CN117648042B - Industrial robot dragging teaching movement control method and system - Google Patents
Industrial robot dragging teaching movement control method and system Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/0486—Drag-and-drop
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Abstract
The invention discloses a dragging teaching movement control method and a dragging teaching movement control system for an industrial robot, wherein the method comprises the following steps: if the industrial robot system detects a calibration instruction, calibrating the tail end force sensing dragging demonstrator based on an automatic calibration program; if a parameter setting instruction is detected, a sensor parameter set by a user is obtained to adjust corresponding parameters of the tail end force sensing drag demonstrator; creating a teaching file, configuring a function key to be in a first working mode when a point taking mode instruction is detected, acquiring a point taking configuration parameter set by a user, controlling the industrial robot to perform corresponding movement according to a default dragging control mode when the tail end force sensing dragging demonstrator is dragged, acquiring first point position information of a movement track of the industrial robot based on the instruction generated by pressing the function key and the point taking configuration parameter set, and storing the first point position information to the teaching file. According to the invention, the dragging teaching can be performed after the mode is selected, so that the teaching efficiency can be improved, and the learning cost can be saved.
Description
Technical Field
The invention relates to the technical field of industrial robot control, in particular to a method and a system for controlling dragging teaching movement of an industrial robot.
Background
With the development of robotics, many industries also introduce industrial robots for reducing labor costs and improving work efficiency, and programming is an essential step for robots to complete a given production task. At present, two common robot programming modes are off-line programming and teaching programming respectively.
Offline programming is one method of robot trajectory programming in an offline situation with a dedicated or generic program in a specialized software environment. The offline programming program generates object program codes through interpretation or compiling of supporting software, and finally generates robot path planning data. The off-line programming does not need to occupy the running working time of the robot, shortens the field working period, can generate a complex project program through a computer, can simulate and verify whether the program is correct after the program is generated, and can generate a complex track by matching with mechanical design to verify whether the project structure is correct. However, not all robots can provide offline programming software, and part of the programming software is expensive, so that the errors between the actual situation and the simulated 3D model are large, and an accurate track is difficult to form.
The teaching programming is mainly divided into a teaching machine teaching programming and a dragging teaching programming. Demonstrator teaching programming refers to an operator manually teaching a desired trajectory using a demonstrator. The demonstrator is simple and convenient to teach and program, flexible to use, free from an environment model, capable of correcting position errors in a mechanical structure, but difficult to teach tracks with multiple path points and complex shapes, cumbersome in teaching process, low in efficiency, inconvenient to use, and large in learning amount, most of the demonstrators are independently developed by various brands and cannot be shared, almost every robot demonstrator has a unique programming or scripting language, and needs a great amount of training to ensure correct use. The dragging teaching programming means that an operator manually drags the tail end of the robot to teach out a desired track, the direct dragging robot is helpful for the operator to teach out the desired track, the teaching process is simple, but the dragging teaching programming in the prior art is suitable for relatively simple and visual tasks, and high-precision robot control may not be realized due to the limitation of human operation.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and the embodiment of the invention provides a method and a system for controlling the dragging teaching movement of an industrial robot.
In a first aspect, an embodiment of the present invention provides an industrial robot drag teaching movement control method, which is applied to an industrial robot drag teaching movement control system, where the industrial robot drag teaching movement control system includes an industrial robot system and an end force sensing drag demonstrator, the industrial robot system is in communication connection with the end force sensing drag demonstrator, and the end force sensing drag demonstrator is provided with a switch key and a function key;
The method comprises the following steps:
the terminal force sensing dragging demonstrator is powered on and started when the switch key is detected to be in an on state;
If the industrial robot system detects a calibration instruction, calibrating the tail end force sensing dragging demonstrator based on a preset automatic calibration program to obtain and display calibration parameters and calibration completion prompt information;
If the industrial robot system detects a parameter setting instruction, acquiring a sensor parameter set by a user, and transmitting the sensor parameter set to the tail end force sensing drag demonstrator;
The terminal force sensing drag demonstrator adjusts corresponding parameters according to the sensor parameter set;
The industrial robot system creates a teaching file according to the dragging teaching instruction;
if the industrial robot system detects a point taking mode instruction, configuring the function keys into a preset first working mode, and acquiring a point taking configuration parameter set by a user;
and when the tail end force sensing drag demonstrator is dragged, the industrial robot system controls the industrial robot to perform corresponding motion according to a preset default drag control mode, obtains first point position information of the motion trail of the industrial robot based on an instruction generated by pressing the function key and the point taking configuration parameter set, and stores the first point position information into the demonstration file.
In a second aspect, an embodiment of the present invention provides an industrial robot drag teaching movement control system, including: the system comprises an industrial robot system and an end force sensing dragging demonstrator, wherein the industrial robot system is in communication connection with the end force sensing dragging demonstrator, and the end force sensing dragging demonstrator is provided with a switch key and a function key;
the terminal force sensing dragging demonstrator is used for being electrified and started when the switch key is detected to be in an on state;
the industrial robot system is used for calibrating the tail end force sensing dragging demonstrator based on a preset automatic calibration program if a calibration instruction is detected, so as to obtain and display calibration parameters and calibration completion prompt information;
The industrial robot system is further used for acquiring a sensor parameter set by a user if a parameter setting instruction is detected, and transmitting the sensor parameter set to the tail end force sensing drag demonstrator;
The tail end force sensing dragging demonstrator is also used for adjusting corresponding parameters according to the sensor parameter set;
The industrial robot system is further used for creating a teaching file according to the dragging teaching instruction;
The industrial robot system is further configured to configure the function key to a preset first working mode if a point taking mode instruction is detected, and acquire a point taking configuration parameter set by a user;
the industrial robot system is further configured to control the industrial robot to perform corresponding motion according to a preset default drag control mode when the tail end force sensing drag demonstrator is dragged, acquire first point position information of a motion track of the industrial robot based on an instruction generated by pressing the function key and the point fetching configuration parameter set, and store the first point position information to the demonstration file.
The embodiment of the invention provides a method and a system for controlling dragging teaching movement of an industrial robot, wherein the method comprises the following steps: if the industrial robot system detects a calibration instruction, calibrating the tail end force sensing dragging demonstrator based on an automatic calibration program; if a parameter setting instruction is detected, a sensor parameter set by a user is obtained to adjust corresponding parameters of the tail end force sensing drag demonstrator; creating a teaching file, configuring a function key to be in a first working mode when a point taking mode instruction is detected, acquiring a point taking configuration parameter set by a user, controlling the industrial robot to perform corresponding movement according to a default dragging control mode when the tail end force sensing dragging demonstrator is dragged, acquiring first point position information of a movement track of the industrial robot based on the instruction generated by pressing the function key and the point taking configuration parameter set, and storing the first point position information to the teaching file. According to the invention, the dragging teaching can be performed after the mode is selected, so that the teaching efficiency can be improved, and the learning cost can be saved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling the dragging teaching movement of an industrial robot according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for controlling the dragging teaching movement of an industrial robot according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart of sequentially and circularly switching a first drag control mode, a second drag control mode and a third drag control mode according to an embodiment of the present invention;
Fig. 4 is a schematic block diagram of an industrial robot drag teaching movement control system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1, fig. 1 is a schematic flow chart of an industrial robot dragging teaching movement control method provided by an embodiment of the present invention, where the industrial robot dragging teaching movement control method provided by the embodiment of the present invention is applied to an industrial robot dragging teaching movement control system, and the industrial robot dragging teaching movement control system includes an industrial robot system and an end force sensing dragging demonstrator, and the industrial robot system is in communication connection with the end force sensing dragging demonstrator, and the end force sensing dragging demonstrator is provided with a switch key and a function key. As shown in FIG. 1, the method for controlling the dragging teaching movement of the industrial robot provided by the embodiment of the invention comprises the steps S11-S17.
And S11, powering on and starting the terminal force sensing dragging demonstrator when the switch key is detected to be in an on state.
In this embodiment, the switch key is a mechanical physical key, and the states of the switch key include an on state and an off state, where the switch key is used to turn on the end force sensing drag demonstrator in the on state and turn off the end force sensing drag demonstrator in the off state. Specifically, after the terminal force sensing drag demonstrator is installed at the corresponding position of the industrial robot terminal, a user (i.e. an operator) can start the terminal force sensing drag demonstrator by pressing a switch key, and the terminal force sensing drag demonstrator is powered on and started to wait for obtaining the force applied by the user to the terminal force sensing drag demonstrator in the drag demonstrating process. And after the end force sensing drag demonstrator is started, the end force sensing drag demonstrator can be closed by pressing the switch key again.
And S12, if the industrial robot system detects a calibration instruction, calibrating the tail end force sensing dragging demonstrator based on a preset automatic calibration program to obtain and display calibration parameters and calibration completion prompt information.
In this embodiment, when the industrial robot drag teaching mobile control system is used for drag teaching for the first time, the end force sensing drag teaching device in the industrial robot drag teaching mobile control system needs to be calibrated to meet the follow-up motion control of the industrial robot. Specifically, the industrial robot system is provided with a human-computer interaction interface, a user can click a preset 'force sensor' button on the human-computer interaction interface to enter the 'force sensor' interface, and two touch buttons, namely a 'power-on button' and a 'calibration button', are arranged on the 'force sensor' interface. After entering the force sensor interface, a power-on instruction is generated when a power-on button is clicked, and the industrial robot system is automatically powered on to be ready for operation when detecting the power-on instruction. Then, when the 'calibration button' is clicked, a calibration instruction is generated, the industrial robot system automatically operates a preset automatic calibration program according to the detected calibration instruction, and after the automatic calibration program is operated, calibration parameters and calibration completion prompt information are displayed on an interface. The calibration parameters are related parameters of the tail end force sensing dragging demonstrator, and comprise gravity center coordinates, force, moment zero point and zero drift of the force sensor, load weight and robot inclination angle; the calibration completion prompt message is used for prompting that the calibration is completed, for example, the calibration completion prompt message is "calibration completed". By running an automatic calibration program, the reliability of the force sensor in the tail end force sensing dragging demonstrator can be improved, so that the reliability and stability of the force sensor in various working scenes can be ensured. Meanwhile, in the subsequent motion control of the industrial robot, the industrial robot dragging teaching mobile control system can realize the touch balance of force under any pose state of the industrial robot, and can achieve better dragging teaching performance under different pose states of the industrial robot. The end force sensing drag demonstrator can be calibrated only by clicking the relevant touch buttons on the man-machine interaction interface by a user, other operations are not needed, the workload of the user is reduced, and the working efficiency of the user is greatly improved.
In one embodiment, after step S12, the method further includes:
and if the industrial robot system detects the modification instruction, acquiring the current calibration parameters set by the user, and updating the calibration parameters according to the current calibration parameters.
In this embodiment, the industrial robot system displays the calibration parameters obtained after calibration on the man-machine interaction interface, so that the calibration parameters can be analyzed and form effective feedback. When the user needs to modify the calibration parameters after analyzing the calibration parameters, the user can directly modify the calibration parameters on the human-computer interaction interface, and a modification instruction is generated when the calibration parameters are modified. If the industrial robot system detects the modification instruction, the user modifies the calibration parameters, the current calibration parameters (i.e. the modified calibration parameters) set by the user are obtained, and the calibration parameters are updated according to the current calibration parameters, so that the calibration parameters can be modified, and the method is suitable for the industrial robot with ideal parameters and in an ideal environment.
And S13, if the industrial robot system detects a parameter setting instruction, acquiring a sensor parameter set by a user, and transmitting the sensor parameter set to the tail end force sensing drag demonstrator.
S14, the tail end force sensing dragging demonstrator adjusts corresponding parameters according to the sensor parameter set.
In this embodiment, the parameter setting instruction is an instruction generated when the industrial robot system clicks a "parameter setting" button set on the man-machine interaction interface, and if the industrial robot system detects the parameter setting instruction, the industrial robot system obtains a sensor parameter set autonomously set on the man-machine interaction interface by the user, and adjusts corresponding parameters of the terminal force sensing drag demonstrator according to the sensor parameter set, so as to effectively improve flexibility of drag teaching. The sensor parameter set comprises sensor sensitivity, force control minimum response and dragging teaching speed, the sensor sensitivity comprises moving sensitivity and rotating sensitivity, and the moving sensitivity and the rotating sensitivity of the tail end force sensing dragging teaching machine can be changed according to actual dragging use requirements; the minimum force response comprises a minimum force response and a minimum moment response, and a user can adjust the minimum force response and the minimum moment response by himself, and safety in the dragging teaching process is ensured according to the difference of dragging force control sensing differentiation habits and the minimum force sensing limitation of the industrial robot; the dragging teaching speed comprises a maximum moving speed and a maximum gesture speed, and a user can automatically adjust the maximum moving speed and the maximum gesture speed to meet the actual application requirement, so that the maximum speed of the dragging industrial robot in moving and rotating is controlled, and the safe and stable operation of the dragging teaching process is ensured.
S15, the industrial robot system creates a teaching file according to the dragging teaching instruction.
In this embodiment, the drag teaching instruction is an instruction generated when the industrial robot system clicks a "drag teaching" button provided on the man-machine interaction interface by a user. And if the industrial robot system detects the dragging teaching instruction, creating a teaching file according to the dragging teaching instruction so as to save point location information obtained by taking points in the subsequent dragging teaching process, and further realizing the industrial robot to reproduce the teaching track through the teaching file.
S16, if the industrial robot system detects a point taking mode instruction, the function keys are configured into a preset first working mode, and a point taking configuration parameter set by a user is obtained.
In this embodiment, the instruction of the point taking mode is an instruction generated when the industrial robot system clicks a "point taking mode" button set on the man-machine interaction interface, and the point taking configuration parameter set is a relevant parameter set on the man-machine interaction interface according to the requirement, which is set by the user and is used for enabling the industrial robot system to quickly acquire point location information, so that the industrial robot system can conveniently and quickly program. The function key is a mechanical physical key, when the industrial robot system detects a point taking mode instruction, the function key is configured into a preset first working mode, and the function key is used for triggering the industrial robot system to acquire point location information in the first working mode, so that in the subsequent dragging teaching process, a user can control the industrial robot system to efficiently acquire the point location information according to the point taking configuration parameter set by pressing the function key.
And S17, when the tail end force sensing drag demonstrator is dragged, the industrial robot system controls the industrial robot to perform corresponding movement according to a preset default drag control mode, obtains first point position information of a movement track of the industrial robot based on an instruction generated by pressing the function key and the point taking configuration parameter set, and stores the first point position information into the demonstration file.
In this embodiment, in the case where the user performs the drag teaching on the industrial robot drag teaching movement control system, the industrial robot drag teaching movement control system may be programmed according to the teaching track to obtain a file for causing the industrial robot to reproduce the teaching track. The force sensor arranged in the tail end force sensing drag demonstrator is a six-dimensional pressure sensor so as to obtain the six-dimensional force acted by the user on the tail end force sensing drag demonstrator. Specifically, under the condition that the function keys are configured to be in a first working mode, in the process that a user drags the tail end force sensing dragging demonstrator to drag the demonstrator according to a desired track, the tail end force sensing dragging demonstrator samples in real time through a six-dimensional pressure sensor to obtain six-dimensional force parameters, and the six-dimensional force parameters are transmitted to the industrial robot system. The industrial robot system analyzes the six-dimensional force parameters to obtain characteristic parameters, calculates motion control parameters based on the characteristic parameters, and controls the industrial robot to perform corresponding motions according to the motion control parameters and a default drag control mode. The characteristic parameters comprise a moment rotating shaft, a moment size, a resultant force direction and a resultant force size; the motion control parameters include a robot pose rotation axis, a robot pose rotation speed, a robot position movement direction, and a robot position movement speed. The default drag control mode is used for changing the position of the industrial robot, the posture of the industrial robot and the angle of the external shaft of the industrial robot, so that in the drag teaching process, the industrial robot system can change the position and the posture of the industrial robot and the angle of the external shaft of the industrial robot under the drag of the end force sensing drag demonstrator by a user, and the industrial robot moves according to the teaching track expected by the user.
Meanwhile, in the process that the user drags the tail end force sensing drag demonstrator to drag the demonstration according to the expected track, when the industrial robot carries out corresponding movement, the user can trigger the industrial robot system to acquire first point position information of the movement track of the industrial robot according to the point taking configuration parameter set only by pressing a function key, and the industrial robot system further stores the first point position information into a demonstration file so as to realize that the industrial robot reproduces the demonstration track through the demonstration file. The industrial robot system can trigger the industrial robot system to take a point through the function keys under the condition that the function keys are configured into the first working mode, so that the industrial robot system can efficiently write an industrial robot motion program, a complex motion track is realized, and the problem that an operator needs a great amount of training to ensure that the demonstrator can be correctly used for programming is solved. In addition, the user does not need to learn other programming or script languages, so that the learning cost is saved, the user can more simply and easily teach, and the working efficiency is greatly improved.
In an embodiment, the point-taking configuration parameter set includes a point-taking mode, a point type, a point-taking motion parameter, and a file type; the point taking mode is a single point taking mode or a continuous point taking mode.
The obtaining the first point position information of the motion track of the industrial robot based on the instruction generated by pressing the function key and the point-taking configuration parameter set comprises the following steps:
If the point taking mode is determined to be the single point taking mode, acquiring a first coordinate parameter corresponding to a target point according to an instruction generated by pressing the function key when the industrial robot moves to the target point, and generating first point information according to the first coordinate parameter, the point type, the point movement parameter and the file type;
And if the point taking mode is determined to be the continuous point taking mode, continuously acquiring a plurality of second coordinate parameters of the motion track of the industrial robot when an instruction generated by pressing the function key for the first time is detected, ending acquiring the coordinate parameters until an instruction generated by pressing the function key again is detected, and generating the first point position information according to the acquired plurality of second coordinate parameters, the point position type, the point position motion parameters and the file type.
In this embodiment, the point-taking configuration parameter set includes a point-taking mode, a point-taking type, a point-taking motion parameter and a file type, which are currently set by a user on a human-computer interaction interface, where the point-taking mode may be set to a single point-taking mode or a continuous point-taking mode according to actual requirements, and the point-taking type may be set to a joint point-taking type or a spatial point-taking type according to actual requirements. The point position motion parameters comprise a motion mode, a speed type, a speed size, acceleration, deceleration and a smooth grade, wherein the motion mode can be set into joint motion, linear motion, circular motion or spline curve motion according to actual requirements, and the motion mode is used for specifying a motion track between points during execution; the speed type can be set as joint movement speed, terminal gesture speed, external shaft speed or coordination speed according to actual requirements; the speed magnitude is used to specify at what speed the industrial robot performs movement between points; acceleration (deceleration) is used to specify acceleration (deceleration) when the industrial robot performs movement between points; the smoothing level is used to obtain a smooth speed profile so that the industrial robot is smoother in acceleration and deceleration. The file type can be set as a PRF format type or a PRG format type according to actual requirements, and is used for designating the format type according to the first bit information, wherein the PRF format type is suitable for scenes with less bit information and simple teaching tracks, and when the file type is set as the PRF format type, the teaching file only records the bit information; the PRG format type is suitable for scenes with multiple point location information and long and complex teaching tracks, and when the file type is set to be the PRG format type, the teaching file is a robot reproduction program programming file, so that the industrial robot can directly run.
If the user selects the single-point taking mode, the user is required to drag the industrial robot to the target point, and then the functional key is pressed down to enable the industrial robot system to take the point. Specifically, if the point taking mode set by the user is determined to be a single point taking mode, the industrial robot system acquires a first coordinate parameter corresponding to the target point when detecting an instruction generated by pressing the function key, so as to generate first point position information according to the first coordinate parameter, the point type, the point movement parameter and the file type, so that the track can be conveniently and rapidly taught.
If the user selects the continuous point taking mode, the user firstly presses a function key, then drags the tail end force sensing drag demonstrator to carry out drag teaching according to a desired track, and presses the function key again when the drag teaching is finished, so that the industrial robot system can automatically take points in the drag teaching process. Specifically, if the point taking mode set by the user is determined to be the continuous point taking mode, the industrial robot system starts to continuously acquire a plurality of second coordinate parameters in the teaching track from the time when an instruction generated by pressing the function key for the first time is detected until the instruction generated by pressing the function key again is detected to finish, so that first point position information is generated according to the acquired plurality of second coordinate parameters, the point position type, the point position motion parameter and the file type, the complex track is conveniently taught by dragging, and the teaching process is simple.
In addition, the point taking configuration parameter set can further comprise a point location storage type, the industrial robot system can further acquire the point location storage type set by a user, and the acquired first point location information is correspondingly stored according to the point location storage type. The point location save type may be set as an overlay save type or an append save type according to actual requirements, where the overlay save type is used to overlay the first point location information obtained last time with the first point location information obtained last time, and the append save type is used to append the first point location information directly based on the first point location information obtained last time.
In an embodiment, the continuous dotting mode includes a first continuous dotting mode and a second continuous dotting mode; and if the point-taking mode is determined to be the continuous point-taking mode, starting to continuously acquire a plurality of second coordinate parameters of the motion trail of the industrial robot when an instruction generated by pressing the function key for the first time is detected, wherein the method comprises the following steps:
if the point taking mode is determined to be the first continuous point taking mode in the continuous point taking modes, when an instruction generated by pressing the function key for the first time is detected, acquiring a plurality of second coordinate parameters of the motion trail of the industrial robot according to a time interval set by a user;
If the point taking mode is determined to be the second continuous point taking mode in the continuous point taking modes, when an instruction generated by pressing the function key for the first time is detected, acquiring a plurality of second coordinate parameters of the motion trail of the industrial robot according to a distance interval set by a user.
In this embodiment, the continuous point capturing mode may be set to a first continuous point capturing mode or a second continuous point capturing mode according to actual needs, and if the industrial robot system determines that the user sets the first continuous point capturing mode, when an instruction generated by pressing the function key for the first time is detected, the industrial robot system starts capturing a point of the motion track of the industrial robot at the same time interval in the process of user dragging teaching to obtain a second coordinate parameter, until the instruction generated by pressing the function key again is detected, and then finishes capturing the point. In addition, if the industrial robot system determines that the user sets the second continuous point taking mode, when an instruction generated by pressing the function key for the first time is detected, the industrial robot system starts to take points on the motion track of the industrial robot at the same distance interval in the process of dragging teaching by the user to obtain the second coordinate parameter, and finishes the point taking until the instruction generated by pressing the function key again is detected, so that the industrial robot system automatically takes points in the process of dragging teaching, the teaching process is simple and convenient, and the teaching efficiency is improved.
In an embodiment, referring to fig. 2, fig. 2 is a flow chart of a method for controlling dragging teaching movement of an industrial robot according to another embodiment of the present invention, after step S15, the method further includes:
s18, if the industrial robot system detects a key mode instruction, configuring the function key as a preset second working mode, and acquiring a drag control mode set by a user;
S19, the industrial robot system determines a target drag control mode in the drag control mode set based on the accumulated number of instructions generated by pressing the function keys;
S20, when the tail end force sensing drag demonstrator is dragged, the industrial robot system controls the industrial robot to perform corresponding motion according to the target drag control mode, and second point location information of the motion trail of the industrial robot is obtained based on the detected user point taking operation instruction and a preset default point taking configuration parameter set;
s21, the industrial robot system displays the second point location information;
S22, the industrial robot system stores the second point location information into the teaching file.
In this embodiment, the key mode instruction is an instruction generated when the industrial robot system clicks a "key mode" button set on the man-machine interaction interface, and the user point-taking operation instruction is an instruction generated when the industrial robot system clicks a "point-taking operation" button set on the man-machine interaction interface. After the corresponding parameters of the terminal force sensing drag demonstrator are adjusted, if the industrial robot system detects a key mode instruction, the function keys are configured into a preset second working mode, and the function keys are used for controlling the industrial robot system to determine a target drag control mode in the drag control mode set in the second working mode, namely, the industrial robot system can switch among a plurality of drag control modes in the drag control mode set. Specifically, a user can set a drag control mode set on the man-machine interaction interface according to actual requirements, wherein the drag control mode set comprises a plurality of drag control modes, and the drag control modes are used for changing the position of the industrial robot, the posture of the industrial robot, the pose of the industrial robot or the angle of an external shaft of the industrial robot. After the industrial robot system acquires the drag control mode set by the user, determining a target drag control mode according to the accumulated number of instructions generated by pressing the function keys (namely, the accumulated times of pressing the function keys by the user), and then controlling the industrial robot to perform corresponding movement according to six-dimensional force parameters sampled by the tail end force sensing drag demonstrator and the target drag control mode in the process of drag teaching according to a desired track by the tail end force sensing drag demonstrator by the user, wherein the industrial robot system can trigger the industrial robot system to acquire and display second point position information of the movement track of the industrial robot according to a default point position configuration parameter set by clicking a 'point position operation' button preset on a man-machine interaction interface by the user, and further saving the second point position information into a teaching file. The default point-taking configuration parameter set includes a point-taking mode, a point type, a point motion parameter and a file type which are preset by a user, and may also include a point-taking storage type preset by the user.
The industrial robot system can switch the dragging control mode through the function keys under the condition that the function keys are configured into the second working mode, and can trigger the industrial robot system to get points through a 'get point operation' button on the man-machine interaction interface, so that dragging teaching of multiple dragging control modes can be realized, a more accurate teaching track is formed, flexible operation capacity of the industrial robot is improved, the industrial robot can adjust the teaching track according to actual requirements, and the problem of universality of dragging teaching of the industrial robot is solved.
In an embodiment, the drag control mode set includes a first drag control mode, a second drag control mode, and a third drag control mode, which are sequentially arranged; step S19 includes:
the industrial robot system obtains a remainder obtained by dividing the accumulated number of instructions by 3, and adds 1 to the remainder to obtain a mode sequence number value;
If the industrial robot system determines that the mode serial number value is 1, determining that the first dragging control mode is a target dragging control mode;
if the industrial robot system determines that the mode serial number value is 2, determining that the second dragging control mode is a target dragging control mode;
And if the industrial robot system determines that the mode serial number value is 3, determining that the third dragging control mode is a target dragging control mode.
In this embodiment, the drag control mode set includes drag control modes sequentially set by 3 users, which are a first drag control mode, a second drag control mode and a third drag control mode, where the first drag control mode may be set to any one of a robot body pure translational control mode, a robot body pure posture control mode, a robot body translational plus posture mixed control mode and a robot external shaft drag control mode, the second drag control mode may be set to any one of a robot body pure translational control mode, a robot body pure posture control mode, a robot body translational plus posture mixed control mode and a robot external shaft drag control mode, and the third drag control mode may be set to any one of a robot body pure translational control mode, a robot body pure posture control mode, a robot body translational plus posture mixed control mode and a robot external shaft drag control mode. The pure translation control mode of the robot body is used for realizing that only the position of the industrial robot is changed, namely, the dragging teaching is carried out in the pure translation control mode of the robot body, so that the gesture of the industrial robot is not influenced; the pure gesture control mode of the robot body is used for realizing that only the gesture of the industrial robot is changed, namely, the dragging teaching is carried out in the pure gesture control mode of the robot body, so that the position of the industrial robot is not influenced; the robot body translation and gesture mixed control mode is used for realizing the change of the pose of the industrial robot, namely, the position and the pose of the industrial robot are simultaneously changed when the dragging teaching is carried out in the robot body translation and gesture mixed control mode; the external shaft dragging control mode of the robot is used for realizing the change of the angle of the external shaft of the industrial robot, the external shaft dragging control mode of the robot can be set to a plurality of external shafts for independent control, such as external deflection shaft dragging control of the robot, walking shaft dragging control of the robot and the like.
Under the condition that the function keys are configured into the second working mode, the industrial robot system switches the dragging control modes through the function keys so as to realize dragging teaching of multiple dragging control modes, form accurate teaching tracks and solve the problem of universality of dragging teaching of the industrial robot. Specifically, after the user sets the drag control mode in the drag control mode set, the industrial robot system obtains the remainder obtained by dividing the accumulated number of instructions generated by the user pressing the function key by 3, and adds 1 to the remainder to obtain a mode sequence number value, so that the target drag control mode in the drag control mode set can be determined according to the mode sequence number value. If the industrial robot system determines that the mode serial number value is 1, switching the first dragging control mode into a target dragging control mode; if the industrial robot system determines that the mode serial number value is 2, the second dragging control mode is switched to a target dragging control mode; and if the industrial robot system determines that the mode serial number value is 3, switching the third dragging control mode into the target dragging control mode, so that the first dragging control mode, the second dragging control mode and the third dragging control mode are sequentially and circularly switched through the function keys.
For easy understanding, fig. 3 may be referred to as a flow chart of sequentially and circularly switching the first drag control mode, the second drag control mode and the third drag control mode according to the embodiment of the present invention, and fig. 3 may also be referred to as a flow chart of operating the switch keys and the function keys according to the embodiment of the present invention. Under the condition that the end force sensing drag demonstrator is controlled to be started through the switch key, the industrial robot system obtains a drag control mode set and then defaults to enter a first drag control mode, namely when the accumulated number of instructions generated by the user pressing the function key is detected to be 0, the user does not press the function key at this time, a mode sequence number value is calculated to be 1, and the first drag control mode is switched to a target drag control mode. When the industrial robot system detects that the accumulated number of instructions generated by the user pressing the function key is 1, namely, when the user presses the function key for the 1 st time under the condition that the function key is configured to be in the second working mode, the mode serial number value is calculated to be 2, and the industrial robot system switches the second dragging control mode into the target dragging control mode so as to enter the second dragging control mode. When the industrial robot system detects that the accumulated number of instructions generated by the user pressing the function keys is 2, namely, when the user presses the function keys for the 2 nd time under the condition that the function keys are configured to be in the second working mode, the mode serial number value is calculated to be 3, and the industrial robot system switches the third dragging control mode into the target dragging control mode so as to enter the third dragging control mode. When the industrial robot system detects that the accumulated number of instructions generated by the user pressing the function key is 3, namely, when the user presses the function key for the 3 rd time under the condition that the function key is configured to be in the second working mode, the mode serial number value is calculated to be 1, the industrial robot system switches the first dragging control mode into the target dragging control mode so as to enter the first dragging control mode, and the target dragging control mode is switched by the user pressing the function key. In addition, the industrial robot system controls the end force sensing drag demonstrator to be closed when detecting that the switch key is pressed in any one of the first drag control mode, the second drag control mode and the third drag control mode.
In one embodiment, after step S21 and before step S22, the method further includes:
And if the industrial robot system detects the information modification instruction, acquiring current second point location information set by a user, and updating the second point location information according to the current second point location information.
In this embodiment, the industrial robot system may display the obtained second point location information on the man-machine interaction interface, so that the user may analyze the second point location information. The user can directly modify the second point location information on the man-machine interaction interface, and an information modification instruction can be generated when the second point location information is modified. After the industrial robot system acquires and displays the second point location information of the motion trail of the industrial robot, if an information modification instruction is detected, the current second point location information modified by the user can be acquired to update the second point location information.
According to the dragging teaching mobile control method for the industrial robot, disclosed by the invention, an operator does not need to learn other programming or scripting languages, the learning cost is saved, the teaching process is simple, the problem that the operator can ensure correct use of the demonstrator programming only by a great amount of training is solved, the teaching of complex tracks is facilitated, and the teaching efficiency is improved.
The embodiment of the invention also provides an industrial robot dragging teaching mobile control system, which is used for executing any embodiment of the industrial robot dragging teaching mobile control method, specifically referring to fig. 4, fig. 4 is a schematic block diagram of the industrial robot dragging teaching mobile control system provided by the embodiment of the invention, the industrial robot dragging teaching mobile control system provided by the embodiment of the invention comprises an industrial robot system 11 and an end force sensing dragging demonstrator 12, the industrial robot system 11 is in communication connection with the end force sensing dragging demonstrator 12, and the end force sensing dragging demonstrator 12 is provided with switch keys and function keys.
The end force sensing drag demonstrator 12 is configured to be powered on when the switch button is detected to be in an on state.
In this embodiment, the switch key is a mechanical physical key, and the states of the switch key include an on state and an off state, where the switch key is used to turn on the end force sensing drag demonstrator 12 in the on state and turn off the end force sensing drag demonstrator 12 in the off state. Specifically, after the end force sensing drag demonstrator 12 is installed at the corresponding position of the industrial robot end, the user (i.e., the operator) can start the end force sensing drag demonstrator 12 by pressing a switch button, and the end force sensing drag demonstrator 12 is powered on and started to wait for obtaining the force applied by the user to the end force sensing drag demonstrator 12 in the drag demonstrator process. After the end force sensing drag demonstrator 12 is turned on, the end force sensing drag demonstrator 12 can be turned off by pressing the switch button again.
The industrial robot system 11 is configured to calibrate the end force sensing drag demonstrator 12 based on a preset automatic calibration program if a calibration instruction is detected, so as to obtain and display calibration parameters and calibration completion prompt information.
In this embodiment, when the industrial robot drag teaching movement control system is used for drag teaching for the first time, the end force sensing drag teaching device 12 in the industrial robot drag teaching movement control system needs to be calibrated to satisfy the subsequent motion control of the industrial robot. Specifically, the industrial robot system 11 is provided with a man-machine interaction interface, a user can click a preset force sensor button on the man-machine interaction interface to enter the force sensor interface, and two touch buttons, namely a power-on button and a calibration button, are arranged on the force sensor interface. After entering the "force sensor" interface, a power-up instruction is generated when the "power-up button" is clicked, and the industrial robot system 11 is automatically powered up to be ready for operation when detecting the power-up instruction. Then, when the "calibration button" is clicked, a calibration command is generated, the industrial robot system 11 automatically runs a preset automatic calibration program according to the detected calibration command, and after the automatic calibration program is run, calibration parameters and calibration completion prompt information are displayed on the interface. The calibration parameters are relevant parameters of the tail end force sensing dragging demonstrator 12, and comprise barycentric coordinates, force, moment zero point and zero drift of the force sensor, load weight and robot inclination angle; the calibration completion prompt message is used for prompting that the calibration is completed, for example, the calibration completion prompt message is "calibration completed". By running an automatic calibration procedure, the reliability of the force sensor in the end force sensing drag teach pendant 12 can be improved to ensure the reliability and stability of the force sensor in various operating scenarios. Meanwhile, in the subsequent motion control of the industrial robot, the industrial robot dragging teaching mobile control system can realize the touch balance of force under any pose state of the industrial robot, and can achieve better dragging teaching performance under different pose states of the industrial robot. The end force sensing drag demonstrator 12 can be calibrated only by clicking the relevant touch buttons on the man-machine interaction interface by a user, and other operations are not needed, so that the workload of the user is reduced, and the working efficiency of the user is greatly improved.
In an embodiment, after the industrial robot system 11 performs the step of calibrating the end force sensing drag demonstrator 12 based on a preset automatic calibration program if the calibration instruction is detected, to obtain and display calibration parameters and calibration completion prompt information:
The industrial robot system 11 is further configured to obtain a current calibration parameter set by a user if the modification instruction is detected, and update the calibration parameter with the current calibration parameter.
In this embodiment, the industrial robot system 11 displays the calibration parameters obtained after calibration on the man-machine interface, so that the calibration parameters can be analyzed to form effective feedback. When the user needs to modify the calibration parameters after analyzing the calibration parameters, the user can directly modify the calibration parameters on the human-computer interaction interface, and a modification instruction is generated when the calibration parameters are modified. If the industrial robot system 11 detects the modification instruction, it indicates that the user modifies the calibration parameters, the current calibration parameters set by the user (i.e. the modified calibration parameters) are obtained, and the calibration parameters are updated according to the current calibration parameters, so that the calibration parameters can be modified, and the method is suitable for the industrial robot with ideal parameters and in ideal environment.
The industrial robot system 11 is further configured to acquire a sensor parameter set by a user if a parameter setting instruction is detected, and transmit the sensor parameter set to the end force sensing drag demonstrator 12.
The end force sensing drag demonstrator 12 is further configured to adjust the corresponding parameters according to the set of sensor parameters.
In this embodiment, the parameter setting instruction is an instruction generated when the industrial robot system 11 clicks a "parameter setting" button set on the man-machine interaction interface, and if the industrial robot system 11 detects the parameter setting instruction, the industrial robot system 11 obtains a sensor parameter set autonomously set on the man-machine interaction interface by the user, and adjusts corresponding parameters of the terminal force sensing drag demonstrator 12 according to the sensor parameter set, so as to effectively improve flexibility of drag teaching. The sensor parameter set comprises sensor sensitivity, force control minimum response and dragging teaching speed, the sensor sensitivity comprises moving sensitivity and rotating sensitivity, and the moving sensitivity and the rotating sensitivity of the tail end force sensing dragging teaching machine 12 can be changed according to actual dragging use requirements; the minimum force response comprises a minimum force response and a minimum moment response, and a user can adjust the minimum force response and the minimum moment response by himself, and safety in the dragging teaching process is ensured according to the difference of dragging force control sensing differentiation habits and the minimum force sensing limitation of the industrial robot; the dragging teaching speed comprises a maximum moving speed and a maximum gesture speed, and a user can automatically adjust the maximum moving speed and the maximum gesture speed to meet the actual application requirement, so that the maximum speed of the dragging industrial robot in moving and rotating is controlled, and the safe and stable operation of the dragging teaching process is ensured.
The industrial robot system 11 is further configured to create a teaching file according to the drag teaching instruction.
In the present embodiment, the drag teaching instruction is an instruction generated when the industrial robot system 11 clicks a "drag teaching" button provided on the man-machine interaction interface by the user. If the industrial robot system 11 detects a drag teaching instruction, a teaching file is created according to the drag teaching instruction to save point location information obtained by taking points in the subsequent drag teaching process, and further the industrial robot can reproduce a teaching track through the teaching file.
The industrial robot system 11 is further configured to configure the function key to a preset first working mode if a point taking mode instruction is detected, and obtain a point taking configuration parameter set by a user.
In this embodiment, the instruction of the point taking mode is an instruction generated when the industrial robot system 11 clicks a "point taking mode" button set on the man-machine interaction interface, and the point taking configuration parameter set is a relevant parameter set on the man-machine interaction interface according to the requirement, which is set by the user and is used for enabling the industrial robot system 11 to quickly acquire point location information, so that the industrial robot system 11 can conveniently and quickly program. The function key is a mechanical physical key, when the industrial robot system 11 detects a point taking mode instruction, the function key is configured to be in a preset first working mode, and the function key is used for triggering the industrial robot system 11 to acquire point location information in the first working mode, so that in the subsequent dragging teaching process, a user can control the industrial robot system 11 to efficiently acquire the point location information according to a point taking configuration parameter set by pressing the function key.
The industrial robot system 11 is further configured to control the industrial robot to perform corresponding movement according to a preset default drag control mode when the end force sensing drag demonstrator 12 is dragged, obtain first point position information of a motion track of the industrial robot based on an instruction generated by pressing the function key and the point-taking configuration parameter set, and store the first point position information to the demonstration file.
In this embodiment, in the case where the user performs the drag teaching on the industrial robot drag teaching movement control system, the industrial robot drag teaching movement control system may be programmed according to the teaching track to obtain a file for causing the industrial robot to reproduce the teaching track. The force sensor provided in the tip force sensing drag demonstrator 12 is a six-dimensional pressure sensor to acquire a six-dimensional force applied by the user to the tip force sensing drag demonstrator 12. Specifically, under the condition that the function key is configured to be in the first working mode, in the process that the user drags the end force sensing drag demonstrator 12 to drag the demonstration according to the expected track, the end force sensing drag demonstrator 12 samples in real time through the six-dimensional pressure sensor to obtain six-dimensional force parameters, and transmits the six-dimensional force parameters to the industrial robot system 11. The industrial robot system 11 analyzes the six-dimensional force parameters to obtain characteristic parameters, calculates motion control parameters based on the characteristic parameters, and controls the industrial robot to perform corresponding motions according to the motion control parameters and a default drag control mode. The characteristic parameters comprise a moment rotating shaft, a moment size, a resultant force direction and a resultant force size; the motion control parameters include a robot pose rotation axis, a robot pose rotation speed, a robot position movement direction, and a robot position movement speed. The default drag control mode is used for realizing the change of the position of the industrial robot, the posture of the industrial robot and the angle of the external shaft of the industrial robot, so that in the drag teaching process, the industrial robot system 11 can change the position and the posture of the industrial robot and also can change the angle of the external shaft of the industrial robot under the drag of the end force sensing drag demonstrator 12 by a user, thereby enabling the industrial robot to move according to the teaching track expected by the user.
Meanwhile, when the user drags the tail end force sensing drag demonstrator 12 to drag the demonstration according to the expected track, and the industrial robot performs corresponding movement, the user only needs to press the function key to trigger the industrial robot system 11 to acquire the first point position information of the movement track of the industrial robot according to the point-taking configuration parameter set, and the industrial robot system 11 further stores the first point position information into the demonstration file so as to realize the reappearance of the demonstration track of the industrial robot through the demonstration file. The industrial robot system 11 can trigger the industrial robot system 11 to take a point through the function keys under the condition that the function keys are configured into the first working mode, so that the industrial robot system 11 can efficiently write an industrial robot motion program, a complex motion track is realized, and the problem that an operator needs a great amount of training to ensure that the demonstrator can be used for programming correctly is solved. In addition, the user does not need to learn other programming or script languages, so that the learning cost is saved, the user can more simply and easily teach, and the working efficiency is greatly improved.
In an embodiment, the point-taking configuration parameter set includes a point-taking mode, a point type, a point-taking motion parameter, and a file type; the point taking mode is a single point taking mode or a continuous point taking mode.
The industrial robot system 11 is specifically configured to, when executing the step of acquiring the first point position information of the industrial robot motion track based on the instruction generated by pressing the function key and the point configuration parameter set:
If the point taking mode is determined to be the single point taking mode, acquiring a first coordinate parameter corresponding to a target point according to an instruction generated by pressing the function key when the industrial robot moves to the target point, and generating first point information according to the first coordinate parameter, the point type, the point movement parameter and the file type;
And if the point taking mode is determined to be the continuous point taking mode, continuously acquiring a plurality of second coordinate parameters of the motion track of the industrial robot when an instruction generated by pressing the function key for the first time is detected, ending acquiring the coordinate parameters until an instruction generated by pressing the function key again is detected, and generating the first point position information according to the acquired plurality of second coordinate parameters, the point position type, the point position motion parameters and the file type.
In this embodiment, the point-taking configuration parameter set includes a point-taking mode, a point-taking type, a point-taking motion parameter and a file type, which are currently set by a user on a human-computer interaction interface, where the point-taking mode may be set to a single point-taking mode or a continuous point-taking mode according to actual requirements, and the point-taking type may be set to a joint point-taking type or a spatial point-taking type according to actual requirements. The point position motion parameters comprise a motion mode, a speed type, a speed size, acceleration, deceleration and a smooth grade, wherein the motion mode can be set into joint motion, linear motion, circular motion or spline curve motion according to actual requirements, and the motion mode is used for specifying a motion track between points during execution; the speed type can be set as joint movement speed, terminal gesture speed, external shaft speed or coordination speed according to actual requirements; the speed magnitude is used to specify at what speed the industrial robot performs movement between points; acceleration (deceleration) is used to specify acceleration (deceleration) when the industrial robot performs movement between points; the smoothing level is used to obtain a smooth speed profile so that the industrial robot is smoother in acceleration and deceleration. The file type can be set as a PRF format type or a PRG format type according to actual requirements, and is used for designating the type according to the first bit information, wherein the PRF format type is suitable for scenes with less bit information and simple teaching tracks, and when the file type is set as the PRF format type, the teaching file only records the bit information; the PRG format type is suitable for scenes with multiple point location information and long and complex teaching tracks, and when the file type is set to be the PRG format type, the teaching file is a robot reproduction program programming file, so that the industrial robot can directly run.
If the user selects the single-point taking mode, the user needs to drag the industrial robot to the target point, and then presses the function key to enable the industrial robot system 11 to take the point. Specifically, if it is determined that the point capturing mode set by the user is the single point capturing mode, the industrial robot system 11 acquires the first coordinate parameter corresponding to the target point when detecting the instruction generated by pressing the function key, so as to generate the first point position information according to the first coordinate parameter, the point type, the point movement parameter and the file type, so that the track can be conveniently and rapidly taught.
If the user selects the continuous point taking mode, the user firstly presses a function key, then drags the tail end force sensing drag demonstrator 12 to carry out drag teaching according to a desired track, and presses the function key again when the drag teaching is finished, so that the industrial robot system 11 can automatically take points in the drag teaching process. Specifically, if the point capturing mode set by the user is determined to be the continuous point capturing mode, the industrial robot system 11 continuously acquires a plurality of second coordinate parameters in the teaching track from the time when the instruction generated by pressing the function key for the first time is detected until the instruction generated by pressing the function key again is detected to finish, so as to generate first point position information according to the acquired plurality of second coordinate parameters, the point position type, the point position motion parameter and the file type, so that the complex track can be taught by dragging, and the teaching process is simple.
In addition, the point-taking configuration parameter set may further include a point location save type, and the industrial robot system 11 may further obtain a point location save type set by a user, and correspondingly save the obtained first point location information according to the point location save type. The point location save type may be set as an overlay save type or an append save type according to actual requirements, where the overlay save type is used to overlay the first point location information obtained last time with the first point location information obtained last time, and the append save type is used to append the first point location information directly based on the first point location information obtained last time.
In an embodiment, the continuous dotting mode includes a first continuous dotting mode and a second continuous dotting mode; the industrial robot system 11, when executing the step of continuously acquiring the plurality of second coordinate parameters of the industrial robot motion trail when detecting the instruction generated by first pressing the function key if the point capturing mode is determined to be the continuous point capturing mode, is specifically configured to:
if the point taking mode is determined to be the first continuous point taking mode in the continuous point taking modes, when an instruction generated by pressing the function key for the first time is detected, acquiring a plurality of second coordinate parameters of the motion trail of the industrial robot according to a time interval set by a user;
If the point taking mode is determined to be the second continuous point taking mode in the continuous point taking modes, when an instruction generated by pressing the function key for the first time is detected, acquiring a plurality of second coordinate parameters of the motion trail of the industrial robot according to a distance interval set by a user.
In this embodiment, the continuous point capturing mode may be set to a first continuous point capturing mode or a second continuous point capturing mode according to actual needs, and if the industrial robot system 11 determines that the user sets the first continuous point capturing mode, when detecting an instruction generated by pressing the function key for the first time, the industrial robot system starts capturing points on the motion track of the industrial robot at the same time interval in the user dragging teaching process to obtain the second coordinate parameter, until ending capturing points when detecting an instruction generated by pressing the function key again. In addition, if the industrial robot system 11 determines that the user sets the second continuous point taking mode, when an instruction generated by pressing the function key for the first time is detected, the point taking is started to be performed on the motion track of the industrial robot at the same distance interval in the process of teaching by the user to obtain the second coordinate parameter, until the point taking is finished when the instruction generated by pressing the function key again is detected, so that the industrial robot system 11 automatically performs the point taking in the process of teaching by the dragging, the teaching process is simple and convenient, and the teaching efficiency is improved.
In one embodiment, after the end force sensing drag teach pendant 12 performs the adjusting step of the respective parameters according to the set of sensor parameters:
the industrial robot system 11 is further configured to configure the function key to a preset second working mode if a key mode instruction is detected, and obtain a drag control mode set by a user;
The industrial robot system 11 is further configured to determine a target drag control mode in the drag control mode set based on an accumulated number of instructions generated by pressing the function key;
The industrial robot system 11 is further configured to control, when the end force sensing drag demonstrator 12 is dragged, the industrial robot to perform corresponding motion according to the target drag control mode, and obtain second point location information of a motion track of the industrial robot based on the detected user point taking operation instruction and a preset default point taking configuration parameter set;
The industrial robot system 11 is further configured to display the second point location information;
The industrial robot system 11 is further configured to save the second point location information to the teaching file.
In this embodiment, the key mode instruction is an instruction generated when the industrial robot system 11 clicks a "key mode" button set on the man-machine interaction interface, and the user point-taking operation instruction is an instruction generated when the industrial robot system 11 clicks a "point-taking operation" button set on the man-machine interaction interface. After adjusting the corresponding parameters of the end force sensing drag teach pendant 12, if the industrial robot system 11 detects a key mode instruction, the function key is configured to a preset second working mode, and the function key is used for controlling the industrial robot system 11 to determine a target drag control mode in the drag control mode set in the second working mode, namely, switching among a plurality of drag control modes in the drag control mode set is achieved. Specifically, a user can set a drag control mode set on the man-machine interaction interface according to actual requirements, wherein the drag control mode set comprises a plurality of drag control modes, and the drag control modes are used for changing the position of the industrial robot, the posture of the industrial robot, the pose of the industrial robot or the angle of an external shaft of the industrial robot. After the industrial robot system 11 acquires the set of drag control modes set by the user, a target drag control mode is determined according to the accumulated number of instructions generated by pressing the function keys (i.e. the accumulated number of times the user presses the function keys), then in the process that the user drags the tail end force sensing drag demonstrator 12 to carry out drag teaching according to a desired track, the industrial robot system 11 controls the industrial robot to carry out corresponding movement according to six-dimensional force parameters sampled by the tail end force sensing drag demonstrator 12 and the target drag control mode, meanwhile, the user can trigger the industrial robot system 11 to acquire and display second point position information of the movement track of the industrial robot according to a default point position configuration parameter set by only clicking a 'point position operation' button preset on a man-machine interaction interface, and the industrial robot system 11 further stores the second point position information into a teaching file. The default point-taking configuration parameter set includes a point-taking mode, a point type, a point motion parameter and a file type which are preset by a user, and may also include a point-taking storage type preset by the user.
The industrial robot system 11 can switch the dragging control mode through the function keys under the condition that the function keys are configured into the second working mode, and the point taking operation button on the man-machine interaction interface can trigger the industrial robot system 11 to take the point, so that dragging teaching of multiple dragging control modes can be realized, a more accurate teaching track is formed, flexible operation capacity of the industrial robot is improved, the industrial robot can adjust the teaching track according to actual requirements, and the problem of universality of dragging teaching of the industrial robot is solved.
In an embodiment, the drag control mode set includes a first drag control mode, a second drag control mode, and a third drag control mode, which are sequentially arranged; the industrial robot system 11 is specifically configured to, when executing the step of determining the target drag control mode in the drag control mode set based on the cumulative number of instructions generated by pressing the function key:
Obtaining a remainder obtained by dividing the accumulated number of instructions by 3, and adding 1 to the remainder to obtain a mode sequence number value;
If the mode serial number value is 1, determining the first dragging control mode as a target dragging control mode;
if the mode serial number value is 2, determining the second dragging control mode as a target dragging control mode;
And if the mode serial number value is 3, determining the third drag control mode as a target drag control mode.
In this embodiment, the drag control mode set includes drag control modes sequentially set by 3 users, which are a first drag control mode, a second drag control mode and a third drag control mode, where the first drag control mode may be set to any one of a robot body pure translational control mode, a robot body pure posture control mode, a robot body translational plus posture mixed control mode and a robot external shaft drag control mode, the second drag control mode may be set to any one of a robot body pure translational control mode, a robot body pure posture control mode, a robot body translational plus posture mixed control mode and a robot external shaft drag control mode, and the third drag control mode may be set to any one of a robot body pure translational control mode, a robot body pure posture control mode, a robot body translational plus posture mixed control mode and a robot external shaft drag control mode. The pure translation control mode of the robot body is used for realizing that only the position of the industrial robot is changed, namely, the dragging teaching is carried out in the pure translation control mode of the robot body, so that the gesture of the industrial robot is not influenced; the pure gesture control mode of the robot body is used for realizing that only the gesture of the industrial robot is changed, namely, the dragging teaching is carried out in the pure gesture control mode of the robot body, so that the position of the industrial robot is not influenced; the robot body translation and gesture mixed control mode is used for realizing the change of the pose of the industrial robot, namely, the position and the pose of the industrial robot are simultaneously changed when the dragging teaching is carried out in the robot body translation and gesture mixed control mode; the external shaft dragging control mode of the robot is used for realizing the change of the angle of the external shaft of the industrial robot, the external shaft dragging control mode of the robot can be set to a plurality of external shafts for independent control, such as external deflection shaft dragging control of the robot, walking shaft dragging control of the robot and the like.
Under the condition that the function keys are configured to be in the second working mode, the industrial robot system 11 switches the dragging control modes through the function keys so as to realize dragging teaching of multiple dragging control modes, form accurate teaching tracks and solve the problem of universality of dragging teaching of the industrial robot. Specifically, after the user sets the drag control mode in the drag control mode set, the industrial robot system 11 obtains the remainder obtained by dividing the cumulative number of instructions generated by the user pressing the function key by 3, and adds 1 to the remainder to obtain a mode sequence number value, so that the target drag control mode in the drag control mode set can be determined according to the mode sequence number value. The industrial robot system 11 switches the first drag control mode to the target drag control mode if it is determined that the mode number value is 1; the industrial robot system 11 switches the second drag control mode to the target drag control mode if it is determined that the mode number value is 2; if the industrial robot system 11 determines that the mode number value is 3, the third drag control mode is switched to the target drag control mode, so that the first drag control mode, the second drag control mode and the third drag control mode are sequentially and circularly switched through the function keys.
For example, under the condition that the end force sensing drag demonstrator 12 is turned on by the switch key control, the industrial robot system 11 obtains the drag control mode set and then enters the first drag control mode by default, that is, when the accumulated number of instructions generated by the user pressing the function key is detected to be 0, the user does not press the function key at this time, the mode number value is calculated to be 1, and the first drag control mode is switched to the target drag control mode. When the industrial robot system 11 detects that the cumulative number of instructions generated by the user pressing the function key is 1, that is, when the user presses the function key for the 1 st time under the condition that the function key is configured in the second working mode, the mode serial number value is calculated to be 2, and the industrial robot system 11 switches the second drag control mode to the target drag control mode to enter the second drag control mode. When the industrial robot system 11 detects that the cumulative number of instructions generated by the user pressing the function key is 2, that is, when the user presses the function key for the 2 nd time under the condition that the function key is configured in the second working mode, the mode serial number value is calculated to be 3, and the industrial robot system 11 switches the third drag control mode to the target drag control mode so as to enter the third drag control mode. When the industrial robot system 11 detects that the cumulative number of instructions generated by the user pressing the function key is 3, that is, when the user presses the function key for the 3 rd time under the condition that the function key is configured in the second working mode, the mode serial number value is calculated to be 1, the industrial robot system 11 switches the first drag control mode to the target drag control mode to enter the first drag control mode, and so on, switches the target drag control mode by the user pressing the function key. In addition, the industrial robot system 11 controls the end force sensing drag demonstrator 12 to be turned off when it detects that the switch key is pressed in any one of the first drag control mode, the second drag control mode, and the third drag control mode.
In an embodiment, after the step of displaying the second point location information is performed by the industrial robot system 11, the step of saving the second point location information to the teaching file is performed by the industrial robot system 11:
the industrial robot system 11 is further configured to obtain current second point location information set by a user if an information modification instruction is detected, and update the second point location information with the current second point location information.
In this embodiment, the industrial robot system 11 displays the obtained second point location information on the man-machine interaction interface, so that the user can analyze the second point location information. The user can directly modify the second point location information on the man-machine interaction interface, and an information modification instruction can be generated when the second point location information is modified. After the industrial robot system 11 acquires and displays the second point location information of the motion track of the industrial robot, if an information modification instruction is detected, the current second point location information modified by the user may be acquired to update the second point location information.
The industrial robot dragging teaching mobile control system disclosed by the invention is used for executing any embodiment of the industrial robot dragging teaching mobile control method, an operator does not need to learn other programming or scripting languages, the learning cost is saved, the teaching process is simple, the problem that the operator needs a great amount of training to ensure correct use of the demonstrator programming is solved, the teaching of complex tracks is facilitated, and the teaching efficiency is improved.
The present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and these modifications and substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The industrial robot dragging teaching mobile control method is characterized by being applied to an industrial robot dragging teaching mobile control system, wherein the industrial robot dragging teaching mobile control system comprises an industrial robot system and an end force sensing dragging demonstrator, the industrial robot system is in communication connection with the end force sensing dragging demonstrator, and the end force sensing dragging demonstrator is provided with a switch key and a function key;
The method comprises the following steps:
the terminal force sensing dragging demonstrator is powered on and started when the switch key is detected to be in an on state;
If the industrial robot system detects a calibration instruction, calibrating the tail end force sensing dragging demonstrator based on a preset automatic calibration program to obtain and display calibration parameters and calibration completion prompt information;
If the industrial robot system detects a parameter setting instruction, acquiring a sensor parameter set by a user, and transmitting the sensor parameter set to the tail end force sensing drag demonstrator;
The terminal force sensing drag demonstrator adjusts corresponding parameters according to the sensor parameter set;
The industrial robot system creates a teaching file according to the dragging teaching instruction;
if the industrial robot system detects a point taking mode instruction, configuring the function keys into a preset first working mode, and acquiring a point taking configuration parameter set by a user;
and when the tail end force sensing drag demonstrator is dragged, the industrial robot system controls the industrial robot to perform corresponding motion according to a preset default drag control mode, obtains first point position information of the motion trail of the industrial robot based on an instruction generated by pressing the function key and the point taking configuration parameter set, and stores the first point position information into the demonstration file.
2. The industrial robot drag teaching movement control method according to claim 1, further comprising, after the industrial robot system creates a teaching file according to a drag teaching instruction:
If the industrial robot system detects a key mode instruction, configuring the function key as a preset second working mode, and acquiring a drag control mode set by a user;
The industrial robot system determines a target drag control mode in the drag control mode set based on the accumulated number of instructions generated by pressing the function key;
the industrial robot system controls the industrial robot to perform corresponding movement according to the target dragging control mode when the tail end force sensing dragging demonstrator is dragged, and obtains second point location information of the movement track of the industrial robot based on the detected user point taking operation instruction and a preset default point taking configuration parameter set;
The industrial robot system displays the second point location information;
And the industrial robot system stores the second point location information to the teaching file.
3. The industrial robot drag teaching movement control method according to claim 2, wherein the drag control mode set includes a first drag control mode, a second drag control mode, and a third drag control mode, which are sequentially set; the industrial robot system determines a target drag control mode in the drag control mode set based on an accumulated number of instructions generated by pressing the function key, including:
the industrial robot system obtains a remainder obtained by dividing the accumulated number of instructions by 3, and adds 1 to the remainder to obtain a mode sequence number value;
If the industrial robot system determines that the mode serial number value is 1, determining that the first dragging control mode is a target dragging control mode;
if the industrial robot system determines that the mode serial number value is 2, determining that the second dragging control mode is a target dragging control mode;
And if the industrial robot system determines that the mode serial number value is 3, determining that the third dragging control mode is a target dragging control mode.
4. The industrial robot drag teaching movement control method according to claim 2, characterized by further comprising, after the industrial robot system displays the second point location information and before the industrial robot system saves the second point location information to the teaching file:
And if the industrial robot system detects the information modification instruction, acquiring current second point location information set by a user, and updating the second point location information according to the current second point location information.
5. The industrial robot drag teaching movement control method according to claim 1, wherein the point-taking configuration parameter set includes a point-taking mode, a point-location type, a point-location motion parameter, and a file type; the point taking mode is a single point taking mode or a continuous point taking mode;
The obtaining the first point position information of the motion track of the industrial robot based on the instruction generated by pressing the function key and the point-taking configuration parameter set comprises the following steps:
If the point taking mode is determined to be the single point taking mode, acquiring a first coordinate parameter corresponding to a target point according to an instruction generated by pressing the function key when the industrial robot moves to the target point, and generating first point information according to the first coordinate parameter, the point type, the point movement parameter and the file type;
And if the point taking mode is determined to be the continuous point taking mode, continuously acquiring a plurality of second coordinate parameters of the motion track of the industrial robot when an instruction generated by pressing the function key for the first time is detected, ending acquiring the coordinate parameters until an instruction generated by pressing the function key again is detected, and generating the first point position information according to the acquired plurality of second coordinate parameters, the point position type, the point position motion parameters and the file type.
6. The industrial robot drag teaching movement control method according to claim 5, wherein the continuous dot taking mode includes a first continuous dot taking mode and a second continuous dot taking mode; and if the point-taking mode is determined to be the continuous point-taking mode, starting to continuously acquire a plurality of second coordinate parameters of the motion trail of the industrial robot when an instruction generated by pressing the function key for the first time is detected, wherein the method comprises the following steps:
if the point taking mode is determined to be the first continuous point taking mode in the continuous point taking modes, when an instruction generated by pressing the function key for the first time is detected, acquiring a plurality of second coordinate parameters of the motion trail of the industrial robot according to a time interval set by a user;
If the point taking mode is determined to be the second continuous point taking mode in the continuous point taking modes, when an instruction generated by pressing the function key for the first time is detected, acquiring a plurality of second coordinate parameters of the motion trail of the industrial robot according to a distance interval set by a user.
7. The industrial robot drag teaching movement control method according to claim 1, wherein after the industrial robot system calibrates the end force sensing drag teaching device based on a preset automatic calibration program if a calibration instruction is detected, and obtains and displays calibration parameters and calibration completion prompt information, further comprising:
and if the industrial robot system detects the modification instruction, acquiring the current calibration parameters set by the user, and updating the calibration parameters according to the current calibration parameters.
8. An industrial robot drag teaching movement control system, comprising: the system comprises an industrial robot system and an end force sensing dragging demonstrator, wherein the industrial robot system is in communication connection with the end force sensing dragging demonstrator, and the end force sensing dragging demonstrator is provided with a switch key and a function key;
the terminal force sensing dragging demonstrator is used for being electrified and started when the switch key is detected to be in an on state;
the industrial robot system is used for calibrating the tail end force sensing dragging demonstrator based on a preset automatic calibration program if a calibration instruction is detected, so as to obtain and display calibration parameters and calibration completion prompt information;
The industrial robot system is further used for acquiring a sensor parameter set by a user if a parameter setting instruction is detected, and transmitting the sensor parameter set to the tail end force sensing drag demonstrator;
The tail end force sensing dragging demonstrator is also used for adjusting corresponding parameters according to the sensor parameter set;
The industrial robot system is further used for creating a teaching file according to the dragging teaching instruction;
The industrial robot system is further configured to configure the function key to a preset first working mode if a point taking mode instruction is detected, and acquire a point taking configuration parameter set by a user;
the industrial robot system is further configured to control the industrial robot to perform corresponding motion according to a preset default drag control mode when the tail end force sensing drag demonstrator is dragged, acquire first point position information of a motion track of the industrial robot based on an instruction generated by pressing the function key and the point fetching configuration parameter set, and store the first point position information to the demonstration file.
9. The industrial robot drag teaching movement control system according to claim 8, wherein after said industrial robot system performs said creating a teaching file step from drag teaching instructions:
the industrial robot system is further configured to configure the function key to a preset second working mode if a key mode instruction is detected, and acquire a drag control mode set by a user;
The industrial robot system is further used for determining a target drag control mode in the drag control mode set based on the accumulated number of instructions generated by pressing the function keys;
The industrial robot system is further used for controlling the industrial robot to perform corresponding movement according to the target dragging control mode when the tail end force sensing dragging demonstrator is dragged, and acquiring second point location information of the movement track of the industrial robot based on the detected user point taking operation instruction and a preset default point taking configuration parameter set;
The industrial robot system is further used for displaying the second point location information;
the industrial robot system is further used for storing the second point location information to the teaching file.
10. The industrial robot drag teaching movement control system according to claim 9, wherein the drag control mode set includes a first drag control mode, a second drag control mode, and a third drag control mode, which are sequentially arranged; the industrial robot system is specifically configured to, when executing the step of determining the target drag control mode in the drag control mode set based on the cumulative number of instructions generated by pressing the function key:
Obtaining a remainder obtained by dividing the accumulated number of instructions by 3, and adding 1 to the remainder to obtain a mode sequence number value;
If the mode serial number value is 1, determining the first dragging control mode as a target dragging control mode;
if the mode serial number value is 2, determining the second dragging control mode as a target dragging control mode;
And if the mode serial number value is 3, determining the third drag control mode as a target drag control mode.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397265A (en) * | 2018-11-13 | 2019-03-01 | 华中科技大学 | A kind of joint type industrial robot dragging teaching method based on kinetic model |
| CN112123344A (en) * | 2020-09-22 | 2020-12-25 | 佳奕筱安(上海)机器人科技有限公司 | Drag teaching method based on power-controlled robot polishing and implementation device thereof |
| CN112454371A (en) * | 2020-10-23 | 2021-03-09 | 德屹智能科技(扬州)有限公司 | Robot teaching system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397265A (en) * | 2018-11-13 | 2019-03-01 | 华中科技大学 | A kind of joint type industrial robot dragging teaching method based on kinetic model |
| CN112123344A (en) * | 2020-09-22 | 2020-12-25 | 佳奕筱安(上海)机器人科技有限公司 | Drag teaching method based on power-controlled robot polishing and implementation device thereof |
| CN112454371A (en) * | 2020-10-23 | 2021-03-09 | 德屹智能科技(扬州)有限公司 | Robot teaching system |
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