CN102520665A - Open robot demonstration device and robot control system - Google Patents
Open robot demonstration device and robot control system Download PDFInfo
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- CN102520665A CN102520665A CN2011104397295A CN201110439729A CN102520665A CN 102520665 A CN102520665 A CN 102520665A CN 2011104397295 A CN2011104397295 A CN 2011104397295A CN 201110439729 A CN201110439729 A CN 201110439729A CN 102520665 A CN102520665 A CN 102520665A
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Abstract
The invention discloses an open robot demonstration device and a robot control system. The robot demonstration device comprises a main demonstration control device, a program management device, a mode selection device, a parameter setting device and an input and output device. The main demonstration control device used for controlling and managing operations of the other devices of the robot demonstration device, the program management device is used for managing the representation program, the mode selection device is used for selecting the operation modes of the robot demonstration device, the parameter setting device is used for setting hardware parameters and software parameters of the robot demonstration device, and the input and output device is used for receiving input of users and outputting commands to a control device of a robot. The structured text language is used as the language of the representation program of the robot, application layer communication protocols are designed, and accordingly the open robot demonstration device and the robot control system have the advantages of fine expandability, simplicity in use, comprehensive function and excellent portability.
Description
Technical field
The present invention relates to industrial robot automatic control technology field, be specifically related to a kind of open robot teaching apparatus and robot control system.
Background technology
Robot teaching apparatus is one of important component part of industrial robot control system; It is the main terminal device of user operation control industrial robot; The user according to the job requirements of industrial robot industrial robot is carried out simple motion control and playback program is controlled all through robot teaching apparatus is operated; And carrying out communication through teaching apparatus and robot main control unit, the robot main control unit realizes thereby related command is issued to.
The traditional industry robot control system that comprises teaching apparatus adopts closed control system structure basically; This structure adopts special-purpose microprocessor and special-purpose controller function system; Adopt special-purpose interface shape between each standalone module; Relevant communications protocol is underground transparent, this structural limitations the extendability and the dirigibility of robot system.
In recent years; Because good extensibility, portability, interchangeability, the customizability of open robot's control system, and relevant components equipment interoperability cost degradation and the ease for operation brought, receive increasing concern of association area and research; In China; Open robot's control system based on " PMAC " (Programmable Multi-Axis Controller) obtains extensive studies, and still, this robot teaching apparatus adopts the lower single-chip microcomputer of arithmetic capability as core processor mostly; Function is comparatively single, and user interface is dull relatively.
Summary of the invention
The technical matters that (one) will solve
Technical matters to be solved by this invention is to remedy deficiency of the prior art, the open robot's teaching apparatus and the control system that a kind of function admirable is provided, are easy to expand.
(2) technical scheme
The present invention proposes a kind of robot teaching apparatus, comprising: the teaching master control set is used to control and manage the operation of other devices that this robot teaching apparatus comprises; The program management device is used to manage playback program; Mode selector is used to select the operator scheme of robot teaching apparatus; Parameter setting apparatus is used to be provided with the hardware parameter and the software parameter of robot teaching apparatus; Input-output unit is used to receive user's input, and to the control device output order of control robot; Wherein teaching master control set and program management device, mode selector, parameter setting apparatus and input-output unit all electrically connect.
The present invention also proposes a kind of robot control system; Comprise robot and robot teaching apparatus; Said robot comprises the robot master control set; This robot teaching apparatus is through its included input-output unit row communication of going forward side by side that links to each other with the robot master control set, and sends the reproduction instruction frame through robot teaching apparatus to the robot master control set and realize that robot reproduces, and said reproduction instruction frame is used to transmit instruction and the parameter that is used to reproduce.
(3) beneficial effect
Robot teaching apparatus and robot control system that the present invention proposes are open; It has adopted the language of structured text (ST) language as the robot playback program; Communication between teaching apparatus and the robot main control unit has designed application layer protocol; Can obtain that reaction velocity is fast, user interface is friendly, peripheral interface is abundant, favorable expandability, robot language uses simple, feature richness, portable good, the beneficial effect that the communication applications layer protocol is open, extensibility is good.
Description of drawings
Fig. 1 is the synoptic diagram of the robot teaching apparatus of first embodiment of the invention;
Fig. 2 is the playback program structural representation of first embodiment of the invention;
Fig. 3 is the structural representation of the non-reproduction instruction frame of first embodiment of the invention;
Fig. 4 is the structural representation of the reproduction instruction frame of first embodiment of the invention;
Fig. 5 is the command point argument structure synoptic diagram of first embodiment of the invention;
Fig. 6 is the command point type synoptic diagram of first embodiment of the invention;
Fig. 7 is the single command point reproduction instruction flowchart of second embodiment of the invention;
Fig. 8 is many command points reproduction instruction flowchart of second embodiment of the invention.
Description of drawings
Fig. 1 is the synoptic diagram of the robot teaching apparatus of first embodiment of the invention;
Fig. 2 is the playback program structural representation of first embodiment of the invention;
Fig. 3 is the structural representation of the non-reproduction instruction frame of first embodiment of the invention;
Fig. 4 is the structural representation of the reproduction instruction frame of first embodiment of the invention;
Fig. 5 is the command point argument structure synoptic diagram of first embodiment of the invention;
Fig. 6 is the command point type synoptic diagram of first embodiment of the invention;
Fig. 7 is the single command point reproduction instruction flowchart of second embodiment of the invention;
Fig. 8 is many command points reproduction instruction flowchart of second embodiment of the invention.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, to further explain of the present invention.
Shown in Figure 1 is a specific embodiment of robot teaching apparatus of the present invention, and in this embodiment, robot teaching apparatus comprises teaching master control set 1, program management device 2, mode selector 3, parameter setting apparatus 4 and input-output unit 5.Wherein, teaching master control set 1 is used to control and manage the operation of other devices that this robot teaching apparatus comprises; Program management device 2 is used to manage playback program, comprises newly-built, storage to playback program, deletion, editor etc.; Mode selector 3 is used to select the operator scheme of robot teaching apparatus; Parameter setting apparatus 4 is used to be provided with the hardware parameter and the software parameter of robot teaching apparatus; Input-output unit 5 is used to receive user's input, and to robot master control set output order.Below above-mentioned each device is elaborated respectively:
Teaching master control set 1 is the core control devices of robot teaching apparatus, and itself and program management device 2, mode selector 3, parameter setting apparatus 4 and input-output unit 5 all electrically connect, and is used to control the operation of each device.
Teaching master control set 1 can either be realized with hardware mode, also can realize with software mode.
As a kind of preferred implementation, teaching master control set 1 realizes that with hardware mode at this moment, this teaching master control set 1 can comprise central processing unit (CPU is like ARM9), internal memory (like SDRAM), storer (like NANDFlash).And central processing unit is connected with internal memory, storer respectively.In addition, this teaching master control set 1 also comprises power interface, is used to connect power supply.
When teaching master control set 1 was realized with software mode, it for example can be based on WinCE 5.0 operating systems,
As preferred embodiment a kind of, the present invention adopts structured text (ST) language to edit playback program.Robot comprises in the operation process of complex logic flow process in execution, is to rely on the playback program that weaves in advance to come progressively to accomplish set task.
Fig. 2 shows an example of the playback program of said structured text language.As shown in Figure 2, the steering logic that robots such as loop structure, condition judgment, time-delay wait are commonly used supported in described structured text language, through " command keyword ", " command point key word ", " additional parameter is provided with key
(2) technical scheme
The present invention proposes a kind of robot teaching apparatus, comprising: the teaching master control set is used to control and manage the operation of other devices that this robot teaching apparatus comprises; The program management device is used to manage playback program; Mode selector is used to select the operator scheme of robot teaching apparatus; Parameter setting apparatus is used to be provided with the hardware parameter and the software parameter of robot teaching apparatus; Input-output unit is used to receive user's input, and to the control device output order of control robot; Wherein teaching master control set and program management device, mode selector, parameter setting apparatus and input-output unit all electrically connect.
The present invention also proposes a kind of robot control system; Comprise robot and robot teaching apparatus; Said robot comprises the robot master control set; This robot teaching apparatus is through its included input-output unit row communication of going forward side by side that links to each other with the robot master control set, and sends the reproduction instruction frame through robot teaching apparatus to the robot master control set and realize that robot reproduces, and said reproduction instruction frame is used to transmit instruction and the parameter that is used to reproduce.
(3) beneficial effect
Robot teaching apparatus and robot control system that the present invention proposes are open; It has adopted the language of structured text (ST) language as the robot playback program; Communication between teaching apparatus and the robot main control unit has designed application layer protocol; Can obtain that reaction velocity is fast, user interface is friendly, peripheral interface is abundant, favorable expandability, robot language uses simple, feature richness, portable good, the beneficial effect that the communication applications layer protocol is open, extensibility is good.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, to further explain of the present invention.
Shown in Figure 1 is a specific embodiment of robot teaching apparatus of the present invention, and in this embodiment, robot teaching apparatus comprises teaching master control set 1, program management device 2, mode selector 3, parameter setting apparatus 4 and input-output unit 5.Wherein, teaching master control set 1 is used to control and manage the operation of other devices that this robot teaching apparatus comprises; Program management device 2 is used to manage playback program, comprises newly-built, storage to playback program, deletion, editor etc.; Mode selector 3 is used to select the operator scheme of robot teaching apparatus; Parameter setting apparatus 4 is used to be provided with the hardware parameter and the software parameter of robot teaching apparatus; Input-output unit 5 is used to receive user's input, and to robot master control set output order.Below above-mentioned each device is elaborated respectively:
Teaching master control set 1 is the core control devices of robot teaching apparatus, and itself and program management device 2, mode selector 3, parameter setting apparatus 4 and input-output unit 5 all electrically connect, and is used to control the operation of each device.
Teaching master control set 1 can either be realized with hardware mode, also can realize with software mode.
As a kind of preferred implementation, teaching master control set 1 realizes that with hardware mode at this moment, this teaching master control set 1 can comprise central processing unit (CPU is like ARM9), internal memory (like SDRAM), storer (like NANDFlash).And central processing unit is connected with internal memory, storer respectively.In addition, this teaching master control set 1 also comprises power interface, is used to connect power supply.
When teaching master control set 1 was realized with software mode, it for example can be based on WinCE 5.0 operating systems,
As preferred embodiment a kind of, the present invention adopts structured text (ST) language to edit playback program.Robot comprises in the operation process of complex logic flow process in execution, is to rely on the playback program that weaves in advance to come progressively to accomplish set task.
Fig. 2 shows an example of the playback program of said structured text language.As shown in Figure 2; The steering logic that robots such as loop structure, condition judgment, time-delay wait are commonly used supported in described structured text language; Through " command keyword ", " command point key word ", " additional parameter is provided with key word ", " kinematic parameter is provided with key word " and corresponding parameters thereof, with the form tissue and the performance of " motion command is capable " or " additional parameter is provided with row ".
Described manual mode is to aim at soft, the hardware system of user's debugging machine people and controller thereof and design, and the function of manual mode has that the robot coordinate system selects, each joint angles demonstration of robot, simple machine people's motion control, I/O port test etc.
Said teaching pattern is for operating personnel design with the form of teaching online establishment robot motion and operation program, and the function of teaching pattern has newly-built program, quick storage program, online editing program, parameter and coordinate system design and coordinate system demonstration etc.
Said reproduction mode is meant that robot can carry out complicated motion and operation according to the teaching playback program that weaves in advance; Comprise: multistage straight line, circular arc, free curve motion, the specific motion/operation logical condition such as triggering that can trigger, delay time according to external event is carried out.
When mode selector 3 was realized with hardware mode, each hardware element that it can shared teaching main control unit also can comprise independently hardware configuration, for example comprises central processing unit, internal memory, storer, IO interface etc.
When mode selector 3 was realized with software mode, it can comprise a plurality of software modules, and for example manual mode submodule, teaching pattern submodule, reproduction mode submodule etc. are respectively applied for and accomplish manual operation, teaching operation and reproduction operation.
Described hardware parameter and software default parameter comprise: the communication terminal slogan; Communication baud rate, response message stand-by period, individual instructions timeout value; Many instruction supermarket values; Manual operation joint motions speed maximal value, minimum value and default value, manual operation point-to-point speed maximal value, minimum value and default value, manual operation joint increment maximal value, minimum value and default value; Manual operation straight line increment maximal value, minimum value and default value; Reproduce operation joint velocity maximal value, minimum value and default value, word ", " kinematic parameter is provided with key word " and corresponding parameters thereof, with the form tissue of " motion command is capable " or " additional parameter is provided with row " with show.
Described manual mode is to aim at soft, the hardware system of user's debugging machine people and controller thereof and design, and the function of manual mode has that the robot coordinate system selects, each joint angles demonstration of robot, simple machine people's motion control, I/O port test etc.
Said teaching pattern is for operating personnel design with the form of teaching online establishment robot motion and operation program, and the function of teaching pattern has newly-built program, quick storage program, online editing program, parameter and coordinate system design and coordinate system demonstration etc.
Said reproduction mode is meant that robot can carry out complicated motion and operation according to the teaching playback program that weaves in advance; Comprise: multistage straight line, circular arc, free curve motion, the specific motion/operation logical condition such as triggering that can trigger, delay time according to external event is carried out.
When mode selector 3 was realized with hardware mode, each hardware element that it can shared teaching main control unit also can comprise independently hardware configuration, for example comprises central processing unit, internal memory, storer, IO interface etc.
When mode selector 3 was realized with software mode, it can comprise a plurality of software modules, and for example manual mode submodule, teaching pattern submodule, reproduction mode submodule etc. are respectively applied for and accomplish manual operation, teaching operation and reproduction operation.
Described hardware parameter and software default parameter comprise: communication terminal slogan, communication baud rate, response message stand-by period; The individual instructions timeout value, many instruction supermarket values, manual operation joint motions speed maximal value, minimum value and default value; Manual operation point-to-point speed maximal value, minimum value and default value; Manual operation joint increment maximal value, minimum value and default value, manual operation straight line increment maximal value, minimum value and default value reproduce operation joint velocity maximal value, minimum value and default value; Reproduce operation joint velocity maximal value, minimum value and default value, reproduce operation space rate maximal value, minimum value and default value.
Input-output unit 5 is connected with teaching master control set 1, is used to receive user's instruction and sends teaching master control set 1 to, also is used to accept simultaneously the instruction of teaching master control set 1, to robot master control set output order.
Input-output unit 5 is general through the hardware mode realization; For example can comprise the button that receives user's output, keyboard etc.; Be used for transmitting GPIO interface, serial communication interface, Ethernet interface, image interface, SPI interface, USB interface, CAN EBI of data etc.; Image interface for example is the LCD interface, and button for example is scram button, enable button etc.
According to a preferred implementation of the present invention, this input-output unit 5 links to each other with the robot master control set through an interface arrangement.The transmission method of this interface arrangement will be described below.
The specific function of input-output unit 5 also can realize through software mode; The function of image interactive interface for example; In a preferred implementation of the present invention, this image interactive interface can comprise that main interface, manual operation interface, teaching operation interface, reproduction operation interface, program management interface and parameter are provided with the interface.
As stated, input-output unit 5 passes through interface arrangement to robot master control set move instruction,
As the further preferred implementation of the present invention; Input-output unit 5 is according to specific communications protocol; Be divided into the steering order that will transmit two kinds of " non-reproduction instruction " and " reproduction instruction ", the form through " command frame " is encapsulated as consolidation form, to transmit to the robot master control set.
As the further preferred implementation of the present invention; Input-output unit 5 is through a serial line interface; And the communication modes that adopts serial communication to carry out communication as robot teaching apparatus and robot master control set, host-host protocol adopts RCC (the Reliable Comm Communication) serial communication protocol based on the frame transmission mode.
In the present invention, the frame structure that is used for transfer instruction is called " command frame ", and command frame is transmitted as the part of " Frame " in the RCC agreement.A preferred embodiment of the invention, command frame comprise non-reproduction instruction frame and reproduction instruction frame.Non-reproduction instruction frame is used to transmit other instructions and the parameter except that reproduction instruction; The reproduction instruction frame is used to transmit instruction and the parameter that is used to reproduce.
(1) non-reproduction instruction frame structure
As shown in Figure 3, non-reproduction refers to lead frame to comprise task priority flags parameters, task call number flags parameters, a plurality of floating type additional parameter and a plurality of long shaping additional parameter.
" task priority flags parameters " sign robot master control set is received the priority level of carrying out the corresponding command after this command frame.
" task call number flags parameters " sign robot master control set is received the task names of required execution after this command frame.
A plurality of " floating type additional parameters " and a plurality of " long shaping additional parameters " are used to indicate that the robot master control set receives motion additional information required when carrying out motion planning after this command frame.
As preferred embodiment a kind of, " non-reproduction instruction frame " takies 36 bytes altogether with the form of ASCII character, comprises 6 floating type additional parameters and 2 long shaping additional parameters altogether.
(2) reproduction instruction frame structure
As shown in Figure 4, " reproduction instruction frame " also comprises command point structure (COMMAND_POINT) pointer member except that the parameter that comprises " non-reproduction instruction frame ".In preferred implementation of the present invention, this command point structure pointer member's number for example is one, for example the CommandPoints shown in Fig. 4.
When the teaching apparatus of robot needs all the command point information in the disposable transmission playback program; Because the command point quantity in the different reproduction program is not fixed value, so the length of this moment " reproduction instruction frame " is different because of the length of member CommandPoints; When the teaching apparatus of robot only needs at every turn to command point information of robot controller transmission; Because the command point quantity in the playback program is fixed; So in the preferred embodiment, the length of " reproduction instruction frame " is fixed value 88 bytes (length of COMMAND_POINT command point structure pointer is 52 bytes).
(3) command point structure (COMMAND_POINT) pointer structure
Shown in Figure 5 is a kind of preferred implementation of command point structure of the present invention (COMMAND_POINT) pointer member.Command point structure pointer member's variable comprises: IO operation call number, action back IO operation call number before command point type, command point coordinate, movement velocity setting value, command point approximation accuracy, event condition call number, time conditions call number, the action.
The command point type is the sign of robot some keys (point) position when carrying out reproduction of moving.
The command point coordinate is each joint target rotation angle of robot, is used for representing the specified moving target of this command point (point) position.
The average velocity of movement velocity setting value specified machine robot end motion (when straight path motion, arc track motion, free curve orbiting motion); Unit is " a millimeter per second "; Or mid-range objectives position, 6 joints of the designated robot velocity of rotation in joint (during joint-interpolated motion) farthest, unit is " a radian per second ".
Command point approximation accuracy span is between 1 to 100; The path interpolation precision grade of expression robot in moving to the process of this impact point; " 100 " are maximum interpolation precision, and required interpolation precision was " 1% " of maximum interpolation precision when " 1 " expression moved to this impact point.
The event condition call number can be carried out the corresponding robot reproducing movement of this command point after representing that certain outside incident of robot is triggered, and is corresponding with the state of the digital quantity input port of robot master control set.
The time conditions call number is represented robot waits after the fixed time, can carry out the specified robot reproducing movement of this command point.
IO operation call number and action back IO operation call number represent that robot one section track between with current point and impact point is the path before the action, the digital quantity of required execution of moment or analog quantity output function before or after the motion.
The command point type that command point structure pointer member comprises has 8 kinds, that is:
Initial point (CP_O), the starting point of robot playback program;
Joint interpolated point (CP_J), the expression robot will promptly not consider end orbit with the form of joint interpolation, each joint only moves to this impact point with nearest path principle separately;
Linear interpolation point (CP_L), the robot end moves to this impact point with the straight path interpolation mode;
Linear interpolation intermediate point (CP_LM), this o'clock is designated before the linear interpolation point, and for example, when customer requirements in three dimensions is baseline when swinging welding with the straight line, this point is as the RP of confirming swinging plane;
Circular interpolation point (CP_C), the robot end moves to this impact point with the mode of arc track interpolation, and circular arc path is confirmed by robot current point, circular interpolation intermediate point and this impact point corresponding with this circular interpolation point jointly;
Circular interpolation intermediate point (CP_CM), designated before a circular interpolation point, be used for assisting definite circular interpolation trajectory path;
Free curve interpolated point (CP_S); The robot end moves to this impact point with the mode of free curve track interpolation, and the free curve path is confirmed by robot current point, free curve interpolation intermediate point and this impact point corresponding with this free curve interpolated point jointly;
Free curve interpolation intermediate point (CP_SM), designated before a free curve interpolated point, be used for assisting definite free curve interpolation trajectory path.
This command point of 8 types distribution in the space is as shown in Figure 6.
[second embodiment]
The embodiment of robot teaching apparatus of the present invention has more than been described.Another embodiment of the present invention is a robot control system, and this robot control system comprises robot and robot teaching apparatus, and this robot comprises a robot master control set.In the embodiment of this robot control system; The robot teaching apparatus that is adopted is the robot teaching apparatus that the present invention proposes, and this robot teaching apparatus is through its included input-output unit row communication of going forward side by side that links to each other with the robot master control set.
Robot reproduces through robot teaching apparatus and realizes to robot master control set transmission " reproduction instruction frame ".As previously mentioned, " reproduction instruction frame " is used to transmit instruction and the parameter that is used to reproduce, and comprises command point structure (COMMAND_POINT) pointer member.The critical movements information (movement locus, speed, impact point, motion logical condition, I/O operation etc.) of robot in the reproduction process is included among command point structure (COMMAND_POINT) the pointer member in " reproduction instruction frame ".
As previously mentioned, command frame also comprises " non-reproduction instruction frame ", and the structure of non-reproduction instruction frame in preceding description, repeats no more here.
A preferred embodiment of the invention, robot teaching apparatus sends the reproduction instruction frame through serial communication to the robot master control set, and the reproduction instruction frame also comprises " task priority flags parameters " and " task call number flags parameters ".After the robot master control set is received the reproduction instruction frame, send concrete action fill order or transmit the required relevant state parameter of robot to robot to robot teaching apparatus according to the value of " task priority flags parameters " and " task call number flags parameters ".
Robot and master control set thereof are receiving that " reproduction instruction frame " back performed reproducing movement flow process that comprises " command point " is as shown in Figure 7.
As shown in Figure 7, at first, the robot master control set reads the digital switch quantity input signal; Whether the state of judging the switching value signal equate with the value of command point structure member variable CommandPoints-＞wait, if equate, then according to the wait of delaying time of the value of CommandPoints-＞timer; After time-delay is waited for and being finished; The robot master control set just carries out analog quantity output or digital quantity output according to the value of CommandPoints-＞SetA to corresponding ports, and robot master control set control robot end moves to impact point (s, l in the space with the mode of motion of CommandPoints-＞type defined then; U; R, b, t); Move to the impact point of appointment Deng the robot end after, the robot master control set carries out analog quantity output or digital quantity output according to the value of CommandPoints-＞SetB to corresponding ports again.
When robot teaching apparatus when the transmission of robot master control set comprises " the reproduction instruction frame " of a plurality of " command points "; Need be through twice " shaking hands " with the robot master control set; (what is called is shaken hands, and to be exactly that robot teaching apparatus and robot master control set carry out communication mutual; Make the robot master control set can receive complete a plurality of command points through shaking hands); And " command point " quantity of in handshake procedure, specifying " the reproduction instruction frame " that will transmit to be comprised in advance, realize the transmission of final total data, idiographic flow is as shown in Figure 8.
As shown in Figure 8; At first, robot teaching apparatus sends to the robot master control set and does not comprise " the non-reproduction instruction frame " that reproduces command point, sends and waits for afterwards that successfully the robot master control set sends over the response message of " non-reproduction instruction frame "; If robot teaching apparatus has received the response message of robot master control set; Robot teaching apparatus begins to send " the reproduction instruction frame " that has comprised command point, then waits for the acknowledgement frame of robot master control set then, and the robot master control set is judged the frame of receiving according to predefined task number; If the frame of receiving is " a non-reproduction instruction frame "; The robot master control set just sends the response message of " non-reproduction instruction frame ", if " reproduction instruction frame ", the just response message of transmission " reproduction instruction frame "; Prepare to receive the command frame that robot teaching apparatus then sends then; After all " reproduction instruction frames " receptions finished, the communication program of robot master control set got into waiting status, waits for other information that robot teaching apparatus sends.
Above-described specific embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, it should be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (20)
1. robot teaching apparatus is characterized in that comprising:
Teaching master control set (1) is used to control and manage the operation of other devices that this robot teaching apparatus comprises;
Program management device (2) is used to manage playback program;
Mode selector (3) is used to select the operator scheme of robot teaching apparatus;
Parameter setting apparatus (4) is used to be provided with the hardware parameter and the software parameter of robot teaching apparatus;
Input-output unit (5) is used to receive user's input, and to the control device output order of control robot; Wherein
Program management device (2), mode selector (3), parameter setting apparatus (4) and input-output unit (5) all electrically connect with teaching master control set (1).
2. robot teaching apparatus as claimed in claim 1 is characterized in that,
Said program management device (2) is used to receive the instruction of teaching master control set 1, accomplishes newly-built, storage, the deletion of playback program, editor's operation.
3. robot teaching apparatus as claimed in claim 2 is characterized in that,
The language of said playback program is the structured text language.
4. robot teaching apparatus as claimed in claim 3 is characterized in that,
Described structured text language supports loop structure, condition judgment, time-delay to wait for; Through " command keyword ", " command point key word ", " additional parameter is provided with key word ", " kinematic parameter is provided with key word " and corresponding parameters thereof, with the form tissue and the performance of " motion command is capable " or " additional parameter is provided with row ".
5. robot teaching apparatus as claimed in claim 1 is characterized in that,
Said mode selector (3) is used to accept the instruction of teaching master control set (1), selects the operator scheme of robot teaching apparatus.
6. robot teaching apparatus as claimed in claim 5 is characterized in that,
Described operator scheme comprises manual mode, teaching pattern, reproduction mode.
7. robot teaching apparatus as claimed in claim 1 is characterized in that,
Said parameter setting apparatus (4) is used to be provided with the hardware parameter of teaching master control set (1), and to the software default parameter is made amendment.
8. robot teaching apparatus as claimed in claim 1 is characterized in that,
Input-output unit (5) also is used to receive user's instruction and sends teaching master control set (1) to.
9. robot teaching apparatus as claimed in claim 1 is characterized in that,
Input-output unit (5) links to each other with the control device of control robot through an interface arrangement.
10. robot teaching apparatus as claimed in claim 9 is characterized in that,
Said interface arrangement is a serial line interface, and the host-host protocol of this serial line interface adopts the RCC serial communication protocol based on the frame transmission mode.
11. robot teaching apparatus as claimed in claim 10 is characterized in that,
Utilize command frame to come transfer instruction, said command frame is the part of Frame in the RCC agreement.
12. robot teaching apparatus as claimed in claim 11 is characterized in that,
Said command frame comprises non-reproduction instruction frame and reproduction instruction frame, and non-reproduction instruction frame is used to transmit other instructions and the parameter except that reproduction instruction; The reproduction instruction frame is used to transmit instruction and the parameter that is used to reproduce.
13. robot teaching apparatus as claimed in claim 12 is characterized in that,
The reproduction instruction frame also comprises command point structure pointer member except that the parameter that comprises non-reproduction instruction frame, the critical movements packets of information of robot in the reproduction process is contained among the command point structure pointer member of reproduction instruction frame.
14. robot teaching apparatus as claimed in claim 13 is characterized in that,
Said command point structure pointer member's variable comprises: IO operation call number, action back IO operation call number before command point type, command point coordinate, movement velocity setting value, command point approximation accuracy, event condition call number, time conditions call number, the action.
15. robot teaching apparatus as claimed in claim 14 is characterized in that,
Said command point type is the sign of robot some key positions when carrying out reproduction of moving, comprises initial point, joint interpolated point, linear interpolation point, linear interpolation intermediate point, circular interpolation point, circular interpolation intermediate point, free curve interpolated point, free curve interpolation intermediate point.
16. robot control system; Comprise robot and robot teaching apparatus, said robot comprises the robot master control set, and this robot teaching apparatus is through its included input-output unit row communication of going forward side by side that links to each other with the robot master control set; It is characterized in that
Robot teaching apparatus sends the reproduction instruction frame to the robot master control set and realizes that robot reproduces, and said reproduction instruction frame is used to transmit instruction and the parameter that is used to reproduce.
17. robot control system as claimed in claim 16 is characterized in that,
Said reproduction instruction frame comprises command point structure pointer member, and the critical movements packets of information of robot in the reproduction process is contained among the command point structure pointer member of reproduction instruction frame.
18. robot control system as claimed in claim 17 is characterized in that,
Said robot teaching apparatus sends command frame through serial communication to said robot master control set; The reproduction instruction frame also comprises " task priority flags parameters " and " task call number flags parameters "; After the robot master control set is received command frame; Value according to " task priority flags parameters " and " task call number flags parameters " is sent concrete action fill order to robot, or to the required relevant state parameter of robot of robot teaching apparatus transmission.
19. robot control system as claimed in claim 18 is characterized in that,
When said robot teaching apparatus comprises the reproduction instruction frame of a plurality of command points to the master control set transmission of said robot; Process is shaken hands with the robot master control set; And the command point quantity of in handshake procedure, specifying the reproduction instruction frame that will transmit to be comprised in advance, realize the transmission of final total data.
20. robot control system as claimed in claim 19 is characterized in that,
Said robot teaching apparatus to the idiographic flow that the master control set transmission of said robot comprises the reproduction instruction frame of a plurality of command points is: at first; Said robot teaching apparatus sends non-reproduction instruction frame to the robot master control set; After sending successfully, the reproduction instruction of then redispatching frame; Said non-reproduction instruction frame is used to transmit other instructions and parameter except that reproduction instruction.
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| CN103495818A (en) * | 2013-09-11 | 2014-01-08 | 广西玉柴重工有限公司 | Mistake proofing method for welding robot system |
| CN105955180A (en) * | 2016-05-12 | 2016-09-21 | 四川中科智慧智能系统有限公司 | Intelligent manufacturing adaptive dynamic generation robot real-time automatic programming method |
| CN106476014A (en) * | 2015-08-27 | 2017-03-08 | 发那科株式会社 | Robot system by multiple teaching apparatus operation robots |
| CN107544438A (en) * | 2017-10-17 | 2018-01-05 | 佛山市南方数据科学研究院 | A kind of hand-in-hand demonstration robot servo-control system |
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Application publication date: 20120627 |