CN109067812A - Wireless Internet industrial robot control system and wireless built controller - Google Patents
Wireless Internet industrial robot control system and wireless built controller Download PDFInfo
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- CN109067812A CN109067812A CN201811233503.8A CN201811233503A CN109067812A CN 109067812 A CN109067812 A CN 109067812A CN 201811233503 A CN201811233503 A CN 201811233503A CN 109067812 A CN109067812 A CN 109067812A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L61/00—Network arrangements, protocols or services for addressing or naming
- H04L61/45—Network directories; Name-to-address mapping
- H04L61/4505—Network directories; Name-to-address mapping using standardised directories; using standardised directory access protocols
- H04L61/4511—Network directories; Name-to-address mapping using standardised directories; using standardised directory access protocols using domain name system [DNS]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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Abstract
This application discloses a kind of wireless Internet industrial robot control systems, including wireless built controller, wireless router, database server, DDNS server and controlling terminal, and wherein wireless built controller by wireless module, robot control system and supports the telecommunication software of RDP agreement to form.Compared with conventional robot control system, professional technician can access each robot being connected with server at any time by internet and modify its parameter and program, and robot will not be limited by wire communication distance, can preferably be cooperated.Overcome and need manually to be moved to every robot in the prior art and modify operation procedure one by one, and the deficiency that low efficiency, time are long.
Description
Technical field
This application involves automation field more particularly to wireless Internet industrial robot control system and wireless insertions
Formula controller.
Background technique
In machine-building, assembly industry, manual operation largely is replaced to promote production using robot now
Efficiency improves product quality, reduces production cost.However present product makes rapid progress, product renewing iteration cycle is increasingly
It is short, cause flexible automation production line to start to occupy leading market status, and the current groundwork of robot is all to repeat
Multiple single movements, but robot may require that often change and be engaged in other tasks, once the action of robot is sent out
It is raw to change, it is necessary to which that professional technician's time of robot reprograms to robot and configuration task, this may require that profession
Technical staff takes a significant amount of time, and leads to the increase of time cost.In addition, fieldbus and the network communication of robot communication
It is all wired form, communication distance is short and is unfavorable for cooperating over long distances, it means that appoints for robot replacement operation
This thing of being engaged in must be by manually completing in robot site, and this point is clearly hardly possible for the epoch of implementation " unmanned factory "
With receiving.
Currently, since product renewing iteration cycle is shorter and shorter, how by robot and unmanned flexible automation production line
In conjunction with becoming the bottleneck of current unmanned production line.In this case, by development of internet of things, a to possess internet remote
Journey communication, can monitor in batches in real time, modify the industrial robot controller of robot task target and control system is just shown
It obtains particularly important.
Summary of the invention
The embodiment of the present invention provides a kind of wireless Internet industrial robot control system and wireless built controller, energy
Batch monitoring in real time, modification robot task target.
According to the embodiment of the present application in a first aspect, providing a kind of wireless Internet industrial robot control system includes nothing
Line embedded type controller, wireless router, database server, DDNS server and controlling terminal；The wireless built
Controller is connected by the wireless router with the database server；
The controlling terminal establishes connection by DDNS dynamic domain name and the DDNS server, when DDNS server passes through
After certification, the DDNS server carries out the controlling terminal and the wireless built control system of corresponding industrial robot
Connection；
After the controlling terminal and the wireless built controller establish connection, received by RDP remote display protocol
And show the data of wireless built controller transmission, to realize that wireless built controller carries out visualization processing；
The controlling terminal reads the motor data in industrial robot servo-driver using EtherCAT fieldbus,
And the motor data is shown；
The wireless built controller with the controlling terminal after connecting, and acquiring technology personnel are in the controlling terminal
On to the robot parameter of industrial robot input and the program of selection, to database server send the robot parameter and
Program simultaneously creates modification log.
In some embodiments, after DDNS server is by certification, further includes: the controlling terminal access database clothes
Business device reads the parameter current and operation conditions record of corresponding robot from the database server；
The controlling terminal establishes connection by DDNS dynamic domain name and the DDNS server, comprising:
The controlling terminal to the DDNS server and transmits DDNS dynamic domain name and port numbers using internet；
The DDNS server inputs specific DDNS dynamic domain name according to the controlling terminal and connect with port numbers pair
The wireless built controller for the industrial robot answered, wherein a DDNS dynamic domain name one corresponding with the combination of port numbers
IP address of internal network.
In some embodiments, the controlling terminal obtains the program parameter of operator's input, and described program is joined
Number is sent to wireless built controller, and the program parameter of corresponding robot is modified by the wireless built controller.
In some embodiments, the wireless built controller includes wireless module, robot control system and branch
Hold the remote communication module of RDP agreement and Transmission Control Protocol；
The controlling terminal is communicated using Transmission Control Protocol described program parameter being sent to corresponding robot, to machine
The program parameter of people carries out remotely modifying；
The robot control system converts servo on joint of robot by preset algorithm for described program parameter and drives
The operating parameter of dynamic device, and servo-driver is sent to by EtherCAT fieldbus.
In some embodiments, the preset algorithm is positive inverse arithmetic.
In some embodiments, the wireless built controller with the controlling terminal after connecting, further includes:
The wireless built controller carries out visualized operation to robot control system, generates operation interface；
Industrial camera image data is obtained, eventually to the control by the operation interface and described image real-time data transmission
End.
In some embodiments, the controlling terminal receive controlling terminal send robot parameter, with the control
After terminal processed disconnects, the embedded controller generates modification log, and uploads modification day to the database server
Will and robot parameter.
According to the second aspect of the embodiment of the present application, the wireless built control of wireless Internet industrial robot is provided
Device, the wireless built controller are used for wireless Internet industrial robot control system, the wireless built controller
Be connected using EtherCAT fieldbus with the industrial machine human body, by wireless router and database server and
DDNS server connection；
The wireless built controller is used for, and connection is established in the control and the controlling terminal for receiving DDNS server,
It establishes after the completion of connection, industrial machine personal data is transferred to by controlling terminal by RDP remote display protocol, is shown by controlling terminal
Show the data to realize the visualization processing of controller；Industrial robot servo-drive is read using EtherCAT fieldbus
Motor data in device, and the motor data is transferred to the controlling terminal, it is shown by the controlling terminal；With
After controlling terminal connection, robot parameter of the acquiring technology personnel in the controlling terminal to industrial robot input and
The program of selection sends the robot parameter and program to database server and creates modification log.
In some embodiments, the wireless built controller includes wireless module, robot control system and branch
Hold the remote communication module of RDP agreement and Transmission Control Protocol；
The wireless module is used to receive the program parameter that the control module utilizes Transmission Control Protocol communication transfer；
The robot control system is watched for converting described program parameter on joint of robot by preset algorithm
The operating parameter of driver is taken, and servo-driver is sent to by EtherCAT fieldbus.
In some embodiments, the wireless built controller is also used to carry out visualization behaviour to robot control system
Make, generates operation interface；Industrial camera image data is obtained, by the operation interface and described image real-time data transmission to institute
State controlling terminal.
A kind of wireless Internet industrial robot control system provided in an embodiment of the present invention, including wireless built control
Device, wireless router, database server, DDNS server and controlling terminal, and wherein wireless built controller is by nothing
Wire module, robot control system and the telecommunication software composition for supporting RDP agreement.With conventional robot control system
It compares, professional technician can access each robot being connected with server at any time by internet and modify its ginseng
Several and program, and robot will not be limited by wire communication distance, can preferably be cooperated.Overcome existing
It needs manually to be moved to every robot in technology and modifies operation procedure, and the deficiency of low efficiency, time length one by one.
Detailed description of the invention
Fig. 1 is the network architecture diagram of wireless Internet industrial robot control system in the embodiment of the present application.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
Fig. 1 is please referred to, Fig. 1 is the network architecture diagram of wireless Internet industrial robot control system in embodiment.This hair
A kind of wireless Internet industrial robot control system that bright embodiment proposes includes wireless built controller, wireless routing
Device, database server, DDNS (Dynamic Domain Name Server, dynamic domain name service) server and control are eventually
End；The wireless built controller passes through the wireless router and the database server and the DDNS server
It is connected；The wireless built controller passes through EtherCAT (Ethernet auto-control technology) fieldbus and industrial machine
Device human body is connected；The controlling terminal is connected using the server of internet and factory, the intranet server packet of factory
Include DDNS server and database server；It is alternatively possible to be arranged between the intranet server and controlling terminal of factory anti-
Wall with flues, when controlling terminal is connected with the intranet server of factory, controlling terminal can think firewall transmission account and password, account
With password match it is errorless after, can by firewall, realize controlling terminal be connected with the intranet server of factory, that is, realize control end
End is connected with DDNS server and database server.
A kind of wireless Internet industrial robot control system that the embodiment of the present invention proposes operates as follows:
Controlling terminal establishes connection by DDNS dynamic domain name and DDNS server, after DDNS server is by certification,
The wireless built control system of the controlling terminal and corresponding industrial robot is attached by DDNS server.
After the controlling terminal and the wireless built controller establish connection, pass through RDP (Remote Desktop
Protocol, Remote Desktop Protocol) remote display protocol receive and show wireless built controller transmission data, with realize
Wireless built controller carries out visualization processing；
The controlling terminal reads the motor data in industrial robot servo-driver using EtherCAT fieldbus,
And the motor data is shown；
The wireless built controller with the controlling terminal after connecting, and acquiring technology personnel are in the controlling terminal
On to the robot parameter of industrial robot input and the program of selection, to database server send the robot parameter and
Program simultaneously creates modification log.
Next specific operational details are introduced by based on.
Controlling terminal to the DDNS server and transmits DDNS dynamic domain name and port numbers using internet；DDNS service
Device inquires the dynamic domain name and whether port numbers match, and authenticates and passes through if matching.Then, DDNS server is according to the control
Terminal processed inputs specific DDNS dynamic domain name and connects with port numbers the wireless built controller of corresponding industrial robot,
Wherein, a DDNS dynamic domain name IP address of internal network corresponding with the combination of port numbers, and an IP address of internal network corresponding one
A wireless built controller.That is, establishing the connection of controlling terminal and the wireless built controller.
In one embodiment, after DDNS server is by certification, further includes: the controlling terminal access database clothes
Business device reads the parameter current and operation conditions record of corresponding robot from the database server.
After the controlling terminal and the wireless built controller establish connection, the wireless built controller can be with
The data read from robot body are transmitted to the controlling terminal by RDP remote display protocol, controlling terminal passes through
RDP remote display protocol receives and shows the data of wireless built controller transmission, to realize wireless built controller
Carry out visualization processing.In addition to this, wireless built controller further includes described wireless after connecting with the controlling terminal
Embedded controller carries out visualized operation to robot control system, generates operation interface；Industrial camera image data is obtained,
By the operation interface and described image real-time data transmission to the controlling terminal.
Controlling terminal can also send motor data to the wireless built controller and check instruction, by described wireless embedding
Enter formula controller using the motor data in EtherCAT fieldbus reading industrial robot servo-driver, then control is whole
End receives the motor data of wireless built controller passback, and shows to the motor data.
The controlling terminal can also to wireless built controller transmission technology personnel in controlling terminal to industrial machine
The robot parameter of device people input and the program of selection, after wireless built controller receives the robot parameter and program,
The robot parameter and program are sent to database server, while creating modification log, and is uploaded to database server
The modification log.
In one embodiment, the wireless built controller is in the robot parameter for receiving controlling terminal transmission
After program, modification log can be regenerated, and on the database server after disconnecting with the controlling terminal
Pass modification log and robot parameter.
Meanwhile the controlling terminal can also obtain the program parameter of operator's input, and described program parameter is sent out
It send to wireless built controller, the program parameter of corresponding robot is modified by the wireless built controller.
In one embodiment, the wireless built controller includes wireless module, robot control system and branch
Hold the remote communication module of RDP agreement and Transmission Control Protocol；
The controlling terminal is communicated using Transmission Control Protocol described program parameter being sent to corresponding robot, to machine
The program parameter of people carries out remotely modifying；
The robot control system converts servo on joint of robot by preset algorithm for described program parameter and drives
The operating parameter of dynamic device, and servo-driver is sent to by EtherCAT fieldbus.The preset algorithm can be forward and reverse
Resolving Algorithm.
A kind of wireless Internet industrial robot control system provided in an embodiment of the present invention, including wireless built control
Device, wireless router, database server, DDNS server and controlling terminal, and wherein wireless built controller is by nothing
Wire module, robot control system and the telecommunication software composition for supporting RDP agreement.With conventional robot control system
It compares, professional technician can access each robot being connected with server at any time by internet and modify its ginseng
Several and program, and robot will not be limited by wire communication distance, can preferably be cooperated.Overcome existing
It needs manually to be moved to every robot in technology and modifies operation procedure, and the deficiency of low efficiency, time length one by one.
The wireless built for mainly introducing wireless Internet industrial robot provided in an embodiment of the present invention is controlled below
Device.As shown in Figure 1, wireless built controller is used for wireless Internet industrial robot control system, the wireless built
Controller is connected using EtherCAT fieldbus with the industrial machine human body, is taken by wireless router and database
Business device is connected with DDNS server；
The wireless built controller is used for, and connection is established in the control and the controlling terminal for receiving DDNS server,
It establishes after the completion of connection, industrial machine personal data is transferred to by controlling terminal by RDP remote display protocol, is shown by controlling terminal
Show the data to realize the visualization processing of controller；
The motor data in industrial robot servo-driver is read using EtherCAT fieldbus, and by the motor
Data are transferred to the controlling terminal, are shown by the controlling terminal；
After connecting with the controlling terminal, acquiring technology personnel are in the controlling terminal to industrial robot input
The program of robot parameter and selection sends the robot parameter and program to database server and creates modification log.
In one embodiment, the wireless built controller includes wireless module, robot control system and branch
Hold the remote communication module of RDP agreement and Transmission Control Protocol；
The wireless module is used to receive the program parameter that the control module utilizes Transmission Control Protocol communication transfer；
The robot control system is watched for converting described program parameter on joint of robot by preset algorithm
The operating parameter of driver is taken, and servo-driver is sent to by EtherCAT fieldbus.
In one embodiment, the wireless built controller is also used to carry out visualization behaviour to robot control system
Make, generates operation interface；Industrial camera image data is obtained, by the operation interface and described image real-time data transmission to institute
State controlling terminal.
The wireless built controller of a kind of wireless Internet industrial robot disclosed in the present application, since it passes through wirelessly
Mode be connected with controlling terminal, DDNS server and database server, utilize RDP communication and TCP communication.When it is installed
On industrial robot, compared with conventional robot control system, professional technician can lead to the industrial robot for being
Internet is crossed to access each robot being connected with server at any time and modify its parameter and program, and robot will not
It is limited, can preferably be cooperated by wire communication distance.Overcome and needs manually to be moved in the prior art often
Operation procedure, and the deficiency of low efficiency, time length are modified one by one by platform robot.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize application scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (10)
1. a kind of wireless Internet industrial robot control system, which is characterized in that including wireless built controller, without route
By device, database server, DDNS server and controlling terminal；The wireless built controller passes through the wireless routing
Device is connected with the database server；
The controlling terminal establishes connection by DDNS dynamic domain name and the DDNS server, when DDNS server passes through certification
Afterwards, the DDNS server connects the wireless built control system of the controlling terminal and corresponding industrial robot
It connects；
After the controlling terminal and the wireless built controller establish connection, receives and show by RDP remote display protocol
Show the data of wireless built controller transmission, to realize that wireless built controller carries out visualization processing；
The controlling terminal reads the motor data in industrial robot servo-driver using EtherCAT fieldbus, and right
The motor data is shown；
For the wireless built controller after connecting with the controlling terminal, acquiring technology personnel are right in the controlling terminal
The robot parameter of industrial robot input and the program of selection, send the robot parameter and program to database server
And create modification log.
2. wireless Internet industrial robot control system according to claim 1, which is characterized in that work as DDNS server
After certification, further includes:
The controlling terminal accesses database server, and the parameter current of corresponding robot is read from the database server
And operation conditions record；
The controlling terminal establishes connection by DDNS dynamic domain name and the DDNS server, comprising:
The controlling terminal to the DDNS server and transmits DDNS dynamic domain name and port numbers using internet；
The DDNS server connects according to the specific DDNS dynamic domain name of controlling terminal input with port numbers corresponding
The wireless built controller of industrial robot, wherein a DDNS dynamic domain name Intranet corresponding with the combination of port numbers
IP address.
3. wireless Internet industrial robot control system according to claim 1, which is characterized in that the controlling terminal
The program parameter of operator's input is obtained, and described program parameter is sent to wireless built controller, by described wireless
Embedded controller modifies the program parameter of corresponding robot.
4. wireless Internet industrial robot control system according to claim 3, which is characterized in that the wireless insertion
Formula controller includes wireless module, robot control system and the remote communication module for supporting RDP agreement and Transmission Control Protocol；
The controlling terminal is communicated using Transmission Control Protocol described program parameter being sent to corresponding robot, to robot
Program parameter carries out remotely modifying；
The robot control system converts servo-driver on joint of robot by preset algorithm for described program parameter
Operating parameter, and servo-driver is sent to by EtherCAT fieldbus.
5. wireless Internet industrial robot control system according to claim 4, which is characterized in that the preset algorithm
Be positive inverse arithmetic.
6. wireless Internet industrial robot control system according to claim 4, which is characterized in that the wireless insertion
Formula controller with the controlling terminal after connecting, further includes:
The wireless built controller carries out visualized operation to robot control system, generates operation interface；
Industrial camera image data is obtained, by the operation interface and described image real-time data transmission to the controlling terminal.
7. wireless Internet industrial robot control system according to claim 1, which is characterized in that with the control
After terminal disconnects, the wireless built controller generates modification log, and uploads and modify to the database server
Log and robot parameter.
8. a kind of wireless built controller of wireless Internet industrial robot, which is characterized in that the wireless built control
Device processed is used for wireless Internet industrial robot control system, and the wireless built controller utilizes EtherCAT fieldbus
It is connected with the industrial machine human body, is connect by wireless router with database server and DDNS server；
The wireless built controller is used for, and connection is established in the control and the controlling terminal for receiving DDNS server, is established
After the completion of connection, industrial machine personal data is transferred to by controlling terminal by RDP remote display protocol, institute is shown by controlling terminal
Data are stated to realize the visualization processing of controller；
The motor data in industrial robot servo-driver is read using EtherCAT fieldbus, and by the motor data
It is transferred to the controlling terminal, is shown by the controlling terminal；
After connecting with the controlling terminal, acquiring technology personnel are in the controlling terminal to the machine of industrial robot input
The program of ginseng number and selection sends the robot parameter and program to database server and creates modification log.
9. a kind of wireless built controller of wireless Internet industrial robot according to claim 8, feature exist
In the wireless built controller includes wireless module, robot control system and support RDP agreement and Transmission Control Protocol
Remote communication module；
The wireless module is used to receive the program parameter that the control module utilizes Transmission Control Protocol communication transfer；
The robot control system is used to convert servo on joint of robot by preset algorithm for described program parameter and drive
The operating parameter of dynamic device, and servo-driver is sent to by EtherCAT fieldbus.
10. a kind of wireless built controller of wireless Internet industrial robot according to claim 8, feature exist
In the wireless built controller is also used to carry out visualized operation to robot control system, generates operation interface；It obtains
Industrial camera image data, by the operation interface and described image real-time data transmission to the controlling terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233503.8A CN109067812A (en) | 2018-10-23 | 2018-10-23 | Wireless Internet industrial robot control system and wireless built controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233503.8A CN109067812A (en) | 2018-10-23 | 2018-10-23 | Wireless Internet industrial robot control system and wireless built controller |
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| CN109067812A true CN109067812A (en) | 2018-12-21 |
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| CN201811233503.8A Pending CN109067812A (en) | 2018-10-23 | 2018-10-23 | Wireless Internet industrial robot control system and wireless built controller |
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| CN110933366A (en) * | 2019-11-08 | 2020-03-27 | 天津大学 | High-resolution image integrated acquisition and wireless transmission system in outdoor environment |
| CN111673747A (en) * | 2020-06-02 | 2020-09-18 | 中国建设银行股份有限公司 | Remote testing method and device for robot agent end |
| CN115225303A (en) * | 2021-06-28 | 2022-10-21 | 达闼机器人股份有限公司 | Robot network route setting method and device, storage medium and electronic equipment |
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