CN108356796A - A kind of teaching system being adapted to a variety of industrial robots - Google Patents
A kind of teaching system being adapted to a variety of industrial robots Download PDFInfo
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- CN108356796A CN108356796A CN201810030240.4A CN201810030240A CN108356796A CN 108356796 A CN108356796 A CN 108356796A CN 201810030240 A CN201810030240 A CN 201810030240A CN 108356796 A CN108356796 A CN 108356796A
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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
- B25J13/00—Controls for manipulators
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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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- Automation & Control Theory (AREA)
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- Fuzzy Systems (AREA)
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Abstract
The invention discloses a kind of teaching systems being adapted to a variety of industrial robots, are related to mechanical arm teaching technical field, including：Controller module, controller module are arranged on industrial robot, and movement and operation for controlling industrial robot；Human-computer interaction module, human-computer interaction module is for controlling controller module；Network connecting module, network connecting module are used to controller module and human-computer interaction module passing through network connection so that human-computer interaction module can be by TCP communication Interface Controller industrial robot that controller module is compatible with；A kind of teaching system being adapted to a variety of industrial robots provided by the invention, effectively reduces the use difficulty of teaching system, reduces the learning cost of teaching system；The industrial robot that can apply to a variety of different models simultaneously, substantially increases the versatility of the teaching system of industrial robot, is conducive to the universal of industrial robot.
Description
Technical field
The present invention relates to industrial robot teaching technical field, especially a kind of teaching being adapted to a variety of industrial robots
System.
Background technology
For industrial machinery arm when doing teaching preservation ending coordinates point, height relies on reason of the operator to " coordinate system "
Solution.This has higher requirement to the mathematics standard of operator：Must have X-axis, the correlation of Y-axis, these space coordinates of Z axis is known
Know, corresponding mechanical arm tail end position can be estimated according to the value of XYZ；It is main because of movement of the teaching machine to mechanical arm tail end
If being realized by the modification of the mathematical coordinates value of " X-axis adds ", " X-axis subtracts " etc, these teaching machine learning costs are high, and
And do not have versatility, to limit the universal of industrial robot.
A kind of master slave mode teaching system for mechanical arm of as disclosed in Chinese invention patent CN107030679A and
Teaching method, the cardinal principle for the master slave mode teaching method of mechanical arm are that by two identical mechanical arms or have phase
The control device of congenerous, one as teaching mechanical arm (master control mechanical arm), another as execute work mechanical arm (from
Dynamic mechanical arm), realize that slave manipulator arm is run according to master control mechanical arm teaching track by operating master control mechanical arm.Use main controller
Tool arm carries out teaching, and slave manipulator arm is sent an instruction to after confirmation is errorless, and slave manipulator arm executes what master control mechanical arm was sent
Instruction.Can also the operation of master/slave mechanical arm real-time synchronization, master/slave mechanical arm is corresponding in real time and executes in real time；The teaching of the invention
For method in teaching there is still a need for the coordinate system for establishing actual machine arm terminal position, the complicated and difficulty that operates is high.
For another example a kind of mechanical arm teaching method, the apparatus and system disclosed in Chinese invention patent CN106182003A.It should
Mechanical arm teaching method, including：Obtain the teaching action data of working end, teaching action data be arranged on working end it is used
Property measuring unit IMU acquisition data of the working end in teaching action process；Working end is obtained according to teaching action data
Motion trace data and spatial attitude data；Movement instruction is generated according to motion trace data and spatial attitude data, and will fortune
Dynamic instruction is sent to mechanical arm, so that mechanical arm completes action corresponding with teaching action.The present invention is by motion trace data
It is shown in three-dimensional environment with spatial attitude data, desired mechanical arm movement locus is generated by visualization, simple editing,
This track is converted into manipulator motion instruction and is sent to mechanical arm, so that mechanical arm is completed comprising teaching action relevant work step
Suddenly；The invention teaching apparatus is complicated, such as Inertial Measurement Unit IMU etc., while its teaching method is more demanding to proficiency.
Invention content
One, technical problems to be solved
The purpose of the present invention is for the drawbacks described above present in the prior art, a variety of industrial machines can be adapted to by providing one kind
The teaching system of device people solves the problems, such as that current industrial robot teaching device is complicated, high using difficulty and learning cost is high.
Two, technical solution
In order to solve the above technical problems, the present invention provides a kind of teaching system being adapted to a variety of industrial robots, including：
Controller module, controller module be arranged on industrial robot, and for control industrial robot movement and
Operation；
Human-computer interaction module, human-computer interaction module is for controlling controller module；
Network connecting module, network connecting module are used for controller module and human-computer interaction module through network connection,
So that human-computer interaction module can be by TCP communication Interface Controller industrial robot that controller module is compatible with；
Controller module further includes transition communication protocol module, and transition communication protocol module is for realizing human-computer interaction module
Control by controller module to industrial robot；
Human-computer interaction module further includes teaching module, and teaching module carries out teaching behavior for controlling industrial robot.
Wherein, human-computer interaction module further includes I/O control module, program controling module, coordinate system demarcating module, mistake day
Will module and robot configuration module；I/O control module is used to control the input for the teaching system that can be adapted to a variety of industrial robots
And output equipment, coordinate system demarcating module is for determining user coordinate system and base coordinate system, and robot configuration module is for detecting
Every configuration of industrial robot, program controling module and error log module are used to ensure the normal fortune of human-computer interaction module
Row.
Wherein, teaching module can show the 3D models of industrial robot on human-computer interaction module, the visual angle of 3D models
It can be adjusted.
Wherein, the expansion scene that 3D models are used as 3D models by running the WebGL pages in WebView webpages；Industry
When robot moves, human-computer interaction module receives the udp broadcast of controller module, man-machine to receive location parameter signal
The location parameter signal of processing is sent to the WebGL pages by interactive module, and WebGL page synchronizations show the movement on 3D models.
Wherein, human-computer interaction module uses Material Design as design standard.
Wherein, network connecting module uses wireless router, and human-computer interaction module and controller module can use WIFI patterns
Network connection.
Wherein, the hardware device of human-computer interaction module uses tablet computer.
Wherein, industrial robot includes ABB robots, Ku Ka robots and Kawasaki robot.
Three, advantageous effect
Compared with prior art, a kind of teaching system being adapted to a variety of industrial robots provided by the invention, effectively
The use difficulty for reducing teaching system, reduces the learning cost of teaching system；It can apply to a variety of different models simultaneously
Industrial robot substantially increases the versatility of the teaching system of industrial robot, is conducive to the universal of industrial robot.
Specific implementation mode
With reference to embodiment, the embodiment of the present invention is furthur described in detail.Following embodiment is used for
Illustrate the present invention, but cannot be used for limiting the scope of the invention.
A kind of teaching system being adapted to a variety of industrial robots of the embodiment of the present invention, including：
Controller module, controller module be arranged on industrial robot, and for control industrial robot movement and
Operation；
Human-computer interaction module, human-computer interaction module is for controlling controller module, in specific implementation, human-computer interaction module
Hardware device use intelligent terminal include tablet computer and smart mobile phone；The software of human-computer interaction module uses Material
Design is as design standard；
Network connecting module, network connecting module are used for controller module and human-computer interaction module through network connection,
So that human-computer interaction module can be by TCP communication Interface Controller industrial robot that controller module is compatible with；
Controller module further includes transition communication protocol module, and transition communication protocol module is for realizing human-computer interaction module
Control by controller module to industrial robot, for the industrial robot of different model, corresponding transition communication protocols
Discuss that module is also inconsistent, thus the transition communication protocol corresponding to the industrial robot of different model write it is also different；
Human-computer interaction module further includes teaching module, and teaching module carries out teaching behavior for controlling industrial robot, shows
Religion module sends out move signal, and controller module receives the movement of control industrial robot after move signal, and
And the moving direction of move signal is based on user coordinate system, including upper, lower, left, right, front and rear, further include simultaneously
Industrial robot axis, joint angular turn move signal.
Human-computer interaction module further includes I/O control module, program controling module, coordinate system demarcating module, error log module
With robot configuration module；I/O control module is for controlling outputting and inputting for the teaching system that can be adapted to a variety of industrial robots
Equipment, coordinate system demarcating module is for determining user coordinate system and base coordinate system, and robot configuration module is for detecting industrial machine
Every configuration of device people, program controling module and error log module are used to ensure the normal operation of human-computer interaction module.
The 3D models of industrial robot can be shown that the visual angle of 3D models can be carried out by teaching module on human-computer interaction module
It adjusts.
The expansion scene that 3D models are used as 3D models by running the WebGL pages in WebView webpages；Industrial robot
When mobile, human-computer interaction module receives the udp broadcast of controller module, to receive location parameter signal, human-computer interaction mould
The location parameter signal of processing is sent to the WebGL pages by block, and WebGL page synchronizations show the movement on 3D models, specific
In implementation process, industrial robot passes through each axis, the rotational angle information in joint with 200 milliseconds of primary refreshing frequencys
The form of udp broadcast is sent to tablet computer, and tablet computer parses wherein industrial robot after receiving udp broadcast
Each axis, joint rotational angle information, and shown by 3D models.
In specific implementation, network connecting module uses wireless router, human-computer interaction module and controller module available
WIFI mode networks connect, and human-computer interaction module realizes control industrial machine by the TCP communication interface that controller module is compatible with
The purpose of device people.
Industrial robot includes ABB robots, Ku Ka robots and Kawasaki robot, according to the need of different application scene
It asks, can also apply on other industrial robots.
A kind of teaching system being adapted to a variety of industrial robots of patent of the present invention, operator is in actual application
In, operator establishes the base coordinate system when the industrial robot under the visual angle under previous orientation, then in human-computer interaction module
In tablet computer, by the visual angle of 3D models by finger drag function, the camera position in scene is unfolded in adjustment, keeps tablet electric
The visual angle of 3D models in brain with reality in the visual angle of industrial robot it is consistent, that is, the user coordinate system for the 3D models established with
The base coordinate system all directions of mechanical arm are consistent；Operator sends industrial robot on the basis of user coordinate system and moves at this time
Command signal directly continues to send industrial robot on the basis of user coordinate system and move when operator position moves
Command signal greatly reduces the use difficulty of teaching system, and the frequent movement for solving operator causes habitual teaching wrong
This site problems accidentally；Simultaneously directly teaching system is greatly improved in such a way that tablet computer connects controller module
It unites and different industrial robots is carried out with the compatibility of teaching, it is more to further solve button on traditional teaching machine, complicated for operation
The problem of, it is further that the teaching system on industrial robot is independent, allow the same teaching system that can switch connection
Multiple industrial robots, while being also beneficial to the universal of industrial robot.
It the above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of teaching system being adapted to a variety of industrial robots, which is characterized in that described to be adapted to a variety of industrial robots
Teaching system include：
Controller module, the controller module are arranged on industrial robot, and the fortune for controlling the industrial robot
Dynamic and operation；
Human-computer interaction module, the human-computer interaction module is for controlling the controller module；
Network connecting module, the network connecting module are used to the controller module and the human-computer interaction module passing through net
Network connects so that the human-computer interaction module can be by TCP communication Interface Controller industrial machine that the controller module is compatible with
Device people；
The controller module further includes transition communication protocol module, and the transition communication protocol module is for realizing described man-machine
Control of the interactive module by the controller module to industrial robot；
The human-computer interaction module further includes teaching module, and the teaching module carries out teaching row for controlling industrial robot
For.
2. a kind of teaching system being adapted to a variety of industrial robots as described in claim 1, which is characterized in that described man-machine
Interactive module further includes I/O control module, program controling module, coordinate system demarcating module, error log module and robot configuration
Module；The I/O control module is used to control the input and output device for the teaching system that can be adapted to a variety of industrial robots, institute
Coordinate system demarcating module is stated for determining user coordinate system and base coordinate system, the robot configuration module is for detecting industrial machine
Every configuration of device people, described program control module and error log module are used to ensure the normal operation of human-computer interaction module.
3. a kind of teaching system being adapted to a variety of industrial robots as described in claim 1, which is characterized in that the teaching
The 3D models of industrial robot can be shown that the visual angle of the 3D models can be adjusted by module on the human-computer interaction module
Section.
4. a kind of teaching system being adapted to a variety of industrial robots as claimed in claim 3, which is characterized in that the 3D moulds
The expansion scene that type is used as 3D models by running the WebGL pages in WebView webpages；When the industrial robot movement,
The human-computer interaction module receives the udp broadcast of the controller module, to receive location parameter signal, the man-machine friendship
The location parameter signal of processing is sent to the WebGL pages by mutual module, and WebGL page synchronizations show the movement on 3D models.
5. a kind of teaching system being adapted to a variety of industrial robots as described in claim 1, which is characterized in that described man-machine
Interactive module is using Material Design as design standard.
6. a kind of teaching system being adapted to a variety of industrial robots as described in claim 1, which is characterized in that the network
Link block uses wireless router, the human-computer interaction module that can be connected with WIFI mode networks with controller module.
7. a kind of teaching system being adapted to a variety of industrial robots as described in claim 1, which is characterized in that described man-machine
The hardware device of interactive module uses tablet computer.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015651A (en) * | 2018-08-27 | 2018-12-18 | 佛山华数机器人有限公司 | A kind of visual processes integral system and its application method based on teaching machine |
| CN109623787A (en) * | 2018-12-27 | 2019-04-16 | 上海信耀电子有限公司 | It is a kind of for controlling the teaching system of multiple industrial robots |
| CN109799771A (en) * | 2018-12-29 | 2019-05-24 | 深圳市越疆科技有限公司 | A kind of control system of industrial robot, method and device |
| CN110508908A (en) * | 2019-08-05 | 2019-11-29 | 苏州热工研究院有限公司 | A kind of polymorphic type welding special purpose robot and its self checking method |
| CN110757449A (en) * | 2019-09-05 | 2020-02-07 | 珠海格力电器股份有限公司 | Demonstrator-to-lower controller communication method, computer readable storage medium and robot |
| CN111037566A (en) * | 2019-12-30 | 2020-04-21 | 深圳前海达闼云端智能科技有限公司 | Robot adaptation method, storage medium, control device, method and system |
| CN111360794A (en) * | 2020-03-31 | 2020-07-03 | 实时侠智能控制技术有限公司 | Teaching system adaptive to various models of robots and teaching method thereof |
| CN111390908A (en) * | 2020-03-26 | 2020-07-10 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
| CN114281235A (en) * | 2021-12-22 | 2022-04-05 | 徐工汉云技术股份有限公司 | Pump truck posture display and control method based on 3D model |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015651A (en) * | 2018-08-27 | 2018-12-18 | 佛山华数机器人有限公司 | A kind of visual processes integral system and its application method based on teaching machine |
| CN109623787A (en) * | 2018-12-27 | 2019-04-16 | 上海信耀电子有限公司 | It is a kind of for controlling the teaching system of multiple industrial robots |
| CN109799771A (en) * | 2018-12-29 | 2019-05-24 | 深圳市越疆科技有限公司 | A kind of control system of industrial robot, method and device |
| CN110508908A (en) * | 2019-08-05 | 2019-11-29 | 苏州热工研究院有限公司 | A kind of polymorphic type welding special purpose robot and its self checking method |
| CN110757449A (en) * | 2019-09-05 | 2020-02-07 | 珠海格力电器股份有限公司 | Demonstrator-to-lower controller communication method, computer readable storage medium and robot |
| CN111037566A (en) * | 2019-12-30 | 2020-04-21 | 深圳前海达闼云端智能科技有限公司 | Robot adaptation method, storage medium, control device, method and system |
| CN111390908A (en) * | 2020-03-26 | 2020-07-10 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
| CN111390908B (en) * | 2020-03-26 | 2022-05-17 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
| CN111360794A (en) * | 2020-03-31 | 2020-07-03 | 实时侠智能控制技术有限公司 | Teaching system adaptive to various models of robots and teaching method thereof |
| CN111360794B (en) * | 2020-03-31 | 2022-08-26 | 上海捷勃特机器人有限公司 | Teaching system adaptive to various models of robots and teaching method thereof |
| CN114281235A (en) * | 2021-12-22 | 2022-04-05 | 徐工汉云技术股份有限公司 | Pump truck posture display and control method based on 3D model |
| CN114281235B (en) * | 2021-12-22 | 2024-05-17 | 徐工汉云技术股份有限公司 | Pump truck posture display and control method based on 3D model |
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