CN104700705A - Industrial robot teaching system - Google Patents

Abstract

The invention provides an industrial robot teaching system, which includes: a mobile platform; an industrial robot fixed on the mobile platform so as to be able to move together with the mobile platform, and has a terminal for performing process operations; a numerical control system connected to the The mobile platform is used to control the movement of the mobile platform; the hand wheel is connected to the numerical control system for operator operation and controls the movement of the mobile platform through communication with the numerical control system; the industrial robot controller is connected to the industrial robot for communication Control the motion and process operation of the end of the industrial robot, and communicate with the numerical control system; the hand-held teaching device, communicate with the industrial robot controller, for the operator to input acquisition instructions and communicate with the industrial robot controller To control the movement of the industrial robot and for the operator to input process marks; and the industrial computer, which is communicatively connected to the numerical control system and the industrial robot controller.

Description

Industrial robot teaching system

technical field

The invention relates to the application field of industrial robots, in particular to an industrial robot teaching system.

Background technique

With the development of the robot industry and the needs of modern manufacturing processes, more and more large-scale equipment manufacturers have begun to apply industrial robot technology to the external surface coating of parts or assemblies. Due to the huge size and complex shape of the outer surface of many sprayed parts, the existing industrial robots cannot meet the requirements of full surface coverage and flexibility. Therefore, the existing robot spraying systems for large parts often use a multi-degree-of-freedom mobile platform plus The model of the six-degree-of-freedom spraying robot. Most of the existing teaching programming methods are only aimed at the industrial robot body. For example, the Chinese patent application publication number CN103909516A published on July 9, 2014 discloses a robot teaching system, a robot teaching auxiliary device and Robot teaching method, the Chinese patent application publication number CN103501969A published on January 8, 2014 discloses a robot teaching device, a robot device, a control method for a robot teaching device, and a robot teaching device The control program of the device, the Chinese patent application publication number CN103921265A published on July 16, 2014 discloses a robot teaching system and robot teaching method, the Chinese patent application published on May 21, 2014 The patent document whose publication number is CN103809463A discloses a teaching point instruction selection method for a robot simulator, and the Chinese patent application publication number CN103778843A published on May 7, 2014 discloses an industrial robot display Teaching the reproduction method, most of the existing patents give the independent calibration of industrial robots, only need to collect the motion trajectory feature points of the industrial robot itself, and store them in the memory of the robot controller, there are few industrial robots equipped with mobile platforms Teach system statement.

Contents of the invention

In view of the problems existing in the background technology, the purpose of the present invention is to provide an industrial robot teaching system, which can meet the teaching requirements of the industrial robot equipped with a mobile platform.

Another object of the present invention is to provide an industrial robot teaching system, which can simultaneously meet the motion synchronization requirements of the mobile platform and the industrial robot and the setting requirements of process parameters during the operation process.

In order to achieve the above object, the present invention provides an industrial robot teaching system, which includes: a mobile platform; an industrial robot fixed on the mobile platform so as to be able to move with the mobile platform, and has a terminal for performing process operations; System, connected to the mobile platform by communication to control the movement of the mobile platform; hand wheel, connected to the numerical control system by communication, for the operator to operate and control the movement of the mobile platform through communication with the numerical control system; industrial robot controller, communication It is connected to the industrial robot to control the movement and process operation of the end of the industrial robot, and is connected to the numerical control system by communication; the hand-held teaching device is connected to the industrial robot controller by communication, so that the operator can input the collection command and control it with the industrial robot The communication between the controllers controls the movement of the industrial robot and allows the operator to input process marks; the industrial computer communicates with the numerical control system and the industrial robot controller. The handheld teach pendant has: a data acquisition module that responds to instructions from the operator to collect the position data of the end of the industrial robot via the industrial robot controller, the position data of the mobile platform collected via the industrial robot controller and the numerical control system, and the operation The process mark input by the operator, and the collected position data of the end of the industrial robot, the position data of the mobile platform and the process mark are output. The industrial computer has: a process parameter management module, which has a database for process parameters, and can store and manage the process parameters of the process operation performed by the end of the industrial robot; the underlying data management module, which has a database for the underlying layer and can write task files, and receives data from the data acquisition module. The position data of the end of the industrial robot, the position data of the mobile platform and the process mark are written into the task file according to the specified format, and the task file is stored and managed by the underlying database; the task download and execution module receives data from the underlying data management module Stored task files and generate instruction codes from the task files and download the instruction codes to the CNC system and the industrial robot controller. The CNC system and the industrial robot controller will calibrate each other based on the downloaded instruction codes through the communication connection The end-to-position signal of the industrial robot and the signal of the mobile platform are verified, based on the verification of the end-to-position signal of the industrial robot and the signal of the mobile platform to be in place. The industrial robot controller controls the movement of the industrial robot and the CNC system controls the movement of the mobile platform. Thus, the movement of the end of the industrial robot and the movement of the mobile platform are synchronized.

The beneficial effects of the present invention are as follows:

The invention can meet the teaching requirements of the industrial robot equipped with a mobile platform, and the industrial robot equipped with a mobile platform with multiple degrees of freedom can simultaneously take into account the collection of motion feature points of the mobile platform and the industrial robot and the operation process. It can not only meet the motion synchronization requirements of the mobile platform and the industrial robot, but also conveniently set and modify the task process parameters. At the same time, the present invention can manage all the teaching programs, and can monitor and display in real time. The whole process of teaching and task execution. The present invention can be applied to the teaching of industrial robots with large working targets and large-scale expansion of the working space of industrial robots using the mobile platform, which can meet the teaching and programming needs of two or more sets of industrial robot systems equipped with mobile platforms, and is easy to operate Intuitive, short time required, and convenient management provide strong technical support for improving the efficiency of enterprise equipment utilization and creating maximum economic benefits.

Description of drawings

Fig. 1 is a schematic diagram of the composition of an industrial robot teaching system according to the present invention;

Fig. 2 is a control schematic diagram of the industrial robot teaching system according to the present invention.

Wherein, the reference signs are explained as follows:

1 mobile platform 61 data acquisition module

2 industrial robot 7 industrial computer

3 Numerical Control System 71 Process Parameter Management Module

4 handwheels 72 underlying data management modules

5 industrial robot controller 73 task download and execution module

6 hand-held teach pendant 74 interactive modules

detailed description

The industrial robot teaching system according to the present invention will be described in detail below with reference to the accompanying drawings.

Referring to Fig. 1 and Fig. 2, the industrial robot teaching system according to the present invention comprises: a mobile platform 1; an industrial robot 2, which is fixed on the mobile platform 1 so as to be able to move together with the mobile platform 1, and has a terminal for performing process operations 21. The numerical control system 3 is connected to the mobile platform 1 by communication to control the movement of the mobile platform 1; the hand wheel 4 is connected to the numerical control system 3 by communication for the operator to operate and control the movement through communication with the numerical control system 3 The platform 1 moves; the industrial robot controller 5 is communicatively connected to the industrial robot 2 to control the motion and process operation of the end 21 of the industrial robot 2, and is communicatively connected to the numerical control system 3; the hand-held teaching device 6 is communicatively connected to the industrial robot The controller 5 is used for the operator to input acquisition instructions and control the movement of the industrial robot 2 via communication with the industrial robot controller 5 and for the operator to input process marks; and the industrial computer 7 is connected to the numerical control system 3 and the industrial Robot Controller 5. The hand-held teaching pendant 6 has: a data collection module 61, which responds to instructions from the operator to collect the position data of the end 21 of the industrial robot 2 via the industrial robot controller 5, and collect the position data via the industrial robot controller 5 and the numerical control system 3. The position data of the mobile platform 1 and the process mark input by the operator are output, and the collected position data of the end 21 of the industrial robot 2 , the position data of the mobile platform 1 and the process mark are output. Industrial computer 7 has: process parameter management module 71, has process parameter database, can store and manage the process parameter (taking automatic spraying system as example, process parameter mainly contains spraying speed, flow rate, Atomization, fan shape, spraying distance etc.); Bottom layer data management module 72, has bottom layer and can write task file with database, receives the position data of the end 21 of the industrial robot 2 from data acquisition module 61, the position data of mobile platform 1 and Process mark and write the task file according to the prescribed format, store the task file and manage it with the database at the bottom layer; the task download and execution module 73 receives the task file stored from the bottom layer data management module 72 and generates the instruction code from the task file and The instruction code is downloaded to the numerical control system 3 and the industrial robot controller 5, and the numerical control system 3 and the industrial robot controller 5 are based on the downloaded instruction code and through the communication connection between the two to mutually check whether the end 21 of the industrial robot 2 is in place. The signal and the signal that the mobile platform 1 is in place, based on the signal that the end 21 of the industrial robot 2 is in place and the signal that the mobile platform 1 is in place The industrial robot controller 5 controls the motion of the industrial robot 2 and the numerical control system 3 controls the motion of the mobile platform 1 , so that the movement of the end 21 of the industrial robot 2 and the movement of the mobile platform 1 are synchronized. It should be noted that the end 21 of the industrial robot 2 can have multiple degrees of freedom to adapt to the requirements of the process operation to be performed (such as the aforementioned spraying distance).

The present invention can meet the teaching requirements of the industrial robot 2 equipped with the mobile platform 1, and the industrial robot 2 equipped with the mobile platform 1 with multiple degrees of freedom can simultaneously take into account the motion characteristics of the mobile platform 1 and the industrial robot 1 when performing teaching programming Point acquisition and process parameter setting in the process of operation can not only meet the motion synchronization requirements of mobile platform 1 and industrial robot 2, but also conveniently set and modify task process parameters. At the same time, the present invention can control all teaching programs It can be managed and the whole process of teaching and task execution can be monitored in real time. The present invention can be applied to the teaching of industrial robots with large working targets and large-scale expansion of the working space of industrial robots using the mobile platform, which can meet the teaching and programming needs of two or more sets of industrial robot systems equipped with mobile platforms, and is easy to operate Intuitive, short time required, and convenient management provide strong technical support for improving the efficiency of enterprise equipment utilization and creating maximum economic benefits.

In an embodiment of the industrial robot teaching system according to the present invention, the industrial robot 2 can be fixed at the end of the mobile platform 1 .

In the industrial robot teaching system according to the present invention, the communication connection is a wired communication connection.

In the industrial robot teaching system according to the present invention, the position of the end 21 of the industrial robot 2 adopts the joint angle or the end pose (that is, position and posture, with six degrees of freedom (three rectangular coordinates and three rotation angles) to determine express) to express.

In the industrial robot teaching system according to the present invention, with reference to Fig. 2, the task download and execution module 73 of the industrial computer 7 generates the numerical control system 3 and the industrial robot controller 5 from the task file stored by the underlying data management module 72 received. Recognizable instruction codes, and add verification sentences on the instruction codes, and download the instruction codes with verification sentences to the numerical control system 3 and the industrial robot controller 5 respectively, and the numerical control system 3 and the industrial robot controller 5 pass two The communication connection between them and use the verification statement to mutually verify the signal that the end 21 of the industrial robot 2 is in place and the signal that the mobile platform 1 is in place, based on the verified signal that the end 21 of the industrial robot 2 is in place and the signal that the mobile platform 1 is in place signals and instruction codes, the industrial robot controller 5 controls the movement of the industrial robot 2 and the numerical control system 3 controls the movement of the mobile platform 1, so that the movement of the end 21 of the industrial robot 2 and the movement of the mobile platform 1 are synchronized.

In the industrial robot teaching system according to the present invention, with reference to Fig. 2, the industrial computer 7 can also have: an interactive module 74, which is operated by the operator and communicated with the process parameter management module 71; when the interactive module 74 responds from the operator's operation When the instruction of starting process operation is input, the interaction module 74 sends a process data processing request to the process parameter management module 71, and the process parameter management module 71 receives the process data processing request sent by the interaction module 74 and manages the process parameters according to the process data processing request. The process parameters of the process operation performed by the terminal 21 of the industrial robot 2 stored in the module 71 are sent to the bottom data management module 72 by the process parameter database transfer, and the bottom data management module 72 receives the process parameters of the process parameter management module 71 and sends the task file Relevant process marks in are replaced with process parameters, and the task file is stored again, and the task download and execution module 73 receives the task file stored again from the underlying data management module 72 and generates an instruction code for the task file and downloads it to the industrial robot controller 5, so that the industrial robot controller 5 controls the end 21 of the industrial robot 2 to perform the technological operation by using the technological parameters in the instruction code.

In the industrial robot teaching system according to the present invention, the interaction module 74 displays, inquires, monitors and edits the process performed by the terminal 21 of the industrial robot 2 stored in the process parameter management module 71 based on the communication with the process parameter management module 71. parameter. For example, editing may include insertions, deletions, modifications, and the like.

In the industrial robot teaching system according to the present invention, with reference to Fig. 2, the interaction module 74 can also be communicatively connected to the underlying data management module 72, to display, inquire and monitor the industrial robot 2 in the task file of the underlying data management module 72 The position data of the terminal 21, the position data of the mobile platform 1, the process mark and/or the process parameters, and the deletion operation on the task file.

In the industrial robot teaching system according to the present invention, referring to FIG. 2 , the interaction module 74 can also be communicatively connected to the task download and execution module 73 to display, query and monitor the instruction code generated by the task download and execution module 73.

In an implementation of the industrial robot teaching system according to the present invention, the interaction module 74 can be a man-machine interface.

Claims (10)

1. an industrial robot teaching system, is characterized in that, comprising:

Mobile platform (1);

Industrial robot (2), is fixed on mobile platform (1), can move with mobile platform (1), and has the end (21) for performing technological operation;

Digital control system (3), is communicatively coupled to mobile platform (1), to control the motion of mobile platform (1);

Handwheel (4), is communicatively coupled to digital control system (3), operates and control mobile platform (1) motion via the communication between digital control system (3) for operator;

Industrial robot controller (5), is communicatively coupled to industrial robot (2) to control motion and the technological operation of the end (21) of industrial robot (2), and is communicatively coupled to digital control system (3);

Hand-held teaching machine (6), be communicatively coupled to industrial robot controller (5), input acquisition instructions for operator and move via the communication between industrial robot controller (5) to control industrial robot (2) and supply operator to input technique mark, and having:

Data acquisition module (61), respond the instruction from operator, to gather the technique mark that the position data of the end (21) of industrial robot (2), the position data gathering mobile platform (1) via industrial robot controller (5) and digital control system (3) and acquisition operations person input via industrial robot controller (5), and the position data of end (21) of the industrial robot (2) collected, the position data of mobile platform (1) and technique mark are exported; And

Industrial computer (7), is communicatively coupled to digital control system (3) and industrial robot controller (5), and has:

Technological parameter administration module (71), has technological parameter database, the end (21) of store and management industrial robot (2) can perform the technological parameter of technological operation;

Bottom data administration module (72), there is bottom database and can assignment file be write, receive from the position data of the end (21) of the industrial robot (2) of data acquisition module (61), the position data of mobile platform (1) and technique mark and write assignment file according to prescribed form, and by assignment file storage and by bottom data base administration;

Task is downloaded and execution module (73), receive the assignment file from the storage of bottom data administration module (72) and assignment file generated instruction code and instruction code is downloaded to digital control system (3) and industrial robot controller (5), digital control system (3) and industrial robot controller (5) are based on the instruction code downloaded and fetch signal that the end (21) that verifies mutually industrial robot (2) puts in place and the signal that mobile platform (1) puts in place by communication link therebetween, the signal that the signal put in place based on the end (21) of the industrial robot (2) of verification and mobile platform (1) put in place, industrial robot controller (5) control industrial robot (2) motion and digital control system (3) control mobile platform (1) motion, thus make the motion of the motion of the end of industrial robot (2) (21) and mobile platform (1) reach synchronous.

2. industrial robot teaching system according to claim 1, is characterized in that, industrial robot (2) is fixed on the end of mobile platform (1).

3. industrial robot teaching system according to claim 1, is characterized in that, described communication connection is that wire communication connects.

4. industrial robot teaching system according to claim 1, is characterized in that, the position of the end (21) of industrial robot (2) adopts joint angle or end pose to represent.

5. industrial robot teaching system according to claim 1, it is characterized in that, the instruction code that task is downloaded and the assignment file of the storage from bottom data administration module (72) received generation digital control system (3) and industrial robot controller (5) can identify by execution module (73) of industrial computer (7), and on instruction code, add verification statement, and the instruction code being added with verification statement is downloaded to digital control system (3) and industrial robot controller (5) respectively, digital control system (3) and industrial robot controller (5) are by communication connection therebetween and the signal that puts in place of the signal utilizing the verification statement end (21) that verifies mutually industrial robot (2) to put in place and mobile platform (1), the signal that the signal put in place based on the end (21) of the industrial robot (2) of verification and mobile platform (1) put in place and instruction code, industrial robot controller (5) control industrial robot (2) motion and digital control system (3) control mobile platform (1) motion, thus make the motion of the motion of the end of industrial robot (2) (21) and mobile platform (1) reach synchronous.

6. industrial robot teaching system according to claim 1, is characterized in that, industrial computer (7) also has:

Interactive module (74), for operator's operation, is communicatively coupled to technological parameter administration module (71);

When interactive module (74) responds the instruction of startup technological operation operating input from operator, interactive module (74) sends process data process request to technological parameter administration module (71), technological parameter administration module (71) receives process data process request that interactive module (74) sends and the technological parameter of technological operation that the end (21) of the industrial robot (2) stored by technological parameter administration module (71) according to process data process request performs is recalled by technological parameter database and sends to bottom data administration module (72), related process mark in assignment file is also replaced with technological parameter by the technological parameter of bottom data administration module (72) receiving process parameter management module (71), and assignment file is stored again, task is downloaded and execution module (73) receives the assignment file again stored from bottom data administration module (72) and assignment file generated instruction code and is downloaded to industrial robot controller (5), the technological parameter in instruction code is utilized to perform technological operation to the end (21) controlling industrial robot (2) to make industrial robot controller (5).

7. industrial robot teaching system according to claim 6, is characterized in that,

Interactive module (74) shows based on the communication with technological parameter administration module (71), inquire about, monitor and the end (21) of industrial robot (2) that edit process parameter management module (71) stores performs the technological parameter of technological operation.

8. industrial robot teaching system according to claim 7, is characterized in that,

Interactive module (74) is also communicatively coupled to bottom data administration module (72), to show, to inquire about and to monitor the position data of end (21) of the industrial robot (2) in the assignment file of bottom data administration module (72), the position data of mobile platform (1) and technique mark and/or technological parameter and the deletion action to assignment file.

9. industrial robot teaching system according to claim 8, is characterized in that,

Interactive module (74) is also communicatively coupled to task and downloads and execution module (73), with the instruction code showing, inquire about and monitor task is downloaded and execution module (73) generates.

10. the industrial robot teaching system according to any one of claim 6-9, is characterized in that, interactive module (74) is man-machine interface.