly illustrated as an industrial robot, and the specific model and type may be selected according to actual needs, which is not strictly limited herein.
It should be noted that the robot teaching method provided in the embodiment of the present invention may be executed by the terminal 110, and accordingly, the robot teaching device is provided in the terminal 110.
It should be noted that the robot teaching method provided in the embodiment of the present invention may also be executed by a server, and accordingly, the robot teaching device is provided in the server.
It should be understood that the number of the terminals, the teach pendant, the robot, and the described networks and servers in fig. 1 are only illustrative, and any number of the terminals, the computer devices, the networks, and the servers may be provided according to implementation requirements, and the terminal device in the embodiment of the present invention may specifically correspond to an application system in actual production.
Example one
As shown in fig. 2, in an embodiment, a robot teaching method is proposed, and this embodiment is mainly exemplified by applying the method to the terminal 110 in fig. 1. The robot teaching method specifically comprises the following steps:
and step S210, receiving a robot motion track programming request.
And step S220, calling point location variables of the types of the products to be processed from a preset point location variable library according to the robot motion track programming request so that workers can compile robot motion track programs according to the point location variables, wherein the point location variables are used for identifying point locations through which the robot motion tracks pass during product processing.
It can be understood that, in the present embodiment, the robot motion trajectory program is mainly used to control the movement of the robot machining product, generally speaking, a project file may be created first during robot programming, and an initialization program and a production program corresponding to each product, that is, a corresponding robot motion trajectory program, may be created under the project file, where the programming of the robot motion trajectory program belongs to conventional programming knowledge and is not further described herein. After the robot motion trail programs corresponding to the products are created, corresponding point location variables can be set in the programs according to motion trail requirements, the robot motion trail programs are corresponding to the point location variables of the products, and teaching adjustment of the programs can be conveniently carried out in the subsequent process by directly calling the point location variables.
It can be understood that the writing of the robot movement trajectory program by the staff according to the point position variable is mainly performed in combination with the product type, for example, after the point position variable corresponding to a certain product is called, the point position variable is written into the program as a point position parameter through which the movement trajectory passes when the robot processes the product, and the point position variable may be a parameter at this time, so that the finally determined point position data can be determined when the teaching is subsequently performed. For the programming of the motion trail program of the robot, different robots have different programming rules, and point location variables are only required to be programmed as parameters of point locations through which the trail passes, and are not further described.
It can be understood that, in this embodiment, the point locations mainly refer to some location points through which the movement locus of the robot passes, and a plurality of point locations can be set on the movement locus of the robot according to actual needs, and the point locations can be taught in sequence according to the point location limit during teaching. Further, the point location information used for identifying the point location information where the robot motion trajectory passes during the point location variable may be a specific coordinate value corresponding to the point location of the robot motion trajectory left by the previous teaching, or may be parameterized data, which is only used as an unknown point location data placeholder in the program, for example, for a certain product 1, the robot motion trajectory in the processing process passes through the point location of the material taking point, and the coordinate data of the point location is expressed in a variable form, for example, by a coordinate parameter (x 1, y1, z 1), that is, the point location vector of the material taking point of the product 1 is (x 1, y1, z 1). It can be understood that the point location vector may adopt different expression forms according to different reference coordinate systems of different robots, and its main function is to perform place-occupying marking in a robot trajectory program, record point locations included in a robot trajectory, and update finally determined point location data (such as coordinate values) corresponding to point location variables into a robot motion trajectory program after further teaching is required, which is described herein only as an example.
It can be understood that, in this embodiment, the product type to be processed mainly refers to different products, and different point location variables are correspondingly set, because different product types are processed, because the specification and the size of the product are different, the track of the product can be different, so that different robot tracks need to be set for different multiple product types, and different point location variables are set according to different product types correspondingly. If the products 1, 2 and 3 exist, point location variables are set for the products 1, 2 and 3 respectively and stored in a preset point location variable library.
Further, as shown in fig. 3, a schematic flow chart of creating a preset point location variable library in this embodiment is provided, in this embodiment, before the step S220 calls the point location variable of the to-be-processed product type from the preset point location variable library according to the robot motion trajectory programming request, the following steps are further included:
step S310, a point location variable library is created.
It is understood that the point location variable library can be constructed in the form of a conventional database.
Step S320, the point location variable library is divided into different point location variable regions, and the different point location variable regions correspond to different product types.
It can be understood that, in this embodiment, the point location variable library region is mainly divided for different products, and specifically, a form of setting a different data packet in the point location variable library may also be used, and point location variables between different product types are mainly divided and distinguished, so that confusion is not generated when calling is performed, and further description is not provided herein.
Step S330, a plurality of point location variables are constructed in the point location variable area, and the point location variables correspond to the product types.
It can be understood that, in combination with the foregoing explanation of the point location variables, the number of the point location variables may be set according to the complexity of the motion trajectory of the robot, and is not further described herein.
In this embodiment, the point location variables at least include a material taking point location variable, a waiting point location variable, and a material discharging point location variable, and each of the point location variables is provided with a corresponding point location identification identifier.
It can be understood that, in this embodiment, the main point locations in the product processing process are mainly taken as an example of a preferred embodiment, and those skilled in the art may also select different point locations according to actual needs; in addition, the point location identification mark is mainly used for identifying different point location vectors, for example, for a point location variable of the product 1, the point location identification mark may be a "material taking point location", "waiting point location", "material placing point location", and the like, and more specific forms are not further described herein.
Further, in this embodiment, the order of the point location variables is arranged in sequence according to the route of the motion trajectory of the robot. For example, as the three point locations of the material taking point location, the waiting point location and the material placing point location of the product 1 are described above, since the robot movement track route first takes materials when the product 1 is processed, then waits at the waiting point location, and then places materials after the material placing is allowed, the arrangement sequence of the point location vectors of the product 1 in the point location vector library is 1-material taking point location, 2-waiting point location and 3-material placing point location, the point location vectors are sequentially arranged according to the robot movement track route, the calling can be orderly performed, the current teaching progress can be intuitively and clearly known when teaching is facilitated, the continuous judgment of the front point location and the back point location can be conveniently performed, and the skipping of the point location is avoided.
And step S230, calling the point location variable corresponding to the type of the product to be processed in the point location variable library according to the robot motion track program during teaching so that a worker can teach the point location variable according to the point location variable to obtain point location data of the corresponding point location variable.
And step S240, point position data are updated into the robot motion track program to form a complete robot motion track program, and teaching is completed.
It can be understood that point location variables just start to belong to parameter or inaccurate data in a robot motion trajectory program, and specific accurate point location data, such as coordinate points, are not completely confirmed, and point location data of corresponding point location variables, namely specific coordinate data, are confirmed through teaching actions in the teaching process, so that the point location data can be updated into the robot motion trajectory program, a motion trajectory has complete point location data, a complete program after teaching is formed, and production execution can be performed.
It can be understood that teaching is mainly performed manually in the teaching process, and the point location data obtained is automatically received, stored and recorded by the terminal 110 device after teaching, and is updated to the robot motion trajectory program.
Further, in this embodiment, as shown in fig. 4, which is a schematic flow chart of the point location data determination in this embodiment, in step S240, the point location data is updated into a robot motion trajectory program to form a complete robot motion trajectory program, and the method further includes:
step S410, calculating the distance between point location data corresponding to two adjacent point location variables to obtain a point location distance;
step S420, if the point location distance is within a preset threshold range, the data of two corresponding adjacent point locations are considered to be normal;
step S430, if the point location distance is not within the preset threshold range, it is determined that the corresponding two adjacent point location data are abnormal, and a prompt is sent to check the two adjacent point location data.
It can be understood that, in this embodiment, whether point location data corresponding to two adjacent point location variables is correct is verified by setting a point location distance, mainly considering that teaching point locations may be missed or point location correspondence errors may occur due to human or objective reasons and the like in the teaching process, for example, if an emptying positioning variable is selected by a misoperation in the teaching process and teaching is performed according to the waiting point locations, the point location data obtained by teaching may not be correct and a teaching error may occur, and by calculating a distance relationship between point location data corresponding to two adjacent point location vectors, a distance mismatch problem may be found, for example, a distance range of a point location variable between an actually waiting point and a previous point (material taking point) should be 8 to 8.1cm, but a distance is found to be 9.2cm after teaching, it may be determined that at least one of two adjacent point location variables is incorrect, an alarm prompt is given, data corresponding to a point location variable is checked, and re-teaching may be performed on point location data of the two adjacent point locations if necessary.
Further, in this embodiment, in step S330, constructing a plurality of point location variables in the point location variable region, where the point location variables correspond to the product types, and the method further includes:
and setting a preset threshold range of the point location distance between two adjacent point location variables.
It can be understood that the preset threshold range of the point location distance between two adjacent point location variables may be that after a point location is selected from the actual robot motion trajectory, the distance between two adjacent point locations may be subjected to linear distance calculation to obtain a distance value, and then the distance value is reasonably expanded to form a threshold range, and under the condition that the threshold range is within, the point location data after the teaching of the two adjacent point location variables is considered to be within the correct range, and the point location data can be adopted; otherwise, it is not possible to use it. For example, the distance range of the point location variable between the waiting point location of the front product 1 and the previous point (material taking point location) should be 8-8.1 cm.
Further, in this embodiment, before the step S220 of calling the point location variable of the product type to be processed from the preset point location variable library according to the robot motion trajectory programming request, the method further includes:
and determining the type of the product to be processed according to the robot motion track programming request.
It will be appreciated that in general, the robot motion trajectory programming request carries information requesting programming for a specific product type, such as the product 1 described above, and when programming for it, it indicates in the request that the robot motion trajectory programming is required for processing the product 1, so that the type of product to be processed can be determined based on the product type information included in the request. Of course, there are some common ways in the art, such as considering the input of the type of the substitute processed product, determining the type of the substitute processed product directly through the input information (such as code number, name, etc.) of the type of the substitute processed product, etc., and further conventional means will not be described herein.
In fact, in this embodiment, the point location vector corresponding to the product is written into the program when the robot motion trajectory program is written, so that the point location vector is associated with the robot motion trajectory program, and the corresponding point location vector can be directly called to perform teaching when the robot motion trajectory program passes through a viewing angle, so that a point location which can be used as a teaching point is not manually searched from the robot motion trajectory program, and the accuracy and efficiency of the teaching are greatly improved.
The robot teaching method provided by the invention comprises the steps of calling a point location variable of a product type to be processed from a preset point location variable library, wherein the point location variable is used for marking a point location through which a motion trail of a robot passes when a product is processed; compiling a robot motion track program according to the point position variables; when teaching is carried out, point location variables corresponding to the product types in the point location variable library are selected according to the robot motion track program, teaching is carried out according to the point location variables, point location data corresponding to the point location variables are obtained, the point location data are updated into the robot motion track program, teaching is completed, only the point location variables corresponding to the product types need to be found in the point location variable library for teaching, point location determination is more direct, operation is simpler, teaching accuracy is high, the motion track program cannot be modified, abnormal operation of an industrial robot due to teaching errors does not need to be worried about, and teaching efficiency and accuracy are improved.
Example two
As shown in fig. 5, in one embodiment, a robot teaching device is proposed, and this embodiment is mainly exemplified by applying the device to the terminal 110 in fig. 1 described above. A robot teaching device comprising:
a request receiving unit 510, configured to receive a robot motion trajectory programming request;
the first variable calling unit 520 is configured to call a point location variable of a type of a product to be processed from a preset point location variable library according to a robot movement trajectory programming request, so that a worker writes a robot movement trajectory program according to the point location variable, where the point location variable is used to identify a point location through which a robot movement trajectory passes when the product is processed;
a second variable calling unit 530, configured to call, according to the robot motion trajectory program, a point location variable corresponding to the type of the product to be processed in the point location variable library during teaching, so that a worker can teach according to the point location variable to obtain point location data corresponding to the point location variable;
and the variable updating unit 540 is used for updating the point location data into the robot motion trajectory program to form a complete robot motion trajectory program and finish teaching.
Further, the robot teaching device further includes a point location variable library creating unit, and the point location variable library creating unit includes:
and the library creating subunit is used for creating a point location variable library.
And the area dividing subunit is used for dividing the point location variable library into different point location variable areas, and the different point location variable areas correspond to different product types.
And the point location variable creating subunit is used for creating a plurality of point location variables in the point location variable region, wherein the point location variables correspond to the product types.
In this embodiment, the point location variables at least include a material taking point location variable, a waiting point location variable, and a material discharging point location variable, and each of the point location variables is provided with a corresponding point location identification identifier.
Further, in this embodiment, the order of the point location variables is arranged in sequence according to the route of the motion trajectory of the robot.
Further, in this embodiment, the second variable calling unit 530 includes:
the distance calculation subunit is used for calculating the distance between the point location data corresponding to the two adjacent point location variables to obtain a point location distance;
the distance judging subunit is used for considering that the data of the two corresponding adjacent point locations are normal if the point location distance is within a preset threshold range; and if the point location distance is not within the preset threshold range, determining that the data corresponding to the two adjacent point locations are abnormal, and sending a prompt to check the data of the two adjacent point locations.
Further, in this embodiment, the point location variable library creating unit further includes:
and the threshold setting subunit is used for setting a preset threshold range of the point location distance between two adjacent point location variables.
Further, in this embodiment, the first variable calling unit 520 is further configured to determine a type of a product to be processed according to the robot motion trajectory programming request.
It is to be understood that the technical contents described in the robot teaching device in the present embodiment can be understood and implemented with reference to the description in the first embodiment, and the description is not repeated here.
It can be understood that the robot teaching apparatus provided in this embodiment is a software and hardware combination device specifically used for implementing the robot teaching method in the first embodiment, and the above modules may be embedded in hardware or independent from a processor in a computer device, or may be stored in a memory in the computer device in software form, so that the processor can call and execute operations corresponding to the above modules. The technical concepts repeated in this embodiment can be understood and implemented with reference to the first embodiment, which is not further described herein.
The robot teaching device provided by the invention receives a robot motion track programming request through a request receiving unit 510; calling point location variables of the types of the products to be processed from a preset point location variable library through a first variable calling unit 520 according to the robot motion track programming request so that a worker can compile a robot motion track program according to the point location variables, wherein the point location variables are used for identifying point locations through which the robot motion track passes during product processing; during teaching, the second variable calling unit 530 calls point location variables corresponding to the types of the products to be processed in the point location variable library according to the robot motion trajectory program, so that a worker can teach the point location variables according to the point location variables to obtain point location data of the corresponding point location variables; the point location data are updated to the robot motion track program through the variable updating unit 540, a complete robot motion track program is formed, teaching is completed, only the point location variables corresponding to the product types need to be found in the point location variable library for teaching, the point location is determined more directly, the operation is simpler, the teaching accuracy rate is high, the motion track program cannot be modified, the problem that due to the fact that teaching errors cause abnormal operation of the industrial robot is solved, and the teaching efficiency and accuracy are improved.
EXAMPLE III
In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor executing the computer program to perform the steps of:
receiving a robot motion track programming request;
calling point location variables of the types of the products to be processed from a preset point location variable library according to the robot movement track programming request so that workers can compile robot movement track programs according to the point location variables, wherein the point location variables are used for identifying point locations through which the robot movement tracks pass during product processing;
during teaching, calling point position variables corresponding to the types of the products to be processed in a point position variable library according to a robot motion track program so that a worker can teach according to the point position variables to obtain point position data corresponding to the point position variables;
and updating the point location data into a robot motion track program to form a complete robot motion track program, and finishing teaching.
Example four
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which, when executed by a processor, causes the processor to perform the steps of:
receiving a robot motion track programming request;
calling point location variables of the types of the products to be processed from a preset point location variable library according to the robot movement track programming request so that workers can compile robot movement track programs according to the point location variables, wherein the point location variables are used for identifying point locations through which the robot movement tracks pass during product processing;
during teaching, calling point position variables corresponding to the types of the products to be processed in a point position variable library according to a robot motion track program so that a worker can teach according to the point position variables to obtain point position data corresponding to the point position variables;
and updating the point location data into a robot motion track program to form a complete robot motion track program, and finishing teaching.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, but should not be construed as limiting the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A robot teaching method, comprising the steps of:
receiving a robot motion trail programming request;
calling point location variables of the types of the products to be processed from a preset point location variable library according to the robot motion trail programming request so as to allow workers to compile robot motion trail programs according to the point location variables, wherein the point location variables are used for identifying point locations through which the robot motion trail passes during product processing;
when teaching is carried out, calling the point location variable corresponding to the type of the product to be processed in the point location variable library according to the robot motion track program so that a worker can teach the point location variable according to the point location variable to obtain point location data corresponding to the point location variable;
and updating the point position data into the robot motion trail program to form a complete robot motion trail program and finish teaching.
2. A robot teaching method according to claim 1, wherein before calling a point location variable of a type of a product to be processed from a preset point location variable library according to the robot movement trajectory programming request, the method further comprises:
creating a point location variable library;
dividing the point location variable library into different point location variable areas, wherein the different point location variable areas correspond to different product types;
and constructing a plurality of point location variables in the point location variable region, wherein the point location variables correspond to the product types.
3. A robot teaching method according to claim 2, wherein the point position variables include at least a take point position variable, a wait point position variable, and a dump point position variable, and each of the point position variables is provided with a corresponding point position identification mark.
4. A robot teaching method according to claim 2, wherein the order of the point location variables is arranged in order according to the course of the robot movement trajectory.
5. A robot teaching method according to claim 4, wherein said updating said point location data into said robot motion trajectory program to form a complete said robot motion trajectory program, further comprises:
calculating the distance between the point location data corresponding to two adjacent point location variables to obtain a point location distance;
if the point location distance is within a preset threshold range, determining that the corresponding two adjacent point location data are normal;
and if the point location distance is not within the preset threshold range, determining that the two adjacent point location data are abnormal, and sending a prompt to check the two adjacent point location data.
6. A robot teaching method according to claim 5, wherein the constructing of the point location variables in the point location variable region, the point location variables corresponding to the product types, further comprises:
and setting a preset threshold range of the point location distance between two adjacent point location variables.
7. A robot teaching method according to claim 1, wherein before calling a point location variable of a type of a product to be processed from a preset point location variable library according to the robot movement trajectory programming request, the method further comprises:
and determining the type of the product to be processed according to the robot motion track programming request.
8. A robot teaching device characterized by comprising:
the request receiving unit is used for receiving a robot motion track programming request;
the first variable calling unit is used for calling point location variables of types of products to be processed from a preset point location variable library according to the robot movement track programming request so as to allow a worker to compile a robot movement track program according to the point location variables, and the point location variables are used for identifying point locations through which the robot movement track passes during product processing;
the second variable calling unit is used for calling the point location variable corresponding to the type of the product to be processed in the point location variable library according to the robot motion track program during teaching so that a worker can teach the point location variable according to the point location variable to obtain point location data corresponding to the point location variable;
and the variable updating unit is used for updating the point position data into the robot motion trail program to form a complete robot motion trail program and finish teaching.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor when executing the computer program realizes the steps of the robot teaching method according to any of claims 1-7.
10. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements a robot teaching method according to any of claims 1 to 7.
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| CN202211200328.9A CN115533925A (en) | 2022-09-29 | 2022-09-29 | Robot teaching method and device, computer equipment and storage medium |
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| CN202211200328.9A CN115533925A (en) | 2022-09-29 | 2022-09-29 | Robot teaching method and device, computer equipment and storage medium |
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