CN107053143B - Industrial robot demonstrator based on WEB control and use method - Google Patents
Industrial robot demonstrator based on WEB control and use method Download PDFInfo
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- CN107053143B CN107053143B CN201710400938.6A CN201710400938A CN107053143B CN 107053143 B CN107053143 B CN 107053143B CN 201710400938 A CN201710400938 A CN 201710400938A CN 107053143 B CN107053143 B CN 107053143B
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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
Abstract
The invention discloses an industrial robot demonstrator based on WEB control, which comprises a browser end and a controller end used for controlling the operation of a robot, wherein the browser end is any intelligent equipment capable of supporting a WEB browser, and the browser end is in wireless communication connection with the controller end. The demonstrator of the invention utilizes the browser end to send an action instruction to the controller end arranged on the robot so as to realize the control of the robot, does not need special hardware equipment of the demonstrator, and is easy to realize remote control by using a wireless communication connection means; in addition, the invention uses the browser to provide an operating platform to the outside, does not need a special software system, has low cost, is easy to popularize and realize in various hardware systems, and does not need to consider the problem of software and hardware compatibility.
Description
Technical Field
The invention relates to the field of robot control devices, in particular to an industrial robot demonstrator based on WEB control and a using method thereof.
Background
The enterprise can be generally matched with corresponding demonstrator equipment for the industrial robot, and is mainly used for manual teaching control of the robot.
A traditional demonstrator is provided with a specific hardware platform by a manufacturer, is connected with an industrial robot control electric cabinet through a cable, and is pre-installed with specific demonstration software in the hardware platform. The hardware of the demonstrator generally consists of an ARM (advanced RISC machine) or other embedded platforms, Wince, Linux or other operating systems are carried on the hardware, software is generally developed by QT (QT) and other languages, manufacturers spend a large amount of resources to develop the software and the hardware, the use of the hardware, cables and software of the demonstrator is limited by the control mode, each industrial robot is basically required to be provided with a set of special teaching system, and the system cost is increased. In general, the development period of manufacturers is long, and the cost of users is high. Later, pluggable teach pendants appeared in the art, but the switching requires plugging and unplugging, the frequent operation is troublesome and there is a reliability risk.
Patent 201610729578.X provides a remote control method and a teach pendant of a teach pendant, which realizes control of a teach pendant by establishing direct point-to-point wireless connection between the teach pendant and a control robot and combining two error correction control algorithms. But this patent has solved the pluggable problem between demonstrator and the control cabinet, nevertheless also relies on software and hardware platform.
The robot teaching device has the advantages that the existing robot teaching device does not have any safety setting on the system, anyone can carry out various operations on the robot only by owning an account number, the possibility of misoperation of the robot is easily provided, and the robot is easily damaged.
Disclosure of Invention
Aiming at the problems, the invention provides an industrial robot demonstrator based on WEB control.
The invention also provides a robot demonstrator using method.
The solution of the invention for solving the technical problem is as follows:
an industrial robot demonstrator based on WEB control comprises a browser end and a controller end used for controlling operation of a robot, wherein the browser end is any intelligent device capable of supporting a WEB browser, and the browser end is in wireless communication connection with the controller end.
As a further improvement of the above scheme, the browser end is provided with a login module for providing login operation to the outside, a manual teaching module for providing robot control operation, an automatic programming module for providing robot program programming operation options, and an operation debugging module for providing robot state information parameters in the operation process.
As a further improvement of the above scheme, the login module is configured with a two-dimensional code login function and a permission management function, and the permission includes administrator permission, debugger permission, and operator permission.
As a further improvement of the above solution, the manual teaching module is provided with an enable switch button, a joint axis control button, and an operation magnification adjustment button for adjusting the operation speed of the motor.
As a further improvement of the above scheme, the automatic programming module is provided with an editing button, a loading button, an operating button and an operating magnification adjusting button for adjusting the operating speed of the robot program.
As a further improvement of the above scheme, the controller end comprises a human-computer interaction layer, a server layer, a gateway layer, a data communication layer and a control platform layer which are arranged from top to bottom, wherein the human-computer interaction layer is designed by selecting an HTML (hypertext markup language) label language, and the server layer selects an embedded WEB server Boa; the robot joint axis motor detection system is characterized by further comprising a servo drive used for controlling the robot joint axis motor to rotate and a motion collector used for detecting the running condition of the robot joint axis motor, wherein the servo drive and the motion collector are respectively connected with the control platform layer.
The invention has the beneficial effects that: the demonstrator of the invention utilizes the browser end to send an action instruction to the controller end arranged on the robot so as to realize the control of the robot, does not need special hardware equipment of the demonstrator, and is easy to realize remote control by using a wireless communication connection means; in addition, the invention uses the browser to provide an operating platform to the outside, does not need a special software system, has low cost, is easy to popularize and realize in various hardware systems, and does not need to consider the problem of software and hardware compatibility.
The invention also discloses a use method of the robot demonstrator, which comprises the following steps:
scanning and logging in: the browser scans the two-dimension code of the robot, reads the information of the two-dimension code, identifies the address of the controller end of the robot and realizes the wireless connection between the browser end and the controller end;
and (3) permission definition step: inputting a user name and a password, and determining user permissions corresponding to the user name, wherein the user permissions comprise administrator permissions, debugger permissions and operator permissions;
executing the operation steps: the administrator authority can distribute management debugger authority and operator authority, and the robot can be operated by using a manual teaching module, an automatic programming module and an operation debugging module; the debugger authority can operate the robot by using a manual teaching module, an automatic programming module and an operation debugging module; the operator authority may use a manual teach module and a run debug module.
As a further improvement of the above scheme, the scan login step further includes a collision detection step, when determining whether the controller end corresponding to the two-dimensional code has other browser ends connected, if so, the communication connection between the browser end and the controller end is cancelled, otherwise, the controller end allows the communication connection with the browser end.
As a further improvement of the above scheme, the method further comprises a time-limited connection step of setting a limited time, and when the browser end does not perform any operation within the limited time, the controller end automatically disconnects the connection with the browser end.
The invention has the beneficial effects that: the using method of the demonstrator is provided with 3 kinds of authorities which are respectively administrator authority, debugger authority and operator authority, wherein the functions configured for each authority are different, and the operation allowed by each user is indirectly set; the demonstrator of the invention guarantees the safety of wireless connection through two-dimension code login and user authority management, and reduces the possibility of misoperation on the robot.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a schematic block diagram of the teach pendant of the present invention;
FIG. 2 is a flow chart of a method of using the teach pendant of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Referring to fig. 1, aiming at the technical problem that in the prior art, all robot teach pendants need to be configured with special hardware devices to realize related functions, the present invention provides a WEB control-based industrial robot teach pendant, which includes a browser end and a controller end for controlling the operation of a robot, wherein the browser end is any intelligent device capable of supporting a WEB browser, such as an intelligent product, e.g., a mobile phone, a tablet circuit, etc., and the browser end is in wireless communication connection with the controller end, e.g., using WIFI or bluetooth communication. The demonstrator of the invention utilizes the browser end to send an action instruction to the controller end arranged on the robot so as to realize the control of the robot, does not need special hardware equipment of the demonstrator, and is easy to realize remote control by using a wireless communication connection means; in addition, the invention uses the browser to provide an operating platform to the outside, does not need a special software system, has low cost, is easy to popularize and realize in various hardware systems, and does not need to consider the problem of software and hardware compatibility.
Further, as a preferred embodiment, the browser end is provided with a login module for providing login operation for the outside, a manual teaching module for providing robot control operation, an automatic programming module for providing robot program programming operation options, and a running debugging module for providing robot state information parameters in the running process.
Specifically, the login module is configured with a two-dimensional code login function and a permission management function, wherein the permission comprises an administrator permission, a debugger permission and an operator permission. The method includes that a user needs to use a browser to scan a two-dimensional code of a robot to be controlled and read information of the two-dimensional code to obtain address information of a robot controller end, wireless communication connection is achieved, the user needs to input a user name and a password, the browser end determines corresponding permissions according to the input user name, the permissions include administrator permissions, debugger permissions and operator permissions, the administrator permissions are the highest level, the administrator permissions are configured to distribute and manage the debugger permissions and the operator permissions, a manual teaching module, an automatic programming module and an operation debugging module can be used, the debugger permissions are configured to use the manual teaching module, the automatic programming module and the operation debugging module, and the operator permissions are configured to use the manual teaching module and the operation debugging module. The demonstrator of the invention is provided with 3 authorities, each user corresponds to one of the authorities, and the functions configured by each authority are different, namely, the invention indirectly sets the operation allowed by each user by setting the corresponding authority for each user, thereby reducing the possibility of misoperation on the robot.
The manual teaching module is further provided with an enabling switch button, a joint shaft control button and a running magnification adjusting button for adjusting the running speed of the motor. Specifically, only when the enabling switch button is set to be effective, the browser end can transmit a command to the controller end to enable the robot to perform operation; the joint axis control button is used for controlling each joint axis of the robot to move under different coordinate axes; and the operation multiplying power adjusting button is used for adjusting the operation speed of the joint shaft motor.
In addition, in order to prevent the robot from accidents in the running process and ensure the safety of the operation of the robot, the invention is provided with an emergency stop switch at the controller end for cutting off the power-on connection of the controller end.
Further, the automatic programming module in the invention is provided with an editing button, a loading button, an operating button and an operating magnification adjusting button for adjusting the operating speed of the robot program. Specifically, when the editing button is valid, a user is allowed to edit and modify a program configured in the robot, when the loading button is valid, the user is allowed to compile the edited and modified program into a machine code and burn the machine code into a robot controller, and when the operating button is valid, the user is allowed to start the robot to automatically operate according to the set program.
Furthermore, the operation debugging module in the invention is used for displaying the robot state information parameters in the robot operation process, such as coordinate axis information, joint axis motor operation speed, data of a controller end internal register and other information, and is convenient for a user to monitor various information data in real time in the robot operation process through operation debugging so as to adjust the robot operation parameters in time.
The controller end in the invention further comprises a man-machine interaction layer, a server layer, a gateway layer, a data communication layer and a control platform layer which are arranged from top to bottom, wherein the man-machine interaction layer is designed by selecting HTML (hypertext markup language) label language and is used as another operation platform except the browser end, and the server layer selects an embedded WEB server Boa; the controller end still including being used for controlling robot joint axis motor pivoted servo drive and being used for detecting the motion collector of robot joint axis motor running condition, servo drive and motion collector link to each other with the control platform layer respectively, the control signal that the browser end sent handles through server layer, gateway layer and data communication layer successive layer, convert the data that are fit for the control platform layer to handle into, the control platform layer is servo drive accurate control robot joint axis motor rotation simultaneously, later the motion collector is responsible for the running condition of detecting robot joint axis motor, the control platform layer produces feedback signal according to the running condition of its collection, the browser end is exported the robot running condition to the operation debugging module according to feedback signal.
Referring to fig. 2, the invention also discloses a use method of the robot demonstrator, which comprises the following steps:
scanning and logging in: the browser scans the two-dimension code of the robot, reads the information of the two-dimension code, identifies the address of the controller end of the robot and realizes the wireless connection between the browser end and the controller end;
and (3) permission definition step: inputting a user name and a password, and determining user permissions corresponding to the user name, wherein the user permissions comprise administrator permissions, debugger permissions and operator permissions;
executing the operation steps: the administrator authority can distribute management debugger authority and operator authority, and the robot can be operated by using a manual teaching module, an automatic programming module and an operation debugging module; the debugger authority can operate the robot by using a manual teaching module, an automatic programming module and an operation debugging module; the operator authority may use a manual teach module and a run debug module.
The using method of the demonstrator provided by the invention is provided with 3 types of authorities, namely an administrator authority, a debugger authority and an operator authority, each user corresponds to one of the authorities, and the configured functions of each authority are different.
In order to avoid the situation that a plurality of users control the same robot at the same time, the method further comprises a conflict detection step in the scanning login step, wherein when judging whether the controller end corresponding to the two-dimensional code is connected with other browser ends, if so, the communication connection between the browser end and the controller end is cancelled, otherwise, the controller end allows the communication connection with the browser end.
Further, in reality, a user may need to leave the browser end for a certain period of time for various reasons during use, and if other people operate the demonstrator in the period of time, a safety accident is likely to occur. In order to avoid the situation, the demonstrator using method further comprises a time-limited connection step, a limited time is set, and when the browser end does not perform any operation within the limited time, the controller end automatically disconnects the browser end.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (6)
1. The utility model provides an industrial robot demonstrator based on WEB control which characterized in that: the robot comprises a browser end and a controller end, wherein the controller end is used for controlling the operation of the robot, the browser end is any intelligent device capable of supporting a WEB browser, and the browser end is in wireless communication connection with the controller end;
the controller end comprises a man-machine interaction layer, a server layer, a gateway layer, a data communication layer and a control platform layer which are arranged from top to bottom, wherein the man-machine interaction layer is designed by selecting an HTML (hypertext markup language) label language, and the server layer selects an embedded WEB server Boa; the robot joint axis motor detection system is characterized by further comprising a servo drive used for controlling the robot joint axis motor to rotate and a motion collector used for detecting the running condition of the robot joint axis motor, wherein the servo drive and the motion collector are respectively connected with the control platform layer.
2. The industrial robot demonstrator based on WEB control as claimed in claim 1, wherein: the browser end is provided with a login module for providing login operation for the outside, a manual teaching module for providing robot control operation, an automatic programming module for providing robot program programming operation options and an operation debugging module for providing robot state information parameters in the operation process.
3. The industrial robot demonstrator based on WEB control as claimed in claim 2, wherein: the login module is configured with a two-dimension code login function and a permission management function, wherein the permission comprises an administrator permission, a debugger permission and an operator permission.
4. The industrial robot demonstrator based on WEB control as claimed in claim 2, wherein: the manual teaching module is provided with an enabling switch button, a joint shaft control button and a running magnification adjusting button for adjusting the running speed of the motor.
5. The industrial robot demonstrator based on WEB control as claimed in claim 2, wherein: the automatic programming module is provided with an editing button, a loading button, an operating button and an operating magnification adjusting button for adjusting the operating speed of the robot program.
6. Use of a robot teach pendant according to any of the preceding claims 1 to 5, comprising the steps of:
scanning and logging in: the browser scans the two-dimension code of the robot, reads the information of the two-dimension code, identifies the address of the controller end of the robot and realizes the wireless connection between the browser end and the controller end;
and (3) permission definition step: inputting a user name and a password, and determining user permissions corresponding to the user name, wherein the user permissions comprise administrator permissions, debugger permissions and operator permissions;
executing the operation steps: the administrator authority can distribute management debugger authority and operator authority, and the robot can be operated by using a manual teaching module, an automatic programming module and an operation debugging module; the debugger authority can operate the robot by using a manual teaching module, an automatic programming module and an operation debugging module; the operator authority can use a manual teaching module and an operation debugging module;
the scanning login step further comprises a conflict detection step, when judging whether the controller end corresponding to the two-dimensional code is connected with other browser ends, if so, the communication connection between the browser end and the controller end is cancelled, otherwise, the controller end allows the communication connection with the browser end;
the using method further comprises a time-limited connection step, wherein the limited time is set, and when the browser end does not perform any operation within the limited time, the controller end automatically disconnects from the browser end.
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| 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 |
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