TWI235903B - Teaching method and system for robot - Google Patents

Abstract

The present invention relates to a teaching method and system for a robot, wherein the controller of the robot includes several macro functions, and these macro functions are the Tower of Hanoi moving function (M1), 2-point linear robot arm trajectory planning function (M2), and 3-point arc robot arm trajectory planning function (M3). The present invention uses two switches formed with the expansion programmable IC port of the programmable IC, and eight control buttons formed with eight input ports of the programmable IC on a teaching box to generate the switching signal and the instruction signal, uses these signals to compose various functional control for the robot; transmits these signals in a wireless manner to the robot, and transmits the decoded signals to the controller, so as to teach the moving path planning, the opening and closing of the clipping paw, the movement among axes. After being taught, the robot continuously executes the functions taught by operator, so as to form a sequential control, and the sequential control can be repetitively executed to make the operation easier and more convenient for improving the working safety.

Description

1235903 IX. Description of the invention: [Technical field to which the invention belongs] Scholar invention is a teaching method and system for a robot, especially a controller that uses several macro functions on the robot, and uses the coding on the teaching box. The two switching switches formed by the expansion of the coded ic port and the eight control buttons formed by the eight (1 ;: eight) losers of the code to generate switching signals and command signals, and use these signals to form various functions of the robot. Control, which makes the operation easier and easier and can improve work safety. [Previous technology] According to robots, automation has a very important place in the automated production industry, and robots, a key to controlling production automation is very important. Robots Teaching refers to setting g and recalling the action program, position, and speed of n people. The robot can memorize g according to the setting: make extensions, contractions, flexions and extensions, up and down chickens, left and right movement, and rotation. Manufacturers need the order of actions. Therefore, robots are suspicious of industrial students. The language format of Qiqi 'button is not-and it lacks the correctness of the dynamic simulation system to make it, and the system is limited by the traditional circuit. It is used to control the following robots, but also because of the robot operation. The need for the computer keyboard will cause inconvenience to the operator, and the short distance between the robot and the system will increase the system. Therefore, when the operation is not performed properly, the operator is likely to cause danger due to the accident and the impact of the machine. Injury happened. [Summary of the invention] The main purpose of Feng S is to provide a system that integrates and improves the entire machine, and has the function of remote control. The robot that can improve work safety includes several macro functions in the controller of the robot. These inner tower handling functions (M1), two-point linear robotic arm tracking, and two arm parts. The trajectory planning function is ㈣, and the expansion code called 编码, ， is used to generate two switching switches and the eight control buttons formed by the combination of 八, 埠, and 埠 to generate a switching signal. Poukou PNU uses these signals to form various functions of the robot, and transmits these signals 1235903 to the robot wirelessly. After decoding, it transmits to the controller, and teaches the robot arm movement path planning, gripper opening and closing. 2. Moving between the axes, ^ enables the robot to continuously perform the function taught by the operator after being taught to form a ^ control 'and enables its sequential control to be repeatedly performed again. 另一 Another main object of the present invention is to Provide a control system that integrates and changes the entire robot arm, and has the function of remote control, without being restricted by transmission lines. It makes operation easier and easier, and improves the safety of the robot. The teaching system is provided with a controller on the robot, and there are two switching switches and eight control buttons on the teaching box, and the coding IC has two expansion coding π ports to connect to the teaching box on the teaching box. Two switching switches and eight input ports are used to electrically connect the eight control buttons on the teaching box, and the teaching box is electrically connected to the coding IC and wirelessly transmitted. , And the controller may be provided to receive the radio 'of the receiver transmitter signal, and the controller of the robot, and the receiver is electrically connected to a decoder & person. 1 [Embodiment] Please refer to the first figure. The preferred embodiment of the present invention uses a robot controller. The controller contains several macro functions. These macro functions are Tower handling function (Ml), two-point linear robotic arm trajectory planning function (M2) and two-point circular robotic arm trajectory planning function (M3), and an extended code of 1C on a teaching box (10) Two switching switches (丨 丨) formed by 1C 槔 and the code ic; eight control buttons (12) formed by eight input 槔 to generate switching signals and command sfl signals, and use these signals to form each of the robot's It controls the functions, and transmits these signals wirelessly to the robot. After decoding, it transmits to the controller, and teaches the robot to plan the movement path of the arm, open and close the jaws, move between the axes, and make the robot After teaching, the function taught by the operator is continuously executed to form a sequence control, and the sequence control can be repeatedly performed. The preferred embodiment of the present invention, wherein the controller contains 96 functions, which include 37 basic robot motion functions, 48 macro functions, and n reserved undefined functions. "A preferred embodiment of the present invention, wherein the program formed by the sequence control can be interpreted by the interpreter to translate its programming language. Please refer to the fourth figure for a preferred embodiment of the present invention, in which, by simulation 1235903 f ΐ ί (work interface) and the display on the display (2G) contains organic crying (ΐΓΐϋϋϊϊ'ί21), 11 people in a single step move position increase and decrease "S > less mobile„ lai input person block (23 ), The control button (24) for opening or closing the gripper of the robot, and the dynamic simulation of the robot's day and night face, so that when the button screen is triggered, the corresponding action state of the robot's arm will be immediately displayed. The graphical 'state simulation' has the function of providing the user with the ability to simulate the path planning of the robot's arm. The first to third figures *, a preferred embodiment of the present invention, wherein the robot teaching system includes: : ^ Russian controller on the robot; control 'the teaching box (1〇) is provided with two switching levels (11) and eight detection: code IC (30)' the code IC (30) has Two extension code 1c ports are electrically connected to ΐίί (1〇) Two transfer switches (11) and eight input ports to electrically connect the eight control buttons Q2 on the teaching box; a wireless transmitter (31) electrically connected to the coding IC (30); one to receive The receiver (40) of the signal of the wireless transmitter (31); and the decoder electrically connected to the controller of the thief and the receiver. _. A better implementation of the present invention, wherein the button is —Step = There is an interpreter. As shown in the fourth figure, a preferred embodiment of the present invention, in which the system has a graphic display (20) for dynamic simulation of graphics. Please refer to the second As shown in Figures 3 and 3, a preferred embodiment of the present invention, in which the Department of Progress 3 has four encoding ICs (30) and four decoding ICs (4!) To generate and send 32 Shou Chi shows the "preferred embodiment of the present invention", in which the system decodes 1 ^ (41) and then connects an RS flip-flop (42) and a reverse brake (43). Please refer to the third figure As shown in the preferred embodiment of the present invention, the wireless transmitter (31) which is coded! Is an infrared LED (IR LED). Zhan Yiyi, as shown in the three figures, when the invention is implemented, the Retractor (4〇) Overall

#After receiving the coded 1C (3G) transmission signal, the signal is amplified by 1 ^ into ^, and the decoding IC (41), and decoded to output the signal. In the present invention, IC 1235903 is used to match SM5032 with the aforementioned code 1 (:( 3〇), so the code is transmitted. From the transmission to the receiving end, it is interpreted as = 2 ίί =: = 1, and it is not locked. Function, decode the chat, hunt this to control the robot's movements. King π enters the guide box 'see control section: square map to use the coordinates of the position of the loyalty, increase and decrease its coordinate value, and reach the & control arm original The operator can use such a control screen, which is easier and more efficient. The preferred embodiment of the present invention is implemented in the implementation. Among them,

Robot language based on ba ^ ic syntax, so ^ sang Zuo's first Ifsic programming, based on the fast and easy machine 'H 面' 2: ΐ: ί 尽 生 · and t

^; In the message, when there is an interpretation error ίί: K it > At the same time: 处 place 'is only this Maoming-a feasible embodiment, not to limit the scope of patents created by this invention 12359903. The spirit and other contents and features described in the following text should be included in the patented technology of the present invention, which is not included in the technical scope of the patent claim. [The diagram is simple Explanation] ^ The first diagram is the schematic diagram of the appearance of the teaching box of the present invention, the second diagram is the schematic diagram of the control circuit of the teaching box of the present invention, the second diagram is the schematic diagram of the control circuit of the receiver of the present invention, the fourth diagram is the schematic diagram of the dynamic simulation of the present invention [main components Explanation of symbols] (Π) Switch (20) Display (22) Single-step moving position increase / decrease button (24) Control button for opening or closing the gripper (30) Code 1C (40) Receiver (42) Flip-flop (10) Teaching box (12) Control button (21) Single-step moving angle increase / decrease button (23) Moving speed input block (25) Dynamic simulation picture (31) Wireless transmitter (41) Decoding ic (43) Reverse brake

Claims (1)

1235903 10. Scope of patent application: 1. A teaching method for robots, which uses a controller on a robot, which contains several macro functions. These macro functions are the Hanoi tower handling function (Ml ), Two-point linear robot arm track trajectory planning function (M2) and three-point arc robot arm track trajectory planning function (M3), and the code 1 (: extension & code IC port) on a teaching box The formed two switching switches and eight inputs of the code I c are formed by eight control buttons to generate switching signals and command signals, which are controlled by various functions of these signal groups, and these signals are controlled by It is transmitted to the person wirelessly, and after being decoded, it is transmitted to the controller, and the robot arm's movement path is regulated by the gripper claw opening and closing, each outline chicken, and ㈣ || The person continuously executes what the person taught by 彳Function to form a sequence control and make it possible to execute the sequence control repeatedly. 〃 The method described in item 1 of the scope of interest, wherein the controller contains 85 types of S-phases and can contain 37 basic 11-person action function and 48 sets Yes, each of the system consisting of the switching signal and command signal generated can perform 37 basic robot motion functions and macro functions of the control system. E 3. As described in item 1 of the scope of patent application Method, and in-order program, the interpreter can translate its programming language /, and the sequence of 〒 shell order, please describe the green fiber, and the towel, by the method described in 槪 教 tTh'its towel , Its graph simulation states the function of 6 robot arm path planning. 6 · —a robot teaching system, which includes a controller set on the robot; two: there are two switch switches and eight health rivals The two switches have Arima 1 called to electrically connect the teaching box J off and eight turn-in ports to electrically connect the 9 1235903 eight control buttons on the teaching box, and one wirelessly connected to the code 1c. A transmitter; a receiver capable of receiving the wireless transmitter; and a controller of the system 7 Γί 解码 Λ and a decoding IC electrically connected to the receiver. 7. A robot teaching system as described in item 6 of Shen Qing's patent scope , Bean in further package There is a language interpreter. 〃 & Robot teaching system as described in item 6 of the declared patent scope, wherein the system further includes a graphic display for dynamic simulation of graphics. The robot teaching system described above, wherein the system further includes four codes 1C and four decoding ICs to generate and transmit 32 signals 0 10. The robot teaching system described in item 6 of the patent application scope, wherein The system's decoding 1C is followed by an RS flip-flop and reverse brake. 11. The robot teaching system described in item 6 of the scope of patent application, wherein the wireless transmitter of the system's coded 1C electrical connection is infrared Emitter (ir led).