CN109093634A - A kind of wireless teaching handle apparatus of dragging programming - Google Patents
A kind of wireless teaching handle apparatus of dragging programming Download PDFInfo
- Publication number
- CN109093634A CN109093634A CN201811117466.4A CN201811117466A CN109093634A CN 109093634 A CN109093634 A CN 109093634A CN 201811117466 A CN201811117466 A CN 201811117466A CN 109093634 A CN109093634 A CN 109093634A
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- handle
- dragging
- wireless
- control mcu
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- 238000004891 communication Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 4
- 238000002955 isolation Methods 0.000 claims description 3
- MKGHDZIEKZPBCZ-ULQPCXBYSA-N methyl (2s,3s,4r,5r,6r)-4,5,6-trihydroxy-3-methoxyoxane-2-carboxylate Chemical compound CO[C@H]1[C@H](O)[C@@H](O)[C@H](O)O[C@@H]1C(=O)OC MKGHDZIEKZPBCZ-ULQPCXBYSA-N 0.000 claims 13
- 238000010586 diagram Methods 0.000 description 8
- 101100236764 Caenorhabditis elegans mcu-1 gene Proteins 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000007592 spray painting technique 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
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of wireless teaching handle apparatus of dragging programming, including handle transmitting terminal and receive terminal, use wireless controller driving machinery arm, button in operation handle according to actual needs, various control instructions are sent to radio receiving terminal, it receives terminal and receives the control instruction and parsing that handle is sent to, terminal is according in the PLC in the result output corresponding control signal to robot control cabinet of instruction parsing, PLC controller output status signal is to radio receiving terminal simultaneously, by wireless transport module by information back to handle, status display is carried out using LED signal lamp.The present invention gets rid of the constraint of the cable during teaching, and it is convenient to operate, and programming efficiency is high, reduces the programming threshold of industrial robot.
Description
Technical field
The present invention relates to industrial robot teaching field, specifically a kind of wireless teaching handle dress of dragging programming
It sets.
Background technique
Currently, industrial circle is increasing to automation and machine Man's Demands, the production and selling number of industrial robot
Amount gradually increases, but most industrial robot programming mode is higher to the skill requirement of operator, needs one kind by work
People directly demonstrates the munipulation manually, by the teaching programming mode in robot memory operation path and step, is conducive to industrial robot
Rapid field application deployment, hand difficulty in reduction.
Dragging programming mode is widely used in spray robot industry, for completing robot tutorial function early period, makes machine
Device people can independently complete when later product is produced in batches to product spray painting operation.The dragging handle and machine of common teaching machine at present
Device people's controller is attached using wired mode, and the position that robot is mounted in many cases is than narrow, if
Handle connecting cable will cause dragging process interference, influence Programming's quality and efficiency.
Summary of the invention
Technical problem to be solved by the present invention lies in a kind of wireless teaching handle apparatus of dragging programming is proposed, solve
The drawbacks of wired teaching cable be easy to cause obstruction, improves teaching programming efficiency.
The technical problems to be solved by the invention are realized using following technical scheme:
A kind of wireless teaching handle apparatus of dragging programming, including handle transmitting terminal and reception terminal, the handle transmitting
Connection is established by wireless communication module and the reception terminal in end, and the handle transmitting terminal includes handle main control MCU, the hand
Handle main control MCU is connected with LED state lamp and is used to indicate key-press status, and the handle main control MCU is connected with key module for reading
Key-press status is taken, the handle main control MCU is connected with the first wireless communication module for sending key-press status and receiving robot
Status signal.
The reception terminal includes receiving main control MCU, and the reception main control MCU is connected to the control signal drive circuit
For controlling signal output and control signal condition instruction, the reception main control MCU is connected with the second wireless communication module and is used for
It establishes wireless telecommunications with handle to connect, the reception main control MCU is connected with circuit for checking input signals and controls for robot PLC
The input signal detection of device determines robot current working status.
Further, the handle main control MCU uses STM8 processor；
The LED state lamp includes that red, green, blue tri coloured lantern is worked as by the I/O port control instructions of the handle main control MCU
Front hand grip and terminal operating status；
The key module includes 6 touch key switches and 1 toggle switch, passes through the IO of the handle main control MCU
Read key-press status in port；
The handle main control MCU is connected to first wireless communication module by SPI port and returns for receiving robot
Communication breath and transmission handle operation information.
Further, the reception main control MCU is connected to second wireless communication module by SPI port and realizes wirelessly
Instruction transmitting-receiving, the control signal drive circuit include the relay circuit and the first connecting pin of 7 NPN triode drivings
Son, the I/O port output for receiving main control MCU correspond to the control signal of the handle key received, control the NPN tri-
The on-off of pole pipe, the NPN triode control the relay and 24V control signal are connected to first connection terminal, lead to
It crosses cable and the signal of first connection terminal is inputted into PLC controller.
Further, the circuit for checking input signals includes 6 road optocouplers and second connection end, the second connection end
Son is accessed the output signal of PLC controller by cable, and by the light-coupled isolation, the signal is input to the reception master controls
The I/O port of MCU.
The beneficial effects of the present invention are:
(1) wireless transmission method teaching is used, gets rid of cable constraint, it is convenient to operate, high-efficient；
(2) realize that handle and robot two-way communication control, it being capable of real time inspection robotary.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is handle transmitting terminal circuit block diagram of the invention；
Fig. 2 is reception terminating circuit block diagram of the invention；
Fig. 3 is handle main control MCU circuit diagram of the invention；
Fig. 4 is button module circuit figure of the invention；
Fig. 5 is reception main control MCU circuit diagram of the invention；
Fig. 6 is control signal drive circuit figure of the invention；
Fig. 7 is circuit for checking input signals figure of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
It is a kind of dragging programming wireless teaching handle apparatus, including be mounted on robot end wireless controller transmitting terminal and
The control reception signal terminal being installed in robot control cabinet, the handle transmitting terminal are connect by wireless communication module with described
It receives terminal and establishes connection.
Handle transmitting terminal circuit block diagram as shown in Figure 1:
The handle transmitting terminal includes handle main control MCU 1, and the handle main control MCU 1 is connected with LED state lamp 2 for referring to
Show key-press status, the handle main control MCU 1 is connected with key module 3 and connects for reading key-press status, the handle main control MCU 1
The first wireless communication module 4 is connected to for sending key-press status and receiving robot status signal, furthermore system power supply is above-mentioned
Equipment provides power supply, the battery that system power supply can be accessed from robot end's cable or be carried using handle inner.
Reception terminating circuit block diagram as shown in Figure 2:
The reception terminal includes receiving main control MCU 5, and the reception main control MCU 5 is connected to the control signal driving electricity
Road 6 is connected with the second wireless communication module 7 for controlling signal output and control signal condition instruction, the reception main control MCU 5
It is connect for establishing wireless telecommunications with handle, the reception main control MCU 5 is connected with circuit for checking input signals 8 for robot
The input signal detection of PLC controller determines robot current working status.
The reception terminal accesses 24V power supply from robot control circuit, is converted by voltage, obtains after decompression processing
System power supply is the power supply of above-mentioned reception terminating circuit.
Handle main control MCU circuit diagram as shown in Figure 3:
The handle main control MCU 1 includes the first control chip U1, uses model STM8L151G6 processor as control
Device processed, wherein 8-10 foot draws as key-press input I/O port, 23-25 foot as the instruction respectively as green light, blue lamp, red light
Foot；
The 15-19 foot of the first control chip U1 is as SPI communication port, and 27 feet, 20 feet, 21 feet are as data port
It is connected to first wireless communication module 4 and carries out data exchange transmission.
Button module circuit figure as shown in Figure 4:
The key module 3 includes toggle switch S2,6 microswitch K1-K6, the toggle switch and microswitch
One end of K1-K6 totally 7 keys connects 3.3V voltage, the other end be connected respectively 8 feet in the first control chip U1,
14 feet, 13 feet, 12 feet, 11 feet, 10 feet, 9 feet detect level change by the IO input of chip, since each key-press input detects
Pin is connected with pull down resistor, and the corresponding ports input high level when pressing key pressing is detected by level change using interruption
It is corresponding to press key pressing.
Reception main control MCU circuit diagram as shown in Figure 5:
The reception main control MCU 5 includes the second control chip U2, uses model STM8L151G6 processor as control
Device processed, wherein 13 feet, 14 feet, 24 feet, 23 feet, 3 feet, 2 feet of the second control chip U2 are read as signal input port
The signal that PLC controller transmits, 12 feet, 11 feet, 10 feet, 9 feet, 8 feet, 5 feet, 4 feet, 20 feet, 21 feet, 22 feet export 10 tunnels
Signal is controlled, 15-19 foot is connected to second wireless communication module 7 in fact as data port as SPI port, 25-27 foot
Existing wireless instructions transmitting-receiving.
Control signal drive circuit figure as shown in FIG. 6:
Since the PLC controller that robot uses uses 24V voltage as signal level, and SCM system is corresponding
3.3V level mismatches, and needs to be converted to 3.3V control signal in 24V control signal access PLC controller using relay,
Reception terminal and PLC controller has been isolated in the use of relay simultaneously, prevents signal interference.
The control signal drive circuit 6 includes the relay circuit and the first connection terminal of 7 NPN triodes driving
J1, the I/O port output for receiving main control MCU 5 correspond to the control signal of the handle key received, control the NPN tri-
The on-off of pole pipe, the NPN triode control the relay and 24V control signal are connected to the first connection terminal J1,
The signal of the first connection terminal J1 is inputted into PLC controller by cable.
The relay uses normal-open type relay, and the base stage of the NPN triode receives the second U2 pairs of control chip
Ground connection is connected after the high-level control signal for answering port to issue, relay is attracted, and 24V level is passed through first connection terminal
J1 is output in the PLC controller of robot.
Circuit for checking input signals figure as shown in Figure 7:
The PLC controller output signal level of robot is 24V, represents the working condition of robot, the input signal
Detection circuit 8 includes 6 road optocouplers and the sub- J2 of second connection end, and the sub- J2 of second connection end passes through cable for PLC controller
Output signal access, is acted on by the light-coupled isolation, and the signal is input to the I/O ports for receiving main control MCU 5.
Workflow of the invention are as follows:
Using wireless controller driving machinery arm, the button in operation handle, sends various control instructions according to actual needs
To radio receiving terminal, receives terminal and receive the control instruction and parsing that handle is sent to, the knot that terminal is parsed according to instruction
Fruit exports in the PLC in corresponding control signal to robot control cabinet, while PLC controller output status signal is to wireless receiving
Terminal carries out status display using LED signal lamp by wireless transport module by information back to handle.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (10)
1. a kind of wireless teaching handle apparatus of dragging programming, it is characterised in that: including handle transmitting terminal and terminal is received, it is described
Handle transmitting terminal establishes connection by wireless communication module and the reception terminal, and the handle transmitting terminal includes handle master control
MCU (1), the handle main control MCU (1) are connected with LED state lamp (2) and are used to indicate key-press status, the handle main control MCU
(1) key module (3) are connected with for reading key-press status, the handle main control MCU (1) is connected with the first wireless communication module
(4) for sending key-press status and receiving robot status signal.
2. a kind of wireless teaching handle apparatus of dragging programming according to claim 1, it is characterised in that: the reception is eventually
End includes receiving main control MCU (5), and the reception main control MCU (5) is connected to the control signal drive circuit (6), for controlling
Signal output and control signal condition instruction.
3. a kind of wireless teaching handle apparatus of dragging programming according to claim 2, it is characterised in that: the reception master
Control MCU (5) is connected with the second wireless communication module (7), connect for establishing wireless telecommunications with handle.
4. a kind of wireless teaching handle apparatus of dragging programming according to claim 2, it is characterised in that: the reception master
Control MCU (5) is connected with the input signal detection of circuit for checking input signals (8) for robot PLC controller, determines robot
Current working status.
5. a kind of wireless teaching handle apparatus of dragging programming according to any one of claim 1 to 4, feature exist
In: the handle main control MCU (1) uses STM8 processor.
6. a kind of wireless teaching handle apparatus of dragging programming according to claim 5, it is characterised in that: the LED shape
State lamp (2) includes red, green, blue tri coloured lantern, I/O port control instructions front handle and end by the handle main control MCU (1)
Hold working condition.
7. a kind of wireless teaching handle apparatus of dragging programming according to claim 5, it is characterised in that: the key mould
Block (3) includes 6 touch key switches and 1 toggle switch, reads key by the I/O port of the handle main control MCU (1)
State.
8. a kind of wireless teaching handle apparatus of dragging programming according to claim 5, it is characterised in that: the handle master
Control MCU (1) is connected to first wireless communication module (4) for receiving robot back information and hair by SPI port
Send handle operation information.
9. a kind of wireless teaching handle apparatus of dragging programming according to claim 3, it is characterised in that: the reception master
Control MCU (5) is connected to second wireless communication module (7) by SPI port and realizes wireless instructions transmitting-receiving, the control signal
Driving circuit (6) includes the relay circuit and the first connection terminal (J1) of 7 NPN triodes driving, the reception master control
The I/O port output of MCU (5) corresponds to the control signal of the handle key received, controls the on-off of the NPN triode, institute
It states NPN triode and controls the relay and 24V control signal is connected to first connection terminal (J1), by cable by institute
State the signal input PLC controller of the first connection terminal (J1).
10. a kind of wireless teaching handle apparatus of dragging programming according to claim 4, it is characterised in that: the input
Signal deteching circuit (8) includes that 6 road optocouplers and second connection end are sub (J2), and the second connection end sub (J2) will by cable
The output signal of PLC controller accesses, and by the light-coupled isolation, the signal is input to the ends IO for receiving main control MCU (5)
Mouthful.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811117466.4A CN109093634A (en) | 2018-09-20 | 2018-09-20 | A kind of wireless teaching handle apparatus of dragging programming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811117466.4A CN109093634A (en) | 2018-09-20 | 2018-09-20 | A kind of wireless teaching handle apparatus of dragging programming |
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| Publication Number | Publication Date |
|---|---|
| CN109093634A true CN109093634A (en) | 2018-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811117466.4A Pending CN109093634A (en) | 2018-09-20 | 2018-09-20 | A kind of wireless teaching handle apparatus of dragging programming |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291057A (en) * | 2018-11-22 | 2019-02-01 | 希美埃（芜湖）机器人技术有限公司 | A robot wireless teaching system and its control method |
| CN110996438A (en) * | 2019-11-12 | 2020-04-10 | 珠海格力电器股份有限公司 | Display device and method based on IO module and robot |
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2018
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| US6697681B1 (en) * | 2000-03-22 | 2004-02-24 | Trellis Software & Controls, Inc. | Shared operating unit for a network of programmable equipment |
| US20050055130A1 (en) * | 2001-04-02 | 2005-03-10 | Erik Carlson | Industrial robot |
| CN200988223Y (en) * | 2004-06-24 | 2007-12-12 | Abb公司 | Device for controlling a robot by means of a wireless teaching pendant unit |
| CN101107102A (en) * | 2005-01-26 | 2008-01-16 | 株式会社安川电机 | robot system |
| CN101184590A (en) * | 2005-06-03 | 2008-05-21 | Abb公司 | Industrial robot system with a teaching portable unit and a detection unit for detecting when a TPU leaves the robot cell |
| CN201984619U (en) * | 2011-01-16 | 2011-09-21 | 浙江金石机器人制造有限公司 | Full duplex robot wireless remote control apparatus as well as handheld operating box and receiver therein |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110996438B (en) * | 2019-11-12 | 2020-11-24 | 珠海格力电器股份有限公司 | Display device and method based on IO module and robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181228 |
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| RJ01 | Rejection of invention patent application after publication |