CN110782772B - Curved trajectory robot system for practical training and its assessment method - Google Patents
Curved trajectory robot system for practical training and its assessment method Download PDFInfo
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- CN110782772B CN110782772B CN201911258859.1A CN201911258859A CN110782772B CN 110782772 B CN110782772 B CN 110782772B CN 201911258859 A CN201911258859 A CN 201911258859A CN 110782772 B CN110782772 B CN 110782772B
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- 238000012549 training Methods 0.000 title abstract description 35
- 238000000034 method Methods 0.000 title abstract description 32
- 238000001514 detection method Methods 0.000 description 17
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000004088 simulation Methods 0.000 description 5
- 238000003466 welding Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
本发明涉及一种实训用机器人考核方法，尤其是实训用曲面轨迹机器人系统，包括机器人，所述机器人的末端装有公快换工具盘；示教器，所述示教器与所述机器人连接，所述示教器用于控制机器人；还包括曲面寻迹板，所述曲面寻迹板为曲面板，所述曲面寻迹板的表面设有多个寻迹轨迹；寻迹笔，所述寻迹笔的一端装有母快换工具盘；工具架，所述寻迹笔活动插在所述工具架上。本发明提供的实训用曲面轨迹机器人系统能够进行复杂路径培训，保证学员熟练掌握机器人复杂轨迹的编程和操作。
The present invention relates to a training robot assessment method, in particular to a training curved trajectory robot system, comprising a robot, the end of which is equipped with a male quick-change tool tray; a teach pendant, which is connected to the robot and is used to control the robot; a curved surface tracking plate, which is a curved plate, and the surface of the curved surface tracking plate is provided with a plurality of tracking tracks; a tracking pen, one end of which is equipped with a female quick-change tool tray; and a tool rack, on which the tracking pen is movably inserted. The training curved trajectory robot system provided by the present invention can carry out complex path training, ensuring that trainees are proficient in programming and operation of complex robot tracks.
Description
Technical Field
The invention relates to a practical training robot checking method, in particular to a practical training curved track robot system and a practical training curved track robot checking method.
Background
While the robot training requires a skilled and complex movement track, the current robot training usually ignores such training, which results in that a learner cannot know the complex movement of the robot after the training is finished and cannot accurately control the movement of a tool in complex scenes such as assembly, welding and the like.
Disclosure of Invention
In order to solve the problems, the invention provides a curved-surface track robot system for practical training, which can carry out complex path training and ensure that a learner is skilled in mastering the programming and operation of a complex track of a robot, and the specific technical scheme is as follows:
Curved track robot system for practical training, comprising
The robot comprises a robot body, a teaching device, a curved surface tracking plate, a tracking pen, a tool rack and a tool rack, wherein the tail end of the robot body is provided with a male quick-change tool disc, the teaching device is connected with the robot body and used for controlling the robot body, the curved surface tracking plate is a curved surface plate, the surface of the curved surface tracking plate is provided with a plurality of tracking tracks, one end of the tracking pen is provided with a female quick-change tool disc, and the tracking pen is movably inserted on the tool rack.
By adopting the technical scheme, part of the trace searching tracks on the curved surface trace searching plate are arranged along the curved surface, and part of the trace searching tracks are not arranged on the curved surface, so that the training of the plane track and the curved surface track is realized, and the programming and operating capacity of students on the complex curved surface track is greatly improved.
Further, the curved surface trace seeking plate comprises a plane plate, an inner arc plate, an outer arc plate and an inclined plate which are sequentially arranged, wherein the plane plate is horizontally arranged, one side of the inner arc plate is tangentially connected with one side of the plane plate, the other side of the inner arc plate is bent above the plane plate, one side of the outer arc plate is tangentially connected with the other side of the inner arc plate, the other side of the outer arc plate is tangentially connected with the inclined plate and bent towards the plane plate, the inclined plate is obliquely arranged relative to the plane plate, and trace seeking tracks are arranged on the plane plate, the inner arc plate, the outer arc plate and the inclined plate.
Through adopting above-mentioned technical scheme, interior circular arc board and outer circular arc board have realized the curved surface orbit, are convenient for carry out the portrayal of orbit along the curved surface, realize comprehensive removal training through plane, curved surface and inclined plane, and the base plate has covered the motion situation that involves in the in-service use to effectively improve the programming and the operational capacity of student to the robot motion.
Further, the tracking track comprises a closed graph or an unsealed curve.
By adopting the technical scheme, the closed graph is generally in a regular geometric shape and is used for simulating a welding track, and the curve is used for simulating a complex track.
Further, the tracking track is a track groove or a track line on the curved surface tracking plate.
Further, the end of the trace searching pen is provided with a conical nib or a circular nib, the width of the trace groove is not larger than the diameter of the trace searching pen, and the depth of the trace searching groove is not larger than the length of the nib of the trace searching pen.
By adopting the technical scheme, the pen point is convenient to be partially inserted into the track groove, so that the coincidence degree of the motion track of the trace searching pen and the track groove is easy to observe, and the accurate control path and programming are convenient.
The automatic tracking device comprises a main quick-change tool tray, a tracking seat, a reset spring, a detection sensor and a detection sensor, wherein the tracking seat is fixed on the main quick-change tool tray, the tracking pen is movably inserted into the tracking seat, the reset spring is arranged between the tracking pen and the tracking seat, the detection sensor is arranged between the tracking seat and the tracking pen, the detection sensor is a proximity switch or a travel switch, and the detection sensor is used for detecting whether the tracking pen moves towards the tracking seat.
By adopting the technical scheme, if an operator controls the tracing pen to trace the tracing track and the detection sensor detects the tracing pen when the tracing pen contacts with the curved surface tracing board in practical training, an alarm signal is sent, the tracing pen is prevented from colliding or extruding with the curved surface tracing board, and equipment is protected. When the tracking program is automatically operated during the examination, if the tracking pen contacts the curved surface tracking plate to trigger the detection sensor, the detection sensor sends out a signal, and the examination is judged to be unqualified.
Further, the device also comprises a first trace searching wire, wherein the first trace searching wire is connected with the trace searching pen, the second trace searching wire is connected with the curved surface trace searching plate, and the first trace searching wire is communicated with the second trace searching wire when the trace searching pen is contacted with the curved surface trace searching plate.
By adopting the technical scheme, when the tracking pen contacts with the curved surface tracking plate in the examination or practical training process, the first tracking wire and the second tracking wire are conducted, and an electric signal is generated, so that the unqualified operation is indicated.
Furthermore, the trace searching pen is a linear displacement sensor, and the tail end of a measuring rod of the linear displacement sensor is conical or circular.
By adopting the technical scheme, the linear displacement sensor is used for detecting whether the running track and the curved surface track seeking plate keep a constant distance, so that problems can be found conveniently, programming and operating capabilities of students are improved, objective standards are provided for examination, and the examination is convenient.
Further, the robot motion process monitoring system also comprises a video acquisition system, wherein the video acquisition system is used for acquiring and archiving the robot motion process. The video acquisition system records the process of operating the robot by a student, and the operation process is conveniently assessed in the later period.
The system comprises a robot, a teaching machine, a simulation workstation, off-line programming and simulation software and a simulation system, wherein the simulation workstation comprises a computer connected with the teaching machine, the off-line programming and simulation software is installed on the computer and used for generating a robot off-line program and guiding the robot off-line program into the teaching machine to perform operation and debugging of the curved-surface track robot system for practical training.
The method for evaluating the curved track robot for practical training comprises the following steps:
S110, controlling the robot to move to the position of the trace searching pen through the demonstrator, installing the trace searching pen, and switching a coordinate system to a coordinate system of the trace searching pen on the demonstrator;
S120, controlling a robot to drive a trace-finding pen to move above a curved surface trace-finding board through a demonstrator, enabling the trace-finding pen to enable a pen point of the trace-finding pen to be close to a starting point of a trace-finding track in a proper gesture, hovering above the starting point or contacting with the starting point, recording the current gesture in a program of the demonstrator, and setting an instruction for receiving a state of a digital output signal of a linear displacement sensor, a detection sensor or on-off power;
S130, dispersing a tracking track into a plurality of intermediate points, controlling a robot to drive a tracking pen to move along the tracking track through a demonstrator, enabling a pen point of the tracking pen to be overlapped with the intermediate points in sequence, controlling the distance between the pen point and the tracking track to be unchanged or within a set range, and sequentially recording the current pose of the robot in a program of the demonstrator in a teaching mode;
S140, controlling the robot to drive the trace-finding pen to approach or contact the pen point of the trace-finding pen to the end point of the trace-finding track in a proper gesture through the demonstrator, and recording the current gesture of the robot in a program of the demonstrator in a teaching mode;
S150, automatically running a tracking program recorded in the demonstrator to enable the robot to drive the tracking pen to complete tracking track drawing, and evaluating the robot to be qualified if the tracking pen does not interfere with the tracking track, the robot does not stop moving, the contact degree of the robot and the tracking track is high, the contact signal is not generated or the distance between the robot and the tracking track is within a set range in the moving process, or evaluating the robot to be unqualified.
The method for evaluating the curved track robot for practical training comprises the following steps:
s210, sequentially setting and installing a trace searching pen and a trace searching coordinate system in off-line programming and simulation software;
s220, setting a starting point and an end point of a trace searching pen in off-line programming and simulation software, and setting an instruction for receiving the state of a digital output signal of a linear displacement sensor, a detection sensor or on-off power;
S230, setting a track path between a starting point and an end point of a tracking track in offline programming and simulation software, wherein the track path is consistent with the tracking track;
S240, generating a robot executable trace-searching program in off-line programming and simulation software, sending the trace-searching program to a demonstrator, loading and running the trace-searching program on the demonstrator, observing the gesture of the robot in the running process, manually modifying the unsuitable gesture, and then storing the trace-searching program;
S250, automatically running the tracking program stored after modification in S240, and if the tracking pen does not interfere with the tracking track, the robot does not stop moving, the contact degree of the robot and the tracking track is high, the robot does not contact signals or the distance between the robot and the tracking track is in a set range in the moving process, evaluating the robot to be qualified, otherwise evaluating the robot to be unqualified.
Compared with the prior art, the invention has the following beneficial effects:
the curved-surface track robot system for practical training provided by the invention can be used for training a complex path, and ensures that a student is skilled in mastering the programming and operation of a complex track of a robot.
The curved-surface track robot assessment method for practical training provided by the invention can effectively and objectively assess the programming and operating capacity of a student, and ensure that the student fully grasps the programming and the operating of the robot.
Drawings
FIG. 1 is a schematic diagram of a training curved track robot system;
FIG. 2 is a schematic diagram of a curved track-seeking board structure;
FIG. 3 is a schematic view of a tracking pen movably inserted in a tool holder;
Fig. 4 is a schematic structural view of the tracking pen.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
Example 1
As shown in fig. 1 to 4, the curved track robot system for practical training comprises a robot 1, a demonstrator, a curved track plate 2, a track pen 44, a tool holder 31, and a tool holder 31, wherein a male quick-change tool disc 11 is arranged at the tail end of the robot 1, the demonstrator is connected with the robot 1 and used for controlling the robot 1, the curved track plate 2 is a curved panel, a plurality of track seeking tracks 25 are arranged on the surface of the curved track plate 2, one end of the track pen 44 is provided with a female quick-change tool disc 41, and the track pen 44 is movably inserted on the tool holder 31.
Part of the trace 25 on the curved surface trace searching board 2 is arranged along the curved surface, and part of the trace is not on the curved surface, so that the training of the plane trace and the curved surface trace is realized, and the programming and operating capacity of a student on the complex curved surface trace is greatly improved.
Specifically, the female quick-change tool tray 41 is provided with a tool positioning plate 42, positioning holes are formed in two ends of the tool positioning plate 42, the top of the tool rack 31 is provided with positioning pins 32, and the positioning holes in the tool positioning plate 42 are movably inserted into the positioning pins 32.
The curved surface trace seeking plate 2 comprises a plane plate 21, an inner arc plate 22, an outer arc plate 23 and an inclined plate 24 which are sequentially arranged, the plane plate 21 is horizontally arranged, one side of the inner arc plate 22 is tangentially connected with one side of the plane plate 21, the other side of the inner arc plate 22 is bent above the plane plate 21, one side of the outer arc plate 23 is tangentially connected with the other side of the inner arc plate 22, the other side of the outer arc plate 23 is tangentially connected with the inclined plate 24 and bent towards the plane plate 21, the inclined plate 24 is obliquely arranged relative to the plane plate 21, and trace seeking tracks 25 are arranged on the plane plate 21, the inner arc plate 22, the outer arc plate 23 and the inclined plate 24.
The curved track is realized by the inner arc plate 22 and the outer arc plate 23, the track is conveniently drawn along the curved surface, comprehensive movement training is realized through the plane, the curved surface and the inclined plane, and the substrate covers the movement situation involved in the actual use, so that the programming and operation capability of a student on the movement of the robot 1 are effectively improved.
The tracking track 25 includes a closed pattern or an unsealed curve. The closed figure is typically a regular geometric shape for simulating a welding trajectory and the curve for simulating a complex trajectory.
The tracking track 25 is a track groove or track line on the curved surface tracking plate 2.
The system comprises a teaching machine, a simulation workstation, off-line programming and simulation software and a robot off-line system, wherein the simulation workstation comprises a computer connected with the teaching machine, and the off-line programming and simulation software is installed on the computer and used for generating a robot off-line program and guiding the robot off-line program into the teaching machine to perform operation and debugging of the curved-surface track robot system for practical training.
The robot motion process monitoring system further comprises a video acquisition system, wherein the video acquisition system is used for acquiring and archiving the robot motion process. The video acquisition system records the process of operating the robot by a student, and the operation process is conveniently assessed in the later period. The camera of the video acquisition system is arranged above the camera to shoot the movement process of the robot.
Specifically, the end of the trace pen 44 is provided with a conical nib 45 or a circular nib 45, the width of the trace groove is not greater than the diameter of the trace pen 44, and the depth of the trace groove is not greater than the length of the nib 45 of the trace pen 44.
The pen tip 45 is conveniently inserted into the track groove partially, so that the coincidence degree of the motion track of the trace searching pen 44 and the track groove is easy to observe, and accurate control path and programming are convenient.
Example two
On the basis of the first embodiment, the device further comprises a track searching seat 43, wherein the track searching seat 43 is fixed on the female quick-change tool disc 41, a sliding hole is formed in the track searching seat 43, a track searching pen 44 is movably inserted into the sliding hole of the track searching seat 43, a return spring is arranged between the track searching pen 44 and the track searching seat 43 and is positioned in the sliding hole, and a detection sensor is arranged in the sliding hole and is positioned between the track searching seat 43 and the track searching pen 44 and does not interfere with the return spring, and is a proximity switch or a travel switch and is used for detecting whether the track searching pen 44 moves towards the track searching seat 43.
In practical training, if an operator controls the tracking pen 44 to trace the tracking track 25, the tracking pen 44 contacts the curved surface tracking plate 2 and moves towards the detection sensor, the detection sensor detects the tracking pen 44, so that an alarm signal is sent, the collision or extrusion of the tracking pen 44 and the curved surface tracking plate 2 is prevented, and equipment is protected. When the tracking program is automatically operated during the examination, if the tracking pen 44 contacts the curved surface tracking plate 2 to touch the detection sensor, the detection sensor sends out a signal, and the examination is judged to be unqualified.
Example III
On the basis of the first embodiment, the first tracking wire is connected to the tracking pen 44, the second tracking wire is connected to the curved surface tracking board 2, and the first tracking wire is communicated with the second tracking wire when the tracking pen 44 contacts the curved surface tracking board 2.
When the tracking pen 44 contacts the curved surface tracking board 2 during examination or practical training, the first tracking wire and the second tracking wire are conducted, and an electric signal is generated, so that the unqualified operation is indicated.
It is necessary to ensure that conduction between the tracking pen 44 and the curved tracking plate 2 is possible. The trace searching pen 44 and the curved surface trace searching board 2 are made of metal, the trace searching pen 44 and the robot 1 can be conducted, the robot 1 and the workbench can be conducted, the curved surface trace searching board 2 and the workbench can be conducted, and then the trace searching pen 44 and the curved surface trace searching board 2 can be conducted.
Example IV
On the basis of the first embodiment, the tracking pen 44 is a linear displacement sensor, and the end of the measuring rod of the linear displacement sensor is tapered or circular. The linear displacement sensor is used for detecting whether the running track and the curved surface track searching plate 2 keep a constant distance, so that problems can be found conveniently, programming and operating capabilities of students are improved, objective standards are provided for assessment, and the assessment is convenient.
Example five
The method for evaluating the curved track robot for practical training comprises the following steps:
s110, controlling the robot 1 to move to the position of the trace-searching pen 44 through the demonstrator, installing the trace-searching pen 44, and switching a coordinate system to a trace-searching pen coordinate system on the demonstrator;
S120, controlling the robot 1 to drive the trace searching pen 44 to move above the curved surface trace searching board 2 through the demonstrator, enabling the trace searching pen 44 to enable a pen point 45 of the trace searching pen 44 to be close to a starting point of the trace searching track 25 in a proper gesture, hovering above the starting point or contacting with the starting point, recording the current gesture in a program of the demonstrator, and setting an instruction for receiving a state of a digital output signal of a linear displacement sensor, a detection sensor or on-off power;
S130, dispersing the trace 25 into a plurality of intermediate points, then controlling the robot 1 to drive the trace 44 to move along the trace 25 through the demonstrator, enabling the pen tip 45 of the trace 44 to be sequentially overlapped with the intermediate points, simultaneously controlling the distance between the pen tip 45 and the trace 25 to be kept unchanged or within a set range, and sequentially recording the current pose of the robot 1 in a program of the demonstrator in a teaching mode;
S140, controlling the robot 1 to drive the trace-finding pen 44 to enable the pen point 45 of the trace-finding pen 44 to approach or contact the end point of the trace-finding track 25 in a proper gesture through the demonstrator, and recording the current gesture of the robot 1 in a program of the demonstrator in a teaching mode;
s150, automatically running a tracking program recorded in the demonstrator, enabling the robot 1 to drive the tracking pen 44 to complete the drawing of the tracking track 25, and if the tracking pen 44 does not interfere with the tracking track 25, the motion is free from pause, the contact degree with the tracking track 25 is high, the contact signal is not generated, or the distance between the contact signal and the tracking track 25 is within a set range in the motion process of the robot 1, evaluating the contact signal as qualified, otherwise evaluating the contact signal as unqualified.
The implementation process is similar to the assessment process. The assessment method is suitable for primary assessment, so that students can master the tracking of complex curved surface tracks through the demonstrator, and the programming operation of the complex curved surface tracks of the robot 1 can be assessed.
Example six
The method for evaluating the curved track robot for practical training comprises the following steps:
s210, sequentially setting and installing a trace searching pen 44 and a trace searching coordinate system in off-line programming and simulation software;
s220, setting a starting point and an end point of the trace searching pen 44 in off-line programming and simulation software, and setting an instruction for receiving the state of a digital output signal of a linear displacement sensor, a detection sensor or on-off power;
S230, setting a track path between a starting point and an end point of the track 25 in off-line programming and simulation software, wherein the track path is consistent with the track 25;
S240, generating a trace-searching program executable by the robot 1 in off-line programming and simulation software, sending the trace-searching program to a demonstrator, loading and running the trace-searching program on the demonstrator, observing the gesture of the robot 1 in the running process, manually modifying the unsuitable gesture, and then storing the trace-searching program;
S250, automatically running the modified tracking program stored in S240, and if the tracking pen 44 does not interfere with the tracking track 25, the robot is free from motion pause, the contact-free signal is high in the contact ratio with the tracking track 25 or the distance between the contact-free signal and the tracking track 25 is within a set range in the motion process of the robot 1, evaluating the robot as qualified, otherwise evaluating the robot as unqualified.
The implementation process is similar to the assessment process.
The assessment method is suitable for advanced assessment, so that students can master the tracking of complex curved surface tracks through the demonstrator and offline programming and simulation software, the programming operation of the complex track of the robot 1 can be assessed, and the programming and debugging efficiency is improved.
Claims (2)
1. The curved track robot examination method for practical training is characterized in that a curved track robot system is adopted for examination;
the curved track robot system includes:
the tail end of the robot is provided with a male quick-change tool disc;
the demonstrator is connected with the robot and is used for controlling the robot;
The curved surface tracking plate is a curved surface plate, and a plurality of tracking tracks are arranged on the surface of the curved surface tracking plate;
a master quick-change tool disc is arranged at one end of the trace-finding pen;
the trace searching pen is a linear displacement sensor;
the trace searching seat is fixed on the female quick-change tool tray, and the trace searching pen is movably inserted into the trace searching seat;
a reset spring is arranged between the trace searching pen and the trace searching seat;
The detection sensor is arranged between the trace searching seat and the trace searching pen, is a proximity switch or a travel switch and is used for detecting whether the trace searching pen moves towards the trace searching seat or not;
The first tracking wire is connected with the tracking pen, the second tracking wire is connected with the curved surface tracking plate, and the first tracking wire is communicated with the second tracking wire when the tracking pen is in contact with the curved surface tracking plate;
The assessment method comprises the following steps:
S110, controlling the robot to move to the position of the trace searching pen through the demonstrator, installing the trace searching pen, and switching a coordinate system to a coordinate system of the trace searching pen on the demonstrator;
S120, controlling a robot to drive a trace-finding pen to move above a curved surface trace-finding board through a demonstrator, enabling the trace-finding pen to enable a pen point of the trace-finding pen to be close to a starting point of a trace-finding track in a proper gesture, hovering above the starting point or contacting with the starting point, recording the current gesture in a program of the demonstrator, and setting an instruction for receiving a state of a digital output signal of a linear displacement sensor, a detection sensor or on-off power;
S130, dispersing a tracking track into a plurality of intermediate points, controlling a robot to drive a tracking pen to move along the tracking track through a demonstrator, enabling a pen point of the tracking pen to be overlapped with the intermediate points in sequence, controlling the distance between the pen point and the tracking track to be unchanged or within a set range, and sequentially recording the current pose of the robot in a program of the demonstrator in a teaching mode;
S140, controlling the robot to drive the trace-finding pen to approach or contact the pen point of the trace-finding pen to the end point of the trace-finding track in a proper gesture through the demonstrator, and recording the current gesture of the robot in a program of the demonstrator in a teaching mode;
S150, automatically running a tracking program recorded in the demonstrator to enable the robot to drive the tracking pen to complete tracking track drawing, and evaluating the robot to be qualified if the tracking pen does not interfere with the tracking track, the robot does not stop moving, the contact degree of the robot and the tracking track is high, the contact signal is not generated or the distance between the robot and the tracking track is within a set range in the moving process, or evaluating the robot to be unqualified.
2. The curved track robot examination method for practical training is characterized in that a curved track robot system is adopted for examination;
the curved track robot system includes:
the tail end of the robot is provided with a male quick-change tool disc;
the demonstrator is connected with the robot and is used for controlling the robot;
The curved surface tracking plate is a curved surface plate, and a plurality of tracking tracks are arranged on the surface of the curved surface tracking plate;
a master quick-change tool disc is arranged at one end of the trace-finding pen;
the trace searching pen is a linear displacement sensor;
the trace searching seat is fixed on the female quick-change tool tray, and the trace searching pen is movably inserted into the trace searching seat;
a reset spring is arranged between the trace searching pen and the trace searching seat;
The detection sensor is arranged between the trace searching seat and the trace searching pen, is a proximity switch or a travel switch and is used for detecting whether the trace searching pen moves towards the trace searching seat or not;
The first tracking wire is connected with the tracking pen, the second tracking wire is connected with the curved surface tracking plate, and the first tracking wire is communicated with the second tracking wire when the tracking pen is in contact with the curved surface tracking plate;
The assessment method comprises the following steps:
s210, sequentially setting and installing a trace searching pen and a trace searching coordinate system in off-line programming and simulation software;
s220, setting a starting point and an end point of a trace searching pen in off-line programming and simulation software, and setting an instruction for receiving the state of a digital output signal of a linear displacement sensor, a detection sensor or on-off power;
S230, setting a track path between a starting point and an end point of a tracking track in offline programming and simulation software, wherein the track path is consistent with the tracking track;
S240, generating a robot executable trace-searching program in off-line programming and simulation software, sending the trace-searching program to a demonstrator, loading and running the trace-searching program on the demonstrator, observing the gesture of the robot in the running process, manually modifying the unsuitable gesture, and then storing the trace-searching program;
S250, automatically running the tracking program stored after modification in S240, and if the tracking pen does not interfere with the tracking track, the robot does not stop moving, the contact degree of the robot and the tracking track is high, the robot does not contact signals or the distance between the robot and the tracking track is in a set range in the moving process, evaluating the robot to be qualified, otherwise evaluating the robot to be unqualified.
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| CN113305832B (en) * | 2021-04-30 | 2022-10-04 | 深圳市世宗自动化设备有限公司 | Inclined plane dispensing and gluing method and device, computer equipment and storage medium thereof |
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| CN106652634A (en) * | 2016-12-28 | 2017-05-10 | 济宁中科先进技术研究院有限公司 | Robot teaching platform and teaching method thereof |
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