Industrial robot application development teaching workstation and use method

Abstract

The invention relates to the technical field of industrial machine practical training teaching equipment, and provides an industrial robot application development teaching workstation and a use method, and the method comprises the steps: switching a virtual simulation debugging mode and a physical robot operation mode of the workstation through a touch screen interface; when the industrial robot is in the virtual simulation debugging mode, a user inputs angle information of a plurality of joints of the industrial robot through the touch screen and sends the angle information to the RobotStudio simulation software, and the simulation software completes corresponding joint actions; meanwhile, corresponding joint angle information is displayed on a touch screen, and a user verifies a kinematics calculation result by comparing a simulation effect with an input angle; and when the operation mode is switched to the entity robot operation mode, the industrial camera collects a workpiece image, and workpiece grabbing and parameter verification are achieved. By integrating the industrial robot, the industrial vision and the programmable logic controller, the industrial robot application capability development level of students is improved, and cooperative work of the industrial robot for various external devices is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial machine training teaching equipment, and in particular to an industrial robot application development teaching workstation and a use method thereof. Background Art

[0002] In recent years, with the continuous advancement of industrial automation and intelligence, the application of industrial robots in the manufacturing industry has become increasingly widespread. In current automation-related vocational education and various types of vocational training, industrial robot-related teaching equipment typically uses simulation software to assist with teach pendant programming. For example, ABB robots use RobotStudio software for simulation, while FANUC robots use ROBOGUIDE software for simulation.

[0003] However, existing industrial robot teaching equipment mostly focuses on training basic operational skills, with limited support for explaining the structural principles of industrial robots and developing advanced applications. As production lines become increasingly intelligent, new teaching methods must prioritize students' skills for smart factories. In actual production processes, industrial robot application and development personnel typically need to master relevant knowledge such as industrial robot kinematics and be able to coordinate industrial robots with other equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide an industrial robot application development teaching workstation and a method of use to solve the above problems.

[0005] The present invention is implemented as follows: an industrial robot application development teaching workstation and a method of use, the method of use of the industrial robot application development teaching workstation includes the following contents: Switch between the virtual simulation debugging mode and the physical robot operation mode of the workstation through the touch screen interface; In virtual simulation debugging mode, the process runs on the host computer, and the RobotStudio software and programmable logic controller exchange data via the PROFINET communication protocol. The user enters the angle information of multiple joints of the industrial robot through the touch screen. The programmable logic controller then sends it to the RobotStudio simulation software via the PROFINET communication protocol, and the simulation software completes the corresponding joint movements. At the same time, after the RobotStudio simulation software changes the virtual robot's posture through the virtual teach pendant, the corresponding joint angle information is displayed on the touch screen. The user verifies the kinematic calculation results by comparing the simulation effect with the input angle. When switching to the physical robot operation mode, the industrial camera collects workpiece images with the cooperation of the light source, and the lens focus adjustment component automatically adjusts the focus according to the workpiece size to ensure image clarity. Workpiece grasping and parameter verification are achieved through forward kinematics verification or inverse kinematics verification.

[0006] Preferably, when performing the inverse kinematics verification, the programmable logic controller controls the movement of the slide according to the position coordinates of the dual-axis slide workpiece input by the touch screen, and then converts the position parameters into analog quantities and sends them to the industrial robot via the UDP protocol. The industrial robot moves to the corresponding posture to grasp the workpiece after the inverse kinematics solution is solved by the host computer through the EGM mode, and the correctness of the inverse kinematics calculation is verified by comparing the set parameters with the calculation results through the touch screen.

[0007] Preferably, when performing the forward kinematics verification, the industrial robot joint angle or end coordinate information input by the user on the touch screen is sent to the industrial robot and the host computer via the programmable controller using the UDP protocol. The industrial robot runs to the corresponding posture, and the host computer performs forward kinematics solution and sends the result to the programmable controller. The correctness of the forward kinematics solution is verified by comparing the set parameters with the calculation results through the touch screen.

[0008] Preferably, in the virtual simulation debugging mode, after the angle parameters and other information are transmitted to the programmable logic controller, they need to be converted into high and low bytes through the PROFINET communication protocol before being sent to the RobotStudio simulation software.

[0009] Preferably, in the physical robot operation mode, the industrial vision data processing software obtains the workpiece position data through the industrial camera after the light source is irradiated and the lens focus adjustment component is adapted, and then generates a position deviation compensation value, and sends the position deviation compensation value to the programmable controller through the TCP / IP protocol. The programmable controller adjusts the motion parameters of the dual-axis slide or industrial robot according to the compensation value.

[0010] An industrial robot application development teaching workstation comprises: a base, a detection module, a switch, a touch screen and a host computer. A dual-axis slide is provided on the working surface of the base, and the dual-axis slide is driven by a servo motor. An industrial robot module is provided on the working surface of the base, and the industrial robot module is located on one side of the dual-axis slide. The industrial robot module comprises an industrial robot, a gripper end effector and an industrial robot control system. One end of the industrial robot is fixedly connected to the working surface of the base, and the other end is connected to the gripper end effector. The industrial robot control system is arranged in the base. A programmable controller is provided inside the base, and the programmable controller is connected to the dual-axis slide and the industrial robot module. The detection module comprises an industrial camera and a light source, and the industrial camera and the light source are both installed on the sixth axis of the industrial robot. The host computer is a computer, and the computer is configured with RobotStudio simulation software, industrial vision data processing software, programmable logic controller programming software and touch screen interface development software. The switch is connected to the host computer, programmable logic controller, touch screen, industrial robot and private server equipment in the small industrial network of the robot workstation to realize data communication and exchange. The touch screen is arranged on the surface of the base and is connected to the dual-axis slide, industrial robot and PLC.

[0011] Preferably, the dual-axis slide includes an X-axis slide and two Y-axis slides, the two Y-axis slides are fixedly connected to the working surface of the base in parallel with each other, the X-axis slide is slidably connected between the two Y-axis slides, and the X-axis slide is perpendicular to the two Y axes, and a grabbing station for placing workpieces is slidably connected in the middle of the X-axis slide.

[0012] Preferably, the gripper end effector of the industrial robot module includes different types of gripping devices to adapt to workpieces of different shapes and sizes.

[0013] Preferably, the detection module further includes a lens focus adjustment component, which includes an electric focusing motor and a displacement sensor. The electric focusing motor is connected to the industrial camera lens, and the displacement sensor is used to feedback the focal position to achieve automatic focusing.

[0014] Preferably, the small industrial network adopts a combination of MAC address table and VLAN technology. Each device in the workstation has an internal unique IP address. The MAC address table inside the switch ensures that the data packet is sent to the target device, and VLAN technology is used to divide the network into different logical subnets to achieve more refined data flow control.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This workstation, centered around a host computer and industrial vision, integrates industrial robots, industrial vision, and a programmable logic controller (PLC). This approach aims to enhance students' ability to apply industrial robots and enable collaborative operation of industrial robots with various external devices. Furthermore, the workstation can verify the kinematics and dynamics of industrial robots, deepening students' understanding of their structure and operating principles, and enabling them to become interdisciplinary professionals in intelligent manufacturing, equipped to master practical production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a flow chart of the virtual simulation debugging mode of embodiment 1 of the present invention; Figure 2 This is a flow chart of the physical robot operation mode of embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the overall structure of Example 2 of the present invention; Figure 4 A partially enlarged structural diagram of Example 2 of the present invention.

[0018] The marks in the accompanying drawings are: 1. Base; 2. Dual-axis slide; 201. X-axis slide; 202. Y-axis slide; 203. Grasping station; 3. Industrial robot module; 301. Industrial robot; 302. Gripper end effector; 4. Industrial camera; 5. Light source. DETAILED DESCRIPTION

[0019] In order to more fully understand the technical content of the present invention, the technical solution of the present invention is further introduced and illustrated in conjunction with specific embodiments below, but is not limited thereto. The technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0020] Example 1: A method for using an industrial robot application development teaching workstation, comprising: Switch between the virtual simulation debugging mode and the physical robot operation mode of the workstation through the touch screen interface; refer to Figure 1When in virtual simulation debugging mode, the process runs on the host computer, and the RobotStudio software and PLC realize data exchange through the PROFINET communication protocol. The user inputs the angle information of multiple joints of the industrial robot through the touch screen interface. After the angle parameters and other related information are transmitted to the programmable logic controller, they are sent to the RobotStudio simulation software through the PROFINET communication protocol after high-low byte conversion. The simulation software will complete the action of the corresponding joint according to the input value; at the same time, after using the virtual teach pendant in RobotStudio to change the posture of the virtual robot, the corresponding joint angle information can also be displayed on the touch screen interface to achieve the monitoring effect. The user compares the simulation effect with the angle input on the touch screen to verify the kinematic calculation results.

[0021] refer to Figure 2 ,When switching to the physical robot operation mode, the process requires the joint operation of the host computer, industrial vision, dual-axis slide and programmable logic controller to perform visual software calibration, including two methods: inverse kinematics verification and forward kinematics verification; When using inverse kinematics verification, a servo control program for the dual-axis slide is written in the programmable logic controller. The user inputs the position coordinates of the dual-axis slide workpiece through the touch screen and sends the coordinates of the dual-axis slide in the X and Y directions to the programmable logic controller. The programmable logic controller controls the movement of the dual-axis slide according to the coordinates. After receiving the position information of the workpiece, the programmable logic controller converts the position parameters into analog quantities and sends the position information to the industrial robot in real time in the form of UDP protocol. The industrial robot uses the EGM (externally guided motion) mode to perform inverse kinematics solution through the host computer and move to the corresponding position and pose to complete the grasping action of the workpiece. Finally, the workpiece setting position parameters are compared with the robot calculation results through the touch screen interface to verify whether the inverse kinematic calculation is correct.

[0022] When using forward kinematics verification, the user inputs the joint angles of the industrial robot or the coordinate information of the end effector through the touch screen interface. The EGM (Externally Guided Motion) mode of the industrial robot is used to write a program in the form of UDP protocol through the programmable logic controller and send it to the industrial robot and host computer via the switch. After receiving the angle or position parameters, the industrial robot automatically moves to the corresponding posture. The host computer performs forward kinematics solution based on the robot's joint angles or the coordinate information of the end effector and sends the solution results to the programmable logic controller; the coordinate parameters after movement are displayed on the touch screen interface, and the touch screen interface is used to compare the workpiece setting position parameters with the robot calculation results to verify whether the forward kinematics solution is correct.

[0023] The teaching workstation has a wide range of uses and can support project training in multiple disciplines. The specific training contents are as follows: 1. Industrial robot cognition and basic operations; 2. Industrial robot programming and debugging; 3. Industrial robot PCSDK secondary development; 4. Industrial vision development and application; 5. Industrial robot system integration; 6. Installation and debugging of intelligent manufacturing equipment.

[0024] Example 2: Reference Figure 3 and Figure 4 The industrial robot application development teaching workstation includes: a base, a dual-axis slide, an industrial robot module, a detection module, a switch, a touch screen, a host computer and a programmable controller.

[0025] A dual-axis slide is provided on the working surface of the base, and the dual-axis slide includes an X-axis slide and two Y-axis slides. The two Y-axis slides are fixedly connected to the working surface of the base in parallel with each other. The X-axis slide is slidably connected between the two Y-axis slides, and the X-axis slide is perpendicular to the two Y axes. A grabbing station for placing workpieces is slidably connected in the middle of the X-axis slide. The dual-axis slide is driven by a servo motor and is programmed by a programmable controller to achieve accurate positioning in the X and Y directions. A grabbing station is provided on the slide. The workpiece is placed in the grabbing station and can move with the position of the slide.

[0026] An industrial robot module is provided on the working surface of the base, and the industrial robot module is located on one side of the dual-axis slide. The industrial robot module includes an industrial robot, a gripper end effector and an industrial robot control system. The industrial robot module is used to grasp the workpiece located on the slide and verify the accuracy of the robot trajectory; the industrial robot can be a six-axis robot, and the gripper end effector of the industrial robot module includes different types of grasping devices to adapt to workpieces of different shapes and sizes.

[0027] The detection module includes an industrial camera and a light source. The industrial camera and the light source are installed on the sixth axis of the industrial robot and are used to detect the position coordinates of the workpiece on the translation slide in real time and send the relevant data to the host computer; the detection module can also include a lens focus adjustment component, which includes an electric focusing motor and a displacement sensor. The electric focusing motor is connected to the industrial camera lens, and the displacement sensor is used to feedback the focal position to achieve automatic focus.

[0028] Users can call or design visual inspection processes. The industrial vision system determines the relative relationship between the world coordinate system and the camera coordinate system through the Zhang Zhengyou calibration method, and determines the relative position parameters of the workpiece on the dual-axis slide through the shape search function. The parameters are sent to the touch screen interface through the programmable logic controller for industrial robot positioning.

[0029] The host computer is a computer type, which is equipped with RobotStudio simulation software, industrial vision data processing software, programmable logic controller programming software and touch screen interface development software. RobotStudio software is used for industrial robot programming and simulation, industrial vision processing software is used to process data obtained by industrial cameras and transmit it to the programmable logic controller, programmable logic controller programming software is used for PLC programming to realize motion control of the translation slide and data processing, and touch screen interface development software is used to create a touch screen interface to realize data display and input functions.

[0030] The switch is used to connect the host computer, programmable logic controller, touch screen, industrial robot and private server equipment in the small industrial network of the robot workstation to realize data communication and exchange; the small industrial network adopts a combination of MAC address table and VLAN technology. Each device in the workstation has an internal unique IP address. The MAC address table inside the switch ensures that the data packet can be accurately sent to the target device, and VLAN technology is used to divide the network into different logical subnets to achieve more refined data flow control.

[0031] The touch screen is used to display the position and posture information of the slide and the industrial robot, and can also input relevant parameters and send them to the PLC to control the movement of the slide and the industrial robot.

[0032] The workstation is divided into two operating modes: virtual simulation debugging and physical robot operation, and the two operating modes can be switched through a touch screen interface.

[0033] The embodiments described above are only part of the embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any ordinary technician in the field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. A method for using an industrial robot application development teaching workstation, characterized in that: Includes the following: Switch between the virtual simulation debugging mode and the physical robot operation mode of the workstation through the touch screen interface; In virtual simulation debugging mode, the process runs on the host computer, and the RobotStudio software and programmable logic controller exchange data via the PROFINET communication protocol. The user enters the angle information of multiple joints of the industrial robot through the touch screen. The programmable logic controller then sends it to the RobotStudio simulation software via the PROFINET communication protocol, and the simulation software completes the corresponding joint movements. At the same time, after the RobotStudio simulation software changes the virtual robot's posture through the virtual teach pendant, the corresponding joint angle information is displayed on the touch screen. The user verifies the kinematic calculation results by comparing the simulation effect with the input angle. When switching to the physical robot operation mode, the industrial camera collects workpiece images with the cooperation of the light source, and the lens focus adjustment component automatically adjusts the focus according to the workpiece size to ensure image clarity. Workpiece grasping and parameter verification are achieved through forward kinematics verification or inverse kinematics verification.

2. The method for using the industrial robot application development teaching workstation according to claim 1, characterized in that: When performing the inverse kinematics verification, the programmable logic controller controls the movement of the slide according to the position coordinates of the dual-axis slide workpiece input by the touch screen, and then converts the position parameters into analog quantities and sends them to the industrial robot via the UDP protocol. The industrial robot moves to the corresponding position and grasps the workpiece after the inverse kinematics solution is solved by the host computer through the EGM mode. The correctness of the inverse kinematics calculation is verified by comparing the set parameters with the calculation results through the touch screen.

3. The method for using the industrial robot application development teaching workstation according to claim 1, characterized in that: When performing the forward kinematics verification, the industrial robot joint angle or end coordinate information input by the user on the touch screen is sent to the industrial robot and the host computer via the programmable controller using the UDP protocol. The industrial robot runs to the corresponding posture, and the host computer performs forward kinematics solution and sends the result to the programmable controller. The correctness of the forward kinematics solution is verified by comparing the set parameters with the calculation results through the touch screen.

4. The method for using the industrial robot application development teaching workstation according to claim 1, characterized in that: In the virtual simulation debugging mode, after the angle parameters and other information are transmitted to the programmable logic controller, they need to be converted into high and low bytes through the PROFINET communication protocol before being sent to the RobotStudio simulation software.

5. The method for using the industrial robot application development teaching workstation according to claim 1, characterized in that: In the physical robot operation mode, the industrial vision data processing software obtains the workpiece position data through the industrial camera after the light source is irradiated and the lens focus adjustment component is adapted, and then generates a position deviation compensation value, and sends the position deviation compensation value to the programmable controller through the TCP / IP protocol. The programmable controller adjusts the motion parameters of the dual-axis slide or industrial robot according to the compensation value.

6. An industrial robot application development teaching workstation, characterized in that: include: A base, a detection module, a switch, a touch screen and a host computer. A dual-axis slide is provided on the working surface of the base, and the dual-axis slide is driven by a servo motor. An industrial robot module is provided on the working surface of the base, and the industrial robot module is located on one side of the dual-axis slide. The industrial robot module includes an industrial robot, a gripper end effector and an industrial robot control system. One end of the industrial robot is fixedly connected to the working surface of the base, and the other end is connected to the gripper end effector. The industrial robot control system is arranged in the base. A programmable controller is provided inside the base, and the programmable controller is connected to the dual-axis slide and the industrial robot module. The detection module includes an industrial camera and a light source, and the industrial camera and the light source are both installed on the sixth axis of the industrial robot; the host computer is a computer, and the computer is configured with RobotStudio simulation software, industrial vision data processing software, programmable logic controller programming software and touch screen interface development software; the switch is connected to the host computer, programmable logic controller, touch screen, industrial robot and private server equipment in the small industrial network of the robot workstation to realize data communication and exchange; the touch screen is arranged on the surface of the base and connected to the dual-axis slide, industrial robot and PLC.

7. The industrial robot application development teaching workstation according to claim 6, characterized in that: The dual-axis slide includes an X-axis slide and two Y-axis slides. The two Y-axis slides are fixedly connected to the working surface of the base in parallel with each other. The X-axis slide is slidably connected between the two Y-axis slides, and the X-axis slide is perpendicular to the two Y axes. A grabbing station for placing workpieces is slidably connected in the middle of the X-axis slide.

8. The industrial robot application development teaching workstation according to claim 6, characterized in that: The gripper end effector of the industrial robot module includes different types of gripping devices to adapt to workpieces of different shapes and sizes.

9. The industrial robot application development teaching workstation according to claim 6, characterized in that: The detection module also includes a lens focus adjustment component, which includes an electric focus motor and a displacement sensor. The electric focus motor is connected to the industrial camera lens, and the displacement sensor is used to feedback the focal position to achieve automatic focus.

10. The industrial robot application development teaching workstation according to claim 6, characterized in that: The small industrial network adopts a combination of MAC address table and VLAN technology. Each device in the workstation has an internal unique IP address. The MAC address table inside the switch ensures that the data packet is sent to the target device, and VLAN technology is used to divide the network into different logical subnets to achieve more refined data flow control.

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