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Intelligent programming method and auxiliary device of virtual teaching robot for learning person

A technology for teaching robots and auxiliary devices. It is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools. It can solve the problems that the description of robot tasks cannot be simple and direct, it is not convenient to use, and the requirements for operators are high, so as to solve the limitations of the working environment. problem effect

Active Publication Date: 2015-08-12
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

Compared with the teaching and reproduction programming, the offline programming system has higher requirements on the operator, and needs to have special robot knowledge and programming ability, and it is not very convenient to use, especially in the description of the robot task.

Method used

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  • Intelligent programming method and auxiliary device of virtual teaching robot for learning person
  • Intelligent programming method and auxiliary device of virtual teaching robot for learning person
  • Intelligent programming method and auxiliary device of virtual teaching robot for learning person

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Embodiment Construction

[0026] combine figure 1 with figure 2 , a virtual teaching robot intelligent programming auxiliary device for learning people, comprising: a teaching tool 2 , a camera unit 3 and a robot controller 4 . The teaching tool 2 is the same as the working tool 1 set at the end of the robot and is provided with a first feature point 21; the camera unit 3 captures and records the movement trajectory of the feature points on the teaching tool 2 and the joints of the teaching tool 2 in time sequence. Angle information; the robot controller 4 generates robot work instructions. The working tool 1 is provided with a second feature point 11 corresponding to the first feature point 21 of the teaching tool 2 .

[0027] combine figure 1 with figure 2 The robot used in the present invention is an industrial robot 6 with six degrees of freedom, and its end is provided with a welding tool, which includes a welding tool upper jaw 12 and a movable welding tool lower jaw 13 . What the hand-hel...

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Abstract

The invention provides an intelligent programming auxiliary device of a virtual teaching robot for learning a person. An operation tool is arranged at the tail end of the robot. The intelligent programming auxiliary device comprises a teaching tool, a camera unit and a robot controller, wherein the teaching tool is the same as the operation tool arranged at the tail end of the robot and is provided with a first characteristic point; the camera unit is used for capturing and recording the movement locus of the characteristic point on the teaching tool, the joint angle information of the teaching tool and an operation point of an operation target according to a time sequence; the robot controller is used for generating a robot working instruction; a second characteristic point corresponding to the first characteristic point of the teaching tool is arranged on the operation tool.

Description

technical field [0001] The invention relates to an intelligent programming technology of an industrial robot, in particular to an intelligent programming method and an auxiliary device for learning a virtual teaching robot. Background technique [0002] With the development of science and technology, more and more industrial robots have been widely used in various industrial fields, such as robot painting, robot handling, robot assembly, etc. Now, in these fields, industrial robots can replace humans to complete repeatable and precise work, thus ensuring product quality. When a robot is used to replace a human to perform operations, it is necessary to issue instructions to the robot in advance, specifying the actions that the robot should complete and the specific content of the operation. Along with the development of industrial robots, robot programming technology has also been developed and improved; robot programming has become an important part of robot technology; in ...

Claims

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Application Information

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IPC IPC(8): B25J9/22
Inventor 刘永顾伟国闫瑾
Owner NANJING UNIV OF SCI & TECH
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