Robot teaching device and control method thereof

Abstract

The invention discloses a robot teaching device and a control method thereof, and belongs to the technical field of robot control, and the robot teaching device comprises a general information terminal which is used for generating a robot control instruction according to input information and displaying state information of a robot; the safety monitoring module is used for monitoring a scram button and an enable switch in real time and outputting a scram button instruction and an enable switch instruction; the robot control device is used for controlling the robot to act according to the robot control instruction, the scram button instruction and the enable switch instruction; the connection state of the communication information terminal and the communication module or the robot control device is recognized through the connection recognition program, and the robot control device is used for controlling the robot to act according to an instruction output by the communication information terminal or the safety monitoring module. The system has the advantages of modularization, low cost, short development period, convenience in transplantation and replacement of a general information terminal, good expandability and the like.

Description

Technical Field

[0001] This invention relates to a robot teaching device and its control method, belonging to the field of robot control technology. Background Technology

[0002] Currently, most traditional robot teaching pendants are custom-developed. These pendants use specialized hardware and software, resulting in long development cycles, heavy workloads, and slow iterations. Alternatively, some teaching pendants utilize general-purpose tablets or other information terminals with added emergency stop functions. These solve the problems of heavy workloads and long development cycles, but they have fewer functions, and emergency stop functions are generally implemented using ordinary multi-core cables, increasing potential points of failure and failure rates, and also offering poor scalability. Summary of the Invention

[0003] The purpose of this invention is to provide a robot teaching device and its control method. By modularizing the structure of the robot teaching device, the scalability of the device is improved, the cost and development cycle are reduced, and the communication method is designed to improve communication quality, reduce the failure rate, and improve the overall effect of robot teaching.

[0004] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution:

[0005] On one hand, the present invention provides a robot teaching device, comprising:

[0006] A general information terminal is used to generate robot control commands based on input information, and also to receive and display robot status information;

[0007] The safety monitoring module is used to monitor the internal data of the robot teaching device in real time, and also to monitor the emergency stop button and enable switch, and output emergency stop button commands and enable switch commands.

[0008] A robot control device is used to control the robot's actions according to robot control instructions, emergency stop button instructions, and enable switch instructions.

[0009] The communication module is used to connect the general information terminal, the safety monitoring module, and the robot control device to realize information communication between the general information terminal, the safety monitoring module, and the robot control device.

[0010] In conjunction with the first aspect, it further includes a teaching pendant base for installing a safety detection module and a communication module; when the general information terminal is installed and fixed on the teaching pendant base, the general information terminal connects to the communication module inside the teaching pendant base via a cable, and then establishes a communication connection with the robot control device through the communication module; when the general information terminal is not installed on the teaching pendant base, the general information terminal establishes a communication connection with the robot control device wirelessly.

[0011] In conjunction with the first aspect, the general information terminal is further equipped with a connection identification program to confirm the connection status between the general information terminal and the communication module or robot control device in real time; if the connection status is successful, all functions of the robot teaching device are allowed to be used; if the connection status is failed / no connection, only some functions of the robot teaching device are allowed to be used.

[0012] In conjunction with the first aspect, the safety monitoring module further includes a safety monitoring board, an emergency stop button, and an enable switch. The safety monitoring board includes two MCU modules; both MCU modules are connected to the emergency stop button and the enable switch, and perform cross-detection on the emergency stop button and the enable switch.

[0013] In conjunction with the first aspect, the safety detection board further includes an emergency stop input module, an enable input module, an MCUA module, an MCUB module, and a UART communication module;

[0014] The output signals of the emergency stop button and enable switch are simultaneously input to the MCUA module and the MCUB module through the emergency stop input module and the enable input module, respectively. The MCUA module and the MCUB module process the signals independently and then send the results to each other. The MCU cross-detection determines whether the processing results of the MCUA module and the MCUB module are consistent. When the processing results of the MCUA module and the MCUB module are consistent, the processing results are sent to the robot control device through the UART communication module. If the processing results are inconsistent, an error message is sent to the robot control device through the UART communication module, causing the robot control device to enter a safe mode.

[0015] In conjunction with the first aspect, the communication module further communicates with the robot control device via a wired network.

[0016] In conjunction with the first aspect, the communication module further includes a Type-C to Ethernet submodule, a serial to Ethernet submodule, and a network switch; the general information terminal connects to the communication module via the Type-C to Ethernet submodule, and then communicates with the robot control device via the network switch; the safety monitoring module connects to the communication module via the serial to Ethernet submodule, and then communicates with the robot control device via the network switch; the general information terminal communicates with the safety monitoring module via the Type-C to Ethernet submodule, the network switch, and the serial to Ethernet submodule.

[0017] Secondly, the present invention provides a control method for a robot teaching device, comprising:

[0018] The connection identification program identifies the connection status between the communication information terminal and the communication module or robot control device, and obtains the functional permissions of the robot teaching device based on the connection status.

[0019] Within the scope of functional permissions, the robot's actions are controlled by the robot control device according to the instructions output by the communication information terminal or security monitoring module.

[0020] In conjunction with the second aspect, furthermore, when the communication information terminal is connected to the communication module via cable or to the robot control device via wireless means, the connection identification program identifies whether the connection is currently established.

[0021] If a connection is established, the system retrieves and identifies the identification code sent by the communication module or robot control device. If the identification code is correct, the connection is successful; otherwise, the connection fails.

[0022] If the connection status is successful, the teaching software in the communication terminal is allowed to use all the functions of the robot teaching device;

[0023] If the connection status is "connection failed / no connection", only some functions of the robot teaching device are allowed.

[0024] In conjunction with the second aspect, furthermore, based on the information input by the user, the corresponding robot control instructions are automatically generated using the communication information terminal; the robot control instructions are forwarded to the robot control device via the communication module or wireless means, and the robot control device is used to control the robot's actions.

[0025] The safety monitoring module detects the status of the emergency stop button and enable switch in real time, and generates corresponding emergency stop button commands or enable switch commands. The emergency stop button commands or enable switch commands are sent to the communication module via serial port, and then forwarded to the robot control device. The robot control device then controls the robot's movements.

[0026] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0027] This invention proposes a robot teaching device and its control method. It implements all operations required for the robot teaching process through multiple functional modules, presents a general robot teaching architecture, and achieves stable, reliable, and secure communication by replacing ordinary multi-core cables with a communication method. This reduces the development and manufacturing costs of the robot teaching device, shortens the development cycle and workload, and improves the device's scalability. The robot teaching device has a simple overall structure, is lightweight, small in size, has stable and reliable connections, is easy to carry, and facilitates expanding the working area to adapt to different working environment requirements.

[0028] The method of this invention identifies the connection status of the robot teaching device through a connection recognition program and selectively grants functional permissions, which helps improve the security of the device. The robot control module can operate the robot according to various commands, improving the flexibility and security of robot control. Attached Figure Description

[0029] Figure 1 The diagram shown is a structural schematic of a robot teaching device provided in an embodiment of the present invention;

[0030] Figure 2 The diagram shown is a structural schematic of the security monitoring module in an embodiment of the present invention;

[0031] Figure 3 The diagram shown is a structural schematic of the security detection board in an embodiment of the present invention;

[0032] Figure 4 The diagram shown is a structural schematic of the communication module in an embodiment of the present invention;

[0033] Figure 5 The diagram shown is a structural schematic of the power module in an embodiment of the present invention;

[0034] Figure 6 The diagram shown is a structural schematic of the teaching base in an embodiment of the present invention;

[0035] Figure 7 The diagram shown is a schematic representation of the identification process of the connection identification program in an embodiment of the present invention.

[0036] Figure 6 In the diagram, 1 is the emergency stop button, 2 is the handle groove, 3 is the groove, 4 is the enable button, 5 is the communication cable, 6 is the communication module, and 7 is the housing. Detailed Implementation

[0037] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0038] Example 1

[0039] This embodiment describes a robot teaching device, such as... Figure 1 As shown, the device mainly includes a general information terminal, a safety monitoring module, a robot control device, a communication module, and a power supply module.

[0040] The general information terminal is mainly used to generate robot control commands based on input information, and also to receive and display robot status information; the safety monitoring module is mainly used to monitor the internal data of the robot teaching device in real time, and also to monitor the emergency stop button and enable switch, and output emergency stop button commands and enable switch commands; the robot control device is mainly used to control the robot's actions according to the robot control commands, emergency stop button commands, and enable switch commands; the communication module is mainly used to connect the general information terminal, the safety monitoring module, and the robot control device to realize information communication between the general information terminal, the safety monitoring module, and the robot control device; the power supply module is mainly used to supply power to the general information terminal, the safety monitoring module, and the communication module.

[0041] In this embodiment of the invention, the general-purpose information terminal can be a general-purpose tablet computer, or a PDA or other smart terminal. A preferred general-purpose information terminal is an industrial tablet computer, which is dustproof, waterproof, and drop-proof, making it suitable for use in industrial environments.

[0042] The system software of the general information terminal can be Android or Linux, etc., and the APP teaching software of the general information terminal runs on the system software.

[0043] like Figure 2 As shown, the safety monitoring module includes a safety monitoring board, an emergency stop button, and an enable switch. The safety monitoring board is connected to the communication module via a serial port. The safety monitoring board uses two MCUs to perform cross-detection of the emergency stop button and the enable switch to meet functional safety requirements.

[0044] In this embodiment of the invention, the emergency stop button is a manually controlled push-button switch, specifically a red mushroom-shaped button switch that locks when pressed and releases when rotated. When the emergency stop button is pressed, it outputs an emergency stop signal. The safety detection board transmits the emergency stop signal to the safety control part within the robot control device, triggering a safety operation to stop the robot immediately.

[0045] like Figure 3 As shown, the safety detection board includes an emergency stop input module, an enable input module, an MCUA module, an MCUB module, and a UART communication module. The emergency stop button is connected to the MCUA module and the MCUB module through the emergency stop input module, and the enable switch is connected to the MCUA module and the MCUB module through the enable input module. The MCUA module and the MCUB module contain MCU cross-detection modules, which can realize cross-detection of input signals through software judgment algorithms.

[0046] Two identical inputs for the emergency stop button and two identical inputs for the enable switch are simultaneously input to the MCUA and MCUB modules via the emergency stop input module and enable input module, respectively. The MCUA and MCUB modules process the received data independently and then send the processing results to each other. The MCU cross-detection determines whether the processing results of the MCUA and MCUB modules are consistent. When the processing results of the MCUA and MCUB modules are consistent, the processing results are sent to the robot control device via the UART communication module. If the processing results are inconsistent, an error message is generated and sent to the robot control device via the UART communication module, causing the robot control device to enter a safe mode.

[0047] In this embodiment of the invention, the communication between the communication module and the robot control device is generally achieved through a wired network.

[0048] like Figure 4 As shown, the communication module includes a Type-C to Ethernet submodule (capable of converting between Type-C and Ethernet interfaces), a serial to Ethernet submodule (capable of converting between serial and Ethernet interfaces), and a network switch. The general-purpose information terminal connects to the communication module via the Type-C to Ethernet submodule, and then communicates with the robot control device via the network switch. The safety monitoring module connects to the communication module via the serial to Ethernet submodule, and then communicates with the robot control device via the network switch. The general-purpose information terminal can also communicate with the safety monitoring module via the Type-C to Ethernet submodule, the network switch, and the serial to Ethernet submodule.

[0049] like Figure 5 As shown, the power module includes a charging module (usually a Type-C interface) for charging the communication terminal, a power conversion chip, a PD chip, and a power input module. The power input module is connected to an external high-voltage DC power supply. The power conversion chip converts the high-voltage DC power into low-voltage DC power, which is then used to charge the communication terminal through the PD chip and the charging module. The power conversion chip is also connected to the safety monitoring module and the communication module, directly supplying power to them.

[0050] In this embodiment of the invention, the safety monitoring module, communication module, and power module are combined with the housing to form a teaching base, such as... Figure 6 As shown, the top of the housing 7 has a handle groove 2 for carrying the teaching base; the middle of the housing has an inwardly recessed groove 3 for placing a general information terminal; an emergency stop button 1 is installed on one side of the top of the housing, preferably on the right side, for easy access by the user; enable switches 4 are installed on the left and right sides of the housing; a communication module 6 is installed at the bottom of the housing, and an external USB interface is provided; a communication cable 5 is also provided at the bottom of the housing, which can be connected to the robot control device.

[0051] In this embodiment of the invention, the general-purpose information terminal can be installed and fixed to the teaching pendant, or it can be left uninstalled. When the general-purpose information terminal is installed and fixed to the teaching pendant, it connects to the communication module inside the teaching pendant via a cable, and then establishes a communication connection with the robot control device through the communication module. When the general-purpose information terminal is not installed on the teaching pendant, it establishes a communication connection with the robot control device wirelessly.

[0052] The general information terminal is equipped with a connection identification program to confirm the connection status between the general information terminal and the communication module or robot control device in real time. If the connection status is successful, all functions of the robot teaching device are allowed. If the connection status is failed / no connection, only some functions of the robot teaching device are allowed, such as viewing robot information, but controlling robot movements is not allowed.

[0053] The teaching device of this invention not only has the advantages of modularity, low cost, and short development cycle, but also has the advantages of easy portability and replacement with general information terminals, and good scalability. This invention integrates emergency stop and other functional modules onto the teaching base, which can improve device quality and reduce failure rate.

[0054] Example 2

[0055] Based on the robot teaching device described in Embodiment 1, this embodiment introduces a control method for the robot teaching device, specifically including the following steps:

[0056] Step A: Identify the connection status between the communication information terminal and the communication module or robot control device through the connection identification program, and obtain the functional permissions of the robot teaching device according to the connection status.

[0057] like Figure 7 As shown, the communication terminal's software has an embedded connection identification program. When the communication terminal connects to the communication module via cable or to the robot control device wirelessly, the connection identification program identifies whether a connection is currently established. If a connection is established, the program obtains and identifies the identification code sent by the communication module or the robot control device. If the identification code is correct, the connection is successful; otherwise, the connection fails. If the connection status is successful, the teaching software within the communication terminal is allowed to use all functions of the robot teaching device. If the connection status is failed / no connection, only some functions of the robot teaching device are allowed to be used.

[0058] Step B: Within the scope of functional permissions, control the robot's actions using the robot control device according to the instructions output by the communication information terminal or security monitoring module.

[0059] Users can input and edit control commands or parameters through the teaching software on the communication terminal. Based on the user's input, the communication terminal automatically generates corresponding robot control commands. These commands are then forwarded to the robot control device via a communication module or wireless means, allowing the robot control device to perform relevant control and robot actions. The information transmission protocol can use UDP.

[0060] Meanwhile, users can press the emergency stop button or enable switch in the safety detection module. The safety monitoring module will detect the status of the emergency stop button and enable switch in real time and generate corresponding emergency stop button commands or enable switch commands. The emergency stop button commands or enable switch commands will be sent to the communication module via the serial port and forwarded to the robot control device. The robot control device will then perform relevant safety control and robot actions.

[0061] Step C: Use the safety monitoring module to monitor the data of each module inside the robot teaching device and the robot's status information to ensure the safety of the robot teaching process and the security of the data.

[0062] Step D: The robot control module collects the robot's status information and feeds it back to the communication information terminal via the communication module or wireless means. The communication information terminal then displays the robot's status information.

[0063] In summary, the present invention provides a universal robot teaching device. It modularizes the functions required for the robot teaching process and integrates these modules onto a teaching base, reducing device cost, development cycle, and workload. Developers can directly replace individual functional modules as needed, adjust their specific functions through simple software design, and add new functions by connecting external devices, thus improving the device's scalability. The robot teaching device has a simple overall structure, is lightweight, compact, has stable and reliable connections, is easy to carry, and facilitates expanding the working area to adapt to different working environments.

[0064] The method of this invention identifies the connection status of the robot teaching device through a connection recognition program and selectively grants functional permissions, which helps to improve the security of the device. This invention not only improves the portability and durability of collaborative robot teaching devices, but also achieves a significant leap in functionality and user experience.

[0065] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A robot teaching device, characterized in that, include: A general information terminal is used to generate robot control commands based on input information, and also to receive and display robot status information; The safety monitoring module is used to monitor the internal data of the robot teaching device in real time, and also to monitor the emergency stop button and enable switch, and output emergency stop button commands and enable switch commands. A robot control device is used to control the robot's actions according to robot control instructions, emergency stop button instructions, and enable switch instructions. The communication module is used to connect the general information terminal, the safety monitoring module, and the robot control device to realize information communication between the general information terminal, the safety monitoring module, and the robot control device.

2. The robot teaching device according to claim 1, characterized in that, It also includes a teaching base for installing a safety detection module and a communication module. When the general information terminal is installed and fixed on the teaching base, the general information terminal connects to the communication module inside the teaching base via a cable, and then establishes a communication connection with the robot control device through the communication module. When the general information terminal is not installed on the teaching base, the general information terminal establishes a communication connection with the robot control device wirelessly.

3. The robot teaching device according to any one of claims 1 or 2, characterized in that, The general information terminal is equipped with a connection identification program to confirm the connection status between the general information terminal and the communication module or robot control device in real time. If the connection status is successful, all functions of the robot teaching device are allowed to be used. If the connection status is failed / no connection, only some functions of the robot teaching device are allowed to be used.

4. The robot teaching device according to claim 1, characterized in that, The safety monitoring module includes a safety monitoring board, an emergency stop button, and an enable switch. The safety monitoring board includes two MCU modules. Both MCU modules are connected to an emergency stop button and an enable switch, and cross-detection is performed on the emergency stop button and the enable switch.

5. The robot teaching device according to claim 4, characterized in that, The safety detection board includes an emergency stop input module, an enable input module, an MCUA module, an MCUB module, and a UART communication module; The output signals of the emergency stop button and enable switch are simultaneously input to the MCUA module and the MCUB module through the emergency stop input module and the enable input module, respectively. The MCUA module and the MCUB module process the signals independently and then send the results to each other. The MCU cross-detection determines whether the processing results of the MCUA module and the MCUB module are consistent. When the processing results of the MCUA module and the MCUB module are consistent, the processing results are sent to the robot control device through the UART communication module. If the processing results are inconsistent, an error message is sent to the robot control device through the UART communication module, causing the robot control device to enter a safe mode.

6. The robot teaching device according to claim 1, characterized in that, The communication module communicates with the robot control device via a wired network.

7. The robot teaching device according to claim 1, characterized in that, The communication module includes a Type-C to Ethernet submodule, a serial to Ethernet submodule, and a network switch. The general information terminal connects to the communication module via the Type-C to Ethernet submodule, and then communicates with the robot control device via the network switch. The safety monitoring module connects to the communication module via the serial to Ethernet submodule, and then communicates with the robot control device via the network switch. The general information terminal communicates with the safety monitoring module via the Type-C to Ethernet submodule, the network switch, and the serial to Ethernet submodule.

8. A control method for a robot teaching device, characterized in that, include: The connection identification program identifies the connection status between the communication information terminal and the communication module or robot control device, and obtains the functional permissions of the robot teaching device based on the connection status. Within the scope of functional permissions, the robot's actions are controlled by the robot control device according to the instructions output by the communication information terminal or security monitoring module.

9. The control method for the robot teaching device according to claim 8, characterized in that, When the communication terminal is connected to the communication module via cable or to the robot control device wirelessly, the connection identification program identifies whether the connection is currently established. If a connection is established, the system retrieves and identifies the identification code sent by the communication module or robot control device. If the identification code is correct, the connection is successful; otherwise, the connection fails. If the connection status is successful, the teaching software in the communication terminal is allowed to use all the functions of the robot teaching device; If the connection status is "connection failed / no connection", only some functions of the robot teaching device are allowed.

10. The control method for the robot teaching device according to claim 8, characterized in that, Based on the information input by the user, the corresponding robot control instructions are automatically generated using the communication terminal; the robot control instructions are then forwarded to the robot control device via the communication module or wireless means, and the robot control device is used to control the robot's actions. The safety monitoring module detects the status of the emergency stop button and enable switch in real time, and generates corresponding emergency stop button commands or enable switch commands. The emergency stop button commands or enable switch commands are sent to the communication module via serial port, and then forwarded to the robot control device. The robot control device then controls the robot's movements.

Images