CN214265594U - Robot movement track planning device - Google Patents
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- CN214265594U CN214265594U CN202120188750.1U CN202120188750U CN214265594U CN 214265594 U CN214265594 U CN 214265594U CN 202120188750 U CN202120188750 U CN 202120188750U CN 214265594 U CN214265594 U CN 214265594U
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Abstract
The utility model relates to a robot movement track planning device, the device includes: the system comprises a three-dimensional space positioner, a tool model and an upper computer; the tool model is an actuator model of the robot to be operated and is connected with the three-dimensional space positioner; and obtaining the running track of the tool model by moving the three-dimensional space positioner, wherein the running track of the tool model is the running track of the robot to be transported. The utility model provides the high operation orbit planning speed of robot to robot operation availability factor has been improved.
Description
Technical Field
The utility model relates to a orbit planning field especially relates to a robot movement track planning device
Background
Before the existing multi-axis industrial robot runs, the robot demonstrator needs to manually operate before production for a long time to teach and program in advance, and each track point is taught and learned, so that the robot is difficult to realize high-efficiency work in the production process of non-standard and medium-small batch production lines; and the operation track of the product workpiece is planned and then guided into the robot system for operation by utilizing three-dimensional off-line modeling simulation and programming, so that the operation efficiency of the robot is more difficult to improve in the production process of non-standard and medium-small batch production lines. An operator with a generally skilled method operates the robot demonstrator to perform teaching and programming or off-line modeling simulation and programming, the time for completing 100 track points in the prenatal period is more than 4 hours, and the formal operation time of the robot is usually less than 10 minutes, so that the robot is generally in a long-time prenatal standby state, and the operation and use efficiency of the robot cannot be really improved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot movement track planning device has improved the prenatal track planning speed of robot.
In order to achieve the above object, the utility model provides a following scheme:
a robot operation trajectory planning device includes: the system comprises a three-dimensional space positioner, a tool model and an upper computer;
the tool model is an actuator model of the robot to be operated and is connected with the three-dimensional space positioner;
and obtaining the running track of the tool model by moving the three-dimensional space positioner, wherein the running track of the tool model is the running track of the robot to be transported.
Optionally, the apparatus further comprises: the photoelectric emitter is arranged above the working range of the robot;
the three-dimensional space locator comprises a photodiode and a processor, and the upper computer is electrically connected with the photoelectric emitter and the three-dimensional space locator respectively; the photoelectric emitter receives the synchronous signals emitted by the upper computer and then carries out space scanning on the working range of the robot, the three-dimensional space positioner receives the scanning signals of the photoelectric emitter after receiving the synchronous signals emitted by the upper computer, the three-dimensional space positioner determines the position coordinates of the three-dimensional space positioner according to the received scanning signals, and the three-dimensional space positioner sends the position coordinates to the upper computer.
Optionally, the three-dimensional space locator further comprises a housing, and the photodiodes are all disposed on the housing.
Optionally, the number of photodiodes is at least 6.
Optionally, the three-dimensional space locator further comprises a MEMS gyroscope for acquiring rotation values of the three-dimensional space locator about X, Y and Z axes.
Optionally, the tool model is flanged with the three-dimensional space positioner.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect:
the utility model discloses a robot movement track planning device through removing three-dimensional space locator, acquires the movement track of the instrument model of being connected with three-dimensional space locator, with the movement track of instrument model as the movement track of waiting to move the robot, has improved the antenatal movement track planning speed of robot to robot operation availability factor has been improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural view of a robot movement path planning device of the present invention;
fig. 2 is a schematic structural diagram of a three-dimensional space positioner in a robot movement path planning device according to the present invention;
fig. 3 is a schematic structural view of the robot to be operated in the present invention;
fig. 4 is a schematic diagram of signal transmission of each structure of the robot movement path planning device of the present invention;
description of the symbols:
the system comprises a three-dimensional space locator, a 2-photoelectric emitter, a 3-upper computer, a 4-wireless gateway control module, a 5-robot to be operated, a 6-interactive display terminal, a 7-tool model, a 11-photodiode, a 12-shell, a 13-flange seat, a 71-tool model tail end, a 72-curve function button, a 73-point function button, a 51-robot tool flange, a 52-robot tool and a 53-robot tool tail end.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a robot movement track planning device has improved the movement track planning speed of robot.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
Fig. 1 is the utility model relates to a robot movement track planning device schematic structure, as shown in fig. 1, a robot movement track planning device, include: the system comprises a three-dimensional space locator 1, a tool model 7, an upper computer 3, a photoelectric emitter 2, an interactive display terminal 6 and a wireless gateway control module 4.
The tool model 7 is an actuator model of the robot 5 to be operated, and the tool model 7 is connected with the three-dimensional space positioner 1.
And obtaining the running track of the tool model 7 by moving the three-dimensional space positioner 1, wherein the running track of the tool model 7 is the running track of the robot 5 to be transported.
The photoelectric emitter 2 is arranged above the working range of the robot;
the three-dimensional space locator 1 comprises a photodiode 11 and a processor, and the upper computer 3 is electrically connected with the photoelectric emitter 2 and the three-dimensional space locator 1 respectively; the photoelectric emitter 2 receives the synchronous signal emitted by the upper computer 3 and then carries out space scanning on the working range of the robot, the three-dimensional space locator 1 receives the synchronous signal emitted by the upper computer 3 and then receives the scanning signal of the photoelectric emitter 2, the three-dimensional space locator 1 determines the position coordinate of the three-dimensional space locator 1 according to the received scanning signal, and the three-dimensional space locator 1 sends the position coordinate to the upper computer 3.
The three-dimensional space locator 1 further comprises a shell 12, and the photodiodes 11 are all arranged on the shell 12, as shown in fig. 2. The three-dimensional positioner 1 is a hand-held three-dimensional positioner 1, i.e. the three-dimensional positioner 1 is moved by human movement.
The three-dimensional space locator 1 further comprises a MEMS gyroscope for acquiring rotation values of the three-dimensional space locator 1 around an X-axis, a Y-axis, and a Z-axis.
The three-dimensional space locator 1 further comprises a flange tool connector (flange seat 13), an operating function button key, a wireless communication module, a power management module and a rechargeable battery, a processor in the three-dimensional space locator 1 is a microprocessor, and the operating function button key comprises a curve function button 72 and a point function button 73.
The tool model 7 is an actuator for production or processing mounted on a robot end flange, such as a robot arc welding gun, a robot clamping jaw and the like, which are connected to the robot end flange and have a certain function, as shown in fig. 3, the tool model 7 is consistent with a real tool mounted on the robot end flange in size and peripheral structure, the ratio of the tool model 7 to the actually-operated actuator is 1:1, and the tool model 7 is composed of 3D printed plastic parts and mounted at the flange of the handheld wireless three-dimensional space positioner 1. The tool model 7 is portable and convenient for manual hand-held planning of the workpiece path. In this embodiment, the ratio of the tool model 7 in fig. 2 to the robot tool 52 in fig. 3 is 1:1, the moving trajectory of the tool model 7, that is, the moving trajectory of the robot tool 52, is obtained by moving the three-dimensional space locator 1, and the robot tool end 53 in fig. 3 moves according to the moving trajectory of the tool model end 71 in fig. 2.
The robot 5 to be operated is a universal multi-joint 6-degree-of-freedom mechanical arm, and the function of the robot is to sequentially control the robot to work according to the sequence and the conditions required in advance by manually planning tracks on a workpiece through TCP/IP communication of a PC host.
Fig. 4 is the utility model relates to a each structure signal transmission schematic diagram of robot movement track planning device, as shown in fig. 4, wireless gateway control module 4 is connected through USB interface and PC host computer intercommunication, wireless gateway control module 4 passes through wireless communication and optoelectronic emitter 2 and the wireless three-dimensional space locator 1 interconnect of hand-held type. A range space group is formed by 2 or more than 2 photoelectric emitters 2, the photoelectric emitters 2 are fixedly installed in a place where a motion space of the handheld wireless three-dimensional space locator 1 can be covered by pulse beams emitted by the photoelectric emitters 2 in line and row scanning, the handheld wireless three-dimensional space locator 1 receives the line and row scanning beams of the photoelectric emitters 2 through 6 or more than 6 photodiodes 11 and is in communication connection with a wireless gateway control module 4 through wireless communication, an interactive display terminal 6 is in communication connection with a PC host through wireless communication, and the robot is connected with the PC host through a TCP/IP communication network.
With the utility model relates to a robot movement track planning method that robot movement track planning device implemented is preferred:
step 100: connecting the tool model 7 with the three-dimensional space positioner 1; the tool model 7 is an actuator model of the robot 5 to be transported.
Step 200: and acquiring the running track of the tool model 7 by moving the three-dimensional space locator 1.
The obtaining of the operation trajectory of the tool model 7 by moving the three-dimensional space positioner 1 specifically includes:
and sending a synchronous signal to the photoelectric emitter 2 and the three-dimensional space positioner 1 through the upper computer 3.
And after receiving the synchronous signal, the photoelectric emitter 2 performs periodic space scanning in the working range of the robot 5 to be operated.
After receiving the synchronization signal, the photoelectric emitter 2 performs periodic spatial scanning within the working range of the robot 5 to be operated, and specifically includes: the photoelectric emitter 2 performs row periodic scanning and column periodic scanning in the working range of the robot 5 to be operated.
And moving the three-dimensional space positioner 1 within the working range of the robot 5 to be operated.
And the three-dimensional space locator 1 starts to receive the optical signal emitted by the photoelectric emitter 2 after receiving the synchronous signal.
And determining the position coordinates of the three-dimensional space locator 1 according to the optical signals received by the three-dimensional space locator 1.
The determining the position coordinate of the three-dimensional space locator 1 according to the optical signal received by the three-dimensional space locator 1 specifically includes:
the X-vector angle between the photoemitter 2 and the three-dimensional spatial locator 1 is obtained by line-periodic scanning.
The Y-vector angle between the photo-emitter 2 and the three-dimensional spatial locator 1 is obtained by column periodic scanning.
And determining the position coordinates of the three-dimensional space locator 1 through the X vector angle and the Y vector angle.
The rotation values of the three-dimensional space locator 1 around the X-axis, the Y-axis and the Z-axis are determined by a MEMS gyroscope in the three-dimensional space locator 1.
And determining the running track of the tool model 7 according to the change of the position coordinates with time.
Step 300: and taking the running track of the tool model 7 as the running track of the robot 5 to be run.
The upper computer 3 is a PC host and is used for processing synchronization signals received from the photoelectric transmitter 2 and the handheld three-dimensional space positioner 1 through the wireless gateway control module 4, calculating the action running relation between the flange coordinate system of the handheld wireless three-dimensional space positioner 1 and the terminal coordinate system of the flange of the robot, executing track running operation tasks and processing the signals based on a TCP/IP communication protocol with the robot.
The interactive display terminal 6 performs UI interface interactive operation with the PC host through wireless communication.
In this embodiment, the interactive display terminal 6 is a tablet computer.
The wireless gateway control module 4 is used for the wireless communication connection between the handheld wireless three-dimensional space locator 1 and the plurality of photoelectric transmitters 2.
The photoelectric emitter 2 receives a synchronous signal sent by the PC host through the wireless gateway module, and after receiving the synchronous signal, the photoelectric emitter 2 drives the infrared light emitting tube to perform periodic space scanning through the line scanning polarization mirror and the column scanning polarization mirror.
The handheld wireless three-dimensional space locator 1 receives a synchronous signal sent by a PC host through communication of a wireless gateway module, after the handheld wireless three-dimensional space locator 1 receives the synchronous signal, a photodiode 11 starts to receive trigger time in a cycle of line-row scanning of a photoelectric emitter 2, an X vector angle and a Y vector angle of the photodiode 11 of the handheld wireless three-dimensional space locator 1 corresponding to the trip scanning time point are obtained according to the trigger time, an absolute coordinate point (X, Y, z) of the handheld wireless three-dimensional space locator 1 in the space of the photoelectric emitter 2 is converted according to the X vector angle and the Y vector angle, three-dimensional coordinate matrix conversion is carried out through an Euler angle output by an MEMS gyroscope module to obtain a current spatial coordinate point (X, Y, z, Rx, Ry, Rz) of the handheld wireless three-dimensional space locator 1 in the space of the photoelectric emitter 2, and the current coordinate point is sent by the wireless three-dimensional space locator 1 in real time in an array form To the PC host.
The following describes the robot movement track planning method in detail.
Step 1: the photoelectric emitters 2 are fixedly arranged in the 5 meters of two sides of the robot and overlook on the bracket with the angle of 60-80 degrees in the working range of the robot.
The photoelectric emitter 2 receives a synchronous signal sent by a PC host through communication of the wireless gateway module, then drives an infrared light emitting tube in the photoelectric emitter 2 to perform periodic scanning of infrared light line scanning and column scanning in the working range of the robot through a line scanning polarization mirror and a column scanning polarization mirror, an infrared light line-column three-dimensional scanning space with the photoelectric emitter 2 as a reference point is formed, and a group of infrared emission signals of line scanning and column scanning with a fixed synchronous period are obtained.
Step 2: the hand-held wireless three-dimensional space locator 1 receives a synchronous signal which is sent by a PC host through the communication of a wireless gateway module and corresponds to the photoelectric emitter 2, and then the photoelectric diode 11 on the hand-held wireless three-dimensional space locator 1 starts to receive the triggering synchronous time in a synchronous period of the line scanning and the column scanning of the photoelectric emitter 2.
Firstly, the X vector angle of a receiving photodiode 11 on a handheld wireless three-dimensional space locator 1 is obtained by triggering the time of a line scanning point of a photoelectric emitter 2, the vector angle of the photoelectric emitter 2 and the handheld wireless three-dimensional space locator 1 is calculated by the time from a synchronous signal to the triggering of the receiving photodiode 11 on the handheld wireless three-dimensional space locator 1, and the X vector angle of the handheld wireless three-dimensional space locator 1 is obtained by calculating the included angle between the photoelectric emitter 2 and the handheld wireless three-dimensional space locator 1.
Meanwhile, the time of continuously receiving and triggering the photodiode 11 on the handheld wireless three-dimensional space locator 1 to obtain the scanning points of the row of the photoelectric emitter 2 corresponds to the Y vector angle of the receiving photodiode 11 on the handheld wireless three-dimensional space locator 1, the vector angle between the photoelectric emitter 2 and the handheld wireless three-dimensional space locator 1 is calculated by the time from the synchronous signal to the triggering of the receiving photodiode 11 on the handheld wireless three-dimensional space locator 1, the included angle between the photoelectric emitter 2 and the handheld wireless three-dimensional space locator 1 is calculated, and the Y vector angle of the handheld wireless three-dimensional space locator 1 is obtained. And calculating an X-vector angle and a Y-vector angle generated by a group of synchronous signals of the photoelectric emitter 2 received by a receiving photodiode 11 on the handheld wireless three-dimensional space locator 1 according to the X-vector angle, the Y-vector angle and a linear algebra to obtain X, Y and z coordinate points of the handheld wireless three-dimensional space locator 1 in a row scanning space and a column scanning space of the photoelectric emitter 2.
The microprocessor in the hand-held wireless three-dimensional space locator 1 collects the data of the MEMS gyroscope module, firstly, the three-axis gyroscope signal in the MEMS gyroscope module is utilized, the attitude expression of quaternion is adopted, the attitude angle is obtained by integration, then, a triaxial accelerometer and a triaxial magnetometer in the MEMS gyroscope module are adopted, the direction cosine of the earth magnetic field and the gravity magnetic field between the geographic coordinate system and the motion coordinate system is utilized to carry out the calculation of the absolute angle, and then, performing data fusion of the former three data and x, y and z coordinate point data by adopting Kalman filtering to generate a current spatial coordinate point x, y, z, Rx, Ry and Rz of the handheld wireless three-dimensional space locator 1 relative to the photoelectric emitter 2, and transmitting the current coordinate point x, y, z, Rx, Ry and Rz to a PC host in an array form in real time by a wireless module of the handheld wireless three-dimensional space locator 1.
In addition, the three-dimensional space coordinate point of the handheld wireless three-dimensional space locator 1 is formed, and the method specifically comprises the following steps: the photoelectric emitter 2 receives a synchronous signal sent by a PC end, an infrared emitting tube on a line polarizer is opened to perform line scanning space scanning A for one period when the synchronous signal falls, the infrared emitting tube on a column polarizer is opened simultaneously to perform column scanning space scanning B for one period after the line scanning infrared emitting tube is closed after line space scanning is finished, and the infrared emitting tube on the line polarizer is opened simultaneously to perform the same next period operation after the column scanning infrared emitting tube is closed after column space scanning is finished. The hand-held wireless three-dimensional space locator 1 receives a synchronous signal sent by a PC end, a photoelectric receiving diode of the hand-held wireless three-dimensional space locator 1 is started when the synchronous signal falls, the time of line scanning arriving by a photoelectric emitter 2 is detected in the same A period with the photoelectric emitter 2, the photoelectric receiving diode 11 receives the synchronous signal after the line scanning is finished, the time of line scanning arriving by the photoelectric emitter 2 is detected in the same B period with the photoelectric emitter 2, the triggering line and column scanning time received by the photoelectric receiving diode in the line and column scanning of the photoelectric emitter 2 is processed by a microprocessor in the hand-held wireless three-dimensional space locator 1 to calculate the synchronous time point triggered by receiving, the line scanning X vector angle and the column scanning Y vector angle of the hand-held wireless three-dimensional space locator 1 can be calculated, and the X of a three-dimensional coordinate system can be calculated according to the X vector angle and the Y vector angle, y and z are after the current coordinate point x, y and z position coordinates of the photoelectric emitter 2 in the absolute space, a microprocessor in the handheld wireless three-dimensional space locator 1 collects data of an MEMS gyroscope module, firstly, three-axis gyroscope signals in the MEMS gyroscope module are utilized, a posture expression of quaternion is adopted, an attitude angle is obtained through integration, then, three-axis accelerometers and three-axis magnetometers in the MEMS gyroscope module are adopted, the direction cosine of the earth magnetic field and the gravity magnetic field between a geographical coordinate system and a motion coordinate system is utilized to solve the absolute angle, and then Kalman filtering is adopted to perform data fusion of the data of the three coordinates and the x, y and z coordinate point, so that the current coordinate point x, y, z, Rx, Ry and Rz of the handheld wireless three-dimensional space locator 1 relative to the photoelectric emitter 2 in the space is generated.
The calibration process of the handheld wireless three-dimensional space locator 1 and the robot user coordinate origin specifically comprises the following steps: the method comprises the steps of teaching a tool carried by a robot according to a conventional operation, after confirming a user coordinate, detaching the tool carried by the robot, installing the handheld wireless three-dimensional space locator 1 at the tail end of a robot flange, moving the robot operation to a robot user coordinate (user) x which is 0, y which is 0, z which is 0, Rx which is 0, Ry which is 0, Rz which is 0, sending a button (origin) event on the handheld wireless three-dimensional space locator 1 to a PC host, subtracting the current coordinate value of the handheld wireless three-dimensional space locator 1 from the current coordinate value of the handheld wireless three-dimensional space locator 1, and calculating the current coordinate value of the handheld wireless three-dimensional space locator 1 to be equal to the robot user coordinate (user) value.
The photoelectric emitters are positioned and installed around two sides of the robot and overlook on the working range angle connecting fixing frame of the robot, the PC host, the photoelectric emitters, the handheld wireless three-dimensional space positioner 1 and the interactive display terminal 6 are started, and the photoelectric emitters 2 and the handheld positioner communication connecting indicating lamps in the UI interface equipment status bar of the interactive display terminal are on.
Receiving a pulse light signal sent by a photoelectric emitter by a photoelectric diode of the handheld wireless three-dimensional space locator 1 and calculating with an MEMS gyroscope module to calculate a current coordinate point x, y, z, Rx, Ry and Rz of the handheld wireless three-dimensional space locator 1, wherein the coordinate point x, y, z, Rx, Ry and Rz of the handheld track planning locator of the UI interface of the interactive display terminal changes along with the movement of the handheld wireless three-dimensional space locator 1, installing the handheld wireless three-dimensional space locator 1 at a robot tool flange 51, and waiting for the lighting original point of an original point indicator lamp in the UI interface state display field of the interactive display terminal to be calibrated normally by pressing a button key (original point) on the handheld wireless three-dimensional space locator 1 for several seconds, setting the value in the column by setting the UI interface track planning of the UI interface of the interactive display terminal according to the machining process of the robot, and connecting the UI interface of the interactive display terminal with the robot, Setting an IP address value, a port value and a speed value, wherein a user holds a tail end point of a tool model 7 of the wireless three-dimensional space locator 1 in a hand to aim at a given robot to run a product workpiece to be processed to record a track path, and performs operation on the hand-held wireless three-dimensional space locator 1 by button keys with functions of point, curve and the like to perform operation once on the product workpiece to be processed by the robot according to the action sequence and the motion track required by the robot to plan the track, wherein the point function is that point position type track generation points only control the robot to accurately position from one point to another point, and the operations of loading and unloading, spot welding, general carrying, loading and unloading of a machine tool are generally performed; the curve function is that the continuous track type can control the robot to move according to the given track of the complex nonlinear track, and the robot is suitable for the operations of continuous welding, coating and the like. The method comprises the steps of sending current three-dimensional track coordinate points x, y, z, Rx, Ry and Rz data acquired by operation of a handheld wireless three-dimensional space locator 1 to a PC computer in real time, establishing a file by the PC computer, writing x, y, z, Rx, Ry, Rz + point characteristic value + curve characteristic value + operation speed value and the like into the file one by one, displaying current track planning data one by data in a newly-built file name bar of an interactive display terminal UI interface, displaying a track simulation diagram generated in real time by an interactive display terminal UI interface three-dimensional track diagram, clicking and sending the file selected by the interactive display terminal UI interface selection file bar to a robot for communication, and receiving data by the robot to execute track planning path operation to process workpiece products.
When the fact that the handheld wireless three-dimensional space locator 1 operates a button key event is detected, current running real-time track points x, y, z, Rx, Ry and Rz data are recorded, the handheld wireless three-dimensional space locator 1 wireless communication module sends track files of an industrial robot running format which are generated by processing of a PC, file operation is conducted through an interactive display terminal UI, setting, calling and operating interfaces, and the industrial robot is driven to execute track motion by connecting a network based on a TCP/IP communication protocol with an industrial robot network interface and sending the files.
The utility model relates to a robot movement track planning method that robot movement track planning device implemented still includes other robot movement track planning methods that prior art can realize above-mentioned technological effect, does not give unnecessary details here.
The utility model discloses can plan thousands of accurate track points in being less than one minute time on 100 mm's welding seam, solve completely and improve the robot and improve robot welding operation time problem at nonstandard efficiency and the precision that track was planned in the small batch production application.
The utility model discloses enable the robot and do not shut down under operating condition and carry out the quick orbit planning in advance of one process down to reach the full load efficient operation of robot in nonstandard production field processing.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (6)
1. A robot trajectory planning device, comprising: the system comprises a three-dimensional space positioner, a tool model and an upper computer;
the tool model is an actuator model of the robot to be operated and is connected with the three-dimensional space positioner;
and obtaining the running track of the tool model by moving the three-dimensional space positioner, wherein the running track of the tool model is the running track of the robot to be transported.
2. The robot trajectory planning device according to claim 1, further comprising: the photoelectric emitter is arranged above the working range of the robot;
the three-dimensional space locator comprises a photodiode and a processor, and the upper computer is electrically connected with the photoelectric emitter and the three-dimensional space locator respectively; the photoelectric emitter receives the synchronous signals emitted by the upper computer and then carries out space scanning on the working range of the robot, the three-dimensional space positioner receives the scanning signals of the photoelectric emitter after receiving the synchronous signals emitted by the upper computer, the three-dimensional space positioner determines the position coordinates of the three-dimensional space positioner according to the received scanning signals, and the three-dimensional space positioner sends the position coordinates to the upper computer.
3. The robot movement path planning apparatus according to claim 2, wherein the three-dimensional space locator further includes a housing, and the photodiodes are disposed on the housing.
4. The robot trajectory planning device of claim 3, wherein the number of photodiodes is at least 6.
5. The robot movement trajectory planning device according to claim 1, wherein the three-dimensional space locator further includes a MEMS gyroscope for acquiring rotation values of the three-dimensional space locator about X, Y, and Z axes.
6. The robot trajectory planning device of claim 1, wherein the tool model is flanged to the three-dimensional space positioner.
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