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Robot teaching programming system and method

A programming system and robot technology, applied in the field of robot teaching programming system, can solve the problems of difficult use, inconvenient operation, and high professional knowledge requirements of operators, and achieve the effects of convenient programming, improved quality, and high programming efficiency

Active Publication Date: 2017-11-03
QINGDAO TECHNOLOGICAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, it is difficult to integrate the process experience and knowledge accumulated by front-line workers (such as welding, gluing, painting, grinding, etc.) into trajectory planning by offline teaching
The traditional teaching box teaching and traction end teaching operation are inconvenient. For example, the teaching programming is performed by using the somatosensory sensor to track the movement trajectory of human bone points. During the teaching process, the rotation angle of each joint is recorded instead of the end effector (that is, the orientation of the hand-held teaching tool), and this type of method cannot integrate the complex operation process into the path planning, and some robots do not have the function of traction teaching
[0003] At the same time, the existing programming methods are difficult to use, inconvenient to operate, and require high professional knowledge of operators
Since the front-line workers cannot proficiently operate the offline programming software or the teaching pendant for programming, their long-term accumulated front-line operation experience and skills are difficult to integrate into the robot operation program, and the robot programming efficiency is low.
Therefore, some complex and small-batch operations such as welding, gluing, painting, grinding, and assembly still rely on experienced workers to do it manually

Method used

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  • Robot teaching programming system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] see figure 1 and figure 2 , a robot teaching programming system, including a teaching system, a posture tracking system, a physical robot system and a computer 40.

[0049] The teaching system includes a hand-held teaching tool 11, a teaching controller 12 and a teaching data collector 13, and the teaching data collector 13 is used to collect the hand-held teaching tool 11 operating on the operated part 50. The hand-held teaching tool 11 is connected to the teaching controller 12, and the teaching data collector 13 is connected to the teaching controller 12 and the computer 40 respectively. The number of the hand-held teaching tool 11 is at least one, such as a welding gun, a glue gun, a spray head, a grinding tool, an assembled part, etc., one or more are selected; , painted or glued parts; the teaching data collector 13 transmits the collected real-time process parameters and other working states to the computer 40, for example, when performing welding teaching pro...

Embodiment 2

[0056] The difference between this embodiment and the first embodiment is that the robot teaching programming system also includes a head-mounted augmented reality display 70, and the pose tracking system also includes a registration marker 24, and the registration marker 24 is At least four registration mark points; the head-mounted augmented reality display 70 is connected to the computer 40 , and the registration mark 24 is fixed on the head-mounted augmented reality display 70 . The head-mounted augmented reality display 70 communicates with the computer 40 to receive and display the scene sent by the computer 40 . Generally, the head-mounted augmented reality display 70 may be an optically transparent augmented reality display.

[0057] The working principle of the second embodiment is: on the computer 40, a simulation model of the physical robot 31—virtual robot is established; The rotation angle of each joint of the virtual robot is then driven to move each joint of th...

Embodiment 3

[0060] see Figure 1 to Figure 3 , a robot teaching programming method, the method is realized based on the robot teaching programming system, the specific steps are as follows:

[0061] Step 10, establish a coordinate system: include

[0062] Set up the pose tracking system coordinate system: set up the pose tracking system coordinate system on the pose calculation unit 23, and make it coincide with the physical robot coordinate system, so as to ensure that the pose tracked by the pose tracking system is all in Sitting posture under the physical robot coordinate system; The physical robot coordinate system is inherent in the physical robot 31; Existing posture tracking system, such as Optitrack position tracking system, this system includes camera and position tracking software, etc., position The tracking accuracy can reach 0.1mm, and the direction tracking accuracy is 0.1 degree.

[0063] Establish the coordinate system of the hand-held teaching tool: install the hand-hel...

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Abstract

The invention relates to a robot teaching programming system which comprises a teaching system, a posture tracking system, a physical robot system and a computer. According to the teaching system, a handheld teaching tool is connected with a teaching controller, and a teaching data collector is connected with the teaching controller and the computer. According to the posture tracking system, a camera set, a posture calculating unit and the computer are sequentially connected, and a tracking marker is fixed to the handheld teaching tool. According to the physical robot system, a physical robot, a physical robot controller and the computer are sequentially connected. The invention further provides a robot teaching programming method, and teaching programming is achieved through coordinate system establishment, interactive teaching, data post-processing and physical robot control. The robot teaching programming system and method have the advantages that a front-line worker uses the handheld teaching tool to interactively complete teaching programming, programming is convenient, in addition, experience and skills of teaching staff are reflected in a program, augmented reality simulation can be conducted, and interference between the robot and working scenes can be found in time.

Description

technical field [0001] The invention relates to a robot teaching programming system and method, belonging to the field of computer control and robotics, and can be used for teaching programming of robots for welding, gluing, painting, grinding, polishing, assembling and other operations. Background technique [0002] At present, robots are widely used in welding, gluing, deburring, assembly, painting and other fields. Robot programming is one of the key issues in robot applications. Currently, there are mainly offline programming and online teaching methods. Offline teaching needs to establish a model of the manipulator and its working environment in the computer. Through human-computer interaction and control, the operation trajectory is calculated and planned offline. After confirmation, the operation trajectory is sent to the manipulator to realize manipulator programming. The offline teaching method needs to establish a three-dimensional model of the working environment ...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J9/16
CPCB25J9/1664B25J9/1697B25J13/00
Inventor 陈成军张石磊李东年洪军
Owner QINGDAO TECHNOLOGICAL UNIVERSITY
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