CN106933212A - A kind of restructural industrial robot programmable control method under distributed manufacturing environment - Google Patents
A kind of restructural industrial robot programmable control method under distributed manufacturing environment Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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Abstract
The invention discloses the invention discloses the restructural industrial robot programmable control method under a kind of distributed manufacturing environment, including the editor module of telecommunication connection, model conversion module, deployment module, communication module, the running environment of IEC 61499, robot control instruction performing module, servo-driven module, robot successively；The deployment module telecommunication connects monitoring module, monitoring module linkage editing module；The communication module telecommunication connects monitoring module；The present invention instead of various text based special purpose robot controller programming languages using the graphical programming language for meeting international standard, improve the efficiency of development process and the portability of control program.Based on modularization running environment and standardized management order, the online dynamic restructuring of industrial robot control program can be realized, improve the flexibility of robot controller.
Description
Technical field
The present invention relates to industrial robot programming Control technical field, more particularly under a kind of distributed manufacturing environment can
Reconstruct industrial robot programmable control method.
Background technology
The New Manufacturing Mode that multi items become batch proposes requirement higher to the adaptability and flexibility of manufacturing equipment, and
Industrial robot becomes the critical component and enabling tool of New Generation of Intelligent manufacturing mode because of its versatility higher, in industry
Automation control area will more and more replace traditional special equipment and solution.However, developing and writing industrial machine
Device people's control program, realizes that particular process the Logic of Tasks needs developer to possess stronger soft project background and robot reason
By basis.
At present, most of main flow robot controller manufacturer is each provided with the robot controller exploitation language for being adapted to its product
Say and developed for auxiliary robot control program, the RAPID of such as ABB AB, the KRL of Kuka companies, Fanuc companies
The PDL2 of the Inform of KAREL, Yaskawa company, Comau company, AS of Kawasaki companies etc..
These programming languages are typically based on the instruction of textual form, with specificity, only for specific controller type, and
Abstraction hierarchy is low, it is impossible to solve the threshold high of industrial robot control program exploitation, the problem such as error-prone.
Li Xin et al. proposes a kind of robot programming language (license notification number：CN 103386685B), using IEC
61131 standard trapezoid graph-based languages realize the exploitation of robot control application, can reduce development difficulty.
However, the standards of IEC 61131 lack the effective description and the support of system reconfiguration to distributed system, it is difficult to suitable
Multi items under distributive knowledge network scene are answered to become the New Manufacturing Mode of batch.
The standards of IEC 61499 are that International Electrotechnical Commission exists for the standards of IEC 61131 for industrial automation
The above-mentioned not enough new standard for proposing.
The standards of IEC 61499 build information thing by introducing event-driven and functional block components model based on state machine
The unrelated functional block network application model of reason, and the dynamic restructuring of application model is realized based on standardized management order.
Therefore, the function block models that will meet the standards of IEC 61499 are applied to robot control program's programming language, can
Effectively cope with the restructural industrial robot control program exploitation institute facing challenges under distributive knowledge network scene, lifting exploitation
The flexibility of process and efficiency.
The content of the invention
Shortcoming and defect it is an object of the invention to overcome above-mentioned prior art, there is provided under a kind of distributed manufacturing environment
Restructural industrial robot programmable control method.Can be so that independently of manufacturer, the canonical form for meeting international standard carries out work
The exploitation of industry robot control program, the description of simplify control logic and the configuration of communication function, and the branch of on-line reorganization is provided
Hold, so as to accelerate promoting the use of for industrial robot.
The present invention is achieved through the following technical solutions：
A kind of restructural industrial robot programmable control method under distributed manufacturing environment, comprises the following steps：
1) by editor module, in the editing interface of application development environment, to meet the international standards of IEC 61499
The form of functional block network, the task logical sum communication function to industrial robot is described, based on functional block network
Describing mode be used to control the space tracking and attitude of robot, and configure communications protocol and ginseng that industrial robot is used
Number；
2) the model conversion module of development environment, the Logic of Tasks description obtained by FBD programming mode is converted to
The standard management orders of IEC 61499 based on extensible markup language form；
3) administration order is sent to carrying and meets IEC61499 standard realities by the deployment module of development environment by Transmission Control Protocol
When running environment industrial robot controller, and start the monitoring module of development environment；
4) running environment of the IEC 61499 parsing standard management order in industrial robot controller, compiles with development environment
The functional block that editing interface is included is corresponded and instantiated, and functional block internal state machine and algorithm is loaded, using event
The mechanism operation function block figure network of driving, so as to be controlled to servo-driver module, drives robot body to complete empty
Between track motion；
5) running environment of IEC 61499 passes through udp protocol or Web Socket agreements to monitoring module cyclical transmission
The state of robot controller；
6) when in the running environment of IEC 61499 functional block because break down need replace or because manufacturing operation adjustment carry out
When functional shift is upgraded, development environment adjusts functional block network topology structure or ginseng under development environment according to monitoring information
Number, forms new administration order sequence and re-issues, and the controller to industrial robot carries out real-time online reconstruct.
Above-mentioned steps 1) development environment include be based on the PC end modules of com component technology or browsing based on Web
Device end module, supports TCP/UDP/Web socket communication agreements.
Above-mentioned steps 2) the model conversion module can read and travel through the FBD in development environment memory headroom
Network, and corresponding XML control instructions are generated according to the administration order of the standards of IEC 61499.
It is above-mentioned to realize step 3) and step 4) required for robot controller need carry meet IEC61499 standards
Running environment, running environment uses event driven execution mechanism, and sending sequencing according to event to FBD network enters
Row scheduling.
The standard running environment of the IEC 61499 supports that TCP/UDP/Web socket communications agreement is used to realize and develop
The deployment of environment, monitoring are interacted with reconstruct, and the communications protocol and corresponding communications parameter for being used can be entered in development environment
Row configuration.
The standard running environment of the IEC 61499 is periodically by the configuration of performed FBD network and operation shape
Condition is sent to developing instrument with XML text formattings, developing instrument can parse feedback text and with the functional block of local editing machine
The network information carries out contrasting matching check uniformity, new according to the generation of respective handling logic in the case of inconsistencies depositing
The administration orders of IEC 61499 are simultaneously sent to controller.
The present invention has the following advantages and effect relative to prior art：
Using the graphical programming language for meeting international standard, various text based special purpose robot controllers are instead of
Programming language, improves the efficiency of development process and the portability of control program.Based on modularization running environment and standardization
Administration order, can realize the online dynamic restructuring of industrial robot control program, improve the flexibility of robot controller.
Brief description of the drawings
Fig. 1 is the general frame of the restructural industrial robot programmable control method under distributed manufacturing environment of the present invention
Figure；
Fig. 2 is functional block network example under development environment of the invention；
Fig. 3 is development environment operational mode of the invention；
Specific embodiment
The present invention is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Figures 1 to 3.Control is programmed the invention discloses the restructural industrial robot under a kind of distributed manufacturing environment
Method processed, including the editor module of telecommunication connection, model conversion module, deployment module, communication module, IEC 61499 are transported successively
Row environment, robot control instruction performing module, servo-driven module, robot；
The deployment module telecommunication connects monitoring module, monitoring module linkage editing module；
The communication module telecommunication connects monitoring module；
The programmable control method can be achieved by the steps of：
1) by editor module, in the editing interface of application development environment, to meet the international standards of IEC 61499
The form of functional block network, the task logical sum communication function to industrial robot is described, based on functional block network
Describing mode be used to control the space tracking and attitude of robot, and configure communications protocol and ginseng that industrial robot is used
Number；
2) the model conversion module of development environment, the Logic of Tasks description obtained by FBD programming mode is converted to
IEC61499 standard management orders based on extensible markup language (extensible markup language, XML) form；
3) administration order is sent to carrying and meets IEC61499 standard realities by the deployment module of development environment by Transmission Control Protocol
When running environment industrial robot controller, and start the monitoring module of development environment；
4) running environment of the IEC 61499 parsing standard management order in industrial robot controller, compiles with development environment
The functional block that editing interface is included is corresponded and instantiated, and functional block internal state machine and algorithm is loaded, using event
The mechanism operation function block figure network of driving, so as to be controlled to servo-driver module, drives robot body to complete empty
Between track motion；
5) running environment of IEC 61499 passes through udp protocol or Web Socket agreements to monitoring module cyclical transmission
The state of robot controller；
6) when in the running environment of IEC 61499 functional block because break down need replace or because manufacturing operation adjustment carry out
When functional shift is upgraded, development environment adjusts functional block network topology structure or ginseng under development environment according to monitoring information
Number, forms new administration order sequence and re-issues, and the controller to industrial robot carries out real-time online reconstruct.
Above-mentioned steps 1) development environment include be based on the PC end modules of com component technology or browsing based on Web
Device end module, supports TCP/UDP/Web socket communication agreements.
Above-mentioned steps 2) the model conversion module can read and travel through the FBD in development environment memory headroom
Network, and corresponding XML control instructions are generated according to the administration order of the standards of IEC 61499.
It is above-mentioned to realize step 3) and step 4) required for robot controller need carry meet IEC61499 standards
Running environment, running environment uses event driven execution mechanism, and sending sequencing according to event to FBD network enters
Row scheduling.
The standard running environment of the IEC 61499 supports that TCP/UDP/Web socket communications agreement is used to realize and develop
The deployment of environment, monitoring are interacted with reconstruct, and the communications protocol and corresponding communications parameter for being used can be entered in development environment
Row configuration.
The standard running environment of the IEC 61499 is periodically by the configuration of performed FBD network and operation shape
Condition is sent to developing instrument with XML text formattings, developing instrument can parse feedback text and with the functional block of local editing machine
The network information carries out contrasting matching check uniformity, new according to the generation of respective handling logic in the case of inconsistencies depositing
The administration orders of IEC 61499 are simultaneously sent to controller.
As described above, the present invention can be better realized.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, and other are any without departing from Spirit Essence of the invention
With the change, modification, replacement made under principle, combine, simplify, should be equivalent substitute mode, be included in of the invention
Within protection domain.
Claims (6)
1. the restructural industrial robot programmable control method under a kind of distributed manufacturing environment, it is characterised in that including following step
Suddenly：
1) by editor module, in the editing interface of application development environment, to meet the function of the international standards of IEC 61499
The form of block network, the task logical sum communication function to industrial robot is described, based on retouching for functional block network
Mode is stated for controlling the space tracking and attitude of robot, and configures communications protocol and parameter that industrial robot is used；
2) the model conversion module of development environment, the Logic of Tasks description obtained by FBD programming mode is converted to and is based on
The standard management orders of IEC 61499 of extensible markup language form；
3) administration order sent to carrying the deployment module of development environment to meet the standards of IEC 61499 real-time by Transmission Control Protocol
The industrial robot controller of running environment, and start the monitoring module of development environment；
4) running environment of the IEC 61499 parsing standard management order in industrial robot controller, with development environment editor circle
The functional block that face is included is corresponded and instantiated, and functional block internal state machine and algorithm is loaded, using event-driven
Mechanism operation function block figure network, so as to being controlled to servo-driver module, drive robot body to complete space rail
Mark is moved；
5) running environment of IEC 61499 passes through udp protocol or Web Socket agreements to monitoring module cyclical transmission machine
The state of people's controller；
6) when in the running environment of IEC 61499 functional block because break down need replace or because manufacturing operation adjustment carry out function
During transformation upgrading, development environment adjusts functional block network topology structure or parameter under development environment, shape according to monitoring information
The administration order sequence of Cheng Xin is simultaneously re-issued, and the controller to industrial robot carries out real-time online reconstruct.
2. restructural industrial robot programmable control method according to claim 1 under distributed manufacturing environment, its feature
It is：
Step 1) development environment include based on com component technology PC end modules or the browser end module based on Web,
Support TCP/UDP/Web socket communication agreements.
3. restructural industrial robot programmable control method according to claim 1 under distributed manufacturing environment, its feature
It is：
Step 2) the model conversion module can read and travel through the FBD network in development environment memory headroom, and root
Corresponding XML control instructions are generated according to the administration order of the standards of IEC 61499.
4. restructural industrial robot programmable control method according to claim 1 under distributed manufacturing environment, its feature
It is：
Realize step 3) and step 4) required for robot controller need to carry and meet the operation ring of the standards of IEC 61499
Border, running environment uses event driven execution mechanism, and sending sequencing according to event to FBD network is scheduled.
5. restructural industrial robot programmable control method according to claim 4 under distributed manufacturing environment, its feature
It is：
The standard running environment of the IEC 61499 supports that TCP/UDP/Web socket communications agreement is used to realize and development environment
Deployment, monitoring with reconstruct interact, the communications protocol and corresponding communications parameter for being used can be matched somebody with somebody in development environment
Put.
6. restructural industrial robot programmable control method according to claim 1 under distributed manufacturing environment, its feature
It is that the standard running environment of the IEC 61499 is periodically by the configuration of performed FBD network and operation conditions
Developing instrument is sent to XML text formattings, developing instrument can parse feedback text and with the functional block net of local editing machine
Network information is carried out contrasting matching check uniformity, and new IEC is generated according to respective handling logic in the case of inconsistencies depositing
61499 administration orders are simultaneously sent to controller.
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Cited By (10)
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| CN107765612A (en) * | 2017-12-07 | 2018-03-06 | 南京诚思机器人科技有限公司 | A kind of motion control method of robot, robot and system |
| CN108789410A (en) * | 2018-06-26 | 2018-11-13 | 西华大学 | ABB robot long-distance control methods |
| CN109581868A (en) * | 2018-09-21 | 2019-04-05 | 长春工业大学 | Disperse neural method for optimally controlling based on the reconstruction robot for judging identification structure |
| CN109934426A (en) * | 2017-12-15 | 2019-06-25 | 中国科学院沈阳自动化研究所 | A kind of the producing line process fast construction method and system in knowledge based library |
| CN110815231A (en) * | 2019-11-25 | 2020-02-21 | 深圳市天博智科技有限公司 | Robot control method and device |
| CN111190396A (en) * | 2018-11-15 | 2020-05-22 | 西门子（中国）有限公司 | Application configuration device and method |
| CN113021330A (en) * | 2019-12-24 | 2021-06-25 | 沈阳智能机器人创新中心有限公司 | Multi-robot synchronous follow-up control method under distributed network |
| CN113031526A (en) * | 2019-12-24 | 2021-06-25 | 沈阳智能机器人创新中心有限公司 | Method for realizing distributed multi-axis motion control system based on 4diac |
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| WO2023050408A1 (en) * | 2021-09-30 | 2023-04-06 | 西门子股份公司 | Ot domain low-code development method and platform, and computer-readable medium |
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| CN109934426A (en) * | 2017-12-15 | 2019-06-25 | 中国科学院沈阳自动化研究所 | A kind of the producing line process fast construction method and system in knowledge based library |
| CN108789410A (en) * | 2018-06-26 | 2018-11-13 | 西华大学 | ABB robot long-distance control methods |
| CN109581868A (en) * | 2018-09-21 | 2019-04-05 | 长春工业大学 | Disperse neural method for optimally controlling based on the reconstruction robot for judging identification structure |
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| CN110815231A (en) * | 2019-11-25 | 2020-02-21 | 深圳市天博智科技有限公司 | Robot control method and device |
| CN113021330A (en) * | 2019-12-24 | 2021-06-25 | 沈阳智能机器人创新中心有限公司 | Multi-robot synchronous follow-up control method under distributed network |
| CN113031526A (en) * | 2019-12-24 | 2021-06-25 | 沈阳智能机器人创新中心有限公司 | Method for realizing distributed multi-axis motion control system based on 4diac |
| CN113021330B (en) * | 2019-12-24 | 2022-04-05 | 沈阳智能机器人创新中心有限公司 | Multi-robot synchronous follow-up control method under distributed network |
| CN114952820A (en) * | 2021-02-25 | 2022-08-30 | 中国科学院沈阳自动化研究所 | Multi-robot cooperative control implementation method |
| WO2023050408A1 (en) * | 2021-09-30 | 2023-04-06 | 西门子股份公司 | Ot domain low-code development method and platform, and computer-readable medium |
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