CN114454154A - Graphical mechanical arm learning system and learning method thereof - Google Patents
Graphical mechanical arm learning system and learning method thereof Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000013515 script Methods 0.000 claims abstract description 54
- 238000004891 communication Methods 0.000 claims abstract description 42
- 238000012545 processing Methods 0.000 claims abstract description 35
- 230000008569 process Effects 0.000 claims abstract description 25
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- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
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- 230000036544 posture Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 230000010391 action planning Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
A graphic mechanical arm learning system and its learning method, the system includes an arm device, a servo device and at least a man-machine interface device, in which the servo device includes at least a processing unit, a storage unit and a communication interface, and the storage unit connected with the processing unit stores at least a graphic process editing interface module for setting the editing instruction of compiling arm device action script and the program code of action instruction into a corresponding icon, so that the icon (icon) of the graphic process editing interface module of the servo device is used to generate the special instruction of the arm device, and the special instruction is translated into the original instruction of the arm device, and through the simple graphic interface, the simple and fast operation can be realized, and professional technique is not needed, and the manpower cost and the learning setting time are reduced.
Description
Technical Field
The invention belongs to the technical field of mechanical arm learning, and particularly relates to a graphical mechanical arm learning system and a learning method thereof.
Background
According to the globalization trend, the high progress of industrial technology and information technology has brought many possibilities for human life and working patterns, for the processing and manufacturing industry, the traditional conveying clamp using manual carrying mode or simple loading and unloading has not met the requirement of quick and accurate conveying, and the development of six-axis mechanical arm has met the requirement, the moving route and clamping mode of the clamping jaw can make the operator plan and design by themselves in programming and compiling mode, so that the clamping jaw has more various moving routes and clamping modes to meet different use requirements, and the clamping jaw is the best choice for small and medium enterprises and also meets the development trend and requirement of industry 4.0.
When the six-axis robot arm plans the moving route and the gripping manner from point a to point B for transporting the article, as shown in fig. 1, the six-axis robot (10) is typically selectively coupled to a programmer (20) for programming, the learning device (20) has a selection unit (21) and a display screen (25), wherein the selection unit (21) can be a plurality of selection buttons, rockers or track balls, etc., and the display screen (25) can display a screen of a compiler (26), so that an operator can utilize the built simulation workstation and the six-axis mechanical arm (10) system, after the routine is established, the program of the six-axis robot (10) is compiled by programming, thereby completing the planning and design of the moving route and the clamping mode of the six-axis mechanical arm (10) from the point A to the point B;
however, the current compiling program (26) of the learner (20) is utilized to compile, if the design and compilation of the general simple-action program requires 1-2 working days, and if the program which needs complex action and high accuracy requires 3-5 working days, and needs professional use technology, the operator needs at least 2-3 training times for the programming and design, so that the enterprise which mainly produces small amounts of medium and small-sized products can not meet the requirements of quick line changing and competitiveness, and meanwhile, the overall planning and building cost is extremely high, and the automation of entering the threshold is difficult compared with the traditional industry for introducing AI; moreover, when talents change, small and medium-sized enterprises may face the cost of retraining, but if outsourcing is performed, the compiling time is unstable, which results in a reduction in production efficiency.
Therefore, the inventor of the present invention has carried on the abundant design development and practical manufacturing experience of the related industry for many years, and has studied and improved the existing structure and deficiency, and finally successfully developed a graphical mechanical arm learning system and a learning method thereof through the continuous and diligent research and trial work, so as to overcome the derived troubles and inconvenience of the existing programming method.
Disclosure of Invention
The present invention provides a graphic robot learning system and a learning method thereof, which can use a graphic interface to plan and design a moving path and a clamping manner, and can be simply and quickly completed.
Another objective of the present invention is to provide a graphical robot learning system and a method thereof, which can easily write/compile a robot without professional personnel, so as to make the robot more humanized.
Another objective of the present invention is to provide a graphical robotic arm learning system and a learning method thereof, which can enable the operation and editing of the control script of the robotic arm to be simple and fast, thereby improving the equipment utilization rate, so as to meet the demand of small and diversified enterprises.
Based on this, the present invention mainly achieves the aforementioned objects and effects by the following technical means, which comprises:
the arm equipment is provided with a control unit, the control unit is connected with a moving module and an I/O module, wherein the moving module can be used for controlling the arm equipment to move and rotate in each axial direction, the I/O module is used for detecting each axial position and the opening and closing of a clamping jaw of the arm equipment, furthermore, the control unit is connected with an instruction processing unit used for storing, translating and executing native instructions of the arm equipment, and the instruction processing unit is connected with a communication interface;
a servo device, which at least comprises a processing unit, a storage unit and a communication interface, wherein the processing unit can be used for calculating and executing various instructions and data, and the storage unit connected with the processing unit at least stores a graphical process editing interface module for setting the editing instruction of compiling the arm device action script and the program code of the action instruction into a corresponding icon, and the communication interface connected with the processing unit is used for connecting the servo device with the outside, and the processing unit can be further connected with a display unit for displaying the picture of the graphical process editing interface module;
a human-machine interface device, which has a communication interface for external connection and an instruction processing unit connected with the communication interface in the human-machine interface device.
In order to provide a thorough understanding of the nature, character and other objects of the invention, reference should be made to the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings, which will enable one skilled in the art to make and use the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1: is a structural schematic diagram of the existing mechanical arm learning system.
FIG. 2: the system appearance diagram of the graphical mechanical arm learning system is shown.
FIG. 3: the system architecture diagram of the graphical robotic arm learning system of the present invention is provided to illustrate the aspects and relative relationships of the elements thereof.
FIG. 4: is a diagram control area schematic diagram of the graphical mechanical arm learning system.
FIG. 5: is a flow architecture diagram of the graphical mechanical arm learning method of the invention.
Wherein, 10 is a six-axis mechanical arm; 20, a learning device; 21, a selection unit; 25, displaying a picture; 26, compiling a program; 50, arm equipment; 51, a clamping jaw; 52, a control unit; 53, a moving module; 54: I/O module; 55, an instruction processing unit; 56, a communication interface; 60, servo equipment; 61, a processing unit; 62, a storage unit; 63, a graphical process editing interface module; 64, general equipment instruction cluster unit; 65, a communication interface; 66: a display unit; 80 human-machine interface devices; 81, a communication interface; and 82, an instruction processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The present invention is a graphical robotic arm learning system and method, and in the embodiments and components thereof illustrated in the accompanying drawings, all references to front and back, left and right, top and bottom, upper and lower, and horizontal and vertical are only used for convenience of description, and are not intended to limit the invention, nor to limit the components thereof to any position or spatial orientation. The dimensions specified in the drawings and description may vary depending on design and requirements without departing from the scope of the present invention.
The structure of the graphical robotic arm learning system and the learning method thereof of the present invention is shown in fig. 2 and 3, and comprises an arm device (50), a servo device (60) and at least one human-machine interface device (80), wherein in the present embodiment, the human-machine interface device (80) can be a joystick;
the arm device (50) may be a six-axis robot arm having a clamping jaw (51), and the arm device (50) has a control unit (52), the control unit (52) is connected with a moving module (53) and an I/O module (54), wherein the moving module (53) can be used to control the arm device (50) to move and rotate in each axial direction, the I/O module (54) is used to detect each axial position of the arm device (50) and the opening and closing of the clamping jaw, furthermore, the control unit (52) of the arm device (50) is connected with an instruction processing unit (55), and the instruction processing unit (55) can be used to store and execute the native instruction of the arm device (50), and the arm device (50) has a communication interface (56) connected with the instruction processing unit (55) for the arm device (50) to connect with the outside, for receiving and transmitting related commands and data, wherein the communication interface (56) may include, but is not limited to, USB, RJ45, ComPort, etc;
the servo equipment (60) at least comprises a processing unit (61), a storage unit (62) and a communication interface (65), wherein the processing unit (61) can be used for calculating and executing various instructions and data, and the storage unit (62) connected with the processing unit (61) at least stores a graphical process editing interface module (63), as shown in fig. 4, for setting the program codes of editing instructions (including but not limited to start editing scripts, stop editing scripts, store scripts, delete scripts, copy scripts and the like) and action instructions (including but not limited to world coordinate movements, six-axis angle movements, open claws, close claws, I/O control, speed modification and the like) for compiling corresponding program codes by an operator through selecting the icons to enable the processing unit (61) to complete corresponding program code compiling, furthermore, the processing unit (61) is connected with a general device command cluster unit (64) for storing and recording commands of each general device, and the general device command cluster unit (64) connected with the processing unit (61) is further connected with the communication interface (65) for connecting the server device (60) with external arm devices (50) or human-machine interface devices (80) to receive and transmit related commands and data, wherein the communication interface (65) can include but is not limited to ports such as USB, RJ45, port, etc., and the processing unit (61) can be further connected with a display unit (66), and the display unit (66) can be externally connected with the server device (60) or integrated with the server device (60);
furthermore, the human-machine interface device (80) can be a joystick, a keyboard or a mouse, and the human-machine interface device (80) can be an independent device externally connected with the server device (60) or an integrated device combined with the server device (60), and the externally connected human-machine interface device (80) has a communication interface (81) for connecting with the server device (60) to receive and transmit related commands and data, wherein the communication interface (81) can include but is not limited to ports such as USB, RJ45, ComPort, etc., and the human-machine interface device (80) has a command processing unit (82) connected with the communication interface (81), and the command processing unit (82) can be used for storing and executing the native commands of the human-machine interface device (80), so that the human-machine interface device (80) can be used for editing options or functions of the interface module (63) picture of the graphical process displayed on the display unit (66) of the server device (60) The icon (icon) performs cursor movement, selection, confirmation and other actions;
therefore, an operator can display the graphical process editing interface module (63) in the storage unit (62) on the display of the human-computer interface equipment (80) through the servo equipment (60), and finishes compiling the action script of the arm equipment (50) by selecting the icon of the graphical process editing interface module to form a graphical mechanical arm learning system easy for action planning and design.
The learning method of the graphical robotic arm learning system of the present invention includes, as shown in fig. 2 and 5, (a) starting a process script, (b) reading arm devices and parameters required by the process, (c) determining whether the arm devices exist and the parameters are normal, (d) generating a command specific to the arm devices, (e) transmitting the command through a communication interface, (f) translating the arm devices into a native command, (g) executing the native command by the arm devices, (h) determining whether the execution is correct, (i) stopping the script to generate an error report, and (j) executing a complete script. Wherein:
(a) starting a flow script: after the user sets the relevant parameters, the picture of the graphical process editing interface module (63) is displayed on a display unit (66) connected with the servo equipment (60), a man-machine interface device (80) such as a rocker can be used for selecting an icon (icon) of a starting script in the picture of the graphical process editing interface module (63), and then the step (b) is executed;
(b) reading arm equipment and parameters required by the process: when the icon is executed, the system reads the arm equipment (50) and relative parameters thereof required in the process, and then executes the step (c);
(c) confirming whether the arm equipment exists and whether the parameters are normal: the system will confirm that the selected arm device (50) is in the controllable state to determine whether the connection of the arm device (50) is abnormal and requires the current coordinates to confirm the state of the arm device (50), and the system will perform the step (i) if one of the above two states is abnormal. If the arm device (50) communication and parameters are correct, the system will execute (d);
(d) generating an arm device special instruction: after confirming that the communication and parameters of the arm device (50) are correct, the graphical process editing interface module (63) of the servo device (60) and the selection of the human-machine interface device (80) are utilized to generate a special command corresponding to the arm device (50), such as selecting
Representing the world coordinate movement,
Representing the six-axis angular movement,
Represents I/O control or
Representing speed modification, etc., after which step (e) is performed;
(e) transmitting the command through the communication interface: after the servo device (60) generates the special command of the arm device (50), the special command is transmitted to the corresponding arm device (50) through the communication interfaces (65, 56) of the servo device and the arm device, and then the step (f) is executed;
(f) the arm device translates into native instructions: when the arm device (50) receives the command through the communication interface (56), the command is translated into a native dedicated command of the arm device (50), and then the step (g) is executed;
(g) the arm device executes the native instructions: after the arm equipment (50) completes the conversion of the native special instruction, executing the native special instruction of the action script of each arm equipment (50), and then executing the step (h);
(h) confirming whether to execute correctly: the arm equipment (50) further judges whether the action script is correctly executed or not in the execution of the action script, if the action script is correctly executed, a correct command is returned to carry out the step (j), and if the execution is abnormal, the system executes the step (i);
(i) stop script generating error report: when the step (c) and (h) are judged to be abnormal, the action script of the arm equipment (50) is stopped, an error report is generated, and the step (a) is returned to execute; and
(j) and (e) executing the complete script, and when the judgment result in the step (h) is correct, continuously executing the script until the last action.
Example 1, when a set of paths is set, for example, a point a article is gripped and placed at point B.
A point position (Xa, Ya, Za) and a B point position (Xb, Yb, Zb) are set, and after a path is set, a script is executed.
Firstly, the clamping jaw (51) of the arm equipment (50) is ensured to be in an open state, an I/O module (54) of the arm equipment (50) ensures that I/O can be controlled and the set I/O pin exists, if abnormal system automatic interrupt operation occurs, an error report is sent out, if all the I/O pins are normal, a graphical process editing interface module (63) picture of the servo equipment (60) is utilized, a corresponding icon (icon) is selected through the man-machine interface equipment (80) to generate a special instruction of the I/O of the arm equipment (50), the content comprises the pin and the opening instruction of the I/O, after the I/O pin and the opening instruction are transmitted to a script of the arm equipment (50) through communication, the script is judged to be the I/O opening instruction, and the instruction is converted into a native instruction of the arm equipment (50) to open the specified I/O. And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation of the system to send out an error report, and if all the operations are normal, switching to the next step of instruction, and moving to the point A.
Then, when the controllable and set coordinates of the arm equipment (50) are confirmed to be normal, if an abnormal system exists, the operation is automatically interrupted to send out an error report, if all the coordinates are normal, a special instruction for moving the arm equipment (50) is generated, the content comprises a moving mode and a target coordinate, after the special instruction is transmitted to a script of the arm equipment (50) through communication, the script judges that the instruction is a moving instruction, and the arm equipment (50) is moved after the instruction is converted into a native instruction of the arm equipment (50). And then, confirming that the execution is normal, if the system fails to report the execution, automatically interrupting the operation and sending out an error report, and if all the operations are normal, switching to the next step of instruction to clamp the object.
Then, it is confirmed that the I/O controllable and set I/O pin of the arm device (50) exists, if an error report is sent out by abnormal system automatic interrupt operation, if all special instructions of the I/O of the arm device (50) are normally generated, the contents include the I/O pin and a closing instruction, after the special instructions are transmitted to the script of the arm device (50) through communication, the script judges that the instructions are I/O closing instructions, the instructions are converted into native instructions of the arm device (50), and then the specified I/O is closed. And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation of the system to send out an error report, and if all the operations are normal, switching to the next step of instruction, and moving to the point B.
And then, confirming that the controllable and set coordinates of the arm equipment (50) are normal, if an abnormal system automatic interrupt operation sends an error report, if all the special instructions for moving the arm equipment (50) are normally generated, the contents comprise a moving mode and a target coordinate, after the special instructions are transmitted to the script of the arm equipment (50) through communication, the script judges that the instructions are moving instructions, converts the instructions into native instructions of the arm equipment (50), and then moves the arm equipment (50). And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation and sending an error report, and if all the operations are normal, switching to a next instruction, and releasing the object by using a clamping jaw (51) of the arm equipment (50).
And finally, confirming that the I/O of the arm equipment (50) can be controlled and the set I/O pin exists, if an error report is sent out by abnormal system automatic interrupt operation, if all special instructions of the I/O of the arm equipment (50) are normally generated, the contents comprise the I/O pin and an opening instruction, after the special instructions are transmitted to a script of the arm equipment (50) through communication, the script judges that the instructions are I/O opening instructions, and the specified I/O is opened after the instructions are converted into native instructions of the arm equipment (50). And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation and sending out an error report, and if all normal systems find that no next instruction exists, finishing the script.
Example 2 when a set of paths is set, for example, pick up an item at point a and turn it over at an angle at point B.
Setting the position (Xa, Ya, Za) of A point and the position (Xb, Yb, Zb) of B point, modifying the postures to be (theta c ) at the B point, setting the path, and executing the script.
Firstly, the clamping jaw (51) of the arm equipment (50) is ensured to be in an open state, the I/O of the arm equipment (50) can be controlled, the set I/O pin exists, if an abnormal system automatic interrupt operation gives an error report, if all the I/O is normal, the graphic flow editing interface module (63) of the servo equipment (60) is utilized to generate a special instruction of the I/O of the arm equipment (50), the content comprises the I/O pin and an opening instruction, after the I/O pin and the opening instruction are transmitted to a script of the arm equipment (50) through communication, the script judges the instruction as the I/O opening instruction, and the instruction is converted into a native instruction of the arm equipment (50) to open the specified I/O. And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation of the system to send out an error report, and if all the operations are normal, switching to the next step of instruction, and moving to the point A.
Secondly, the arm equipment (50) can be controlled and set to be normal in coordinate, if abnormal system automatic interruption operation gives an error report, if all normal, a graphic process editing interface module (63) of the servo equipment (60) is used for generating a special command for the arm equipment (50) to move, the content comprises a moving mode and a target coordinate, after the special command is transmitted to a script of the arm equipment (50) through communication, the script judges that the command is a moving command, the command is converted into a native command of the arm equipment (50), and then the arm equipment (50) is moved. And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation and sending out an error report, and if all the operation is normal, switching to a next step instruction, and clamping the object by a clamping jaw (51) of arm equipment (50).
Then, the I/O controllable and settable I/O pin of the arm equipment (50) is confirmed to exist, if abnormal system automatic interrupt operation gives an error report, if all normal, a graphic process editing interface module (63) of the servo equipment (60) is used for generating a special instruction of the I/O of the arm equipment (50), the content comprises the I/O pin and a closing instruction, after the I/O pin and the closing instruction are transmitted to a script of the arm equipment (50) through communication, the script judges the instruction to be the I/O closing instruction, and the instruction is converted into a native instruction of the arm equipment (50) to close the specified I/O. And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation of the system to send out an error report, and if all the operations are normal, switching to the next step of instruction, and moving to the point B.
And then, confirming that the coordinates which can be controlled and set by the arm equipment (50) are normal, if abnormal system automatic interrupt operation gives an error report, if all the coordinates are normal, generating a special command for moving the arm equipment (50) by using a graphical process editing interface module (63) of the servo equipment (60), wherein the content comprises a moving mode and a target coordinate, transmitting the special command to a script of the arm equipment (50) through communication, judging the command as a moving command by the script, converting the command into a native command of the arm equipment (50), and moving the arm equipment (50). And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation and sending out an error report, and if all the operations are normal, switching to the next step of instruction to turn over the object.
And finally, confirming that the controllable and set posture of the arm equipment (50) is normal, if an abnormal system automatically interrupts operation to send an error report, if all the conditions are normal, generating a special command for the arm equipment (50) to move by using a graphical process editing interface module (63) of the servo equipment (60), wherein the content comprises a moving mode and a target coordinate, transmitting the special command to an arm script through communication, judging the command as a rotating command by the script, converting the command into a native command of the arm equipment (50), and modifying the posture of the arm equipment (50). And then, confirming that the execution is normal, if the system reports the execution failure, automatically interrupting the operation and sending out an error report, and if all normal systems find that no next instruction exists, finishing the script.
Through the design and the description, the graphical mechanical arm learning system and the learning method thereof of the invention utilize the icon [ icon ] of the graphical process editing interface module (63) of the servo device (60) to generate the special instruction of the arm device (50), and convert the special instruction into the native instruction of the arm device (50), the operation mode is the human-computer interface device (80) such as a rocker, and the simple graphical interface can be operated manually, simply and quickly, does not need professional technology, reduces the labor cost and the learning setting time, and simultaneously enables the operation and the editing of the control script assisting the arm device (50) to be simple and quick, thereby meeting the requirements of small quantity and diversity of small and medium-sized enterprises, and improving the device operation and production line productivity.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A graphical robotic arm learning system, comprising:
the arm equipment is provided with a control unit, the control unit is connected with a moving module and an I/O module, wherein the moving module can be used for controlling the arm equipment to move and rotate in each axial direction, the I/O module is used for detecting each axial position and the opening and closing of a clamping jaw of the arm equipment, furthermore, the control unit is connected with an instruction processing unit used for storing, translating and executing native instructions of the arm equipment, and the instruction processing unit is connected with a communication interface;
a servo device, which at least comprises a processing unit, a storage unit and a communication interface, wherein the processing unit can be used for calculating and executing various instructions and data, and the storage unit connected with the processing unit at least stores a graphical process editing interface module for setting the editing instruction of compiling the arm device action script and the program code of the action instruction into a corresponding icon, and the communication interface connected with the processing unit is used for connecting the servo device with the outside, and the processing unit can be further connected with a display unit for displaying the picture of the graphical process editing interface module;
a human-machine interface device, which has a communication interface for external connection and an instruction processing unit connected with the communication interface in the human-machine interface device.
2. The graphical robotic arm learning system of claim 1, wherein the arm device is a six-axis robotic arm having a gripper.
3. The system of claim 1, wherein the communication interfaces of the arm device, the server device and the human interface device include but are not limited to USB, RJ45, and ComPort ports.
4. The system of claim 1, wherein a generic device command cluster unit is connected between the processing unit and the communication interface for storing and recording commands of the generic devices.
5. The system of claim 1, wherein the display unit is externally connected to the servo device.
6. The graphical robotic arm learning system of claim 1, wherein the human interface device is a joystick.
7. The system of claim 1, wherein the HMI device is an integral device that can be integrated with the server device.
8. The learning method of the graphical robotic arm learning system of claim 1, comprising:
(a) starting the flow script, and then executing the step (b);
(b) reading arm equipment and parameters required by the process, and then executing the step (c);
(c) confirming whether the arm equipment exists and whether the parameters are normal, if one of the two states is abnormal, executing the step (i) by the system, and if the communication and the parameters of the arm equipment are correct, executing the step (d) by the system;
(d) generating an arm device specific instruction, and then executing the step (e);
(e) transmitting the command through the communication interface, and then executing the step (f);
(f) translating the arm device into a native instruction, and then executing the step (g);
(g) the arm equipment executes the native instruction, and then the step (h) is executed;
(h) confirming whether the execution is correct or not, if the execution is correct, performing the step (j), and if the execution is abnormal, performing the step (i);
(i) stop script generating error report: stopping the action script and generating an error report when the step (c) and the step (h) are judged to be abnormal, and returning to the step (a) again for execution; and
(j) and (e) executing the complete script, and continuously executing the script until the last action when the complete script is judged to be correct through the step (h).
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