CN107511835A - A kind of teach-by-doing apery teaching robot's system - Google Patents
A kind of teach-by-doing apery teaching robot's system Download PDFInfo
- Publication number
- CN107511835A CN107511835A CN201710972633.2A CN201710972633A CN107511835A CN 107511835 A CN107511835 A CN 107511835A CN 201710972633 A CN201710972633 A CN 201710972633A CN 107511835 A CN107511835 A CN 107511835A
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- robot
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- installing plate
- teaching machine
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- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000012423 maintenance Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 5
- 230000008439 repair process Effects 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 241000256844 Apis mellifera Species 0.000 claims 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with leader teach-in means
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of teach-by-doing apery teaching robot's system, including robot body, teaching machine, switch board, router and PC ends；The robot body is the final actuating station of robot teaching's system, and the program passed through is write in responsible execution；The teaching machine carries out teaching programming to robot, and PC ends can be sent to by programming the program passed through；Operability of the present invention is good, make robot teaching easier, efficient, safe simultaneously, robot teaching's cost is also reduced, wherein teaching machine is after the warning signal of robot control system transmission is received, warning signal can be converted to by drive signal by I/O ports, so as to drive the vibration of itself or buzzing to be warned to operating personnel, therefore, operating personnel whether hold teaching machine, or near teaching machine shelves, operating personnel can be transferred through the vibration of teaching machine or the information that robot breaks down is known in buzzing in time.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of teach-by-doing apery teaching robot's system.
Background technology
Robot is to automatically control machine（Robot）Be commonly called as, automatically control machine include all simulation human behaviors or
Thought and the machinery of simulation other biological（Such as robot dog, Doraemon etc.）.The definition to robot also has many classification in the narrow sense
Method and dispute, also referred to as some computer programs or even robot.In contemporary industry, robot, which refers to, can perform task automatically
Man-made machine device, to substitute or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, machinery
Electronics, computer and artificial intelligence, materialogy and bionic product, at present scientific circles to this direction research and develop, with
The raising of the depth and range and intelligent robot level of industrial robot development, robot just progressively replaces in industry-by-industry
For traditional manual labor.Currently to industrial machine Man's Demands in quick increase trend, while to robot manipulation personnel's
Demand is consequently increased.The teaching method of traditional robot is typically that material object is carried out after the basic theoretical knowledge of robot is grasped
Operation teaching.By theoretical directly to actual, it usually needs certain running-in period, this causes traditional teaching method in object operation rank
Section would generally spend longer time, while the not familiar property of student can improve the danger of robot manipulation, while teaching machine is not
The information that robot breaks down can be known in time, and switch board can not easily arrange electric elements and circuit, electrical equipment member
Part and line arrangement are reasonable, and router heat dispersion is poor, it is impossible to the various wiring on protection router well, it is easily curved
Folding and friction.
So how to design a kind of teach-by-doing apery teaching robot's system, turning into us will currently solve the problems, such as.
The content of the invention
The present invention provides a kind of teach-by-doing apery teaching robot's system, and operability is good, while makes robot teaching more
Add easy, efficient, safety, robot teaching's cost is also reduced, and wherein teaching machine is receiving robot control system biography
After defeated warning signal, warning signal can be converted to by drive signal by I/O ports, so as to drive the vibration of itself or
Buzzing is warned to operating personnel, and therefore, operating personnel whether hold teaching machine, or near teaching machine shelves, operating personnel
It can be transferred through the vibration of teaching machine or the information that robot breaks down known in buzzing in time, wherein switch board being capable of easily cloth
Electric elements and circuit are put, electric elements and line arrangement are reasonable so that the field erected time shortens, maintenance and replacing side
Just, and router has good heat sinking function, moreover it is possible to and the various wiring on router are protected, avoids bending and rubs, can
Effectively to solve the problems, such as in above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of teach-by-doing apery teaching robot's system, bag
Include robot body, teaching machine, switch board, router and PC ends；The robot body be robot teaching's system most
The program passed through is write in whole actuating station, responsible execution；The teaching machine carries out teaching programming to robot, programs the program passed through
PC ends can be sent to, or directly pass through the action of switch board control machine human body；The switch board is robot system
Core, be responsible for the action of control machine human body；The router is by switch board and PC ends network consisting group；It is described
PC ends are equipped with robot motion simulation software, and teaching machine, the PC ends can be sent to by router by emulating the program passed through
To be multiple, information can be mutually transmitted between multiple PC ends, shows programing effect, while can will emulate the robot motion passed through
Program is uploaded to switch board by router, carries out physical varification, the switch board, robot body and teaching machine and router
Between connected by cable.
According to above-mentioned technical proposal, the teaching machine also includes controller, I/O ports, and controller is receiving robot
After the warning signal of control system transmission, warning signal is converted to drive signal, drive signal driving teaching by control I/O ports
Device is alarmed, and drive signal includes pulse signal and/or high level signal, when drive signal includes pulse signal, drives teaching machine
Vibration, teaching machine include motor-drive circuit and motor, and after pulse signal is received, motor shakes motor-drive circuit
Dynamic, the dutycycle of the time of motor oscillating and Oscillation Amplitude depending on pulse signal, pulse signal is pulse width modulating signal,
When drive signal includes high level signal, teaching machine buzzing is driven, teaching machine includes buzzing drive circuit and buzzer, and buzzing is driven
Dynamic circuit drives buzzer buzzing, teaching machine passes through internal bus to be carried out with robot control system to after high level signal
Communication, teaching machine also include display, and display is used to show alert messages.
According to above-mentioned technical proposal, switch board includes cabinet, the first installing plate and the second installing plate, the first installing plate and
Two installing plates are oppositely arranged in cabinet, and the electrical equipment of switch board is provided with the first installing plate, is connected on the second installing plate
There is the circuit of switch board, the thickness direction of the first installing plate and the second installing plate along cabinet is set, the first installing plate and the second peace
Loading board is set spaced reciprocally, and the first installing plate and the second installing plate are removably disposed in cabinet, are set on the second installing plate
It is equipped with the multiple snap joints to match with circuit.
According to above-mentioned technical proposal, the cabinet is provided with the access hole for being used for overhauling the circuit on the second installing plate, inspection
Repair mouth to be arranged on the side relative with the plate face backwards to the first installing plate of the second installing plate of cabinet, inspection is corresponded on cabinet
Repair mouth and maintenance door for switching the access hole is installed, capillary groove and dust excluder are provided between maintenance door and access hole.
According to above-mentioned technical proposal, the router includes router body and wiring protection board, and router body is length
Cube housing, wiring protection board are located at the rear of router body, and wiring protection board passes through connecting plate and the bottom of router body
Portion connects；Wiring protection board is vertically arranged, and parallel with the rear board of router body, vertical with connecting plate, wiring protection board
It is more with being uniformly distributed above the rear board distance 1-2cm router bodies of router body on plate, front panel and lower panel
Dissipation hot hole, the side panel of router body are provided with a pair of hooks.
According to above-mentioned technical proposal, the wiring protection board is provided with multiple wiring holes and mounting groove, and wiring hole, which is located at, to be connect
The center of line protection board, mounting groove correspond to wiring hole setting respectively, and mounting groove extends up to wiring protection at the top of wiring hole
At the top edge of plate.
According to above-mentioned technical proposal, by wireless connection between the multiple PC ends and router, robot motion will be housed
Multiple PC ends of simulation software and switch board form group by router networking, mutually transfer robot can move and hold in group
Line program；The robotic motion routine that passes through will be emulated in simulation software switch board is sent to by router, in system of robot
Program correctness is write in checking in system；Meanwhile the program that robot teaching writes will can be sent to by teaching machine
PC ends, robot motion's simulation software interface are made up of three three-dimensional display area, basic operation area, programming area parts.
Compared with prior art, beneficial effects of the present invention：Operability is good, at the same make robot teaching it is easier,
Efficiently, safety, robot teaching's cost are also reduced, and wherein teaching machine is receiving warning for robot control system transmission
After signal, warning signal can be converted to by drive signal by I/O ports, so as to drive the vibration of itself or buzzing to behaviour
Warned as personnel, therefore, operating personnel whether hold teaching machine, or near teaching machine shelves, operating personnel can be transferred through
The information that robot breaks down is known in the vibration or buzzing of teaching machine in time, and wherein switch board can easily arrange electrical equipment member
Part and circuit, electric elements and line arrangement are reasonable so that the field erected time shortens, and maintenance and replacing are convenient, Yi Jilu
There is good heat sinking function by utensil, moreover it is possible to protect the various wiring on router, avoid bending and rub.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.
In the accompanying drawings：
Fig. 1 is the system architecture diagram of the present invention.
Embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Embodiment：As shown in figure 1, the present invention provides a kind of teach-by-doing apery teaching robot's system, including robot sheet
Body, teaching machine, switch board, router and PC ends；The robot body is the final actuating station of robot teaching's system, is born
Duty performs the program write and passed through；The teaching machine carries out teaching programming to robot, and programming the program passed through can send to
PC ends, or directly pass through the action of switch board control machine human body；The switch board is the core of robot system,
It is responsible for the action of control machine human body；The router is by switch board and PC ends network consisting group；The PC ends are equipped with machine
Device people's motion simulation software, teaching machine can be sent to by router by emulating the program passed through, the PC ends be it is multiple, it is multiple
Information can be mutually transmitted between PC ends, shows programing effect, while the robotic motion routine that emulation passes through can be passed through road
Switch board is uploaded to by device, physical varification is carried out, passes through cable between the switch board, robot body and teaching machine and router
Connection.
According to above-mentioned technical proposal, the teaching machine also includes controller, I/O ports, and controller is receiving robot
After the warning signal of control system transmission, warning signal is converted to drive signal, drive signal driving teaching by control I/O ports
Device is alarmed, and drive signal includes pulse signal and/or high level signal, when drive signal includes pulse signal, drives teaching machine
Vibration, teaching machine include motor-drive circuit and motor, and after pulse signal is received, motor shakes motor-drive circuit
Dynamic, the dutycycle of the time of motor oscillating and Oscillation Amplitude depending on pulse signal, pulse signal is pulse width modulating signal,
When drive signal includes high level signal, teaching machine buzzing is driven, teaching machine includes buzzing drive circuit and buzzer, and buzzing is driven
Dynamic circuit drives buzzer buzzing, teaching machine passes through internal bus to be carried out with robot control system to after high level signal
Communication, teaching machine also include display, and display is used to show alert messages.
According to above-mentioned technical proposal, switch board includes cabinet, the first installing plate and the second installing plate, the first installing plate and
Two installing plates are oppositely arranged in cabinet, and the electrical equipment of switch board is provided with the first installing plate, is connected on the second installing plate
There is the circuit of switch board, the thickness direction of the first installing plate and the second installing plate along cabinet is set, the first installing plate and the second peace
Loading board is set spaced reciprocally, and the first installing plate and the second installing plate are removably disposed in cabinet, are set on the second installing plate
It is equipped with the multiple snap joints to match with circuit.
According to above-mentioned technical proposal, the cabinet is provided with the access hole for being used for overhauling the circuit on the second installing plate, inspection
Repair mouth to be arranged on the side relative with the plate face backwards to the first installing plate of the second installing plate of cabinet, inspection is corresponded on cabinet
Repair mouth and maintenance door for switching the access hole is installed, capillary groove and dust excluder are provided between maintenance door and access hole.
According to above-mentioned technical proposal, the router includes router body and wiring protection board, and router body is length
Cube housing, wiring protection board are located at the rear of router body, and wiring protection board passes through connecting plate and the bottom of router body
Portion connects；Wiring protection board is vertically arranged, and parallel with the rear board of router body, vertical with connecting plate, wiring protection board
It is more with being uniformly distributed above the rear board distance 1-2cm router bodies of router body on plate, front panel and lower panel
Dissipation hot hole, the side panel of router body are provided with a pair of hooks.
According to above-mentioned technical proposal, the wiring protection board is provided with multiple wiring holes and mounting groove, and wiring hole, which is located at, to be connect
The center of line protection board, mounting groove correspond to wiring hole setting respectively, and mounting groove extends up to wiring protection at the top of wiring hole
At the top edge of plate.
According to above-mentioned technical proposal, by wireless connection between the multiple PC ends and router, robot motion will be housed
Multiple PC ends of simulation software and switch board form group by router networking, mutually transfer robot can move and hold in group
Line program；The robotic motion routine that passes through will be emulated in simulation software switch board is sent to by router, in system of robot
Program correctness is write in checking in system；Meanwhile the program that robot teaching writes will can be sent to by teaching machine
PC ends, robot motion's simulation software interface are made up of three three-dimensional display area, basic operation area, programming area parts.
Based on above-mentioned, it is an advantage of the current invention that operability is good, while make that robot teaching is easier, efficient, peace
Entirely, robot teaching's cost is also reduced, wherein teaching machine receive robot control system transmission warning signal after,
Warning signal can be converted to by drive signal by I/O ports, so as to drive the vibration of itself or buzzing to operating personnel
Warn, therefore, operating personnel whether hold teaching machine, or near teaching machine shelves, operating personnel can be transferred through teaching machine
Vibration or buzzing know the information that robot breaks down in time, wherein switch board can easily arrange electric elements and line
Road, electric elements and line arrangement are reasonable so that the field erected time shortens, and maintenance and replacing are convenient, and route utensil
There is good heat sinking function, moreover it is possible to protect the various wiring on router, avoid bending and rub.
Finally it should be noted that：The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, to the greatest extent
The present invention is described in detail with reference to the foregoing embodiments for pipe, and for the technology patient of this area, it still can be with
Technical scheme described in foregoing embodiments is modified, or equivalent substitution is carried out to which part technical characteristic.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc., it should be included in the guarantor of the present invention
Within the scope of shield.
Claims (7)
- A kind of 1. teach-by-doing apery teaching robot's system, it is characterised in that：Including robot body, teaching machine, switch board, road By device and PC ends；The robot body is the final actuating station of robot teaching's system, and the journey passed through is write in responsible execution Sequence；The teaching machine carries out teaching programming to robot, and PC ends can be sent to by programming the program passed through, or directly pass through control The action of cabinet control machine human body processed；The switch board is the core of robot system, is responsible for control machine human body Action；The router is by switch board and PC ends network consisting group；The PC ends are equipped with robot motion simulation software, imitate The program really passed through can send teaching machine to by router, and the PC ends are multiple, can mutually be passed between multiple PC ends Deliver letters breath, show programing effect, while can will emulate the robotic motion routine that passes through and switch board is uploaded to by router, enter Row physical varification, connected between the switch board, robot body and teaching machine and router by cable.
- A kind of 2. teach-by-doing apery teaching robot's system according to claim 1, it is characterised in that：The teaching machine is also Including controller, I/O ports, for controller after the warning signal of robot control system transmission is received, control I/O ports will Warning signal is converted to drive signal, drive signal driving teaching machine alarm, and drive signal includes pulse signal and/or high level Signal, when drive signal includes pulse signal, driving teaching machine vibration, teaching machine includes motor-drive circuit and motor, motor Drive circuit is after pulse signal is received, motor vibration, and the time of motor oscillating and Oscillation Amplitude are depending on pulse letter Number dutycycle, pulse signal is pulse width modulating signal, when drive signal includes high level signal, drive teaching machine honeybee Ring, teaching machine include buzzing drive circuit and buzzer, and buzzing drive circuit is to after high level signal, driving buzzer honeybee Ring, teaching machine are communicated by internal bus with robot control system, and teaching machine also includes display, and display is used to show Show alert messages.
- A kind of 3. teach-by-doing apery teaching robot's system according to claim 1, it is characterised in that：Switch board includes cabinet Body, the first installing plate and the second installing plate, the first installing plate and the second installing plate are oppositely arranged in cabinet, on the first installing plate The electrical equipment of switch board is installed, the circuit of switch board, the first installing plate and the second installing plate are connected with the second installing plate Set along the thickness direction of cabinet, the first installing plate and the second installing plate are set spaced reciprocally, the first installing plate and the second peace Loading board is removably disposed in cabinet, and the multiple snap joints to match with circuit are provided with the second installing plate.
- A kind of 4. teach-by-doing apery teaching robot's system according to claim 3, it is characterised in that：Set on the cabinet Have an access hole for overhauling the circuit on the second installing plate, access hole be arranged on cabinet with the second installing plate backwards to first Correspond to access hole on the relative side of the plate face of installing plate, on cabinet and maintenance door for switching the access hole, inspection are installed Repair and capillary groove and dust excluder are provided between door and access hole.
- A kind of 5. teach-by-doing apery teaching robot's system according to claim 1, it is characterised in that：The router bag Router body and wiring protection board are included, router body is cuboid housing, after wiring protection board is located at router body Side, wiring protection board are connected by the bottom of connecting plate and router body；Wiring protection board is vertically arranged, and with router sheet The rear board of body is parallel, vertical with connecting plate, the rear board distance 1-2cm router bodies of wiring protection board and router body Above multiple rows of heat emission hole has been uniformly distributed on plate, front panel and lower panel, the side panel of router body is provided with a pair of extensions Hook.
- A kind of 6. teach-by-doing apery teaching robot's system according to claim 5, it is characterised in that：The wiring protection Plate is provided with multiple wiring holes and mounting groove, and wiring hole is located at the center of wiring protection board, and mounting groove corresponds to wiring hole and set respectively Put, mounting groove is extended up at the top edge of wiring protection board at the top of wiring hole.
- A kind of 7. teach-by-doing apery teaching robot's system according to claim 1, it is characterised in that：The multiple PC ends By wireless connection between router, multiple PC ends equipped with robot motion simulation software and switch board are passed through into router group Net forms group, can mutual transfer robot Motor execution program in group；The robot fortune passed through will be emulated in simulation software Dynamic program sends switch board to by router, is verified in robot system and writes program correctness；Meanwhile it will can lead to Cross teaching machine and send PC ends to the program that robot teaching writes, robot motion's simulation software interface is by three-dimensional display Three area, basic operation area, programming area parts form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710972633.2A CN107511835A (en) | 2017-10-18 | 2017-10-18 | A kind of teach-by-doing apery teaching robot's system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710972633.2A CN107511835A (en) | 2017-10-18 | 2017-10-18 | A kind of teach-by-doing apery teaching robot's system |
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| CN201710972633.2A Pending CN107511835A (en) | 2017-10-18 | 2017-10-18 | A kind of teach-by-doing apery teaching robot's system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108492662A (en) * | 2018-04-09 | 2018-09-04 | 重庆鲁班机器人技术研究院有限公司 | Control technology principle teaching device |
| CN108682095A (en) * | 2018-06-11 | 2018-10-19 | 浙江国自机器人技术有限公司 | A kind of control method of alarm, device, equipment and readable storage medium storing program for executing |
| CN109799771A (en) * | 2018-12-29 | 2019-05-24 | 深圳市越疆科技有限公司 | A kind of control system of industrial robot, method and device |
| CN111496787A (en) * | 2020-04-15 | 2020-08-07 | 配天机器人技术有限公司 | Robot interaction method, robot and device with storage function |
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| CN108682095A (en) * | 2018-06-11 | 2018-10-19 | 浙江国自机器人技术有限公司 | A kind of control method of alarm, device, equipment and readable storage medium storing program for executing |
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| CN111496787A (en) * | 2020-04-15 | 2020-08-07 | 配天机器人技术有限公司 | Robot interaction method, robot and device with storage function |
| CN111496787B (en) * | 2020-04-15 | 2022-05-27 | 配天机器人技术有限公司 | Robot interaction method, robot and device with storage function |
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Application publication date: 20171226 |