CN107290988A - Robot and its teaching machine communication system and method - Google Patents
Robot and its teaching machine communication system and method Download PDFInfo
- Publication number
- CN107290988A CN107290988A CN201610232016.4A CN201610232016A CN107290988A CN 107290988 A CN107290988 A CN 107290988A CN 201610232016 A CN201610232016 A CN 201610232016A CN 107290988 A CN107290988 A CN 107290988A
- Authority
- CN
- China
- Prior art keywords
- instruction
- robot
- controller
- teaching machine
- packet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of robot and its teaching machine communication system and method.The robot demonstrator communication system includes：Teaching machine, for the instructing combination received to be sent into packet, wherein, instruct as the instruction being controlled to robot；And controller, it is connected with teaching machine, the packet for receiving teaching machine transmission, the operation of the instruction control machine people in packet, wherein, controller includes resolver, and resolver is used to parse packet, obtains the instruction in packet.By the present invention, the effect for improving communication efficiency between controller and teaching machine has been reached.
Description
Technical field
The present invention relates to robot field, in particular to a kind of robot and its teaching machine communication system and method.
Background technology
Communication system is the technological system for completing message transmitting procedure.In robot field, for example, industrial machine
People field, communication agency is the communication bridge between robot demonstrator and controller, therefore selects a kind of data transfer speed
Rate is high, transmission is stable, the performance of teaching machine will be greatly promoted with expansibility and the high communication mode of cost performance.
In industrial circle, conventional communication mode has：Serial communication, parallel communications, usb communication, ethernet communication etc..
Due to Ethernet, to have that cost performance height, long transmission distance, a variety of transmission mediums are optional, networking is easy, speed is high etc. excellent
Gesture, using ethernet communication so that the performance of teaching machine is more excellent.
Connected between the teaching machine and controller of traditional industrial robot with netting twine, using based on transmission control protocol/
Internet Protocol (Transmission Control Protocol/Internet Protocol, referred to as TCP/IP) with
Too network communication system has two kinds of host-host protocols there is provided end-to-end service：Periodical information uses UDP
(User Datagram Protocol, referred to as UDP), aperiodicity information uses TCP.UDP simply will packet
Datagram be sent to another main frame from a main frame, but the arrival other end that can the datagram that sent complete is
It cannot be guaranteed that.And periodical information and aperiodicity information are in same thread, easily there is communication blockage problem.
In the prior art, resolver (Decoder) is operated in teaching machine, such because data processing cycle is long
Teaching machine communication system make it that the accuracy and security of data transfer are very low, in the industrial production often because communication effect
Rate is low, and delay data transfer causes huge economic loss, therefore to improve the accuracy and security of data transfer.
For the problem of communication efficiency is low between controller and teaching machine in correlation technique, effective solution is not yet proposed at present
Certainly scheme.
The content of the invention
It is a primary object of the present invention to provide a kind of robot and its teaching machine communication system and method, to solve control
The problem of communication efficiency is low between device and teaching machine.
To achieve these goals, according to an aspect of the invention, there is provided a kind of robot demonstrator communication system,
The system includes：Teaching machine, for by the instructing combination received into packet send, wherein, instruct for for pair
The instruction that robot is controlled；And controller, it is connected with teaching machine, the packet for receiving teaching machine transmission,
The operation of instruction control machine people in packet, wherein, controller includes resolver, and resolver is used to parse
Packet, obtains the instruction in packet.
Further, controller also includes：First overtime alert mechanism, is connected with resolver, for controller to
Teaching machine starts timing when sending status information, and state is believed if being not received by teaching machine in the first preset time
The return information of breath, then send overtime prompting, wherein, status information is the status information that robot is run.
Further, teaching machine communication system also includes：Aperiodicity communication agency, is connected with controller and teaching machine,
Sent for sending a command to controller by aperiodic traffic thread and receiving controller by aperiodic traffic thread
Acyclic status information.
Further, teaching machine communication system also includes：Periodical communication mechanism, is connected with controller and teaching machine,
For sending a command to controller by periodic communication thread and receiving the week that controller is sent by periodic communication thread
The status information of phase property.
Further, teaching machine includes：Display screen, the status information sent for display controller to teaching machine.
Further, controller also includes：Server, is connected with resolver, for the data obtained according to resolver
The instruction type of instruction in bag sends instructions to instruction processor structure corresponding with instruction type.
Further, instruction processor structure includes：Configuration-direct processing mechanism, is connected with server, for according to clothes
The configuration-direct that business device is sent performs control；Wherein, configuration-direct is the instruction for being configured to robot system；
Command instruction processing mechanism, is connected with server, and the command instruction for being sent according to server performs control, wherein,
Command instruction is the instruction being configured for the action to robot.
Further, teaching machine includes：Client, is instructed for being received by user-machine interface, and by instruction group
Generated data bag is sent to controller.
Further, teaching machine also includes：Second overtime alert mechanism, is connected with client, for teaching machine to
Controller starts timing when sending instruction, if being not received by reply of the controller to instruction in the second preset time
Information, then send overtime prompting.
To achieve these goals, according to another aspect of the present invention, a kind of robot is additionally provided, the robot bag
Include the robot demonstrator communication system that the present invention is provided.
To achieve these goals, according to another aspect of the present invention, additionally provide a kind of logical for robot demonstrator
The communication means of letter system, this method includes：Received data packet, wherein, packet be instructing combination into packet,
Instruct as the instruction being controlled to robot；And the packet received is solved in real time by resolver
Analysis, obtains the instruction in packet.
Further, after the instruction in obtaining packet, this method also includes：Instruction in packet
Instruction type sends instructions to instruction processor structure corresponding with instruction type, wherein, instruction type refers to including configuration
Order and command instruction, configuration-direct are the instruction for being configured to robot system, and command instruction is for machine
The instruction that the action of device people is configured.
The present invention is by teaching machine, for the instructing combination received to be sent into packet, wherein, instruct for for
The instruction being controlled to robot；And controller, it is connected with teaching machine, the data for receiving teaching machine transmission
Bag, the operation of the instruction control machine people in packet, wherein, controller includes resolver, and resolver is used for
Packet is parsed, the instruction in packet is obtained, solves the problem of communication efficiency is low between controller and teaching machine,
And then reached the effect for improving communication efficiency between controller and teaching machine.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the schematic diagram of robot demonstrator communication system according to a first embodiment of the present invention；
Fig. 2 is the schematic diagram of command instruction according to embodiments of the present invention and configuration-direct；
Fig. 3 is the schematic diagram of robot demonstrator communication system according to a second embodiment of the present invention；And
Fig. 4 is the flow chart of the communication means for robot demonstrator communication system according to embodiments of the present invention.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order that those skilled in the art more fully understand application scheme, below in conjunction with the embodiment of the present application
Accompanying drawing, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described embodiment
The only embodiment of the application part, rather than whole embodiments.Based on the embodiment in the application, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, should all belong to
The scope of the application protection.
It should be noted that term " first ", " second " in the description and claims of this application and above-mentioned accompanying drawing
Etc. being for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so making
Data can be exchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising "
A series of " having " and their any deformation, it is intended that covering is non-exclusive to be included, for example, containing steps
Process, method, system, product or the equipment of rapid or unit are not necessarily limited to those steps clearly listed or unit,
But may include not list clearly or for the intrinsic other steps of these processes, method, product or equipment or
Unit.
The embodiments of the invention provide a kind of robot demonstrator communication system.
Fig. 1 is the schematic diagram of robot demonstrator communication system according to a first embodiment of the present invention, as shown in figure 1,
The system includes：
Teaching machine 10, for the instructing combination received to be sent into packet.
Teaching machine 10 is robot demonstrator 10, and robot can be industrial robot, wherein, the instruction received
For for the instruction being controlled to robot.Instruction can be user by input equipments such as control panels to teaching machine
10 be manually entered or inputted to teaching machine 10 by wireless communication interface etc., teaching machine 10 will be received
The instructing combination arrived is into packet, and teaching machine 10 can be by way of packing by the instruction group generated data received
Bag, the efficiency of transmission of data can be improved by the way that instructing combination is sent into packet, reduce the data in transmitting procedure
Lose.Teaching machine 10 sends the instructing combination received to controller 20 into packet.
Controller 20, is connected with teaching machine 10, the packet for receiving the transmission of teaching machine 10, according in packet
Instruction control machine people operation.
Controller 20 receives the packet that teaching machine 10 is sent, wherein, controller 20 includes resolver, and resolver is used
In parsing packet, the instruction in packet is obtained.Resolver is parsed to the packet received, obtains data
Command information in bag.In the prior art, resolver is operated in teaching machine 10, and teaching machine 10 is time-sharing system,
Data processing speed is slow, for example, data processing cycle is usually hundreds of milliseconds；And controller 20 is real-time system,
Wherein, real-time system refers to the request of system energy timing respective external event, is completed within the defined time to the event
Processing, and the system for controlling the harmonious operation of all real-time tasks, in the prior art, the communication system of robot
In system, resolver is operated in the time-sharing system of teaching machine 10, and communication speed is slow.Data in controller 20 update
With processing faster, for example, the data processing cycle in controller 20 is 2 milliseconds, data processing of data and bottom etc.
The contact of mechanism is closer, therefore resolver is operated in controller 20, it is possible to increase the processing speed of data, carries
The speed sent and received of high data, therefore improve the communication efficiency between controller 20 and teaching machine 10.
Alternatively, controller 20 also includes：Server, is connected with resolver, for the data obtained according to resolver
The instruction type of instruction in bag sends instructions to instruction processor structure corresponding with instruction type.
Controller 20 includes server, and resolver obtains the instruction letter in packet by the resolve packet received
After breath, command information is sent to server, server is analyzed and judged to the command information received, root
According to the instruction type in command information, instruction processor structure corresponding with instruction type is sent instructions to, by corresponding
Instruction processor structure process instruction.Wherein, instruction type can be divided into two classes, configuration-direct and command instruction.
Alternatively, instruction processor structure includes：Configuration-direct processing mechanism and command instruction processing mechanism, configuration-direct
Processing mechanism is connected with server, and the configuration-direct for being sent according to server performs control；Wherein, configuration-direct
For for the instruction configured to robot system；Command instruction processing mechanism is connected with server, for according to clothes
The command instruction that business device is sent performs control, wherein, command instruction is the finger being configured for the action to robot
Order.For example, configuration-direct can be the instruction configured to the system of robot, for example, setting robot zero point
Position, spacing, the instruction of the type such as system error message.Command instruction can be that the action that robot is run is carried out
The instruction of setting, for example, advancing, is retreated, the instruction of the type such as lift hand.The processing configuration of configuration-direct processing mechanism refers to
Order, command instruction processing mechanism processing command instruction, wherein, configuration-direct, which is often set, to be once saved in system,
Until before configuration-direct is to the configuration change next time, using always.For example, being set for the dead-center position of robot
Postpone, all reset position can be used as using the dead-center position after each robot is out of service.And command instruction often only
Perform once, do not preserved after execution, for example, sending lift hand command instruction to robot, robot performs lift and made manually
Afterwards, order terminates, and does not preserve typically.Robot terminates after operation, and command instruction will not be produced to operation next time
Influence.Instruction handled by configuration-direct processing mechanism and command instruction processing mechanism can also need to carry out according to user
Adjustment and set, Fig. 2 is the schematic diagram of command instruction according to embodiments of the present invention and configuration-direct, as shown in Fig. 2
For example, the manageable instruction of configuration-direct processing mechanism has robot to configure (Robot Config) instruction, motion control
System configuration (CNC Config) instruction and axle configuration (Axis Congifg_01-06) instruction.Command instruction processing mechanism
Manageable instruction has input/output commands (I/O), system command (pSYS), motion control commands (pCNC)
With axle order (pAxis).Server sends instructions to instruction processor structure corresponding with instruction type, by corresponding
Instruction processor structure process instruction, it is possible to increase the efficiency of instruction identification and processing, by configuration-direct and command instruction point
Open, by corresponding instruction processor structure process instruction, robot can be controlled within the shorter time according to instruction operation
Or set, improve the efficiency of data processing.
Alternatively, controller 20 also includes：First overtime alert mechanism, is connected with resolver, in controller
20 start timing when sending status information to teaching machine 10, if being not received by teaching machine in the first preset time
The return information of 10 pairs of status informations, then send overtime prompting, wherein, status information is the state letter that robot is run
Breath.
In robot running, controller 20 can obtain the running state information of robot, and status information is anti-
Teaching machine 10 is fed to, controller 20 sends status information to teaching machine 10.Sent in controller 20 to teaching machine 10
During status information, the first overtime alert mechanism starts timing, because teaching machine 10 is when receiving status information, can send out
Go out the return information to the status information, therefore, if being not received by returning for teaching machine 10 in the first preset time
Complex information, then send overtime prompting, wherein, it can be polytype prompting that time-out, which is reminded, for example, time-out is reminded
It can be that the mode that sound prompting or signal lamp flash is reminded, can also be display alarm on the display screen
The mode of signal is pointed out.The information being not received by by the first overtime alert mechanism to time-out is reminded, can be right
Communication failure in transmitting procedure makes prompting in time, facilitates user to be overhauled in time to communication failure, improves work
Efficiency.
Alternatively, teaching machine 10 includes：Client, is instructed for being received by user-machine interface, and by instruction group
Generated data bag is sent to controller 20.
Teaching machine 10 includes client, and client can receive instruction, and instruction then is packaged into packet sends to control
Device 20 processed, client can be received by user-machine interface and instructed, and user-machine interface can be TIP,
Can other kinds of can carry out the input interface of man-machine interaction.
Alternatively, teaching machine 10 includes：Display screen, the state sent for display controller 20 to teaching machine 10
Information.For example, the display screen of teaching machine 10 can be the display screen of the client of teaching machine 10, client
The status information that display screen can send for display controller 20 to teaching machine 10, for example, robot is held
The status informations such as row forward motion or specially set display robot status information display screen on
Display.By the status information of the display screen display robot in teaching machine 10 user can be facilitated to understand robot
Running status.
Alternatively, teaching machine 10 also includes：Second overtime alert mechanism, is connected with client, in teaching machine
10 start timing when sending and instruct to controller 20, if being not received by 20 pairs of controller in the second preset time
The return information of instruction, then send overtime prompting.
Teaching machine 10 sends to controller 20 and instructed, and can be the instruction sent in the form of packet, in controller
After 20 receive instruction, it can send and reply message to teaching machine 10, the second overtime alert mechanism, in teaching machine 10
Start timing when sending and instruct to controller 20, if being not received by 20 pairs of fingers of controller in the second preset time
Replying message for order, then send overtime prompting, the time-out that the second overtime alert mechanism is sent is reminded can be with the first time-out
It is identical that alert mechanism is sent, can also be different, by sending prompting to communication overtime, user can be facilitated right in time
Communication failure is overhauled, and then improves operating efficiency.
Alternatively, teaching machine communication system also includes：Aperiodicity communication agency, with controller 20 and teaching machine 10
Connection, is controlled for sending a command to controller 20 by aperiodic traffic thread and being received by aperiodic traffic thread
The acyclic status information that device 20 processed is sent.
Alternatively, teaching machine communication system also includes：Periodical communication mechanism, connects with controller 20 and teaching machine 10
Connect, for sending a command to controller 20 by periodic communication thread and receiving controller by periodic communication thread
The 20 periodic status informations sent.
The aperiodicity communication agency and periodical communication mechanism of teaching machine communication system are separated, and are respectively used to send non-week
Phase property is instructed and periodically instruction, and receives acyclic status information and periodic status information respectively.Its
In, command instruction is typically cycles per instruction, for example, command instruction is advances, then teaching machine 10 passes through advancement commands
Periodical communication mechanism is sent to controller, and controller periodically sends advancement commands to robot, for example, often
An advancement commands were sent to robot every 0.5 second, so that robot performs forward motion always.Configuration-direct is usual
It is non-cycles per instruction, configuration-direct is sent to controller by aperiodicity communication agency.
In embodiments of the present invention, aperiodicity communication agency and periodical communication mechanism all pass through transmission control protocol
(Transmission Control Protocol, referred to as TCP) communicates, and instead of the number of users used in the prior art
Communicated according to datagram protocol (User Datagram Protocol, referred to as UDP), solve controller 20 and teaching machine
Loss of data and communication blockage problem when being communicated between 10, it is ensured that the accuracy and security of data transfer.
It can be connected between the teaching machine 10 and controller 20 of robot by netting twine, wireless WIFI can also be passed through
Connection, is realized by Transmission Control Protocol between teaching machine 10 and controller 20 and communicated, resolver operates in controller 20
Real-time system in.Transmission Control Protocol not only can by application program to its data be divided into suitable group one by one (namely number
According to bag) lower floor is given, and it can confirm the packet that receives, can be by setting timeout clock (namely the first time-out
Alert mechanism and the second overtime alert mechanism) confirm whether the data sent are received, therefore Transmission Control Protocol can be with
It is supplied to the data communication of two main frame high reliability of communication.
The embodiment using teaching machine 10 by the instructing combination received into packet send, wherein, instruct for for pair
The instruction that robot is controlled, controller 20 is connected with teaching machine 10, the number for receiving the transmission of teaching machine 10
According to bag, the operation for instructing control machine people in packet, wherein, controller 20 includes resolver, resolver
For parsing packet, the instruction in packet is obtained, is communicated so as to solve between controller 20 and teaching machine 10
The problem of efficiency is low, and then reached the effect for improving communication efficiency between controller 20 and teaching machine 10.
Fig. 3 is the schematic diagram of robot demonstrator communication system according to a second embodiment of the present invention, and the embodiment can be with
As the preferred embodiment of above-mentioned first embodiment, as shown in figure 3, the system includes：Teaching machine 10 and controller
20。
Teaching machine 10 includes client 101 and input interface 102.
Controller 20 includes resolver 201, server 202, configuration-direct processing mechanism 203 and command instruction processing
Mechanism 204.
In an optional application scenarios, received and instructed by the input interface 102 in teaching machine 10, client
The instructing combination received is packaged into packet (DataPack) by 101 sends the resolver 201 into controller 20,
Resolver 201 is parsed the packet received, obtains the command information in packet, then by command information
Be sent to server 202, server 202 analyze and judge the type instructed in the command information be configuration-direct or
Command instruction, after result is judged, sends command information to corresponding configuration-direct according to the type of instruction
Mechanism 203 or command instruction processing mechanism 204 are managed, by configuration-direct processing mechanism 203 or command instruction processing mechanism
204 pairs of command informations are further processed, and obtaining can be by the command information of machine recognition, and then control machine people
Operation.By the way that resolver 201 is operated in controller 20, it is possible to increase resolver receives the frequency of instruction, shorten
The cycle of processing data, and then improve the communication efficiency between teaching machine 10 and controller 20.
Preferably, controller 20 is capable of any running state information of read machine people, by status information according to reverse flow
Journey feeds back to server 202, and status information is packaged into data by the identification state information of server 202 by resolver
Bag, then feeds back to teaching machine 10 by packet, and the client of teaching machine 10 will include in client after processing data packets
On the display screen at end 101, operating personnel are facilitated to grasp the running status of robot.
The embodiment of the present invention additionally provides a kind of communication means for robot demonstrator communication system.
Fig. 4 is the flow chart of the communication means for robot demonstrator communication system according to embodiments of the present invention.Such as
Shown in Fig. 4, this method comprises the following steps：
Step S102, received data packet.
Packet can be the packet that instruction is combined into, and instruct as the instruction being controlled to robot.Instruction
Can user inputted by the panel interface of teaching machine or sent by network interface.Can be by controlling
Device received data packet processed, for example, the resolver received data packet of controller.
Step S104, carries out real time parsing to the packet received by resolver, obtains the instruction in packet.
Resolver carries out real time parsing to the packet received, wherein, real time parsing can be that analytic frequency exceedes in advance
If the parsing of frequency, for example, the parsing cycle is 2ms, can by the cycle for 2ms parsing as real time parsing, its
In, resolver is run in the controller, and the data processing in controller faster, contacts closer with bottom, therefore solution
Parser can be parsed to the packet received in real time, obtained the instruction in packet, passed through the real-time of resolver
Parsing, it is possible to increase the efficiency of data processing, and then improve the communication efficiency between teaching machine and controller.
Alternatively, after the instruction in obtaining packet, the instruction type of the instruction in packet, which will be instructed, to be sent out
Instruction processor structure corresponding with instruction type is delivered to, wherein, instruction type includes configuration-direct and command instruction, matches somebody with somebody
It is the instruction for being configured to robot system to put instruction, and command instruction is to be set for the action to robot
The instruction put.
After the instruction in obtaining packet, corresponding instruction processor structure is sent instructions to according to instruction type,
It can be that server analysis decision instruction obtains instruction type, then send instructions to corresponding instruction processor structure and enter
Row processing.Instruction type can include configuration-direct and command instruction, and configuration-direct can be that the system of robot is entered
The instruction of row configuration, command instruction can be the instruction that the specific behavior such as action to robot is configured, configuration
Instruction includes：Robot configuration (Robot Config) instruction, motion control configuration (CNC Config) instruction (
That is CNC configuration-directs) and axle configuration (Axis Congifg_01-06) instruction.Command instruction includes：Input/output
Order (I/O), system command (pSYS), motion control commands (pCNC, namely CNC orders) and axle order (pAxis).
For example, configuration-direct can be the instruction configured to the system of robot, for example, robot dead-center position is set,
It is spacing, the instruction of the type such as system error message.Command instruction can be configured to the action that robot is run
Instruction, for example, advancing, is retreated, the instruction of the type such as lift hand.Configuration-direct processing mechanism handles configuration-direct, life
Instruction processor structure is made to handle command instruction, wherein, configuration-direct, which is often set, to be once saved in system, until
Before configuration-direct is to the configuration change next time, use always, for example, after being set for the dead-center position of robot,
All reset position can be used as using the dead-center position after each robot is out of service.And command instruction often only carries out one
It is secondary, do not preserved after execution, for example, sending lift hand command instruction to robot, robot is performed after the manual work of lift,
Order terminates, and does not preserve typically.Robot terminates after operation, and command instruction will not produce influence to operation next time.
Server sends configuration-direct to configuration-direct processing mechanism, and command instruction is sent to command instruction processing mechanism.
Configuration-direct and command instruction can be adjusted according to actual conditions, for example, can be adjusted and set by software
Put.
Preferably, timing is started when controller sends status information to teaching machine, if do not had in the first preset time
There is the return information for receiving teaching machine to status information, then send overtime prompting.Send and refer to controller in teaching machine
After order, also the return information of instruction is monitored, timing is started when teaching machine sends and instructed to controller, if
Return information of the controller to instruction is not received by second preset time, overtime prompting is also sent.It is super by setting
When remind, can occur in communication abnormal or find communication abnormality in time after interrupting, to facilitate operating personnel to tie up in time
Repair, improve the communication efficiency between teaching machine and controller.
In robot running, controller can obtain the running state information of robot, by status information feedback
To teaching machine, controller sends status information to teaching machine.When controller sends status information to teaching machine, first
Overtime alert mechanism starts timing, because teaching machine is when receiving status information, can send and the status information is returned
Complex information, therefore, if being not received by the return information of teaching machine in the first preset time, sends time-out and carries
Wake up, wherein, it can be polytype prompting that time-out, which is reminded, for example, it can be sound prompting that time-out, which is reminded, also may be used
Reminded in the way of being signal lamp flicker, can also be that the mode of display alarm signal on the display screen is pointed out.Pass through
The information that first overtime alert mechanism is not received by time-out is reminded, can be to the communication failure in transmitting procedure
Prompting is made in time, facilitates user to be overhauled in time to communication failure, operating efficiency is improved.
Alternatively, after status information of the controller to teaching machine distribution of machine people, status information is shown in display screen
On, can be for display controller to teaching for example, display screen can be the display screen of the client of teaching machine
The status information that device is sent, for example, display robot is carrying out the status informations such as forward motion.By in teaching machine
Display screen display robot status information can facilitate user understand robot running status.
Alternatively, send a command to controller by aperiodic traffic thread and received by aperiodic traffic thread and control
The acyclic status information that device processed is sent.Controller is sent a command to and by the cycle by periodic communication thread
Communication thread receives the periodic status information that controller is sent.
By the way that the aperiodicity communication agency and periodical communication mechanism of teaching machine communication system are separated, send non-respectively
Periodically instruction and periodically instruction, and acyclic status information and periodic status information are received respectively.
Wherein, command instruction is typically cycles per instruction, for example, command instruction is advances, then teaching machine passes through advancement commands
Periodical communication mechanism is sent to controller, and controller periodically sends advancement commands to robot, for example, often
An advancement commands were sent to robot every 0.5 second, so that robot performs forward motion always.Configuration-direct is usual
It is non-cycles per instruction, configuration-direct is sent to controller by aperiodicity communication agency.
The embodiment uses received data packet, then carries out real time parsing to the packet received by resolver, obtains
Instruction into packet, so as to solve the problem of communication efficiency is low between controller and teaching machine, and then reaches
Improve the effect of communication efficiency between controller and teaching machine.
It should be noted that can be in such as one group computer executable instructions the step of the flow of accompanying drawing is illustrated
Performed in computer system, and, although logical order is shown in flow charts, but in some cases, can
With with different from the shown or described step of order execution herein.
The embodiment of the present invention additionally provides a kind of robot, and the robot includes the robot demonstrator of the embodiment of the present invention
Communication system.
Obviously, those skilled in the art should be understood that above-mentioned each module of the invention or each step can be with general
Computing device realize that they can be concentrated on single computing device, or be distributed in multiple computing device institutes
On the network of composition, alternatively, they can be realized with the executable program code of computing device, it is thus possible to
It is stored in storage device by computing device to perform, or they is fabricated to each integrated circuit die respectively
Block, or the multiple modules or step in them are fabricated to single integrated circuit module to realize.So, it is of the invention
Any specific hardware and software is not restricted to combine.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, made
Any modification, equivalent substitution and improvements etc., should be included in the scope of the protection.
Claims (12)
1. a kind of robot demonstrator communication system, it is characterised in that including：
Teaching machine, for by the instructing combination received into packet send, wherein, it is described instruction be for pair
The instruction that robot is controlled；And
Controller, is connected with the teaching machine, for receiving the packet that the teaching machine is sent, according to described
The operation of instruction control machine people in packet, wherein, the controller includes resolver, the resolver
For parsing the packet, the instruction in the packet is obtained.
2. robot demonstrator communication system according to claim 1, it is characterised in that the controller also includes：
First overtime alert mechanism, is connected with the resolver, for being sent out in the controller to the teaching machine
Start timing when sending status information, if being not received by the teaching machine in the first preset time to the shape
The return information of state information, then send overtime prompting, wherein, the status information is the state that robot is run
Information.
3. robot demonstrator communication system according to claim 2, it is characterised in that the teaching machine communication system
System also includes：
Aperiodicity communication agency, is connected with the controller and the teaching machine, for passing through aperiodic traffic
Thread sends the instruction and receives the controller hair to the controller and by the aperiodic traffic thread
The acyclic status information sent.
4. robot demonstrator communication system according to claim 2, it is characterised in that the teaching machine communication system
System also includes：
Periodical communication mechanism, is connected with the controller and the teaching machine, for passing through periodic communication thread
Send the instruction and receive the week that the controller is sent to the controller and by the periodic communication thread
The status information of phase property.
5. robot demonstrator communication system according to claim 2, it is characterised in that the teaching machine includes：
Display screen, for showing the status information that the controller is sent to the teaching machine.
6. robot demonstrator communication system according to claim 1, it is characterised in that the controller also includes：
Server, is connected with the resolver, for the finger in the packet that is obtained according to the resolver
The instruction type of order sends the instruction to instruction processor structure corresponding with the instruction type.
7. robot demonstrator communication system according to claim 6, it is characterised in that the instruction processor structure
Including：
Configuration-direct processing mechanism, is connected with the server, and the configuration for being sent according to the server refers to
Order performs control, wherein, the configuration-direct is the instruction for being configured to robot system；
Command instruction processing mechanism, is connected with the server, and the order for being sent according to the server refers to
Order performs control, wherein, the command instruction is the instruction being configured for the action to robot.
8. robot demonstrator communication system according to claim 1, it is characterised in that the teaching machine includes：
Client, for receiving the instruction by user-machine interface, and by the instructing combination into packet
Send to the controller.
9. robot demonstrator communication system according to claim 8, it is characterised in that the teaching machine also includes：
Second overtime alert mechanism, is connected with the client, for being sent out in the teaching machine to the controller
Start timing when sending the instruction, refer to if being not received by the controller in the second preset time to described
The return information of order, then send overtime prompting.
10. a kind of robot, it is characterised in that lead to including the robot demonstrator any one of claim 1 to 9
Letter system.
11. a kind of communication means for robot demonstrator communication system, it is characterised in that including：
Received data packet, wherein, the packet be instructing combination into packet, the instruction be for pair
The instruction that robot is controlled；And
Real time parsing is carried out to the packet received by resolver, the instruction in the packet is obtained.
12. the communication means according to claim 11 for robot demonstrator communication system, it is characterised in that
Obtain after the instruction in the packet, methods described also includes：
The instruction type of instruction in the packet sends the instruction to corresponding with the instruction type
Instruction processor structure, wherein, the instruction type include configuration-direct and command instruction, the configuration-direct
For for the instruction configured to robot system, the command instruction is for the action progress to robot
The instruction of setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610232016.4A CN107290988A (en) | 2016-04-13 | 2016-04-13 | Robot and its teaching machine communication system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610232016.4A CN107290988A (en) | 2016-04-13 | 2016-04-13 | Robot and its teaching machine communication system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107290988A true CN107290988A (en) | 2017-10-24 |
Family
ID=60095489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610232016.4A Pending CN107290988A (en) | 2016-04-13 | 2016-04-13 | Robot and its teaching machine communication system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107290988A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202329A (en) * | 2017-12-31 | 2018-06-26 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of method that robot demonstrator is communicated with controller data with parsing |
| CN108501004A (en) * | 2018-04-13 | 2018-09-07 | 宁波德深机械设备有限公司 | The teaching system of industrial robot |
| CN110757464A (en) * | 2019-11-21 | 2020-02-07 | 东莞固高自动化技术有限公司 | Industrial robot demonstrator, operation system, control system and control 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102117571A (en) * | 2011-03-31 | 2011-07-06 | 上海柏楚电子科技有限公司 | Online teaching processing system for glue dispensing machine |
| CN102664886A (en) * | 2012-04-18 | 2012-09-12 | 广州数控设备有限公司 | Robot protocol implementation method based on Ethernet |
| CN203197922U (en) * | 2013-04-03 | 2013-09-18 | 华中科技大学 | Industrial robot teaching box based on Ethernet communication |
| CN104834230A (en) * | 2015-05-19 | 2015-08-12 | 芜湖固高自动化技术有限公司 | Industrial robot teaching and training system and control method thereof |
| CN205620710U (en) * | 2016-04-13 | 2016-10-05 | 珠海格力智能装备有限公司 | Robot and demonstrator communication system thereof |
-
2016
- 2016-04-13 CN CN201610232016.4A patent/CN107290988A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102117571A (en) * | 2011-03-31 | 2011-07-06 | 上海柏楚电子科技有限公司 | Online teaching processing system for glue dispensing machine |
| CN102664886A (en) * | 2012-04-18 | 2012-09-12 | 广州数控设备有限公司 | Robot protocol implementation method based on Ethernet |
| CN203197922U (en) * | 2013-04-03 | 2013-09-18 | 华中科技大学 | Industrial robot teaching box based on Ethernet communication |
| CN104834230A (en) * | 2015-05-19 | 2015-08-12 | 芜湖固高自动化技术有限公司 | Industrial robot teaching and training system and control method thereof |
| CN205620710U (en) * | 2016-04-13 | 2016-10-05 | 珠海格力智能装备有限公司 | Robot and demonstrator communication system thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202329A (en) * | 2017-12-31 | 2018-06-26 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of method that robot demonstrator is communicated with controller data with parsing |
| CN108501004A (en) * | 2018-04-13 | 2018-09-07 | 宁波德深机械设备有限公司 | The teaching system of industrial robot |
| CN110757464A (en) * | 2019-11-21 | 2020-02-07 | 东莞固高自动化技术有限公司 | Industrial robot demonstrator, operation system, control system and control 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107290988A (en) | Robot and its teaching machine communication system and method | |
| US10749757B2 (en) | Method and apparatus for generating network control policy, and network controller | |
| CN105005471A (en) | Method, device, server and system for modifying configuration parameters of BIOS | |
| CN108306804A (en) | A kind of Ethercat main station controllers and its communication means and system | |
| CN106549864B (en) | A kind of Realization Method of Communication of cloud gateway | |
| CN202453710U (en) | Multi-axis linkage numerical control system | |
| CN103561032B (en) | The method of Modbus device network communication under ICP/IP protocol | |
| CN101341450A (en) | Method, communication network, and control unit for the cyclical transmission of data | |
| CN105824269B (en) | Double push between mainframe computer system and RF generator | |
| CN104660384A (en) | Network remote monitoring method for open numerical control system | |
| CN110457176A (en) | For the monitoring method of distributed system, device, storage medium and electronic equipment | |
| CN106294155B (en) | A kind of distribution I/O Simulation Controls test method, system and simulation computer | |
| CN205620710U (en) | Robot and demonstrator communication system thereof | |
| US20170277172A1 (en) | Sim system, control method therefor and production informatization system | |
| CN111769979A (en) | Cloud resource arranging method, system, terminal and storage medium | |
| CN110401658A (en) | A kind of data interactive method and interaction platform | |
| CN111090558B (en) | Panel detection system | |
| CN105245365A (en) | Parameter configuration method, equipment and system for virtual network | |
| CN112003753B (en) | Expected value judgment, acquisition, transmission and monitoring system and method based on configurable gateway | |
| CN113472828B (en) | Method, device and system for remote data acquisition and control | |
| CN107992752A (en) | A kind of data processing method, device and computer equipment | |
| Szabó et al. | Quality of control-aware resource allocation in 5G wireless access networks | |
| CN209497533U (en) | A kind of video processor, display and video control system | |
| CN106506264B (en) | A kind of self-defining data packet method of sampling based on SDN | |
| Xie et al. | Enhancing Simulation Mode Operation of ospfd |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |