CN202454159U

CN202454159U - Robot demonstrator

Info

Publication number: CN202454159U
Application number: CN2012200848500U
Authority: CN
Inventors: 吴波; 王杰高; 宋方方; 余继军
Original assignee: Nanjing Estun Automation Co Ltd; Nanjing Estun Robotics Co Ltd
Current assignee: Nanjing Estun Automation Co Ltd; Nanjing Estun Robotics Co Ltd
Priority date: 2012-03-08
Filing date: 2012-03-08
Publication date: 2012-09-26
Anticipated expiration: 2022-03-08

Abstract

The utility model discloses a robot demonstrator, which comprises a central processing unit. The robot demonstrator is characterized in that the robot demonstrator is provided with a driver parameter configuration and debugging module, wherein the driver parameter configuration and debugging module is connected with the central processing unit through an external bus or a universal asynchronous receiver/transmitter (UART). Compared with a teaching box in the prior art, the robot demonstrator is provided with the driver parameter configuration and debugging module connected with the central processing unit, so that driver parameters can be directly configured and debugged through the demonstrator, and system dependence is reduced.

Description

A kind of robot teaching device

Technical field

The utility model relates to a kind of robot teaching device.

Technical background

(application number is 201110131764.0 to China's utility application file; Application publication number CN102324206A); Disclose a kind of robot teach box and control method thereof that possesses bus communication, proposed a kind ofly can carry out robot teach box remote-operated, that can monitor the robot operational factor away from robot body based on bus.This teach box is connected with the robot controller of lower floor through communication interface, and communication interface is the communication interface based on HRP communication protocol.This teach box can be realized tele-manipulator, adopts NRP communication protocol to carry out data interaction, can reduce the anti-interference that data loss rate has strengthened system.But; Robot teach box with traditional is the same; Still having a lot of inconvenience aspect robot driver's parameter testing, generally all is the mode that adopts the pc machine, and the upper computer software that provides through driver producer carries out parameter configuration and crawl debugging; This brings great inconvenience to the commissioning staff, has increased the dependence of system debug.

The utility model content

The utility model technical matters to be solved is; Overcome the defective that prior art exists; A kind of robot teaching device has been proposed; Increased the drive parameter configuration and the debugging module that are connected with central processing unit, can realize that teach box directly is configured and debugs drive parameter, has reduced the dependence of system.

The said robot teaching device of the utility model comprises central processing unit; It is characterized in that: be provided with drive parameter configuration and debugging module; Said drive parameter configuration and debugging module and central processing unit connect through the mode of external bus or UART (Universal Asynchronous Receiver/Transmitter, universal asynchronous reception/dispensing device).

The utility model robot teaching device; Compare with the teach box (teaching machine) of prior art; Increased the drive parameter configuration and the debugging module that are connected with central processing unit, can realize that teach box directly is configured and debugs drive parameter, has reduced the dependence of system.

Description of drawings

Fig. 1 is the utility model robot teaching device structural representation block diagram.

Fig. 2 is that the utility model shows the religion device bus hardware interface principle figure of robot.

Fig. 3 is the utility model robot teaching device software systems block diagrams.

Fig. 4 is the drive parameter configuration and the debug function process flow diagram of the utility model robot teaching device.

Embodiment

Below in conjunction with accompanying drawing and embodiment, the utility model is elaborated.

As shown in Figure 1, the utility model robot teaching device (being called for short teaching machine or teach box) comprises central processing unit, touch-screen, control panel, Ethernet, USB, RTC, storer, system power supply module and drive parameter configuration and debugging module; Wherein touch-screen is used to show and control the various man-machine interfaces and the running status of teach box; Comprise the button input in the control panel, comprise manual Control Shaft motion control button, teaching and reproducing control button, coordinate system switching key, manual teaching speed control button etc., Ethernet is responsible for communicating with controller; Parameter state in the transmission control unit (TCU) and user's operating command; Realize and the various interactive functions of controller that storer is used to store the system file and the teach box project file of teach box, usb is responsible for the importing and the derivation of teach box project file; RTC is responsible for supplying power to system clock; System time is lost after the anti-locking system power down, and system power supply is responsible for the power supply power supply of teach box total system, and drive parameter configuration and debugging module can realize that teach box directly is configured and debugs drive parameter; Do not rely on industrial computer or pc machine, reduced the dependence of system.Compare with present existing teach box; Drive parameter configuration and debugging module on hardware, have been increased; Said drive parameter configuration is connected with the mode of central processing unit through external bus or UART with debugging module, and hardware interface circuit figure is as shown in Figure 2.

As shown in Figure 2; Hardware interface is the outer address bus interface or the UART serial communication interface of central processing unit; Drive parameter configuration and debugging module are supported various bus communication protocols; Comprise ethercat, canopen, powerlink, modbus and RS232 agreement, can carry out parameter configuration a times good fortune, Ai Sidun, Sanyo, Panasonic's driver.Drive parameter configuration and debugging module employing He You fast ethercat chip, the sja1000 chip of PHILIPS Co., the dm9000 chip of Taiwan davicom etc. as the physical layer communication chip of data transmission; The data of communication chip (outside changes data into) EBI links to each other with the robot religion box hardware bus interface that shows shown in Figure 2; Be responsible for carrying out data interaction with central processing unit; Communication chip is responsible for accomplishing the physical layer data transmission of communication protocol; Other peripheral circuits guarantee the communication chip operate as normal in drive parameter configuration and the debugging module; The data output of communication chip links to each other with corresponding driver control interface (driver interface is responsible for and driver); Wherein the power supply of drive parameter configuration and debugging module is provided by the power supply in the external bus interface, need not power module in drive parameter configuration and the debugging module is designed again.Wherein, the max485 of modbus agreement use all adopts the uart serial communication interface to link to each other with central processing unit with RS232.The utility model robot teach box can be supported the parameter configuration and the debugging of multiple driver; When the change driver, only need select corresponding bus communication module can realize the change of communication mode; Improved the dirigibility of teach box system; Particularly in single servo-drive system, can use teach box can realize debugging and all functions of rig-site utilization.

Shown in teach box software systems block diagram (Fig. 3); Wherein interbedded formation is used for showing and the operation information of relative users, comprises functions such as general purpose I/O port status, program editing, manually control, routine data, parameter configuration and event log, receive user's operation information when teach box after; By key-course analysis and Control is carried out in user's operation; And give functional layer the concrete function that will realize, after functional layer is finished dealing with, if there are data to carry out when mutual; At first come the judgment data interactive mode by functional layer; Respective communication agreement through in the data Layer is carried out data processing, carries out data transmission by Drive Layer then, accomplishes whole user's operating function.

The drive parameter configuration is as shown in Figure 4 with the software flow of debugging:

When user's input operation, at first judge whether into the parameter configuration operation, if then point out the user to select type of driver; The driver that connects according to actual teach box disposes corresponding type of driver in teach box, when starting the drive parameter configuration module, driver reads the servomotor position data according to selected drive model; Like Panasonic's driver, at first the drive parameter Frame that reads the position is packed, carry out the protocol massages packing by the RS232 data module in the data Layer then; And the transmission data, after transmission is accomplished, continuous read data register; When receiving position data; The extracting position data pass to key-course, are come out through the screen displaying in the interbedded formation by key-course.When user's configuration driven device parameter, at first functional layer receives and wants data download, packs drive parameter then, carries out the packing of bus protocol message by data Layer then, and sends, and accomplishes the drive parameter configuration feature.

Claims

1. a robot teaching device comprises central processing unit; It is characterized in that: be provided with drive parameter configuration and debugging module, said drive parameter configuration is connected with the mode of central processing unit through external bus or UART with debugging module.