Wireless-controlled six-degree-of-freedom robotic arm teaching system

Abstract

Disclosed is a wirelessly-controlled six-degree-of-freedom mechanical arm teaching system. An APP at the PC end is installed on a Windows computer of a user. The APP at the PC end comprises an interactive interface module, an APP master control module, a trajectory optimization module and a control file generation module which are sequentially connected with one another. The control file generation module downloads control code files into one or more working mechanical arms through a file transfer protocol (FTP), and the working mechanical arms are used for completing optimized teaching work. A data acquisition unit is connected with an MCU master control module, and the MCU master control module is in wireless connection with the PC end through WiFi. The data acquisition unit is in both-way communication connection with six absolute type encoders of a teaching mechanical arm joint through an RS485 circuit, and the six absolute type encoders correspond to the six degrees of freedom of each mechanical arm separately. The data acquisition unit outputs data to the MCU master control module, and the MCU master control module outputs the data to the PC end. The PC end outputs operational instructions to the MCU master control module, and the MCU master control module outputs the operational instructions to the data acquisition unit. The data acquisition unit, the teaching mechanical arms and the MCU master control module are all connected with an external power module.

Description

technical field [0001] The invention relates to a manipulator teaching system, in particular to a wirelessly controlled six-degree-of-freedom manipulator teaching system. Background technique [0002] With the widespread use of industrial robots in various industries, they expect that robots can complete more complex tasks in the shortest time and in a simpler way, especially industries with complex trajectory planning such as spraying, welding, and polishing. At present, the use of industrial robots is still a long way from being fully intelligent. The completion of most tasks mainly depends on the teaching-reproduction form, so how to realize the teaching is still an important task before the robot performs the processing task. Teaching——"Teaching" in reproduction, as the name implies, means demonstration teaching, that is, before the robot performs normal processing, the operator uses some interactive method to demonstrate the actions required to perform the processing ta...

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Problems solved by technology

Jiang Shenghua, Ding Wenli, and Li Han proposed an industrial robot teaching system (Jiang Shenghua, Ding Wenli, Li Han. An industrial robot teaching system: China, 205852817[P].2017-01-04), and gave the industrial machinery A mechanical structure design and design principle of the arm, but there is no teaching control tool, and user interaction is extremely inconvenient; Zhu Maojuan, Wang Linbing, Zeng Qi et al. proposed a robot and its teaching communication system (Zhu Maojuan, Wang Linbing, Zeng Qi et al. .Robot and its teaching communication system: China, 205620710[P].2016-01-04), realizes the data communication between the teaching collector and the controller, but the communication method is wired, which has space limitations and Lack of confidentiality; Chen Ken, Ren Shunan, Wang Guolei, etc. proposed an industrial robot teaching system (Chen Ken, Ren Shunan, Wang Guolei, etc. Industrial Robot Teaching System: China, 104700705[P].2015-06-10) , the system can complete teaching acquisition, data communication and teaching control, but it does not optimize the teaching trajectory and cannot meet the requirements of high-precision industrial production; Xia Zeyang, Deng Hao, Weng Shaokui et al proposed a robot teaching system and its Control method (Xia Zeyang, Deng Hao, Weng Shaokui, etc. Robot teaching system and its control method: China, 105058396[P]. 2015-11-18), introduced the teaching process of the robot in detail, but did not design a good interactive performance APP, user operation is cumbersome and inconvenient

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