CN209158405U - A kind of wireless teaching system of robot - Google Patents
A kind of wireless teaching system of robot Download PDFInfo
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- CN209158405U CN209158405U CN201821931677.7U CN201821931677U CN209158405U CN 209158405 U CN209158405 U CN 209158405U CN 201821931677 U CN201821931677 U CN 201821931677U CN 209158405 U CN209158405 U CN 209158405U
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Abstract
A kind of robot of the utility model is wireless teaching system, the system comprises the signal emission module of robot end, the signal receiving module being arranged in robot control cabinet, power module, wireless communication module is arranged in, the signal emission module is connected and communicated through wireless communication module and the signal receiving module, the power module is connect with signal emission module, signal receiving module, wireless communication module respectively, the signal emission module includes the first micro-control unit, function control key, and first micro-control unit and function control are by key connection.The first micro-control unit, the second micro-control unit in the utility model are all made of common STM8 series monolithic, therefore overall cost is cheap；In addition, the utility model selects the working condition of robot by function control key, and then issues control signal, operation interface is simple.
Description
Technical field
The utility model relates to Industrial Robot Technology field, in particular to a kind of robot is wireless teaching system and its control
Method processed.
Background technique
Currently, industrial circle is increasing to automation and machine Man's Demands, the production and selling number of industrial robot
Amount gradually increases, and industrial robot, which will be completed to act accordingly, to be needed to be programmed it, in the prior art, the programming of robot
Mode includes teaching programming and off-line programing, and since off-line programing mode is not easy to execute-in-place, and programing work amount is big, essence
Low therefore less complicated in some robot motions occasion is spent, generallys use teaching programming mode, therefore teaching system is just answered
It transports and gives birth to.
The teaching system of early stage is by the way of wired connection, i.e., wired between the handle and robot controller of teaching machine
Communication, and the position that robot is mounted in many cases, if handle connecting cable, will cause dragging process than narrow
Interference, influences Programming's quality and efficiency, is all generally radio connection now according to this applicable cases.But existing skill
Structure is complicated for wireless teaching system in art, higher cost, and it is also less easy to operate.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of wireless teaching system of robot and its
Control method is not only simple in structure, is low in cost, and easy to operate.
To achieve the goals above, the technical solution adopted in the utility model are as follows:
Robot is wireless teaching system, the system comprises the signal emission module of robot end is set, setting exists
Signal receiving module, power module, wireless communication module in robot control cabinet, the signal emission module is through wireless telecommunications
Module is connected and communicated with the signal receiving module, the power module respectively with signal emission module, signal receiving module,
Wireless communication module connection, it is characterised in that: the signal emission module includes the first micro-control unit, function control key,
First micro-control unit and function control are by key connection.
The power module includes 24V DC power supply, 3.3V DC power supply.
The wireless communication module includes the first wireless communication module, the second wireless communication module, and the signal emits mould
Block is connect through the first wireless communication module with the second wireless communication module, and second wireless communication module and the signal receive
Module connection, the antennal interface of first wireless communication module, the second wireless communication module antennal interface with antenna TP
Connection.
The model STM8/UFQFPN28 of first micro-control unit, the pin 1 of first micro-control unit is through electricity
Resistance is connect with the 3.3V DC power supply, and the pin 1 is also connect through conventional capacitive with pin 6, and the pin 6 is grounded, pin 7
It is connect with the 3.3V DC power supply, is also connected with filter circuit between the pin 6 of first micro-control unit, pin 7, institute
It states filter circuit to be formed by two conventional capacitive parallel connections, the pin 27 of first micro-control unit and first wireless telecommunications
The pin 14 of module connects, and the pin 16 of the pin 21 of first micro-control unit and first wireless communication module connects
It connects, the pin 20 of first micro-control unit is connect with the pin 15 of first wireless communication module, first micro-control
The pin 19 of unit processed is connect with the pin 2 of first wireless communication module to pin 6 respectively to pin 15, and described first is micro-
By key connection, other pins of first micro-control unit are outstanding for the pin 8- pin 14 of control unit and the function control
It sets.
The function control key include switch S2, key K1 to K6, the switch S2, key K1 to K6 one end with
The switch S2, the 3.3V DC power supply connection, the other end equal resistance grounded of the switch S2, key K1 to K6 are pressed
The other end of key K1 to K6 is correspondingly connected with the pin 8 of first micro-control unit to pin 14 respectively.
The signal receiving module includes the second micro-control unit, relay module, the type of second micro-control unit
It number is STM8L151G6, the pin 1 of second micro-control unit connect through resistance with the 3.3V DC power supply, the pin
1 also connect through capacitor with pin 6, and the pin 6 is grounded, and the pin 7 is connect with the 3.3V DC power supply, and described second is micro-
It is also connected with filter circuit between the pin 6 of control unit, pin 7, the filter circuit is formed by two conventional capacitive parallel connections,
Pin 4, pin 5, the pin 8 to pin 12 of second micro-control unit are connect with relay module, second micro-control
The pin 15 of unit processed is connect with the pin 6 of second wireless communication module to pin 2 respectively to pin 19, and described second is micro-
The pin 25 of control unit is connect with the pin 16 of second wireless communication module to pin 14 respectively to pin 27, and described
Other pins of two micro-control units suspend.
The relay module includes the identical relay circuit of 7 structures, the first insert row, second micro-control unit
Pin 4, pin 5, pin 8 to pin 12 connect with relay circuit, the relay circuit includes triode, two poles
Pipe, relay, the base stage of the triode are connect through resistance with the pin of second micro-control unit, the hair of the triode
Emitter grounding, the diode is in parallel with the relay input terminal, the current collection of the anode and the triode of the diode
Pole connection, the cathode of the diode are connect with the 24V DC power supply, and the output end of the relay is connected to first and inserts
Row, first insert row are connected to the executing agency of robot by conducting wire.
The wireless teaching system includes detection module, described for detecting the working condition of the wireless teaching system
Detection module includes detection circuit, circuit of LED, the second insert row, and the detection circuit includes the first optocoupler, the second light
One end of coupling, third optocoupler, the 4th optocoupler, the input terminal of first optocoupler is connect through resistance with 3.3V power supply, and described first
The other end of the input terminal of optocoupler is grounded, and one end of the output end of first optocoupler is connect with the second insert row, and described second inserts
Row is connect by conducting wire with power control cabinet, the other end resistance grounded of the output end of first optocoupler, second optocoupler, the
Three optocouplers, the connection type of the 4th optocoupler are identical as the first optocoupler.
The circuit of LED includes the first light emitting diode, the second light emitting diode, third light emitting diode, institute
The anode for stating the first light emitting diode is connect with 3.3V DC power supply, and the cathode of first light emitting diode is connected to through resistance
The anode of the pin 23 of first micro-control unit, second light emitting diode is connect with 3.3V DC power supply, and described the
The cathode of two light emitting diodes is connected to the pin 25 of first micro-control unit, the anode of third light emitting diode through resistance
It is connect with 3.3V DC power supply, the cathode of the third light emitting diode is connected to drawing for first micro-control unit through resistance
Foot 24.
First light emitting diode is green LED, and second light emitting diode is two pole of emitting red light
Pipe；The third light emitting diode is blue LED.
Utility model has the advantages that the first micro-control unit, the second micro-control unit in (1) the utility model are equal
Using common STM8 series monolithic, therefore overall cost is cheap；(2) the utility model selects machine by function control key
The working condition of device people, and then control signal is issued, operation interface is simple；(3) the utility model is by detection module to the nothing
The working condition of line teaching system is detected, and user is facilitated to overhaul in time to the system.
Detailed description of the invention
Below to each width attached drawing of the utility model specification expression content and figure in label be briefly described:
Fig. 1 is the structural schematic diagram of the wireless teaching system of the utility model；
Fig. 2 is the circuit diagram of the first micro-control unit in the wireless teaching system of the utility model；
Fig. 3 is the circuit diagram of function control key in the wireless teaching system of the utility model；
Fig. 4 is the circuit diagram of wireless communication module in the wireless teaching system of the utility model；
Fig. 5 is the circuit diagram of the second microcontroller in the wireless teaching system of the utility model；
Fig. 6 is the circuit diagram of relay module in the wireless teaching system of the utility model；
Fig. 7 is the circuit diagram of detection circuit in the wireless teaching system of the utility model；
Fig. 8 is the circuit diagram of circuit of LED in the wireless teaching system of the utility model.
Label in above-mentioned figure is equal are as follows:
1, signal emission module；2, signal receiving module；3, power module；4, wireless communication module；5, the first microcontroller
Unit；6, function control key；7, the first wireless communication module；8, the second wireless communication module；9, the second micro-control unit；
10, relay module；11, relay circuit；12, the first insert row；13, detection circuit；14, circuit of LED；15, second
Insert row.
Specific embodiment
Specific embodiment of the present utility model is made into one by the description to optimum embodiment below against attached drawing
Step detailed description.
As shown in Figure 1, being the structural schematic diagram of the wireless teaching system of the utility model robot.In this embodiment, should
Wireless teaching system includes that the signal emission module 1 that robot end is arranged in, the signal being arranged in robot control cabinet connect
Module 2, power module 3 and wireless communication module 4 are received, the signal emission module 1 is through wireless communication module 4 and the signal
Receiving module 2 connects and communicates, the power module 3 respectively with signal emission module 1, signal receiving module 2, wireless telecommunications mould
Block 4 connects, and provides power supply for it, wherein and the signal emission module 1 includes the first micro-control unit 5, function control key 6,
Function control key 6 includes several buttons and switch, and wherein each button corresponds to a kind of working condition of robot, user
The working condition of robot, the robot that first micro-control unit 5 is selected according to user are selected by function control key 6
Working condition generate control and signal and be sent to the signal receiving module 2, signal receiving module 2 through wireless communication module 4
The executing agency of robot is sent control signals to again, so that controlling robot completes target action.
Further, the power module 3 includes 24V DC power supply, 3.3V DC power supply, can use the devices such as voltage-stablizer
24V DC power supply is converted to 3.3V DC power supply and exported by part, and the input terminal of this structure is 24V DC power supply, output end
It is 3.3V DC power supply.It can also be using other separate structures in the prior art, herein with no restrictions.
Further, the wireless communication module 4 includes the first wireless communication module 7, the second wireless communication module 8, institute
It states signal emission module 1 and is connect through the first wireless communication module 7 with the second wireless communication module 8, the second wireless telecommunications mould
Block 8 is connect with the signal receiving module 2, the antennal interface of first wireless communication module 7, the second wireless communication module 8
Antennal interface connect with antenna TP.Preferably, the model of first wireless communication module 7, the second wireless communication module 8
It is NCK01120.
After the completion of above-mentioned apparatus connection, user presses corresponding key, signal in function control key 6 according to demand first
Transmitting module 1 generates corresponding control signal according to key information, and according to predefined agreement, interface control signal
It is transferred to the first wireless communication module 7, after the first wireless module 7 receives the control signal of signal emission module transmission, to control
Signal processed is carried out band spectrum modulation and is radiated in the air by the data that day bundle of lines modulates with electromagnetic mode；Second wireless module 8
Antenna monitor airborne electromagnetic wave after, be sent to signal after carrying out demodulation and respective handling to the electromagnetic signal received and connect
Module 2 is received, signal receiving module 2 generates the executing agency of control signal to robot, completes accordingly to control robot
Movement.
Certainly, the above-mentioned hardware configuration software that needs to arrange in pairs or groups just is able to achieve purpose of utility model, such as function control key 6
It is corresponding with robot working condition, and how control signal generated according to robot working condition and be sent to signal and receive mould
Block 2 requires programming cooperation, but this program belongs to the prior art, it is only necessary to by the parameter etc. in program in the prior art
Carry out corresponding change.
Preferably, the model STM8/UFQFPN28 of first micro-control unit 5, first micro-control unit 5
Pin 1 is connect through resistance with the 3.3V DC power supply, and the pin 1 is also connect through conventional capacitive with pin 6, the pin 6
Ground connection, pin 7 connect with the 3.3V DC power supply, is also connected between the pin 6 of first micro-control unit 5, pin 7
Filter circuit, the filter circuit are formed by two conventional capacitive parallel connections, the pin 27 of first micro-control unit 5 with it is described
The pin 14 of first wireless communication module 7 connects, the pin 21 of first micro-control unit 5 and the first wireless telecommunications mould
The pin 16 of block 7 connects, and the pin 15 of the pin 20 of first micro-control unit 5 and first wireless communication module 7 connects
Connect, the pin 19 of first micro-control unit 5 to pin 15 respectively the pin 2 with first wireless communication module 7 to drawing
Foot 6 connects, and the pin 8- pin 14 of first micro-control unit 5 is connect with the function control key 6, first micro-control
Other pins of unit 5 processed suspend.
Further, the function control key 6 includes switch S2, key K1 to K6, the switch S2, key K1 to K6
One end connect with the 3.3V DC power supply, the equal resistance grounded of the other end of the switch S2, key K1 to K6 are described
Switch S2, key K1 to K6 the other end be correspondingly connected with respectively with the pin 8 of first micro-control unit 7 to pin 14.Its
In, the opening and closing of switch S2 control function control button, key K1 to K6 respectively corresponds a kind of working condition of robot,
User can according to need selection.
Further, the signal receiving module 2 includes the second micro-control unit 9, relay module 10, and described second is micro-
The model STM8L151G6 of control unit 9, the pin 1 of second micro-control unit 9 is through resistance and the 3.3V direct current
Source connection, the pin 1 are also connect through capacitor with pin 6, and the pin 6 is grounded, the pin 7 and the 3.3V DC power supply
Connection is also connected with filter circuit between the pin 6 of second micro-control unit 9, pin 7, and the filter circuit is by two
Conventional capacitive parallel connection is formed, and the pin 4 of second micro-control unit 9, pin 5, pin 8 to pin 12 are and relay module
10 connections, the pin 15 of second micro-control unit 9 to pin 19 pin 6 with second wireless communication module 8 respectively
Connected to pin 2, the pin 25 of second micro-control unit 9 to pin 27 respectively with second wireless communication module 8
Pin 16 to pin 14 connects, other pins suspension of second micro-control unit 9.
Further, the relay module 10 includes the identical relay circuit 11 of 7 structures, the first insert row 12, institute
Pin 4, pin 5, pin 8 to the pin 12 for stating the second micro-control unit 9 are separately connected a relay circuit 11, the relay
Device circuit 11 includes triode, diode, relay, and the base stage of the triode is through resistance and second micro-control unit 9
Pin 12 (by taking the pin 12 of the second micro-control unit of pin as an example) connection, the triode emitter ground connection, described two
Pole pipe is in parallel with the relay input terminal, and the anode of the diode is connect with the collector of the triode, two pole
The cathode of pipe is connect with the 24V DC power supply, and the output end of the relay is connected to the first insert row 12, first insert row
12 are connected to the executing agency of robot by conducting wire.
In order to detect whether the wireless teaching system is in effective working condition, it is preferred that the wireless teaching system is also
Including detection module, the detection module includes detection circuit 13, circuit of LED 14, the second insert row 15, the detection
Circuit 13 includes the first optocoupler, the second optocoupler, third optocoupler, the 4th optocoupler, and one end of the input terminal of first optocoupler is through electricity
Resistance is connect with 3.3V power supply, the other end ground connection of the input terminal of first optocoupler, one end of the output end of first optocoupler
Connect with the second insert row 15, second insert row 15 is connect by conducting wire with power control cabinet, the output end of first optocoupler it is another
One end resistance grounded, second optocoupler, third optocoupler, the connection type of the 4th optocoupler are identical as the first optocoupler.
The circuit of LED 14 includes the first light emitting diode, the second light emitting diode, third light emitting diode,
The anode of first light emitting diode is connect with 3.3V DC power supply, and the cathode of first light emitting diode is connected through resistance
To the pin 23 of first micro-control unit 7, the anode of second light emitting diode is connect with 3.3V DC power supply, described
The cathode of second light emitting diode is connected to the pin 25 of first micro-control unit 7 through resistance, third light emitting diode
Anode is connect with 3.3V DC power supply, and the cathode of the third light emitting diode is connected to first micro-control unit through resistance
7 pin 24.Preferably, first light emitting diode is green LED, and second light emitting diode is red
Light emitting diode, the third light emitting diode are blue LED.
The signal receiving module 2 power control cabinet output signals monitored pass through the second wireless communication module 8, the first channel radio
News module 7 is sent to signal emission module 1 (data transmission procedure is described above), and signal emission module 1 is to receiving data
Demodulation judgement is carried out, three-color LED state is controlled according to judging result.User presses the switch of the S2 in function control key 6, is
System starts power up, the modules in activation system, and red light emitting diodes, blue LED start as system at this time
The indicator light is always on, and when green LED flashing, it is normal to represent wireless telecommunications；When green LED is always on,
Wireless telecommunications are represented to break down.
Obvious the utility model specific implementation is not subject to the restrictions described above, as long as the method for using the utility model
The improvement for the various unsubstantialities that conception and technical scheme carry out, both is within the protection scope of the present invention.
Claims (10)
1. a kind of wireless teaching system of robot, the system comprises the signal emission module (1) of robot end is arranged in, sets
Set signal receiving module (2), power module (3), wireless communication module (4) in robot control cabinet, the signal transmitting
Module (1) is connected and communicated through wireless communication module (4) and the signal receiving module (2), the power module (3) respectively with
Signal emission module (1), signal receiving module (2), wireless communication module (4) connection, it is characterised in that: the signal emits mould
Block (1) includes the first micro-control unit (5), function control key (6), and first micro-control unit (5) is pressed with function control
Key (6) connection.
2. wireless teaching system according to claim 1, it is characterised in that: the power module (3) includes 24V direct current
Source, 3.3V DC power supply.
3. wireless teaching system according to claim 2, it is characterised in that: the wireless communication module (4) includes first
Wireless communication module (7), the second wireless communication module (8), the signal emission module (1) is through the first wireless communication module (7)
It is connect with the second wireless communication module (8), second wireless communication module (8) connect with the signal receiving module (2), institute
The antennal interface of the antennal interface, the second wireless communication module (8) of stating the first wireless communication module (7) is connect with antenna TP.
4. wireless teaching system according to claim 3, it is characterised in that: the model of first micro-control unit (5)
Pin 1 for STM8/UFQFPN28, first micro-control unit (5) is connect through resistance with the 3.3V DC power supply, described
Pin 1 is also connect through conventional capacitive with pin 6, and the pin 6 is grounded, and pin 7 is connect with the 3.3V DC power supply, and described the
Be also connected with filter circuit between the pin 6 of one micro-control unit (5), pin 7, the filter circuit by two conventional capacitives simultaneously
Connection is formed, and the pin 27 of first micro-control unit (5) is connect with the pin 14 of first wireless communication module (7), institute
The pin 21 for stating the first micro-control unit (5) is connect with the pin 16 of first wireless communication module (7), first micro-control
The pin 20 of unit (5) processed is connect with the pin 15 of first wireless communication module (7), first micro-control unit (5)
Pin 19 connect respectively with pin 2 to the pin 6 of first wireless communication module (7) to pin 15, first micro-control
The pin 8- pin 14 of unit (5) processed is connect with the function control key (6), first micro-control unit (5) other
Pin suspension.
5. wireless teaching system according to claim 4, it is characterised in that: the function control key (6) includes switch
S2, key K1 to K6, the switch S2, key K1 to K6 one end connect with the 3.3V DC power supply, the switch S2,
The equal resistance grounded of the other end of key K1 to K6, the switch S2, the other end of key K1 to K6 are micro- with described first respectively
The pin 8 of control unit (5) to pin 14 is correspondingly connected with.
6. according to the described in any item wireless teaching systems of claim 3 to 5, it is characterised in that: the signal receiving module (2)
Including the second micro-control unit (9), relay module (10), the model STM8L151G6 of second micro-control unit (9),
The pin 1 of second micro-control unit (9) is connect through resistance with the 3.3V DC power supply, the pin 1 also through capacitor with
Pin 6 connects, and the pin 6 is grounded, and the pin 7 is connect with the 3.3V DC power supply, second micro-control unit (9)
Pin 6, be also connected with filter circuit between pin 7, the filter circuit is formed by two conventional capacitive parallel connections, described second
Pin 4, pin 5, the pin 8 to pin 12 of micro-control unit (9) are connect with relay module (10), second microcontroller
The pin 15 of unit (9) is connect with pin 6 to the pin 2 of second wireless communication module (8) respectively to pin 19, and described
The pin 25 of two micro-control units (9) to pin 27 respectively with the pin 16 of second wireless communication module (8) to pin 14
Connection, other pins suspension of second micro-control unit (9).
7. wireless teaching system according to claim 6, it is characterised in that: the relay module (10) includes 7 knots
The identical relay circuit of structure (11), the first insert row (12), pin 4, pin 5, the pin 8 of second micro-control unit (9)
It is connect to pin 12 with relay circuit (11), the relay circuit (11) includes triode, diode, relay, institute
The base stage for stating triode is connect through resistance with the pin of second micro-control unit (9), the emitter ground connection of the triode,
The diode is in parallel with the relay input terminal, and the anode of the diode is connect with the collector of the triode, institute
The cathode for stating diode is connect with the 24V DC power supply, and the output end of the relay is connected to the first insert row (12), described
First insert row (12) is connected to the executing agency of robot by conducting wire.
8. wireless teaching system according to claim 7, it is characterised in that: the wireless teaching system includes detection mould
Block, for detecting the working condition of the wireless teaching system, the detection module includes detection circuit (13), light emitting diode
Circuit (14), the second insert row (15), the detection circuit (13) include the first optocoupler, the second optocoupler, third optocoupler, the 4th light
One end of coupling, the input terminal of first optocoupler is connect through resistance with 3.3V power supply, the input terminal of first optocoupler it is another
End ground connection, one end of the output end of first optocoupler are connect with the second insert row (15), and second insert row (15) passes through conducting wire
It is connect with power control cabinet, the other end resistance grounded of the output end of first optocoupler, second optocoupler, third optocoupler,
The connection type of four optocouplers is identical as the first optocoupler.
9. wireless teaching system according to claim 8, it is characterised in that: the circuit of LED (14) includes the
One light emitting diode, the second light emitting diode, third light emitting diode, anode and the 3.3V direct current of first light emitting diode
Power supply connection, the cathode of first light emitting diode are connected to the pin 23 of first micro-control unit (5), institute through resistance
The anode for stating the second light emitting diode is connect with 3.3V DC power supply, and the cathode of second light emitting diode is connected to through resistance
The anode of the pin 25 of first micro-control unit (5), third light emitting diode is connect with 3.3V DC power supply, the third
The cathode of light emitting diode is connected to the pin 24 of first micro-control unit (5) through resistance.
10. wireless teaching system according to claim 9, it is characterised in that: first light emitting diode is green hair
Optical diode, second light emitting diode are red light emitting diodes；The third light emitting diode is two pole of blue-light-emitting
Pipe.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821931677.7U CN209158405U (en) | 2018-11-22 | 2018-11-22 | A kind of wireless teaching system of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821931677.7U CN209158405U (en) | 2018-11-22 | 2018-11-22 | A kind of wireless teaching system of robot |
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| CN209158405U true CN209158405U (en) | 2019-07-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291057A (en) * | 2018-11-22 | 2019-02-01 | 希美埃（芜湖）机器人技术有限公司 | A kind of robot is wireless teaching system and its control method |
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2018
- 2018-11-22 CN CN201821931677.7U patent/CN209158405U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291057A (en) * | 2018-11-22 | 2019-02-01 | 希美埃（芜湖）机器人技术有限公司 | A kind of robot is wireless teaching system and its control method |
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