CN102681856A - System and method used for achieving human-computer interface of robot and based on demonstrator - Google Patents

System and method used for achieving human-computer interface of robot and based on demonstrator Download PDF

Info

Publication number
CN102681856A
CN102681856A CN2012101774439A CN201210177443A CN102681856A CN 102681856 A CN102681856 A CN 102681856A CN 2012101774439 A CN2012101774439 A CN 2012101774439A CN 201210177443 A CN201210177443 A CN 201210177443A CN 102681856 A CN102681856 A CN 102681856A
Authority
CN
China
Prior art keywords
robot
man
machine
teaching
machine interface
Prior art date
Application number
CN2012101774439A
Other languages
Chinese (zh)
Inventor
王企远
钱晖
张海森
李广伟
Original Assignee
上海发那科机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海发那科机器人有限公司 filed Critical 上海发那科机器人有限公司
Priority to CN2012101774439A priority Critical patent/CN102681856A/en
Publication of CN102681856A publication Critical patent/CN102681856A/en

Links

Abstract

The invention discloses a system used for achieving a human-computer interface of a robot and based on a demonstrator. The system comprises a robot demonstrator, a robot controller and a robot body. The robot controller is respectively connected with the robot demonstrator and the robot body. The robot body is used for executing commands given by the robot controller. A human-computer interface unit is arranged on the robot controller and displays the human-computer interface through the robot demonstrator. The invention further discloses a method for achieving the human-computer interface of the robot and based on the demonstrator. A webpage-type human-computer interface program is generated by using a webpage editor, stored in the robot controller and finally operated in the robot controller and displays the human-computer interface on the robot demonstrator. The method completely omits traditional external human-computer interface devices, reduces cost of a robot system, and improves safety and reliability and maintainability of the robot system.

Description

Realization system and implementation method based on the robot man-machine interface of teaching machine

Technical field

The present invention relates to a kind of robot system, be specifically related to a kind of robot man-machine interface based on teaching machine realization system and implementation method.

Background technology

Robot system facts have proved in the use of many production fields, and it is raised labour productivity and product quality improving production automation level, and economic benefit, and improving aspect such as workman's working condition has the effect that attracts people's attention.Industrial robot is operated in the structural working environment mostly, and the program that robot weaves by prior teaching fully repeats constantly to work.

The robot system of conventionally form comprises robot body 3, teaching machine 1 and controller 2.To the motion state monitoring of industrial robot, data input and output, action command operation the time; Except will using teaching machine 1; Usually also to use the human interface device 5 that inserts from the outside; These human interface devices 5 generally are made up of PLC51, touch-screen 52 (man machine operation interface), communication interface integrated circuit board 53, and are as shown in Figure 1.Human interface device 5 and the man machine operation interface 52 that moves above that make that above-mentioned human-machine operation becomes more simply, hommization.But the robot system of this conventionally form need be purchased multiple hardwares equipment, like PLC, touch-screen, communication interface integrated circuit board, cable etc.; Also to use special-purpose PLC software programming man-machine interface program.The price of these hardware devices and special programming software is expensive, certainly will will increase the overall cost of robot system; The introducing of these equipment and program has simultaneously also increased the complexity of robot system, has reduced the combined reliability of robot system.

Summary of the invention

The objective of the invention is in order to overcome the deficiency of prior art; A kind of realization system and implementation method of the robot man-machine interface based on teaching machine are provided; It can make that the entire machine robot system has that higher hardware set becomes second nature, the software compatibility and security of system stability, thereby has reduced the overall cost of robot system.

A kind of technical scheme that realizes above-mentioned purpose is: a kind of realization system of the robot man-machine interface based on teaching machine; Comprise robot teaching device, robot controller and robot body; Said robot controller connects robot teaching machine and robot body respectively; Said robot body is used to carry out the instruction that said robot controller sends; Wherein, a human and machine interface unit is installed on said robot controller, and this human and machine interface unit is to show its man-machine interface through said robot teaching device.

The realization system of above-mentioned robot man-machine interface based on teaching machine, wherein, said human and machine interface unit is to be wrapped in establishment on the Windows of computing machine and obtained by web page editing device and teaching machine control.

The realization system of above-mentioned robot man-machine interface based on teaching machine, wherein, said teaching machine control bag is that plug-in type control bag is embedded in the said web page editing device.

The realization system of above-mentioned robot man-machine interface based on teaching machine, wherein, said robot teaching device has touch screen function.

The another kind of technical scheme that realizes above-mentioned purpose is: a kind of implementation method of the robot man-machine interface based on teaching machine may further comprise the steps:

The step that programs uses web page editing device and teaching machine control bag to work out the man-machine interface program of the needed robot of user on the Windows of computing machine;

The step of convey program is sent to said man-machine interface program the storer of robot controller from said computing machine through netting twine earlier, removes said computing machine then;

The step of system variable is set; Fill in the memory location and the filename of man-machine interface program to display in the program file storage address on the robot teaching device and the system variable of title; Fill in the name that said man-machine interface program is shown in the system variable of the program file display Name on the robot teaching device in the menu of robot teaching device, so that have more the optional menu item of the filename of a said man-machine interface program in the menu item of said robot teaching device;

The step of operation man-machine interface program, the option of the filename of the said man-machine interface program of selection moves the man-machine interface program on said robot controller on said robot teaching device;

Show the step of man-machine interface, said robot controller is through the screen display man-machine interface of said robot teaching device.

The above-mentioned robot man-machine interface implementation method based on teaching machine, wherein, said man-machine interface program is the web page files of stm type.

The realization system of the robot man-machine interface based on teaching machine of the present invention and the technical scheme of implementation method; Adopt the web page editing device to generate the man-machine interface of form web page; And this man-machine interface is stored on the robot controller, finally in operation on the robot controller and on the robot teaching device, show this man-machine interface.Implementation method of the present invention makes robot controller and robot teaching device accomplish the function that external interface device is accomplished; And realized on the robot teaching device showing the man-machine interface of personalized customization; Make the user directly motion state of supervisory-controlled robot or execution specific operation on the robot teaching device; Fully phase out traditional external human interface device, thereby reduced the cost of robot system, improved the safe reliability and the ease for maintenance of robot system.

Description of drawings

Fig. 1 is the structural representation of the robot system that has the external human interface device of prior art;

Fig. 2 is the structural representation of the realization system of the robot man-machine interface based on teaching machine of the present invention;

The implementation figure of the step that programs in the implementation method of Fig. 3 for the robot man-machine interface based on teaching machine of the present invention.

Embodiment

In order to understand technical scheme of the present invention better, below through embodiment particularly and combine accompanying drawing at length to explain:

See also Fig. 2, the realization system of a kind of robot man-machine interface based on teaching machine of the present invention comprises robot teaching device 1, robot controller 2 and robot body 3, wherein,

Robot controller 2 connects robot teaching machine 1 and robot body 3 respectively;

Robot teaching device 1 adopts the FANUC iPendant type teaching machine of band touch screen function; IPendant be can access internet colored teaching machine, be convenient to programming and can Customize User Interface;

Robot body 3 adopts FANUC R-2000iB humanoid robot, is used to carry out the instruction that robot controller 2 sends;

Robot controller 2 adopts FANUC R-30iA humanoid robot controller, and a human and machine interface unit 20 is installed on robot controller 2, and this human and machine interface unit 20 is to show its man-machine interface through robot teaching device 1;

Human and machine interface unit 20 is to be wrapped in establishment on the Windows of computing machine 4 and obtained by web page editing device and teaching machine control; Computing machine 4 is selected Dell6410 type notebook for use; The 32-bit Windows XP operating system that Windows adopts Microsoft to release; Teaching machine control bag is that plug-in type control bag is embedded in the web page editing device, the FrontPage2003 that the web page editing device adopts Microsoft to release; The FANUC Robotics iPendantControls that teaching machine control bag adopts FANUC company to release.

The effect of computing machine 4 is to generate human and machine interface unit 20, and after human and machine interface unit 20 generations finished and are sent on the robot controller 2, computing machine 4 promptly can remove.

The implementation method of a kind of robot man-machine interface based on teaching machine of the present invention may further comprise the steps:

The step that programs; On the Windows 40 of computing machine, use man-machine interface program 8 (see figure 3)s of web page editing device 6 and the needed robot of teaching machine control bag 7 establishment users, the man-machine interface program of working out out 8 is web page files (is example with HMI.stm) of stm type;

The step of convey program is sent to man-machine interface program HMI.stm file the storer of robot controller from computing machine through netting twine earlier, removes computing machine then;

The step of system variable is set; System variable ($TX_SCREEN [n] .$DESTINATION of stm program file storage address on the robot teaching device and title) fill in man-machine interface program to display memory location and filename " HMI.stm "; Fill in the name (this sentences Chinese " man-machine interface interface " and is example) that said man-machine interface program is shown in the system variable of the program file display Name on the robot teaching device ([n] .$SCREEN_NAME) in the menu of robot teaching device, so that have more the optional menu item at " man-machine interface interface " by name in the menu item of robot teaching device;

The step of operation man-machine interface program, the option of select File name on the robot teaching device " man-machine interface interface " moves the man-machine interface program on robot controller;

The step that shows man-machine interface, robot controller is through the screen display man-machine interface of robot teaching device.

See also Fig. 3 and combine to consult Fig. 2; In the implementation method of a kind of robot man-machine interface based on teaching machine of the present invention; The effect of computing machine 4 is to write, debug man-machine interface program file 8; Man-machine interface program file 8 write finish and be sent on the robot controller 2 after; Computing machine 4 promptly can remove, and man-machine interface program file 8 can make the user directly motion state of supervisory-controlled robot body 3 or execution specific operation on robot teaching device 1 in independent operating, use on robot controller 2 and the robot teaching device 1.The touch-screen that the operator can pass through robot teaching device 1 is at the enterprising line operate of man-machine interface; Also can carry out the selection of character, the operations such as input of numeral through directionkeys, numerical key and the enter key of robot teaching device 1; Thereby all functions that traditional external human interface device and man-machine interface program can realize have been realized; Fully phased out traditional external human interface device; Thereby reduced the cost of robot system, improved the safe reliability and the ease for maintenance of robot system.

Because the man-machine interface program file is in the FROM of robot controller 2 storer, to store; Operation on robot controller 2; On the touch-screen of iPendant humanoid robot teaching machine 1, show and operation; Therefore, the implementation method of the robot man-machine interface based on teaching machine of the present invention makes that the entire machine robot system has that higher hardware set becomes second nature, the software compatibility and security of system stability, has reduced the overall cost of robot system.

Those of ordinary skill in the art will be appreciated that; Above embodiment is used for explaining the present invention; And be not to be used as qualification of the present invention; As long as in connotation scope of the present invention, all will drop in claims scope of the present invention variation, the modification of the above embodiment.

Claims (6)

1. realization system based on the robot man-machine interface of teaching machine; Comprise robot teaching device, robot controller and robot body; Said robot controller connects robot teaching machine and robot body respectively, and said robot body is used to carry out the instruction that said robot controller sends, and it is characterized in that; One human and machine interface unit is installed, and this human and machine interface unit is to show its man-machine interface through said robot teaching device on said robot controller.
2. the realization system of the robot man-machine interface based on teaching machine according to claim 1 is characterized in that, said human and machine interface unit is to be wrapped in establishment on the Windows of computing machine and obtained by web page editing device and teaching machine control.
3. the realization system of the robot man-machine interface based on teaching machine according to claim 2 is characterized in that said teaching machine control bag is that plug-in type control bag is embedded in the said web page editing device.
4. the realization system of the robot man-machine interface based on teaching machine according to claim 1 is characterized in that said robot teaching device has touch screen function.
5. implementation method based on the robot man-machine interface of teaching machine is characterized in that said implementation method may further comprise the steps:
The step that programs uses web page editing device and teaching machine control bag to work out the man-machine interface program of the needed robot of user on the Windows of computing machine;
The step of convey program is sent to said man-machine interface program the storer of robot controller from said computing machine through netting twine earlier, removes said computing machine then;
The step of system variable is set; Fill in the memory location and the filename of man-machine interface program to display in the program file storage address on the robot teaching device and the system variable of title; Fill in the name that said man-machine interface program is shown in the system variable of the program file display Name on the robot teaching device in the menu of robot teaching device, so that have more the optional menu item of the filename of a said man-machine interface program in the menu item of said robot teaching device;
The step of operation man-machine interface program, the option of the filename of the said man-machine interface program of selection moves the man-machine interface program on said robot controller on said robot teaching device;
Show the step of man-machine interface, said robot controller is through the screen display man-machine interface of said robot teaching device.
6. the robot man-machine interface implementation method based on teaching machine according to claim 5 is characterized in that said man-machine interface program is the web page files of stm type.
CN2012101774439A 2012-05-31 2012-05-31 System and method used for achieving human-computer interface of robot and based on demonstrator CN102681856A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012101774439A CN102681856A (en) 2012-05-31 2012-05-31 System and method used for achieving human-computer interface of robot and based on demonstrator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012101774439A CN102681856A (en) 2012-05-31 2012-05-31 System and method used for achieving human-computer interface of robot and based on demonstrator

Publications (1)

Publication Number Publication Date
CN102681856A true CN102681856A (en) 2012-09-19

Family

ID=46813833

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2012101774439A CN102681856A (en) 2012-05-31 2012-05-31 System and method used for achieving human-computer interface of robot and based on demonstrator

Country Status (1)

Country Link
CN (1) CN102681856A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103309651A (en) * 2012-12-30 2013-09-18 株洲三新包装技术有限公司 Interface visualization system of printing machine servo system
CN104182584A (en) * 2014-08-25 2014-12-03 上海发那科机器人有限公司 Structural designing method for robot multiple-speed translation mechanism
CN105988398A (en) * 2015-03-03 2016-10-05 上海电气自动化设计研究所有限公司 PC-based industrial robot control system and method for unmanned machine room
CN107305375A (en) * 2016-04-19 2017-10-31 上海慧流云计算科技有限公司 A kind of robot control method, controller and robot
CN107870876A (en) * 2016-09-27 2018-04-03 珠海格力智能装备有限公司 Processing method and processing device for the input/output signal of robot
CN110450172A (en) * 2019-08-15 2019-11-15 遨博(北京)智能科技有限公司 A kind of processing method and processing device of teaching machine and its plug-in unit
CN110673759A (en) * 2019-09-18 2020-01-10 珠海格力电器股份有限公司 Rolling control method and device and data processing system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1684032A (en) * 2005-03-10 2005-10-19 上海大学 Man-computer interface automatic forming system
CN101092031A (en) * 2007-07-12 2007-12-26 上海交通大学 Off line programming tool for industrial robot
CN102117571A (en) * 2011-03-31 2011-07-06 上海柏楚电子科技有限公司 Online teaching processing system for glue dispensing machine
CN102157037A (en) * 2011-01-05 2011-08-17 深圳市怡化电脑有限公司 Automatic test method and system for software and module

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1684032A (en) * 2005-03-10 2005-10-19 上海大学 Man-computer interface automatic forming system
CN101092031A (en) * 2007-07-12 2007-12-26 上海交通大学 Off line programming tool for industrial robot
CN102157037A (en) * 2011-01-05 2011-08-17 深圳市怡化电脑有限公司 Automatic test method and system for software and module
CN102117571A (en) * 2011-03-31 2011-07-06 上海柏楚电子科技有限公司 Online teaching processing system for glue dispensing machine

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103309651A (en) * 2012-12-30 2013-09-18 株洲三新包装技术有限公司 Interface visualization system of printing machine servo system
CN103309651B (en) * 2012-12-30 2017-02-08 株洲三新包装技术有限公司 Interface visualization system of printing machine servo system
CN104182584A (en) * 2014-08-25 2014-12-03 上海发那科机器人有限公司 Structural designing method for robot multiple-speed translation mechanism
CN104182584B (en) * 2014-08-25 2018-05-25 上海发那科机器人有限公司 A kind of construction design method of robot speed translation mechanism
CN105988398A (en) * 2015-03-03 2016-10-05 上海电气自动化设计研究所有限公司 PC-based industrial robot control system and method for unmanned machine room
CN107305375A (en) * 2016-04-19 2017-10-31 上海慧流云计算科技有限公司 A kind of robot control method, controller and robot
CN107870876A (en) * 2016-09-27 2018-04-03 珠海格力智能装备有限公司 Processing method and processing device for the input/output signal of robot
CN107870876B (en) * 2016-09-27 2019-09-20 珠海格力电器股份有限公司 The processing method and processing device of input/output signal for robot
CN110450172A (en) * 2019-08-15 2019-11-15 遨博(北京)智能科技有限公司 A kind of processing method and processing device of teaching machine and its plug-in unit
CN110673759A (en) * 2019-09-18 2020-01-10 珠海格力电器股份有限公司 Rolling control method and device and data processing system

Similar Documents

Publication Publication Date Title
ES2634316T3 (en) Control system for controlling the operation of a numerical control machine tool, and rear end and front end control devices for use in such a system
CN100549879C (en) Hybrid user interface with basic presentation information of the outstanding side information of belt variable
JP2984369B2 (en) Graphic program interface for machine controller / process controller
JP6588930B2 (en) Numerical control system and control method based on virtualization technology
US10789775B2 (en) Method for controlling an object
CN104424338B (en) The automatically generating device and automatic generation method of web system
CN101639973B (en) Management method for remote controller
EP2889709A3 (en) Industrial Automation Device with Editor and Graphical Object Mobile Visualization
CN104731584A (en) Human-machine interface customizable configuration design method for open type numerical control system
US20060095855A1 (en) HMI reconfiguration method and system
KR102042115B1 (en) Method for generating robot operation program, and device for generating robot operation program
CN102324206B (en) Robot teaching box with bus communication function and control method thereof
CN103485784A (en) Virtual reality technology based remote control system and remote control method for coal cutter
CN105945942A (en) Robot off line programming system and method
CN202372834U (en) Embedded numerical control system with dual-core central processing unit (CPU)
CN104698950B (en) A kind of peripheral device control method, microcontroller, host computer and system
DK2329364T3 (en) Process and system for creating HMI applications for an automation process
US10558184B2 (en) Weakly-typed dataflow infrastructure with standalone, configurable connections
CN103814333A (en) Method and device for the programming and configuration of programmable logic controller
Chao Human-computer interaction: process and principles of human-computer interface design
CN103101054A (en) Programming and control system of mobile phone to robot
CA2951145C (en) Page constructor and page constructing method
CN102246108B (en) Monitoring an automation system
CN201689302U (en) Integrated intelligent servo driver
CN105335048A (en) Electron equipment with concealed application icon and application icon conceal method

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20120919

C12 Rejection of a patent application after its publication