CN104700705A - Industrial robot teaching system - Google Patents
Industrial robot teaching system Download PDFInfo
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- CN104700705A CN104700705A CN201510024696.6A CN201510024696A CN104700705A CN 104700705 A CN104700705 A CN 104700705A CN 201510024696 A CN201510024696 A CN 201510024696A CN 104700705 A CN104700705 A CN 104700705A
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- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims description 43
- 230000002452 interceptive effect Effects 0.000 claims description 17
- 238000012795 verification Methods 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000012217 deletion Methods 0.000 claims description 3
- 230000037430 deletion Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The invention provides an industrial robot teaching system. The system comprises a mobile platform, an industrial robot, a numerical control system, a hand wheel, an industrial robot controller, a handheld demonstrator and an industrial computer. The industrial robot is fixed on the mobile platform and capable of moving along with the mobile platform and comprises a tail end for performing the technological operation. The numerical control system is in communication connection with the mobile platform to control the moving of the mobile platform. The hand wheel is in communication connection with the numerical control system to be operated by an operator and to control the moving of the mobile platform through the communication with the numerical control system. The industrial robot controller is in communication connection with the industrial robot to control moving and technological operations of the tail end of the industrial robot and is further in communication connection with the numerical control system. The handheld demonstrator is in communication connection with the industrial robot controller for the operator to input acquisition instructions and control the industrial robot to move through the communication with the industrial robot controller and to be used for the operator to input technological marks. The industrial computer is in communication connection with the numerical control system and the industrial robot controller.
Description
Technical field
The present invention relates to industrial robot application, particularly relate to a kind of industrial robot teaching system.
Background technology
Along with the development of robot industry and the needs of modern manufacturing technique, increasing main equipment manufacturer starts Industrial Robot Technology to be applied to parts or the spraying of assembly outside surface.Because a lot of application element outside surface body is huge, complex-shaped, existing industrial robot cannot reach the demand of surperficial all standing and dirigibility at all, so the existing robot spraying system for large parts often adopts multiple degrees of freedom mobile platform to add the pattern of six degree of freedom spray robot.Existing teach programming method is only directed to industrial machine human body mostly, such as, in on July 9th, 2014 announce Chinese patent application publication No. be CN103909516A patent document discloses a kind of robot teaching system, robot teaching servicing unit and robot teaching method, in the teaching apparatus that patent document discloses a kind of robot that the Chinese patent application publication No. announced on January 8th, 2014 is CN103501969A, robot device, the control program of the control method of the teaching apparatus of robot and the teaching apparatus of robot, in on July 16th, 2014 announce Chinese patent application publication No. be CN103921265A patent document discloses a kind of robot teaching system and robot teaching method, in on May 21st, 2014 announce Chinese patent application publication No. be CN103809463A patent document discloses a kind of taught point instruction system of selection for simulator robot, in on May 7th, 2014 announce Chinese patent application publication No. be CN103778843A patent document discloses a kind of industrial robot teaching reproducting method, what the existing patent of great majority provided is that industrial robot is independently demarcated, only need the movement locus unique point gathering industrial robot self, and be stored in robot controller storer, rarely has the industrial robot teaching formulations being furnished with mobile platform.
Summary of the invention
In view of Problems existing in background technology, the object of the present invention is to provide a kind of industrial robot teaching system, it can meet the teaching demand of the industrial robot being furnished with mobile platform.
Another object of the present invention is to provide a kind of industrial robot teaching system, its motion synchronicity that simultaneously can meet mobile platform and industrial robot in operation process requires and the setting requirement of technological parameter.
To achieve these goals, the invention provides a kind of industrial robot teaching system, it comprises: mobile platform; Industrial robot, is fixed on mobile platform, can move with mobile platform, and has the end for performing technological operation; Digital control system, is communicatively coupled to mobile platform, to control the motion of mobile platform; Handwheel, is communicatively coupled to digital control system, operates and control mobile platform motion via the communication between digital control system for operator; Industrial robot controller, is communicatively coupled to industrial robot to control motion and the technological operation of the end of industrial robot, and is communicatively coupled to digital control system; Hand-held teaching machine, is communicatively coupled to industrial robot controller, inputs acquisition instructions and mark to control industrial robot motion and to input technique for operator via the communication between industrial robot controller for operator; Industrial computer, is communicatively coupled to digital control system and industrial robot controller.Hand-held teaching machine has: data acquisition module, respond the instruction from operator, to gather the position data of the end of industrial robot, the position data of mobile platform gathered via industrial robot controller and digital control system and the technique mark of operator's input via industrial robot controller, and the position data of end of the industrial robot collected, the position data of mobile platform and technique mark are exported.Industrial computer has: technological parameter administration module, has technological parameter database, the end of store and management industrial robot can perform the technological parameter of technological operation, bottom data administration module, there is bottom database and can assignment file be write, receive from the position data of the end of the industrial robot of data acquisition module, the position data of mobile platform and technique mark and write assignment file according to prescribed form, and by assignment file storage and by bottom data base administration, task is downloaded and execution module, receive the assignment file from the storage of bottom data administration module and assignment file generated instruction code and instruction code is downloaded to digital control system and industrial robot controller, digital control system and industrial robot controller are based on the instruction code downloaded and fetch signal that the end that verifies industrial robot mutually puts in place and the signal that mobile platform puts in place by communication link therebetween, the signal industrial robot controller that the signal put in place based on the end of industrial robot of verification and mobile platform put in place controls the motion that the motion of industrial robot and digital control system control mobile platform, thus make the motion of the end of industrial robot and the motion of mobile platform reach synchronous.
Beneficial effect of the present invention is as follows:
The present invention can meet the teaching demand of the industrial robot being furnished with mobile platform, the industrial robot being furnished with multivariant mobile platform can take into account the problem of the processing parameter setting in the motion feature point collection of mobile platform and industrial robot and operation process simultaneously when carrying out teach programming, not only can meet mobile platform and the requirement of industrial robot motion synchronism, can also arrange easily and revise task technological parameter, simultaneously, the present invention can manage all tutorial programs, and can monitor teaching and tasks carrying overall process in real time.The present invention can be applicable to the industrial robot teaching that target is comparatively large, utilize the work space of mobile platform large scale expansion industrial robot, two covers and the above industrial robot system's teach programming needs being furnished with mobile platform of two covers can be met, easy and simple to handle directly perceived, required time is short, convenient management, for improving business equipment utilization ratio, create maximum economic benefit and provide strong technical support.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram according to industrial robot teaching system of the present invention;
Fig. 2 is the control principle drawing according to industrial robot teaching system of the present invention.
Wherein, description of reference numerals is as follows:
1 mobile platform 61 data acquisition module
2 industrial robot 7 industrial computers
3 digital control system 71 technological parameter administration modules
4 handwheel 72 bottom data administration modules
5 industrial robot controller 73 tasks are downloaded and execution module
6 hand-held teaching machine 74 interactive module
Embodiment
Describe in detail with reference to the accompanying drawings according to industrial robot teaching system of the present invention.
See figures.1.and.2, industrial robot teaching system according to the present invention comprises: mobile platform 1; Industrial robot 2, is fixed on mobile platform 1, can move with mobile platform 1, and has the end 21 for performing technological operation; Digital control system 3, is communicatively coupled to mobile platform 1, to control the motion of mobile platform 1; Handwheel 4, is communicatively coupled to digital control system 3, operates and controls mobile platform 1 via the communication between digital control system 3 move for operator; Industrial robot controller 5, is communicatively coupled to industrial robot 2 to control motion and the technological operation of the end 21 of industrial robot 2, and is communicatively coupled to digital control system 3; Hand-held teaching machine 6, is communicatively coupled to industrial robot controller 5, inputs acquisition instructions and move via the communication between industrial robot controller 5 to control industrial robot 2 and supply operator to input technique mark for operator; And industrial computer 7, be communicatively coupled to digital control system 3 and industrial robot controller 5.Hand-held teaching machine 6 has: data acquisition module 61, respond the instruction from operator, to gather the position data of the end 21 of industrial robot 2, the position data of mobile platform 1 gathered via industrial robot controller 5 and digital control system 3 and the technique mark of operator's input via industrial robot controller 5, and the position data of end 21 of the industrial robot 2 collected, the position data of mobile platform 1 and technique mark are exported.Industrial computer 7 has: technological parameter administration module 71, there is technological parameter database, the end 21 of store and management industrial robot 2 can perform the technological parameter (for automatic spraying system, technological parameter mainly contains spraying rate, flow, atomization, fan-shaped, spray distance etc.) of technological operation, bottom data administration module 72, there is bottom database and can assignment file be write, receive from the position data of the end 21 of the industrial robot 2 of data acquisition module 61, the position data of mobile platform 1 and technique mark and write assignment file according to prescribed form, and by assignment file storage and by bottom data base administration, task is downloaded and execution module 73, receive the assignment file from the storage of bottom data administration module 72 and assignment file generated instruction code and instruction code is downloaded to digital control system 3 and industrial robot controller 5, digital control system 3 and industrial robot controller 5 are based on the instruction code downloaded and fetch signal that the end 21 that verifies industrial robot 2 mutually puts in place and the signal that mobile platform 1 puts in place by communication link therebetween, the signal industrial robot controller 5 that the signal put in place based on the end 21 of industrial robot 2 of verification and mobile platform 1 put in place controls the motion that the motion of industrial robot 2 and digital control system 3 control mobile platform 1, thus make the motion of the end 21 of industrial robot 2 and the motion of mobile platform 1 reach synchronous.It should be noted, the end 21 of industrial robot 2 can have multiple degree of freedom, requires (such as aforesaid spray distance) to adapt to performed technological operation.
The present invention can meet the teaching demand of the industrial robot 2 being furnished with mobile platform 1, the industrial robot 2 being furnished with multivariant mobile platform 1 can take into account the problem of the processing parameter setting in the motion feature point collection of mobile platform 1 and industrial robot 1 and operation process simultaneously when carrying out teach programming, not only can meet mobile platform 1 and the requirement of industrial robot 2 motion synchronicity, can also arrange easily and revise task technological parameter, simultaneously, the present invention can manage all tutorial programs, and teaching and tasks carrying overall process can be monitored in real time.The present invention can be applicable to the industrial robot teaching that target is comparatively large, utilize the work space of mobile platform large scale expansion industrial robot, two covers and the above industrial robot system's teach programming needs being furnished with mobile platform of two covers can be met, easy and simple to handle directly perceived, required time is short, convenient management, for improving business equipment utilization ratio, create maximum economic benefit and provide strong technical support.
In an embodiment of industrial robot teaching system according to the present invention, industrial robot 2 can be fixed on the end of mobile platform 1.
In industrial robot teaching system according to the present invention, described communication connection is that wire communication connects.
In industrial robot teaching system according to the present invention, the position of the end 21 of industrial robot 2 adopts joint angle or end pose (i.e. position and attitude represents with six-freedom degree (three rectangular coordinates and three rotation angle)) to represent.
In industrial robot teaching system according to the present invention, with reference to Fig. 2, the instruction code that the task of industrial computer 7 is downloaded and the assignment file of the storage from bottom data administration module 72 received generation digital control system 3 and industrial robot controller 5 can identify by execution module 73, and on instruction code, add verification statement, and the instruction code being added with verification statement is downloaded to digital control system 3 and industrial robot controller 5 respectively, digital control system 3 and industrial robot controller 5 are by communication connection therebetween and the signal that puts in place of the signal utilizing the verification statement end 21 that verifies mutually industrial robot 2 to put in place and mobile platform 1, the signal that the signal put in place based on the end 21 of the industrial robot 2 of verification and mobile platform 1 put in place and instruction code, industrial robot controller 5 controls the motion of industrial robot 2 and digital control system 3 controls the motion of mobile platform 1, thus make the motion of the end 21 of industrial robot 2 and the motion of mobile platform 1 reach synchronous.
In industrial robot teaching system according to the present invention, with reference to Fig. 2, industrial computer 7 also can have: interactive module 74, for operator's operation, is communicatively coupled to technological parameter administration module 71; when interactive module 74 responds the instruction of startup technological operation operating input from operator, interactive module 74 sends process data process request to technological parameter administration module 71, technological parameter administration module 71 receives process data process request that interactive module 74 sends and the technological parameter of technological operation that the end 21 of the industrial robot 2 stored by technological parameter administration module 71 according to process data process request performs is recalled by technological parameter database and sends to bottom data administration module 72, related process mark in assignment file is also replaced with technological parameter by the technological parameter of bottom data administration module 72 receiving process parameter management module 71, and assignment file is stored again, task is downloaded and execution module 73 receives the assignment file again stored from bottom data administration module 72 and assignment file generated instruction code and is downloaded to industrial robot controller 5, the technological parameter in instruction code is utilized to perform technological operation to the end 21 controlling industrial robot 2 to make industrial robot controller 5.
In industrial robot teaching system according to the present invention, interactive module 74 shows based on the communication with technological parameter administration module 71, inquire about, monitor and the end 21 of industrial robot 2 that edit process parameter management module 71 stores performs the technological parameter of technological operation.Such as, editor can comprise insertion, deletion, amendment etc.
In industrial robot teaching system according to the present invention, with reference to Fig. 2, interactive module 74 also can be communicatively coupled to bottom data administration module 72, to show, to inquire about and to monitor the position data of end 21 of the industrial robot 2 in the assignment file of bottom data administration module 72, the position data of mobile platform 1 and technique mark and/or technological parameter and the deletion action to assignment file.
In industrial robot teaching system according to the present invention, with reference to Fig. 2, interactive module 74 also can be communicatively coupled to task and download and execution module 73, with the instruction code showing, inquire about and monitor task is downloaded and execution module 73 generates.
In one of industrial robot teaching system according to the present invention is implemented, interactive module 74 can be man-machine interface.
Claims (10)
1. an industrial robot teaching system, is characterized in that, comprising:
Mobile platform (1);
Industrial robot (2), is fixed on mobile platform (1), can move with mobile platform (1), and has the end (21) for performing technological operation;
Digital control system (3), is communicatively coupled to mobile platform (1), to control the motion of mobile platform (1);
Handwheel (4), is communicatively coupled to digital control system (3), operates and control mobile platform (1) motion via the communication between digital control system (3) for operator;
Industrial robot controller (5), is communicatively coupled to industrial robot (2) to control motion and the technological operation of the end (21) of industrial robot (2), and is communicatively coupled to digital control system (3);
Hand-held teaching machine (6), be communicatively coupled to industrial robot controller (5), input acquisition instructions for operator and move via the communication between industrial robot controller (5) to control industrial robot (2) and supply operator to input technique mark, and having:
Data acquisition module (61), respond the instruction from operator, to gather the technique mark that the position data of the end (21) of industrial robot (2), the position data gathering mobile platform (1) via industrial robot controller (5) and digital control system (3) and acquisition operations person input via industrial robot controller (5), and the position data of end (21) of the industrial robot (2) collected, the position data of mobile platform (1) and technique mark are exported; And
Industrial computer (7), is communicatively coupled to digital control system (3) and industrial robot controller (5), and has:
Technological parameter administration module (71), has technological parameter database, the end (21) of store and management industrial robot (2) can perform the technological parameter of technological operation;
Bottom data administration module (72), there is bottom database and can assignment file be write, receive from the position data of the end (21) of the industrial robot (2) of data acquisition module (61), the position data of mobile platform (1) and technique mark and write assignment file according to prescribed form, and by assignment file storage and by bottom data base administration;
Task is downloaded and execution module (73), receive the assignment file from the storage of bottom data administration module (72) and assignment file generated instruction code and instruction code is downloaded to digital control system (3) and industrial robot controller (5), digital control system (3) and industrial robot controller (5) are based on the instruction code downloaded and fetch signal that the end (21) that verifies mutually industrial robot (2) puts in place and the signal that mobile platform (1) puts in place by communication link therebetween, the signal that the signal put in place based on the end (21) of the industrial robot (2) of verification and mobile platform (1) put in place, industrial robot controller (5) control industrial robot (2) motion and digital control system (3) control mobile platform (1) motion, thus make the motion of the motion of the end of industrial robot (2) (21) and mobile platform (1) reach synchronous.
2. industrial robot teaching system according to claim 1, is characterized in that, industrial robot (2) is fixed on the end of mobile platform (1).
3. industrial robot teaching system according to claim 1, is characterized in that, described communication connection is that wire communication connects.
4. industrial robot teaching system according to claim 1, is characterized in that, the position of the end (21) of industrial robot (2) adopts joint angle or end pose to represent.
5. industrial robot teaching system according to claim 1, it is characterized in that, the instruction code that task is downloaded and the assignment file of the storage from bottom data administration module (72) received generation digital control system (3) and industrial robot controller (5) can identify by execution module (73) of industrial computer (7), and on instruction code, add verification statement, and the instruction code being added with verification statement is downloaded to digital control system (3) and industrial robot controller (5) respectively, digital control system (3) and industrial robot controller (5) are by communication connection therebetween and the signal that puts in place of the signal utilizing the verification statement end (21) that verifies mutually industrial robot (2) to put in place and mobile platform (1), the signal that the signal put in place based on the end (21) of the industrial robot (2) of verification and mobile platform (1) put in place and instruction code, industrial robot controller (5) control industrial robot (2) motion and digital control system (3) control mobile platform (1) motion, thus make the motion of the motion of the end of industrial robot (2) (21) and mobile platform (1) reach synchronous.
6. industrial robot teaching system according to claim 1, is characterized in that, industrial computer (7) also has:
Interactive module (74), for operator's operation, is communicatively coupled to technological parameter administration module (71);
When interactive module (74) responds the instruction of startup technological operation operating input from operator, interactive module (74) sends process data process request to technological parameter administration module (71), technological parameter administration module (71) receives process data process request that interactive module (74) sends and the technological parameter of technological operation that the end (21) of the industrial robot (2) stored by technological parameter administration module (71) according to process data process request performs is recalled by technological parameter database and sends to bottom data administration module (72), related process mark in assignment file is also replaced with technological parameter by the technological parameter of bottom data administration module (72) receiving process parameter management module (71), and assignment file is stored again, task is downloaded and execution module (73) receives the assignment file again stored from bottom data administration module (72) and assignment file generated instruction code and is downloaded to industrial robot controller (5), the technological parameter in instruction code is utilized to perform technological operation to the end (21) controlling industrial robot (2) to make industrial robot controller (5).
7. industrial robot teaching system according to claim 6, is characterized in that,
Interactive module (74) shows based on the communication with technological parameter administration module (71), inquire about, monitor and the end (21) of industrial robot (2) that edit process parameter management module (71) stores performs the technological parameter of technological operation.
8. industrial robot teaching system according to claim 7, is characterized in that,
Interactive module (74) is also communicatively coupled to bottom data administration module (72), to show, to inquire about and to monitor the position data of end (21) of the industrial robot (2) in the assignment file of bottom data administration module (72), the position data of mobile platform (1) and technique mark and/or technological parameter and the deletion action to assignment file.
9. industrial robot teaching system according to claim 8, is characterized in that,
Interactive module (74) is also communicatively coupled to task and downloads and execution module (73), with the instruction code showing, inquire about and monitor task is downloaded and execution module (73) generates.
10. the industrial robot teaching system according to any one of claim 6-9, is characterized in that, interactive module (74) is man-machine interface.
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| CN201510024696.6A CN104700705B (en) | 2015-01-19 | 2015-01-19 | industrial robot teaching system |
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| CN201510024696.6A CN104700705B (en) | 2015-01-19 | 2015-01-19 | industrial robot teaching system |
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| CN105479468A (en) * | 2015-12-29 | 2016-04-13 | 浙江瑞鹏机器人科技有限公司 | Remote robot motion controller |
| CN105549417A (en) * | 2015-12-10 | 2016-05-04 | 南京熊猫电子股份有限公司 | Robot teaching system and method thereof |
| CN105665970A (en) * | 2016-03-01 | 2016-06-15 | 中国科学院自动化研究所 | System and method for automatic generation for path points of welding robot |
| CN106527224A (en) * | 2016-11-05 | 2017-03-22 | 杭州畅动智能科技有限公司 | Control method for equipment |
| CN106647529A (en) * | 2017-01-18 | 2017-05-10 | 北京工业大学 | Six-axis industrial robot track accurate tracking-and-controlling oriented intelligent teaching system |
| CN106737663A (en) * | 2016-11-28 | 2017-05-31 | 山东汇川汽车部件有限公司 | Truss method for controlling robot |
| CN107150358A (en) * | 2017-07-11 | 2017-09-12 | 孙成波 | A kind of robot fault investigation detecting system and method |
| CN107274777A (en) * | 2017-06-19 | 2017-10-20 | 天津大学 | A kind of Robot Virtual teaching system based on V Rep |
| CN108320606A (en) * | 2017-01-18 | 2018-07-24 | 上海福赛特机器人有限公司 | Industrial robot practice teaching platform |
| CN112423945A (en) * | 2018-08-10 | 2021-02-26 | 川崎重工业株式会社 | Information processing device, robot operation system, and robot operation method |
| CN112543961A (en) * | 2018-08-10 | 2021-03-23 | 川崎重工业株式会社 | Training processing device, mediation device, training system, and training processing method |
| CN116442009A (en) * | 2023-06-16 | 2023-07-18 | 江苏汀贝科技有限公司 | Industrial robot practical training platform |
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| CN107274777B (en) * | 2017-06-19 | 2019-06-18 | 天津大学 | A kind of Robot Virtual teaching system based on V-Rep |
| CN107274777A (en) * | 2017-06-19 | 2017-10-20 | 天津大学 | A kind of Robot Virtual teaching system based on V Rep |
| CN107150358A (en) * | 2017-07-11 | 2017-09-12 | 孙成波 | A kind of robot fault investigation detecting system and method |
| CN112423945A (en) * | 2018-08-10 | 2021-02-26 | 川崎重工业株式会社 | Information processing device, robot operation system, and robot operation method |
| CN112543961A (en) * | 2018-08-10 | 2021-03-23 | 川崎重工业株式会社 | Training processing device, mediation device, training system, and training processing method |
| CN112423945B (en) * | 2018-08-10 | 2023-11-24 | 川崎重工业株式会社 | Information processing device, robot operating system, and robot operating method |
| CN116442009A (en) * | 2023-06-16 | 2023-07-18 | 江苏汀贝科技有限公司 | Industrial robot practical training platform |
| CN116442009B (en) * | 2023-06-16 | 2023-09-05 | 江苏汀贝科技有限公司 | Industrial robot practical training platform |
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| CN104700705B (en) | 2017-02-22 |
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