CN204065790U - A kind of wireless teaching control device - Google Patents

Abstract

The utility model discloses a wireless teaching controller, which is characterized in that: the wireless teaching controller is a wireless teaching box and simultaneously communicates with a plurality of main controllers through the ZigBee protocol, and the main controllers are installed in corresponding On the robot, due to the above-mentioned structure, the utility model has the following advantages: 1. Strong fault tolerance, high communication reliability, strong anti-interference ability, convenient use and maintenance; The number of boxes reduces the space requirements for operators and personnel movement, and reduces costs; 3. The programmed and effective actions can be directly applied to other robots of the same type, which effectively reduces the workload of teaching and debugging among robots of the same type, and improves the The efficiency of joint debugging and teaching of multiple groups of robots improves the convenience of operation; 4. The communication between the main controller and the wireless teaching box is free from external interference, and the communication stability is high.

Description

A wireless teaching controller

technical field

The utility model relates to the field of wireless network measurement and control, in particular to a wireless teaching controller.

Background technique

With the rapid development of computer integrated manufacturing technology, the demand for robots in industry, agriculture, aviation and other industries is increasing, and the demand for robot controllers is also growing. As an important device for robot control, the wireless teaching controller has been widely used.

Currently, teaching controllers used in robot control are mainly divided into wired controllers and wireless controllers. Among them, the wired teaching controller uses a communication cable to connect the teaching box and the main controller to realize information transmission between the two. This kind of teaching controller greatly restricts the movement of the programming operator, which is not conducive to the safety and convenience of operation. The existing wireless teaching controller uses wireless communication to communicate between the teaching box and the main controller. Compared with the wired controller, this method simply solves the problem of mobile constraints and convenience for programming operators. Moreover, because the communication method adopted is not strong enough in anti-interference ability, real-time and fault-tolerant, the control effect Poor, even unable to effectively control the robot. At the same time, the existing wireless teaching controller is limited by a simple one-to-one control method, which cannot reduce the number of teaching boxes and operators, and has the effect of reducing the moving space and cost of personnel. It is not obvious. At the same time, multiple sets of teaching controllers are required for multiple sets of the same robot, which cannot effectively control the cost and operation difficulty and times.

In view of the above problems, it is a problem to be solved in the prior art to provide a new type of teaching controller to realize the control and communication of multiple main controllers by a single wireless teaching box.

Utility model content

The technical problem to be solved by the utility model is to provide a wireless teaching controller to realize the purpose of controlling and communicating with multiple main controllers by a single wireless teaching box.

In order to achieve the above object, the technical solution of the present utility model is a wireless teaching controller, which is characterized in that: the teaching controller is a wireless teaching box and simultaneously communicates with multiple master controllers through the ZigBee protocol , the main controller is installed on the corresponding robot.

In the wireless teaching box, the first MCU processor module is respectively connected with a ZigBee wireless module, a display module, a keyboard input module, a USB interface module and a power supply module.

The main controller is that the second MCU processor module is connected with ZigBee wireless module, display module, keyboard input module, EEPROM storage module, I/O interface control module, motion control module and servo drive interface module respectively.

The I/O interface control module includes an input module and an output module.

The ZigBee wireless module includes a wireless receiving module and a wireless transmitting module.

The main controllers are wirelessly connected through the ZigBee protocol, and a communication link is established with the wireless teaching box at the same time, so as to ensure that the wireless communication can reliably cover the main controller far from the wireless teaching box.

A wireless teaching controller, due to the adoption of the above-mentioned structure, the utility model has the advantages of: 1. Strong fault tolerance, high communication reliability, strong anti-interference ability, convenient use and maintenance; 2. Adopt a multi-control mechanism, Effectively reduces the number of teaching boxes, reduces the space requirements for operators and personnel movement, and reduces costs; 3. The programmed and effective actions can be directly applied to other robots of the same type, effectively reducing the teaching and debugging costs between robots of the same type The workload improves the efficiency of joint debugging and teaching of multiple groups of robots, and improves the convenience of operation; 4. The communication between the main controller and the wireless teaching box is free from external interference, and the communication stability is high.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail;

Fig. 1 is a structural schematic diagram of a wireless teaching controller of the present invention;

Fig. 2 is a schematic structural diagram of a wireless teaching box in a wireless teaching controller of the present invention;

Fig. 3 is a structural schematic diagram of a main controller in a wireless teaching controller of the present invention;

Fig. 4 is a communication flowchart of a wireless teaching controller of the present invention;

Fig. 5 is a working flow chart of the wireless teaching box in a wireless teaching controller of the present invention;

Fig. 6 is a working flow chart of the main controller in a wireless teaching controller of the present invention;

Fig. 7 is a schematic diagram of the working structure of a wireless teaching controller of the present invention;

In Figure 1-3, 1. The first MCU processor module; 2. ZigBee wireless module; 3. USB interface module; 4. Keyboard input module; 5. Display module; 6. Power module; 7. The second MCU processing 8. EEPROM storage module; 9. I/O interface control module; 10. Servo drive interface module; 11. Motion control module; 12. Main controller; 13. Wireless teaching box.

Detailed ways

As shown in Figures 1-3, the utility model includes a wireless teaching box 13 and a plurality of main controllers 12; the wireless teaching box 13 includes a first MCU processor module 1, a ZigBee wireless module 2, a display module 5, a keyboard input Module 4, USB interface module 3 and power supply module 6. The first MCU processor module 1 is connected with the ZigBee wireless module 2, the display module 5, the keyboard input module 4, the USB interface module 3 and the power supply module 6 respectively. The main controller 12 includes a second MCU processor module 7, a ZigBee wireless module 2, a display module 5, a keyboard input module 4, an EEPROM storage module 8, an I/O interface control module 9, a motion control module 11 and a servo drive interface 10. Wherein the second MCU processor module 7 is connected with ZigBee wireless module 2, display module 5, keyboard input module 4, EEPROM storage module 8, I/O interface control module 9, motion control module 11 and servo drive interface module 10 respectively.

In the utility model, the wireless teaching box 13 transmits the control information through the network formed by the ZigBee protocol and the main controller 12; Communication is realized by establishing multiple communication links between other main controllers 12 and wireless teaching boxes 13 in the network; Multiplicity generally does not affect the connectivity of the network, thereby ensuring signal transmission.

As shown in FIG. 4 , the wireless teaching box 13 communicates with each main controller 12. When the wireless teaching box 13 is turned on, the ZigBee wireless module performs automatic password verification and serial number verification with each main controller 12 successively. Under the condition that the password and serial number are consistent, the wireless teaching box 13 completes the communication matching and connection with each main controller 12, and the main controller 12 and the wireless teaching box 13 display the corresponding controlled and master information respectively; otherwise, The display module of the wireless teaching box 13 shows that the corresponding main controller 12 is not working normally, prompting the programming operator to check whether the corresponding main controller 12 is turned on or has a fault.

The programming teaching and operation process shown in Figure 5, under normal working conditions, the wireless teaching box 13 has a keyboard input module 4, and the programming intention and teaching instructions of the programming operator are input to the first MCU processor module 1 Among them, the first MCU processor module 1 displays the information on the display module 5, and encodes it, and then sends it to the ZigBee wireless module 2 of the main controller 12 through the ZigBee wireless module 2, and the main controller controls the robot to make a corresponding response. Actions.

As shown in Figure 6, the main controller 12 work flow chart, the ZigBee wireless module 2 of the main controller 12 transmits the information to the second MCU processor module 7 after receiving the control information of the wireless teaching box 13, and the second The MCU processor module 7 decodes the information and displays it on the display module 5, and then controls the servo drive interface module 10 according to the information and control information of the corresponding I/O interface module 9, and controls the robot to make corresponding actions or Action group; if a fault occurs, the main controller 12 will give a fault alarm and display corresponding information.

As shown in Figure 7, the working structure diagram of the wireless teaching controller, the wireless teaching box 13 and the main controller 12 communicate through ZigBee, the input module in the I/O interface module 9 collects the corresponding necessary information, and the main controller 12 Make corresponding decisions according to the control command and the collected state information, and control the motion control module 11 to make the robot perform corresponding actions and movements.

In the present invention, the wireless teaching box 13 can control multiple main controllers 12 . When the teaching actions of other robots are similar or identical to those of the robot group that has been taught successfully, the associated functions of the wireless teaching box 13 can be used to apply to other robots directly or after slight modification.

The utility model adopts the ZigBee communication protocol, which has strong fault tolerance, high communication reliability, strong anti-interference ability, and convenient use and maintenance. Because it adopts a multi-control mechanism, it effectively reduces the number of teaching boxes, reduces the space requirements for operators and personnel movement, and reduces costs. It can directly apply the programmed and effective actions to other robots of the same type, effectively reducing the workload of teaching and debugging between robots of the same type, improving the efficiency of joint debugging and teaching of multiple groups of robots, and improving the convenience of operation . At the same time, encrypted communication is adopted between the main controllers 12. Each time the main controller is turned on, the teaching box and each main controller will automatically check the password respectively. Different main controllers use different proofreading passwords and serial numbers to ensure that the main controller 12 and the wireless teaching The communication between the boxes 13 does not interfere with each other, which improves the stability of the system communication.

The utility model has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the utility model is not limited by the above method, as long as the various improvements made by the technical solution of the utility model are adopted, or directly applied to other occasions without improvement All are within the protection scope of the present utility model.

Claims (5)

1. a wireless teaching controller, is characterized in that: described teaching controller is that wireless teaching box (13) carries out communication connection with a plurality of master controllers (12) by ZigBee agreement simultaneously, master controller ( 12) Installed on the corresponding robot; the main controllers (12) are wirelessly connected through the ZigBee protocol, and simultaneously establish a communication link with the wireless teaching box (13). the 2. A kind of wireless teaching controller according to claim 1, is characterized in that: described wireless teaching box (13) is the first MCU processor module (1) and ZigBee wireless module (2), respectively The display module (5), the keyboard input module (4), the USB interface module (3) and the power supply module (6) are connected. the 3. A kind of wireless teaching controller according to claim 1, is characterized in that: described master controller (12) is the second MCU processor module (7) respectively with ZigBee wireless module (2), display The module (5), the keyboard input module (4), the EEPROM storage module (8), the I/O interface control module (9), the motion control module (11) and the servo drive interface module (10) are connected. the 4. A wireless teaching controller according to claim 3, characterized in that: the I/O interface control module (9) includes an input module and an output module. the 5. A kind of wireless teaching controller according to claim 2 or 3, characterized in that: said ZigBee wireless module (2) includes a wireless receiving module and a wireless transmitting module. the