CN109623787A - It is a kind of for controlling the teaching system of multiple industrial robots - Google Patents
It is a kind of for controlling the teaching system of multiple industrial robots Download PDFInfo
- Publication number
- CN109623787A CN109623787A CN201811615309.6A CN201811615309A CN109623787A CN 109623787 A CN109623787 A CN 109623787A CN 201811615309 A CN201811615309 A CN 201811615309A CN 109623787 A CN109623787 A CN 109623787A
- Authority
- CN
- China
- Prior art keywords
- teaching
- industrial robots
- master controller
- communication
- multiple industrial
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to industrial robot teaching technical fields more particularly to a kind of for controlling the teaching system of multiple industrial robots, including a teaching machine connects a controller, teaching process of the teaching machine to control multiple industrial robots；One master controller connects multiple industrial robots, operation of the master controller to control multiple industrial robots；One communication control unit is separately connected teaching machine and master controller, and communication control unit is communicated with master controller, teaching machine respectively using communication protocol, to carry out data transmission.Above-mentioned technical proposal the utility model has the advantages that invention can be realized to multiple industrial robots while carrying out teaching or automatic running, accurately control each industrial robot, reduce overall cost.
Description
Technical field
The present invention relates to industrial robot teaching technical fields more particularly to a kind of for controlling multiple industrial robots
Teaching system.
Background technique
Industrial robot needs to carry out it by teaching machine manual teaching, and control robot reaches designated position, and anti-
The position of the whole robot of polyphony, motion state, complete the repetition playback function of designated movement track, and robot is only complete in teaching
Bi Hou could normally come into operation.Therefore, teaching machine is essential robot man-machine interface part and robot control
One of the core component of system processed.
As industrial robot is in the extensive use of all trades and professions, more and more to the functional requirement of teaching machine, performance is wanted
Ask also higher and higher.That there are hardware capabilities is single for industrial robot teaching device at present, upper level applications exploit natural resources it is few, up and down
The problems such as position machine communication speed is slow, and be nearly all one-one relationship between teaching machine and robot body, it is each machine
People be equipped with a teaching machine in multi-robot Cooperation scene teaching have it is troublesome in poeration, efficiency is relatively low, high expensive, space accounts for
With it is big the disadvantages of.
Summary of the invention
In view of the problems of the existing technology and drawback, the present invention provide a kind of for controlling showing for multiple industrial robots
Teaching system.
Specific technical solution is as follows:
It is a kind of for controlling the teaching system of multiple industrial robots, including:
One teaching machine connects a master controller, teaching stream of the teaching machine to control multiple industrial robots
Journey；
The master controller connects multiple industrial robots, and the master controller is to control multiple industry
The operation of robot；
One communication control unit, is separately connected the teaching machine and the master controller, and the communication control unit uses
Communication protocol is communicated with the master controller, the teaching machine respectively, to carry out data transmission.
Further, the teaching machine includes a window system, and the window system is to provide multiple industrial machines
The human-computer interaction interface of device people's teaching.
Further, the human-computer interaction interface includes a touch screen, and a plurality of keys are arranged on Yu Suoshu touch screen, with
It carries out controlling multiple industrial robots progress teaching processes.
Further, the communication control unit includes data communication module and window communication module；
The data communication module is transmitted to the data between the teaching machine and the master controller；
The window communication module carries out between the window system to provide signal of communication or signal mechanism slot
Communication connection.
Further, the teaching machine further include:
One control unit of industrial robot connects the window system, and the control unit of industrial robot is to manage
The thread of multiple industrial robots is exchanged to be handled with task；
One communication unit is separately connected the control unit of industrial robot and the window system and the main control
Device, the communication unit to provide signal of communication or signal mechanism slot with respectively with the control unit of industrial robot and institute
It states window system and the master controller is communicatively coupled.
Further, the teaching machine includes a configuration unit, the control unit of industrial robot is connected, to multiple
The industrial robot initializes before powering on, and the initialization operation includes obtaining multiple industrial robots
Program listing and initial configuration parameter.
Further, the communication protocol includes Modbus Tcp communications protocol；
The teaching machine by the Modbus Tcp communications protocol respectively with the master controller and multiple industry
The connection of robot signal.
Further, the communication data transmitted between the teaching machine and the master controller include periodic data with
Machine data；
The periodic data read and receive in turn, when the random data arrives, suspends the period
The transmission of property data, preferentially sends the random data, after the random data is disposed, continues to send the week
Phase property data.
Further, the periodic data includes monitoring order；Or parameter setting order；Or user command；
And/or the random data includes file manipulation command；Or teaching order；Or the order under automatic mode.
Above-mentioned technical proposal the utility model has the advantages that
The present invention passes through the operation of main controller controls teaching machine, is shown using teaching machine multiple industrial robots
Religion, can be realized to multiple industrial robots while carrying out teaching or automatic running, accurately control each industrial robot, drop
The low overall cost of industrial robot control system, simplifies process when more industrial robot teachings, saves space, solves
Determined multi-robot Cooperation when scene teaching have it is troublesome in poeration, efficiency is relatively low, high expensive, the big disadvantage of space hold.
Detailed description of the invention
Fig. 1 is provided by the invention a kind of for controlling the teaching system block diagram of multiple industrial robots；
Fig. 2 is teaching machine structural block diagram provided by the invention.
In attached drawing: 1, teaching machine；2, master controller；3, multiple industrial robots；4, communication control unit；11, window system
System；111, human-computer interaction interface；12, control unit of industrial robot；13, communication unit；14, configuration unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
With reference to the accompanying drawing 1 and attached drawing 2 and specific embodiment the invention will be further described, but not as of the invention
It limits.
As shown in Figure 1, it is a kind of for controlling the teaching system of multiple industrial robots, including:
One teaching machine 1 connects a master controller 2, teaching process of the teaching machine 1 to control industrial robot 3；
Master controller 2 connects multiple industrial robots 3, operation of the master controller 2 to control multiple industrial robots 3；
One communication control unit 4, is separately connected teaching machine 1 and master controller 2, and communication control unit 4 uses communication protocol
2 are communicated with master controller 1, teaching machine respectively, to carry out data transmission.
In above-mentioned technical proposal, the operation of multiple industrial robots is controlled by master controller 2, using teaching machine 1 to more
A industrial robot 3 carries out teaching process, and utilizes communication control unit 4, carries out between master controller 2 and teaching machine 1
Data transmission, makes the order of teaching machine 1 timely and effectively reach master controller 2 down, completes showing to multiple industrial robots 3
Religion reduces the overall cost of industry production, improves industrial efficiency.
As preferred embodiment, as shown in Fig. 2, teaching machine 1 includes a window system 11, window system 11 is to provide
The human-computer interaction interface 111 of multiple 3 teachings of industrial robot.
As preferred embodiment, human-computer interaction interface 111 includes a touch screen, in a plurality of press is arranged on touch screen
Key carries out teaching process control multiple industrial robots 3.
As preferred embodiment, communication control unit 4 includes data communication module and window communication module；
In above-mentioned technical proposal, data communication module is to the data transmission between teaching machine 1 and master controller 2, window
Communication module carries out and the communication connection between window system 11, progress data biography to provide signal of communication or signal mechanism slot
It is defeated, it assigns the order of teaching machine 1 faster to multiple industrial robots 3, completes the teaching to multiple industrial robots 3.
As preferred embodiment, teaching machine 1 further include:
One control unit of industrial robot 12, connects window system 11, and control unit of industrial robot 12 is more to manage
The thread of a industrial robot 3 is exchanged to be handled with task；
One communication unit 13 is separately connected control unit of industrial robot 12 and window system 11 and master controller 2, communication
Unit 13 to provide signal of communication or signal mechanism slot with respectively with control unit of industrial robot 12 and window system 11 and
Master controller 2 is communicatively coupled.
In above-mentioned technical proposal, window system 11 is realized by connection control unit of industrial robot 12 to multiple industry
The task of robot 3 switches and scheduling, carries out window system 11 and master controller 2 using the signal of communication that communication unit 13 provides
With the data communication between control unit of industrial robot 12, assign the order of teaching machine 1 efficiently to multiple industrial machines
People 3, complete the teaching of multiple industrial robots 3.
As preferred embodiment, teaching machine 1 includes a configuration unit 14, connects control unit of industrial robot 12, is used
It is initialized before being powered on multiple industrial robots 3, initialization operation includes the journey for obtaining multiple industrial robots 3
Sequence inventory and initial configuration parameter.
As preferred embodiment, communication protocol includes Modbus Tcp communications protocol；
Teaching machine 1 is connected with master controller 2 and multiple 3 signals of industrial robot respectively by Modbus Tcp communications protocol
It connects；The communication data transmitted between teaching machine 1 and master controller 2 includes periodic data and random data；When randomness number
When according to arriving, the transmission of pause period data preferentially sends random data, after random data is disposed, continues
Sending cycle data.
In above-mentioned technical proposal, by Modbus Tcp communications protocol as master controller 2, multiple industrial robots 3 with
And the data between teaching machine 1 transmit medium, improve communication speed, program development resource increases, and solves multiple works
Scene teaching is troublesome with execute-in-place when industry robot 3 cooperates, efficiency is relatively low, high expensive, the big disadvantage of space hold.
As preferred embodiment, periodic data includes monitoring order；Parameter setting order；User command；Randomness
Data include file manipulation command；Teaching order；Order under automatic mode, the different task to multiple industrial robots 3
Processing, expands the scope of application of multiple industrial robots 3.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (9)
1. a kind of for controlling the teaching system of multiple industrial robots characterized by comprising
One teaching machine connects a master controller, teaching process of the teaching machine to control multiple industrial robots；
The master controller connects multiple industrial robots, and the master controller is to control multiple industrial machines
The operation of people；
One communication control unit is separately connected the teaching machine and the master controller, and the communication control unit is using communication
Agreement is communicated with the master controller, the teaching machine respectively, to carry out data transmission.
2. according to claim 1 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
Teaching machine includes a window system, and the window system is to provide human-computer interaction circle of multiple industrial robot teachings
Face.
3. according to claim 2 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
Human-computer interaction interface includes a touch screen, a plurality of keys is arranged on Yu Suoshu touch screen, control multiple industry
Robot carries out teaching process.
4. according to claim 2 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
Communication control unit includes data communication module and window communication module；
The data communication module is transmitted to the data between the teaching machine and the master controller；
The window communication module is to provide the communication between signal of communication or the progress of signal mechanism slot and the window system
Connection.
5. according to claim 2 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
Teaching machine further include:
One control unit of industrial robot, connects the window system, and the control unit of industrial robot is multiple to manage
The thread of the industrial robot is exchanged to be handled with task；
One communication unit is separately connected the control unit of industrial robot and the window system and the master controller, institute
State communication unit to provide signal of communication or signal mechanism slot with respectively with the control unit of industrial robot and the window
Port system and the master controller are communicatively coupled.
6. according to claim 5 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
Teaching machine includes a configuration unit, connects the control unit of industrial robot, powers on it to multiple industrial robots
Before initialize, the initialization operation includes that the program listing for obtaining multiple industrial robots and initialization are matched
Set parameter.
7. according to claim 1 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
Communication protocol includes Modbus Tcp communications protocol；
The teaching machine by the Modbus Tcp communications protocol respectively with the master controller and multiple industrial machines
The connection of people's signal.
8. according to claim 1 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
The communication data transmitted between teaching machine and the master controller includes periodic data and random data；
The periodic data read and receive in turn, when the random data arrives, suspends the periodical number
According to transmission, preferentially send the random data, after the random data is disposed, continue to send the periodicity
Data.
9. according to claim 7 a kind of for controlling the teaching system of multiple industrial robots, which is characterized in that described
Periodic data includes monitoring order；Or parameter setting order；Or user command；
And/or the random data includes file manipulation command；Or teaching order；Or the order under automatic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615309.6A CN109623787A (en) | 2018-12-27 | 2018-12-27 | It is a kind of for controlling the teaching system of multiple industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615309.6A CN109623787A (en) | 2018-12-27 | 2018-12-27 | It is a kind of for controlling the teaching system of multiple industrial robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109623787A true CN109623787A (en) | 2019-04-16 |
Family
ID=66078476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811615309.6A Pending CN109623787A (en) | 2018-12-27 | 2018-12-27 | It is a kind of for controlling the teaching system of multiple industrial robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109623787A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260909A (en) * | 2021-12-28 | 2022-04-01 | 杭州电子科技大学 | Industrial robot teaching method and system based on programmable controller |
| CN114473324A (en) * | 2022-02-21 | 2022-05-13 | 哈尔滨工业大学（深圳） | Multi-mechanical-arm collaborative splicing welding control method and system based on teaching learning |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101431458A (en) * | 2008-12-04 | 2009-05-13 | 北京航空航天大学 | CSMA industrial control network scheduling method based on P persisting policy |
| CN104731651A (en) * | 2013-12-20 | 2015-06-24 | 南京南瑞继保电气有限公司 | Power automation task scheduling and triggering method, system and processor |
| CN108015771A (en) * | 2017-12-11 | 2018-05-11 | 上海信耀电子有限公司 | A kind of industrial robot control system |
| CN207373189U (en) * | 2017-09-27 | 2018-05-18 | 姚绪旋 | A kind of industrial robot teaching device |
| CN108044624A (en) * | 2017-12-11 | 2018-05-18 | 上海信耀电子有限公司 | A kind of robot control system based on POWERLINK buses |
| 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 |
| CN108356796A (en) * | 2018-01-12 | 2018-08-03 | 宁波易拓智谱机器人有限公司 | A kind of teaching system being adapted to a variety of industrial robots |
-
2018
- 2018-12-27 CN CN201811615309.6A patent/CN109623787A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101431458A (en) * | 2008-12-04 | 2009-05-13 | 北京航空航天大学 | CSMA industrial control network scheduling method based on P persisting policy |
| CN104731651A (en) * | 2013-12-20 | 2015-06-24 | 南京南瑞继保电气有限公司 | Power automation task scheduling and triggering method, system and processor |
| CN207373189U (en) * | 2017-09-27 | 2018-05-18 | 姚绪旋 | A kind of industrial robot teaching device |
| CN108015771A (en) * | 2017-12-11 | 2018-05-11 | 上海信耀电子有限公司 | A kind of industrial robot control system |
| CN108044624A (en) * | 2017-12-11 | 2018-05-18 | 上海信耀电子有限公司 | A kind of robot control system based on POWERLINK buses |
| 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 |
| CN108356796A (en) * | 2018-01-12 | 2018-08-03 | 宁波易拓智谱机器人有限公司 | A kind of teaching system being adapted to a variety of industrial robots |
Non-Patent Citations (3)
| Title |
|---|
| 张金宏等: "基于CAN总线的分布式火灾报警控制系统", 《微计算机信息》 * |
| 李福运等: "《工业机器人操作教程》", 30 November 2016 * |
| 王勇等: "《工业控制系统网络安全防护》", 31 August 2017, 山东大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260909A (en) * | 2021-12-28 | 2022-04-01 | 杭州电子科技大学 | Industrial robot teaching method and system based on programmable controller |
| CN114473324A (en) * | 2022-02-21 | 2022-05-13 | 哈尔滨工业大学（深圳） | Multi-mechanical-arm collaborative splicing welding control method and system based on teaching learning |
| CN114473324B (en) * | 2022-02-21 | 2023-11-03 | 哈尔滨工业大学（深圳） | Multi-mechanical-arm collaborative splicing welding control method and system based on teaching learning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103425106B (en) | The master/slave station control system of a kind of EtherCAT based on Linux and method | |
| CN103941648A (en) | Multi-axis motion control system and control method thereof | |
| CN100568131C (en) | Multi-axis motion controller based on MPC5200 | |
| CN109623787A (en) | It is a kind of for controlling the teaching system of multiple industrial robots | |
| CN107037795B (en) | Industrial process control process guidance system | |
| CN109692471A (en) | A kind of wearable device and exchange method | |
| CN107942981B (en) | Coordinated control method of multi-point servo drive for stage | |
| CN102520665A (en) | Open robot demonstration device and robot control system | |
| CN105739475A (en) | Intelligent warp knitting machine control system | |
| CN108508812A (en) | A kind of AGV controllers I/O port multiplexing configuration system and method | |
| JP2017538199A (en) | Kits for controlling several computers and their applications | |
| CN206515683U (en) | Programmable human-computer interface system | |
| CN201327574Y (en) | Intelligent control panel device | |
| CN103439915A (en) | Electronic cam control method | |
| JP4184945B2 (en) | Micro-control device of knitting machine | |
| CN205334194U (en) | Robot control system based on automated control ware able to programme | |
| CN102622937A (en) | Robot demonstrator | |
| CN102540972B (en) | Remote control method supporting multi-point cross-platform communication for numerical control machine | |
| CN206574375U (en) | Digital rudder controller communication board with tutorial function | |
| CN102540967A (en) | Numerical control (NC) machine control system | |
| Li et al. | The application and research of the liquid level control technology used in mineral flotation process which based on the modbus communication protocol | |
| CN212808963U (en) | Integrated equipment with human-computer interface and motion control function | |
| Gu et al. | Control system design of 6-DOFs serial manipulator based on real-time ethernet | |
| CN104635678B (en) | A kind of multichannel electrical heating PWM control systems | |
| CN203650518U (en) | Multi-core control system of facial expression robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190416 |
|
| RJ01 | Rejection of invention patent application after publication |