CN203197922U - Industrial robot teaching box based on Ethernet communication - Google Patents
Industrial robot teaching box based on Ethernet communication Download PDFInfo
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- CN203197922U CN203197922U CN 201320165107 CN201320165107U CN203197922U CN 203197922 U CN203197922 U CN 203197922U CN 201320165107 CN201320165107 CN 201320165107 CN 201320165107 U CN201320165107 U CN 201320165107U CN 203197922 U CN203197922 U CN 203197922U
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Abstract
The utility model discloses an industrial robot teaching box based on Ethernet communication. The box comprises a central processing unit, a co-processor, a manual operation unit, a dynamic storage and a display unit, wherein the central processing unit is respectively connected with the co-processor, the dynamic storage and the display unit; the manual operation unit is electrically connected with the central processing unit through the co-processor; operating programs are stored in the dynamic storage; the manual operation unit is used for manually inputting control commands; the central processing unit reads the industrial robot operating programs which are stored in the dynamic storage, processes the industrial robot operating programs into operation commands and outputs the operation commands to a controller so as to control the operation of an industrial robot, or reads the manual operation information which is input by the manual operation unit through the co-processor, processes the manual operation information into operation commands and outputs the operation commands to the controller so as to control the operation of the industrial robot; and the display unit is used for displaying the operation commands. By utilizing the box, the high-quality communication can be realized, the speed is increased, and the stability is ensured; and the box has the characteristics of less keys, simple operation and high safety.
Description
Technical field
The utility model belongs to robot industry robot teach box field, is specifically related to a kind of industrial robot teaching box based on Ethernet.
Background technology
Along with the increase of modern industry complexity, the lifting of automatization level, as an important production unit-industrial robot of the commercial Application that faces the future, its Technology Need overall development.Industrial robot teaching box as man-machine interface is the important component part of robot control system, and the operator carries out manual teaching by teach box, and control reaches different positions and pose, and records each pose point coordinates.Utilize robot language to carry out online programming, realize the program playback, allow the orbiting motion of robot performing a programme requirement, this is also referred to as teach programming.The quality of industrial robot teaching kit function can directly have influence on the practicality of industrial robot.
The industrial robot teaching box is connected by cable with robot controller, the operator is by the operation teach box, it mainly is operation teach box button, send order to robot controller, come the control action by robot controller, will show from the information such as motion state that robot controller receives simultaneously.Teach box generally has under different coordinates control, show running status and robot realized the functions such as teach programming and reproduction.
Patent documentation 201120045954.6 discloses a kind of industrial robot teaching controller.The design of this teaching control device takes full advantage of ergonomics, each function key is set effectively, the position of scram button on control panel particularly, thus make this teaching control device simple to operate, effectively reduced operating personnel's fatigue strength, and can in case of emergency stop rapidly robot motion.But its button is more, and the teaching control body is long-pending larger.
Patent documentation 20111031764.0 discloses a kind of robot teach box and control method thereof that possesses bus communication, makes the operational factor that operating personnel can supervisory-controlled robot, and safer tele-manipulator.This teach box adopts NPR communication protocol to carry out exchanges data, so that data loss rate is low, system rejection to disturbance is strong.Yet its communication quality still remains further to be improved, as improving communication speed and stability.
Along with the extensive use of industrial robot in every field, also have higher requirement for hommization degree and the security of teach box simultaneously.
The utility model content
The utility model purpose is to overcome the existing deficiency of industrial robot teaching box, a kind of industrial robot teaching box based on Ethernet is proposed, it realizes its communication function by Ethernet, make by improving mode of operation that it is simple to operate, security and hommization degree promote, can improve largely the communication quality of teach box and robot controller, guarantee well stability simultaneously.
The concrete technical scheme that realization the utility model purpose adopts is as follows.
A kind of industrial robot teaching box, it is connected with the controller of industrial robot, is used for industrial robot is carried out teaching control, it is characterized in that, this teach box comprises central processing unit, coprocessor, manual operation unit, dynamic memory and display unit, wherein
Described central processing unit is electrically connected with coprocessor, dynamic memory and display unit respectively, and be communicated with by Ethernet with described controller, described coprocessor is electrically connected with the controller of described manual operation unit and industrial robot respectively, storage is used for handling the program of industrial robot operation in the described dynamic memory, and described manual operation unit is used for the control instruction of manual input control industrial robot;
Central processing unit is used for reading industrial robot working procedure that dynamic memory stores and it is treated to operating instruction, output to controller with the operation of control industrial robot, perhaps read the manual operation information of inputting from described manual operation unit and be treated to operating instruction by described coprocessor, output to controller with the operation of control industrial robot, described display unit is used for showing described operating instruction.
As improvement of the present utility model, described industrial robot teaching box also comprises ethernet nic, and described central processing unit is communicated with by this ethernet nic with controller, so that operating instruction is sent to controller by Ethernet.
As improvement of the present utility model, described manual operation unit comprises the control panel with a plurality of function buttons, is used for the demonstration of manual control machine device human motion or control display unit.
As improvement of the present utility model, described control panel comprises program function key, interface function key and the axle selection function key that is used for the selection of manipulator shaft, wherein said program function key is used for controlling the robot working procedure that described central processing unit reads the storage of dynamic memory, realize that robot moves automatically, described interface function key is used for the control central processing unit displaying contents of display unit is controlled; Described axle selection function key is used for the manipulator shaft that the control central processing unit need to select operation, so that selected axle is operated.
As improvement of the present utility model, described manual operation unit also comprises roller unit, it produces operation information by scroll forward and backward, described central processing unit obtains described operation information by described coprocessor, thereby produces operational order with the motion of control or the demonstration of control display unit.
As improvement of the present utility model, described coprocessor has pulse module and umber of pulse register module, when rolling, described roller unit produces pulse, judge the increase and decrease of umber of pulse by described meter pulse module, and the umber of pulse that produces write in the described umber of pulse register module in real time, the umber of pulse of described central processing unit by the storage of described impulse register compare to determine roller operation forward or backward, thereby obtain corresponding control instruction, so that the demonstration of machine human motion or display unit is controlled.
As improvement of the present utility model, described manual operation unit also comprises emergency stop push button and safety switch, and it directly is connected with described controller, is respectively applied to the operation of direct emergent stopping and control.
As improvement of the present utility model, described teach box also comprises USB and serial ports, is used for the transfer of data between teach box and the external device.
As improvement of the present utility model, each function key and roller unit are arranged in the left and right edges position of control panel on the control panel of described teach box.
Teach box of the present utility model is used for setting parameter, file management, by Ethernet the key value that operates is transferred to robot controller, and the state that in time robot controller is fed back is shown on the display unit, and can carry out teach programming.This teach box adopts ethernet communication, Application standard ICP/IP protocol with the robot master controller, and ICP/IP protocol is present complete, the most received communication protocol standard.Different choice UDP or TCP according to the data type of required transmission carry out the reception of data.On the one hand the high data of requirement of real-time are guaranteed transmission speed in this way, the demanding data of accuracy are guaranteed stability.
The described roller unit of this teach box can switch the content that current interface is selected by the roller unit in this teach box that rolls, and selects continuous item etc.In addition, can cooperate the selection function key of manipulator shaft, under manual mode, selected manipulator shaft be carried out manual operation, control the amount of feeding by the rolling amount that roller unit rolls across.Safety switch of the present utility model respectively has one at the teach box back side, and function is identical, and no matter operating personnel's lefthanded or the right hand all can operate easily.Each safety switch design has three gears, is zero-bit when unclamping, and to the first gear, firmly holds time to the second gear when gently holding.Only having the first gear is effectively, and can control the robot motion this moment, and unclamps or uncontrollable robot motion all when holding.
Teach box of the present utility model can be realized high-quality communication, effectively guarantees stability in the time of Speed improving, has that button is few, method of operating is simple, high, the safe characteristics of hommization degree.
The beneficial effects of the utility model are:
(1) the utility model adopts ethernet communication, has improved the communication quality of teach box and robot controller, Speed improving not only, and guaranteed well stability.
(2) roller unit described in the utility model, identical with the mouse roller profile of using in the daily life work so that the button on the teach box control panel is few and directly perceived, and method of operating is similar, and operating personnel are easy to grasp its usage.
(3) safety switch described in the utility model is designed with two gears.Operating personnel realize the ineffectivity that has to the robot manipulation by unclamping, gently hold or holding, and can improve the vigilance of operation.Simultaneously, when accident appearred in manual operation, no matter operating personnel unclamped or hold, and can in time stop the machine human motion, the security that has improved control system.
(4) safety switch described in the utility model respectively has one at the teach box back side, and function is identical, and no matter operating personnel's lefthanded or the right hand all can operate easily.
(5) safety switch described in the utility model and roller unit all are the autoscopias from operating personnel, have improved the hommization degree of teach box.
Description of drawings
Fig. 1 is the teach box and the control system schematic diagram that consists of as the robot controller of slave computer of the utility model embodiment.
Fig. 2 is the structured flowchart of the teach box of the utility model embodiment.
Fig. 3 is the work structuring block diagram of the teach box manual operation unit of the utility model embodiment.
Fig. 4 is the work structuring block diagram of the teach box program of the utility model embodiment.
Fig. 5 is the ethernet frame structural representation of the teach box of the utility model embodiment.
Fig. 6 is the roller unit work structuring block diagram of the teach box of the utility model embodiment.
Fig. 7 is that the roller unit of the utility model embodiment rolls forward, the pulse A of generation and B schematic diagram.
Fig. 8 is that the roller unit of the utility model embodiment rolls backward, the pulse A of generation and B schematic diagram.
Fig. 9 is the front view of the safety switch work structuring of the utility model embodiment.
Figure 10 is the work structuring block diagram of each function key on the control panel of the utility model embodiment.
Figure 11 is the teach box structural representation of the utility model embodiment.
The specific embodiment
For making the purpose of this utility model, technical scheme and effect clearer, below in conjunction with the drawings and specific embodiments the utility model is described in further detail, following examples only are used for explaining the utility model, do not consist of restriction of the present utility model.In addition, involved technical characterictic in each embodiment of the utility model that the following describes just can not mutually combine as long as consist of each other conflict.
Teach box is mainly finished the task mutual with the operator, comprise management to the various menu, input key, the current needs of demonstration the interface, revise parameters, edit routine, inspection and working procedure, and realize network communicating function.By teach box, the operator can realize to robot the setting of systematic parameter, the detection of running status, the teach programming of program, and the functions such as automatic operation of program.
Fig. 1 is the robot control system architecture schematic diagram that comprises this teach box.Whole system comprises: teach box, robot controller, industrial machine human body.Power to teach box by the robot controller power supply, connect with netting twine between teach box and the robot controller, carry out command transfer, exchanges data through Ethernet, thereby so that robot controller moves to control the actual motion of industrial robot accordingly.And the teach box emergency stop push button that holding wire will be processed and safety switch signal are transferred to robot controller, to realize corresponding control.As when being in an emergency, can press the emergency stop push button on the teach box, and namely scram button is notified robot controller, and dangerous generation is avoided in the stop motion of control entity.
As shown in Figure 2, teach box of the present utility model mainly comprises: in central processing unit 1, coprocessor 2, manual operation unit 3, dynamic memory 4, display unit 5(the present embodiment for the LCD display unit), ethernet nic 6, power supply 7, flash memory 8 etc.
Coprocessor 2 is connected with manual operation unit 3, various operation information data for the treatment of 3 inputs of manual operation unit, according to different afferent messages, two kinds of different processing modes are arranged: the first, the signal of the manual operation unit 3 after processing is transferred in the central processing unit 1 processes, carry out corresponding actions further to output to controller control body by ethernet nic 6, simultaneously, output to LCD display unit 5 and show control; The second directly is transferred to controller by holding wire with the operation information data of the manual operation unit 3 after processing, and transfers to controller and directly processes, with control body execution corresponding actions.
Central processing unit is by scanning the state of the manual operation unit that receives in the coprocessor, or by the program information in the access dynamic memory, control the LCD display unit and upgrade corresponding display interface, and as required data communication device is crossed Ethernet and be sent to controller, thereby this body running of control.Central processing unit also can through Ethernet from the controller reading out data, carry out relevant control simultaneously.
Dynamic memory 4 is used for the automatically program of operation of storing driver industrial robot, calls and processes for central processing unit 1.
Can preferably adopt the dm9000a of davicom company in ethernet nic 6(the present embodiment, integrated MAC and PHY can realize 10M and 100M communication self adaptation) be used for the communication of central processing unit and controller.
Power supply 7 is used for all parts power supply to teach box.
Flash memory 8 is used for permanent storage (power down is not volatile) bootloader, kernel, file system.
In addition, teach box can also comprise the interface equipments such as USB and serial ports, is used for the transmission of data between teach box and the external device.
As shown in Figure 3, the manual operation unit is used for the mutual of operating personnel and teach box, and operating personnel input various command by operating manual operating unit 3.The manual operation unit specifically comprises: control panel 31, emergency stop push button 32, roller unit 33, safety switch 34.
When operating personnel carry out valid function to the control panel 31 in the manual operating unit 3 and roller unit 33, corresponding data imports coprocessor 2 into, the status information of the manual operation unit 3 that reads in the central processing unit 1 scanning coprocessor 2, after carrying out alignment processing according to these status informations, can control display unit 5 refresh interface phase and answer display items, and by ethernet nic 6 data are sent to robot controller, thereby the control body is carried out corresponding order, to reach operating personnel's operation purpose.
When operating personnel operate the scram button 32 in the manual operating unit 3 and safety switch 33, operation signal imports coprocessor 2 into, this signal is done after the respective handling through coprocessor, is transferred in the controller through the holding wire between teach box and the controller.Controller is done corresponding processing according to the signal that imports into.And control panel 31, roller unit 33 adopt different working methods from emergency stop push button 32, safety switch 34, because when deadlock or communication failure appear in teach box, still can import in the robot controller with assurance emergency stop push button and safety switch signal, thereby guarantee the robot Operation safety.
In the present embodiment, roller unit 33 can with daily life in the computer mouse roller roughly the same, two functions are arranged: function one is that only pair roller operates, and rolls by roller, and current display interface is operated; Function two is scroll wheel unit when pressing the options button of manipulator shaft, and selected manipulator shaft is carried out manual operation.Use the mouse roller of using in the daily life, help operating personnel to grasp fast the mode of operation of teach box.Shown in Fig. 6 and 7, the valid function of pair roller unit 33 has dual mode: roll forward and roll backward.When the pair roller unit carries out valid function, can produce A, two kinds of pulses of B.When rolling forward A, B pulse as shown in Figure 6, A, B pulse are as shown in Figure 7 when rolling backward.As shown in Figure 8, coprocessor 2 comprises meter pulse module and umber of pulse register module, when roller unit 33 is effectively worked, A, two kinds of pulses of B are input in the meter pulse module of coprocessor, by to A, two kinds of impulse phases of B relatively judge the increase and decrease of umber of pulse in the meter pulse module, and the umber of pulse that produces is write in the umber of pulse register of coprocessor in real time.Central processing unit compares the umber of pulse of twice access in front and back by the access impulse register, thereby the valid function of judging roller is forward or backward.If only have separately effectively work of roller unit 33, then 5 pairs of current interface cursors of central processing unit 1 control LCD display unit move, to realize the first function of roller unit; If the s function key on roller unit 33 and the control panel 31 is effectively work simultaneously, be that central processing unit scans and has simultaneously from roller unit in the coprocessor and during from the useful signal of s function key on the control panel, then central processing unit is sent to controller by Ethernet with the manipulator shaft control command, to realize the second function of roller unit.
When emergency stop push button 32 is used for being in an emergency, stop the robot operation, avoid dangerous generation.When pressing this button, servo power supply cuts off, and robot is out of service.Unclamp scram button, system again resets and powers on.
Safety switch 34 is used for the motion of control in manual mode and teaching.As shown in Figure 9, safety switch can have a plurality of gears, when three gears to safety switch operate, operation signal can be input in the coprocessor, coprocessor is judged input signal, if signal is effective, then be transferred to controller by holding wire, thereby so that the axle of robot can corresponding sports.Safety switch 34 can have three gears in the present embodiment: be zero-bit when unclamping, to first gear, hold time to the second gear when gently holding.Only effective when the first gear (namely gently holding safety switch), namely can carry out motion control to robot this moment; If do not press safety switch or firmly hold safety switch, then robot can't move; When robot is moving, unclamp safety switch or firmly hold safety switch, robot is stop motion immediately.The safety switch of general teach box only has two kinds of modes of operation, namely unclamps and presses, as long as press just effectively.And occurring unexpected or when arriving desired location, the people may rather than unclamp because anxiety or excitement are held on the contrary by safety switch, has so just caused danger or repeated work.
As shown in Figure 4, the robot program all is stored in the flash memory the inside, and when system cut-off, program still is kept in the flash memory like this.When system powered on, the program in the flash memory can be loaded in the dynamic memory, and central processing unit shows robot program's demonstration by the access dynamic memory by the LCD display unit.When the needs program was moved, required program can be sent to robot controller by Ethernet, thus the automatic operation of control body.
Teach box is connected network interface card with robot control system and connects, and by the Ethernet exchanging data, adopts the ICP/IP protocol of standard.Difference according to the various data of transmitting between teach box and the controller require Internet Transmission adopts different agreements.For the high data of requirement of real-time, such as robot coordinate value, multiplying power etc., adopt udp protocol, to guarantee the real-time demonstration of teach box and controller related data, and for the high data of accuracy requirement, such as device parameter etc., adopt Transmission Control Protocol, so that data can stable and accurately be sent to the opposing party.
Be illustrated in figure 5 as the ethernet frame structure chart to tcp data.The character of the transmission of data is inconsistent between teach box and the robot controller, need to come code identification by different Data Identifications to different the data, after receiving data, processes corresponding data according to different Data Identifications like this.
When robot moves automatically, realize by the working procedure that calls in the solid-state memory 4.At first with on the robot controller manual automatic mode switch band switch and switch to automatic operation shelves, controller receives the useful signal of automatic operation, by Ethernet automatic action command is sent in the central processing unit 1 of teach box.Then, the teach box control panel is operated, press the start button in the program function key 12, be transferred to coprocessor 2, the starting state information of central processing unit 1 scanning coprocessor 2 Program function keys 12, after carrying out respective handling, this information exchange is crossed Ethernet be sent to robot controller, with the automatic operation of control.In the running of program, controller can be transferred to the program line number of current operation in the central processing unit 1 of teach box by Ethernet in real time, and then it is capable to upgrade the present procedure that shows on the teach box LCD display unit.
During startup, teach box is at first from the synchronous all kinds of Parameter Files of controller, register and IO information, and by the real-time display device people position coordinates of udp protocol, speed, multiplying power etc., so that operating personnel's supervisory-controlled robot operational factor at any time.Secondly, when operating personnel revise every data value by button operation, will send the modification value to controller by Transmission Control Protocol, be updated to teach box from controller again, to finish the purpose of revising parameter.After operating personnel write program by teach box, be sent to controller by TCP.
During concrete the use, operating personnel's both hands are held the portion of the handle on both sides, and right-hand man's thumb falls within respectively button place, control panel two ends, and all the other fingers of right-hand man drop on respectively two safety switch places of teach box back side portion of the handle.
When manual operation or teaching, at first, set the information such as axle of the required parameter of robot, selection operational mode and needs operation by each function key.Then, when pressing corresponding axle selection function key, rolling is positioned at the roller on control panel the right, and corresponding axis is carried out manual operation, by the speed that the speed of control roller is regulated feeding, controls the amount of feeding by rolling amount.When arriving desired location, unclamp safety switch and get final product.When manual operation meets accident, can by unclamping or the safety switch at the back side of holding with a firm grip stops manual operation, guarantee safety.
When working procedure or teaching are reproduced, at first, switch to automatically by the operational mode of controller with robot.Secondly, by need selecting the program of operation and the setting program method of operation with interface operation correlation function key: single-revolution, circulation.Single-revolution i.e. this program only moves once, and circulation is this program of circular flow, until the user presses stop button.Then, pressing the function key 12 relevant with the program operation selects to begin, suspend, stop.Emergency case occurs, can press emergency stop push button 32, avoid dangerous generation.
Each button and roller unit all are arranged in the left and right edges position of control panel on the control panel, especially, with function key 14,16 and roller unit 33 be placed on respectively the both sides of control panel 31, like this during manual operation, right-hand man's tunable compounding practice, easily operating personnel's operation.Safety switch 34 respectively has one in teach box back side left and right edges, and left hand and the right hand are pressed on one side can realize its function.Emergency stop push button is positioned at the edge, upper right side of teach box, and when emergency occured, the right hand can be pressed anxious stopping very easily, avoids dangerous generation.
Claims (9)
1. industrial robot teaching box, it is connected with the controller of industrial robot, be used for industrial robot is carried out teaching control, it is characterized in that, this teach box comprises central processing unit (1), coprocessor (2), manual operation unit (3), dynamic memory (4) and display unit (5), wherein
Described central processing unit (1) is electrically connected with coprocessor (2), dynamic memory (4) and display unit (5) respectively, and be communicated with by Ethernet with described controller, described coprocessor (2) is electrically connected with the controller of described manual operation unit (3) and industrial robot respectively, storage is used for handling the program of industrial robot operation in the described dynamic memory (4), and described manual operation unit (3) is used for the control instruction of manual input control industrial robot;
Central processing unit (1) is used for reading the industrial robot working procedure of dynamic memory (4) storage and it is treated to operating instruction, output to controller with the operation of control industrial robot, perhaps read the manual operation information of inputting from described manual operation unit (3) and be treated to operating instruction by described coprocessor (2), output to controller with the operation of control industrial robot, described display unit (5) is used for showing described operating instruction.
2. a kind of industrial robot teaching box according to claim 1, it is characterized in that, described industrial robot teaching box also comprises ethernet nic (6), described central processing unit (1) realizes that by this ethernet nic (6) Ethernet is communicated with described controller, so that described operating instruction is sent to controller by Ethernet.
3. a kind of industrial robot teaching box according to claim 1, it is characterized in that, described manual operation unit (3) comprises the control panel (31) with a plurality of function buttons, be used for manually generating various control instructions, it is input to the demonstration of central processing unit (1) to control the industrial machine human motion or to control described display unit (5) by described coprocessor (2).
4. a kind of industrial robot teaching box according to claim 3, it is characterized in that, described control panel (31) comprises program function key (12), interface function key (13) and the axle selection function key (13) that is used for selecting manipulator shaft, wherein said program function key (12) is used for the generator control instruction, and described central processing unit (1) is according to the read control of this program control instruction realization to the middle robot working procedure of storing of described dynamic memory (4); Described interface function key (13) is used for generating the Interface Control instruction, and central processing unit (1) is controlled the displaying contents of display unit (5) by this Interface Control instruction; Described axle selection function key (13) is used for generating axle and selects control instruction, and described central processing unit (1) selects control instruction to select corresponding manipulator shaft according to this axle, to carry out corresponding control operation.
5. each described a kind of industrial robot teaching box according to claim 1-4, it is characterized in that, described manual operation unit (3) also comprises roller unit (33), it is by scroll forward and backward generating run information, described central processing unit (1) obtains described operation information by described coprocessor (2), thereby and produces operational order with the motion of control or the demonstration of control display unit according to this operation information.
6. each described a kind of industrial robot teaching box according to claim 1-4, it is characterized in that, described coprocessor (2) comprises pulse module and umber of pulse register module, when rolling, described roller unit (33) produces pulse, judge the increase and decrease of umber of pulse by this meter pulse module, and the umber of pulse that produces write in the described umber of pulse register module in real time, the umber of pulse of described central processing unit (1) by the storage of described impulse register compare to determine out roller operation forward or backward, thereby obtain corresponding control instruction, so that the demonstration of machine human motion or display unit (5) is controlled.
7. each described a kind of industrial robot teaching box according to claim 1-4, it is characterized in that, described manual operation unit (3) also comprises emergency stop push button (32) and safety switch (34), it directly is connected with described controller by coprocessor (2), is respectively applied to direct emergent stopping and direct control unit device people's operation.
8. each described a kind of industrial robot teaching box is characterized in that according to claim 1-4, and described teach box also comprises USB interface and serial ports, is used for the transfer of data between teach box and the external device.
9. each described a kind of industrial robot teaching box is characterized in that according to claim 1-4, and each function key and roller unit are arranged in the left and right edges position of control panel on the control panel of described teach box.
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| CN 201320165107 CN203197922U (en) | 2013-04-03 | 2013-04-03 | Industrial robot teaching box based on Ethernet communication |
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| CN 201320165107 CN203197922U (en) | 2013-04-03 | 2013-04-03 | Industrial robot teaching box based on Ethernet communication |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231374A (en) * | 2013-04-03 | 2013-08-07 | 华中科技大学 | Teaching box for industrial robot based on Ethernet communication |
| CN104678859A (en) * | 2015-02-11 | 2015-06-03 | 北京配天技术有限公司 | Industrial robot demonstrator and emergency event triggering method thereof |
| CN106457570A (en) * | 2014-06-06 | 2017-02-22 | 纳博特斯克有限公司 | Teaching data-generating device and teaching data-generating method for work robot |
| CN106808471A (en) * | 2015-11-28 | 2017-06-09 | 惠州学院 | A kind of SCM Based conveying robot kinetic control system |
| CN106808476A (en) * | 2015-12-01 | 2017-06-09 | 松下知识产权经营株式会社 | Teaching method in apparatus for work and apparatus for work |
| CN107290988A (en) * | 2016-04-13 | 2017-10-24 | 珠海格力智能装备有限公司 | Robot and its teaching machine communication system and method |
| CN111819039A (en) * | 2019-07-15 | 2020-10-23 | 深圳配天智能技术研究院有限公司 | Robot control method, device and readable storage medium |
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2013
- 2013-04-03 CN CN 201320165107 patent/CN203197922U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231374A (en) * | 2013-04-03 | 2013-08-07 | 华中科技大学 | Teaching box for industrial robot based on Ethernet communication |
| CN103231374B (en) * | 2013-04-03 | 2015-09-23 | 华中科技大学 | A kind of industrial robot teaching box based on ethernet communication |
| CN106457570A (en) * | 2014-06-06 | 2017-02-22 | 纳博特斯克有限公司 | Teaching data-generating device and teaching data-generating method for work robot |
| CN104678859A (en) * | 2015-02-11 | 2015-06-03 | 北京配天技术有限公司 | Industrial robot demonstrator and emergency event triggering method thereof |
| CN104678859B (en) * | 2015-02-11 | 2017-09-26 | 北京配天技术有限公司 | Industrial robot teaching device and its emergency triggering method |
| CN106808471A (en) * | 2015-11-28 | 2017-06-09 | 惠州学院 | A kind of SCM Based conveying robot kinetic control system |
| CN106808476A (en) * | 2015-12-01 | 2017-06-09 | 松下知识产权经营株式会社 | Teaching method in apparatus for work and apparatus for work |
| CN106808476B (en) * | 2015-12-01 | 2021-06-01 | 松下知识产权经营株式会社 | Working device and teaching method in working device |
| CN107290988A (en) * | 2016-04-13 | 2017-10-24 | 珠海格力智能装备有限公司 | Robot and its teaching machine communication system and method |
| CN111819039A (en) * | 2019-07-15 | 2020-10-23 | 深圳配天智能技术研究院有限公司 | Robot control method, device and readable storage medium |
| CN111819039B (en) * | 2019-07-15 | 2023-08-15 | 深圳配天智能技术研究院有限公司 | Robot control method, apparatus and readable storage medium |
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