An intuitive teaching system for industrial robots

Abstract

The present invention relates to an intuitive industrial robot teaching system, the industrial robot system comprises an industrial robot and an operating device, the operating device can teach the movement of the industrial robot according to the user's operation, the operating device comprises a manipulator and a first posture sensor and / or a first orientation sensor for determining the posture of the operating device; the industrial robot comprises: an acquisition module for acquiring the installation posture of the industrial robot; a control module for generating a motion instruction of the robot according to the installation posture of the industrial robot and the posture of the operating device, the motion instruction makes the end of the industrial robot move with the guiding direction of the operating device as the reference. The beneficial effect of the present invention is that the teaching of the industrial robot is more intuitive and the operation convenience is good.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to an industrial robot system. Background Art

[0002] Industrial robots are a type of robot widely used in industrial environments. They are usually taught by users to perform predetermined tasks. Common teaching methods include dragging the robotic arm to teach, or teaching the robotic arm through operating equipment.

[0003] When a user teaches a robot, he needs to determine the relationship between his own manipulation and the robot's movement direction. When the two correspond visually and intuitively, the user can manipulate without thinking, thus avoiding the need for frequent brain conversions, which is prone to errors and increases the difficulty of teaching, resulting in poor usability.

[0004] With the development of technology, the application areas of industrial robots have also been greatly expanded. They can also be combined with other carriers to further expand the application scenarios of robots. For example, industrial robots can be used in combination with AGV carts to realize factory spraying and disinfection work. In complex and diverse usage environments, it is necessary to improve the convenience of teaching.

[0005] The user areas of industrial robots are widely distributed. For users from all walks of life, simple and easy-to-use teaching is a common demand, which will greatly increase the usability of industrial robots.

[0006] Therefore, it is necessary to design an industrial robot teaching system and an industrial robot teaching method that are easy to use, simple to teach, and intuitive. Summary of the invention

[0007] In view of this, an object of the present invention is to provide an industrial robot teaching system and an industrial robot teaching method which are easy to use, simple to teach, and intuitive.

[0008] The present invention can adopt the following technical scheme: an industrial robot system, including an industrial robot, an operating device, the operating device can teach the movement of the industrial robot according to the user's operation, the operating device includes a manipulation part and a first posture sensor and / or a first orientation sensor for determining the posture of the operating device; the industrial robot includes: an acquisition module, used to acquire the installation posture of the industrial robot; a control module, used to generate a motion instruction of the robot according to the installation posture of the industrial robot and the posture of the operating device, the motion instruction enables the end of the industrial robot to move with the guide direction of the operating device as a reference.

[0009] Furthermore, the acquisition module includes a second posture sensor and / or a second orientation sensor to acquire the installation posture of the industrial robot.

[0010] Furthermore, the acquisition module is used to acquire the installation posture of the industrial robot according to the user's input.

[0011] Furthermore, the industrial robot can be installed on a moving object to perform work, and the acquisition module can communicate with the moving object to acquire the installation posture of the industrial robot.

[0012] Furthermore, the industrial robot can be installed on a moving object to perform work, and the installation posture changes with the change of the posture of the moving object, and the moving object includes a mobile platform or a positioner.

[0013] Furthermore, the industrial robot can obtain the robot posture, and the control module generates motion instructions according to the robot posture, the installation posture of the industrial robot and the posture of the operating device.

[0014] Furthermore, the control device is used to reconstruct the coordinate system so that the installation posture, the robot posture, and the operating device posture are in the same coordinate system.

[0015] Furthermore, the operating device can be detachably connected to the industrial robot.

[0016] Furthermore, the operating part and the first position sensor and / or the first orientation sensor are detachably connected together.

[0017] Further, the manipulation part is constructed as a 2D, 3D or 6D mouse, and / or the manipulation part includes a manipulation rod or a manipulation button.

[0018] Furthermore, the industrial robot system includes a teaching pendant, and the teaching pendant includes the operating device.

[0019] Furthermore, the industrial robot is formed as a three-axis, four-axis, or six-axis robotic arm, or the industrial robot is formed as a collaborative robot.

[0020] The present invention may also adopt the following technical scheme: a teaching method for an industrial robot, applicable to any of the industrial robot systems described above, the teaching method comprising: acquiring the installation posture of the industrial robot; detecting the posture of the operating device; generating motion instructions for the robot according to the installation posture of the industrial robot and the posture of the operating device, the motion instructions causing the end of the industrial robot to move based on the guide direction of the operating device.

[0021] Furthermore, the teaching method includes: acquiring the installation posture of the industrial robot through a second posture sensor and / or a second orientation sensor of the industrial robot.

[0022] Furthermore, the teaching method includes: obtaining an installation posture of the industrial robot based on a world coordinate system.

[0023] Furthermore, the teaching method includes: obtaining the installation posture of the industrial robot according to the user's input.

[0024] Furthermore, the industrial robot may be installed on a moving object, and the teaching method includes: communicating with the moving object to acquire the installation posture of the industrial robot.

[0025] Furthermore, the industrial robot may be installed on a moving object, and the installation posture changes with the posture change of the moving object.

[0026] Furthermore, the teaching method includes: acquiring the posture of the robot, and generating motion instructions according to the posture of the robot, the installation posture of the industrial robot, and the posture of the operating equipment.

[0027] Furthermore, the teaching method includes: reconstructing the coordinate system so that the installation posture of the industrial robot, the robot posture and the operating device posture are in the same coordinate system.

[0028] Compared with the prior art, the specific embodiments of the present invention have the following beneficial effects: the teaching of industrial robots is more intuitive, does not require complex transformations by the human brain, and reduces the difficulty of teaching and the probability of errors. At the same time, it can be applied to work tasks in a variety of scenarios, can respond promptly to changes in the installation posture of the industrial robot, and always ensure the intuitiveness of the robot teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:

[0030] Figure 1 Schematic diagram of an industrial robot system according to an embodiment of the present invention

[0031] Figure 2 Schematic diagram of an industrial robot installed on a moving object according to an embodiment of the present invention

[0032] Figure 3 Schematic diagram of an industrial robot teaching method according to an embodiment of the present invention DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the terms "upper", "lower", "left", "right" and similar expressions used in this article are for illustrative purposes only and are not restrictive.

[0034] The present invention protects an industrial robot system, referring to Figure 1 , Figure 1 The schematic diagram of an industrial robot system of an embodiment of the present invention is given as an example. The industrial robot system 100 includes an industrial robot 1 and an operating device 3. The operating device 3 can teach the movement of the industrial robot according to the user's operation. The operating device 3 includes a manipulator 31, and the user teaches the industrial robot by operating the manipulator, and includes a first posture sensor and / or a first orientation sensor 32 for determining the posture of the operating device. The industrial robot 1 includes an acquisition module for acquiring the installation posture of the industrial robot 1; and a control module for generating motion instructions according to the installation posture of the robot and the posture of the operating device, and the motion instructions make the end of the industrial robot 1 move with the guiding direction of the operating device 3 as the reference. Specifically, the acquisition module is used to acquire the installation posture of the industrial robot 1 in the world coordinate system. The installation posture of the traditional industrial robot does not change during the working process. At this time, it is not necessary to pay attention to the installation posture of the robot to ensure that the movement direction of the robot is consistent with the teaching direction of the operating device. However, with the expansion of the application scope of the industrial robot, in order to make the teaching of the operating device 3 adapt to the change of the installation posture, it is necessary to consider the installation posture of the robot 1 and the posture of the operating device 3 to generate the motion instruction. By acquiring the installation posture and the posture of the operating device, and generating motion instructions based on the two, the movement direction of the industrial robot 1 can be made consistent with the teaching direction of the operating device, and the operation is more intuitive and less prone to errors. Specifically, the motion instructions make the end of the industrial robot 1 move with the guiding direction of the operating device 3 as a reference, that is, the guiding direction of the operating device 3 is consistent with the movement direction of the end of the industrial robot 1. No matter what posture the operating device 3 adopts, or the functional definitions of different buttons of the operating device are different, the movement direction of the industrial robot 1 is always consistent with the manipulation direction of the operating device, that is, if the operating device is manipulated to the left, the industrial robot 1 moves to the left. The industrial robot 1 can be installed on a moving object to perform work. The moving object exemplarily includes a mobile platform or a positioner. The installation posture changes with the change of the posture of the moving object. For example, reference Figure 2 The figure shows an industrial robot arranged on a moving object, specifically, Figure 2 The moving object 2 shown in the figure is a positioner. When the position of the positioner changes, the installation position of the industrial robot 1 also changes accordingly. The industrial robot generates motion instructions based on the real-time updated installation position to ensure the intuitiveness of the industrial robot teaching.

[0035] The acquisition module of the industrial robot 1 for acquiring the installation posture includes various forms. For example, the acquisition module includes a second posture sensor and / or a second orientation sensor to acquire the installation posture of the industrial robot 1. At this time, the installation posture of the industrial robot 1 acquired is the installation posture of the robot in the world coordinate system; or, the acquisition module can acquire the installation posture of the industrial robot 1 by communication. For example, the installation posture of the robot is input by a user, and the acquisition module acquires the installation posture of the robot input by the user; or, the industrial robot 1 provided by the present invention can be installed on a moving object to perform work, and the acquisition module can communicate with the moving object to acquire the installation posture of the industrial robot 1. For example, the moving object can detect the installation posture of the base 11 of the robot and communicate to transmit it to the industrial robot 1. The installation posture of the base 11 of the robot can represent the installation posture of the robot.

[0036] The installation posture of the industrial robot 1 is based on the posture information of the world coordinate system, and the posture of the operating device is also based on the posture of the world coordinate system. In order to make the movement direction of the end of the industrial robot 1 based on the manipulation direction of the operating device, it is necessary to know the manipulation direction of the end of the operating device 3 relative to the industrial robot 1. Specifically, the industrial robot 1 can obtain the posture of the robot, and the control module generates motion instructions according to the robot posture, the installation posture of the robot and the posture of the operating device, so that the end of the industrial robot 1 moves based on the direction taught by the operating device, so that the direction taught by the operating device 3 is consistent with the movement direction of the industrial robot 1, so as to achieve intuitive teaching. For example, the operating device 3 can be in different positions and different postures. The relative posture of the robot and the operating device can be obtained through the posture of the robot and the posture of the operating device, so that the operation of the operating device is the same as the movement direction of the industrial robot 1, and is not affected by the posture of the operating device itself. For example, when the operating device is placed upright or reversely, the positions of the manipulation buttons on the left and right sides of the operating device change, but when it is manipulated, the manipulation of the operating device to the left always corresponds to the left movement of the industrial robot 1. When the installation posture of the industrial robot 1 changes, for example, when the robot is located on the moving object 2, for example, when the robot is located on the positioner, the installation posture of the robot changes, but the posture of the robot is relative to the robot base coordinate system, and the posture of the robot cannot reflect the changes in the installation posture of the robot, thereby affecting the intuitiveness of the teaching operation. In one embodiment of the present invention, by comprehensively considering the robot posture, the robot installation posture and the operating device posture to generate motion instructions, the problem of unintuitive teaching operation can be solved. Further, the control module is used to reconstruct the coordinate system so that the installation posture, the robot posture and the operating device posture are in the same coordinate system. Then, the robot is taught intuitively, that is, no matter how the installation posture of the robot and the robot's own posture change, the manipulation direction of the operating device and the movement direction of the robot remain consistent, without the need for the human brain to convert and think about the manipulation direction.

[0037] The operating device includes various forms. In one embodiment of the present invention, the operating device 3 can be detachably connected to the industrial robot 1. When the robot needs to be taught, the operating device is installed on the industrial robot 1, and the industrial robot 1 is taught by manipulating the operating device 3. For example, the operating device 3 includes a mounting portion, and the industrial robot 1 includes a receiving portion. The mounting portion of the operating device 3 and the receiving portion of the industrial robot 1 cooperate to detachably install the operating device to the industrial robot 1. Exemplarily, the receiving portion is a slide rail structure, and the mounting portion can be slidably installed on the industrial robot 1. The user teaches the industrial robot 1 to perform work by manipulating the operating device. For example, the user can teach the industrial robot 1 by dragging the operating device and manipulating the buttons of the operating device. Further, the operating device includes a manipulating portion and a first posture sensor and / or a first orientation sensor, and the manipulating portion and the first posture sensor and / or the first orientation sensor are detachably connected to each other. Further, the manipulating portion is constructed as a 2D, 3D or 6D mouse, and / or the manipulating portion includes a joystick or a manipulating button. In another embodiment of the present invention, the industrial robot 1 system 100 comprises a teach pendant, and the teach pendant comprises the operating device, that is, the operating device forms a part of the teach pendant or the operating device is the teach pendant.

[0038] The industrial robot system 100 protected by the present invention includes an industrial robot, which may be a three-axis, four-axis or six-axis robotic arm, or the industrial robot is a collaborative robot, and further, the collaborative robot is a six-axis collaborative robot.

[0039] The beneficial effects of the above preferred embodiments are: the teaching of industrial robots is more intuitive, no complex transformation of the human brain is required, and the difficulty of teaching and the probability of error are reduced. At the same time, it can be applied to work tasks in a variety of scenarios, and can respond in time to changes in the installation posture of the industrial robot, always ensuring the intuitiveness of the robot teaching.

[0040] The present invention also provides a teaching method for an industrial robot 1, referring to Figure 3 , the teaching method is applicable to the industrial robot system 100 described in any one of the above, and the teaching method includes: S1: obtaining the installation posture of the industrial robot; S2: detecting the posture of the operating device; S3: generating a motion instruction according to the installation posture of the industrial robot and the posture of the operating device, and the motion instruction enables the end of the industrial robot to move with the guiding direction of the operating device as the reference. Specifically, the obtaining of the installation posture of the industrial robot includes obtaining the installation posture of the industrial robot in the world coordinate system; the detecting of the posture of the operating device includes detecting the posture of the operating device in the world coordinate system.

[0041] Further, obtaining the installation posture of the industrial robot 1 includes multiple ways, for example, obtaining the installation posture of the industrial robot according to a second posture sensor and / or a second orientation sensor provided on the industrial robot 1, or obtaining the installation posture of the industrial robot according to a user input, or, when the industrial robot is provided on a moving object, obtaining the installation posture of the industrial robot according to the posture of the moving object, for example, obtaining the posture of the moving object through communication between the industrial robot and the moving object to further obtain the installation posture of the industrial robot. Further, obtaining the installation posture of the industrial robot includes obtaining the installation posture of the industrial robot that changes with the posture change of the moving object, that is, the industrial robot can be installed on the moving object to perform work, and when the posture of the moving object changes, the installation posture of the industrial robot changes, and the changed installation posture of the industrial robot is obtained in time, so that the end of the industrial robot moves with the guidance direction of the operating device as the reference.

[0042] Furthermore, the teaching method includes: obtaining the posture of the robot, and generating motion instructions according to the posture of the robot, the installation posture of the industrial robot, and the posture of the operating device. Specifically, the posture of the robot is the posture information obtained in the robot base coordinate system, and the motion instructions are generated by comprehensively considering the posture of the robot, the installation posture of the industrial robot, and the posture of the operating device. Further, the teaching method includes processing the posture of the robot, the installation posture of the industrial robot, and the posture of the operating device, so that the posture of the robot, the installation posture of the industrial robot, and the posture of the operating device are in the same coordinate system, so as to intuitively teach the industrial robot through the operating device.

[0043] It should be noted that the posture sensors and / or orientation sensors mentioned in this article are used to obtain posture and / or orientation, and all sensors that can obtain this information should be included. For example, posture sensors include acceleration sensors, inertial sensors, gyroscopes, electronic compasses and other types of sensors.

[0044] It should be noted that the teaching method provided by the present invention has no order restrictions for the acquisition and / or detection of various relevant parameters. The description of the present invention only gives an exemplary order, but there is no order restriction when the teaching method is actually implemented, and this should not be used as a limitation on the scope of protection of the present invention.

[0045] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An industrial robot system, It is characterized in that The invention comprises an industrial robot and an operating device, wherein the operating device can teach the movement of the industrial robot according to the operation of a user, and the operating device comprises a manipulator and a first posture sensor and / or a first orientation sensor for determining the posture of the operating device; the industrial robot comprises: an acquisition module for acquiring the installation posture of the industrial robot; a control module for generating a motion instruction of the robot according to the installation posture of the industrial robot and the posture of the operating device, wherein the motion instruction enables the end of the industrial robot to move with the guiding direction of the operating device as a reference; the acquisition module comprises a second posture sensor and / or a second orientation sensor for acquiring the installation posture of the industrial robot; the acquisition module is used to acquire the installation posture of the industrial robot according to the input of the user; the industrial robot can be installed on a moving object to perform work, and the acquisition module can communicate with the moving object to acquire the installation posture of the industrial robot; the industrial robot can be installed on a moving object to perform work, and the installation posture changes with the change of the posture of the moving object, and the moving object comprises a mobile platform or a positioner; the industrial robot can acquire the robot posture, and the control module generates the motion instruction according to the robot posture, the installation posture of the industrial robot and the posture of the operating device.

2. The industrial robot system according to claim 1, It is characterized in that The operating device can be detachably connected to the industrial robot.

3. The industrial robot system according to claim 1, It is characterized in that The industrial robot is formed as a three-axis, four-axis, or six-axis robotic arm, or the industrial robot is formed as a collaborative robot.

4. A method for teaching an industrial robot, applicable to the industrial robot system according to any one of claims 1 to 3, It is characterized in that include: Get the installation position of the industrial robot; Detect the position and posture of the operating equipment; Generate a motion instruction for the robot according to the installation posture of the industrial robot and the posture of the operating device, wherein the motion instruction causes the end of the industrial robot to move with the guiding direction of the operating device as a reference; The industrial robot can be installed on a moving object to perform work, and the installation posture changes with the change of the posture of the moving object.

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