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 PDFInfo
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- 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
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- machine interface
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- 281000080895 FANUC companies 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 281000001425 Microsoft companies 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005516 engineering processes Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reactions Methods 0.000 description 1
Abstract
Description
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)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2012101774439A CN102681856A (en) | 2012-05-31 | 2012-05-31 | System and method used for achieving human-computer interface of robot and based on demonstrator |
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| CN2012101774439A CN102681856A (en) | 2012-05-31 | 2012-05-31 | System and method used for achieving human-computer interface of robot and based on demonstrator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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