Teaching pendant transmission system, teaching pendant transmission method and transmission device

Abstract

The present application provides a teaching pendant transmission system, a transmission method and a transmission device for the teaching pendant transmission system. The teaching pendant transmission system includes: a teaching pendant; a redundant loop, at least including a first switch and a second switch, the first switch is connected to the teaching pendant for communication, and there are at least two connection lines between the first switch and the second switch; a robot is connected to the second switch for communication. The teaching pendant transmission system realizes communication between the teaching pendant and the robot through a redundant loop. Since there are at least two connection lines between the two switches of the redundant loop, if one line is abnormal, other lines can be selected for communication, which greatly improves the fault tolerance of transmission, thereby solving the problem of low fault tolerance of transmission between the teaching pendant and the robot in the prior art.

Description

Technical Field

[0001] The present application relates to the technical field of data transmission, and in particular to a teach pendant transmission system, a transmission method of a teach pendant transmission system, a transmission device, a computer-readable storage medium and a processor. Background Art

[0002] With the continuous development of industrial technology, more and more factories are beginning to use robots to replace human labor to work, and the number of robots in the workshop is gradually increasing. At present, manufacturers use cables or wireless modules to realize the control of robots by the teach pendant. When the number of robots is relatively small and the distance between the teach pendant and the robot is relatively close, direct cable connection is indeed a common method with the fastest speed and stability; however, when the number of robots is relatively large and the distance between the teach pendant and the robot is relatively far, wireless control is more convenient and intelligent than cable control, but the disadvantage is that the wireless module sends data through broadcasting, the confidentiality of data transmission is poor, it is easy to be cracked, it occupies a long network bandwidth, and the transmission efficiency is low. At the same time, both of them have the problem that when there is a problem with the cable or wireless module, there is no backup plan, and the work has to be stopped for maintenance, which delays the progress of the work; when the number of robots is relatively large, it is difficult for managers to manage and maintain the transmission system.

[0003] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country for those skilled in the art. Summary of the invention

[0004] The main purpose of the present application is to provide a teach pendant transmission system, a transmission method of the teach pendant transmission system, a transmission device, a computer-readable storage medium and a processor to solve the problem of low fault tolerance in the transmission between the teach pendant and the robot in the prior art.

[0005] According to one aspect of an embodiment of the present invention, there is provided a teach pendant transmission system, comprising: a teach pendant; a redundant loop, comprising at least a first switch and a second switch, wherein the first switch is communicatively connected to the teach pendant, and there are at least two connection lines between the first switch and the second switch; and a robot, which is communicatively connected to the second switch.

[0006] Optionally, the robot includes a first robot and a second robot, the first robot is connected to the second switch via a cable, the second robot is wirelessly connected to the second switch, the distance between the first robot and the second switch is less than or equal to a predetermined distance, and the distance between the second robot and the second switch is greater than the predetermined distance.

[0007] Optionally, there are multiple redundant loops, and the redundant loops correspond to local area networks one by one. The teaching pendant in the target local area network sends data to the robot in the target local area network through the redundant loop corresponding to the target local area network, and the target local area network is any one of the local area networks.

[0008] Optionally, the teach pendant transmission system also includes: a management terminal, which is respectively connected to the redundant loop communication of each local area network, and the management terminal is used to monitor whether the teach pendant and the robot are operating normally, and to modify the local area network to which the teach pendant and the robot belong.

[0009] Optionally, the management terminal is connected to one of the first switches through a static route, any two of the first switches of the local area networks are communicatively connected to each other, and any two of the second switches of the local area networks are communicatively connected to each other.

[0010] According to another aspect of an embodiment of the present invention, a teach pendant transmission system is also provided, comprising: a plurality of teach pendants; a plurality of robots; and at least two local area networks, corresponding one to one with device groups, wherein the device groups comprise at least one of the teach pendants and at least one of the robots, and the teach pendants and the robots within the device groups communicate via the corresponding local area networks.

[0011] According to another aspect of an embodiment of the present invention, there is also provided a transmission method applied to the teach pendant transmission system, the transmission method comprising: controlling the first switch to receive data sent by the teach pendant; when the connection line configured by the teach pendant is abnormal, controlling the first switch to send the data to the second switch through other connection lines; and controlling the second switch to send the data to the robot matched with the teach pendant.

[0012] Optionally, the teaching pendant transmission system further includes a management terminal, and the management terminal is respectively communicatively connected to the redundant loops. The transmission method further includes: when an abnormal condition is detected in the robot, the management terminal controls the robot to take action.

[0013] Optionally, the transmission method also includes: grouping the robots according to their task types to obtain multiple device groups, the device groups including at least one teaching pendant and at least one robot; establishing a local area network for the device groups in one-to-one correspondence, and the teaching pendants and robots in the device groups communicate through the corresponding local area network.

[0014] Optionally, the teach pendant transmission system also includes a management terminal, which is communicatively connected to the redundant loops respectively, and the redundant loops correspond one-to-one to the local area network. The transmission method also includes: when the task type of the robot changes, the management terminal modifies the local area network to which the robot and the teach pendant matched with the robot belong.

[0015] According to another aspect of an embodiment of the present invention, there is also provided a transmission device applied to the teach pendant transmission system, the transmission device comprising: a first control unit, used to control the first switch to receive data sent by the teach pendant; a second control unit, used to control the first switch to send the data to the second switch through other connection lines when the connection line configured by the teach pendant is abnormal; and a third control unit, used to control the second switch to send the data to the robot matched with the teach pendant.

[0016] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the methods described.

[0017] According to yet another aspect of the embodiments of the present invention, a processor is provided, wherein the processor is used to run a program, wherein any one of the methods is executed when the program is run.

[0018] In the embodiment of the present invention, in the above-mentioned teach pendant transmission system, the teach pendant transmission system realizes communication between the teach pendant and the robot through a redundant loop. Since there are at least two connection lines between the two switches of the redundant loop, if one line is abnormal, other lines can be selected for communication, which greatly improves the fault tolerance of transmission, thereby solving the problem of low fault tolerance of transmission between the teach pendant and the robot in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 A schematic diagram of a teaching pendant transmission system according to an embodiment of the present application is shown;

[0021] Figure 2 A flow chart showing a transmission method of a teaching pendant transmission system according to an embodiment of the present application is shown;

[0022] Figure 3 A schematic diagram of a transmission device of a teach pendant transmission system according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be intermediate elements. Moreover, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element through a third element.

[0026] As mentioned in the background technology, the fault tolerance rate of the transmission between the teach pendant and the robot in the prior art is low. In order to solve the above problem, in a typical embodiment of the present application, a teach pendant transmission system, a transmission method of the teach pendant transmission system, a transmission device, a computer-readable storage medium and a processor are provided.

[0027] According to an embodiment of the present application, a teaching pendant transmission system is provided, such as Figure 1 As shown, the teaching pendant transmission system includes:

[0028] Teaching pendant;

[0029] A redundant loop, comprising at least a first switch and a second switch, wherein the first switch is communicatively connected to the teaching pendant, and there are at least two connection lines between the first switch and the second switch;

[0030] It should be noted that the ring redundancy is composed of multiple switches. Its main function is to automatically judge and reconstruct the network when a problem occurs in one line of the ring redundancy, thereby ensuring uninterrupted communication, improving fault tolerance during data transmission, and ensuring real-time transmission of data.

[0031] When the number of robots is relatively large, a switch of a redundant loop is difficult to load. In an optional implementation, there are multiple redundant loops, and the redundant loops correspond to the local area networks one by one. The teaching pendant in the target local area network sends data to the robots in the target local area network through the redundant loop corresponding to the target local area network. The target local area network is any one of the local area networks.

[0032] In the above implementation, the teaching pendant and the robot are virtually grouped by the VLAN local area network, and the teaching pendant and the robot cannot be accessed between different VLAN local area networks. Figure 1 As shown, teaching pendant 1, teaching pendant 2, robot 1, robot 2, robot 5 and robot 6 all belong to VLAN1 virtual group; teaching pendant 3, teaching pendant 4, robot 3, robot 4, robot 7 and robot 8 all belong to VLAN2 virtual group.

[0033] In addition, the virtual grouping established by the VLAN LAN ensures that cable transmission and wireless broadcasting are only carried out within the VLAN LAN, and wireless broadcasting is only carried out on the VLAN LAN, greatly reducing the bandwidth occupied by broadcasting, thereby improving data transmission efficiency; at the same time, the virtual grouping of other VLAN LANs cannot receive any data from the VLAN LAN, ensuring that the information of the VLAN LAN will not be eavesdropped by other VLAN LANs, thereby improving the confidentiality of data transmission.

[0034] The robot is communicatively connected to the second switch.

[0035] It should be noted that the robots are matched to corresponding teach pendants so that the robots can receive data sent by the matched teach pendants.

[0036] In order to facilitate the robot to perform tasks, in an optional embodiment, the robot includes a first robot and a second robot, the first robot is connected to the second switch via a cable, the second robot is wirelessly connected to the second switch, the distance between the first robot and the second switch is less than or equal to a predetermined distance, and the distance between the second robot and the second switch is greater than the predetermined distance.

[0037] In the above embodiment, the connection method is determined according to the distance between the robot and the teach pendant. If the robot is short, a cable connection is used, and if the robot is far, a wireless connection is used. Flexible selection facilitates task execution. Furthermore, the robots can be divided according to the tasks. The robot that performs short-range tasks is divided into the first robot and connected by wire, and the robot that performs long-range tasks is divided into the second robot and connected by wireless. In addition, subsequent short-range tasks are also assigned to the first robot, and long-range tasks are also assigned to the second robot, without changing the connection method to generate additional workload.

[0038] In order to facilitate the unified management of robots in each local area network, in an optional implementation, the above-mentioned teach pendant transmission system also includes a management terminal, which is respectively connected to the above-mentioned redundant loop communication of each of the above-mentioned local area networks, and the above-mentioned management terminal is used to monitor whether the above-mentioned teach pendant and the above-mentioned robot are operating normally, and to modify the above-mentioned local area network to which the above-mentioned teach pendant and the above-mentioned robot belong.

[0039] In the above implementation, the main function of static routing is to enable access between different VLAN LANs based on the VLAN LAN. This function is set to the PC terminal under VLAN0, that is, the management terminal, which is generally controlled by the management personnel, because the management personnel need to monitor in real time whether the teaching pendants and robots of other operators are running normally; the management personnel can also manually modify the grouping of each teaching pendant and robot, reducing the management cost of moving and changing robots; at the same time, when an emergency occurs, the management personnel can control the robot to reduce the occurrence of danger. The combination of static routing and VLAN LAN mechanism facilitates the management personnel to control and maintain the teaching pendant and robot.

[0040] In order to enable the above-mentioned management terminal to access different VLAN local area networks, in an optional implementation, the above-mentioned management terminal is connected to the above-mentioned first switch through a static route, and the above-mentioned first switches of any two of the above-mentioned local area networks are communicated with each other, and the above-mentioned second switches of any two of the above-mentioned local area networks are communicated with each other.

[0041] In the above implementation manner, any two of the above-mentioned first switches of the above-mentioned local area networks are communicated with each other, and any two of the above-mentioned second switches of the above-mentioned local area networks are communicated with each other. The above-mentioned management terminal is connected to one of the above-mentioned first switches through static routing, so as to achieve communication connection with all switches, thereby achieving access between different VLAN local area networks, which is convenient for management personnel to control and maintain the teaching pendant and the robot. Of course, it is not limited to the above-mentioned connection method, and technical personnel in this field can also choose other suitable connection methods.

[0042] In the above-mentioned teach pendant transmission system, the teach pendant transmission system realizes communication between the teach pendant and the robot through a redundant loop. Since there are at least two connection lines between the two switches of the redundant loop, if one line is abnormal, other lines can be selected for communication, which greatly improves the fault tolerance of transmission, thereby solving the problem of low fault tolerance of transmission between the teach pendant and the robot in the prior art.

[0043] According to an embodiment of the present application, another teaching pendant transmission system is also provided, the teaching pendant transmission system comprising:

[0044] Multiple teach pendants;

[0045] Multiple robots;

[0046] At least two local area networks correspond one to one with the equipment groups, the equipment groups include at least one teaching pendant and at least one robot, and the teaching pendants and robots in the equipment groups communicate through the corresponding local area networks.

[0047] When the number of robots is relatively large, a switch of a redundant loop is difficult to load. In an optional implementation, there are multiple redundant loops, and the redundant loops correspond to the local area networks one by one. The teaching pendant in the target local area network sends data to the robots in the target local area network through the redundant loop corresponding to the target local area network. The target local area network is any one of the local area networks.

[0048] In the above implementation, the teaching pendant and the robot are virtually grouped by the VLAN local area network, and the teaching pendant and the robot cannot be accessed between different VLAN local area networks. Figure 1 As shown, teaching pendant 1, teaching pendant 2, robot 1, robot 2, robot 5 and robot 6 all belong to VLAN1 virtual group; teaching pendant 3, teaching pendant 4, robot 3, robot 4, robot 7 and robot 8 all belong to VLAN2 virtual group.

[0049] It should be noted that the ring redundancy is composed of multiple switches. Its main function is to automatically judge and reconstruct the network when a problem occurs in one line of the ring redundancy, thereby ensuring uninterrupted communication, improving fault tolerance during data transmission, and ensuring real-time transmission of data.

[0050] It should be noted that the robots are matched to corresponding teach pendants so that the robots can receive data sent by the matched teach pendants.

[0051] In order to facilitate the robot to perform tasks, in an optional embodiment, the robot includes a first robot and a second robot, the first robot is connected to the second switch via a cable, the second robot is wirelessly connected to the second switch, the distance between the first robot and the second switch is less than or equal to a predetermined distance, and the distance between the second robot and the second switch is greater than the predetermined distance.

[0052] In the above implementation, the connection method is determined according to the distance between the robot and the teaching pendant. If the robot is close, a cable connection is used, and if the robot is far away, a wireless connection is used. Flexible selection facilitates the execution of tasks. Further, Figure 1As shown, the robots can be divided according to the tasks. The robots that perform short-range tasks are divided into the first robot and connected by wire, for example, robots 1, 2, 3 and 4, and the robots that perform long-range tasks are divided into the second robot and connected wirelessly, for example, robots 5, 6, 7 and 8. In addition, the subsequent short-range tasks are also assigned to the first robot, and the long-range tasks are also assigned to the second robot, without changing the connection method to generate additional workload.

[0053] In order to facilitate the unified management of robots in various local area networks, an optional implementation method is as follows: Figure 1 As shown, the above-mentioned teach pendant transmission system also includes a management terminal, which is respectively connected to the above-mentioned redundant loop communication of each of the above-mentioned local area networks. The above-mentioned management terminal is used to monitor whether the above-mentioned teach pendant and the above-mentioned robot are operating normally, and to modify the above-mentioned local area network to which the above-mentioned teach pendant and the above-mentioned robot belong.

[0054] In the above implementation, the main function of static routing is to enable access between different VLAN LANs based on the VLAN LAN. This function is set to the PC terminal under VLAN0, that is, the management terminal, which is generally controlled by the management personnel, because the management personnel need to monitor in real time whether the teaching pendants and robots of other operators are running normally; the management personnel can also manually modify the grouping of each teaching pendant and robot, reducing the management cost of moving and changing robots; at the same time, when an emergency occurs, the management personnel can control the robot to reduce the occurrence of danger. The combination of static routing and VLAN LAN mechanism facilitates the management personnel to control and maintain the teaching pendant and robot.

[0055] In order to realize the access between different VLAN local area networks by the management terminal, in an optional implementation mode, as Figure 1 As shown, the management terminal is connected to one of the first switches through a static route, any two of the first switches of the local area networks are connected for communication, and any two of the second switches of the local area networks are connected for communication.

[0056] In the above implementation manner, any two of the above-mentioned first switches of the above-mentioned local area networks are communicated with each other, and any two of the above-mentioned second switches of the above-mentioned local area networks are communicated with each other. The above-mentioned management terminal is connected to one of the above-mentioned first switches through static routing, so as to achieve communication connection with all switches, thereby achieving access between different VLAN local area networks, which is convenient for management personnel to control and maintain the teaching pendant and the robot. Of course, it is not limited to the above-mentioned connection method, and technical personnel in this field can also choose other suitable connection methods.

[0057] In the above-mentioned teaching pendant transmission system, the teaching pendant and the robot are virtually grouped by the VLAN local area network, so that cable transmission and wireless broadcasting are only carried out within the local VLAN local area network, and wireless broadcasting is only carried out on the local VLAN local area network, which greatly reduces the bandwidth occupied by broadcasting, thereby improving data transmission efficiency; at the same time, the virtual grouping of other VLAN local area networks cannot receive any data of the VLAN local area network, ensuring that the information of the VLAN local area network will not be eavesdropped by other VLAN local area networks, thereby improving the confidentiality of data transmission.

[0058] The present application also provides a transmission method of a teaching pendant transmission system. Figure 2 FIG. 1 is a flow chart of a transmission method of a teaching pendant transmission system according to an embodiment of the present application. Figure 2 As shown, the above transmission method includes the following steps:

[0059] Step S101, controlling the first switch to receive data sent by the teaching pendant;

[0060] It should be noted that the first switch and the teaching pendant are arranged together, and the first switch and the teaching pendant are connected via wire, so the transmission speed and reliability are relatively high.

[0061] Step S102, when the connection line configured by the teaching pendant is abnormal, controlling the first switch to send the data to the second switch through the other connection lines;

[0062] It should be noted that when a line in the ring redundancy has a problem, it can automatically determine and reconstruct the network to ensure uninterrupted communication, improve fault tolerance during data transmission, and ensure real-time data transmission.

[0063] Step S103, controlling the second switch to send the data to the robot matched with the teaching pendant.

[0064] In order to further ensure the safety of the equipment, in an optional implementation manner, the teaching pendant transmission system further includes a management terminal, and the management terminal is respectively connected to the redundant loop for communication, and the transmission method further includes:

[0065] Step S201, when an abnormal condition is detected in the robot, the management terminal controls the robot to take action.

[0066] In the above implementation manner, the above management terminal monitors the operating status of the above robots. When an emergency occurs to any robot, the manager can control the robot through the management terminal to reduce the occurrence of danger.

[0067] In order to achieve reasonable grouping, in an optional implementation manner, the transmission method further includes:

[0068] Step S301, grouping the robots according to their task types to obtain a plurality of equipment groups, wherein the equipment groups include at least one teaching pendant and at least one robot;

[0069] Step S302, establishing a local area network for the above-mentioned device groups in a one-to-one correspondence, and the above-mentioned teaching pendants and the above-mentioned robots in the above-mentioned device groups communicate through the corresponding above-mentioned local area network.

[0070] In the above implementation, the robots are grouped according to their task types, and robots of the same task type establish a local area network. The robots cannot receive data of other task types, thereby further preventing data leakage.

[0071] In order to adapt to the changes in demand, the teaching pendant transmission system further includes a management terminal, which is respectively connected to the redundant loops for communication, and the redundant loops correspond to the local area network one by one. The transmission method further includes:

[0072] Step S401, when the task type of the robot changes, the management terminal modifies the local area network to which the robot and the teaching pendant matched with the robot belong.

[0073] In the above implementation, the task volume of different task types may change. When the task volume of a certain task type increases sharply, robots of other task types can be called to change the task type. The above management terminal can modify the above robot and the above teaching pendant matched with the above robot to which they belong, thereby ensuring flexible grouping and improving the efficiency of task completion.

[0074] In the transmission method of the above-mentioned teaching pendant transmission system, first, the first switch is controlled to receive the data sent by the teaching pendant, and then, in the case that the connection line configured by the above-mentioned teaching pendant is abnormal, the above-mentioned first switch is controlled to send the above-mentioned data to the second switch through other above-mentioned connection lines; finally, the above-mentioned second switch is controlled to send the above-mentioned data to the robot matched with the above-mentioned teaching pendant. In the teaching pendant transmission system, since there are at least two connection lines between the two switches of the redundant loop, other lines can be selected for communication when the line configured by the above-mentioned teaching pendant is abnormal, which greatly improves the fault tolerance rate of transmission, thereby solving the problem of low fault tolerance rate of transmission between the teaching pendant and the robot in the prior art.

[0075] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0076] The embodiment of the present application also provides a transmission device of a teaching pendant transmission system. It should be noted that the transmission device of the teaching pendant transmission system of the embodiment of the present application can be used to execute the transmission method for the teaching pendant transmission system provided by the embodiment of the present application. The transmission device of the teaching pendant transmission system provided by the embodiment of the present application is introduced below.

[0077] Figure 3 Schematic diagram of a transmission device of a teaching pendant transmission system according to an embodiment of the present application. Figure 3 As shown, the device comprises:

[0078] A first control unit 10, used for controlling the first switch to receive data sent by the teaching pendant;

[0079] It should be noted that the first switch and the teaching pendant are arranged together, and the first switch and the teaching pendant are connected via wire, so the transmission speed and reliability are relatively high.

[0080] The second control unit 20 is used to control the first switch to send the data to the second switch through other connection lines when the connection line configured by the teaching pendant is abnormal;

[0081] It should be noted that when a line in the ring redundancy has a problem, it can automatically determine and reconstruct the network to ensure uninterrupted communication, improve fault tolerance during data transmission, and ensure real-time data transmission.

[0082] The third control unit 30 is used to control the second switch to send the data to the robot matched with the teaching pendant.

[0083] In order to further ensure the safety of the equipment, in an optional implementation, the teaching pendant transmission system further includes a management terminal, the management terminal is respectively connected to the redundant loop for communication, and the transmission device further includes:

[0084] The fourth control unit is used for the management terminal to control the robot to take action when an abnormal condition is detected in the robot.

[0085] In the above implementation manner, the above management terminal monitors the operating status of the above robots. When an emergency occurs to any robot, the manager can control the robot through the management terminal to reduce the occurrence of danger.

[0086] In order to achieve reasonable grouping, in an optional implementation manner, the transmission device further includes:

[0087] A matching unit, configured to group the robots according to their task types to obtain a plurality of device groups, wherein the device groups include at least one teaching pendant and at least one robot;

[0088] An establishing unit is used to form a local area network corresponding to the above-mentioned device groups one by one, and the above-mentioned teaching devices and the above-mentioned robots in the above-mentioned device groups communicate through the corresponding above-mentioned local area network.

[0089] In the above implementation, the robots are grouped according to their task types, and robots of the same task type establish a local area network. The robots cannot receive data of other task types, thereby further preventing data leakage.

[0090] In order to adapt to the changes in demand, the teaching pendant transmission system further includes a management terminal, which is respectively connected to the redundant loops for communication, and the redundant loops correspond to the local area network one by one. The transmission method further includes:

[0091] The processing unit is used for causing the management terminal to modify the local area network to which the robot and the teaching pendant matched with the robot belong when the task type of the robot changes.

[0092] In the above implementation, the task volume of different task types may change. When the task volume of a certain task type increases sharply, robots of other task types can be called to change the task type. The above management terminal can modify the above robot and the above teaching pendant matched with the above robot to which they belong, thereby ensuring flexible grouping and improving the efficiency of task completion.

[0093] In the transmission device of the above-mentioned teach pendant transmission system, the first control unit controls the first switch to receive data sent by the teach pendant, and the second control unit controls the first switch to send the data to the second switch through other connection lines when the connection line configured by the above-mentioned teach pendant is abnormal; the third control unit controls the second switch to send the data to the robot matched with the above-mentioned teach pendant. In the teach pendant transmission system, since there are at least two connection lines between the two switches of the redundant loop, other lines can be selected for communication when the line configured by the above-mentioned teach pendant is abnormal, which greatly improves the fault tolerance of transmission, thereby solving the problem of low fault tolerance of transmission between the teach pendant and the robot in the prior art.

[0094] The transmission device of the above-mentioned teaching pendant transmission system includes a processor and a memory. The above-mentioned first control unit, second control unit and third control unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0095] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of low fault tolerance of transmission between the teaching pendant and the robot in the prior art can be solved by adjusting kernel parameters.

[0096] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0097] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the above method is implemented.

[0098] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the method is executed when the program is run.

[0099] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0100] Step S101, controlling the first switch to receive data sent by the teaching pendant;

[0101] Step S102, when the connection line configured by the teaching pendant is abnormal, controlling the first switch to send the data to the second switch through the other connection lines;

[0102] Step S103, controlling the second switch to send the data to the robot matched with the teaching pendant.

[0103] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0104] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0105] Step S101, controlling the first switch to receive data sent by the teaching pendant;

[0106] Step S102, when the connection line configured by the teaching pendant is abnormal, controlling the first switch to send the data to the second switch through the other connection lines;

[0107] Step S103, controlling the second switch to send the data to the robot matched with the teaching pendant.

[0108] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0110] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0111] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0112] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a computer-readable storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned computer-readable storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0113] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0114] 1) In the teach pendant transmission system of the present application, the teach pendant transmission system realizes communication between the teach pendant and the robot through a redundant loop. Since there are at least two connection lines between the two switches of the redundant loop, if one line is abnormal, other lines can be selected for communication, which greatly improves the fault tolerance of transmission, thereby solving the problem of low fault tolerance of transmission between the teach pendant and the robot in the prior art.

[0115] 2) In the teaching pendant transmission system of the present application, the teaching pendant and the robot are virtually grouped by the VLAN local area network, so that cable transmission and wireless broadcasting are only performed within the local VLAN local area network, and wireless broadcasting is only performed on the local VLAN local area network, which greatly reduces the bandwidth occupied by broadcasting, thereby improving data transmission efficiency; at the same time, the virtual grouping of other VLAN local area networks cannot receive any data of the VLAN local area network, ensuring that the information of the VLAN local area network will not be eavesdropped by other VLAN local area networks, thereby improving the confidentiality of data transmission.

[0116] 3) In the transmission method of the teaching pendant transmission system of the present application, first, the first switch is controlled to receive the data sent by the teaching pendant, and then, when the connection line configured by the teaching pendant is abnormal, the first switch is controlled to send the data to the second switch through other connection lines; finally, the second switch is controlled to send the data to the robot matched with the teaching pendant. In the teaching pendant transmission system, since there are at least two connection lines between the two switches of the redundant loop, other lines can be selected for communication when the line configured by the teaching pendant is abnormal, which greatly improves the fault tolerance of the transmission, thereby solving the problem of low fault tolerance of the transmission between the teaching pendant and the robot in the prior art.

[0117] 4) In the transmission device of the teaching pendant transmission system of the present application, the first control unit controls the first switch to receive the data sent by the teaching pendant, and the second control unit controls the first switch to send the data to the second switch through other connection lines when the connection line configured by the teaching pendant is abnormal; the third control unit controls the second switch to send the data to the robot matched with the teaching pendant. In the teaching pendant transmission system, since there are at least two connection lines between the two switches of the redundant loop, other lines can be selected for communication when the line configured by the teaching pendant is abnormal, which greatly improves the fault tolerance of transmission, thereby solving the problem of low fault tolerance of transmission between the teaching pendant and the robot in the prior art.

[0118] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A transmission method of a teaching pendant transmission system, characterized in that: The teaching pendant transmission system includes a teaching pendant, a redundant loop and a robot, the redundant loop includes at least a first switch and a second switch, the first switch is communicatively connected to the teaching pendant, there are at least two connection lines between the first switch and the second switch, the robot is communicatively connected to the second switch, and the transmission method includes: Controlling the first switch to receive data sent by the teaching pendant; When the connection line configured by the teaching pendant is abnormal, controlling the first switch to send the data to the second switch through other connection lines; Controlling the second switch to send the data to the robot matched with the teaching pendant; The transmission method further includes: grouping the robots according to their task types to obtain a plurality of device groups, wherein the device groups include at least one teaching pendant and at least one robot; establishing a local area network for the device groups in a one-to-one correspondence, wherein the teaching pendants and robots in the device groups communicate through the corresponding local area network; The teach pendant transmission system also includes a management terminal, which is communicatively connected to the redundant loops respectively, and the redundant loops correspond one-to-one to the local area network. The transmission method also includes: when the task type of the robot changes, the management terminal modifies the local area network to which the robot and the teach pendant matched with the robot belong.

2. The method according to claim 1, characterized in that The teaching pendant transmission system further includes a management terminal, and the management terminal is respectively connected to the redundant loop for communication. The transmission method further includes: When an abnormal condition is detected in the robot, the management terminal controls the robot to take action.

3. A transmission device of a teaching pendant transmission system, characterized in that: The teaching pendant transmission system includes a teaching pendant, a redundant loop and a robot, wherein the redundant loop includes at least a first switch and a second switch, wherein the first switch is communicatively connected to the teaching pendant, and there are at least two connection lines between the first switch and the second switch, and the robot is communicatively connected to the second switch, and the transmission device includes: A first control unit, used for controlling the first switch to receive data sent by the teaching pendant; A second control unit is used to control the first switch to send the data to the second switch through other connection lines when the connection line configured by the teaching pendant is abnormal; A third control unit, used for controlling the second switch to send the data to the robot matched with the teaching pendant; The transmission device further comprises: a matching unit, configured to group the robots according to their task types to obtain a plurality of device groups, wherein the device groups include at least one teaching pendant and at least one robot; and an establishing unit, configured to establish a local area network corresponding to the device groups one by one, wherein the teaching pendants and the robots in the device groups communicate with each other through the corresponding local area network. The teach pendant transmission system also includes a management terminal, which is communicatively connected to the redundant loops respectively, and the redundant loops correspond one-to-one to the local area network. The transmission device also includes: a processing unit, which is used for the management terminal to modify the local area network to which the robot and the teach pendant matched with the robot belong when the task type of the robot changes.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method of claim 1 or 2.

5. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to claim 1 or 2 when running.

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