Robot teaching system
By combining the operation unit, the calculation unit, and the sensor unit, the problems of unintuitive robot teaching systems, poor safety, and high learning costs are solved, realizing flexible robot interaction and safe control, and expanding the boundaries of robot capabilities.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- WUCHUANG ZHIDA TECH CO LTD
- Filing Date
- 2025-02-14
- Publication Date
- 2026-05-15
AI Technical Summary
Existing robot teaching systems are not intuitive, pose safety hazards, have high learning costs, and cannot simulate force feedback, making it difficult to conduct effective interactive teaching in polishing/assembly scenarios.
By combining an operation unit, a calculation unit, and a sensor unit, the robot senses the operation force through sensors and calculates the interaction force. The robot then performs actions based on the interaction force and feeds back the environmental force, thus achieving flexible interaction and safe control.
It improves the safety and intuitiveness of robot teaching, expands the robot's capability boundaries, achieves a force/position hybrid teaching effect, and reduces learning costs.
Smart Images
Figure CN224239582U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robot control technology, and in particular to a robot teaching system. Background Technology
[0002] There are many types of robots available today, and each robot manufacturer has its own robot teaching system. However, existing robot teaching systems have the following main drawbacks in use:
[0003] (1) Lack of intuitiveness: Existing robot teaching systems are basically based on button-based robot movement, and the direction of movement / rotation of the end effector in three-dimensional space depends entirely on the reference coordinate system. The above shortcomings can cause confusion for operators regarding the robot's movement / rotation direction, greatly increasing the possibility of misoperation.
[0004] (2) Dangers exist: The robots currently in use are generally controlled by tracking the joint command angles. Although this method has high tracking accuracy, it also has very high rigidity. When the robot collides with the outside world, it will inevitably generate a large contact force, which can easily cause damage to the robot body or the objects touched by the outside world, and may cause property damage or even personal injury.
[0005] (3) High learning cost: Existing robot teaching systems typically require numerous settings during teaching operations, such as setting motion speed, motion mode, and reference coordinate system. These settings are usually hidden in the interactive interface, which is complex and presents a significant learning cost for operators.
[0006] (4) Currently, teaching is all position teaching and does not include interactive teaching with the environment. Therefore, existing robot teaching systems cannot simulate and provide feedback on force information in grinding / assembly scenarios. Utility Model Content
[0007] One objective of this application is to provide a robot teaching system that can solve at least one of the defects in the aforementioned background art.
[0008] To achieve at least one of the above objectives, the technical solution adopted in this application is as follows: a robot teaching system, comprising an operating unit, a robot, a calculation unit, and a first sensor unit; the first sensor unit is installed on the operating unit and signal-connected to the calculation unit, the first sensor unit being adapted to send the operating force applied to the operating unit to the calculation unit, so that the calculation unit calculates a first interaction force proportional to the operating force; the robot is signal-connected to the calculation unit, so that the robot performs corresponding actions according to the received first interaction force and feeds back a second interaction force with the environment to the calculation unit.
[0009] Preferably, the robot is equipped with a driver at its joint position, and the robot is adapted to feed back the operating current of the driver to the calculation unit so that the calculation unit can obtain the second interaction force through calculation.
[0010] Preferably, the robot is equipped with a second sensor unit, and the robot feeds back the second interactive force to the calculation unit through the second sensor unit.
[0011] Preferably, the second sensor unit is a six-dimensional force sensor, and the second sensor unit is disposed at the end or base of the robot.
[0012] Preferably, the robot uses a joint torque sensor positioned at the joint location as the second sensor unit.
[0013] Preferably, the operating unit is a handle, which the operator holds with one or both hands to apply the operating force; the first sensor unit is a six-dimensional force sensor, which is located at the base of the operating unit.
[0014] Preferably, the operation unit is a 3D navigation device, with a built-in six-degree-of-freedom sensor as the first sensor unit.
[0015] Preferably, the operating unit is a remote control, and the operator applies the operating force by pressing buttons.
[0016] Preferably, the operating unit is further provided with a first button for functional control of the robot.
[0017] Preferably, the operation unit is further provided with a second button for proportionally adjusting the first interactive force and the operation force.
[0018] Compared with the prior art, the beneficial effects of this application are as follows:
[0019] The robot can perform equivalent flexible interaction with the outside world according to the operating force applied by the operator to the operating unit. During the interaction, the robot end can adapt to and provide feedback on various external forces / torques, thereby improving the safety of robot teaching and greatly expanding the robot's capability boundaries. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the overall structure of this application.
[0021] Figure 2 This is a flowchart illustrating the workflow of this application.
[0022] In the diagram: Operation unit 100, calculation unit 200, robot 300. Detailed Implementation
[0023] The present application will now be further described in conjunction with specific embodiments. It should be noted that, in the description of this specification, the use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.
[0024] In the description of this application, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this application.
[0025] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.
[0026] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0027] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0028] The terms “comprising” and “having”, and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.
[0029] One preferred embodiment of this application, such as Figure 1 and Figure 2 As shown, a robot teaching system includes an operation unit 100, a robot 300, a calculation unit 200, and a first sensor unit. The first sensor unit is installed in the operation unit 100 and is signal-connected to the calculation unit 200. When teaching is required, the operator can apply an operation force to the operation unit 100. At this time, the first sensor unit can send the operation force applied to the operation unit 100 to the calculation unit 200. Then, the calculation unit 200 calculates the operation force using its built-in algorithm to obtain a first interaction force proportional to the operation force. Simultaneously, the robot 300 is also signal-connected to the calculation unit 200, so that after completing the calculation of the operation force, the calculation unit 200 can send the obtained first interaction force to the robot 300 via an electrical signal. The robot 300 then performs corresponding actions in the workspace based on the received first interaction force. Furthermore, during the robot 300's actions, a second interaction force generated by interaction with the environment can be fed back to the calculation unit 200 in real time, so that the operator can perceive the actual interaction of the robot 300. Compared with traditional teaching methods, the robot 300 of this application can not only perform equivalent flexible interaction with the outside world according to the operating force applied by the operator to the operating unit 100, but also adapt to and provide feedback on various external forces / torques during the interaction process. This not only improves the teaching safety of the robot 300, but also greatly expands the capability boundaries of the robot 300.
[0030] It should be understood that the operating force applied by the operator to the operating unit 100 includes force and torque. The calculation unit 200 calculates the force to obtain the driving force that the operator wants the robot 300 to interact with the environment, and calculates the torque to obtain the direction of movement of the robot 300 within the workspace that the operator wants. That is, the robot 300 can move in the direction indicated by the operating force without contact within the workspace, and the velocity / angular velocity is proportional to the force / torque included in the operating force.
[0031] Those skilled in the art should know that when a traditional teaching system performs motion control on a robot 300, the robot 300's motion relies on a fixed reference coordinate system. However, these reference coordinate systems change relative to the operator's spatial orientation perception. This requires the operator to manually perform a coordinate transformation when controlling the robot 300's motion, making the robot 300's motion process unintuitive.
[0032] In this embodiment, the directional intention of movement / rotation applied by the operator to the operating unit 100 is directly mapped to the end effector of the robot 300, preventing any discrepancy between the robot 300's movement in certain reference coordinate systems and the operator's intended movement. That is, the reference coordinate system of the operating unit 100 is aligned with the base coordinate system of the robot 300, thus ensuring that the vector formed by the force / torque applied by the operator to the operating unit 100 can be correctly mapped to the base coordinate system of the robot 300. For ease of understanding, this can be represented by specific vectors below.
[0033] Specifically, the rotation matrix of the operating unit 100 relative to the base coordinates of the robot 300 can be set as R, and the force vector applied by the operator to the operating unit 100 can be set as follows: The torque vector applied by the operator to the operating unit 100 is Then there is expected interaction force and desired interaction torque We can define the rotation matrix of the robot 300 end effector relative to the robot 300 base coordinate system as R. e Then there is the expected interaction force relative to the robot's 300 base coordinate system. Expected interactive torque
[0034] Those skilled in the art should know that traditional teaching systems only store the positional information of the robot 300 at specific points. This approach is generally only suitable for situations where the robot 300 does not come into contact with the outside world. However, when the robot 300 needs to interact with the outside world, simply storing the positional information is insufficient; the interaction force information also needs to be stored. In traditional teaching systems, the robot 300 is based on pure positional control. When teaching occurs while the robot 300 is in contact with the outside world, the rigidity of its control method often makes it impossible to control the magnitude of the contact force, thus failing to achieve a force / position hybrid teaching effect.
[0035] In this embodiment, when the robot 300 moves within the workspace, the operator can directly observe the robot 300. When the robot 300 comes into contact with the environment within the workspace, the operator can observe the robot 300's motion state under the current operating force. That is, when the contact resistance between the robot 300 and the environment is greater than the first interaction force generated by the operator's applied operating force, the robot 300 will stop moving and feed back the second interaction force generated by the contact to the operator. If the contact resistance between the robot 300 and the environment is less than the first interaction force generated by the operator's applied operating force, the robot 300 will move at the speed generated after offsetting the contact resistance. In other words, in this embodiment, when controlling the motion of the robot 300, the robot 300's pose and interaction forces within the workspace can be recorded, thereby achieving a force / position hybrid teaching effect.
[0036] In this embodiment, there are various types of operation units 100. The type and installation method of the first sensor unit based on different types of operation units 100 may also be different. For ease of understanding, three specific examples will be used to illustrate this in detail below.
[0037] Example 1: The operating unit 100 uses a handle, which the operator applies force by gripping with one or both hands. Based on the structural type of the operating unit 100, the first sensor unit is preferably a six-dimensional force sensor, located at the root of the operating unit 100. Thus, when the operator applies force to the operating unit 100 by pushing or pulling, the first sensor unit can acquire the force / torque in the corresponding direction and magnitude and send it to the calculation unit 200. The calculation unit 200 calculates the first interaction force through a series of coordinate transformations and coefficient multiplications and sends it to the robot 300. With the first interaction force as the desired target, the robot 300 uses a compliant motion algorithm to drive its end effector to move, enabling it to adapt to the second interaction force from the environment while moving itself. In the absence of contact, the robot 300 can move in the direction indicated by the target force, and its velocity / angular velocity is proportional to the force / torque corresponding to the operating force. When in contact with the environment, robot 300 will adapt to the environment. After stabilizing, robot 300 will be able to make contact with external objects with the desired manipulatory force.
[0038] It should be understood that the specific structure and working principle of the six-dimensional force sensor are well-known technologies to those skilled in the art, and therefore will not be described in detail here. The handle used in the operating unit 100 can be similar to the directional control handle of an excavator or the gear shift lever of a car. As mentioned above, during the movement of the robot 300, it is necessary to record the force / position feedback from the robot 300. Therefore, a first button for functional control of the robot 300 can be arranged on the handle. Specifically, the first button can be used to perform I / O operations on the robot 300, record, modify, and browse positions, and switch the robot 300's movement mode. Simultaneously, a second button is also arranged on the handle for proportional adjustment of the first interactive force and the operating force, which allows the operator to easily control the force / torque conversion ratio according to actual requirements.
[0039] Example 2: The operation unit 100 uses a 3D navigation device, with a built-in six-degree-of-freedom sensor as the first sensor unit. There are various types of 3D navigation devices, such as the Spacemouse produced by 3Dconnexion, which has a built-in six-degree-of-freedom sensor that can sense the user's pushing, pulling, and twisting intentions and amplitudes. Combined with the elastic body in its internal structure, it can achieve an experience similar to force control.
[0040] Example 3: The operation unit 100 uses a remote control, and the operator applies operating force by pressing buttons; the distribution of button positions completes the issuance of six-dimensional motion commands. Using an internally integrated pose sensor as the first sensor unit, intuitive movement control of the robot 300 in a unified coordinate system can be achieved; simultaneously, target forces for motion can be set on the remote control, thereby achieving the purpose of teaching.
[0041] In this embodiment, there are multiple ways to provide feedback on the second interactive force to the robot 300. Two common methods are: one is to calculate the force using motion parameters fed back by the robot 300, and the other is to directly obtain the force based on the detection by the set second sensor unit. For ease of understanding, the following will provide a detailed explanation based on these two scenarios.
[0042] I. Calculation of the second interaction force based on motion parameters fed back by robot 300.
[0043] It is understandable that the robot 300 generates various motion parameters that can reflect the second interaction force when it moves within the workspace, such as operating current and motion speed. For ease of understanding, let's take operating current as an example. The joints of the robot 300 are equipped with actuators, and the robot 300 can feed back the operating current of the actuators to the calculation unit 200, so that the calculation unit 200 can obtain the second interaction force through calculation.
[0044] 2. The second sensor unit detects the second interactive force based on the settings.
[0045] The second sensor unit can be a sensor built into the robot 300 itself; for example, a joint torque sensor located at the joint position of the robot 300 can be used as the second sensor unit. During the movement of the robot 300, the data fed back by the joint torque sensor can be used to calculate the second interaction force. Alternatively, the second sensor unit can be an additional six-dimensional force sensor installed on the robot 300, located at the end effector or base of the robot 300. During the movement of the robot 300, the data fed back by the six-dimensional force sensor can be used to calculate the second interaction force.
[0046] The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this application. Various changes and modifications can be made to this application without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by this application is defined by the appended claims and their equivalents.
Claims
1. A robot teaching system, characterized in that, include: Operation unit; Solution unit; First sensor unit; The first sensor unit is installed on the operation unit and connected to the calculation unit by a signal. The first sensor unit is adapted to send the operation force applied to the operation unit to the calculation unit so that the calculation unit can calculate a first interaction force proportional to the operation force. as well as The robot is connected to the calculation unit via a signal, so that the robot performs corresponding actions based on the received first interaction force and feeds back a second interaction force with the environment to the calculation unit.
2. The robot teaching system as described in claim 1, characterized in that, The robot is equipped with actuators at its joints, and the robot is adapted to feed back the operating current of the actuators to the calculation unit so that the calculation unit can obtain the second interaction force through calculation.
3. The robot teaching system as described in claim 1, characterized in that, The robot is equipped with a second sensor unit, and the robot feeds back the second interactive force to the calculation unit through the second sensor unit.
4. The robot teaching system as described in claim 3, characterized in that, The second sensor unit is a six-dimensional force sensor, and the second sensor unit is located at the end or base of the robot.
5. The robot teaching system as described in claim 3, characterized in that, The robot uses a joint torque sensor positioned at the joint location as its second sensor unit.
6. The robot teaching system according to any one of claims 1-5, characterized in that, The operating unit is a handle, which the operator holds with one or both hands to apply the operating force; the first sensor unit is a six-dimensional force sensor, which is located at the base of the operating unit.
7. The robot teaching system according to any one of claims 1-5, characterized in that, The operation unit uses a 3D navigation device, with a built-in six-degree-of-freedom sensor as the first sensor unit.
8. The robot teaching system according to any one of claims 1-5, characterized in that, The operating unit is a remote control, and the operator applies the operating force by pressing buttons.
9. The robot teaching system as described in claim 1, characterized in that, The operating unit is also equipped with a first button for controlling the functions of the robot.
10. The robot teaching system as described in claim 1, characterized in that, The operation unit is also provided with a second button for proportionally adjusting the first interactive force and the operation force.