CN103419199A - Teaching system based on open type welding robot - Google Patents

Teaching system based on open type welding robot Download PDF

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Publication number
CN103419199A
CN103419199A CN2013102864193A CN201310286419A CN103419199A CN 103419199 A CN103419199 A CN 103419199A CN 2013102864193 A CN2013102864193 A CN 2013102864193A CN 201310286419 A CN201310286419 A CN 201310286419A CN 103419199 A CN103419199 A CN 103419199A
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China
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teaching
data
message
instruction
robot
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CN2013102864193A
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Chinese (zh)
Inventor
庹宇鲲
胡绳荪
申俊琦
陈昌亮
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天津大学
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Priority to CN2013102864193A priority Critical patent/CN103419199A/en
Publication of CN103419199A publication Critical patent/CN103419199A/en

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Abstract

The invention discloses a teaching system based on an open type welding robot. The teaching system comprises a teaching device and a robot controller. Programs at the teaching device end comprise a serial management module, a data inspection module, a command response module and a window management module. Programs at the robot controller end comprise a serial management module, a data inspection module and a command response module. The teaching device and the robot controller achieve communication through an RS235 communication port. According to requirements of an open type robot control system, under the condition that hardware conditions of the robot control system and the teaching device are not changed, reliable and fast communication between the teaching system and the robot control system is achieved, control on the open type robot is achieved through the teaching device in a remote mode, a special communication method is designed, communication of the teaching device and the robot control system can be achieved under the condition that the teaching device does not provide support for an open type robot device, and data transmission is achieved efficiently and accurately.

Description

A kind of teaching system based on Open Architecture Welding Robot

Technical field

The invention belongs to the industrial robot automation field, more particularly, relate to a kind of teaching apparatus and communication means thereof based on Open Architecture Welding Robot, be mainly used in realizing the tutorial function of Open Architecture Welding Robot.

Background technology

Development along with Robotics, the continuous expansion in robot application field, especially at welding field, the demand of robot is increasing, particularly according to the demand of welding processing workpiece, various special welding robot development's research and application are more and more, and therefore, the demand of the man-machine interactive system of butt welding machine device people's control system and robot welding is also more and more.In recent years, the advantages such as the low cost of bringing due to the versatility of the good extensibility of open robot's control system, portability, interaction and relevant device and ease for operation, receive that association area is increasing to be paid close attention to and research.

The robot teaching system is the important component part of robot automatic control system, utilize teaching apparatus can complete robot trajectory's teaching and the operations such as parameter setting and modification, and, by the communication between teaching machine and industrial computer, related command is sent to robot control system.In special welding robot development's development and application in the past, teaching system is generally usingd the core devices as teaching system such as single-chip microcomputer, ARM chip, single-chip microcomputer, and is furnished with required peripheral circuit etc., the input of teaching system develops into touch-screen by button and film key, the demonstration of relevant parameter progressively develops into LCDs by charactron (display precision is limited), and traditional button or keyboard input and digital display mode all can not meet the man-machine interaction demand of modern machines people welding.Although the teaching system of traditional sense can be realized the functions such as program editing, but all need to form through hardware such as computation processor, control circuit, keyboard, display screen, power supply, box bodys, and need to carry out corresponding software data and process the supervisor design, the teach box system complex, cost is high, the development and Design cycle is long, is not suitable for exploitation and the application of low-cost special welding robot.

At current robot automation field, most teaching machine and robot control system are based on the communication protocol of inquiry/acknowledgement mechanism, as on the EBIs such as I2C, SPI, CAN bus all in widely used this class communication protocol.In order to realize and the communicating by letter of above-mentioned bus apparatus, the way generally adopted at present is in system, to adopt the mode of hard coded to solidify communication protocol.But there is a subject matter in this method: when robot controller is open system, teaching equipment can't provide equipment and communication protocol support, in this case, if the handling procedure of hard coded insertion apparatus agreement will be increased to the management difficulty of equipment and software, also will make plant maintenance increase difficulty.

Summary of the invention

The object of the invention is to overcome the deficiencies in the prior art, design a kind of new teaching system, needs according to open robot's control system, design friendly man-machine interface, under the hardware condition that does not change robot control system and teaching apparatus, realize communicating by letter of fast and reliable teaching system and robot control system simultaneously.

Technical purpose of the present invention is achieved by following technical proposals:

A kind of teaching system based on Open Architecture Welding Robot, comprise teaching apparatus and robot controller, the program of described teaching apparatus end comprises serial interface management module, data checking module, instruction respond module and window management module, the program of robot controller end comprises serial interface management module, data checking module and instruction respond module, and described teaching apparatus is realized communicating by letter by the RS235 COM1 with robot controller.

In described teaching apparatus, the macro-instruction of encapsulation response in each button of tutorial program, by clicking the button at teaching transposition Program interface, trigger macro-instruction, send instruction by the RS235 serial ports to robot controller, this part programming realizes by the macro-instruction in touch-screen teaching apparatus configuration software.Robot controller extracts the data of buffering area according to communication functions, give afterwards data checking module to be for further processing, and this communication process step comprises:

(1) teaching apparatus and robot controller (system) while power-up initializing, the serial interface management module of robot controller and teaching apparatus is opened respectively serial ports, and identical serial communication parameter is set;

(2) when on teaching apparatus, a certain element is pressed, carry out and the corresponding macro-instruction of this element, if this instruction need to communicate with robot control system, teaching system is packaged into message frame by instruction, by serial ports, sends to robot control system;

(3) robot controller scan round serial ports, detect in the serial ports buffering area whether character is arranged, if having, read operation of serial-port, obtains Frame, if nothing continues scanning;

(4) robot controller carries out for the even parity check of whole message with for the CRC cyclic redundancy check of bits per inch certificate data, and the address bit in the detect-message frame and data bit whether legal, if the mistake of detecting, produce error messages and send to teaching apparatus, and continuation cycle detection serial ports, if message is correct, transfer to the response command module;

(5) instruction respond module is carried out response instruction.

In the present invention, robot control system (device) and teaching apparatus (being teaching machine) communicate by the RS235 serial ports, data are transmitted by the mode of message frame, in teaching apparatus sends the structure (message frame) of message to robot control system, every 8bit byte packet is containing 16 system characters of 2 4bit bytes.Being described as follows of each byte in the data that teaching apparatus sends to robot control system:

Table 1 teaching apparatus sends the structure of message to robot control system

(1) the 1st of message frame the type of specifying this message, be set to action executing message, parameter arranges message and error messages;

(2) the 2nd of message frame the data total length of specifying this message frame to comprise, take byte as unit;

(3) the 3rd of message frame the register address of specifying the corresponding teaching apparatus end of this message, the register address storehouse that has comprised teaching apparatus in the robot control program, like this, robot controller just can be pressed according to which button of corresponding registers address judgement teaching apparatus end;

(4) the 4th of message frame the and the 5th is data bit, the data content that comprises this message, data field comprises 2 bytes a high position and the low level of representative data respectively, to guarantee enough wide data area, if this message is action executing message or error messages, needn't comprise data field;

(5) the 6th of message frame the and the 7th is the datacycle check bit, comprises 2 bytes, represents respectively a high position and the low level of CRC circular test;

(6) the 8th of message frame the is the even parity check position.

In described robot controller, when the robot controller end is controlled robot, robot controller sends instruction by the RS235 port to teaching apparatus, upgrade the data at teaching apparatus Program interface, in the program of robot control system, write instruction functions in the receptance function of corresponding actions, when robot control system is carried out corresponding operating, instruction is packaged into to message frame and sends to teaching apparatus, this communication process comprises:

(1) teaching apparatus and robot controller while power-up initializing, the serial interface management module of robot control system and teaching apparatus is opened respectively serial ports, and identical serial communication parameter is set;

(2) while being performed, the robot control program is packaged into message frame by instruction and sends to teaching apparatus by serial ports in some instruction in the robot control program (parameter display instruction, interface switching command, operating mistake instruction);

(3) teaching apparatus extracts data every certain time interval from buffering area, afterwards the data of extraction is transferred to data checking module and is processed;

(4) instruction respond module is carried out for the even parity check of entire message with for the CRC cyclic redundancy check of bits per inch certificate every message frame, and the element addresses in check message and data area whether legal, if legal, message is transferred to the instruction respond module;

(5) instruction respond module is carried out command adapted thereto.

In the present invention, robot control system sends structure from message to teaching apparatus is substantially identical with the structure that the teaching apparatus end sends message to robot control system, but the characteristics of this message structure maximum are that the data length of message frame is unrestricted, robot control system can upgrade the value of a plurality of register address in tutorial program simultaneously.Being described as follows of each byte in the data that robot control system sends to teaching apparatus:

Table 2 robot control system sends the structure of message to teaching apparatus

(1) the 1st of message frame the string slogan that representative data sends, because robot control system may comprise a plurality of serial ports, can judge by this bit data whether message sends by correct serial ports;

(2) the 2nd of message frame the represents type of message, can be set to parameter display message, interface switching message and error messages;

(3) the 3rd of message frame the total length of specifying this message frame, take byte as unit;

(4) the 4th of message frame the n-3(n representative data length to message frame) position is data field, each data cell takies 3 bytes, representative will write respectively register address, a data high position and data low level, each message frame can comprise any number of data cells, as long as guarantee that register address is corresponding with data content;

(5) n-2 of message frame and n-1 position are CRC circular test positions, comprise two bytes, represent respectively a high position and the low level of CRC circular test;

(6) last position (n position) of message frame is the even parity check position.

In the process that robot control system of the present invention and teaching apparatus communicate, for guaranteeing the safe and reliable of communication, the present invention has designed the multi-layer data check problem: for the even parity check of each data bit---for the CRC check of whole message frame---and to the check of data content

(1) for the even parity check of each data bit: last position at each message frame is the even parity check position, even parity check is tested for each data bit, at first even parity check calculates each 16 system character ending is odd number or even number, then calculate the number that in whole message frame, 16 system character mantissa are odd number, if this number is odd number, the even parity check position is 0x01, if this number is even number, the even parity check position is 0x00;

(2) CRC for whole message frame checks: i.e. datacycle redundant check, be verification and a kind of, the CRC check adopts binary division by two byte data streams, the resulting remainder that is divided by is the CRC check code, at receiving terminal, use identical generated code to carry out verification, if the field received can eliminate divided by generated code, think that the data that receive are correct;

(3) to the check of data content: after data have been passed through even parity check and CRC cyclic redundancy check, system will assert that message is correct in transmitting procedure, but before the instruction in message is finally carried out, the instruction respond module can finally be checked the address field in message frame and data field, comprise whether the whether legal and data content of the register address of message appointment crosses the border etc., if data are by last check, the message response module will be carried out response instruction.

Compared with prior art, the present invention is according to the needs of open robot's control system, under the hardware condition that does not change robot control system and teaching apparatus, realize communicating by letter of fast and reliable teaching system and robot control system, realize the control to the open robot long-range by teaching apparatus, the design specialized communication means, can open robot device not supported to realize communicating by letter of teaching apparatus and robot control system in the situation that teaching apparatus does not provide, realize efficiently, accurately transfer of data, and then realize tutorial function.

The accompanying drawing explanation

Fig. 1 is system architecture principle schematic of the present invention.

Fig. 2 is that in the present invention, teaching apparatus sends instruction flow chart to robot control system.

Fig. 3 is that in the present invention, robot control system sends instruction flow chart to teaching apparatus.

Fig. 4 is transfer mechanism and the safeguard construction schematic diagram of message in this present invention system.

The specific embodiment

Further illustrate technical scheme of the present invention below in conjunction with specific embodiment.

Technical solution of the present invention is mainly for J type groove welding robot, and this robot is for the welding of nuclear pressure container and pipe.Robot control system adopts and grinds magnificent industrial computer IPC-610H as master controller (robot controller), the central processing unit that internal configurations is Pentium Dual Core CPU E5300.MFC MFC under the system controlling software choice for use Visual C++6.0 environment moved on industrial computer is programmed, and adopts OO C Plus Plus for the programming basic language.Adopt the logical brand MT6070ih2 model touch-screen of general human-computer interaction interface HMI product prestige synthetic fibre as robot teaching apparatus hardware (teaching apparatus).This touch-screen adopts 32Bit RISC 400MHz processor, and reaction speed is fast, has guaranteed the corresponding real-time of teach box.The concrete use procedure of the present invention comprises the following steps:

After step 1, robot control system power on, click " startup teach box " button in the main program of robot control system, for the teaching apparatus power supply, at the robot control system end, serial ports parameter: transfer rate 9600bit/s is set, station number is 1 simultaneously;

Step 2, open teaching apparatus, the serial ports parameter identical with the robot control program is set, and guarantees that the newly added equipment type is FreeProtocal when coding, message frame is write according to table 1 and table 2 data format;

Step 3, as operating personnel during at tele-manipulator, by clicking tutorial program interface response button, robot control system can be carried out the response action, if there is mistake in instruction, at the teaching apparatus end, can receive error messages;

The macro-instruction of encapsulation response in each button of tutorial program, by clicking the button at teaching transposition Program interface, trigger macro-instruction, by the RS235 serial ports, to robot controller, send instruction, this part programming realizes by the macro-instruction in touch-screen teaching apparatus configuration software.Robot controller extracts the data of buffering area according to communication functions, give afterwards data checking module to be for further processing.Robot controller scan round serial ports, detect in the serial ports buffering area whether character is arranged, if having, read operation of serial-port, obtains Frame, if nothing continues scanning; Robot controller carries out for the even parity check of whole message with for the CRC cyclic redundancy check of bits per inch certificate data, and the address bit in the detect-message frame and data bit whether legal, if the mistake of detecting, produce error messages and send to teaching apparatus, and continuation cycle detection serial ports, if message is correct, transfer to the response command module; The instruction respond module is carried out response instruction.

Step 4, as operating personnel during robot control system end manipulation robot, the various robotary parameters of teaching apparatus end program interface can be along with the action of robot real-time change;

When the robot controller end is controlled robot, robot controller sends instruction by the RS235 port to teaching apparatus, upgrade the data at teaching apparatus Program interface, in the program of robot control system, write instruction functions in the receptance function of corresponding actions, when robot control system is carried out corresponding operating, instruction is packaged into to message frame and sends to teaching apparatus.While being performed, the robot control program is packaged into message frame by instruction and sends to teaching apparatus by serial ports in some instruction in the robot control program (parameter display instruction, interface switching command, operating mistake instruction); Teaching apparatus extracts data every certain time interval (can select scan frequency according to actual conditions) from buffering area, afterwards the data of extraction is transferred to data checking module and is processed; The instruction respond module is carried out for the even parity check of entire message with for the CRC cyclic redundancy check of bits per inch certificate every message frame, and whether element addresses and data area in check message be legal, if legal, message transferred to the instruction respond module; The instruction respond module is carried out command adapted thereto.

Step 5, after operating personnel's complete operation, at first close the teaching apparatus program, then at the robot control system main program, click " closing teach box " for the teaching apparatus outage, last closing machine people controls main program and is that whole system is cut off the power supply.

Technical solution of the present invention can realize the control to the open robot by teaching apparatus long-range, and designed special-purpose communication means, can open robot device not supported to realize communicating by letter of teaching apparatus and robot control system in the situation that teaching apparatus does not provide, simultaneously, because this communication means has designed multilayer message test mechanism, can realize efficiently, accurately transfer of data, and then realize tutorial function.

Above the present invention has been done to exemplary description; should be noted that; in the situation that do not break away from core of the present invention, the replacement that is equal to that any simple distortion, modification or other those skilled in the art can not spend creative work all falls into protection scope of the present invention.

Claims (6)

1. the teaching system based on Open Architecture Welding Robot, comprise teaching apparatus and robot controller, it is characterized in that, the program of described teaching apparatus end comprises serial interface management module, data checking module, instruction respond module and window management module, the program of robot controller end comprises serial interface management module, data checking module and instruction respond module, and described teaching apparatus is realized communicating by letter by the RS235 COM1 with robot controller;
In described teaching apparatus, the macro-instruction of encapsulation response in each button of tutorial program, by clicking the button at teaching transposition Program interface, trigger macro-instruction, send instruction by the RS235 serial ports to robot controller, this part programming is by the realization of the macro-instruction in touch-screen teaching apparatus configuration software, and robot controller extracts the data of buffering area according to communication functions, give afterwards data checking module to be for further processing;
In described robot controller, when the robot controller end is controlled robot, robot controller sends instruction by the RS235 port to teaching apparatus, upgrade the data at teaching apparatus Program interface, in the program of robot control system, write instruction functions in the receptance function of corresponding actions, when robot control system is carried out corresponding operating, instruction is packaged into to message frame and sends to teaching apparatus.
2. a kind of teaching system based on Open Architecture Welding Robot according to claim 1, is characterized in that,
In described teaching apparatus, the macro-instruction of encapsulation response in each button of tutorial program, by clicking the button at teaching transposition Program interface, trigger macro-instruction, send instruction by the RS235 serial ports to robot controller, robot controller extracts the data of buffering area according to communication functions, give afterwards data checking module to be for further processing, and this communication process step comprises:
(1) teaching apparatus and robot controller while power-up initializing, the serial interface management module of robot controller and teaching apparatus is opened respectively serial ports, and identical serial communication parameter is set;
(2) when on teaching apparatus, a certain element is pressed, carry out and the corresponding macro-instruction of this element, if this instruction need to communicate with robot control system, teaching system is packaged into message frame by instruction, by serial ports, sends to robot control system;
(3) robot controller scan round serial ports, detect in the serial ports buffering area whether character is arranged, if having, read operation of serial-port, obtains Frame, if nothing continues scanning;
(4) robot controller carries out for the even parity check of whole message with for the CRC cyclic redundancy check of bits per inch certificate data, and the address bit in the detect-message frame and data bit whether legal, if the mistake of detecting, produce error messages and send to teaching apparatus, and continuation cycle detection serial ports, if message is correct, transfer to the response command module;
(5) instruction respond module is carried out response instruction.
3. according to claim 1 or 2 described a kind of teaching systems based on Open Architecture Welding Robot, it is characterized in that, in the present invention, described robot controller and teaching apparatus communicate by the RS235 serial ports, data are transmitted by the mode of message frame, in teaching apparatus sends the structure (being message frame) of message to robot control system, every 8bit byte packet is containing 16 system characters of 2 4bit bytes, being described as follows of each byte in the data that teaching apparatus sends to robot controller:
(1) the 1st of message frame the type of specifying this message, be set to action executing message, parameter arranges message and error messages;
(2) the 2nd of message frame the data total length of specifying this message frame to comprise, take byte as unit;
(3) the 3rd of message frame the register address of specifying the corresponding teaching apparatus end of this message, the register address storehouse that has comprised teaching apparatus in the robot control program, like this, robot controller just can be pressed according to which button of corresponding registers address judgement teaching apparatus end;
(4) the 4th of message frame the and the 5th is data bit, the data content that comprises this message, data field comprises 2 bytes a high position and the low level of representative data respectively, to guarantee enough wide data area, if this message is action executing message or error messages, needn't comprise data field;
(5) the 6th of message frame the and the 7th is the datacycle check bit, comprises 2 bytes, represents respectively a high position and the low level of CRC circular test;
(6) the 8th of message frame the is the even parity check position.
4. a kind of teaching system based on Open Architecture Welding Robot according to claim 1, it is characterized in that, in described robot controller, when the robot controller end is controlled robot, robot controller sends instruction by the RS235 port to teaching apparatus, upgrade the data at teaching apparatus Program interface, this communication process comprises:
(1) teaching apparatus and robot controller while power-up initializing, the serial interface management module of robot control system and teaching apparatus is opened respectively serial ports, and identical serial communication parameter is set;
(2) while being performed, the robot control program is packaged into message frame by instruction and sends to teaching apparatus by serial ports in some instruction in the robot control program (parameter display instruction, interface switching command, operating mistake instruction);
(3) teaching apparatus extracts data every certain time interval from buffering area, afterwards the data of extraction is transferred to data checking module and is processed;
(4) instruction respond module is carried out for the even parity check of entire message with for the CRC cyclic redundancy check of bits per inch certificate every message frame, and the element addresses in check message and data area whether legal, if legal, message is transferred to the instruction respond module;
(5) instruction respond module is carried out command adapted thereto.
5. according to claim 1 or 4 described a kind of teaching systems based on Open Architecture Welding Robot, it is characterized in that, it is unrestricted that described robot control system sends data length to teaching apparatus, being described as follows of each byte:
(1) the 1st of message frame the string slogan that representative data sends, because robot control system may comprise a plurality of serial ports, can judge by this bit data whether message sends by correct serial ports;
(2) the 2nd of message frame the represents type of message, can be set to parameter display message, interface switching message and error messages;
(3) the 3rd of message frame the total length of specifying this message frame, take byte as unit;
(4) the 4th of message frame the n-3(n representative data length to message frame) position is data field, each data cell takies 3 bytes, representative will write respectively register address, a data high position and data low level, each message frame can comprise any number of data cells, as long as guarantee that register address is corresponding with data content;
(5) n-2 of message frame and n-1 position are CRC circular test positions, comprise two bytes, represent respectively a high position and the low level of CRC circular test;
(6) last position (n position) of message frame is the even parity check position.
6. a kind of teaching system based on Open Architecture Welding Robot according to claim 1, is characterized in that, in the process that robot control system and teaching apparatus communicate, for guaranteeing the safe and reliable of communication, carries out the multi-layer data check problem as follows:
(1) for the even parity check of each data bit: last position at each message frame is the even parity check position, even parity check is tested for each data bit, at first even parity check calculates each 16 system character ending is odd number or even number, then calculate the number that in whole message frame, 16 system character mantissa are odd number, if this number is odd number, the even parity check position is 0x01, if this number is even number, the even parity check position is 0x00;
(2) CRC for whole message frame checks: i.e. datacycle redundant check, be verification and a kind of, the CRC check adopts binary division by two byte data streams, the resulting remainder that is divided by is the CRC check code, at receiving terminal, use identical generated code to carry out verification, if the field received can eliminate divided by generated code, think that the data that receive are correct;
(3) to the check of data content: after data have been passed through even parity check and CRC cyclic redundancy check, system will assert that message is correct in transmitting procedure, but before the instruction in message is finally carried out, the instruction respond module can finally be checked the address field in message frame and data field, comprise whether the whether legal and data content of the register address of message appointment crosses the border etc., if data are by last check, the message response module will be carried out response instruction.
CN2013102864193A 2013-07-09 2013-07-09 Teaching system based on open type welding robot CN103419199A (en)

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Application publication date: 20131204