CN207058554U - Based on the industrial robot teaching device used in ROS systems - Google Patents

Based on the industrial robot teaching device used in ROS systems Download PDF

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Publication number
CN207058554U
CN207058554U CN201720962720.5U CN201720962720U CN207058554U CN 207058554 U CN207058554 U CN 207058554U CN 201720962720 U CN201720962720 U CN 201720962720U CN 207058554 U CN207058554 U CN 207058554U
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industrial
ros
machine
teaching
teaching machine
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闫新华
杨益民
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Nobot Intelligent Equipment (shandong) Co Ltd
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Nobot Intelligent Equipment (shandong) Co Ltd
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Abstract

The utility model discloses based on the industrial robot teaching device used in ROS systems, including:Man-machine interactive module, teaching machine, Industrial PC;The teaching machine builds composition ETHERNET LANs by interchanger, and interchanger is connected ETHERNET LANs with teaching machine, ROS system servers, ROS industrial computers in a manner of mutually communicating;Net communication modes are connected with Industrial PC within the ROS system servers, and Industrial PC and teaching machine are connected man-machine interactive module in a manner of network interaction communication;The Industrial PC is connected with teaching machine by man-machine interactive module with net communication modes within ROS industrial computers, and operation execution system of the ROS industrial computers by PMAC chips for industrial robot.The utility model is advantageous to manage concentratedly by application of the teaching machine in ROS systems, there is certain open and abundant software tool pack and communication system to build the characteristics of convenient etc., is easy to develop, the advantages of module extension etc..

Description

Based on the industrial robot teaching device used in ROS systems
Technical field
Industrial Robot Technology field is the utility model is related to, more particularly to based on the industrial machine used in ROS systems People's teaching machine.
Background technology
Traditional industrial robot teaching device is that manufacturer is directed to grinding for the specific robotic teaching machine that own product is carried out mostly Hair, hardware aspect still use single-chip microcomputer or ARM plate modes, and screen size is smaller, and the various complexity of button, it is difficult to the rapid palm Hold, interactivity extreme difference, not convenient enough, autgmentability is also poor;And for high-end teaching machine, foreign countries are constantly in monopoly position, The teaching machine of foreign vendor is general only to have certain compatibility to the robot of Own Brand, and does not have for other robot Versatility, its exclusive equipment part and high maintenance cost allow domestic industries to consume substantial amounts of manpower and financial resources, Based on above present situation, exploitation is China's work with versatility and the teaching-programming pendant open, that function is strong, interactivity is good Industry robot field's urgent problem.
As described above the problem of middle proposition, this programme is provided based on the industrial robot teaching device used in ROS systems, and is led to Cross this and above-mentioned middle produced problem of solution and deficiency are reached based on the industrial robot teaching device used in ROS systems, make it With more practical purpose.
Utility model content
The industrial robot teaching device that the purpose of this utility model uses in offer based on ROS systems, to solve to work as Produced problem and deficiency in the preceding industrial robot teaching device used.
Purpose and effect of the utility model based on the industrial robot teaching device used in ROS systems, by detail below Technological means is reached:
Based on the industrial robot teaching device used in ROS systems, including:
Man-machine interactive module, teaching machine, Industrial PC, ROS system servers, interchanger, ROS industrial computers, PMAC chips, Industrial robot;
The teaching machine builds composition ETHERNET LANs by interchanger, and interchanger passes through ETHERNET LANs It is connected with teaching machine, ROS system servers, ROS industrial computers in a manner of mutually communicating;Within the ROS system servers Net communication modes are connected with Industrial PC, and the side that Industrial PC is communicated with teaching machine by man-machine interactive module with network interaction Formula is connected;The Industrial PC is connected with teaching machine by man-machine interactive module with net communication modes within ROS industrial computers, And operation execution system of the ROS industrial computers by PMAC chips for industrial robot.
Preferably, the teaching machine is provided with man-machine interactive module with Industrial PC, and man-machine interactive module is base In the Model View Controller of MVC pattern.
Preferably, the teaching machine is universal type industrial robot controller, and teaching machine have URDF+MOVEIT with URDF+OPENRAVE various control patterns.
Preferably, the teaching machine is at least provided with one in system, and teaching machine is at least provided with the system One is used as main frame.
Preferably, the Industrial PC is desk-top industrial computer, and Industrial PC in the system at least provided with one Main frame as ROS system servers.
With existing structure in comparison, the utility model has the following advantages that:
The utility model is by application of the teaching machine in ROS systems, having certain open and abundant software Kit and communication system are built the characteristics of convenient etc., while are advantageous to manage concentratedly, are easy to develop, the side such as module extension The advantages of face.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is system architecture schematic diagram of the present utility model;
Fig. 3 is the universal schematic diagram of teaching machine of the present utility model.
In figure:1st, man-machine interactive module;2nd, teaching machine;3rd, Industrial PC;4th, ROS system servers;5th, interchanger;6、 ROS industrial computers;7th, PMAC chips;8th, industrial robot.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1 to Fig. 3 is referred to, based on the industrial robot teaching device used in ROS systems, including:Man-machine interactive mould Block 1, teaching machine 2, Industrial PC 3, ROS system servers 4, interchanger 5, ROS industrial computers 6, PMAC chips 7, industrial robot 8; Teaching machine 2 builds composition ETHERNET LANs by interchanger 5, and interchanger 5 passes through ETHERNET LANs and teaching machine 2nd, ROS system servers 4, ROS industrial computers 6 are connected in a manner of mutually communicating;News side of Netcom within ROS system servers 4 Formula is connected with Industrial PC 3, and Industrial PC 3 and teaching machine 2 man-machine interactive module 1 phase in a manner of network interaction communication Connection;Industrial PC 3 is connected with teaching machine 2 by man-machine interactive module 1 with net communication modes within ROS industrial computers 6, and Operation execution system of the ROS industrial computers 6 by PMAC chips 7 for industrial robot 8.
Specifically, teaching machine 2 is provided with man-machine interactive module 1 with Industrial PC 3, and man-machine interactive module 1 is base In the Model View Controller of MVC pattern.
Further, the MVC pattern framework interactive software employed in above-mentioned middle man-machine interactive module 1, in view Aspect is realized using QT-QUICK modules touches interaction GUI;Hardware monitoring thread is designed in terms of controller, is realized defeated to user The quick response entered;The design function module in terms of model, realize control, teaching playback, advanced programming, calibration, user manually The work(such as establishment of coordinate system, robotary real-time display, working space limitation, system mode instruction, user management, system control Can, and by the communication thread of design, realize the data interchange with ROS system servers 4.
Specifically, teaching machine 2 is universal type industrial robot controller, and teaching machine 2 has URDF+MOVEIT and URDF The various control pattern such as+OPENRAVE.
Further, the URDF files that teaching machine 2 uses are unified robot descriptor format files, are used in ROS The file format of the entity structure of abstractdesription robot, URDF files are established based on XML language, in URDF files, Industrial robot is all formed by connecting by all parts LINK by joint JOINT, and key is to describe these parts and pass The relation of section, all parts are described with LINK.TAG hereof, JOINT.TAG describes each joint, and by PARENT and CHILD describes the part of joint connection, and the physical model of industrial robot is then the single part generated with SOLIDWORKS STL model files, its space coordinates and posture are imported into URDF files and describe by GEOMETRY, so as to form work Industry robot block mold, while the system uses PMAC chips 7 to utilize URDF files to describe as general multi-axis controller Robot modeling, URDF files are read using MOVEIT kits, generate Controlling model and realize motion planning, and in RVIZ Real-time display robot model.
Specifically, teaching machine 2 in system at least provided with one, and teaching machine 2 is at least provided with one in the system Platform is as main frame.
Further, using an access to LAN of teaching machine 2, by ROS system servers 4 to each industrial robot 8 send instruction, so as to reach the function with the operation simultaneously of one or more industrial robot 8 of the teaching of teaching machine 2.
Specifically, Industrial PC 3 is desk-top industrial computer, and Industrial PC 3 is made in the system at least provided with one For the main frame of ROS system servers 4.
Further, every industrial robot 8 is made by respective as ROS system servers 4 using an Industrial PC 3 ROS industrial computers 6 control, and by ROS industrial computers, 6 groups are placed in same LAN with ROS system servers 4.
Operation principle:
ROS system servers 4 are used as by an Industrial PC 3, make every industrial robot 8 by respective ROS industrial computers 6 Control, by ROS industrial computers, 6 groups are placed in same LAN with ROS system servers 4, while use an access office of teaching machine 2 Domain net, sent and instructed to each industrial robot 8 by ROS system servers 4, so as to reach with a teaching one of teaching machine 2 Platform or the function of the more operations simultaneously of industrial robot 8.
In summary:This is based on the industrial robot teaching device used in ROS systems, by teaching machine in ROS systems Application in, there is certain open and abundant software tool pack and communication system to build the characteristics of convenient etc., together When be advantageous to manage concentratedly, be easy to develop, module extension etc. the advantages of.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art, It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims (5)

1. based on the industrial robot teaching device used in ROS systems, it is characterised in that including:
Man-machine interactive module (1), teaching machine (2), Industrial PC (3), ROS system servers (4), interchanger (5), ROS industry controls Machine (6), PMAC chips (7), industrial robot (8);
The teaching machine (2) builds composition ETHERNET LANs by interchanger (5), and interchanger (5) passes through ETHERNET LAN is connected with teaching machine (2), ROS system servers (4), ROS industrial computers (6) in a manner of mutually communicating;The ROS Net communication modes are connected with Industrial PC (3) within system server (4), and Industrial PC (3) passes through man-machine friendship with teaching machine (2) Mutual formula module (1) is connected in a manner of network interaction communicates;The Industrial PC (3) passes through man-machine interactive with teaching machine (2) Module (1) is connected with net communication modes within ROS industrial computers (6), and ROS industrial computers (6) are industry by PMAC chips (7) The operation execution system of robot (8).
2. the industrial robot teaching device used in the system according to claim 1 based on ROS, it is characterised in that:It is described Teaching machine (2) is provided with man-machine interactive module (1) with Industrial PC (3), and man-machine interactive module (1) is based on MVC moulds The Model View Controller of formula.
3. the industrial robot teaching device used in the system according to claim 1 based on ROS, it is characterised in that:It is described Teaching machine (2) is universal type industrial robot controller, and teaching machine (2) has URDF+MOVEIT and URDF+OPENRAVE more Kind control model.
4. the industrial robot teaching device used in the system according to claim 1 based on ROS, it is characterised in that:It is described Teaching machine (2) is at least provided with one in system, and teaching machine (2) is at least provided with one in the system and is used as main frame.
5. the industrial robot teaching device used in the system according to claim 1 based on ROS, it is characterised in that:It is described Industrial PC (3) is desk-top industrial computer, and Industrial PC (3) takes in the system at least provided with one as ROS systems The main frame of business device (4).
CN201720962720.5U 2017-08-03 2017-08-03 Based on the industrial robot teaching device used in ROS systems Active CN207058554U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109240179A (en) * 2018-11-12 2019-01-18 魏松涛 Distributed sand table model control system
CN109434808A (en) * 2018-12-13 2019-03-08 上海菡为智能科技有限公司 A kind of cloud remote service Study of Intelligent Robot Control network system realization
CN111421547A (en) * 2020-04-13 2020-07-17 深圳市强华科技发展有限公司 Industrial robot control system and control method thereof
CN112936276A (en) * 2021-02-05 2021-06-11 华南理工大学 ROS system-based humanoid robot joint multistage control device and method
CN117260681A (en) * 2023-09-28 2023-12-22 广州市腾龙信息科技有限公司 Control system of mechanical arm robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109240179A (en) * 2018-11-12 2019-01-18 魏松涛 Distributed sand table model control system
CN109434808A (en) * 2018-12-13 2019-03-08 上海菡为智能科技有限公司 A kind of cloud remote service Study of Intelligent Robot Control network system realization
CN111421547A (en) * 2020-04-13 2020-07-17 深圳市强华科技发展有限公司 Industrial robot control system and control method thereof
CN112936276A (en) * 2021-02-05 2021-06-11 华南理工大学 ROS system-based humanoid robot joint multistage control device and method
CN112936276B (en) * 2021-02-05 2023-07-18 华南理工大学 Multi-stage control device and method for joint of humanoid robot based on ROS system
CN117260681A (en) * 2023-09-28 2023-12-22 广州市腾龙信息科技有限公司 Control system of mechanical arm robot

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