CN103092174A - Industrial robot wireless teaching controller - Google Patents
Industrial robot wireless teaching controller Download PDFInfo
- Publication number
- CN103092174A CN103092174A CN2013100186326A CN201310018632A CN103092174A CN 103092174 A CN103092174 A CN 103092174A CN 2013100186326 A CN2013100186326 A CN 2013100186326A CN 201310018632 A CN201310018632 A CN 201310018632A CN 103092174 A CN103092174 A CN 103092174A
- Authority
- CN
- China
- Prior art keywords
- wireless
- interface
- industrial robot
- control
- teaching
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to an industrial robot wireless teaching controller which comprises a wireless hand-held teaching box and a main controller. The wireless hand-held teaching box is composed of a hand touch and pen touch display screen, a central processing unit (CPU), a wireless transmitting receiving module, a universal serial bus (USB) interface, a 1394 interface, a high-capacity lithium-ion battery, a switching power supply charger and the like. The main controller is composed of a CPU, a wireless transmitting receiving module, a displayer, a controlling keyboard, a memorizer, a USB interface, a multi-channel servo control output interface, input/output (I/O) control interface, a switching power supply and the like. By means of the wireless hand-held teaching box and the main controller, fifty meter effective wireless encryption communication can be achieved, and mutual interference among multiple sets of control systems in the same environment is prevented. The wireless hand-held teaching box and the main controller control an industrial robot in real time to achieve teaching representation programming, data gathering and manual/automatic control through wireless communications, meanwhile working states and working parameters of the robot can also be displayed and altered in real time, and real-time wireless communication is achieved. Due to the fact that constraint of communication cables does not exist between the teaching box and the main controller control, great convenience is brought to robot programming operation personnel, meanwhile safety of controlling robot is improved, and the fact that modern science and technology bring convenience to production work is embodied.
Description
Technical field
The present invention relates to the robot field, the wireless teaching control device of industrial robot of programming, data acquisition, manual/auto control, parameter real-time communication demonstration is reproduced in the wireless teaching that is specifically related to a kind of multi-joint industrial robot of being applied to.
Background technology
Industrial robot is most typical electromechanical integration digitizing equipment, and technical value added is high, and applied range as the support technology of advanced manufacturing industry and the new industry of informationized society, will play a part more and more important with social development to producing future.The invention discloses a kind of wireless teaching control device of industrial robot with wireless communication function, the communication cable that has solved hand-held teaching machine and master controller is controlled personnel's constraint problem to programming, improved greatly and controlled security and convenience.Due to industrial robot teaching controller for a long time by external several business monopolies, its expensive and low adaptability has seriously restricted the development of domestic industry robot, the industrial machine of this is wireless teaching control device and supporting this wireless teaching control device has good market outlook per capita, also embodied modern science and technology to production work bring convenient.
Summary of the invention
The objective of the invention is provides a kind of industrial robot teaching controller with wireless telecommunications for existing not enough.
Technical scheme of the present invention is:
A kind of industrial robot teaching controller with wireless telecommunications comprises wireless handheld teach box and master controller two parts; It is characterized in that: described wireless handheld teach box and master controller are realized real-time communication by wireless communication module;
Described wireless handheld teach box comprises that hand touches, style of writing display screen, the first central processing unit, the first wireless transmit receiver module, the first USB interface, 1394 interfaces and high capacity lithium ion battery; Wherein, the first central processing unit touches with hand respectively, style of writing display screen, central processing unit, the first wireless transmit receiver module, the first USB interface, 1394 interfaces be connected with high capacity lithium ion battery;
Described master controller comprises the second central processing unit, the second wireless transmit receiver module, display, supervisory keyboard, storer, secondary USB interface, multipath servo control output interface and I/O control interface, and wherein the second central processing unit is connected with the I/O control interface with the second wireless transmit receiver module, display, supervisory keyboard, storer, secondary USB interface, multipath servo control output interface respectively.
Beneficial effect of the present invention is:
Solved the communication cable of the hand-held teaching machine of existing industrial robot and master controller to controlling programming personnel's constraint, realized that hand-held teaching machine is connected with the wireless telecommunications of master controller, that has improved the operation programming personnel controls security and convenience.
Description of drawings
Fig. 1 is the structural representation block diagram of the wireless teaching control device of industrial robot of the present invention
Fig. 2 is teaching reproduction and the outer programming operation control flow chart of machine of the wireless teaching control device of industrial robot of the present invention
Fig. 3 is that wireless handheld teach box and the master controller of the wireless teaching control device of industrial robot of the present invention set up the wireless telecommunications process flow diagram
Fig. 4 is the hardware connection layout of the wireless teaching control device of industrial robot of the present invention
Embodiment
Below in conjunction with drawings and Examples, the present invention is elaborated.
As shown in Figure 1, the wireless teaching control device of industrial robot of the present invention.Comprise wireless handheld teach box and master controller two parts.The wireless handheld teach box is tactile by hand, the style of writing display screen, central processing unit, wireless transmit receiver module, USB interface, 1394 interfaces, high capacity lithium ion battery, the compositions such as Switching Power Supply charger.The giant-screen hand touches, style of writing display screen intuitive display, conveniently control, the science and technology sense is strong, high capacity lithium ion battery coordinates the Switching Power Supply charger can realize that long-time continuous is the power supply of wireless handheld teach box, also can provide separately the power supply of 6-8 hour for the wireless handheld teach box; Master controller is by central processing unit, the wireless transmit receiver module, and display, supervisory keyboard, storer, USB interface, multipath servo is controlled output interface, I/O control interface, the compositions such as Switching Power Supply.Its multipath servo is controlled output interface and various imports and is connected servomotor and has realized that complete compatibility is connected, generates in manufacturing as the domestic servomotor of employing at industrial robot, can significantly reduce manufacturing cost.Wireless handheld teach box and master controller have 50 meters effective wireless encryption abilitys to communicate, prevent the phase mutual interference with many cover control system in environment.Wireless handheld teach box and master controller are controlled in real time industrial robot by wireless telecommunications and are realized that teaching reproduces programming, data acquisition and manual/auto control, also can show in real time and revise simultaneously the duty, routine data, event log of robot etc.Compare with existing teaching control box, because wireless handheld teach box and master controller have an independently central processing unit separately, reduced the computational burden of central processing unit, improved the job stability of system, owing to having realized wireless real-time communication, there is no the constraint of the communication cable between teach box and master controller, greatly facilitate the robotic programming operating personnel, improve simultaneously the security that a robot controls, also embodied modern science and technology to production work bring convenient.
As shown in Figure 2, the wireless teaching control device of industrial robot of the present invention can be realized that teaching reproduction and machine are programmed outward etc. to industrial robot operation is controlled.After wireless teach box and master controller start entered standby mode, the user can select to enter manual teaching reproduction mode or the outer programming mode of machine, also can directly call the working routine that execution has been preserved, controls industrial robot work.After entering manual teaching reproduction mode, the robot manipulation personnel touch by hand or the display screen manipulation robot of the wireless teach box of style of writing gathers each coordinate points, generate the G code working routine after setting simultaneously the relevant parameter of each working routine section, by the teaching simulation reconstruction, whether checking routine is correct, also can modify to working routine simultaneously, preserve working routine after the confirmation program is correct, central controller output servo-control signal, the control signals such as I/O, PWM, DA, control realize the working routine reproduction of teaching; After the outer programming mode of the machine that enters, can directly transfer the G code program that industrial programming software generates by USB interface, dry run working routine after the setting program starting point, confirm rear central controller output servo-control signal working properly, the control signals such as I/O, PWM, DA are controlled industrial robot work.
As shown in Figure 3, it is after wireless handheld teaching machine and master controller are all started shooting that the wireless handheld teach box of industrial robot of the present invention is wireless teaching control device and master controller are set up the wireless telecommunications flow process, the display screen of wireless handheld teach box shows master information, the display screen of master controller shows controlled information, whether correctly set up wireless connections and proofread signal code simultaneously by wireless communication module, as password not match, the display screen meeting automatic-prompting input control password of wireless handheld teach box, after the input proper password, whether master controller meeting automatic Proofreading password is correct.Conform to as password, wireless handheld teach box and master controller enter the real-time communication state automatically, and the display screen of wireless handheld teach box shows real time data, and master controller enters controlled state, is servo-driver output enable signal, and complete machine enters holding state.
As shown in Figure 4, the hardware of industrial robot of the present invention is wireless teaching control device connects that to be mainly reflected in the wireless handheld teach box be that wireless real-time communication is connected with master controller, and master controller has also comprised motion-control module, load module and three groups of link blocks of output module.Motion-control module has 8 tunnel servocontrol interfaces, can with various imports be connected servomotor and realized that full compatibility is connected, the servomotor that can control the 4-8 road is realized the movement locus of industrial robot.Load module has 36 input interfaces, can realize the input of the signals such as the 8 positive and negative limit sensors of axle, 8 axle origin sensors, obstacle avoidance sensor, visual identity sensor, arc voltage tracking transducer, control knob, effective guarantee work safety and the operating accuracy of industrial robot.Output module has 24 road interfaces, can connect machine and manually do state indication, servomotor brake control, output solenoid valve control signal driving pneumatic gripping device or vacuum cup action, also can regulate in real time by analog signals the voltage and current of the welding robot source of welding current, realize perfect the welding.At the industrial machine man-hour, the central processing unit of master controller can be revised the normal operating conditions of robot in real time according to the detection signal of outside each sensor, and by the wireless encryption communication module, real-time working parameter, routine data, event log etc. is shown on the display screen of wireless handheld teach box.
Above disclosed be only several specific embodiment of the present invention, but the present invention does not limit to above several.Anyone change of making according to technology contents disclosed by the invention and principle, modification, substitute, within distortion etc. is included in protection scope of the present invention.
Claims (1)
1. the industrial robot teaching controller with wireless telecommunications, comprise wireless handheld teach box and master controller two parts; It is characterized in that: described wireless handheld teach box and master controller are realized real-time communication by wireless communication module;
Described wireless handheld teach box comprises that hand touches, style of writing display screen, the first central processing unit, the first wireless transmit receiver module, the first USB interface, 1394 interfaces and high capacity lithium ion battery; Wherein, the first central processing unit touches with hand respectively, style of writing display screen, central processing unit, the first wireless transmit receiver module, the first USB interface, 1394 interfaces be connected with high capacity lithium ion battery;
Described master controller comprises the second central processing unit, the second wireless transmit receiver module, display, supervisory keyboard, storer, secondary USB interface, multipath servo control output interface and I/O control interface, and wherein the second central processing unit is connected with the I/O control interface with the second wireless transmit receiver module, display, supervisory keyboard, storer, secondary USB interface, multipath servo control output interface respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100186326A CN103092174A (en) | 2013-01-18 | 2013-01-18 | Industrial robot wireless teaching controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100186326A CN103092174A (en) | 2013-01-18 | 2013-01-18 | Industrial robot wireless teaching controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103092174A true CN103092174A (en) | 2013-05-08 |
Family
ID=48204873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100186326A Pending CN103092174A (en) | 2013-01-18 | 2013-01-18 | Industrial robot wireless teaching controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103092174A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103978324A (en) * | 2014-04-23 | 2014-08-13 | 中国科学院合肥物质科学研究院 | Double-core five-shaft welding robot control system |
| CN104238514A (en) * | 2014-09-06 | 2014-12-24 | 北京化工大学 | Energy-saving type multi-frequency-band wireless teaching controller for industrial robots |
| CN104635633A (en) * | 2013-11-08 | 2015-05-20 | 沈阳高精数控技术有限公司 | Multi bus industrial robot control system with WiFi wireless communication function |
| CN104760044A (en) * | 2015-04-10 | 2015-07-08 | 马鞍山方宏自动化科技有限公司 | Unpowered articulated arm type demonstrator and application thereof in industrial robot |
| WO2016127836A1 (en) * | 2015-02-11 | 2016-08-18 | 深圳配天智能技术研究院有限公司 | Industrial robot demonstrator and emergency event triggering method therefor |
| CN105965509A (en) * | 2016-05-16 | 2016-09-28 | 珠海格力智能装备有限公司 | Robot control system and control method |
| CN107561972A (en) * | 2017-07-27 | 2018-01-09 | 安徽工程大学 | A kind of pole-climbing robot with multiple postures wireless control system |
| CN109093634A (en) * | 2018-09-20 | 2018-12-28 | 埃夫特智能装备股份有限公司 | A kind of wireless teaching handle apparatus of dragging programming |
| CN109291057A (en) * | 2018-11-22 | 2019-02-01 | 希美埃（芜湖）机器人技术有限公司 | A kind of robot is wireless teaching system and its control method |
| CN109712507A (en) * | 2018-11-19 | 2019-05-03 | 溱者(上海)智能科技有限公司 | A kind of robot demonstrator |
| CN110757449A (en) * | 2019-09-05 | 2020-02-07 | 珠海格力电器股份有限公司 | Demonstrator-to-lower controller communication method, computer readable storage medium and robot |
| CN111624893A (en) * | 2020-06-10 | 2020-09-04 | 杭州凯尔达机器人科技股份有限公司 | Demonstrator, demonstrator signal transmission method and system |
| CN111697558A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Demonstrator power management circuit and wireless demonstrator with same |
| CN112847300A (en) * | 2020-12-19 | 2021-05-28 | 北京工业大学 | Teaching system based on mobile industrial robot demonstrator and teaching method thereof |
| CN113808443A (en) * | 2021-10-15 | 2021-12-17 | 新代科技(苏州)有限公司 | Handheld box supporting welding operation and double-screen display and software welding method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101149608A (en) * | 2007-11-12 | 2008-03-26 | 北京大学 | Hand-held robot movement monitoring and control platform based on embedded type system |
| CN201984619U (en) * | 2011-01-16 | 2011-09-21 | 浙江金石机器人制造有限公司 | Full duplex robot wireless remote control apparatus as well as handheld operating box and receiver therein |
| CN102324206A (en) * | 2011-05-20 | 2012-01-18 | 广州数控设备有限公司 | Robot teaching box with bus communication function and control method thereof |
-
2013
- 2013-01-18 CN CN2013100186326A patent/CN103092174A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101149608A (en) * | 2007-11-12 | 2008-03-26 | 北京大学 | Hand-held robot movement monitoring and control platform based on embedded type system |
| CN201984619U (en) * | 2011-01-16 | 2011-09-21 | 浙江金石机器人制造有限公司 | Full duplex robot wireless remote control apparatus as well as handheld operating box and receiver therein |
| CN102324206A (en) * | 2011-05-20 | 2012-01-18 | 广州数控设备有限公司 | Robot teaching box with bus communication function and control method thereof |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635633A (en) * | 2013-11-08 | 2015-05-20 | 沈阳高精数控技术有限公司 | Multi bus industrial robot control system with WiFi wireless communication function |
| CN103978324A (en) * | 2014-04-23 | 2014-08-13 | 中国科学院合肥物质科学研究院 | Double-core five-shaft welding robot control system |
| CN104238514A (en) * | 2014-09-06 | 2014-12-24 | 北京化工大学 | Energy-saving type multi-frequency-band wireless teaching controller for industrial robots |
| CN104238514B (en) * | 2014-09-06 | 2017-10-10 | 北京化工大学 | The energy-saving wireless teaching control device of multiband industrial robot |
| WO2016127836A1 (en) * | 2015-02-11 | 2016-08-18 | 深圳配天智能技术研究院有限公司 | Industrial robot demonstrator and emergency event triggering method therefor |
| CN104760044A (en) * | 2015-04-10 | 2015-07-08 | 马鞍山方宏自动化科技有限公司 | Unpowered articulated arm type demonstrator and application thereof in industrial robot |
| CN104760044B (en) * | 2015-04-10 | 2016-08-24 | 马鞍山方宏自动化科技有限公司 | A kind of unpowered articulated arm teaching machine and the application in industrial robot thereof |
| CN105965509A (en) * | 2016-05-16 | 2016-09-28 | 珠海格力智能装备有限公司 | Robot control system and control method |
| CN107561972A (en) * | 2017-07-27 | 2018-01-09 | 安徽工程大学 | A kind of pole-climbing robot with multiple postures wireless control system |
| CN109093634A (en) * | 2018-09-20 | 2018-12-28 | 埃夫特智能装备股份有限公司 | A kind of wireless teaching handle apparatus of dragging programming |
| CN109712507A (en) * | 2018-11-19 | 2019-05-03 | 溱者(上海)智能科技有限公司 | A kind of robot demonstrator |
| CN109291057A (en) * | 2018-11-22 | 2019-02-01 | 希美埃（芜湖）机器人技术有限公司 | A kind of robot is wireless teaching system and its control method |
| CN110757449A (en) * | 2019-09-05 | 2020-02-07 | 珠海格力电器股份有限公司 | Demonstrator-to-lower controller communication method, computer readable storage medium and robot |
| CN111624893A (en) * | 2020-06-10 | 2020-09-04 | 杭州凯尔达机器人科技股份有限公司 | Demonstrator, demonstrator signal transmission method and system |
| CN111697558A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Demonstrator power management circuit and wireless demonstrator with same |
| CN112847300A (en) * | 2020-12-19 | 2021-05-28 | 北京工业大学 | Teaching system based on mobile industrial robot demonstrator and teaching method thereof |
| CN113808443A (en) * | 2021-10-15 | 2021-12-17 | 新代科技(苏州)有限公司 | Handheld box supporting welding operation and double-screen display and software welding method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103092174A (en) | Industrial robot wireless teaching controller | |
| CN203070065U (en) | Industrial-robot wireless teaching controller | |
| CN100544899C (en) | A kind of open robotic system | |
| CN101138843A (en) | Intelligent independent robot core controller | |
| CN104875204A (en) | Offline programming module and application method of plasma space cutting robot | |
| CN108527320B (en) | Three-dimensional mouse-based collaborative robot guiding teaching method | |
| CN104808495A (en) | Robot steering gear control system based on gyroscope feedback | |
| CN103085054A (en) | Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof | |
| CN107671838B (en) | Robot teaching recording system, teaching process steps and algorithm flow thereof | |
| CN102941426A (en) | Intelligent deflection system matched with robot | |
| CN108247632A (en) | A kind of cooperation robot control system based on ROS | |
| CN100442177C (en) | Independent intelligent limit switch | |
| CN101776886A (en) | Power battery pole piece numerical control laser cutting control system | |
| CN105479431A (en) | Inertial navigation type robot demonstration equipment | |
| CN103978324A (en) | Double-core five-shaft welding robot control system | |
| CN202951982U (en) | Intelligent shifting system matched with robot | |
| CN204807988U (en) | Motion control ware | |
| CN103738271A (en) | Steering wheel key function learning system | |
| CN109732602A (en) | Mechanical arm speed regulating method, system, equipment and medium | |
| CN101315553A (en) | Numerical control machine based on PC machine operation | |
| CN106826915A (en) | A kind of tactile sensing device of robot's control method and its device | |
| CN205009254U (en) | Manipulator learning system | |
| CN102478836A (en) | Novel PC (Personal Computer)-controlled numerical control machine tool | |
| CN203843844U (en) | Industrial robot wireless teaching implementation device | |
| CN114228083A (en) | Industrial control system and injection molding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130508 |