CN205734875U - Inertial navigation formula robot teaching equipment - Google Patents
Inertial navigation formula robot teaching equipment Download PDFInfo
- Publication number
- CN205734875U CN205734875U CN201620057586.XU CN201620057586U CN205734875U CN 205734875 U CN205734875 U CN 205734875U CN 201620057586 U CN201620057586 U CN 201620057586U CN 205734875 U CN205734875 U CN 205734875U
- Authority
- CN
- China
- Prior art keywords
- robot
- teaching
- inertial navigation
- outfan
- main control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Numerical Control (AREA)
Abstract
This utility model relates to a kind of inertial navigation formula robot teaching equipment, this inertial navigation formula robot teaching equipment, including being arranged on the teaching apparatus of robot end and controlling the main control computer of robot motion, described teaching apparatus includes inertial navigation module, the outfan of described inertial navigation module is provided with filter circuit, the outfan of described filter circuit is provided with A/D converter, the outfan of described A/D converter is provided with communication module, and the signal that inertial navigation module is detected by described main control computer carries out resolving and to robot output order.Only teaching apparatus need to be placed on robot end during teaching, operator carries teaching apparatus first motion, posture information is recorded by main control computer, then control instruction is delivered directly to computer, without repeatedly adjusting operation pose, kinematic parameter and the technological parameter of robot at taught point, teaching process is simple, save trouble and labor, relatively low to the requirement also ratio of operator, safety is good.
Description
Technical field
This utility model relates to a kind of robot teaching equipment, a kind of inertial navigation formula robot teaching equipment, belongs to robot teaching equipment technical field.
Background technology
Robot teaching system is the important component part of industrial robot control system, operator carries out manual teaching by teaching system, control robot and realize a series of different position and attitude, and record the information of each pose point, robot language programming is utilized to make robot perform the orbiting motion that program requires, it is achieved robot completes the purpose of repetitive task in certain working environment.
At present robot teaching system can be divided three classes: GUIDANCE FOR AUTONOMIC GUIDED VEHICLES, off-line programing mode and based on virtual reality mode.Wherein, GUIDANCE FOR AUTONOMIC GUIDED VEHICLES is the mode that robot teaching system is commonly used.
Teaching playback, the most direct teaching, operator by the directly operation robot arm such as teaching box or action bars, robot is carried out teaching.Typical teaching process is dependent on operator's observer robot and fixture thereof the position and attitude relative to manipulating object, by the operation to teaching box, repeatedly adjust operation pose, kinematic parameter and the technological parameter of robot at taught point, then the data meeting job requirements are recorded, then proceed to the teaching of subsequent point.After teaching process terminates, use these data recorded during robot actual motion, through interpolation operation, it is possible to reproduce the robot pose of record on taught point.Robot teaching Row control sketch is as shown in Figure 1.
Use GUIDANCE FOR AUTONOMIC GUIDED VEHICLES to carry out robot teaching and there is problems in that Professional knowledge and the operant skill of operator are required higher by (1); and need scene closely teaching operation; therefore having certain danger, safety is poor, must add detection and brake as personnel protection measure.(2) operator is moved to desired direction for robot controller driven machine people by the power on joystick/torque sensor generation corresponding output data, it is impossible to obtain the accurate posture information of robot to determine optimum operation attitude and the path of robot.(3) teaching process is loaded down with trivial details, time-consuming, needs repeatedly to adjust movement locus attitude and the position of robot according to job task, ageing poor.
Summary of the invention
This utility model is that solving GUIDANCE FOR AUTONOMIC GUIDED VEHICLES in prior art cannot obtain the accurate posture information of robot to determine optimum operation attitude and the path of robot, teaching process is loaded down with trivial details, time-consuming, ageing poor, operator is required height and the poor deficiency of safety, there is provided a kind of accurate posture information of robot that can obtain to determine optimum operation attitude and the path of robot, teaching process is simple, time saving and energy saving, ageing good, is suitable to the inertial navigation formula robot teaching equipment that general operation person carries out operating and safety is good.
Inertial navigation formula robot teaching equipment of the present utility model is achieved through the following technical solutions:
Inertial navigation formula robot teaching equipment, including being arranged on the teaching apparatus of robot end and controlling the main control computer of robot motion, it is characterized in that described teaching apparatus includes measuring the linear acceleration during teaching apparatus teaching and the inertial navigation module of angular velocity signal, the outfan of described inertial navigation module is provided with filter circuit, the outfan of described filter circuit is provided with the A/D converter that analogue signal is converted into digital signal, the outfan of described A/D converter is provided with the communication module carried out data transmission with main control computer, the signal that inertial navigation module is detected by described main control computer carries out resolving and to robot output order；
Described inertial navigation module includes that three axis accelerometer and free gyroscope, described three axis accelerometer and free gyroscope are installed along teaching apparatus three direction of principal axis, and outfan connects filter circuit；
Described main control computer is to increase signal processing module and instruction resolving module on the basis of tradition industrial computer；
Described signal processing module resolves the attitude information for teaching apparatus for the signal received by communication module；
Described instruction resolves module for the posture information of taught point resolves the control signal for robot.
Inertial navigation formula robot teaching equipment of the present utility model, only teaching apparatus need to be placed on robot end during teaching, operator carries teaching apparatus first motion, posture information is recorded by main control computer, then control instruction is delivered directly to computer, it is not necessary to repeatedly adjust operation pose, kinematic parameter and the technological parameter of robot at taught point, teaching process is simple, save trouble and labor, relatively low to the requirement also ratio of operator, safety is good.
Accompanying drawing explanation
Fig. 1: robot teaching general flow chart in prior art；
The structural representation of Fig. 2: this utility model usual navigation-type robot teaching equipment；
The data flow diagram of Fig. 3: Fig. 2.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not having creative work premise, broadly fall into the scope of this utility model protection.
Embodiment 1: with reference to Fig. 2-3, this inertial navigation formula robot teaching equipment, including being arranged on the teaching apparatus of robot end and controlling the main control computer of robot motion, described teaching apparatus includes the linear acceleration during measurement teaching apparatus teaching and the inertial navigation module of angular velocity signal, the outfan of described inertial navigation module is provided with filter circuit, the outfan of described filter circuit is provided with the A/D converter that analogue signal is converted into digital signal, the outfan of described A/D converter is provided with the communication module carried out data transmission with main control computer, the signal that inertial navigation module is detected by described main control computer carries out resolving and to robot output order；Described inertial navigation module includes that three axis accelerometer and free gyroscope, described three axis accelerometer and free gyroscope are installed along teaching apparatus three direction of principal axis, and outfan connects filter circuit；Described main control computer is to increase signal processing module and instruction resolving module on the basis of tradition industrial computer；Described signal processing module resolves the attitude information for teaching apparatus for the signal received by communication module；Described instruction resolves module for the posture information of taught point resolves the control signal for robot.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (2)
1. inertial navigation formula robot teaching equipment, including being arranged on the teaching apparatus of robot end and controlling the main control computer of robot motion, it is characterized in that: described teaching apparatus includes the linear acceleration during measurement teaching apparatus teaching and the inertial navigation module of angular velocity signal, the outfan of described inertial navigation module is provided with filter circuit, the outfan of described filter circuit is provided with the A/D converter that analogue signal is converted into digital signal, the outfan of described A/D converter is provided with the communication module carried out data transmission with main control computer, described main control computer carries out resolving and to robot output order for signal inertial navigation module detected.
Inertial navigation formula robot teaching equipment the most according to claim 1, it is characterized in that: described inertial navigation module includes three axis accelerometer and free gyroscope, described three axis accelerometer and free gyroscope are installed along teaching apparatus three direction of principal axis, and outfan connects filter circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620057586.XU CN205734875U (en) | 2016-01-21 | 2016-01-21 | Inertial navigation formula robot teaching equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620057586.XU CN205734875U (en) | 2016-01-21 | 2016-01-21 | Inertial navigation formula robot teaching equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734875U true CN205734875U (en) | 2016-11-30 |
Family
ID=57388843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620057586.XU Active CN205734875U (en) | 2016-01-21 | 2016-01-21 | Inertial navigation formula robot teaching equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734875U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107421566A (en) * | 2017-08-25 | 2017-12-01 | 北京理工大学 | A kind of unmanned vehicle Multiple Source Sensor information emulator platform |
-
2016
- 2016-01-21 CN CN201620057586.XU patent/CN205734875U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107421566A (en) * | 2017-08-25 | 2017-12-01 | 北京理工大学 | A kind of unmanned vehicle Multiple Source Sensor information emulator platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11331803B2 (en) | Mixed reality assisted spatial programming of robotic systems | |
| US9409293B2 (en) | Robot | |
| Brunete et al. | Hard material small-batch industrial machining robot | |
| CN104552300B (en) | A kind of off-line programing teaching apparatus based on teaching robot and method | |
| EP2055446A1 (en) | A portable robot control apparatus and a method for controlling a movement of a robot | |
| CN109397265A (en) | A kind of joint type industrial robot dragging teaching method based on kinetic model | |
| CN103909776B (en) | A kind of numerically-controlled precise woodcarving system of processing | |
| JP2018149606A (en) | Robot for executing learning control taking application in production line into consideration and method for control thereof | |
| CN105479431A (en) | Inertial navigation type robot demonstration equipment | |
| US6456897B1 (en) | Control method and numerical control for motion control of industrial machine tools | |
| US20180250816A1 (en) | Control system, setting device, setting method, and storage device | |
| CN104298244A (en) | Industrial robot three-dimensional real-time and high-precision positioning device and method | |
| US20180361591A1 (en) | Robot system that displays speed | |
| CN107671838B (en) | Robot teaching recording system, teaching process steps and algorithm flow thereof | |
| CN205734875U (en) | Inertial navigation formula robot teaching equipment | |
| Loske et al. | Force-torque sensor integration in industrial robot control | |
| Donohoe et al. | Mechatronic implementation of a force optimal underconstrained planar cable robot | |
| TW201822971A (en) | Robotic Arm Teaching System | |
| CN204525481U (en) | A kind of unpowered articulated arm teaching machine | |
| CN114800523B (en) | Mechanical arm track correction method, system, computer and readable storage medium | |
| CN109664271A (en) | A kind of tele-robotic teaching system based on virtual reality | |
| Qi et al. | A lead-through robot programming approach using a 6-DOF wire-based motion tracking device | |
| TWM509713U (en) | Multi-joint mechanical arm control system having track teaching function | |
| JP2017164833A (en) | Control device of manipulator device, control method of manipulator device, and control program of manipulator device | |
| CN204585243U (en) | A kind of unpowered joint arm structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |