TWI700166B - Teaching system and method of robot arm - Google Patents

Abstract

A teaching system and method of a robot arm is disclosed. A light mark disposed on a teaching tool shifts deferent light marks by pushing buttons disposed on the teaching tool. An Eye-on-hand camera takes an image of the light mark and transfers the image to a control device to identifier the light mark. Based on the light mark, the robot arm is controlled to implement a corresponding teaching operation for simplifying the teaching system.

Description

Teaching system and method of robotic arm

The present invention relates to a robotic arm, in particular to a teaching system and method for controlling the movement of the robotic arm when the robotic arm is teaching a work trajectory.

With the rapid development of production technology, factory automation uses cameras to locate objects, and guides robotic arms to automatically grab objects for assembly and manufacturing, so as to improve factory production speed and efficiency. The simple and safe teaching of the robot arm's operating trajectory allows the robot arm to quickly enter the ranks of production, which can improve production efficiency.

In order to improve the teaching efficiency of the robotic arm, the prior art US20140201112 patent published in the United States provided buttons on the teaching tool and connected the teaching tool to the control device of the robotic arm through a wired line. The control signal was generated by pressing the button and transmitted via the wired line. To the control device, the camera on the arm of the robotic arm is controlled to shoot the hand-held teaching tool, and the captured image is transmitted to the control device for image processing, and the moving track of the teaching tool is positioned to generate the operation track. Due to the different sizes and shapes of the processed workpieces, the teaching tool is restricted by the winding and connection of the wired circuit in some directions, it is difficult to place the teaching tool for teaching, and it takes too much teaching time. Therefore, there is another US5748854 patent of the prior art US announcement. The teaching tool is equipped with an infrared transmitter, wirelessly connected to the communication receiver on the robot arm, and the signal from the button pressed by the teaching tool is wirelessly transmitted to control the camera of the robot arm to shoot and teach. The positioning mark of the tool reduces the restraint of the wire line, so as to increase the convenience of teaching the robot trajectory.

However, although the aforementioned prior art can reduce the constraints of wired lines, it is necessary to separately install wireless transmission transmitters and receivers in the teaching tool and the robotic arm to transmit control signals wirelessly, which not only increases the cost of parts and installation space of the robotic arm. , And increase the control complexity of the wireless transmission technology, and the wireless transmission signal is susceptible to noise interference, so that the teaching operation of the robot arm cannot be carried out smoothly. Therefore, there are still problems to be solved urgently for the robot arm in the teaching system and method.

The object of the present invention is to provide a teaching system for a robotic arm, in which a light signal is set on the teaching tool, and the light signal is controlled by the button of the teaching tool, and the light signal is captured and recognized by the camera on the arm, so that the robot arm can perform teaching operations to simplify teaching system.

The object of the present invention is to provide a robot arm teaching method, which uses the button of the teaching tool to switch between different light signals, the camera on the arm shoots and recognizes the light signals, and controls the robot arm to perform corresponding teaching operations according to the light signals to quickly perform the teaching operations.

In order to achieve the purpose of the foregoing invention, the teaching system and method of the robot arm of the present invention are equipped with a light signal and a plurality of buttons on the teaching tool. The operation button is used to switch the light signal. One end of the robot arm is a fixed end and the other end is a movable end. The arm camera is fixed at the end and the control device is connected to the robot arm. The robot arm is controlled to move the robot arm camera, tracking and shooting teaching tools, image processing and shooting images to locate the teaching tools, and the screen is connected to the control device , Used to display the images taken by the camera on the arm, where the teaching tool uses the operation button to switch the light signal, the light signal is captured by the camera on the arm, the light signal is recognized by the control device, and according to the recognized light signal, the robot arm is controlled to correspond Teaching homework.

In the teaching system of the robot arm of the present invention, the teaching tool is provided with a positioning part and a grip part. The top surface of the positioning part is provided with a light signal, which is an independent light. The bottom surface of the positioning part protrudes the grip part. The end of the handle forms the index end, and there are multiple buttons on the grip. The top surface of the positioning part is additionally provided with a positioning pattern, and the type change of the positioning pattern can also be used as a light signal. The buttons of the teaching tool include the first button and the second button. The lights include the first and second lights. Press the first button or the second button to switch the first or second lights to form standby and start. , End or test the lights to control the teaching operation.

In the teaching system of the robot arm of the present invention, the teaching tool does not press the first button and the second button to turn off the first light and the second light to form a standby light. The robot is controlled to not perform teaching operations and simply move the teaching tool. The teaching tool uses pressing the first button to turn on the first light signal to form a start light signal, control the robotic arm to perform teaching operations, track and shoot the teaching tool, and locate and record the operating points passed by the teaching tool. The teaching tool uses the second button to turn on the second light signal to form an end light signal, control the robotic arm to end the teaching operation, stop tracking the teaching tool, and form the recorded operation points into the teaching operation track. The teaching tool uses simultaneous pressing of the first button and the second button to turn on the first and second lights to form a test light and control the robot arm to perform the test and teaching operation track.

Invented the teaching method of the robotic arm. When the light is on standby, move the teaching tool to the starting point of the required trajectory, move the camera on the arm of the robotic arm, make the teaching tool enter the window of the camera on the arm, and let the camera on the arm track and shoot the teaching tool, and Display the captured image on the screen and switch to the start light. The control device recognizes the start light to control the robot arm to perform teaching operations, track positioning and record the teaching tool through the operating point where it needs to be tracked, and move the teaching tool to the required The end of the trajectory is switched to the end light, and the end light is recognized by the control device to end the teaching operation, and the tracked operation point is formed and recorded as the teaching operation trajectory.

The teaching method of the robot arm of the present invention switches to the test light signal after the teaching operation track is formed, the test light signal is recognized by the control device, and the robot arm is controlled to try the operation track according to the teaching operation. Then check whether the trajectory of the trial teaching meets the requirements? If it meets the requirements, complete the teaching task, otherwise switch to the standby light and repeat the teaching task until the taught task track meets the demand, then complete the teaching task.

10‧‧‧Teaching system

11,40‧‧‧Teaching tool

12‧‧‧Robot arm

13‧‧‧Arm camera

14‧‧‧Control device

15‧‧‧Screen

16,41‧‧‧positioning part

17, 44‧‧‧ Grip

18‧‧‧Top surface

19, 42: Positioning pattern

20: light signal

20a, 43a: the first light signal

20b, 43b: second light signal

21: Bottom

22: Guiding end

23: Button

23a, 45a: the first button

23b, 45b: second button

24: fixed end

25: end

26: Actuation motor

30: shoes

31: Bracket

32: starting point

33: End

34: Teaching job trajectory

Figure 1 is a schematic diagram of the teaching system of the robotic arm of the present invention.

Figure 2 is a schematic diagram of the standby light of the teaching tool of the present invention.

Figure 3 is a schematic diagram of the start light signal of the teaching tool of the present invention.

Figure 4 is a schematic diagram of the end light of the teaching tool of the present invention.

Figure 5 is a schematic diagram of the test lights of the teaching tool of the present invention.

Fig. 6 is a schematic diagram of a light signal of a teaching tool according to another embodiment of the present invention.

Fig. 7 is a flowchart of the teaching method of the robot arm of the present invention.

With regard to the technical means adopted by the present invention in order to achieve the above-mentioned objects and their effects, preferred embodiments are described below with the drawings.

As shown in Figure 1, it is a schematic diagram of the teaching system of the robotic arm of the present invention. The teaching system 10 of the present invention mainly includes a teaching tool 11, a robotic arm 12, an on-arm camera 13, a control device 14 and a screen 15. Among them, the teaching tool 11 has a positioning portion 16 and a grip portion 17. The top surface 18 of the positioning portion 16 is provided with a positioning pattern 19 and a light signal 20. The light signal 20 is an independent light. The bottom surface 21 of the positioning portion 16 protrudes with a handle. The end portion of the grip portion 17 forms a guide end 22, and a plurality of buttons 23 are provided on the grip portion 17, and the grip portion 17 can be held by the user, and the button 23 is operated to switch the light signal 20.

The robot arm 12 is in the form of multiple toggles, one end is a fixed end 24, the other end is a movable end 25, the end 25 has a fixed arm camera 13, and each toggle is provided with an actuation motor 26. The robotic arm 12 is connected to the control device 14. The control device 14 controls the rotation of each toggle actuator motor 26, moves the end 25 of the robotic arm 12, and the camera 13 on the carrying arm tracks and shoots the teaching tool 11, and captures the image It is transmitted to the control device 14 for image processing to locate the guide end 22 of the teaching tool 11, and the control device 14 transmits the captured image to the connected screen 15 to display the image captured by the camera 13 on the arm.

The robot arm 12 uses the fixed end 24 to form the origin of the robot arm coordinate system M. The robot arm 12 knows the length of each toggle, and the control device 14 controls the rotation angle of each toggle actuator motor 26. The control device 14 can calculate For the moving position of the end end 25, the end end 25 is positioned corresponding to the coordinates of the robot arm coordinate system M. The arm camera 13 is fixed at the end 25, and the position of the opposite end 25 is also fixed. Therefore, from the coordinates of the robot arm coordinate system M of the end 25, plus the distance between the camera 13 on the arm and the end 25, the control device 14 can also obtain the coordinates of the arm camera 13 corresponding to the robot arm coordinate system M.

The robotic arm 12 uses the on-arm camera 13 to track and photograph the positioning pattern 19 of the teaching tool 11, and the control device 14 uses the photographed positioning pattern 19. From the focal length of the on-arm camera 13 and the reference point of the positioning pattern 19, the position of the on-arm camera 13 can be formed The camera coordinate system C is obtained, and the coordinates of the positioning pattern 19 of the teaching tool 11 in the camera coordinate system C are obtained. Using the coordinates of the on-arm camera 13 in the robotic arm coordinate system M, the camera coordinate system C is converted by the coordinates of the robotic arm coordinate system M to obtain the coordinates of the positioning pattern 19 of the teaching tool 11 in the robotic arm coordinate system M. Since the geometric structure of the teaching tool 11 is fixed, the position of the index end 22 on the teaching tool 11 relative to the positioning pattern 19 is fixed, and the coordinates of the index end 22 in the robot arm coordinate system M can also be obtained.

Please refer to FIGS. 2 to 5 at the same time. FIG. 2 is a schematic diagram of the standby light of the teaching tool of the present invention, FIG. 3 is a schematic diagram of the start light of the teaching tool of the present invention, and FIG. 4 is a schematic diagram of the end light of the teaching tool of the present invention , Figure 5 is a schematic diagram of the test lights of the teaching tool of the present invention. In Fig. 2, the plurality of buttons 23 of the grip portion 17 of the teaching tool 11 of the present invention are used to press the button 23 to cycle on and off the light signal 20, and the operating button 23 switches the light signal 20 on the top surface 18 of the positioning portion 16 to timely Control standby, start, end or test teaching operations. The teaching tool 11 of the present invention uses the first button 23a and the second button 23b of the grip portion 17 to turn off the first light signal 20a and the second light signal 20b of the positioning portion 16 to form a standby light signal and notify the control device not to proceed. The teaching work is just a simple mobile teaching tool11.

In Fig. 3, the teaching tool 11 of the present invention uses the first button 23a of the grip portion 17 to turn on the first light signal 20a of the positioning portion 16 to form a start light signal to notify the control device to perform teaching operations and track the moving teaching tool 11 , And select the operating point where the guiding end 22 of the teaching tool 11 passes. In FIG. 4, the teaching tool 11 of the present invention uses the second button 23b of the grip portion 17 to turn on the second light 20b of the positioning portion 16 to form an end light signal, notify the control device to end the teaching operation, and stop tracking the teaching tool 11 and Stop selecting the operating point of the guide end 22 of the teaching tool 11, and form the selected operating point into a teaching operating track. In FIG. 5, the teaching tool 11 of the present invention uses the first button 23a and the second button 23b of the grip portion 17 to be simultaneously pressed to turn on the first light signal 20a and the second light signal 20b of the positioning portion 16 to form a test light signal and notify The control device tests and teaches the operation track.

Please refer to FIGS. 1 to 5 again. When the teaching system 10 of the robot arm 12 of the present invention performs teaching operations, the robot arm 12 is taught to perform shoe sole gluing operations as an example. The present invention includes but is not limited to shoe sole gluing operations. The work trajectory of the arm 12 can be adapted to the technology of the present invention. In Fig. 1, the shoes 30 are fixed on the support 31 in the working environment of the robotic arm 12, the hand-held teaching tool 11 presses the button 23 to switch to the standby light in Fig. 2, and the guide end 22 of the teaching tool 11 is moved to the starting point 32 of the required trajectory , Then move the robotic arm 12 to carry the camera 13 on the arm so that the positioning pattern 19 enters the window of the camera 13 on the arm, allowing the camera on the arm 13 to track and photograph the positioning pattern 19, and display the positioning pattern 19 on the screen 15. Then press the first button 23a to switch the standby light signal to the start light signal in Fig. 3. The on-arm camera 13 keeps track of the captured positioning pattern 19, and transmits the captured image to the control device 14. The start light signal is identified through image processing, and the control device 14 Control the robotic arm 12 to start the teaching operation, track and locate the teaching tool 11, and select and record the operating points passed by the guide end 22 of the teaching tool 11.

Continue to hold the guiding end 22 of the teaching tool 11 to move along the required trajectory. The control device 14 controls the robotic arm 12 to track and locate the moving teaching tool 11 until it moves to the end point 33 of the required trajectory. Press the second button 23b to switch to the end of FIG. 4 The camera 13 on the arm continues to track the shooting positioning pattern 19, and transmits the captured image to the control device 14. The end light signal is identified through image processing, and the control device 14 ends the teaching operation, and stops the tracking and positioning selected by the guide terminal 22 of the teaching tool 11 The operation points are formed and recorded as the teaching operation track 34.

Then simultaneously press the first button 23a and the second button 23b of the grip portion 17, turn on the first light 20a and the second light 20b of the positioning portion 16, switch to the test light of FIG. 5, and the camera 13 on the arm continues to shoot The positioning pattern 19 is transmitted to the control device 14 and the test light signal is identified through image processing, and the control device 14 performs the test and records the teaching operation track 34 described above. Make the robot arm 12 try according to the teaching operation trajectory 34. If the teaching operation trajectory 34 meets the requirements, the teaching operation can be completed. If the teaching operation trajectory 34 does not meet the requirements, press the first button 23a of the grip part 17 to close the positioning part 16 The first light signal 20a and the second light signal 20b are switched to the standby light signal of FIG. 22, and the aforementioned teaching operation is repeated until the teaching operation trajectory 34 meets the requirements, and then the teaching operation is completed.

As shown in FIG. 6, it is a schematic diagram of the light signal of the teaching tool according to another embodiment of the present invention. Although the teaching tool of the foregoing embodiment of the present invention is an independent light signal, the present invention includes but is not limited to the independent light signal of the foregoing embodiment. For example, the light signal of the teaching tool 40 of this embodiment can also be used as the light signal by the change in the shape of the positioning pattern 42 of the positioning portion 41 of the teaching tool 40. In this embodiment, the positioning pattern 42 is divided into two light signals, which are respectively used as the first light signal 43a and the second light signal 43b compared to the previous embodiment, and the first button 45a and the second light signal of the grip portion 44 of the teaching tool 40 are pressed. The button 45b switches the first light 43a and the second light 43b of the positioning pattern 42, and reaches the light signal for switching to standby, start, end, or test teaching operations.

As shown in Fig. 7, it is a flowchart of the teaching method of the robot arm of the present invention. The detailed steps of the teaching method of the robot arm of the present invention are described as follows: first step S1, when the teaching tool is switched to the standby light, start the teaching operation of the robot arm; in step S2, move the teaching tool to the starting point of the required trajectory; step S3 , Then move the camera on the robot arm to make the positioning pattern enter the window of the camera 13 on the arm, let the camera on the arm track and shoot the positioning pattern, and display the positioning pattern on the screen; step S4, switch the teaching tool to the start light, After the control device recognizes the start light signal, the control device controls the robotic arm to perform teaching operations, tracking and positioning and recording the teaching tool passing the work point where the trajectory is needed; in step S5, the hand-held teaching tool moves to the end of the trajectory; step S6, The teaching tool is switched to the end light, the end light is recognized by the control device, the teaching operation is ended, and the tracked operation point is formed and recorded as the teaching operation track; step S7, the teaching tool is switched to the test light , The control device recognizes the test light signal, so that the robot arm will try to follow the teaching trajectory; step S8, check whether the teaching trajectory meets the requirements? If the taught job trajectory meets the requirements, you can proceed to step S9 to complete the teaching job. If the taught job trajectory does not meet the requirements, switch to the standby light in step S10, and repeat the aforementioned teaching job until the taught job trajectory meets the requirements. Complete teaching assignments.

Therefore, in the teaching system and method of the robot arm of the present invention, a light signal is set on the teaching tool, and different light signals are switched by pressing the button of the teaching tool. The control device controls the camera on the arm to shoot and recognize the light signal, and according to the recognized light No need to add additional infrared or wireless transmission devices to transmit control signals, you can control the robot arm to perform the corresponding operation of the teaching operation, so as to simplify the robot arm's teaching system and quickly carry out the teaching operation.

The above are only for the convenience of describing the preferred embodiments of the present invention. The scope of the present invention is not limited to these preferred embodiments. Any changes made according to the present invention will not depart from the spirit of the present invention. , All belong to the scope of the invention patent application.

10‧‧‧Teaching system

11‧‧‧Teaching tools

12‧‧‧Robot arm

13‧‧‧Arm camera

14‧‧‧Control device

15‧‧‧Screen

16‧‧‧Positioning Department

17‧‧‧Grip

18‧‧‧Top surface

19‧‧‧Positioning pattern

20‧‧‧Light

21‧‧‧Bottom

22‧‧‧Guide Terminal

23‧‧‧ button

24‧‧‧Fixed end

25‧‧‧End

26‧‧‧Actuating motor

30‧‧‧Shoes

31‧‧‧Bracket

32‧‧‧Starting point

33‧‧‧End

34‧‧‧Teach the operation trajectory

Claims (11)

A robot arm teaching system, including: a teaching tool with light numbers and multiple buttons, which can be operated to switch the light numbers; the robot arm has a fixed end at one end, a movable end at the other end, and a fixed arm at the end. ; Control device, connected to the robotic arm, controlling the robotic arm to move the camera on the robotic arm, tracking and shooting the teaching tool, image processing the captured images to locate the teaching tool; the screen, connected to the control device, displaying the image captured by the camera on the arm ; Among them, the teaching tool uses the button to switch the light, the button includes the first button and the second button, the light includes the first light and the second light, press the first button or the second button to switch the The first or second light signal forms the standby, start, end or test light signal. The camera on the arm captures the light signal. The control device recognizes the light signal, and according to the recognized light signal, controls the robotic arm to perform corresponding teaching operation. For example, the robot arm teaching system described in the first item of the scope of patent application, wherein the teaching tool is provided with a positioning part and a grip part, the top surface of the positioning part is provided with a light signal, and the bottom surface of the positioning part protrudes the grip part, The end of the grip part forms a guide end, and a plurality of buttons are arranged on the grip part. Such as the robot arm teaching system described in item 2 of the scope of patent application, wherein the light number is an independent light. For the teaching system of the robotic arm described in item 2 of the scope of patent application, the top surface of the positioning portion is provided with a positioning pattern, and the change in the shape of the positioning pattern is used as a light signal. For example, the teaching system of the robotic arm described in item 1 of the scope of patent application, wherein the teaching tool turns off the first light and the second light without pressing the first button and the second button to form a standby light. Control the robotic arm without teaching, but simply move the teaching tool. For example, the teaching system of the robotic arm described in item 1 of the scope of patent application, wherein the teaching tool uses the first button to turn on the first light signal to form a start light signal, control the robotic arm to perform teaching operations, track and shoot the teaching tool, and Locate and record the operating points passed by the teaching tool. For example, the robot arm teaching system described in item 6 of the scope of patent application, wherein the teaching tool uses the second button to turn on the second light signal to form an end light signal, control the robot arm to end the teaching operation, stop tracking the teaching tool, and The recorded work points are formed into the teaching track. For example, the robot arm teaching system described in the scope of the patent application, wherein the teaching tool uses the first button and the second button to be pressed simultaneously to turn on the first light signal and the second light signal to form a test light signal to control the robot arm The operation trajectory of the test teaching. A teaching method for a robotic arm, the steps include: when the light is on standby, move the teaching tool to the starting point of the required trajectory; move the camera on the arm of the robotic arm, make the teaching tool enter the window of the camera on the arm, and let the camera on the arm track and shoot Teach the tool, and display the captured image on the screen; switch to the start light, and the control device recognizes the start light to control the robot arm to perform teaching operations, track positioning and record the teaching tool passing the operating point where the track needs to be tracked; teach The tool moves to the end point of the required trajectory; switches to the end light signal, the end light signal is recognized by the control device to end the teaching operation, and the tracking and positioning operation points are formed and recorded as the teaching operation trajectory. For example, in the teaching method of the robotic arm described in item 9 of the scope of patent application, after the teaching operation trajectory is formed, the test light is switched to, the test light is recognized by the control device, and the robotic arm is controlled to try the operation trajectory according to the teaching. For example, the robot arm's teaching method described in item 9 of the scope of patent application, in which it is checked that the operation trajectory of the trial teaching meets the requirements, then the teaching operation is completed, otherwise it switches to the standby light and the teaching operation is repeated until the teaching operation trajectory meets the requirements , To complete the teaching homework.

Images