CN112820181A - Teaching robot integration system, operation method thereof and computer storage medium - Google Patents
Teaching robot integration system, operation method thereof and computer storage medium Download PDFInfo
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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Abstract
The application discloses teaching robot integrated system and operation method, computer storage medium, the method includes: acquiring at least one functional instruction of a teaching robot integration system; displaying a corresponding first function button on an operation interface of the teaching robot integration system based on at least one function instruction; and when a first instruction of clicking the first function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the first function button. Through the mode, the practical teaching of the robot can be rapidly realized by the visual and understandable scheme, and the teaching efficiency is improved.
Description
Technical Field
The present application relates to the field of robots, and in particular, to an integrated teaching robot system, a method of operating the same, and a computer storage medium.
Background
With the increasing manpower cost of the current society, it has become a trend to mechanically automate products. In order to reduce the production cost and improve the product quality, manufacturers consider introducing automation equipment to replace manual operation, so that the benefits of enterprises are improved. The most advanced technology of the automation industry is basically mastered in industrialized countries such as Germany, Japanese and America, and China has a certain gap relatively.
At present, the teaching robot can only realize the display of a single part and cannot finish the display of the whole work flow, and the teaching efficiency is not high.
Disclosure of Invention
In order to solve the above problems, the present application provides a teaching robot integration system, an operating method thereof, and a computer storage medium, which can visually display function buttons on an operation interface, so that the teaching robot integration system can conveniently execute corresponding functions after clicking, and can quickly implement practical teaching of a robot by a visual and understandable scheme, thereby improving teaching efficiency.
The technical scheme adopted by the application is to provide an operation method of a teaching robot integration system, and the method comprises the following steps: acquiring at least one functional instruction of a teaching robot integration system; displaying a corresponding first function button on an operation interface of the teaching robot integration system based on at least one function instruction; and when a first instruction of clicking the first function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the first function button.
The first function button comprises at least one of a reset button, a view reset state button, an automatic picture button, a manual picture button and a parameter picture button.
Wherein, when detecting the first instruction of clicking first function button, control teaching robot integrated system carries out the function command that corresponds first function button, include: when a first instruction of clicking a reset button is detected, controlling the teaching robot integration system to execute a corresponding initialized function instruction so as to enable the teaching robot integration system to perform reset operation; and when a second instruction of clicking the reset state viewing button is detected, controlling the operation interface to switch the interface so as to display the reset state of the teaching robot integration system on the current interface.
Wherein, when detecting the first instruction of clicking first function button, control teaching robot integrated system carries out the function command that corresponds first function button, include: when a first instruction of clicking the automatic picture button is detected, controlling an operation interface to switch the interface so as to display a second function button and a first function button corresponding to the automatic picture button on a current interface; and when a second instruction for clicking the second function button or the first function button is detected, controlling the teaching robot integration system to execute a function instruction corresponding to the second function button or the first function button.
Wherein, when detecting the first instruction of clicking first function button, control teaching robot integrated system carries out the function command that corresponds first function button, include: when a first instruction of clicking the manual picture button is detected, controlling an operation interface to switch the interface so as to display a third function button corresponding to the manual picture button on the current interface; and when a second instruction of clicking the third function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the third function button.
The third function button comprises an index plate operation button and a position changer operation button; when a second instruction of clicking a third function button is detected, the teaching robot integration system is controlled to execute a function instruction corresponding to the third function button, and the method comprises the following steps: when a second instruction for clicking the index plate operating button or the shifter operating button is detected, controlling the operating interface to switch the interface so as to display a fourth function button corresponding to the index plate operating button or the shifter operating button on the current interface; and when a third instruction of clicking the fourth function button is detected, controlling an index plate or a position changer in the teaching robot integrated system to execute the function instruction corresponding to the fourth function button.
Wherein, when detecting the first instruction of clicking first function button, control teaching robot integrated system carries out the function command that corresponds first function button, include: when a first instruction of clicking a parameter picture button is detected, controlling an operation interface to switch interfaces so as to display a plurality of parameter setting frames corresponding to the parameter picture button on a current interface; and when detecting that the corresponding parameter data is input into the parameter setting frame, controlling the teaching robot integration system to store the parameter data.
The teaching robot integrated system comprises a demonstrator; the method further comprises the following steps: acquiring a control instruction on a demonstrator; switching interfaces on an operation interface of the demonstrator based on the control command so as to display a fifth function button corresponding to the control command on the current interface; and when a second instruction for clicking the fifth function button is detected, controlling the teaching robot integration system to execute a control instruction corresponding to the fifth function button.
Another technical scheme that this application adopted provides a teaching robot integrated system, and this teaching robot integrated system includes: the operation interface is used for displaying function buttons of the teaching robot integration system; a processor and a memory coupled to the processor; the memory is used for storing program data and the processor is used for executing the program data so as to realize the method provided by the technical scheme.
Another technical solution adopted by the present application is to provide a computer storage medium for storing program data, which when executed by a processor, is used for implementing the method provided in the above technical solution.
The beneficial effect of this application is: in contrast to the state of the art, a method of operating an instructional robot integration system of the present application, the method comprising: acquiring at least one functional instruction of a teaching robot integration system; displaying a corresponding first function button on an operation interface of the teaching robot integration system based on at least one function instruction; and when a first instruction of clicking the first function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the first function button. Through the mode, the function buttons can be visually displayed on the operation interface, the integrated system of the teaching robot can conveniently execute corresponding functions after clicking, the practical teaching of the robot can be quickly realized through a visual and understandable scheme, and the teaching efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic diagram of an embodiment of an instructional robot integration system provided herein;
FIG. 2 is a top view of FIG. 1 as provided herein;
FIG. 3 is a schematic flow chart diagram illustrating one embodiment of a method of operation of the teaching robot integration system provided herein;
4-7 are schematic display diagrams of an embodiment of a method interface for operating an integrated teaching robot system provided herein;
FIG. 8 is a schematic flow chart diagram of another embodiment of a method of operation of the teaching robot integration system provided herein;
9-11 are schematic display views of another embodiment of an interface for a method of operation of an integrated teaching robot system provided herein;
FIG. 12 is a schematic diagram of an embodiment of an instructional robot integration system provided herein;
fig. 13 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of an integrated teaching robot system provided in the present application, and fig. 2 is a top view of fig. 1 provided in the present application. The teaching robot integration system 10 includes a platform 11, a first robot 12, a workpiece housing shelf 13, a transport device 14, and a second robot 15.
Wherein the controllers, such as servo controllers, of the corresponding first robot 12, transfer device 14 and second robot 15 are arranged inside the platform 11.
The surface of the platform 11 is provided with a first robot 12, a workpiece holding shelf 13, a transport device 14 and a second robot 15. Wherein, the first robot 12 is disposed at one side of the platform 11. The workpiece holding rack 13 is disposed near one side of the first robot 12 and is configured to hold a workpiece. The conveying device 14 is disposed near the other side of the first robot 12 and is used for cooperating with the first robot 12 to convey the workpiece. The second robot 15 is disposed at the other side of the platform 11, and is configured to grasp the workpiece from the parking place of the transport device 14 and move the workpiece to the corresponding processing area.
Specifically, the first robot 12 includes a first manipulator 121 and a first teach pendant 122. The first teach pendant 122 is coupled to the first robot 121 and detachably connected to the stage 11 for controlling the first robot 121. For example, the first teaching unit 122 is connected to a controller of the first robot 121, and the first robot 121 can be controlled to perform an operation on the first teaching unit 122 by the controller.
The second robot 15 includes a second robot hand 151 and a second teaching pendant 152. The second teach pendant 152 is coupled to the second robot 151 and detachably connected to the stage 11 for controlling the second robot 151. For example, the second teaching unit 152 is connected to a controller of the second robot 151, and the second robot 151 can be controlled by the controller to perform an operation performed by the second teaching unit 152.
Specifically, the workpiece housing shelf 13 is provided at a work start position of the first robot 121, and the transport device 14 is provided at a work end position of the first robot 121. The first robot 12 is a four-axis robot that can be raised and lowered in a direction perpendicular to the platform 11 and rotated in a direction perpendicular to the platform 11. When the first robot 121 rotates in a direction perpendicular to the stage 11, a fan shape is formed. The workpiece receiving rack 13 is arranged at the beginning of the sector and the transport device 14 is arranged at the end of the sector. The first robot 121 can then pick up the workpiece from the workpiece receiving rack 13 onto the transport device 14.
The second robot 15 can then pick up the workpiece from the parking of the transport device 14 and move it to the corresponding processing zone.
In this embodiment, a teaching robot integration system includes: a platform; the first robot is arranged on one side of the platform; the workpiece accommodating frame is arranged close to one side of the first robot and used for accommodating workpieces; the transmission device is arranged close to the other side of the first robot and used for being matched with the first robot to transmit the workpiece; and the second robot is arranged on the other side of the platform and used for grabbing the workpiece from the parking position of the conveying device and moving the workpiece to the corresponding processing area. Through the mode, linkage of multiple parts is achieved, practical teaching of the robot is achieved rapidly through the visual and understandable scheme, and teaching efficiency is improved.
In other embodiments, with continued reference to fig. 1 and 2, the teaching robot integration system 10 further includes an image processing device 16 disposed proximate to an end of the transport 14 for identifying workpieces on the transport 14.
Specifically, after the conveying device 14 places a workpiece thereon, the operation is started to convey the workpiece in the direction of the image processing device 16, a sensor is provided at one end of the conveying device 14 in the direction of the image processing device 16, and when the sensor detects the workpiece, the conveying device 14 stops conveying and the image processing device 16 recognizes the workpiece.
In some embodiments, the image processing device 16 comprises a camera, a processor, a light source and a display, and the image of the workpiece taken by the camera is transmitted to the processor, and the processor recognizes and detects the image, so as to control the second robot 15 to perform corresponding operations after recognition. In some examples, an IO module is adopted to realize image input and output, the input and output are triggered at a 5-24V level, the program of the section is set as a photographing recognition opportunity for three times, and if the three times are not recognized, the PLC system gives an alarm, and whether a workpiece is damaged or a foreign matter exists at a photographing point needs to be checked.
In some embodiments, with continued reference to fig. 1 and 2, the teaching robot integration system 10 further includes a jig housing 17, an index 18, and an index plate 19. The fixture accommodating rack 17 is disposed on the platform 11 for accommodating different types of fixtures. Specifically, different receiving grooves are provided in the jig receiving rack 17 to receive corresponding jigs. The shifter 18 is disposed near the bottom of the image processing apparatus 16; wherein, the position changer 18 is provided with a containing position for matching with the second robot 15 to contain the workpiece. An index plate 19 disposed near one end of the transport device 14; wherein, the index plate 19 comprises at least one accommodating position for accommodating the workpiece in cooperation with the second robot 15.
In an application scene, the machined part includes machined part A, machined part B, machined part C and machined part D, and anchor clamps holding frame 17 sets up anchor clamps 1, anchor clamps 2, anchor clamps 3 and anchor clamps 4, and wherein, anchor clamps 1 correspond the pile up neatly, anchor clamps 2 correspond the spraying, anchor clamps 3 correspond the welding and anchor clamps 4 correspond self-defined instruction. Different holding grooves are provided for holding corresponding clamps. Is arranged on the workpiece accommodating frame 13. The first robot 12 is controlled to grasp a workpiece on the processing container 13, and after a grasping success signal is obtained, the motor on the transport device 14 is controlled to rotate so that the transport direction thereof faces the image processing device 16. When the first robot 12 places the workpiece on the transport device 14, the transport device 14 transports the workpiece to the image processing device 16, and when a sensor provided on the transport device 14 detects the workpiece, the motor on the transport device 14 is controlled to stop rotating. The workpiece is identified and detected by the image processing device 16. And controlling the second robot 15 to select a corresponding clamp to grab the workpiece according to the recognition result and the current instruction. And if the current command is palletizing, controlling the second robot 15 to select the clamp 1 to grab the workpiece, and finishing the palletizing command. If the current command is spraying, the second robot 15 is controlled to select the clamp 2 to grab the workpiece and place the workpiece on the position changer 18, the position changer 18 is controlled to rotate to a processing position to complete the spraying command, then the workpiece after spraying is collected, and the position changer 18 is reset. If the current command is welding, the second robot 15 is controlled to select the clamp 3 to grab the workpiece, the workpiece is placed on the index plate 19, the index plate 19 is controlled to rotate to the machining position to complete the welding command, then the welded workpiece is collected, and the index plate 19 is reset. And if the current instruction is self-defined, controlling the second robot 15 to select the clamp 4 to grab the workpiece to complete the self-defined instruction.
In some embodiments, a first gripper tool 24 is provided on the first robot 12 and a second gripper tool 23 is provided on the second robot 15. Wherein the second gripping tool 23 is a pneumatic gripping tool. The pneumatic gripping tool is matched with the clamp on the clamp containing frame 17 to complete gripping of the workpiece.
In some embodiments, with continued reference to fig. 1 and 2, the teaching robot integration system 10 further includes a safety light curtain 20. The safety light curtain 20 is arranged on the platform 11 around the first robot 12, the workpiece receiving rack 13 and the second robot 15. The safety light curtain 20 is used to detect the work area of the teaching robot integration system 10 where an object such as a hand enters. For example, one side of the safety light curtain is provided with a plurality of infrared transmitting tubes at equal intervals, the other side of the safety light curtain is correspondingly provided with the same number of infrared receiving tubes which are arranged in the same way, and each infrared transmitting tube is correspondingly provided with one corresponding infrared receiving tube and is arranged on the same straight line. When no barrier exists between the infrared transmitting tube and the infrared receiving tube on the same straight line, the modulation signal (optical signal) sent by the infrared transmitting tube can smoothly reach the infrared receiving tube. After the infrared receiving tube receives the modulation signal, the corresponding internal circuit outputs low level, and under the condition of an obstacle, the modulation signal (optical signal) sent by the infrared transmitting tube can not smoothly reach the infrared receiving tube, at this moment, the infrared receiving tube can not receive the modulation signal, and the output of the corresponding internal circuit is high level. When no object passes through the light curtain, the modulated signals (light signals) sent by all the infrared transmitting tubes can smoothly reach the corresponding infrared receiving tube on the other side, so that all the internal circuits output low level. Thus, the presence or absence of an object can be detected by analyzing the state of the internal circuit.
In other embodiments, the teaching robot integration system 10 further includes a spray station 21 and an operator interface 22. The operation interface may be a touch display.
In some embodiments, the instructional robot integration system 10 further comprises a voice recognition device for receiving user voice instructions. In an application scene, when the voice function is used, the scene needs to be kept quiet, otherwise, the microphone needs to be connected into a control room or other quiet places through an extension line, and the microphone is far away from a noisy environment. Specifically, the voice recognition apparatus includes a voice recognition module board. This speech recognition module board is for single face subsides dress, and main IC includes: 3721-001, W25Q64, ES8388, SGM4890, etc. The input of a single microphone is supported, the input is identified by 3721-001 and then output to the ES8388 by the IIS, and the ES8388 is processed and then sent to the power amplification chip to drive the loudspeaker to play feedback sound. The 5V power is input through the power interface, the 5V voltage is reduced to 3.3V voltage through DCDC, and the 5V voltage is reduced to 1.2V through one DCDC. Three power supplies are needed to work together on the board. All functional IO ports of the 3721-plus-001 chip are led out from the module board through pins and are converted into corresponding voltages through the intermediate relay, and the module board can be used for signal butt joint of controllers such as a PLC (programmable logic controller), a robot and a vision.
It should be noted that 1)5V power supply ensures a rated power supply capacity of 500mA, and the power supply is required to be clean and has no interference, and the ripple is not more than 50 mV. And a filter capacitor is added at the input point of the 5V power supply. 2) The IO level of the module is 3.3V level, and if the IO level needs to be connected with 5V or 2.5V logic level, a level conversion circuit needs to be added. 3) The communication interface part can be connected with a small resistor in series. 4) The horn and the mic interface on the module can be led out to the bottom plate and connected by adopting a socket. 5) And connecting the UART0 and DEBUGEN signals to a bottom board jumper, and jumping the jumper to enter a debugging mode. 6) UART1 signal need be come out, uses row's pin or socket, makes things convenient for serial ports to upgrade. 7) The JLINK interface needs to be connected out, and the debugging and downloading codes are used. 8) Please note that the large current signal is not required to be routed under the mailing board, and the Mic routing is as short as possible and is processed for isolation and packet-based processing. The Mic trace cannot be crossed by other traces.
In the embodiment, the teaching robot integrated system can realize multi-part linkage, so that the robot practical teaching can be quickly realized by a visual and understandable scheme, and the teaching efficiency is improved.
Referring to fig. 3, fig. 3 is a schematic flowchart of an embodiment of an operation method of the teaching robot integration system provided in the present application. The method comprises the following steps:
step 31: at least one functional instruction of the teaching robot integration system is obtained.
In this embodiment, the teaching robot integration system is the teaching robot integration system mentioned in any of the above embodiments. The functional instruction can control the teaching robot integrated system to execute corresponding operation.
Step 32: and displaying a corresponding first function button on an operation interface of the teaching robot integration system based on at least one function instruction.
In this embodiment, a corresponding first function button is provided for the function instruction. If a stop button is arranged on the operation interface, the stop button is used for stopping the action of the teaching robot integration system.
Step 33: and when a first instruction of clicking the first function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the first function button.
In this embodiment, the first function button includes at least one of a reset button, a view reset state button, an automatic screen button, a manual screen button, and a parameter screen button.
In an application scenario, the following description is made with reference to fig. 4 to 7:
as shown in fig. 4, a reset button, a STOP button, a manual mode button, an automatic mode button, a STOP button, a check reset state button, an automatic screen button, a manual screen button, a parameter screen button, an index dial operation button, and a shifter operation button are displayed on the operation interface of the teaching robot integrated system. The manual mode button and the automatic mode button are switched, when the teaching robot integrated system is switched to the manual mode in the automatic operation process, the effect of the teaching robot integrated system is the same as that of a stop key.
And when a first instruction of clicking a reset button is detected, controlling the teaching robot integration system to execute a corresponding initialized function instruction so as to enable the teaching robot integration system to perform reset operation. Specifically, teaching robot integrated system will initialize, and first robot, second robot, graduated disk, ware etc. that shifts all can get back to the initial point, and the pilot lamp bright green can appear in the button below after the completion that resets.
And when a second instruction of clicking the reset state viewing button is detected, controlling the operation interface to switch the interface so as to display the reset state of the teaching robot integration system on the current interface. Specifically, the interface shown in fig. 4 is switched to the interface shown in fig. 5. In fig. 5, the completion of the resetting is indicated by the fact that the indicator lights are turned on green before the index plate is completely reset, the conveying device has no foreign matter, the first robot is completely reset, the positioner is completely reset, the safety light curtain has no shielding, and the second robot is completely reset. If the corresponding indicator light is not on, the corresponding part can be checked, if foreign matters block the safety light curtain, and if articles exist on the conveying device, the conveying device is requested to be cleaned. The other parts cannot be reset, and the hardware needs to be checked. Correspondingly, a return button is provided in fig. 5, and after the return button is clicked, the interface shown in fig. 4 is switched to.
In another embodiment, when a first instruction of clicking a parameter picture button is detected, controlling an operation interface to perform interface switching so as to display a plurality of parameter setting frames corresponding to the parameter picture button on a current interface; and when detecting that the corresponding parameter data is input into the parameter setting frame, controlling the teaching robot integration system to store the parameter data. If the parameter picture button in fig. 4 is clicked, the operation interface is controlled to switch to the interface shown in fig. 6. Fig. 6 shows a main screen button, a manual screen button, an automatic screen button, an index dial operation button, a shifter operation button, and a parameter setting frame corresponding to parameters. The parameters include index plate manual speed, index plate automatic speed, index plate reset speed, index plate blanking speed, positioner manual speed, positioner automatic speed, positioner reset speed and positioner blanking speed, and corresponding parameter setting frames. And clicking the corresponding parameter setting box to input corresponding parameter data. All speeds are expressed in pulses, 100000 pulses corresponding to 360 ° rotation of the indexing disk and index, and all time units are 100 milliseconds.
In another embodiment, when a first instruction of clicking an automatic picture button is detected, an operation interface is controlled to perform interface switching so as to display a second function button and a first function button corresponding to the automatic picture button on a current interface; and when a second instruction for clicking the second function button or the first function button is detected, controlling the teaching robot integration system to execute a function instruction corresponding to the second function button or the first function button. If the automatic picture button in fig. 4 is clicked, the operation interface is controlled to switch to the interface shown in fig. 7. In fig. 7, a start button manual picture button, an automatic picture button, an index plate operation button, a shifter operation button, a parameter picture button, a reset button, a STOP button, a manual mode button, an automatic mode button, a STOP button, a check reset state button, a selected palletizing function button, a selected spraying function button, a selected welding function button, and a custom function button are displayed. With respect to fig. 4, four auto function options and one start button have been added. The function to be performed is selected, the starting key can be pressed down by selecting the automatic mode after the reset is completed, and the teaching robot integrated system can automatically run. If the automatic function is not selected, the system will execute the default function: stacking, spraying, welding and self-defining the priority sequence are decreased progressively, if the warehouse lacks workpieces, the next function is carried out by automatically skipping.
In the embodiment, at least one functional instruction of the teaching robot integration system is acquired; displaying a corresponding first function button on an operation interface of the teaching robot integration system based on at least one function instruction; when detecting the first instruction of clicking first function button, the mode of control teaching robot integrated system execution corresponding first function button's function instruction can be on operation interface audio-visual demonstration function button, teaching robot integrated system execution corresponding function after being convenient for click to realize robot practice teaching fast to directly perceived understandable scheme, promote teaching efficiency.
Referring to fig. 8, fig. 8 is a schematic flowchart of an operation method of the teaching robot integration system according to another embodiment of the present disclosure.
Step 81: and when a first instruction of clicking the manual picture button is detected, controlling the operation interface to switch the interface so as to display a third function button corresponding to the manual picture button on the current interface.
Step 82: and when a second instruction of clicking the third function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the third function button. In some embodiments, the third function button comprises an index plate operation button and an index shifter operation button.
Specifically, the following description will be made with reference to fig. 4, 9 to 11:
after the manual picture button in fig. 4 is clicked, the operation interface is controlled to perform interface switching, and the interface shown in fig. 9 is displayed, so that a third function button corresponding to the manual picture button is displayed on the current interface. Specifically, a grab a workpiece button, a grab B workpiece button, a grab C workpiece button, a grab D workpiece button, a allow workpiece button, and a allow workpiece button corresponding to the first robot are shown in fig. 9. The conveyor belt forward rotation button and the conveyor belt reverse rotation button corresponding to the transmission device are also displayed. And a switching clamp 1 button, a switching clamp 2 button, a switching clamp 3 button, a switching clamp 4 button, a stacking button, a spraying button, a welding button and a self-defining button which correspond to the second robot are also displayed. Also displayed are a masking voice button, a main picture button, an auto picture button, an index dial operation button, and a shifter button. When any button in fig. 9 is clicked, the corresponding operation is performed. When the workpiece A grabbing button is clicked, controlling the first robot to grab the workpiece A; when the workpiece B grabbing button is clicked, controlling the first robot to grab the workpiece B; when the workpiece C grabbing button is clicked, controlling the first robot to grab the workpiece C; and when the button for grabbing the D workpiece is clicked, controlling the first robot to grab the D workpiece.
When the forward rotation button of the conveyer belt is clicked, the conveyer belt of the transmission device is controlled to rotate forward. And when the conveyer belt reversing button is clicked, the conveyer belt of the transmission device is controlled to reverse.
And if the switch clamp 1 button is clicked, the second robot is controlled to use the clamp 1. And when the switching clamp 2 button is clicked, the second robot is controlled to use the clamp 2, and when the switching clamp 3 button is clicked, the second robot is controlled to use the clamp 3. The switch gripper 4 button is clicked, and the second robot is controlled to use the gripper 4.
And stopping the voice interaction function when the voice shielding button is clicked.
In fig. 9, when the second command for clicking the shifter operation button is detected, the operation interface is controlled to switch to the interface shown in fig. 10. Displaying a fourth function button corresponding to the shifter operation button on the current interface; and when a third instruction of clicking the fourth function button is detected, controlling a position changer in the teaching robot integrated system to execute the function instruction corresponding to the fourth function button. Specifically, fig. 10 shows the forward rotation button, the reverse rotation button, the motor zero return button, the to-take-position button, the to-processing-position button, the home-screen button, the automatic-screen button, the manual-screen button, and the index plate operation button corresponding to the positioner, and the present position parameter, the stored as the take-position parameter, and the stored as the processing-position parameter. And when a third instruction of clicking any one of the forward rotation button, the reverse rotation button, the motor zero returning button, the material taking position button and the processing position button is detected, controlling a position changer in the teaching robot integrated system to execute a functional instruction corresponding to a fourth functional button.
In fig. 9, when the second command for clicking the index plate operation button is detected, the operation interface is controlled to switch to the interface shown in fig. 11, so that the fourth function button corresponding to the index plate operation button is displayed on the current interface. And when a third instruction of clicking a fourth function button is detected, controlling an index plate in the teaching robot integration system to execute a function instruction corresponding to the fourth function button. Specifically, fig. 11 shows the forward rotation button, the reverse rotation button, the motor zero setting button, the to-take-position button, the to-processing-position button, the home screen button, the automatic screen button, the manual screen button, and the shifter operation button corresponding to the index plate, which use the current position parameter, the storage as the take-position parameter, and the storage as the processing-position parameter. And when a third instruction of clicking any one of the forward rotation button, the reverse rotation button, the motor zero returning button, the material taking position button and the machining position button is detected, controlling an index plate in the teaching robot integrated system to execute a functional instruction corresponding to a fourth functional button.
In other embodiments, corresponding methods of operation exist for the teach pendant corresponding to the first robot and the second robot. Specifically, a control instruction on a demonstrator is obtained; switching interfaces on an operation interface of the demonstrator based on the control command so as to display a fifth function button corresponding to the control command on the current interface; and when a second instruction for clicking the fifth function button is detected, controlling the teaching robot integration system to execute a control instruction corresponding to the fifth function button.
In some embodiments, the teach pendant includes a display screen, an emergency stop button, a mode selection switch, a function button, a status indicator light, an enable switch, a pendant handle, a USB interface, a cable access area, and a stylus. The function buttons comprise a shortcut menu key, an enabling function key, a coordinate system selection key, a reserved key, a teaching and reproducing operation mode selection key and a speed key and are arranged below the display screen. The function buttons also comprise a system setting key, an engineering management key, a program editing key, an I/O detection key, a position management key and a system log key, and are arranged on the left side of the display screen. The function buttons also comprise a starting teaching reproduction key, a teaching reproduction stopping key, a positive direction jog key and a negative direction jog key which are arranged on the right side of the display screen.
In some embodiments, the teach pendant is operated to create a new project or program step 1 as follows: and clicking 'project management' on the main interface to enter a project management interface, clicking 'refresh' in the project management interface, and updating the project list. Step 2: select right "File → New", pop up "New program" dialog box. And step 3: if a project is to be newly built, a new project is selected from the drop-down list on the right side of the project selection request. If a program is to be newly built in a project, the required project name is selected from the pull-down list, and the process jumps to step 5. Or select a desired project in the project list in advance and then click "new". And 4, step 4: if there are no programs in the project list, the default and only option is "new project". Clicking an input box of 'please input project name', and inputting a project name required to be newly built in a popped up soft keyboard, such as: project 0. And 5: clicking the input box of 'please input program name' and inputting the program name needed to be newly created in the popped up soft keyboard, such as program 0. Step 6: clicking 'confirmation', successfully building a new project or program, and directly jumping the interface to a program editing interface.
In the above embodiment, through the intuitive display function button on the operation interface, the teaching robot integrated system after clicking is convenient to execute corresponding functions, so that the robot practical teaching is realized rapidly by the intuitive and understandable scheme, and the teaching efficiency is improved.
Referring to fig. 12, fig. 12 is a schematic structural diagram of an embodiment of an integrated teaching robot system provided in the present application. The teaching robot integration system 200 includes an operation interface 201 for displaying function buttons of the teaching robot integration system 200; a processor 202 and a memory 203 connected to the processor 202; the memory 203 is used for storing program data and the processor 202 is used for executing the program data to realize the following method:
acquiring at least one functional instruction of a teaching robot integration system; displaying a corresponding first function button on an operation interface of the teaching robot integration system based on at least one function instruction; and when a first instruction of clicking the first function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the first function button.
It will be appreciated that the processor 202, when executing program data, is also adapted to carry out any of the embodiment methods described above.
Referring to fig. 13, fig. 13 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application. The computer storage medium 300 is for storing program data 301, the program data 301, when executed by a processor, being for implementing the method of:
acquiring at least one functional instruction of a teaching robot integration system; displaying a corresponding first function button on an operation interface of the teaching robot integration system based on at least one function instruction; and when a first instruction of clicking the first function button is detected, controlling the teaching robot integration system to execute the function instruction corresponding to the first function button.
It will be appreciated that the program data 301, when executed by a processor, is also for implementing any of the embodiment methods described above.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units in the other embodiments described above may be stored in a storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A method of operating a teaching robot integration system, the method comprising:
acquiring at least one functional instruction of the teaching robot integration system;
displaying a corresponding first function button on an operation interface of the teaching robot integration system based on the at least one function instruction;
and when a first instruction of clicking the first function button is detected, controlling the teaching robot integration system to execute a function instruction corresponding to the first function button.
2. The method of claim 1,
the first function button comprises at least one of a reset button, a view reset state button, an automatic picture button, a manual picture button and a parameter picture button.
3. The method of claim 2,
when a first instruction of clicking the first function button is detected, the teaching robot integration system is controlled to execute a function instruction corresponding to the first function button, and the method comprises the following steps:
when a first instruction of clicking the reset button is detected, controlling the teaching robot integration system to execute a corresponding initialized function instruction so as to enable the teaching robot integration system to perform reset operation;
and when a second instruction for clicking the reset state viewing button is detected, controlling the operation interface to switch the interface so as to display the reset state of the teaching robot integration system on the current interface.
4. The method of claim 2,
when a first instruction of clicking the first function button is detected, the teaching robot integration system is controlled to execute a function instruction corresponding to the first function button, and the method comprises the following steps:
when a first instruction of clicking the automatic picture button is detected, controlling the operation interface to switch the interface so as to display a second function button and the first function button corresponding to the automatic picture button on the current interface;
and when a second instruction for clicking the second function button or the first function button is detected, controlling the teaching robot integration system to execute a function instruction corresponding to the second function button or the first function button.
5. The method of claim 2,
when a first instruction of clicking the first function button is detected, the teaching robot integration system is controlled to execute a function instruction corresponding to the first function button, and the method comprises the following steps:
when a first instruction of clicking the manual picture button is detected, controlling the operation interface to switch the interface so as to display a third function button corresponding to the manual picture button on the current interface;
and when a second instruction for clicking the third function button is detected, controlling the teaching robot integration system to execute a function instruction corresponding to the third function button.
6. The method of claim 5,
the third function button comprises an index plate operation button and a position changer operation button;
when a second instruction of clicking the third function button is detected, the teaching robot integration system is controlled to execute a function instruction corresponding to the third function button, and the method comprises the following steps:
when a second instruction of clicking the index plate operation button or the position changer operation button is detected, controlling the operation interface to switch the interface, so that a fourth function button corresponding to the index plate operation button or the position changer operation button is displayed on the current interface;
and when a third instruction for clicking the fourth function button is detected, controlling an index plate or a position changer in the teaching robot integrated system to execute a function instruction corresponding to the fourth function button.
7. The method of claim 2,
when a first instruction of clicking the first function button is detected, the teaching robot integration system is controlled to execute a function instruction corresponding to the first function button, and the method comprises the following steps:
when a first instruction of clicking the parameter picture button is detected, controlling the operation interface to switch interfaces so as to display a plurality of parameter setting frames corresponding to the parameter picture button on a current interface;
and when detecting that the corresponding parameter data is input into the parameter setting frame, controlling the teaching robot integration system to store the parameter data.
8. The method of claim 1, wherein the teaching robot integration system comprises a teach pendant; the method further comprises the following steps:
acquiring a control instruction on the demonstrator;
switching interfaces on an operation interface of the demonstrator based on the control command so as to display a fifth function button corresponding to the control command on a current interface;
and when a second instruction for clicking the fifth function button is detected, controlling the teaching robot integration system to execute a control instruction corresponding to the fifth function button.
9. An instructional robot integration system, comprising:
the operation interface is used for displaying function buttons of the teaching robot integration system;
a processor and a memory coupled to the processor; the memory is for storing program data and the processor is for executing the program data to implement the method of any one of claims 1-8.
10. A computer storage medium for storing program data for implementing the method according to any one of claims 1-8 when executed by a processor.
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