CN107053143A - A kind of industrial robot teaching device and application method based on WEB controls - Google Patents
A kind of industrial robot teaching device and application method based on WEB controls Download PDFInfo
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- CN107053143A CN107053143A CN201710400938.6A CN201710400938A CN107053143A CN 107053143 A CN107053143 A CN 107053143A CN 201710400938 A CN201710400938 A CN 201710400938A CN 107053143 A CN107053143 A CN 107053143A
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
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Abstract
The invention discloses a kind of industrial robot teaching device controlled based on WEB, a kind of industrial robot teaching device controlled based on WEB, the controller end run including browser end and for control machine people, the browser end be it is any can support the smart machine of web browser, the browser end and controller end wireless communication connection.Teaching machine of the present invention sends action command to realize the control to robot using browser end to the controller end in robot, and without special teaching machine hardware device, far distance controlled is easily achieved using wireless communication connection means；It is externally to provide operating platform using browser additionally, due to the present invention, without special software systems, cost is relatively low, it is easy to promote and realize in various hardware systems, without considering software and hardware compatibling problem.
Description
Technical field
The present invention relates to robot controller field, with relating in particular to a kind of industrial machine controlled based on WEB
People's teaching machine and its application method.
Background technology
Present enterprise is controlled management to robot for the ease of internal technology personnel, and enterprise typically can be industrial machine
The supporting corresponding teaching machine equipment of device people, is mainly used in the manual teaching control to robot.
Traditional teaching machine provides particular hardware platform by producer, controls electric cabinet to be connected by cable and industrial robot,
And specific teaching software is pre-installed in hardware platform.Teaching machine hardware is typically made up of ARM or other embedded platforms, carried
Wince, Linux or other operating systems, software is typically using language developments such as QT, and these are required for producer to spend substantial amounts of money
Source carries out hardware and software development, and this control mode limits the use of teaching machine hardware, cable, software, and basic demand is every
Platform industrial robot all must be equipped with a set of special teaching system, add system cost.Generally speaking, producer's construction cycle
Long, user cost is high.Occur in that plug type teaching machine in the art afterwards, but switching needs to plug air plug, frequency
Numerous operation is cumbersome and there is security risk.
Patent 201610729578.X proposes a kind of " long-range control method and teaching machine of teaching machine ", is shown by setting up
Device and control machine people directly point-to-point wireless connection, and being combined by two kinds of false detection algorithms are taught, is realized to teaching
The control of robot.The patent solves the pluggable problem between teaching machine and the electric cabinet of control, but it is flat to also rely on software and hardware
Platform.
More also it is exactly that existing robot demonstrator does not have any security settings in system, anyone only gathers around
There is account just to carry out various operations to robot, the possibility caused to robot maloperation is easily provided, easily to machine
People brings damage.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of industrial robot teaching device controlled based on WEB.
The invention also provides a kind of robot demonstrator application method.
The present invention solve its technical problem solution be：
It is a kind of based on WEB control industrial robot teaching device, including browser end and for control machine people run
Controller end, the browser end is any can to support the smart machine of web browser, the browser end and controller end
Wireless communication connection.
As the further improvement of such scheme, the browser end is provided with the login for externally providing register
Module, the manual teaching module for providing robot control operation, for provide robot program's programming operation option from
Dynamic programming module and the operation debugging module for providing robotary information parameter in running.
As the further improvement of such scheme, the login module is configured with Quick Response Code login feature and rights management
Function, the authority includes administrator right, adjustor's authority and operator's authority.
As the further improvement of such scheme, the manual teaching module is provided with enable shift knob, joint shaft control
Button processed and trim button for the operating multiplying power for adjusting motor running speed.
As the further improvement of such scheme, the automated programming module is provided with Edit button, load button, operation
Button and trim button for the operation multiplying power for adjusting robot program's speed of service.
As the further improvement of such scheme, the controller end includes man-machine interaction layer, the clothes set from top to down
Business device layer, gateway layer, data communication centre and control platform layer, the man-machine interaction layer is from html tag language design
, the server layer selects flush type WEB server Boa；Also include being used for watching for control machine person joint spindle motor rotation
Clothes driving and the motion pick device for detecting joint of robot spindle motor working order, the servo-drive and motion pick
Device is connected with control platform layer respectively.
The beneficial effects of the invention are as follows：Teaching machine of the present invention utilizes browser end to the control in robot
Device end sends action command to realize the control to robot, without special teaching machine hardware device, is connected using radio communication
Catcher section is easily achieved far distance controlled；It is externally to provide operating platform using browser additionally, due to the present invention, without special
Software systems, cost is relatively low, it is easy to promotes and realizes in various hardware systems, without considering software and hardware compatibling problem.
The invention also discloses the application method of above-mentioned robot demonstrator, comprises the following steps：
Scan login step：Browser end scanning machine people's Quick Response Code, reads 2 D code information, recognizes robot controller
Address is held, browser end and controller end wireless connection is realized；
Clear authority step：Username and password is inputted, the user right corresponding to user name, the user right is specified
Including administrator right, adjustor's authority and operator's authority；
Perform operating procedure：Administrator right can allocation manager adjustor authority and operator's authority, can be used show manually
Religion module, automated programming module and operation debugging module pair and robot are operated；Hand can be used in adjustor's authority
Dynamic teaching module, automated programming module and operation debugging module pair and robot are operated；Operator's authority can make
With manual teaching module and operation debugging module.
As the further improvement of such scheme, in the scanning login step, in addition to collision detection step, judge two
When tieing up the corresponding controller end of code and whether having the connection of other browser ends, if it is, this browser end and controller end is logical
Letter connection is cancelled, and otherwise controller end allows to communicate to connect with the browser end.
As the further improvement of such scheme, in addition to Connection Step of prescribing a time limit, limiting time is set, when browser end exists
Do not enter pedestrian and operation in limiting time, controller end disconnects the connection with browser end automatically.
The beneficial effects of the invention are as follows：3 kinds of authorities are provided with teaching machine application method of the present invention, are respectively managed
Reason person's authority, adjustor's authority and operator's authority, the function that every kind of authority is configured are different, and each user is set indirectly and is permitted
Perhaps operation；Teaching machine of the present invention is logged in by Quick Response Code, user authority management ensures the safety of wireless connection, is dropped
The low maloperation to robot may.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described.Obviously, described accompanying drawing is a part of embodiment of the present invention, rather than is all implemented
Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings
Scheme and accompanying drawing.
Fig. 1 is the principle framework figure of teaching machine of the present invention；
Fig. 2 is the application method flow chart of teaching machine of the present invention.
Embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and accompanying drawing clear
Chu, complete description, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.It is each in the invention
Individual technical characteristic, can be with combination of interactions on the premise of not conflicting conflict.
Reference picture 1, is required to be configured with special hardware device and is just able to reality for robot demonstrator in the prior art
The technical problem of existing correlation function, the invention provides a kind of industrial robot teaching device controlled based on WEB, including browses
Device end and the controller end run for control machine people, the browser end is any can to support the intelligence of web browser
Equipment, for example, can be mobile phone, the intelligent artifact such as flat circuits, the browser end and controller end wireless communication connection, example
Such as use WIFI or Blue-tooth communication method.Teaching machine of the present invention utilizes browser end to the controller in robot
End sends action command to realize the control to robot, without special teaching machine hardware device, uses wireless communication connection
Means are easily achieved far distance controlled；It is externally to provide operating platform using browser additionally, due to the present invention, without special
Software systems, cost is relatively low, it is easy to promotes and realizes in various hardware systems, without considering software and hardware compatibling problem.
It is further used as preferred embodiment, browser end described in the invention is provided with for externally providing login
The login module of operation, the manual teaching module for providing robot control operation, for provide robot program programming behaviour
Make the automated programming module of option and the operation debugging module for providing robotary information parameter in running.
Specifically, the login module is configured with Quick Response Code login feature and rights management function, and the authority includes
Administrator right, adjustor's authority and operator's authority.User need to scan the two of robot to be controlled with using browser end
Code is tieed up, its 2 D code information is read, is just able to obtain the address information at the robot controller end, realizes wireless communication connection,
User needs to input its username and password afterwards, and browser end specifies corresponding authority according to the user name inputted, described
Authority includes administrator right, adjustor's authority and operator's authority, and wherein administrator right is highest, keeper's power
Limit is configured as distributing and manage adjustor's authority and operator's authority, can be used manual teaching module, automated programming module with
Debugging module is run, adjustor's authority is configured as that manual teaching module can be used, and automated programming module and operation are debugged
Module, operator's authority is configured as that manual teaching module and operation debugging module can be used.Teaching of the present invention
Device is provided with 3 kinds of authorities, and each user's correspondence one of which authority, the function that every kind of authority is configured is different, i.e., the present invention is logical
Cross and set corresponding authority for each user, the operation that each user is allowed is set indirectly, the maloperation reduced to robot can
Energy.
Manual teaching module described in further the invention be provided with enable shift knob, joint shaft control button and
Operating multiplying power for adjusting motor running speed trims button.Specifically only when the enable shift knob is arranged to have
Effect, browser end can be transmitted to controller end and ordered, and robot is held operation；The joint shaft control button is used to control
Each joint shaft of robot is moved under different reference axis；The operating multiplying power, which trims button, to be used to adjust joint spindle motor fortune
Rotary speed.
Other the invention is to prevent robot from accident occurring in the process of running, it is ensured that the safety of robot manipulation
Property, of the invention that controller end is provided with emergency stop switch, the energization for cutting-off controlling device end is connected.
Automated programming module described in further the invention be provided with Edit button, load button, operation button with
And trim button for the operation multiplying power for adjusting robot program's speed of service.Specifically when the Edit button is effective, permit
The program that family allowable is configured to robot interior carries out edit-modify, when the load button is effective, it is allowed to which user will compile
The program for collecting modification completion is compiled into machine code and enters its burning in robot controller end, when the operation button is effective
When, it is allowed to user's start machine people is according to the program automatic running of setting.
Operation debugging module is used to show robotary in robot running described in further the invention
Information parameter, such as coordinate axis information, joint spindle motor running speed, the information such as controller end internal register data pass through
Operation debugging is easy to user to be monitored in real time to every terms of information data in robot running, the robot of adjustment in time fortune
Row parameter.
Man-machine interaction layer that controller end described in further the invention includes setting from top to down, server layer,
Gateway layer, data communication centre and control platform layer, wherein man-machine interaction layer is to select html tag language design, be
As another operating platform in addition to browser end, the server layer selects flush type WEB server Boa；Controller
End also includes the servo-drive for being used for the rotation of control machine person joint spindle motor and for detecting that joint of robot spindle motor is transported
Turn the motion pick device of situation, the servo-drive and motion pick device are connected with control platform layer respectively, and browser end is sent
Control signal successively handled through server layer, gateway layer and data communication centre, be converted to the layer processing of suitable control platform
Data, the accurate control machine person joint spindle motor of servo-drive is rotated control platform layer simultaneously, and motion pick device is responsible for inspection afterwards
The working order of joint of robot spindle motor is surveyed, control platform layer produces feedback signal according to the working order of its collection, browsed
Robot running situation is output in operation debugging module by device end according to feedback signal.
Reference picture 2, the invention also discloses the application method of above-mentioned robot demonstrator, comprises the following steps：
Scan login step：Browser end scanning machine people's Quick Response Code, reads 2 D code information, recognizes robot controller
Address is held, browser end and controller end wireless connection is realized；
Clear authority step：Username and password is inputted, the user right corresponding to user name, the user right is specified
Including administrator right, adjustor's authority and operator's authority；
Perform operating procedure：Administrator right can allocation manager adjustor authority and operator's authority, can be used show manually
Religion module, automated programming module and operation debugging module pair and robot are operated；Hand can be used in adjustor's authority
Dynamic teaching module, automated programming module and operation debugging module pair and robot are operated；Operator's authority can make
With manual teaching module and operation debugging module.
3 kinds of authorities, respectively administrator right, adjustor's authority are provided with teaching machine application method of the present invention
And operator's authority, each user's correspondence one of which authority, the function difference that every kind of authority is configured, i.e., the present invention passes through
Corresponding authority is set for each user, the operation that each user is allowed is set indirectly, the maloperation reduced to robot may.
Further the present invention occurs for the situation for avoiding multiple users from being controlled operation to identical robot simultaneously,
In the scanning login step, in addition to collision detection step, judge whether the corresponding controller end of Quick Response Code has other clear
Look at device end connection when, if it is, this browser end and controller end communication connection cancel, otherwise controller end allow it is clear with this
Look at device end communication connection.
Further, reality in use, when user is possible to need to leave one section of browser end because of a variety of causes
Between, if within the period, there are other staff to operate teaching machine, easily occur security incident.To avoid above-mentioned feelings
Condition occurs, and teaching machine application method of the present invention also includes Connection Step in limited time, limiting time is set, when browser end exists
Do not enter pedestrian and operation in limiting time, controller end disconnects the connection with browser end automatically.
The better embodiment to the present invention is illustrated above, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent modifications or replace on the premise of without prejudice to spirit of the invention
Change, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (9)
1. a kind of industrial robot teaching device controlled based on WEB, it is characterised in that：Including browser end and for control machine
The controller end of people's operation, the browser end be it is any can support the smart machine of web browser, the browser end with
Controller end wireless communication connection.
2. a kind of industrial robot teaching device controlled based on WEB according to claim 1, it is characterised in that：It is described clear
Looking at device end is provided with for externally providing the login module of register, the manual teaching mould for providing robot control operation
Block, the automated programming module for providing robot program's programming operation option and for providing robot shape in running
The operation debugging module of state information parameter.
3. a kind of industrial robot teaching device controlled based on WEB according to claim 2, it is characterised in that：It is described to step on
Record module is configured with Quick Response Code login feature and rights management function, and the authority includes administrator right, adjustor's authority
And operator's authority.
4. a kind of industrial robot teaching device controlled based on WEB according to claim 2, it is characterised in that：The hand
Dynamic teaching module is provided with enable shift knob, joint shaft control button and the operating multiplying power for adjusting motor running speed
Trim button.
5. a kind of industrial robot teaching device controlled based on WEB according to claim 2, it is characterised in that：It is described from
Dynamic programming module is provided with Edit button, load button, operation button and the fortune for adjusting robot program's speed of service
Row multiplying power trims button.
6. a kind of industrial robot teaching device controlled based on WEB according to any one of claim 1 to 5, its feature is existed
In：The controller end includes man-machine interaction layer, server layer, gateway layer, data communication centre and the control set from top to down
Podium level processed, the man-machine interaction layer is to select html tag language design, and the server layer selects embedded type WEB service
Device Boa；Also include for the servo-drive of control machine person joint spindle motor rotation and for detecting joint of robot axle electricity
The motion pick device of machine working order, the servo-drive and motion pick device are connected with control platform layer respectively.
7. a kind of application method suitable for any one of the claims 1 to 6 robot demonstrator, including following step
Suddenly：
Scan login step：Browser end scanning machine people's Quick Response Code, reads 2 D code information, with recognizing robot controller end
Location, realizes browser end and controller end wireless connection；
Clear authority step：Username and password is inputted, the user right corresponding to user name is specified, the user right includes
Administrator right, adjustor's authority and operator's authority；
Perform operating procedure：Administrator right can allocation manager adjustor authority and operator's authority, manual teaching mould can be used
Block, automated programming module and operation debugging module pair and robot are operated；Adjustor's authority can be used and show manually
Religion module, automated programming module and operation debugging module pair and robot are operated；Hand can be used in operator's authority
Dynamic teaching module and operation debugging module.
8. the application method of robot demonstrator according to claim 7, it is characterised in that：In the scanning login step,
Also include collision detection step, when judging whether the corresponding controller end of Quick Response Code has the connection of other browser ends, if it is,
The communication connection of this browser end and controller end is cancelled, and otherwise controller end allows to communicate to connect with the browser end.
9. the application method of robot demonstrator according to claim 8, it is characterised in that：Also include Connection Step in limited time,
Limiting time is set, and when browser end does not enter pedestrian and operation in limiting time, controller end disconnects and browser automatically
The connection at end.
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Cited By (15)
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| CN108052198A (en) * | 2017-10-16 | 2018-05-18 | 广州音视控通科技有限公司 | A kind of body-sensing teaching terminal and teaching method |
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| CN108356796A (en) * | 2018-01-12 | 2018-08-03 | 宁波易拓智谱机器人有限公司 | A kind of teaching system being adapted to a variety of industrial robots |
| CN109035740A (en) * | 2018-09-27 | 2018-12-18 | 上海节卡机器人科技有限公司 | Control method, device and the tele-control system of robot |
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| CN110315348A (en) * | 2018-03-30 | 2019-10-11 | 兄弟工业株式会社 | Control device, control method |
| CN110328667A (en) * | 2019-04-30 | 2019-10-15 | 北京云迹科技有限公司 | Control method and device for robot |
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| CN108356817A (en) * | 2018-01-12 | 2018-08-03 | 宁波易拓智谱机器人有限公司 | A kind of teaching method based on 3D models |
| CN108356796A (en) * | 2018-01-12 | 2018-08-03 | 宁波易拓智谱机器人有限公司 | A kind of teaching system being adapted to a variety of industrial robots |
| CN110049075A (en) * | 2018-01-16 | 2019-07-23 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus for object debugging |
| CN108284452A (en) * | 2018-02-11 | 2018-07-17 | 遨博（北京）智能科技有限公司 | A kind of control method of robot, device and system |
| CN110315348B (en) * | 2018-03-30 | 2021-05-28 | 兄弟工业株式会社 | Control device, control method, and program |
| CN110315348A (en) * | 2018-03-30 | 2019-10-11 | 兄弟工业株式会社 | Control device, control method |
| CN109035740A (en) * | 2018-09-27 | 2018-12-18 | 上海节卡机器人科技有限公司 | Control method, device and the tele-control system of robot |
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| CN110053028A (en) * | 2019-05-30 | 2019-07-26 | 河南伟道维新机器人科技有限公司 | A kind of pig cleaning robot control system |
| CN112753013A (en) * | 2019-12-23 | 2021-05-04 | 深圳市大疆创新科技有限公司 | Movable platform control method, control terminal, movable platform and storage medium |
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| CN111459574A (en) * | 2020-02-25 | 2020-07-28 | 季华实验室 | Data transmission method, device, equipment and storage medium |
| CN111459574B (en) * | 2020-02-25 | 2024-03-08 | 季华实验室 | Data transmission method, device, equipment and storage medium |
| CN111531551A (en) * | 2020-04-22 | 2020-08-14 | 实时侠智能控制技术有限公司 | Safety demonstrator using universal tablet computer and demonstration method |
| 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 |
| CN112548996A (en) * | 2020-12-08 | 2021-03-26 | 广东工业大学 | Open industrial robot control system and open industrial robot |
| CN113681556A (en) * | 2021-08-13 | 2021-11-23 | 珠海格力电器股份有限公司 | Robot teaching method, robot teaching apparatus, and computer-readable storage medium |
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