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Robot teaching recording system, teaching process steps and algorithm flow

A robot system and recording system technology, which is applied in the direction of manipulators, manufacturing tools, and program-controlled manipulators, can solve the problems that robot actions cannot be obtained by pre-calculation, require a high level of operator knowledge, and have low applicability, so as to reduce knowledge reserve Requirements, reduced installation process, and the effect of flexible applicability

Active Publication Date: 2020-04-10
安易智友科技(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] 1. On-line programming, that is, traditional engineers operate the robot through the teaching box to memorize the points and process action information. This process is usually time-consuming and laborious, and requires a high level of knowledge of the operator
[0004] 2. Offline programming, that is, robot actions can be automatically calculated by a host computer and converted into a robot programming language. Patent document CN 104552300 B discloses an offline programming teaching device and method based on a teaching robot, which can reduce costs and improve teaching efficiency. Difficult to operate, but in many applications, robot movements cannot be pre-calculated, and the applicability is not high
For example, the patent application document 201710152216.3 (application number) discloses a fast teaching device for industrial robots and its implementation method. In the fast teaching mode based on six-dimensional force / torque, directly drag the teaching module to select the teaching point. This method is simple and safe, but usually requires the robot to have additional sensors or actuators, which increases the cost

Method used

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  • Robot teaching recording system, teaching process steps and algorithm flow
  • Robot teaching recording system, teaching process steps and algorithm flow
  • Robot teaching recording system, teaching process steps and algorithm flow

Examples

Experimental program
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Effect test

Embodiment 1

[0064] Such as figure 1 As shown, the robot teaching and recording system of the present invention is composed of an optical beacon 117, an IMU sensor 116, a camera 115, and a data fusion computing unit 118. The teaching actuator 119 is composed of an IMU sensor 116, an optical beacon 117, and a data fusion computing unit. Unit 118 consists of:

[0065] The optical beacon 117, the IMU sensor 116 and the data fusion calculation unit 118 are installed together, and six optical beacons 117 are installed at different positions, and the spatial encoding of the installation positions of the optical beacons 117 adopts a hexagonal uniform distribution method, The camera unit is installed separately and operated by the teaching worker;

[0066] The camera is used to collect the position of the beacon, and the motion data of the beacon is transmitted through the data exchange network between the IMU sensor 116 and the optical beacon 117 unit and the camera 115, and the data of the IMU ...

Embodiment 2

[0085] Such as image 3 As shown, the robot teaching and recording system of the present invention is composed of an optical beacon 217, an IMU sensor 216, a camera 215, and a data fusion computing unit 218, and the teaching actuator is composed of an IMU sensor 216 and an optical beacon 217, wherein:

[0086] The optical beacon 217 and the IMU sensor 216 are fixedly installed together, and six optical beacons 217 are installed at different linear positions. The spatial encoding of the installation position of the optical beacon 217 adopts a randomly generated uneven distribution method, and the data fusion calculation Unit 218 and camera unit 215 are mounted together and operated by a teaching worker;

[0087] The camera 215 is used to collect the position of the beacon, and the IMU data is transmitted through the data exchange network between the IMU sensor 216 and the optical beacon 217 unit and the camera 215, and the data of the IMU sensor 216 is fused by the data fusion ...

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Abstract

The invention provides a robot teaching recording system which is efficient, high in applicability, speedy and low in cost, and has few parts, provides a teaching method based on the system, and belongs to the field of robot teaching. The system comprises optical beacons, an IMU sensor, a camera, a data fusion calculation unit and a robot control cabinet, wherein the robot control cabinet is a control driving unit for a robot and receives data or files output by the IMU sensor and a visual fusion calculation unit; the camera is used for acquiring the positions of the beacons; IMU data are fused by the data fusion calculation unit; and the positions, speeds and accelerated speeds of the optical beacons and process actions at corresponding positions are output in a fused manner finally by the data fusion calculation unit. The provided teaching system and method can be applied to following occasions: teaching actions and process can be finished by teaching workers, robot sensors do not require to be added or a mechanical structure does not need to be changed, and a robot system only needs to receive external commands or external files.

Description

technical field [0001] The present invention relates to the technical field of a robot teaching system, in particular to a robot teaching recording system and process steps that integrate an IMU and an optical distance measuring sensor, and an algorithm flow of a robot teaching method. Background technique [0002] The current robot action is mainly obtained through the following four methods: [0003] 1. On-line programming, that is, traditional engineers operate the robot through the teaching box to memorize the position and process action information. This process is usually time-consuming and laborious, and requires a high level of knowledge of the operator. [0004] 2. Offline programming, that is, robot actions can be automatically calculated by a host computer and converted into a robot programming language. Patent document CN 104552300 B discloses an offline programming teaching device and method based on a teaching robot, which can reduce costs and teaching Difficu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/161B25J9/1671B25J9/1697
Inventor 张冬军
Owner 安易智友科技(深圳)有限公司
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