33results about How to "Simplify the teaching process" patented technology

The invention discloses a welding robot control method, and relates to a welding robot control device. According to the welding robot control method, a laser vision sensing system, a laser barcode scanning system, a main industrial personal computer, a driving device and a wireless demonstration device are utilized. A weldment is scanned through the laser bar code scanning system to form a three-dimensional model, the three-dimensional model is led into the main industrial personal computer, and welding information is directly designated on the three-dimensional model through the wireless demonstration device. The welding information comprises positions and lengths of weld joints, and the swing mode of a welding gun. When welding workpieces needs to be produced in a batch mode, a bar code identification system can be used for reading the welding information of welding bar codes on the welding workpieces, then the welding information is sent to the main industrial personal computer, and the main industrial personal computer converts the information of the bar codes into welding signals. The welding robot control method has the advantages that closed-loop control is realized, demonstration efficiency is improved, control of a welding robot is convenient, the electromagnetic field disturbance resistance ability is high, the demonstration efficiency and the quality of the weld joints of the workpieces are improved, the adaptive ability of a control system is enhanced, and the reliability is high.

A novel teaching device of an industrial robot comprises the robot and a handheld teaching unit. The handheld teaching unit comprises an indicator light, a knife knob, a confirmation button, a handle, a sensing end, an execution button, an interface and an ultraprecise inertia navigation element installed inside the handle of the handheld teaching unit. According to the novel teaching device of the industrial robot, a series of specific actions are finished by manually moving the handheld teaching device, the teaching unit automatically records and stores coordinate parameters of a trajectory path, the robot repeats the previous manually taught movement path, and therefore the teaching process of the robot is greatly simplified.

The invention provides a visual location welding system and method based on robot welding. The visual location welding system is composed of a hand-eye calibration module, a photographing point location recording module and a welding execution module. The hand-eye calibration module is used for calculating a position and pose conversion relationship between a camera coordinate system and a robot coordinate system; three-dimensional information of crossed steel bars is acquired through the photographing point location recording module, and welding paths of the crossed steel bars are calculatedthrough a steel bar point cloud welding line extraction algorithm; and the welding paths are sent to the welding execution module, and the welding operation of steel bar crossing points is completed through the welding execution module . Through visual location of the crossed steel bars, the problem of poor precision of a workpiece and a clamp is solved, flexible and accurate welding is achieved,and the welding quality is guaranteed. According to the welding system, automatic calculation of the welding paths is achieved, and the demonstration of the welding paths is omitted; the robot demonstration process is simplified, and the requirement for operators is reduced; and the welding automation of the steel bars is achieved, and the welding effect and the production efficiency are improved.

The invention discloses an English training method. The English training method comprises the following steps: a preset word classification rule is used for classifying and storing words; commands of extracting the words according to classifications input by users are received, and corresponding words are extracted according to the commands and are output in an audio and video mode; the word classification rule comprises the following steps: two consonants are used for combing with a, or e, or i, or o, or u to form words, or a subject or a plurality of transformations of the subject are used as main bodies, and the main bodies are respectively combined with 26 letters in sequence to form words; or roots are formed by a, or e, or i, or o, or u and other letters, and the roots are combined with the 26 letters in sequence to form letters; or entire sentence or entire section English songs or Chinese songs are matched; or word pronunciation in an English sentence is noted in Chinese. The invention further provides an English training device for achieving the English training method. The English training method and the English training device can simplify teaching steps, expand teachable ranges, are simple in classification method, easy to learn, and capable of improving teaching efficiency.

The invention provides a robot trajectory recurrence method, a control device, equipment and a readable storage medium. The method includes the steps of sending out a demonstration starting instruction to a servo controller of a robot when it is detected that a demonstration button on the robot is at a first state so that the robot can be at a zero-force control state, and continuing to obtain multiple pieces of first point position information of the robot; sending a demonstration ending instruction to the servo controller when it is detected that the demonstration button is at a second stateso that the robot can retreat from the zero-force control state, stopping obtaining the first point position information, generating a demonstration trajectory file according to the multiple pieces of first point position information, and storing the demonstration trajectory file; and controlling the robot to move according to the demonstration trajectory file. By means of the technical scheme, the robot can be at the zero-force control state so as to be dragged for demonstration only if an operator presses down the demonstration button. Compared with an existing scheme of the combination ofan interface key in a software interface and a demonstrator, the demonstration process is simplified, and the operation complexity is reduced.

The invention discloses a laser cutting head displacement sensor with a multi-point measurement function, comprising a sensor connector, a connection base, a split metal connection sleeve, a fixed insulating sleeve, a fixed shielding cover, a movable shielding cover and a laser cutting head spray nozzle. Due to the adoption of the laser cutting head displacement sensor with the structure, the normal vector of the surface of processed workpiece can be determined rapidly, and the posture of a laser cutting head can be adjusted easily. A position feedback mechanism of the laser cutting head and a workpiece normal vector measuring mechanism can be effectively combined to realize the high-precision high-efficiency laser cutting work.

The invention relates to inertial navigation type robot demonstration equipment. The inertial navigation type robot demonstration equipment comprises a demonstration device installed at the tail end of a robot and a master control computer for controlling the robot to move. The demonstration device comprises an inertial navigation module. A filter circuit is arranged at the output end of the inertial navigation module. An A / D converter is arranged at the output end of the filter circuit. A communication module is arranged at the output end of the A / D converter. The master control computer resolves signals detected by the inertial navigation module and outputs commands to the robot. In the demonstration process, only the demonstration device needs to be placed at the tail end of the robot, an operator carries the demonstration device to move directly, pose information is recorded by the master control computer, and then control commands are directly transmitted to the computer. The operation poses, movement parameters and process parameters of the robot at a demonstration point do not need to be repeatedly adjusted, the demonstration process is simple, troubles and labor are saved, the requirement for the operator is low, and safety is good.

The invention discloses a teaching model for abdominal examination skill training during pregnancy. The teaching model comprises a pregnancy abdomen phantom, wherein the pregnancy abdomen phantom can be fixed to the abdomen of a whole female body mode, a uterus phantom and a pelvis inlet phantom are arranged in the pregnancy abdomen phantom, a fetus phantom is arranged in the uterus phantom, and liquid is filled between the fetus phantom and the inner wall of the uterus phantom. A first microphone is arranged on the fetus phantom and used for playing fetal heart sound and umbilical cord sound, a second microphone is arranged on the uterus phantom and used for playing uterine souffle, placental souffle and aorta abdominalis souffle, and the first microphone and the second microphone are in signal connection with a player. A vibration device for simulating fetal movement is arranged on the fetus phantom and is in signal connection with the controller. The teaching model for abdominal examination skill training during pregnancy has the advantages of being simple in structure, good in simulation performance and good in teaching effect.

The invention relates to a method for representing and generalization of a robot discrete track based on a probability model. The method comprises the following steps: teaching the discrete track, specifically, splitting the track into multiple sections and respectively teaching each section of track to obtain a data source of discrete track representation; representing the discrete track, specifically, modeling the robot track based on a plurality of GMMs, extracting a correlation relationship among the multiple sections of tracks, and representing a teaching track; and performing generalizedoutput on the track, specifically, splicing the multiple sections of track through a GMR, realizing the generalization output of the track, and making the output track have smoothness. The teaching process is simplified and the operability is high; each section of track can be smoothly spliced based on the time information; and the multi-task constraint relation of multiple mechanical arms is learned, so that the multiple mechanical arms of a robot can cooperatively finish multiple tasks.

A dragging teaching instrument for a humanoid mechanical arm comprises a six-dimensional force sensor, a power source module and a teaching controller. The teaching controller comprises physical keys,an IO module, a DSP chip and a CAN bus controller. The six-dimensional force sensor is used for measuring space six-dimensional force exerted on an end executor of the humanoid mechanical arm. The physical keys are used for sending dragging signals to the IO module. The DSP chip receives measurement data of the six-dimensional force sensor and collecting the dragging signals of the IO module at the same time, and after calculating the position and posture variations, the DSP chip sends the position and posture variations to the CAN bus controller. The CAN bus controller sends the position andposture variations to a control system of a robot. By the adoption of a dragging teaching method, teaching of position dragging and posture dragging of the humanoid mechanical arm of the robot is achieved.

The invention discloses a handheld teaching device and method based on stereoscopic vision, and relates to the field of robot teaching and stereoscopic vision. The handheld teaching device comprises asignal sending unit, a mode selecting unit, a signal triggering device, a power module, a light spot, a teaching device body, an attitude sensor and a pose measuring rod piece. The tail end of the pose measuring rod piece of the handheld teaching device is operated to move to the position of a set point on the planned path in a set attitude; image information of the light spot is obtained; a posematrix from a stereoscopic vision coordinate system to a light spot coordinate system is obtained through data processing; and a pose matrix from the coordinate system at the tail end of the pose measuring rod piece to a robot base coordinate system is further constructed in combination with a measurement result of the attitude sensor, pose information of the teaching point under the robot base coordinate system is calculated, and the robot reproduces the track of the teaching point according to a fitting mode selected by the mode selecting unit. The device is simple and flexible and high inwork efficiency, can achieve the quick teaching, and improves the usability of the robot.

The embodiment of the invention provides a demonstrating method of a robot, a demonstrating device of the robot and a robot system, and relates to the technical field of robots. The problem in the prior art that when the robot is demonstrated, the demonstrating process is complicated can be solved. The demonstrating method comprises the steps of according to identifications of loading equipment ofan object to be carried, obtaining equipment information corresponding to the identifications of the loading equipment of the object to be carried, wherein the equipment information comprises the position of a demonstrating point needed by carrying the loading equipment of the object to be carried relative to a reference point on the loading equipment of the object to be carried; obtaining demonstrating coordinates of the reference point obtained in the process of demonstrating the reference point; according to the position of the reference coordinate of the reference point and the demonstrating point relative to the reference point on the loading equipment of the object to be carried, obtaining demonstrating coordinates of the demonstrating point. The demonstrating method of the robot isused for demonstrating the robot.

The invention relates to an automatic loading / unloading system for stamping production line robots and a control method thereof. The system comprises a robot, a loading platform, an unloading platform, a stamping machine and a controller; an elastic suction tool is mounted at the tail end of the robot; and the controller is used for processing the input quantity according to certain steps and controlling the robot to realize automatic loading. The system is high in automation degree, can be applied to the existing robot equipment, is simple and rapid in robot teaching process and strong in universality, and is capable of machining common slab materials or semi-finished materials, the surfaces of which are not smooth.

A novel teaching device for an industrial robot includes a robot and a hand-held teaching device. The handheld teaching pendant includes an indicator light, a switch button, a confirmation button, a handle, a sensing terminal, an execution button, an interface, and an ultra-precision inertial navigation element installed inside the handle of the handheld teaching pendant. According to the new teaching device for industrial robots described in the present invention, a series of specific actions are completed by manually moving the handheld teaching device, and the coordinate parameters of the trajectory path are recorded and saved by the teaching device itself, so that the robot repeats the previously manually taught movement path , which greatly simplifies the robot teaching process.

The invention discloses a multivariate modularized teaching system for computer specialty. The multivariate modularized teaching system for computer specialty includes a basic knowledge module, a function operation module, a network management module, and a network comprehensive design module. The basic knowledge module is used for computer Learning of basic network knowledge, including simple software and hardware knowledge, the functional operation module is used for teaching network operation methods, the network management module is used for teaching network protocol analysis and network management, and the comprehensive network design The module is used for the teaching of comprehensive theoretical knowledge and operation technology for computer majors. This system is an innovative teaching method for computer majors and provides a new model for cultivating high-skilled talents in computer majors.

The invention provides a full-function theater model. The full-function theater model comprises a table board, wherein vertical boards are vertically arranged above the left and right sides of the table board, a plurality of scenery rods arranged in parallel front and back are detachably connected at the rear part between the tops of the two vertical boards, toplight lamp posts are connected at the front between the tops of the two vertical boards, a stage curtain is hung below the scenery rods, a toplight lamp is connected to each toplight lamp post, a ceiling light rack is arranged at the front end of the tops of the vertical boards, a plurality of ceiling light lamps are connected to the ceiling light rack, light control assemblies are arranged on the side walls of the vertical boards, the light control assemblies are connected with a power supply, the light control assemblies comprise controllers as well as illumination desk decoders and dial switches connected with the controllers, and the illumination desk decoders are connected with illumination desk interfaces. The full-function theater model has the beneficial effects that students can visually understand the theater, and the change of the scene, the moving of props, and the switching of lamplight become the actual classroom scene, so that the teaching process is simple and clear.

A laser gyroscope teaching demonstration system comprises a rotation control module used for controlling rotation of a laser gyroscope, a laser module which can emit laser, a cavity adjusting module which is matched with the laser module to collimate the laser gyroscope reflector, an information acquisition module which is used for acquiring the image and photoelectric information of the laser module, and a control and display device which is used for displaying the information acquired by the information acquisition module and outputting control parameters to the rotation control module. The system further comprises a light combination system which is used for adjusting the position of a light combination prism on the laser gyroscope reflector, interference light is generated by laser emitted by the laser module, and image acquisition and data acquisition of the information acquisition module are more efficient and accurate. The system is highly integrated and can be used for demonstrating various working modes and parameters of the laser gyroscope, and the teaching effect is improved.

A method for processing regular holes using a laser cutting robot arm, comprising: controlling the end of the laser cutting robot arm to move to the center point of the rule hole to be processed through a teaching pendant, and recording the coordinates of the center point through a robot arm controller ; The robot arm controller calculates the coordinates of multiple key points on the contour of the regular hole to be processed according to the coordinates of the center point and the preset geometric parameters of the regular hole; the robot arm controller first controls the laser cutting robot arm The end moves from the center point to one of the key points, and after the laser cutter is turned on, the end of the laser cutting robot arm is controlled to move to each of the remaining key points in order to form a closed path and return to one of the key points point. The teaching process of the invention is simple, and the processing precision is high.

The invention discloses a robot demonstrator. The robot demonstrator comprises an operation part, a camera, a motion analysis host and a robot. The operation part can carry out motions by being operated by human. The camera can align to the operation part for shooting. The motion analysis host is in communication connection with both the camera and the robot, and thereby being capable of compilingcaptured motions into machine languages for the robot to use. According to the robot demonstrator, the working track of the robot does not need to be programmed, and therefore, the demonstration process is simplified.

The invention discloses a robot path searching method, system and device and a storage medium. The method comprises the steps that a robot is controlled to obtain n coordinate points on a first planeof a workpiece by combining an initial coordinate point and a first preset coordinate point, and a first plane equation of the first plane is obtained according to the obtained coordinate points; therobot is controlled to obtain n coordinate points on a second plane of the workpiece by combining the initial coordinate point and a second preset coordinate point, and a second plane equation of thesecond plane is obtained according to the obtained coordinate points; and a machining path of the robot is obtained by combining the first plane equation and the second plane equation. According to the robot path searching method, system and device and the storage medium, the machining path of the robot is directly obtained by adopting the two plane equations, the situation that the offset of theworkpiece is obtained in an offset searching method, then the machining path is calculated based on the offset is avoided, the steps of robot teaching and searching are greatly simplified, the workingefficiency of the robot is improved, and the robot path searching method, system and device and the storage medium can be widely applied to the field of robot path planning.

The embodiment of the invention provides a demonstrating method of a robot, a demonstrating device of the robot and a robot system, and relates to the technical field of robots. The problem in the prior art that when the robot is demonstrated, the demonstrating process is complicated can be solved. The demonstrating method comprises the steps of according to identifications of loading equipment ofan object to be carried, obtaining equipment information corresponding to the identifications of the loading equipment of the object to be carried, wherein the equipment information comprises the position of a demonstrating point needed by carrying the loading equipment of the object to be carried relative to a reference point on the loading equipment of the object to be carried; obtaining demonstrating coordinates of the reference point obtained in the process of demonstrating the reference point; according to the position of the reference coordinate of the reference point and the demonstrating point relative to the reference point on the loading equipment of the object to be carried, obtaining demonstrating coordinates of the demonstrating point. The demonstrating method of the robot isused for demonstrating the robot.

The invention relates to the technical field of industrial robots, and discloses an articulated teaching arm and a teaching method based on the same. The articulated teaching arm comprises a teachingarm flange plate, a teaching arm flange plate bottom arm, a first teaching arm joint, a teaching arm middle arm, a second teaching arm joint, a teaching arm upper arm and a third teaching arm joint, wherein the teaching arm flange plate is welded at the bottom of the teaching arm flange plate bottom arm; the top of the teaching arm flange plate bottom arm is movably connected with the teaching armmiddle arm through the first teaching arm joint; the teaching arm middle arm is movably connected with the teaching arm upper arm through the second teaching arm joint; the teaching arm is installedon a flange plate of the robot through the teaching arm flange plate to form series teaching. Two novel teaching methods of series type teaching and parallel type teaching are put forward, by means ofthe teaching mechanical arm, the problems that a traditional teaching box teaching method is low in teaching efficiency, poor in interactivity, high in requirement for programming of operators and the like are solved, and the teaching process is simpler and more convenient.

The invention relates to a probabilistic model-based characterization and generalization method for discrete trajectory of a robot, including the teaching of discrete trajectory: splitting the trajectory into multiple segments, teaching each trajectory separately, and obtaining the discrete trajectory Characterized data sources, characterizing discrete trajectories: modeling robot trajectories based on multiple GMMs, extracting correlations between multi-segment trajectories, characterizing teaching trajectories, and generalizing trajectory output: performing multi-segment trajectories through GMR Splicing realizes the generalized output of the trajectory, making the output trajectory smooth. The teaching process of the present invention is simple and operable; smooth splicing of various trajectories can be performed based on time information; and multi-task constraint relations of multi-robot arms can be learned so that the multi-robot arms of the robot can cooperate to complete multi-tasks.

The invention discloses a visual inspection method for an arc-shaped welding seam and adhesive tape. An arc-shaped morphology point cloud of an object to be detected is obtained along a straight line, and the arc-shaped morphology point cloud is converted into a linear morphology point cloud through the following steps of (1) determining a region of interest, moving a selection box, and marking a region with height information most similar to a teaching image as an evaluation region; 2) determining the positions of central framework points in the evaluation region, expanding on two sides of each central framework point at equal step length to obtain height values of corresponding points, and recording the height values as sampling points; 3) for the height value of each sampling point, giving plane coordinate values corresponding to each height value according to the following rules: the abscissa is equal to the offset between each sampling point and the corresponding central framework point; and the longitudinal coordinate is equal to the distance between the central framework point corresponding to each sampling point and the first central framework point. According to the method, the point cloud image of the arc-shaped welding seam / adhesive tape can be processed under the condition of collecting the image along the straight line, and the arc-shaped point cloud image is converted into the shape of the straight line so as to be compatible with a straight line morphology point cloud processing method. Image acquisition is simple, compatibility is good, and implementation is easy.

A dragging teaching instrument for a humanoid mechanical arm comprises a six-dimensional force sensor, a power source module and a teaching controller. The teaching controller comprises physical keys,an IO module, a DSP chip and a CAN bus controller. The six-dimensional force sensor is used for measuring space six-dimensional force exerted on an end executor of the humanoid mechanical arm. The physical keys are used for sending dragging signals to the IO module. The DSP chip receives measurement data of the six-dimensional force sensor and collecting the dragging signals of the IO module at the same time, and after calculating the position and posture variations, the DSP chip sends the position and posture variations to the CAN bus controller. The CAN bus controller sends the position andposture variations to a control system of a robot. By the adoption of a dragging teaching method, teaching of position dragging and posture dragging of the humanoid mechanical arm of the robot is achieved.

The invention discloses a robot path search method, system, device and storage medium, wherein the method includes: combining the starting coordinate point and the first preset coordinate point, controlling the robot to obtain n coordinate points on the first plane of the workpiece , obtain the first plane equation of the first plane according to the obtained coordinate points; combine the initial coordinate point and the second preset coordinate point, control the robot to obtain n coordinate points on the second plane of the workpiece, and obtain The second plane equation of the second plane; combine the first plane equation and the second plane equation to obtain the machining path of the robot. The present invention directly obtains the machining path of the robot by using two plane equations, avoids obtaining the offset of the workpiece in the offset search method, and then calculates the machining path based on the offset, which greatly simplifies the steps of robot teaching and searching, and provides It improves the working efficiency of the robot and can be widely used in the field of robot path planning.

The invention discloses an all-wireless interactive experiment teaching system, which mainly solves the problems that the experiment preparation work of the traditional electronic information specialty is complicated, each device of an experiment board is easy to damage and the teaching mode is not intelligent enough. The system comprises an intelligent terminal, an experiment platform, an interaction module, an authentication module and a debugging channel module. Wherein the intelligent terminal is used for storing data and coordinating and controlling data exchange among the modules, and the interaction module is wirelessly connected with the experiment platform through the intelligent terminal and the debugging channel module. After verification of the authentication module, the teacher uploads experiment related data to the intelligent terminal or downloads experiment results uploaded by the students at the interaction module, and the students can carry out experiments according to own conditions after downloading the experiment related data and submit the experiment results to the intelligent terminal. The whole structure is reasonable, experiment operation is easy, the safety of hardware facilities can be guaranteed, the preparation workload of teachers and students before experiments is reduced, the autonomy of the students is enhanced, and the efficiency and quality of experiment teaching are improved.

The invention discloses a laser cutting head displacement sensor with a multi-point measurement function, comprising a sensor connector, a connection base, a split metal connection sleeve, a fixed insulating sleeve, a fixed shielding cover, a movable shielding cover and a laser cutting head spray nozzle. Due to the adoption of the laser cutting head displacement sensor with the structure, the normal vector of the surface of processed workpiece can be determined rapidly, and the posture of a laser cutting head can be adjusted easily. A position feedback mechanism of the laser cutting head and a workpiece normal vector measuring mechanism can be effectively combined to realize the high-precision high-efficiency laser cutting work.

The invention discloses a welding robot control method, and relates to a welding robot control device. According to the welding robot control method, a laser vision sensing system, a laser barcode scanning system, a main industrial personal computer, a driving device and a wireless demonstration device are utilized. A weldment is scanned through the laser bar code scanning system to form a three-dimensional model, the three-dimensional model is led into the main industrial personal computer, and welding information is directly designated on the three-dimensional model through the wireless demonstration device. The welding information comprises positions and lengths of weld joints, and the swing mode of a welding gun. When welding workpieces needs to be produced in a batch mode, a bar code identification system can be used for reading the welding information of welding bar codes on the welding workpieces, then the welding information is sent to the main industrial personal computer, and the main industrial personal computer converts the information of the bar codes into welding signals. The welding robot control method has the advantages that closed-loop control is realized, demonstration efficiency is improved, control of a welding robot is convenient, the electromagnetic field disturbance resistance ability is high, the demonstration efficiency and the quality of the weld joints of the workpieces are improved, the adaptive ability of a control system is enhanced, and the reliability is high.