CN107803845A - The teaching method and system of a kind of industrial robot - Google Patents
The teaching method and system of a kind of industrial robot Download PDFInfo
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- CN107803845A CN107803845A CN201710908923.0A CN201710908923A CN107803845A CN 107803845 A CN107803845 A CN 107803845A CN 201710908923 A CN201710908923 A CN 201710908923A CN 107803845 A CN107803845 A CN 107803845A
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- robot
- electronic device
- mobile electronic
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- robot controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a kind of teaching method of industrial robot and system.This method includes：Input robot control instruction；The control instruction of input is written in the first file according to agreement form；First file is connected by data line transfer to robot controller, one end Micro USB joints of the data wire with the USB interface of the mobile electronic device, the other end USB joint of the data wire is connected with the USB interface of robot controller；The robot controller is identified, the second file for writing implementing result and status information according to agreement form that robot controller is fed back to is read and parsed after identifying successfully；Export the second fileinfo parsed.The present invention is connected, without wireless router, you can realize the function of special device, both reduce cost, also improve feasibility and stability by the use of mobile phone or flat board as the hardware platform of teaching machine with robot controller by data wire.
Description
Technical field
The present invention relates to industrial robot teaching field, and in particular to one kind is controlled based on mobile electronic device, robot
The industrial robot teaching method and system of device.
Background technology
Teaching box is the important component of robot control system.Operator carries out manual teaching control by teaching box
Robot reaches different positions and pose and records each pose point coordinates.Online programming, which is carried out, using robot language realizes that program plays back
The track of robot configuration processor requirement is allowed to move.Therefore, in the application process of industrial robot, teaching box turns into machine
An indispensable part for device people, the quality and user-interface design reasonability of its performance will be directly connected to industrial machine
Device people's using effect.Robot teaching box as man-machine interface also experienced continuous improvement, by single order input, letter
Breath code show tools develops into the autonomous system for integrating the functions such as programming, test, maintenance, system setting, in machine
Very important effect is played in people's system.For such a system, it is proposed that following to require：
(1) reliable friendly man-machine interface is provided；
(2) communication task and display information and necessary operation indicating with main frame are completed；
(3) application program teaching, editor；
(4) configuration processor test, monitoring programme reproduce；
(5) tool parameters, main frame, external equipment, robot outside axle parameter setting can be achieved；
(6) robot working condition, system mode and error message are shown.
Existing robot teaching system is typically all a special hardware unit, there is the input such as display screen, touch-screen
Output equipment, it is connected by cable with robot control cabinet, realizes teaching, control to robot.The special device needs independent
Exploitation and production, cost is higher, deficiency in economic performance.It is connected additionally by the mode of cable with switch board, has also fettered operator
Member's moves freely.Danger nearer from robot if cable is shorter, also certain.
In addition, present some electronic equipments such as smart mobile phone, tablet personal computer etc. all have the hardware platform of powerful,
Completely competent substitution hardware unit special at present completes the teaching work of robot.Although at present without practical application example,
But the application of existing related patent, but be all to be connected to robot controller by wireless router, pass through socket
Interface and Controler communicate, and complete control task.But add the scheme of wireless router using mobile phone or flat board, poor feasibility,
Poor anti jamming capability, security are poor.
In view of this, it would be highly desirable to which R ＆ D design goes out a kind of industrial robot teaching system for avoiding above-mentioned drawback.
The content of the invention
The purpose of the present invention aims to solve the problem that prior art problem, there is provided a kind of to be used as teaching machine by the use of mobile phone or flat board
Hardware platform, it is connected with robot controller by data wire, without wireless router, you can realize the work(of special device
Can, cost is both reduced, also improves feasibility and stability.
To achieve the above object, in a first aspect, the invention provides a kind of industrial machine based on mobile electronic device
People's teaching method, the mobile electronic device the described method comprises the following steps built with robot teaching program：
Input robot control instruction；
The control instruction of input is written in the first file according to agreement form；
First file is passed through into data line transfer to robot controller, one end Micro USB joints of the data wire
It is connected with the USB interface of the mobile electronic device, the other end USB joint of the data wire and robot controller
USB interface is connected；
The robot controller is identified, that is read after identifying successfully and parse that robot controller feeds back to will perform
As a result the second file with status information according to agreement form write-in；
Export the second fileinfo parsed.
Preferably, the robot control instruction of the input is that the letter signal inputted by touch screen mode instructs.
Refer to it is further preferred that the robot control instruction of the input is the letter signal inputted by touch screen mode
When making, second fileinfo parsed passes through touch screen output display.
Preferably, the robot control instruction of the input is that the audio signal inputted by microphone mode instructs, when
When the audio signal inputted using microphone mode is instructed, the first text is written to according to agreement form in the control instruction to input
Also include before in part：
The audio signal instruction of microphone input is converted into letter signal instruction；
Letter signal instruction after conversion is matched with default letter signal instruction in corpus, if match into
Work(, then the letter signal instruction after conversion is written in the first file according to agreement form；If matching is unsuccessful, nothing is returned
Imitate command information.
Refer to it is further preferred that the robot control instruction of the input is the audio signal inputted by microphone mode
When making, also include before the second fileinfo that output parses：The word content parsed is converted into audio signal, and
The second fileinfo parsed is exported by loudspeaker and prompted.
Refer to it is further preferred that the robot control instruction of the input is the audio signal inputted by microphone mode
When making, second fileinfo parsed passes through touch screen output display.
Preferably, the mobile electronic device is smart mobile phone or tablet personal computer.
In second aspect, the invention provides a kind of industrial robot teaching method based on robot controller.The party
Method comprises the following steps：
The mobile electronic device being connected with robot controller by data wire is identified, reads and parses after identifying successfully
Mobile electronic device passes through the first file of data line transfer, one end Micro USB joints and the movement of the data wire
The USB interface of electronic equipment is connected, and the other end USB joint of the data wire is connected with the USB interface of robot controller；
The operation according to corresponding to completing the first file content control machine people of parsing；
Robot implementing result and status information are written in the second file according to agreement form；
Second file is passed through into data line transfer to mobile electronic device.
Preferably, the mobile electronic device is smart mobile phone or flat board.
In the third aspect, present invention also offers a kind of industrial robot teaching system.The system is set including mobile electron
Standby, data wire, robot controller and robot, the data wire include Micro USB joints and USB joint,
The mobile electronic device built with robot teaching program, the USB interface of the mobile electronic device with it is described
The Micro USB joints of data wire are connected, to input robot control instruction and be written into the first file, and will
First file passes through data line transfer to robot controller；And incited somebody to action by what data wire reception robot controller was fed back to
The second file that implementing result and status information write according to agreement form, after then reading and parsing the second file, output solution
The second fileinfo separated out；
The USB joint of the data wire is connected with the USB interface of the robot controller；
The robot controller is connected with the robot, to read and parse the first of mobile electronic device the text
Part content, the control of robot is carried out according to the content parsed；And by robot implementing result and status information according to about
The formula of fixing is written in the second file, and passes through data line transfer to mobile electronic device.
Preferably, the mobile electronic device is smart mobile phone or flat board.
Beneficial effects of the present invention：The present invention will can need to issue the text of robot controller by mobile electronic device
Word control instruction, or phonetic control command is converted into after word control instruction and is written in a file according to the form of agreement
In, robot controller is read from this document.The information that same robot controller will also issue mobile electronic device is write
To another file, this file is read by mobile electronic device, the exchange of row information can be so entered between the two, so as to realize
Tutorial function.By this kind of method without special hardware unit, cost can be reduced；Data wire connect, be not required to by
Wireless router, cost is reduced, improve feasibility.Data wire physical connection simultaneously, it is anti-interference, stability is good, it is safe.
Brief description of the drawings
Fig. 1 is a kind of structured flowchart of industrial robot teaching system provided in an embodiment of the present invention；
Fig. 2 is the industrial robot teaching method based on mobile electronic device of one embodiment provided by the invention；
Fig. 3 is the industrial robot teaching method based on mobile electronic device of another embodiment provided by the invention；
Fig. 4 is the industrial robot teaching method provided in an embodiment of the present invention based on robot controller.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with inventive embodiments
Accompanying drawing, the technical scheme in inventive embodiments is clearly and completely described, it is clear that the embodiments described below are only
Only it is invention part of the embodiment, and not all embodiment.Based on the embodiment in invention, those of ordinary skill in the art exist
The all other embodiment obtained under the premise of creative work is not made, belongs to the scope of invention protection.
Fig. 1 is a kind of structured flowchart of industrial robot teaching system provided in an embodiment of the present invention.
As shown in figure 1, the embodiments of the invention provide a kind of industrial robot teaching system, the system includes mobile electron
Equipment 1, data wire 2, robot controller 3 and robot 4.
Data wire 2 is the normal data line for including Micro USB joints and USB joint.Data wire 2 mainly establishes mobile electricity
Connection and data transfer between sub- equipment 1 and robot controller 3.
The USB interface of mobile electronic device 1 is connected with the Micro USB joints of data wire 2, in mobile electronic device 1
Equipped with robot teaching program, mainly include robot and set, state is checked, job file editor, the function such as operation.The teaching
Program is consistent with current existing teaching machine program function demand.Specific programming realization is the same as software on general Mobile operating system
Develop similar, for example a application program is developed in Android phone.The mobile electronic device 1 of the present embodiment can be intelligence
The mobile electronic devices such as mobile phone, tablet personal computer.The mode that mobile electronic device 1 inputs robot control instruction can be by touching
The letter signal instruction of control screen input is instructed by the audio signal of microphone input.
If inputting literal order by touch screen mode, the teaching method that mobile electronic device 1 is carried out is：By user
The robot word control instruction of input is written in the first file, and the first file is transmitted to robot by data wire 2
Controller 3.Then the second file fed back to by the reception robot controller 3 of data wire 2, this document are that robot performs knot
The file that fruit and status information write according to agreement form.Then robot controller 3 is identified, reads and solves after identifying successfully
The second fileinfo of robot controller 3 is analysed, finally shows the second fileinfo parsed by touch screen.
If instructed by microphone mode input audio signal, the teaching method that mobile electronic device 1 is carried out is：Will
The audio signal control instruction of user's input is converted to letter signal instruction, then by the letter signal instruction after conversion and language material
The letter signal instruction prestored in storehouse is matched, and matching is unsuccessful, then feeds back to illegal command information；The match is successful,
Then the letter signal instruction after conversion is write in the first file, and the first file is transmitted to robot control by data wire 2
Device 3 processed.Then the second file fed back to by the reception robot controller 3 of data wire 2, this document is robot implementing result
File with status information according to agreement form write-in.Then robot controller 3 is identified, reads and parses after identifying successfully
Second fileinfo of robot controller 3, finally the second fileinfo parsed is shown by touch screen.Or will solution
The second fileinfo separated out is converted to audio signal, and output prompting is carried out by loudspeaker.
The USB interface of robot controller 3 is connected with the USB joint of data wire 2, main to be responsible for when receiving data
Mobile electronic device is identified, and is read after identifying successfully and parses the first file content of mobile electronic device 1, according to parsing
The content gone out carries out the control of robot；And when sending data, by robot implementing result and status information according to agreement
Form is written in the second file, and passes through data line transfer to mobile electronic device 1.
Robot 4 is connected with robot controller 3, to perform the instruction of the output of robot controller 3.
It is mobile phone with mobile electronic device 1, control instruction illustrates for word：By data wire one end insertion mobile phone USB
Mouthful, the other end is inserted in robot controller USB port.Then the robot teaching program on mobile phone, teaching application journey are started
Sequence on startup, reads the IMEI and MAC Address of mobile phone automatically, wherein the IMEI read is 358239051767418, MAC
Address is bf:f5:ac:f9:c7:50, the IMEI that data search of the teaching application program in secure validation database is read
It whether there is with MAC Address.The secure validation database write in advance by teaching application developer and with teaching application journey
Sequence is bound together, and the secure validation database can be installed simultaneously when cellphone subscriber is installing teaching application program on mobile phone.
If teaching application program finds read IMEI number and MAC Address in the secure validation database, illustrate the hand
Machine is the electronic equipment by mandate, can carry out teaching to robot, it is illegal otherwise to illustrate the mobile phone.It is qualified verifying
Afterwards, then teaching is carried out, teaching process is：Each command interface on touch screen is clicked on, word control instruction is generated, by the text of generation
Word control instruction is written in a file according to agreement form.Write-in to be instructed finishes, and now robot controller will be known
Other mobile phone, just read after identification from mobile phone and analyze this document, and complete to correspond to according to the output control robot parsed
Operation, then the implementing result of robot and status information are also written in a file according to agreement form again.Now,
Mobile phone terminal is also carried out to robot controller, can be to read and parse in the file of robot controller end after identifying successfully
Hold, then can then carry out output indication, teaching work is completed in so circulation.
Fig. 2 is the industrial robot teaching method based on mobile electronic device of one embodiment provided by the invention.
In step 201, robot control instruction is inputted, the control instruction is that the letter signal inputted by touch screen refers to
Order.
In step 202, the letter signal instruction to input is written in the first file according to agreement form.
In step 203, the first file is passed through into data line transfer to robot controller, one end of the data wire
Micro USB joints are connected with the USB interface of the mobile electronic device, the other end USB joint and machine of the data wire
The USB interface of device people's controller is connected.
In step 204, the robot controller is identified, is read after identifying successfully and to parse robot controller anti-
The second file for writing implementing result and status information according to agreement form being fed back to.
In step 205, the second file parsed is subjected to output display by touch screen.
Mobile electronic device in the present embodiment is mobile phone or tablet personal computer or other mobile electronic devices.
Fig. 3 is the industrial robot teaching method based on mobile electronic device of another embodiment provided by the invention.
In step 301, robot control instruction is inputted, the control instruction is to refer to by the audio signal of microphone input
Order.
In step 302, the audio signal instruction to input is converted to letter signal instruction.
In step 303, by the letter signal instruction after conversion and default letter signal instruction progress in corpus
Match somebody with somebody, if the match is successful, perform step 304, if failure, perform step 305.
In step 304, the letter signal instruction after conversion is written in the first file according to agreement form.
In step 305, if matching is unsuccessful, illegal command information is returned.
Within step 306, the first file is passed through into data line transfer to robot controller, one end of the data wire
Micro USB joints are connected with the USB interface of the mobile electronic device, the other end USB joint and machine of the data wire
The USB interface of device people's controller is connected.
In step 307, robot controller is identified, is read after identifying successfully and parses robot controller and feed back to
The second file for writing implementing result and status information according to agreement form.
In step 308, the analysis result of the second file is exported, the word content parsed can be converted in this step
Audio signal, then exported and prompted by loudspeaker.Certainly it can not have to signal to change yet, parsing knot is directly carried out by touch screen
The display of fruit.
Mobile electronic device in the present embodiment is mobile phone or tablet personal computer or other mobile electronic devices.
Fig. 4 is the industrial robot teaching method provided in an embodiment of the present invention based on robot controller.
In step 401, the mobile electronic device being connected with robot controller by data wire is identified, is being identified successfully
Read afterwards and parse first file of the mobile electronic device by data line transfer, one end Micro USB of the data wire connect
Head is connected with the USB interface of the mobile electronic device, the other end USB joint of the data wire and robot controller
USB interface is connected.
In step 402, the operation according to corresponding to completing the first file content control machine people of parsing.
In step 403, robot implementing result and status information are written in the second file according to agreement form.
In step 404, the second file is passed through into data line transfer to mobile electronic device.
Mobile electronic device in the present embodiment is mobile phone or tablet personal computer or other mobile electronic devices.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include
Within protection scope of the present invention.
Claims (10)
- A kind of 1. industrial robot teaching method based on mobile electronic device, it is characterised in that in the mobile electronic device Equipped with robot teaching program, the described method comprises the following steps：Input robot control instruction；The control instruction of input is written in the first file according to agreement form；First file is passed through into data line transfer to robot controller, one end Micro USB joints of the data wire and institute The USB interface for stating mobile electronic device is connected, and the other end USB joint of the data wire and the USB of robot controller connect Mouth is connected；Identify the robot controller, read after identifying successfully and parse that robot controller feeds back to by implementing result The second file with status information according to agreement form write-in；Export the second fileinfo parsed.
- A kind of 2. industrial robot teaching method based on mobile electronic device according to claim 1, it is characterised in that The robot control instruction of the input is that the letter signal inputted by touch screen mode instructs.
- A kind of 3. industrial robot teaching method based on mobile electronic device according to claim 2, it is characterised in that When the robot control instruction of the input is that the letter signal inputted by touch screen mode instructs, it is described parse second Fileinfo passes through touch screen output display.
- A kind of 4. industrial robot teaching method based on mobile electronic device according to claim 1, it is characterised in that The robot control instruction of the input is that the audio signal inputted by microphone mode instructs, when defeated using microphone mode During the audio signal instruction entered, also include before being written to the control instruction of input according to agreement form in the first file：The audio signal instruction of microphone input is converted into letter signal instruction；Letter signal instruction after conversion is matched with default letter signal instruction in corpus, if the match is successful, Letter signal instruction after conversion is written in the first file according to agreement form；If matching is unsuccessful, invalid finger is returned Make information.
- A kind of 5. industrial robot teaching method based on mobile electronic device according to claim 4, it is characterised in that When the robot control instruction of the input is that the audio signal inputted by microphone mode instructs, parsed in output the Also include before two fileinfos：The word content parsed is converted into audio signal, and the second fileinfo parsed Exported and prompted by loudspeaker.
- A kind of 6. industrial robot teaching method based on mobile electronic device according to claim 4, it is characterised in that When the robot control instruction of the input is that the audio signal inputted by microphone mode instructs, it is described parse second Fileinfo passes through touch screen output display.
- A kind of 7. industrial robot teaching method based on mobile electronic device according to claim 1, it is characterised in that The mobile electronic device is smart mobile phone or tablet personal computer.
- A kind of 8. industrial robot teaching method based on robot controller, it is characterised in that methods described includes following step Suddenly：The mobile electronic device being connected with robot controller by data wire is identified, is read after identifying successfully and parses movement Electronic equipment passes through the first file of data line transfer, one end Micro USB joints and the mobile electron of the data wire The USB interface of equipment is connected, and the other end USB joint of the data wire is connected with the USB interface of robot controller；The operation according to corresponding to completing the first file content control machine people of parsing；Robot implementing result and status information are written in the second file according to agreement form；Second file is passed through into data line transfer to mobile electronic device.
- 9. a kind of industrial robot teaching system, it is characterised in that including mobile electronic device, data wire, robot controller And robot, the data wire include Micro USB joints and USB joint,The mobile electronic device is built with robot teaching program, the USB interface of the mobile electronic device and the data The Micro USB joints of line are connected, to input robot control instruction and be written into the first file, and by first File passes through data line transfer to robot controller；And it will be performed by what data wire reception robot controller was fed back to As a result the second file with status information according to agreement form write-in, after then reading and parsing the second file, output parses The second fileinfo；The USB joint of the data wire is connected with the USB interface of the robot controller；The robot controller is connected with the robot, to read and parse in the first file of mobile electronic device Hold, the control of robot is carried out according to the content parsed；And by robot implementing result and status information according to about fixing Formula is written in the second file, and passes through data line transfer to mobile electronic device.
- 10. a kind of industrial robot teaching system based on mobile electronic device according to claim 9, its feature exist In the mobile electronic device is smart mobile phone or flat board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710908923.0A CN107803845A (en) | 2017-09-29 | 2017-09-29 | The teaching method and system of a kind of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710908923.0A CN107803845A (en) | 2017-09-29 | 2017-09-29 | The teaching method and system of a kind of industrial robot |
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| CN201710908923.0A Pending CN107803845A (en) | 2017-09-29 | 2017-09-29 | The teaching method and system of a kind of industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109799771A (en) * | 2018-12-29 | 2019-05-24 | 深圳市越疆科技有限公司 | A kind of control system of industrial robot, method and device |
| WO2020103680A1 (en) * | 2018-11-19 | 2020-05-28 | 炬星科技（深圳）有限公司 | Data communication method, and human-machine interaction system |
| CN111819039A (en) * | 2019-07-15 | 2020-10-23 | 深圳配天智能技术研究院有限公司 | Robot control method, device and readable storage medium |
| CN111844016A (en) * | 2019-04-25 | 2020-10-30 | 精工爱普生株式会社 | Robot system control method and robot system |
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Application publication date: 20180316 |