CN112509408A - Multi-axis robot posture learning system based on mobile terminal control - Google Patents

Abstract

The invention relates to a multi-axis robot posture learning system based on mobile terminal control, and belongs to the field of machine control. The system comprises a processor, a communication module, a lower computer and an upper computer; the processor is respectively connected with the lower computer and the communication module; the communication module is connected with the upper computer. And decoding by the mobile terminal of the main controller to realize a commonly developed platform. The controller difference between different manipulators is eliminated, the cost and the use difficulty of a manipulator system are reduced, and the manipulator system has a good supporting effect on the popularization of the manipulators.

Description

Multi-axis robot posture learning system based on mobile terminal control

Technical Field

The invention belongs to the field of machine control, and relates to a multi-axis robot posture learning system based on mobile terminal control.

Background

The growth of the robotics industry is beginning to find application in factories, particularly in the construction and production industries. However, the high cost of the robot is a little burden for most of the robot learning enthusiasts to learn the robot, so that a simple learning system for trial teaching is particularly important.

Disclosure of Invention

In view of the above, the present invention provides a multi-axis robot posture learning system based on mobile terminal control.

In order to achieve the purpose, the invention provides the following technical scheme:

a multi-axis robot posture learning system based on mobile terminal control comprises a processor, a communication module, a lower computer and an upper computer;

the processor is respectively connected with the lower computer and the communication module;

the communication module is connected with the upper computer.

Optionally, the processor model is STM32F103ZET 6.

Optionally, the communication module is a bluetooth HT-06 module.

Optionally, the host computer is a mobile phone, and the mobile phone is connected with the control device through an APP:

(1) setting and selecting the type of a device motor, wherein the type comprises a steering engine, a stepping motor, a direct current servo motor and an alternating current servo motor;

(2) connecting the lower computer receiver, and feeding back information of connection success, wherein the information comprises 'connected to the manipulator';

(3) setting parameters of a trial motor;

(4) sending an equipment driving action instruction to enable each joint of the equipment to act independently;

(5) saving the set parameters;

(6) and selecting 'running the trial teaching action', and continuously running the equipment according to the parameters during trial teaching.

Optionally, the receiving, by the lower computer, the instruction includes:

(1) defining a system function library;

(2) defining a serial communication function library;

(3) defining a header file function library;

(4) defining a transmission data type;

(5) receiving an APP upper computer transmission instruction format;

(6) if the instruction is correct, the instruction is sent to the robot, otherwise, the transmission is stopped, and the correct instruction is waited.

The invention has the beneficial effects that: and decoding by the mobile terminal of the main controller to realize a commonly developed platform. The controller difference between different manipulators is eliminated, the cost and the use difficulty of a manipulator system are reduced, and the manipulator system has a good supporting effect on the popularization of the manipulators.

The robot system in the past is different for the manual operator of different brands, has just so increased the study cost, and this study system has eliminated the controller difference between the different manipulators, reduces the cost and the use degree of difficulty of manipulator system, and simulation industrial robot makes the user know its actual operating condition, knows the law of motion of manipulator, solves it and the process of optimal solution, realizes that the popularization of manipulator has positive effect.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic diagram of the present system;

fig. 2 is a flowchart of the upper computer program.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

Fig. 1-2 show a multi-axis robot posture learning system based on mobile terminal control.

1. Selection of processors

The used treater model of design is STM32F103ZET6, powerful, in the chip comparison of the same type, uses convenient and fast more, is fit for beginner's study development

2. Selection of communication modules

The selected communication module is a Bluetooth HT-06 module for communication between the upper computer and the lower computer. The method has the characteristics of low power consumption, support of a serial port protocol and support of interconnection with APP software of the mobile terminal. The design is a teaching article class, and serial port communication between the upper computer and the lower computer through the Bluetooth module is the most reasonable choice.

3. Design of upper computer interface

Nowadays, smart phones are widely applied by people, and the smart phones are convenient to operate and can be connected with the Bluetooth module in a seamless mode. The software of the mobile terminal upper computer designed at this time is programmed through a mobile phone APP programming environment.

4. Mobile phone APP software program source code partial description

(1) Setting and selecting the motor type of the equipment { a steering engine, a stepping motor, a direct current servo motor and an alternating current servo motor };

(2) connecting the lower computer receiver and successfully connecting feedback information, such as 'connected to the manipulator';

(3) setting parameters of a trial motor;

(4) sending an equipment driving action instruction to enable each joint of the equipment to act independently;

(5) saving the set parameters;

(6) clicking { running the trial teaching action } equipment can run continuously according to the parameters during trial teaching.

Source code part description of lower computer receiver program

(1) Defining a system function library;

(2) defining a serial communication function library;

(3) defining a header file function library;

(4) defining a transmission data type;

(5) receiving an APP upper computer transmission instruction format;

(6) if the instruction is correct, the instruction is sent to the robot, otherwise, the transmission is stopped, and the correct instruction is waited.

Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims (5)

1. The utility model provides a multiaxis robot gesture learning system based on mobile terminal control which characterized in that: the system comprises a processor, a communication module, a lower computer and an upper computer;

the processor is respectively connected with the lower computer and the communication module;

the communication module is connected with the upper computer.

2. The multi-axis robot posture learning system based on mobile terminal control as claimed in claim 1, wherein: the processor model is STM32F103ZET 6.

3. The multi-axis robot posture learning system based on mobile terminal control as claimed in claim 1, wherein: the communication module is a Bluetooth HT-06 module.

4. The multi-axis robot posture learning system based on mobile terminal control as claimed in claim 1, wherein: the host computer is the cell-phone, and the cell-phone passes through APP connection control equipment:

(1) setting and selecting the type of a device motor, wherein the type comprises a steering engine, a stepping motor, a direct current servo motor and an alternating current servo motor;

(2) connecting the lower computer receiver, and feeding back information of connection success, wherein the information comprises 'connected to the manipulator';

(3) setting parameters of a trial motor;

(4) sending an equipment driving action instruction to enable each joint of the equipment to act independently;

(5) saving the set parameters;

(6) and selecting 'running the trial teaching action', and continuously running the equipment according to the parameters during trial teaching.

5. The multi-axis robot posture learning system based on mobile terminal control as claimed in claim 1, wherein: the lower computer receiving instructions comprises:

(1) defining a system function library;

(2) defining a serial communication function library;

(3) defining a header file function library;

(4) defining a transmission data type;

(5) receiving an APP upper computer transmission instruction format;

(6) if the instruction is correct, the instruction is sent to the robot, otherwise, the transmission is stopped, and the correct instruction is waited.

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