Curved trajectory robot system for practical training and its assessment method

Abstract

The present invention relates to a training robot assessment method, in particular to a training curved trajectory robot system, comprising a robot, the end of which is equipped with a male quick-change tool tray; a teach pendant, which is connected to the robot and is used to control the robot; a curved surface tracking plate, which is a curved plate, and the surface of the curved surface tracking plate is provided with a plurality of tracking tracks; a tracking pen, one end of which is equipped with a female quick-change tool tray; and a tool rack, on which the tracking pen is movably inserted. The training curved trajectory robot system provided by the present invention can carry out complex path training, ensuring that trainees are proficient in programming and operation of complex robot tracks.

Description

Technical Field

[0001] The invention relates to a training robot assessment method, in particular to a training curved track robot system and an assessment method thereof. Background Art

[0002] Robot training requires proficiency in complex movement trajectories, but current robot training usually ignores such training, resulting in trainees being unable to master the complex movements of robots after the training, and unable to accurately control the movement of tools in complex scenarios such as assembly and welding. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a surface trajectory robot system for practical training that can carry out complex path training and ensure that trainees are proficient in programming and operation of complex robot trajectories. The specific technical solution is as follows:

[0004] Curved track robot system for practical training, including

[0005] A robot, wherein a male quick-change tool tray is mounted at the end of the robot; a teach pendant, wherein the teach pendant is connected to the robot and is used to control the robot; the teach pendant also includes a curved surface tracking plate, wherein the curved surface tracking plate is a curved plate, and a plurality of tracking tracks are arranged on the surface of the curved surface tracking plate; a tracking pen, wherein a female quick-change tool tray is mounted at one end of the tracking pen; and a tool rack, wherein the tracking pen is movably inserted into the tool rack.

[0006] By adopting the above technical solution, part of the tracking tracks on the curved surface tracking board are set along the curved surface, and part are not on the curved surface, thereby realizing the training of plane tracks and curved surface tracks, and greatly improving the trainees' programming and operation capabilities of complex curved surface tracks.

[0007] Furthermore, the curved tracking plate includes a plane plate, an inner arc plate, an outer arc plate and an inclined plate which are arranged in sequence, the plane plate is horizontally arranged, one side of the inner arc plate is tangentially connected to one side of the plane plate, the other side of the inner arc plate is bent upward of the plane plate, one side of the outer arc plate is tangentially connected to the other side of the inner arc plate, the other side of the outer arc plate is tangentially connected to the inclined plate and bent toward the plane plate, the inclined plate is inclined relative to the plane plate, and tracking tracks are provided on the plane plate, the inner arc plate, the outer arc plate and the inclined plate.

[0008] By adopting the above technical solution, the inner arc plate and the outer arc plate realize curved surface trajectories, which facilitates the depiction of trajectories along the curved surface. Comprehensive mobile training is achieved through planes, curved surfaces and inclined surfaces. The base plate covers the movement situations involved in actual use, thereby effectively improving the trainees' programming and operation capabilities of robot movements.

[0009] Furthermore, the tracing trajectory includes a closed figure or an unclosed curve.

[0010] By adopting the above technical solution, the closed figure is usually a regular geometric shape, which is used to simulate the welding trajectory, and the curve is used to simulate the complex trajectory.

[0011] Furthermore, the tracking track is a track groove or a track line on the curved tracking plate.

[0012] Furthermore, the end of the tracking pen is provided with a conical pen tip or a round pen tip, the width of the tracking groove is not greater than the diameter of the tracking pen, and the depth of the tracking groove is not greater than the length of the pen tip of the tracking pen.

[0013] By adopting the above technical solution, the pen tip can be conveniently partially inserted into the track groove, so that it is easier to observe the degree of overlap between the movement trajectory of the tracking pen and the track groove, which is convenient for accurate path control and programming.

[0014] Furthermore, it also includes a tracing seat, which is fixed on the female quick-change tool plate, and the tracing pen is movably inserted into the tracing seat; a reset spring, which is installed between the tracing pen and the tracing seat; and a detection sensor, which is installed between the tracing seat and the tracing pen, and the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the tracing pen moves toward the tracing seat.

[0015] By adopting the above technical solution, during the training, if the operator controls the tracking pen to trace the tracking track, the detection sensor will detect it and send out an alarm signal to prevent the tracking pen from colliding or squeezing the curved tracking board and protect the equipment. During the assessment, if the tracking pen contacts the curved tracking board and touches the detection sensor when the tracking program is automatically run, the detection sensor will send out a signal and the assessment is judged to be unqualified.

[0016] Furthermore, it also includes a first tracking wire, which is connected to the tracking pen, and a second tracking wire, which is connected to the curved tracking board. When the tracking pen is in contact with the curved tracking board, the first tracking wire and the second tracking wire are connected.

[0017] By adopting the above technical solution, during assessment or training, if the tracking pen comes into contact with the curved tracking board, the first tracking wire and the second tracking wire are connected to generate an electrical signal, thereby indicating that the operation is unqualified.

[0018] Furthermore, the tracking pen is a linear displacement sensor, and the end of the measuring rod of the linear displacement sensor is conical or circular.

[0019] By adopting the above technical solution, the linear displacement sensor is used to detect whether the running track maintains a constant distance with the curved tracking plate, which makes it easier to find problems and improve the students' programming and operating capabilities. At the same time, it provides an objective standard for assessment and facilitates assessment.

[0020] Furthermore, a video acquisition system is included, which is used to capture and archive the robot's motion process. The video acquisition system records the process of the trainee operating the robot, which is convenient for later evaluation of the operation process.

[0021] Furthermore, it also includes a simulation workstation, which includes a computer, which is connected to a teach pendant; offline programming and simulation software, which is installed on the computer, and is used to generate a robot offline program, and import it into the teach pendant for operation and debugging of the surface trajectory robot system for practical training.

[0022] The assessment method of the curved trajectory robot for practical training includes the following steps:

[0023] S110, controlling the robot to move to the tracking pen through the teach pen, installing the tracking pen, and switching the coordinate system on the teach pen to the tracking pen coordinate system;

[0024] S120, controlling the robot through the teach pendant to drive the tracking pen to move above the curved tracking board, so that the tracking pen brings the tip of the tracking pen close to the starting point of the tracking track in a suitable posture, and hovers above the starting point or contacts the starting point, records the current posture in the program of the teach pendant, and sets instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0025] S130, discretizing the tracing trajectory into a plurality of intermediate points, and then controlling the robot through the teach pendant to drive the tracing pen to move along the tracing trajectory, and making the pen tip of the tracing pen coincide with the intermediate points in sequence, while controlling the distance between the pen tip and the tracing trajectory to remain constant or within a set range, and recording the current posture of the robot in the program of the teach pendant in sequence in a teaching manner;

[0026] S140, controlling the robot through the teach pendant to drive the tracking pen to bring the tip of the tracking pen close to or in contact with the end point of the tracking track in a suitable posture, and recording the current posture of the robot in the program of the teach pendant in a teaching manner;

[0027] S150. Automatically run the tracing program recorded in the teach pendant, so that the robot drives the tracing pen to complete the drawing of the tracing trajectory. If during the movement of the robot, there is no interference between the tracing pen and the tracing trajectory, there is no pause in the movement, the overlap degree with the tracing trajectory is high, there is no contact signal, or the distance between the tracing pen and the tracing trajectory is within the set range, then the robot is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0028] The assessment method of the curved trajectory robot for practical training includes the following steps:

[0029] S210, sequentially setting and installing the tracking pen and tracking coordinate system in the offline programming and simulation software;

[0030] S220, setting the starting point and end point of the tracking pen in the offline programming and simulation software, and setting instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0031] S230, setting a trajectory path between a starting point and an end point of the tracing trajectory in the offline programming and simulation software, wherein the trajectory path is consistent with the tracing trajectory;

[0032] S240, generating a robot executable tracking program in the offline programming and simulation software, and sending the tracking program to the teaching pendant, loading and running the tracking program on the teaching pendant, observing the posture of the robot during the operation, and manually modifying the inappropriate posture, and then saving the tracking program;

[0033] S250, automatically running the tracing program saved after modification in S240. If the tracing pen has no interference with the tracing track, there is no pause in the movement, the robot has a high degree of overlap with the tracing track, there is no contact signal, or the distance between the robot and the tracing track is within the set range during the movement, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The curved trajectory robot system for practical training provided by the present invention can carry out complex path training, ensuring that trainees are proficient in programming and operation of complex robot trajectories.

[0036] The curved trajectory robot assessment method for practical training provided by the present invention can effectively and objectively assess the programming and operation capabilities of trainees, thereby ensuring that the trainees fully master the programming and operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural diagram of the curved trajectory robot system for practical training;

[0038] Figure 2 It is a schematic diagram of the structure of the curved surface tracking board;

[0039] Figure 3 It is a schematic diagram of the structure in which the trace-finding pen is movably inserted into the tool rack;

[0040] Figure 4 It is a structural diagram of a tracer pen. DETAILED DESCRIPTION

[0041] The present invention will be further described with reference to the accompanying drawings.

[0042] Embodiment 1

[0043] like Figures 1 to 4 As shown, the surface trajectory robot system for training includes a robot 1, a male quick-change tool tray 11 is installed at the end of the robot 1; a teach pendant, the teach pendant is connected to the robot 1, and the teach pendant is used to control the robot 1; it also includes a curved surface tracking plate 2, the curved surface tracking plate 2 is a curved plate, and a plurality of tracking tracks 25 are provided on the surface of the curved surface tracking plate 2; a tracking pen 44, one end of the tracking pen 44 is installed with a female quick-change tool tray 41; and a tool rack 31, the tracking pen 44 is movably inserted into the tool rack 31.

[0044] Part of the tracing tracks 25 on the curved surface tracing board 2 is set along the curved surface, and part is not on the curved surface, so that the training of plane tracks and curved surface tracks is realized, which greatly improves the trainees' programming and operation capabilities of complex curved surface tracks.

[0045] Specifically, a tool positioning plate 42 is mounted on the female quick-change tool tray 41 , positioning holes are provided at both ends of the tool positioning plate 42 , a positioning pin 32 is mounted on the top of the tool rack 31 , and the positioning holes on the tool positioning plate 42 are movably inserted on the positioning pin 32 .

[0046] The curved tracking plate 2 includes a plane plate 21, an inner arc plate 22, an outer arc plate 23 and an inclined panel 24 which are arranged in sequence. The plane plate 21 is arranged horizontally, one side of the inner arc plate 22 is tangentially connected to one side of the plane plate 21, and the other side of the inner arc plate 22 is bent upward from the plane plate 21, one side of the outer arc plate 23 is tangentially connected to the other side of the inner arc plate 22, and the other side of the outer arc plate 23 is tangentially connected to the inclined panel 24 and bent toward the plane plate 21, and the inclined panel 24 is inclined relative to the plane plate 21, and tracking tracks 25 are provided on the plane plate 21, the inner arc plate 22, the outer arc plate 23 and the inclined panel 24.

[0047] The inner arc plate 22 and the outer arc plate 23 realize the curved surface trajectory, which is convenient for drawing the trajectory along the curved surface. Comprehensive mobile training is achieved through planes, curved surfaces and inclined surfaces. The base plate covers the movement situations involved in actual use, thereby effectively improving the trainees' programming and operation capabilities for the movement of the robot 1.

[0048] The tracking track 25 includes a closed figure or an unclosed curve. The closed figure is usually a regular geometric shape, which is used to simulate the welding track, and the curve is used to simulate a complex track.

[0049] The tracking track 25 is a track groove or a track line on the curved tracking plate 2 .

[0050] It also includes a simulation workstation, which includes a computer connected to a teach pendant; offline programming and simulation software, which is installed on the computer and used to generate a robot offline program and import it into the teach pendant for running and debugging the surface trajectory robot system for practical training.

[0051] It also includes a video acquisition system, which is used to capture the robot's motion process and archive it. The video acquisition system records the process of the trainee operating the robot, which is convenient for evaluating the operation process later. The camera of the video acquisition system is installed above to capture the robot's motion process.

[0052] Specifically, a conical pen tip 45 or a round pen tip 45 is provided at the end of the tracing pen 44 , the width of the tracing groove is not greater than the diameter of the tracing pen 44 , and the depth of the tracing groove is not greater than the length of the pen tip 45 of the tracing pen 44 .

[0053] The pen tip 45 is conveniently partially inserted into the track groove, so that it is relatively easy to observe the overlap between the motion trajectory of the tracking pen 44 and the track groove, which is convenient for accurate path control and programming.

[0054] Embodiment 2

[0055] On the basis of the above-mentioned embodiment 1, it also includes a tracing seat 43, the tracing seat 43 is fixed on the female quick-change tool plate 41, the tracing seat 43 is provided with a sliding hole, and the tracing pen 44 is movably inserted in the sliding hole of the tracing seat 43; a reset spring, a reset spring is installed between the tracing pen 44 and the tracing seat 43, and the reset spring is located in the sliding hole; a detection sensor, the detection sensor is installed in the sliding hole, and is located between the tracing seat 43 and the tracing pen 44, and does not interfere with the reset spring, the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the tracing pen 44 moves toward the tracing seat 43.

[0056] During the training, if the operator controls the tracking pen 44 to trace the tracking track 25 and the tracking pen 44 contacts the curved tracking board 2 and moves toward the detection sensor, the detection sensor will detect the tracking pen 44, thereby sending out an alarm signal to prevent the tracking pen 44 from colliding or squeezing the curved tracking board 2 and protect the equipment. During the assessment, if the tracking pen 44 contacts the curved tracking board 2 and touches the detection sensor when the tracking program is automatically run, the detection sensor will send out a signal and the assessment is judged to be unqualified.

[0057] Embodiment 3

[0058] On the basis of the above-mentioned embodiment 1, it also includes a first tracking wire, the first tracking wire is connected to the tracking pen 44, and a second tracking wire, the second tracking wire is connected to the curved tracking plate 2, and when the tracking pen 44 is in contact with the curved tracking plate 2, the first tracking wire and the second tracking wire are connected.

[0059] During the assessment or training, if the tracing pen 44 comes into contact with the curved tracing board 2, the first tracing wire and the second tracing wire are connected, generating an electrical signal, which indicates that the operation is unqualified.

[0060] It is necessary to ensure that the tracking pen 44 and the curved tracking board 2 are conductive. The tracking pen 44 and the curved tracking board 2 are both made of metal, the tracking pen 44 and the robot 1 are conductive, the robot 1 and the workbench are conductive, and the curved tracking board 2 and the workbench are conductive, thereby achieving conductive connection between the tracking pen 44 and the curved tracking board 2.

[0061] Embodiment 4

[0062] On the basis of the above-mentioned embodiment 1, the tracking pen 44 is a linear displacement sensor, and the end of the measuring rod of the linear displacement sensor is conical or circular. The linear displacement sensor is used to detect whether the running track and the curved tracking board 2 maintain a constant distance, which is convenient for finding problems, improving the programming and operation ability of trainees, and providing objective standards for assessment, which is convenient for assessment.

[0063] Embodiment 5

[0064] The assessment method of the curved trajectory robot for practical training includes the following steps:

[0065] S110, controlling the robot 1 to move to the tracking pen 44 through the teaching pendant, installing the tracking pen 44, and switching the coordinate system to the tracking pen coordinate system on the teaching pendant;

[0066] S120, control the robot 1 through the teach pendant to drive the tracking pen 44 to move above the curved tracking board 2, so that the tracking pen 44 brings the pen tip 45 of the tracking pen 44 close to the starting point of the tracking track 25 in a suitable posture, and hovers above the starting point or contacts the starting point, records the current posture in the program of the teach pendant, and sets instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0067] S130, discretize the tracing trajectory 25 into a plurality of intermediate points, and then control the robot 1 through the teach pendant to drive the tracing pen 44 to move along the tracing trajectory 25, and make the pen tip 45 of the tracing pen 44 coincide with the intermediate points in sequence, and at the same time control the distance between the pen tip 45 and the tracing trajectory 25 to remain unchanged or within a set range, and record the current posture of the robot 1 in the program of the teach pendant in sequence in a teaching manner;

[0068] S140, controlling the robot 1 to drive the tracking pen 44 with a suitable posture so that the tip 45 of the tracking pen 44 approaches or contacts the end point of the tracking track 25 through the teaching pendant, and recording the current posture of the robot 1 in the program of the teaching pendant in a teaching manner;

[0069] S150. Automatically run the tracing program recorded in the teaching pendant, so that the robot 1 drives the tracing pen 44 to complete the drawing of the tracing track 25. If during the movement of the robot 1, there is no interference between the tracing pen 44 and the tracing track 25, there is no pause in the movement, the overlap degree with the tracing track 25 is high, there is no contact signal, or the distance between the tracing pen 44 and the tracing track 25 is within the set range, then the robot 1 is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0070] The implementation process is similar to the assessment process. This assessment method is suitable for primary assessment, allowing trainees to master the tracing of complex curved surface trajectories through the teaching pendant, and can assess the programming operation of complex trajectories of the robot 1.

[0071] Embodiment 6

[0072] The assessment method of the curved trajectory robot for practical training includes the following steps:

[0073] S210, sequentially setting and installing the tracking pen 44 and the tracking coordinate system in the offline programming and simulation software;

[0074] S220, setting the starting point and end point of the tracking pen 44 in the offline programming and simulation software, and setting instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0075] S230, setting a trajectory path between a starting point and an end point of the tracing trajectory 25 in the offline programming and simulation software, the trajectory path being consistent with the tracing trajectory 25;

[0076] S240, generating an executable tracking program for the robot 1 in the offline programming and simulation software, and sending the tracking program to the teaching pendant, loading and running the tracking program on the teaching pendant, observing the posture of the robot 1 during the operation, and manually modifying the inappropriate posture, and then saving the tracking program;

[0077] S250, automatically run the tracing program saved after modification in S240. If during the movement of the robot 1, the tracing pen 44 has no interference with the tracing track 25, there is no pause in the movement, the overlap with the tracing track 25 is high, there is no contact signal, or the distance between the robot 1 and the tracing track 25 is within the set range, then it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0078] The implementation process is similar to the assessment process.

[0079] This assessment method is suitable for advanced assessment, enabling trainees to master the tracing of complex curved surface trajectories through the teaching pendant and offline programming and simulation software. It can assess the programming operation of complex trajectories of the robot 1 and improve the efficiency of programming and debugging.

Claims

1. A surface trajectory robot assessment method for practical training, characterized in that: The curved trajectory robot system is used for assessment; The curved trajectory robot system comprises: A robot having a male quick-change tool tray mounted on the end of the robot; A teaching pendant, the teaching pendant is connected to the robot, and the teaching pendant is used to control the robot; A curved tracking plate, wherein the curved tracking plate is a curved plate, and a plurality of tracking tracks are arranged on the surface of the curved tracking plate; A tracing pen, one end of which is provided with a female quick-change tool tray; The tracking pen is a linear displacement sensor; A tracing seat, wherein the tracing seat is fixed on the female quick-change tool tray, and the tracing pen is movably inserted into the tracing seat; A return spring is provided between the tracking pen and the tracking seat; A detection sensor, wherein the detection sensor is installed between the tracking seat and the tracking pen, and the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the tracking pen moves toward the tracking seat; It also includes a first tracing wire, the first tracing wire is connected to the tracing pen, and a second tracing wire, the second tracing wire is connected to the curved tracing board, and the first tracing wire and the second tracing wire are in communication when the tracing pen contacts the curved tracing board; The assessment method comprises the following steps: S110, controlling the robot to move to the tracking pen through the teach pen, installing the tracking pen, and switching the coordinate system on the teach pen to the tracking pen coordinate system; S120, controlling the robot through the teach pendant to drive the tracking pen to move above the curved tracking board, so that the tracking pen brings the tip of the tracking pen close to the starting point of the tracking track in a suitable posture, and hovers above the starting point or contacts the starting point, records the current posture in the program of the teach pendant, and sets instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off; S130, discretizing the tracing trajectory into a plurality of intermediate points, and then controlling the robot through the teach pendant to drive the tracing pen to move along the tracing trajectory, and making the pen tip of the tracing pen coincide with the intermediate points in sequence, while controlling the distance between the pen tip and the tracing trajectory to remain constant or within a set range, and recording the current posture of the robot in the program of the teach pendant in sequence in a teaching manner; S140, controlling the robot through the teach pendant to drive the tracking pen to bring the tip of the tracking pen close to or in contact with the end point of the tracking track in a suitable posture, and recording the current posture of the robot in the program of the teach pendant in a teaching manner; S150. Automatically run the tracing program recorded in the teach pendant, so that the robot drives the tracing pen to complete the drawing of the tracing trajectory. If during the movement of the robot, there is no interference between the tracing pen and the tracing trajectory, there is no pause in the movement, the overlap degree with the tracing trajectory is high, there is no contact signal, or the distance between the tracing pen and the tracing trajectory is within the set range, then the robot is evaluated as qualified; otherwise, it is evaluated as unqualified.

2. A surface trajectory robot assessment method for practical training, characterized in that: The curved trajectory robot system is used for assessment; The curved trajectory robot system comprises: A robot having a male quick-change tool tray mounted on the end of the robot; A teaching pendant, the teaching pendant is connected to the robot, and the teaching pendant is used to control the robot; A curved tracking plate, wherein the curved tracking plate is a curved plate, and a plurality of tracking tracks are arranged on the surface of the curved tracking plate; A tracing pen, one end of which is provided with a female quick-change tool tray; The tracking pen is a linear displacement sensor; A tracing seat, wherein the tracing seat is fixed on the female quick-change tool tray, and the tracing pen is movably inserted into the tracing seat; A return spring is provided between the tracking pen and the tracking seat; A detection sensor, wherein the detection sensor is installed between the tracking seat and the tracking pen, and the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the tracking pen moves toward the tracking seat; It also includes a first tracing wire, the first tracing wire is connected to the tracing pen, and a second tracing wire, the second tracing wire is connected to the curved tracing board, and the first tracing wire and the second tracing wire are in communication when the tracing pen contacts the curved tracing board; The assessment method comprises the following steps: S210, sequentially setting and installing the tracking pen and tracking coordinate system in the offline programming and simulation software; S220, setting the starting point and end point of the tracking pen in the offline programming and simulation software, and setting instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off; S230, setting a trajectory path between a starting point and an end point of the tracing trajectory in the offline programming and simulation software, wherein the trajectory path is consistent with the tracing trajectory; S240, generating a robot executable tracking program in the offline programming and simulation software, and sending the tracking program to the teaching pendant, loading and running the tracking program on the teaching pendant, observing the posture of the robot during the operation, and manually modifying the inappropriate posture, and then saving the tracking program; S250, automatically running the tracing program saved after modification in S240. If the tracing pen has no interference with the tracing track, there is no pause in the movement, the robot has a high degree of overlap with the tracing track, there is no contact signal, or the distance between the robot and the tracing track is within the set range during the movement, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

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