Industrial robot operation teaching control system, control method and related products

Abstract

The invention provides an industrial robot operation teaching control system, a control method and a related product. The control system comprises an intelligent rocker teaching device, a controller and an industrial robot. The intelligent rocker demonstrator is used for sending a first instruction signal to the controller, and the controller is used for controlling the industrial robot to move in response to the first instruction signal; a mode switching module, a rocker and a sliding disc module are arranged on a main body of the intelligent rocker demonstrator. The rocker is configured to swing relative to the main body of the intelligent rocker demonstrator; the intelligent rocker demonstrator is used for determining a target motion mode of the industrial robot according to a first user operation for the mode switching module; and generating a first instruction signal according to the second user operation aiming at the rocker and the target motion mode of the industrial robot, or generating the first instruction signal according to the third user operation aiming at the sliding plate module and the target motion mode of the industrial robot. According to the invention, the movement of the industrial robot can be controlled more accurately and efficiently.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot control, and in particular to an industrial robot operation teaching control system, an industrial robot control method, an industrial robot control device, an electronic device and a computer-readable storage medium. Background Art

[0002] The industrial robot teaching pendant is an indispensable core component in the robot control system. It plays an important role of guidance and marking. It can set the actions of the industrial robot, including parameters such as path and speed, to achieve an efficient production process. Ensure the accuracy and stability of the industrial robot tools during operation. Monitor the operation of the industrial robot in real time and make adjustments and optimizations. Precisely control the industrial robot during operation to ensure accurate movements, and have intelligent operation conditions, optimize adjustments to improve production efficiency. Refine the operation and action settings to reduce the risk of operational errors and accidents. However, the current industrial robot teaching pendants on the market have low operating accuracy and low efficiency. Summary of the invention

[0003] In view of the above problems, an industrial robot operation teaching control system, an industrial robot control method, an industrial robot control device, an electronic device and a computer-readable storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] An industrial robot operation teaching control system, the control system comprising: an intelligent rocker teaching device, a controller, and an industrial robot; wherein:

[0005] The intelligent rocker pendant is used to send a first command signal to the controller, and the controller is used to control the movement of the industrial robot in response to the first command signal;

[0006] The main body of the intelligent rocker teaching pendant is provided with a mode switching module, a rocker, and at least one sliding plate module; the rocker is configured to be able to shake relative to the main body of the intelligent rocker teaching pendant;

[0007] The intelligent joystick teach pendant is used to determine the target motion mode of the industrial robot according to a first user operation on the mode switching module; generate a first command signal according to a second user operation on the joystick and the target motion mode of the industrial robot, or generate a first command signal according to a third user operation on at least one sliding disk module and the target motion mode of the industrial robot.

[0008] Optionally, the industrial robot includes a plurality of movable axes, and the industrial robot includes an articulated motion mode and a Cartesian motion mode;

[0009] The intelligent joystick teaching pendant is used to generate a first command signal for controlling the rotation of a first movable axis of the industrial robot when the target motion mode is a joint motion mode and the second user operation is to shake the joystick; and to generate a first command signal for controlling the rotation of multiple movable axes of the industrial robot so that the industrial robot moves in a first preset direction when the target motion mode is a Cartesian motion mode and the second user operation is to shake the joystick.

[0010] Optionally, the industrial robot includes a plurality of movable axes, and the industrial robot includes an articulated motion mode and a Cartesian motion mode;

[0011] The intelligent joystick teach pendant is used to determine the target sliding disk module and the target movable axis corresponding to the target sliding disk module according to a third user operation on the at least one sliding disk module when the target motion mode is the joint motion mode, and generate a first instruction signal for controlling the rotation of the target movable axis of the industrial robot; when the target motion mode is the Cartesian motion mode, the intelligent joystick teach pendant is used to determine the target sliding disk module and the second preset direction corresponding to the target sliding disk module according to a third user operation on the at least one sliding disk module, and generate a first instruction signal for controlling the rotation of multiple movable axes of the industrial robot so that the industrial robot moves in the second preset direction.

[0012] Optionally, the intelligent joystick teach pendant is also used to switch the target motion mode to the Cartesian motion mode when the target motion mode is the joint motion mode according to the first user operation on the mode switching module; and when the target motion mode is the Cartesian motion mode, switch the target motion mode to the joint motion mode according to the first user operation on the mode switching module.

[0013] Optionally, the intelligent joystick teaching pendant is further used to lock the industrial robot according to a fourth user operation on the mode switching module.

[0014] Optionally, the intelligent joystick teaching pendant is further used to lock the industrial robot when no user operation is received on the mode switching module, the joystick and the at least one sliding disk module within a preset time period.

[0015] Optionally, the intelligent joystick teaching pendant is further used to unlock the locked industrial robot according to a fifth user operation on the mode switching module.

[0016] Optionally, the control system further includes:

[0017] an emergency stop module, configured to send an emergency stop command signal to the controller in response to a sixth user operation;

[0018] The controller is used to control the industrial robot to stop in response to the emergency stop command signal.

[0019] Optionally, the control system further includes:

[0020] an operation mode control module, configured to send an operation mode switching instruction signal to the controller in response to a seventh user operation;

[0021] The controller is used to switch the operation mode of the industrial robot in response to the operation mode switching instruction signal, and the operation mode includes a manual mode or an automatic mode.

[0022] An embodiment of the present invention further provides a control method for an industrial robot, which is applied to the control system as described above, and the method includes:

[0023] receiving a first command signal; the first command signal is generated by the intelligent rocker pendant of the control system according to a target motion mode of the industrial robot determined by a first user operation on a mode switching module of the control system and a second user operation on a rocker of the control system; or the first command signal is generated by the intelligent rocker pendant of the control system according to the target motion mode and a third user operation on at least one sliding disk module;

[0024] In response to the first instruction signal, the industrial robot is controlled to move.

[0025] An embodiment of the present invention further provides a control device for an industrial robot, which is applied to the control system as described above, and the device comprises:

[0026] A receiving module, configured to receive a first instruction signal; the first instruction signal is generated by the intelligent rocker pendant of the control system according to a target motion mode of the industrial robot determined by a first user operation on a mode switching module of the control system and a second user operation on a rocker of the control system; or, the first instruction signal is generated by the intelligent rocker pendant of the control system according to the target motion mode and a third user operation on at least one sliding disk module;

[0027] A control module is used to control the movement of the industrial robot in response to the first instruction signal.

[0028] An embodiment of the present invention further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above industrial robot control method when executed by the processor.

[0029] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the control method of the industrial robot as described above is implemented.

[0030] The embodiments of the present invention have the following advantages:

[0031] In an embodiment of the present invention, the control system includes: an intelligent rocker pendant, a controller, and an industrial robot; the intelligent rocker pendant is used to send a first command signal to the controller, and the controller is used to control the movement of the industrial robot in response to the first command signal; a mode switching module, a rocker, and a sliding plate module are provided on the main body of the intelligent rocker pendant; the rocker is configured to be shaken relative to the main body of the intelligent rocker pendant; the intelligent rocker pendant is used to determine the target motion mode of the industrial robot according to the first user operation on the mode switching module; the first command signal is generated according to the second user operation on the rocker and the target motion mode of the industrial robot, or the first command signal is generated according to the third user operation on the sliding plate module and the target motion mode of the industrial robot. The present invention can more accurately and efficiently control the movement of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0033] Figure 1 It is a structural schematic diagram of an industrial robot operation teaching control system according to an embodiment of the present invention;

[0034] Figure 2 It is a structural schematic diagram of another industrial robot operation teaching control system according to an embodiment of the present invention;

[0035] Figure 3 is a flowchart of a method for controlling an industrial robot according to an embodiment of the present invention;

[0036] Figure 4 is a flowchart of steps for controlling an industrial robot according to an embodiment of the present invention;

[0037] Figure 5 It is a structural schematic diagram of a control device for an industrial robot according to an embodiment of the present invention.

[0038] Description of the accompanying drawings:

[0039] Control system 10, intelligent rocker teach pendant 101, controller 102, industrial robot 103, mode switching module 104, rocker 105, teach pendant box 106, emergency stop module 107, operation mode control module 108, movable axis one 109, movable axis two 110, movable axis three 111, movable axis four 112, movable axis five 113, movable axis six 114, slide plate module one 115, slide plate module two 116, slide plate module three 117, slide plate module four 118, X direction 119, Y direction 120, Z direction 121, A direction 122, B direction 123, C direction 124, network communication interface 125, slide plate module 126, rocker base 127. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In order to improve the operating efficiency and accuracy of the teaching pendant of an industrial robot, an embodiment of the present invention provides an industrial robot operation teaching control system, which is provided with a mode switching module, a rocker, and at least one sliding plate module. The user can control the mode switching module, the rocker, and at least one sliding plate module to enter different modes to perform refined control of the industrial robot, thereby improving the operating efficiency and accuracy of the teaching pendant of the industrial machine. For details, please refer to Figure 1 , Figure 1 A schematic structural diagram of an industrial robot operation teaching control system 10 according to an embodiment of the present invention is shown.

[0042] like Figure 1 As shown, the control system 10 may include: an intelligent rocker pendant 101, a controller 102, and an industrial robot 103; wherein:

[0043] The intelligent rocker pendant 101 is used to send a first instruction signal to the controller 102, and the controller 102 is used to control the movement of the industrial robot 103 in response to the first instruction signal;

[0044] The main body of the intelligent rocker teaching pendant 101 is provided with a mode switching module 104, a rocker 105, and at least one sliding plate module 126; the rocker 105 is configured to be able to shake relative to the main body of the intelligent rocker teaching pendant 101;

[0045] The intelligent joystick teaching pendant 101 is used to determine the target motion mode of the industrial robot 103 according to a first user operation on the mode switching module 104; generate a first command signal according to a second user operation on the joystick 105 and the target motion mode of the industrial robot 103, or generate a first command signal according to a third user operation on at least one sliding disk module 126 and the target motion mode of the industrial robot 103.

[0046] In practical applications, industrial robots 103 are automated equipment that are usually used to perform various industrial tasks, such as assembly, welding, spraying, handling, packaging, etc. They perform tasks through programming and sensors, which can improve production efficiency, reduce human errors, reduce labor costs, and can work in dangerous or harsh environments.

[0047] In order to set the action of the industrial robot 103, the intelligent joystick teaching pendant 101 can be operated to control the industrial robot 103, so as to control the industrial robot 103 to perform corresponding actions according to the user's settings.

[0048] In an embodiment of the present invention, a user can operate the intelligent joystick teach pendant 101 to generate a first command signal for controlling the industrial robot 103; after generating the first command signal, the intelligent joystick teach pendant 101 can send the first command signal to the controller 102 that controls the industrial robot 103.

[0049] After receiving the first command signal, the controller 102 can respond to the first command signal and control the industrial robot 103 to move according to the project settings; specifically, after receiving the first command signal, the controller 102 can generate a second command signal that can be recognized by the industrial robot 103, and send the second command signal to the industrial robot 103 to control the industrial robot 103 to move according to the second command signal.

[0050] In the embodiment of the present invention, a mode switching module 104 , a joystick 105 , and at least one sliding disk module 126 may be provided on the main body of the intelligent joystick teaching pendant 101 .

[0051] One end of the joystick 105 can be inserted into the smart joystick teaching pendant 101, and the other end can extend out of the smart joystick teaching pendant 101; the user can shake the other end of the joystick 105 to make the joystick 105 shake relative to the main body of the smart joystick teaching pendant 101.

[0052] The mode switching module 104 can be set at the top of the other end of the joystick 105, or can be set at other positions of the main body of the intelligent joystick teaching device 101, and the embodiment of the present invention is not limited to this.

[0053] Among them, the main body of the intelligent joystick teaching pendant 101 can be a teaching pendant box 106, which can receive signals output by the mode switching module 104, the joystick 105, and at least one sliding disk module 126, and generate a corresponding first instruction signal.

[0054] At least one sliding disk module 126 can be set in the middle of the two ends of the rocker 105, and the axis of the sliding disk module 126 can coincide with the axis of the rocker 105. The user can roll the sliding disk module 126 to make the sliding disk module 126 rotate around the axis of the sliding disk module 126, thereby realizing control of the industrial robot 103.

[0055] In actual application, the user may first perform a first user operation on the mode switching module 104; illustratively, the first user operation may be a click operation. When the user performs the first user operation on the mode switching module 104, the motion mode of the industrial robot 103 may be switched from one mode to another. Based on the first user operation and the motion mode of the industrial robot 103 before the first user operation is performed, the teach pendant box 106 of the intelligent rocker teach pendant 101 may switch the motion mode of the industrial robot 103 and determine the current target motion mode of the industrial robot 103.

[0056] Of course, if the user just needs to use the current motion mode of the industrial robot 103, the first user operation may not be performed on the mode switching module 104; at this time, the teach pendant box 106 of the intelligent joystick teach pendant 101 can keep the existing motion mode as the target motion mode.

[0057] After determining the target motion mode, the user may further operate the joystick 105 , or operate one or more of the at least one sliding disk module 126 , so as to perform specific control on the industrial robot 103 .

[0058] Specifically, the user can perform a second user operation on the joystick 105, and the teaching pendant box 106 of the intelligent joystick teaching pendant 101 can generate a corresponding first instruction signal based on the second user operation and the target motion mode. Exemplarily, the first instruction signal is used to instruct the industrial robot 103 to move corresponding to the second user operation in the target motion mode.

[0059] In addition, the user may also perform a third user operation on the sliding disk module 126 in at least one sliding disk module 126, and the teaching pendant box 106 of the intelligent joystick teaching pendant 101 may generate a corresponding first instruction signal based on the third user operation and the target motion mode. Exemplarily, the first instruction signal is used to instruct the industrial robot 103 to move corresponding to the second user operation in the target motion mode.

[0060] In actual applications, in different motion modes, the movement of the industrial robot 103 achieved by the control joystick 105 and the movement of the industrial robot 103 achieved by the control slide module 126 are different; through refined division, the user can control the movement of the industrial robot 103 more accurately and efficiently based on the teach pendant.

[0061] In the embodiment of the present invention, the control system 10 includes: an intelligent rocker pendant 101, a controller 102, and an industrial robot 103; the intelligent rocker pendant 101 is used to send a first command signal to the controller 102, and the controller 102 is used to control the movement of the industrial robot 103 in response to the first command signal; the main body of the intelligent rocker pendant 101 is provided with a mode switching module 104, a rocker 105, and at least one sliding disk module 126; the rocker 105 is configured to be able to shake relative to the main body of the intelligent rocker pendant 101; the intelligent rocker pendant 101 is used to determine the target motion mode of the industrial robot 103 according to the first user operation on the mode switching module 104; generate a first command signal according to the second user operation on the rocker 105 and the target motion mode of the industrial robot 103, or generate a first command signal according to the third user operation on at least one sliding disk module 126 and the target motion mode of the industrial robot 103. Through the embodiment of the present invention, the movement of the industrial robot 103 can be controlled more accurately and efficiently.

[0062] In one embodiment of the present invention, the industrial robot 103 includes a plurality of movable axes, and the industrial robot 103 includes a joint motion mode and a Cartesian motion mode;

[0063] The intelligent joystick teaching pendant 101 is used to generate a first command signal for controlling the rotation of the first movable axis of the industrial robot 103 when the target motion mode is the joint motion mode and the second user operation is to shake the joystick 105; when the target motion mode is the Cartesian motion mode and the second user operation is to shake the joystick 105, generate a first command signal for controlling the rotation of multiple movable axes of the industrial robot 103 so that the industrial robot 103 moves in a first preset direction.

[0064] In some feasible embodiments, the industrial robot 103 may include multiple movable axes; for example, Figure 2 As shown, the industrial robot 103 may include a movable axis one 109 , a movable axis two 110 , a movable axis three 111 , a movable axis four 112 , a movable axis five 113 and a movable axis six 114 .

[0065] The industrial robot 103 may include an articulated motion mode and a Cartesian motion mode; wherein the articulated motion mode may refer to a motion mode that directly controls each movable axis of the industrial robot 103 , for example: directly controlling the first movable axis.

[0066] The Cartesian motion mode may refer to a motion mode in which the industrial robot 103 can move in a preset direction by comprehensively controlling the various movable axes of the industrial robot 103, for example: controlling the industrial robot 103 to move to the right; when controlling the robot to move to the right, it is necessary to coordinate the various movable axes. Controlling the industrial robot 103 to move in a preset direction may refer to controlling the arm claw of the industrial robot 103 to move in a preset direction, or may refer to controlling the entire industrial robot 103, or a certain component of the industrial robot 103, etc., and the embodiments of the present invention do not limit this.

[0067] In practical applications, when it is determined that the target motion mode is the joint motion mode, the teaching pendant box 106 of the intelligent rocker pendant 101 can generate a first instruction signal for controlling the rotation of the first movable axis of the industrial robot 103 when the second user operation on the rocker 105 is to shake the rocker 105. The first movable axis can be the movable axis 109 or the movable axis 2 110.

[0068] After generating the first command signal for controlling the first movable axis, the teaching pendant box 106 of the intelligent joystick teaching pendant 101 may send the first command signal to the controller 102, and the controller 102 may control the rotation of the first movable axis of the industrial robot 103 in response to the first command signal. Exemplarily, when the user shakes the joystick 105 left and right, the controller 102 may control the rotation of the movable axis 109 of the industrial robot 103 in response to the first command signal; when the user shakes the joystick 105 forward and backward, the controller 102 may control the rotation of the movable axis 2 110 of the industrial robot 103 in response to the first command signal, and the embodiment of the present invention does not limit this.

[0069] In practical applications, when it is determined that the target motion mode is a Cartesian motion mode, the teaching pendant box 106 of the intelligent joystick teaching pendant 101 can generate a first instruction signal for controlling the rotation of multiple movable axes of the industrial robot 103 so that the industrial robot 103 moves in a first preset direction when the second user operation on the joystick 105 is to shake the joystick 105. The specific direction of the first preset direction can correspond to the direction in which the joystick 105 is shaken.

[0070] Exemplarily, when the user shakes the joystick 105 left and right, the controller 102 can control the various movable axes of the industrial robot 103 to rotate in response to the first command signal, so that the industrial robot 103 can move in the Y direction 120. When the user shakes the joystick 105 forward and backward, the controller 102 can control the various movable axes of the industrial robot 103 to rotate in response to the first command signal, so that the industrial robot 103 can move in the X direction 119.

[0071] In one embodiment of the present invention, the industrial robot 103 includes a plurality of movable axes, and the industrial robot 103 includes a joint motion mode and a Cartesian motion mode;

[0072] The intelligent joystick teach pendant 101 is used to determine the target sliding disk module 126 and the target movable axis corresponding to the target sliding disk module 126 according to a third user operation on at least one sliding disk module 126 when the target motion mode is a joint motion mode, and generate a first command signal for controlling the rotation of the target movable axis of the industrial robot 103; when the target motion mode is a Cartesian motion mode, the intelligent joystick teach pendant 101 is used to determine the target sliding disk module 126 and the second preset direction corresponding to the target sliding disk module 126 according to a third user operation on at least one sliding disk module 126, and generate a first command signal for controlling the rotation of multiple movable axes of the industrial robot 103 so that the industrial robot 103 moves in the second preset direction.

[0073] In some feasible embodiments, the user may also operate the sliding disk module 126 to control the movement of the industrial robot 103. Specifically, in the joint motion mode, the user may perform a third user operation on one of the at least one sliding disk module 126 to roll a sliding disk module 126; the rolled sliding disk module 126 may be determined as the target sliding disk module 126.

[0074] After determining the target sliding disk module 126, the target movable axis pre-set for the target sliding disk module 126 can be determined; illustratively, one sliding disk module 126 can correspond to one movable axis, for example: sliding disk module one 115 corresponds to movable axis three 111, sliding disk module two 116 corresponds to movable axis four 112, sliding disk module three 117 corresponds to movable axis five 113, sliding disk module four 118 corresponds to movable axis six 114, and the embodiments of the present invention are not limited to this.

[0075] After determining the target movable axis, the teach pendant box 106 of the intelligent joystick teach pendant 101 can generate a first command signal for controlling the rotation of the target movable axis of the industrial robot 103, and send it to the controller 102; after receiving the first command signal, the controller 102 can respond to the first command signal to control the target movable axis of the industrial robot 103 to control the rotation of the target movable axis.

[0076] When the target motion mode is the Cartesian motion mode, the user may also perform a third user operation on one of the at least one sliding disk module 126 to roll a sliding disk module 126 ; the rolled sliding disk module 126 may be determined as the target sliding disk module 126 .

[0077] After determining the target sliding disk module 126, a second preset direction pre-set for the target sliding disk module 126 can be determined; illustratively, a sliding disk module 126 can also correspond to a preset direction, for example: sliding disk module 115 corresponds to Z direction 121, sliding disk module 2 116 corresponds to A direction 122, sliding disk module 3 117 corresponds to B direction 123, and sliding disk module 4 118 corresponds to C direction 124. The embodiments of the present invention are not limited to this.

[0078] After determining the second preset direction, the teach pendant box 106 of the intelligent joystick teach pendant 101 can generate a first command signal for controlling the rotation of multiple movable axes of the industrial robot 103 so that the industrial robot 103 moves in the second preset direction, and send it to the controller 102; after receiving the first command signal, the controller 102 can respond to the first command signal to control the various movable axes of the industrial robot 103 to control the industrial robot 103 to move in the second preset direction.

[0079] In one embodiment of the present invention, the intelligent joystick teach pendant 101 is also used to switch the target motion mode to the Cartesian motion mode according to the first user operation on the mode switching module 104 when the target motion mode is the joint motion mode; and, when the target motion mode is the Cartesian motion mode, switch the target motion mode to the joint motion mode according to the first user operation on the mode switching module 104.

[0080] In some feasible embodiments, the teaching pendant box 106 of the intelligent joystick teaching pendant 101 can be used to switch the motion mode of the industrial robot 103; specifically, the default motion mode of the industrial robot 103 is the joint motion mode. In this case, when the user performs the first user operation on the mode switching module 104, the target motion mode can be switched from the joint motion mode to the Cartesian motion mode.

[0081] On the contrary, when the target motion mode is the Cartesian motion mode, after the user performs the first user operation on the mode switching module 104, the teach pendant box 106 of the intelligent joystick teach pendant 101 can switch the target motion mode of the industrial robot 103 from the Cartesian motion mode to the joint motion mode, and the embodiment of the present invention is not limited to this.

[0082] In one embodiment of the present invention, the intelligent joystick teaching pendant 101 is further used to lock the industrial robot 103 according to a fourth user operation on the mode switching module 104 .

[0083] In some feasible embodiments, in order to avoid the movement of the industrial robot 103 due to misoperation of the intelligent joystick teaching pendant 101 when the industrial robot 103 does not need to be controlled, the user can perform a fourth user operation on the mode switching module 104, and the fourth user operation can be a long press operation.

[0084] In response to the fourth user operation, the mode switching module 104 can send a corresponding signal to the teach pendant box 106 of the intelligent joystick teach pendant 101; based on the signal, the teach pendant box 106 of the intelligent joystick teach pendant 101 can send a signal to the controller 102 to lock the industrial robot 103, so that the controller 102 can lock the industrial robot 103 in response to the signal, and then when the user accidentally touches the mode switching module 104, the joystick 105, or the sliding plate module 126, the industrial robot 103 will not move.

[0085] In one embodiment of the present invention, the intelligent joystick teaching pendant 101 is also used to lock the industrial robot 103 when no user operation is received on the mode switching module 104, the joystick 105 and at least one sliding disk module 126 within a preset time.

[0086] In some feasible embodiments, the intelligent joystick teaching pendant 101 can also be used to automatically lock the industrial robot 103 if no user operation is received on the mode switching module 104, the joystick 105 and the sliding plate module 126 within a preset time period.

[0087] Specifically, when the user does not operate the mode switching module 104, the joystick 105 and the sliding disk module 126 for a long time, the mode switching module 104 can send instructions to the teach pendant box 106 in the intelligent joystick teach pendant 101 to trigger the intelligent joystick teach pendant 101 to lock the industrial robot 103, thereby preventing the industrial robot 103 from moving due to accidental touching of the mode switching module 104, the joystick 105 and the sliding disk module 126.

[0088] In one embodiment of the present invention, the intelligent joystick teaching pendant 101 is further used to unlock the locked industrial robot 103 according to a fifth user operation on the mode switching module 104 .

[0089] In some feasible embodiments, when the user wants to unlock the locked industrial robot 103, a fifth user operation may be performed on the mode switching module 104, and the fifth user operation may be a long press operation performed by the user on the mode switching module 104 when the industrial robot 103 is locked. When the mode switching module 104 detects the fifth user operation, a corresponding signal may be sent to the teaching pendant box 106 of the smart joystick teaching pendant 101.

[0090] When the teaching pendant box 106 of the intelligent joystick teaching pendant 101 detects the signal, the locked industrial robot 103 can be unlocked.

[0091] Exemplarily, the fifth user operation and the fourth user operation can both be long press operations; the intelligent joystick teach pendant 101 can lock or unlock the industrial robot 103 according to the current state of the industrial robot 103; specifically, when the industrial robot 103 is currently in a locked state, it can unlock the locked industrial robot 103 when a long press operation on the mode switching module 104 is detected; when the industrial robot 103 is currently in an unlocked state, it can lock the industrial robot 103 when a long press operation on the mode switching module 104 is detected. The embodiment of the present invention does not limit this.

[0092] In one embodiment of the present invention, the control system 10 further includes:

[0093] The emergency stop module 107 is used to send an emergency stop command signal to the controller 102 in response to a sixth user operation;

[0094] The controller 102 is used to control the industrial robot 103 to stop in response to the emergency stop command signal.

[0095] In some feasible embodiments, the control system 10 may further include an emergency stop module 107 disposed on the main body of the intelligent rocker pendant 101; when the user needs to urgently stop the movement of the industrial robot 103, a sixth user operation may be performed on the emergency stop module 107, and the sixth user operation may be a user operation of pressing the emergency stop module 107. At this time, the emergency stop module 107 may send an emergency stop command signal to the controller 102.

[0096] After receiving the emergency stop command signal, the controller 102 may respond to the emergency stop command signal and urgently control the industrial robot 103 to stop moving.

[0097] In one embodiment of the present invention, the control system 10 further includes:

[0098] The operation mode control module 108 is used to send an operation mode switching instruction signal to the controller 102 in response to a seventh user operation;

[0099] The controller 102 is used to switch the operation mode of the industrial robot 103 in response to the operation mode switching instruction signal. The operation mode includes a manual mode or an automatic mode.

[0100] In some feasible embodiments, the control system 10 may further include an operation mode control module 108 for switching the operation mode of the industrial robot 103. The operation mode of the industrial robot 103 may be a manual mode, i.e., a mode manually controlled by the intelligent joystick teach pendant 101, or an automatic mode, i.e., a mode in which code instructions are input into the intelligent joystick teach pendant 101 to automatically control the movement of the industrial robot 103.

[0101] In actual applications, the user may perform the seventh user operation on the operation mode control module 108 based on actual needs. The seventh user operation may be set according to actual conditions, such as a pressing operation, a knob operation, etc.

[0102] In response to the seventh user operation, the operation mode control module 108 may send an operation mode switching instruction signal to the controller 102. In response to the operation mode switching instruction signal, the controller 102 may switch the current operation mode of the industrial robot 103, for example, from manual mode to automatic mode, or from automatic mode to manual mode.

[0103] In some feasible embodiments, the intelligent joystick teaching pendant 101 may also be provided with a display screen to display the current operating mode, motion mode, etc. It may also be combined with the user's operation to display which movable axis of the current industrial robot 103 is rotating, in which direction the current industrial robot 103 is moving, whether the current industrial robot 103 is locked, etc. The embodiments of the present invention do not limit this.

[0104] For example, Figure 2 As shown, the intelligent rocker pendant 101 is a control rod device connecting the teaching box 106 and the industrial robot 103. The operator controls the industrial robot 103 to perform various actions through the intelligent rocker pendant 101. The operator can better understand and master the movement and operation of the industrial robot 103.

[0105] When the rocker 105 is in joint motion mode, the rocker pendant 101 sends a rocking signal to the controller 102, and the controller 102 receives the signal and issues a command to control the rotation of the movable axis 109 of the industrial robot 103. When the rocker 105 is shaken back and forth, the rocking signal is sent to the controller 102, and the controller 102 receives the signal and issues a command to control the rotation of the movable axis 2 110 of the industrial robot 103.

[0106] When the rocker 105 is in Cartesian motion mode, the intelligent rocker pendant 101 sends a rocking signal to the controller 102. The controller 102 receives the signal and issues a command to control the industrial robot 103 to move in the Y direction 120. When the rocker 105 is shaken forward and backward, the intelligent rocker pendant 101 sends a rocking signal to the controller 102. The controller 102 receives the signal and issues a command to control the industrial robot 103 to move in the X direction 119.

[0107] The mode switching module 104 can prevent the robot operating rod from being misoperated. The button on the mode switching module 104 is often pressed for 3 seconds. The controller 102 receives a continuous 3-second signal and sends a signal to unlock the operation lock of the industrial robot 103. When the operation lock is unlocked, the industrial robot 103 can be operated by the intelligent rocker pendant 101. When the industrial robot 103 has not been operated for 10 minutes, the mode switching module 104 will send a signal to the controller 102, and the controller 102 will automatically lock the operation of the industrial robot 103.

[0108] When the button of the mode switching module 104 is pressed once, the controller 102 receives a single pulse signal, and the controller 203 switches the joint motion mode and the Cartesian motion mode of the industrial robot 103. The default is the joint motion mode. When the button is pressed and a signal is sent, the controller 102 switches to the Cartesian motion mode.

[0109] The rocker base 127 is used to install and support the rocker 105 , and the rocker 105 can be rocked left and right, front and back to send signals to the controller 102 .

[0110] The teaching pendant box 106 serves as a control center, converting the operator's actions into signals that the robot can recognize so that the robot can perform operations according to the instructions, and sending the operation instructions to the controller 103 through the network communication interface 125.

[0111] The sliding plate module 115 is located on the rocker 105. When it is in the joint motion mode, the sliding plate module 115 slides forward and sends a forward sliding signal. The controller 103 receives the forward sliding signal and controls the movable shaft 3 111 of the industrial robot 103 to rotate in the forward direction; the sliding plate module 115 slides backward and sends a reverse sliding signal. The controller 103 receives the reverse sliding signal and controls the movable shaft 3 111 of the industrial robot 103 to rotate in the reverse direction. When it is in the Cartesian motion mode, the sliding plate module 115 slides forward and sends a forward sliding signal. The controller 102 receives the forward sliding signal and controls the industrial robot 103 to move in the positive direction of the Z direction 121; the sliding plate module 115 slides backward and sends a reverse sliding signal. The controller 102 receives the reverse sliding signal and controls the industrial robot 103 to move in the reverse direction of the Z direction 121.

[0112] The sliding plate module 2 116 is located on the rocker 105. When it is in the joint motion mode, the sliding plate module 2 116 slides forward and sends a forward sliding signal. The controller 102 receives the forward sliding signal to control the movable shaft 4 112 to rotate in the forward direction; the sliding plate module 2 116 slides backward and sends a reverse sliding signal. The controller 102 receives the reverse sliding signal to control the movable shaft 4 112 to rotate in the reverse direction. When it is in the Cartesian motion mode, the sliding plate module 2 116 slides forward and sends a forward sliding signal. The controller 102 receives the forward sliding signal to control the industrial robot 103 to move in the positive direction of the A direction 122; the sliding plate module 2 116 slides backward and sends a reverse sliding signal. The controller 102 receives the reverse sliding signal to control the industrial robot 103 to move in the reverse direction of the A direction 122.

[0113] The sliding plate module 3 117 is located on the rocker 105. When it is in the joint motion mode, the sliding plate module 3 117 slides forward, sends a forward sliding signal, and the controller 102 receives the forward sliding signal to control the movable shaft 5 113 to rotate in the forward direction; the sliding plate module 3 117 slides backward, sends a reverse sliding signal, and the controller 102 receives the reverse sliding signal to control the movable shaft 5 113 to rotate in the reverse direction. When it is in the Cartesian motion mode, the sliding plate module 3 117 slides forward, sends a forward sliding signal, and the controller 102 receives the forward sliding signal to control the industrial robot 103 to move in the positive direction of the B direction 123. The sliding plate module 3 117 slides backward, sends a reverse sliding signal, and the controller 102 receives the reverse sliding signal to control the industrial robot 103 to move in the reverse direction of the B direction 123.

[0114] The sliding plate module 4 118 is located on the rocker 105. When it is in the joint motion mode, the sliding plate module 4 118 slides forward and sends a forward sliding signal. The controller 102 receives the forward sliding signal and controls the movable shaft 6 114 to rotate in the forward direction. The sliding plate module 4 118 slides backward and sends a reverse sliding signal. The controller 102 receives the reverse sliding signal and controls the movable shaft 6 114 to rotate in the reverse direction. When it is in the Cartesian motion mode, the sliding plate module 4 118 slides forward and sends a forward sliding signal. The controller 102 receives the forward sliding signal and controls the industrial robot 103 to move in the forward direction of the C direction 124. The sliding plate module 4 118 slides backward and sends a reverse sliding signal. The controller 102 receives the reverse sliding signal and controls the industrial robot 103 to move in the reverse direction of the C direction 124.

[0115] The emergency stop module 107 is used to send an emergency stop signal, and the controller 102 receives the signal to control the industrial robot 103 to stop urgently.

[0116] The operation mode control module 108 is used to send an operation mode control signal. After receiving the signal, the controller 102 switches the industrial robot 103 to a manual mode or an automatic mode.

[0117] The network communication interface 125 is used for communication between the intelligent joystick teaching pendant 101 and the controller 102 .

[0118] Based on the above control system, the embodiment of the present invention further provides a control method for an industrial robot. Figure 3 , Figure 3 A flow chart showing the steps of a method for controlling an industrial robot according to an embodiment of the present invention is shown.

[0119] like Figure 3 As shown, the control method of the industrial robot may include the following steps:

[0120] Step 301, receiving a first command signal; the first command signal is generated by the intelligent joystick teach pendant of the control system according to the target motion mode of the industrial robot determined by the first user operation on the mode switching module of the control system, and the second user operation on the joystick of the control system; or, the first command signal is generated by the intelligent joystick teach pendant of the control system according to the target motion mode, and the third user operation on at least one sliding disk module.

[0121] The user can operate the intelligent joystick teach pendant to generate a first command signal for controlling the industrial robot; after generating the first command signal, the intelligent joystick teach pendant can send the first command signal to a controller that controls the industrial robot.

[0122] In an embodiment of the present invention, a mode switching module, a joystick, and at least one sliding disk module may be provided on the main body of the intelligent joystick teaching pendant.

[0123] One end of the joystick can be inserted into the smart joystick teaching pendant, and the other end can extend out of the smart joystick teaching pendant; the user can shake the other end of the joystick to make the joystick shake relative to the main body of the smart joystick teaching pendant.

[0124] The mode switching module can be set at the top of the other end of the joystick, or at other positions of the main body of the intelligent joystick teaching device, and the embodiment of the present invention is not limited to this.

[0125] Among them, the main body of the intelligent joystick teaching pendant can be a teaching pendant box, which can receive signals output by the mode switching module, the joystick, and at least one sliding disk module, and generate a corresponding first instruction signal.

[0126] At least one sliding plate module can be set in the middle of the two ends of the rocker, and the axis of the sliding plate module can coincide with the axis of the rocker. The user can roll the sliding plate module to make the sliding plate module rotate around the axis of the sliding plate module, thereby realizing control of the industrial robot.

[0127] In actual application, the user may first perform a first user operation on the mode switching module; illustratively, the first user operation may be a click operation. When the user performs the first user operation on the mode switching module, the motion mode of the industrial robot may be switched from one mode to another. Based on the first user operation and the motion mode of the industrial robot before the first user operation is performed, the teach pendant box of the intelligent rocker teach pendant may switch the motion mode of the industrial robot and determine the current target motion mode of the industrial robot.

[0128] Of course, if the user just needs to use the current motion mode of the industrial robot, the first user operation may not be performed on the mode switching module; at this time, the teach pendant box of the smart joystick teach pendant can keep the existing motion mode as the target motion mode.

[0129] After determining the target motion mode, the user may further operate the joystick, or operate one or more of the at least one sliding disk modules, so as to specifically control the industrial robot.

[0130] Specifically, the user can perform a second user operation on the joystick, and the teaching pendant box of the intelligent joystick teaching pendant can generate a corresponding first instruction signal based on the second user operation and the target motion mode. Exemplarily, the first instruction signal is used to instruct the industrial robot to move corresponding to the second user operation in the target motion mode.

[0131] In addition, the user may also perform a third user operation on the sliding disk module in at least one sliding disk module, and the teaching pendant box of the intelligent joystick teaching pendant may generate a corresponding first instruction signal based on the third user operation and the target motion mode. Exemplarily, the first instruction signal is used to instruct the industrial robot to move corresponding to the second user operation in the target motion mode.

[0132] In actual applications, in different motion modes, the movement of the industrial robot achieved by the control joystick and the movement of the industrial robot achieved by the control slide module are different; through refined division, the user can control the movement of the industrial robot more accurately and efficiently based on the teach pendant.

[0133] Step 302: Control the industrial robot to move in response to the first command signal.

[0134] After receiving the first command signal, the controller can respond to the first command signal and control the industrial robot to move according to the project settings; specifically, after receiving the first command signal, the controller can generate a second command signal that can be recognized by the industrial robot, and send the second command signal to the industrial robot to control the industrial robot to move according to the second command signal.

[0135] In an embodiment of the present invention, a first command signal is received; the first command signal is generated by an intelligent rocker pendant of a control system according to a target motion mode of an industrial robot determined by a first user operation on a mode switching module of the control system and a second user operation on a rocker of the control system; or the first command signal is generated by an intelligent rocker pendant of a control system according to a target motion mode and a third user operation on at least one sliding disk module; in response to the first command signal, the industrial robot is controlled to move. Through the embodiment of the present invention, the movement of the industrial robot can be controlled more accurately and efficiently.

[0136] like Figure 4 As shown, when the industrial robot starts to be operated, the controller can first detect whether there is an unlocking operation for the industrial robot; if so, it can further detect whether there is no operation for the industrial robot within a set time. If so, the industrial robot is locked.

[0137] If there is an operation on the industrial robot within the set time, the industrial robot can be controlled to be enabled; specifically, the mode switching module can be operated first to switch the motion mode of the industrial robot.

[0138] When the target motion mode is the joint motion mode, the intelligent joystick teach pendant can send a signal to the controller to control each movable axis based on the user's operation on it, and the controller can control the rotation of each movable axis of the industrial robot based on the signal.

[0139] When the target motion mode is the Cartesian motion mode, the intelligent joystick teach pendant can send a signal to the controller to control the industrial robot to move in a direction based on the user's operation on it. The controller can control the rotation of each movable axis of the industrial robot based on the signal to control the industrial robot to move in that direction.

[0140] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0141] Reference Figure 5 , shows a schematic diagram of the structure of a control device for an industrial robot according to an embodiment of the present invention, which is applied to the control system as above, such as Figure 5 As shown, the control device of the industrial robot may include the following modules:

[0142] The receiving module 501 is used to receive a first instruction signal; the first instruction signal is generated by the intelligent rocker pendant of the control system according to the target motion mode of the industrial robot determined by the first user operation on the mode switching module of the control system and the second user operation on the rocker of the control system; or the first instruction signal is generated by the intelligent rocker pendant of the control system according to the target motion mode and the third user operation on at least one sliding disk module;

[0143] The control module 502 is used to control the movement of the industrial robot in response to the first command signal.

[0144] In an embodiment of the present invention, a first command signal is received; the first command signal is generated by an intelligent rocker pendant of a control system according to a target motion mode of an industrial robot determined by a first user operation on a mode switching module of the control system and a second user operation on a rocker of the control system; or the first command signal is generated by an intelligent rocker pendant of a control system according to a target motion mode and a third user operation on at least one sliding disk module; in response to the first command signal, the industrial robot is controlled to move. Through the embodiment of the present invention, the movement of the industrial robot can be controlled more accurately and efficiently.

[0145] An embodiment of the present invention further provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above-mentioned industrial robot control method is implemented.

[0146] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned industrial robot control method is implemented.

[0147] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0148] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0149] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0150] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0153] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0154] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0155] The above provides a detailed introduction to an industrial robot operation teaching control system, an industrial robot control method, an industrial robot control device, an electronic device and a computer-readable storage medium. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technicians in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An industrial robot operation teaching control system, characterized in that: The control system includes: an intelligent rocker pendant, a controller, and an industrial robot; wherein: The intelligent rocker teaching pendant is used to send a first command signal to the controller, and the controller is used to control the movement of the industrial robot in response to the first command signal; The main body of the intelligent rocker teaching pendant is provided with a mode switching module, a rocker, and at least one sliding plate module; the rocker is configured to be able to shake relative to the main body of the intelligent rocker teaching pendant; The intelligent joystick teach pendant is used to determine the target motion mode of the industrial robot according to a first user operation on the mode switching module; generate a first command signal according to a second user operation on the joystick and the target motion mode of the industrial robot, or generate a first command signal according to a third user operation on at least one sliding disk module and the target motion mode of the industrial robot.

2. The control system according to claim 1, characterized in that: The industrial robot comprises a plurality of movable axes, and the industrial robot comprises an articulated motion mode and a Cartesian motion mode; The intelligent joystick teaching pendant is used to generate a first command signal for controlling the rotation of a first movable axis of the industrial robot when the target motion mode is a joint motion mode and the second user operation is to shake the joystick; and to generate a first command signal for controlling the rotation of multiple movable axes of the industrial robot so that the industrial robot moves in a first preset direction when the target motion mode is a Cartesian motion mode and the second user operation is to shake the joystick.

3. The control system according to claim 1, characterized in that: The industrial robot comprises a plurality of movable axes, and the industrial robot comprises an articulated motion mode and a Cartesian motion mode; The intelligent joystick teach pendant is used to determine the target sliding disk module and the target movable axis corresponding to the target sliding disk module according to a third user operation on the at least one sliding disk module when the target motion mode is the joint motion mode, and generate a first instruction signal for controlling the rotation of the target movable axis of the industrial robot; when the target motion mode is the Cartesian motion mode, the intelligent joystick teach pendant is used to determine the target sliding disk module and the second preset direction corresponding to the target sliding disk module according to a third user operation on the at least one sliding disk module, and generate a first instruction signal for controlling the rotation of multiple movable axes of the industrial robot so that the industrial robot moves in the second preset direction.

4. The control system according to claim 1, characterized in that: The intelligent joystick teach pendant is also used to switch the target motion mode to the Cartesian motion mode when the target motion mode is the joint motion mode according to the first user operation on the mode switching module; and when the target motion mode is the Cartesian motion mode, switch the target motion mode to the joint motion mode according to the first user operation on the mode switching module.

5. The control system according to claim 1, characterized in that: The intelligent joystick teaching pendant is also used to lock the industrial robot according to a fourth user operation on the mode switching module.

6. The control system according to claim 5, characterized in that: The intelligent joystick teaching pendant is also used to lock the industrial robot when no user operation is received on the mode switching module, the joystick and the at least one sliding disk module within a preset time period.

7. The control system according to claim 5, characterized in that: The intelligent joystick teaching pendant is also used to unlock the locked industrial robot according to a fifth user operation on the mode switching module.

8. The control system according to claim 1, characterized in that: The control system further comprises: an emergency stop module, configured to send an emergency stop command signal to the controller in response to a sixth user operation; The controller is used to control the industrial robot to stop in response to the emergency stop command signal.

9. The control system according to claim 1, characterized in that: The control system further comprises: an operation mode control module, configured to send an operation mode switching instruction signal to the controller in response to a seventh user operation; The controller is used to switch the operation mode of the industrial robot in response to the operation mode switching instruction signal, and the operation mode includes a manual mode or an automatic mode.

10. A control method for an industrial robot, characterized in that: Applied to the control system according to any one of claims 1 to 9, the method comprises: receiving a first command signal; the first command signal is generated by the intelligent rocker pendant of the control system according to a target motion mode of the industrial robot determined by a first user operation on a mode switching module of the control system and a second user operation on a rocker of the control system; or the first command signal is generated by the intelligent rocker pendant of the control system according to the target motion mode and a third user operation on at least one sliding disk module; In response to the first instruction signal, the industrial robot is controlled to move.

11. A control device for an industrial robot, characterized in that: Applied to the control system according to any one of claims 1 to 9, the device comprises: A receiving module, configured to receive a first instruction signal; the first instruction signal is generated by the intelligent rocker pendant of the control system according to a target motion mode of the industrial robot determined by a first user operation on a mode switching module of the control system and a second user operation on a rocker of the control system; or, the first instruction signal is generated by the intelligent rocker pendant of the control system according to the target motion mode and a third user operation on at least one sliding disk module; A control module is used to control the movement of the industrial robot in response to the first instruction signal.

12. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the control method of the industrial robot as claimed in claim 10 when executed by the processor.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the industrial robot as claimed in claim 10 is implemented.

Images