CN109927029A - A kind of method of controlling operation of manipulator - Google Patents
A kind of method of controlling operation of manipulator Download PDFInfo
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- CN109927029A CN109927029A CN201910237588.5A CN201910237588A CN109927029A CN 109927029 A CN109927029 A CN 109927029A CN 201910237588 A CN201910237588 A CN 201910237588A CN 109927029 A CN109927029 A CN 109927029A
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- manipulator
- movement
- hmi
- sequence
- controller
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Abstract
The invention discloses a kind of method of controlling operation of manipulator, manipulator behavior sequential instructions are write in the HMI operation interface of HMI computer, manipulator behavior sequential instructions are compiled into motor program that robot movement controller is able to carry out by HMI computer and are downloaded in motion controller, motion controller is acted according to the motor program of downloading according to sequence of movement instruction execution.Action sequence file is saved the present invention has the advantages that writing by visual HMI operation interface, it selects corresponding sequence of movement file then to pass through compiling to download in the UMAC controller of manipulator, change the sequence of movement instruction of manipulator easily and fast, improve adaptability of the manipulator in different production processes, and a plurality of file is preset, it does not need to write repeatedly, selects corresponding file according to demand, so that the control maintenance of manipulator is simpler, operate very flexible.
Description
Technical field
The present invention relates to field in intelligent robotics, in particular to a kind of method of controlling operation of manipulator
Background technique
The programming of manipulator at present designs the dynamic of manipulator mainly by programmer according to the needs of production technology
Work sequence, then the sequence of movement that design is completed is cured in manipulator program, complete defined movement；Write the control of manipulator
Processing procedure sequence.
Although current this control method can preset sequence of movement, needing often to change sequence of movement
Production scene or the occasion that different sequence of movement are needed in different moments, it is necessary to it is suitable to produce designer's redesign movement
Sequence rewrites program, re-starts mode, not only influences the production time, reduces the equipment operation time, increases human cost,
And it is almost impossible to go manipulator frequently to change sequence of movement.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of method of controlling operation of manipulator, are used for
Improve the versatility of manipulator, the convenient action command for switching manipulator.
To achieve the goals above, the technical solution adopted by the present invention are as follows: a kind of method of controlling operation of manipulator,
Manipulator behavior sequential instructions are write in the HMI operation interface of HMI computer, by HMI computer by manipulator behavior sequence
Motor program that compiling of instruction is able to carry out at robot movement controller simultaneously downloads in motion controller, motion controller root
It is acted according to the motor program of downloading according to sequence of movement instruction execution.
Multiple sequence of movement files are compiled by HMI operation interface on HMI computer and are saved, are determining manipulator institute
After the sequence of movement that need to be executed, select pre-stored sequence of movement file download into motion controller.
It is pre-designed a plurality of manipulator behavior instruction in HMI operation interface, according to the requirement of production technology to mechanical, hand-driven
Make instruction editor's sequence to obtain multiple sequence of movement files and be stored in HMI computer.
It include collector and download module in HMI computer, collector is literary by the sequence of movement in HMI computer
Part is compiled into the executable program file of manipulator behavior controller, and the program after compiling is downloaded to machine by download module
In tool hands movement controller.
After manipulator behavior controller receives sequence of movement file, the push button signal of HMI operation interface is received,
Corresponding action command in sequence of movement file is successively executed in order, after having executed, according to the touching signals of HMI operation interface
To determine whether executing the program of downloading.
After successively having executed action command, if receiving stop signal, stop execute downloading program, otherwise according to
The program of downloading executes action command automatically.
In robot movement controller be arranged a reference location data table, and with table pair corresponding on HMI computer
It answers, cooperative mechanical hand action command is completed with reference to movement, in position of manipulator offset, passes through the position in modification HMI computer
It sets reference table and changes corresponding reference position.
The present invention has the advantages that selecting corresponding sequence of movement file then to pass through by visual HMI operation interface
Compiling downloads in the UMAC controller of manipulator, changes the sequence of movement instruction of manipulator easily and fast, improves manipulator
Adaptability in different production processes, and a plurality of file is preset, it does not need to write repeatedly, selection is corresponding according to demand
File so that manipulator control maintenance it is simpler, operate it is very flexible.
Detailed description of the invention
Below to each width attached drawing of description of the invention expression content and figure in label be briefly described:
Fig. 1 is the control method schematic diagram of manipulator of the present invention.
Specific embodiment
A specific embodiment of the invention is made further detailed below against attached drawing by the description to optimum embodiment
Thin explanation.
The object of the invention mainly by it is a set of be easy to write, reliable in action, safely controllable manipulator behavior instruct, operation
Personnel can voluntarily write according to the needs of actual production and meet the manipulator behavior sequence that production needs, which can
To save, by HMI operation interface, the work order series that operator writes is compiled into robot movement controller can
The motor program of execution, downloads to motion controller, executes manipulator according to the sequence of movement of setting；Simultaneously according to production need
It wants, multiple sequence of movement files can be saved on HMI computer, to execute different sequence of movement, as long as opening corresponding document,
And by sequence of movement it is compiled after, download to motion controller, manipulator can execute corresponding series of acts.
In order to enable manipulator flexibly to change according to the requirement of production technology the movement of manipulator, about 80 are devised
The manipulator behavior instruction of left and right, these instructions are all that production technology personnel are readable；Technologist can be according to production technology
The action request of corresponding manipulator and corresponding syntax rule work out manipulator behavior program, can save after program composition is good
Onto disk.Since the manipulator behavior program UMAC motion controller worked out on HMI is can not to execute, UMAC controller
The program worked out according to UMAC motor program syntax rule can only be executed；For the manipulator behavior program for enabling HMI to be worked out
It is enough to be executed by UMAC controller, it has been worked out in HMI software by manipulator behavior program according to UMAC motor program grammar request
It is compiled into the motion control program of UMAC, then according to the communications protocol of UMAC, syntax check and download module is worked out, will check
Errorless program downloads in UMAC program buffer, and carries out the E for being saved in UMAC controller2ROM.Because manipulator behavior refers to
Enable less, and meaning is clear, and general electrical service or production technology personnel can work out manipulator behavior program, then by
Collector and download module download to the UMAC program that can be run in UMAC in HMI；Meanwhile passing through special single step mould
Formula, artificial every triggering is primary, and manipulator only does a movement, until everything has executed, it is ensured that the correct type of program, confirmation
After errorless, manipulator is transferred to fully automatic mode, each movement of quick execution；The sequence of movement of manipulator can be according to life in this way
It produces and requires to do very flexibly adjustment, save a large amount of man power and material, while the universal of entire manipulator being made to increase greatly
Qiang Liao.
Programming manipulator control system in, it is contemplated that in manipulator normal course of operation usually only can several positions it
Between it is reciprocating, while with mechanical abrasion, target position can shift, and need after running a period of time to target position
Encoder values re-calibrated；This programme devises ginseng position functions, and a ginseng is devised in UMAC motion controller
Position data table is examined, corresponding table is corresponding on the table and HMI, while corresponding manipulator behavior instruction being cooperated to complete with reference to movement
Function.When position of manipulator shifts, it is only necessary to change corresponding reference position in the reference by location table of HMI, just
The target position of manipulator can be made to change, modification manipulator behavior program is not needed, keep the maintenance of system more simple,
It operates very flexible.
Using in the present invention neoteric instruction and compiling and syntax check module match, can be with operation and maintenance personnel
Manipulator behavior program is voluntarily write, and program correctness is checked by single-step mode, reduces program maintenance personnel and journey
The sequence mode time, greatly reduce debugging cost and consumption, simultaneously because everything can by operator's automatic customization,
So that the versatility of manipulator greatly enhances, the manipulator of uniform type is available to apply to different production processes, greatly reduces
The development cost of manipulator.
The present invention has used Mr. Yu enterprise wheel pressure rolling production line, the carrier wheel blank and preforming in each production process
Wheel, achieve extraordinary effect and compared with pervious system, the production efficiency of raising and reduce development cost, mention
High control precision
The present invention is in the operation interface part of HMI computer:
1) a set of manipulator HMI software is developed using Visual C++ and C++/WinRT.
2) operator works out manipulator behavior sequential programme using manipulator HMI software.
3) operator saves sequence of movement program on manipulator HMI software, and program is downloaded to UMAC controller
In, when clicking downloading, there is manipulator HMI software that sequence of movement program is compiled as to the moving script program of UMAC controller.
4) control of hydraulic station, shut-off valve has SIEMENS PLC completion；Operator clicks in manipulator HMI software and opens
Dynamic button has from manipulator HMI software to UMAC motion controller and sends motor closed loop and motor program operation order.
5) motion control program can according to need single step (every primary operation button of click, execute step movement) or complete
Automatic running.Single step motor pattern is mainly for inspection sequence of movement program correctness
Obviously present invention specific implementation is not subject to the restrictions described above, as long as using method concept and skill of the invention
The improvement for the various unsubstantialities that art scheme carries out, it is within the scope of the present invention.
Claims (7)
1. a kind of method of controlling operation of manipulator, it is characterised in that: write machinery in the HMI operation interface of HMI computer
Make sequential instructions manually, manipulator behavior sequential instructions, which are compiled into robot movement controller, by HMI computer to hold
Capable motor program simultaneously downloads in motion controller, and motion controller is instructed according to the motor program of downloading according to sequence of movement
Execute movement.
2. a kind of method of controlling operation of manipulator as described in claim 1, it is characterised in that: pass through on HMI computer
HMI operation interface compiles multiple sequence of movement files and saves, and after the sequence of movement for determining execution needed for manipulator, selection is pre-
The sequence of movement file download first stored is into motion controller.
3. a kind of method of controlling operation of manipulator as claimed in claim 1 or 2, it is characterised in that: pre- in HMI operation interface
A plurality of manipulator behavior instruction is first designed, manipulator behavior instruction editor's sequence is obtained according to the requirement of production technology multiple dynamic
Make sequential file and is stored in HMI computer.
4. a kind of method of controlling operation of manipulator a method according to any one of claims 1-3, it is characterised in that: in HMI computer
In include collector and download module, the sequence of movement file in HMI computer is compiled into manipulator behavior by collector
The executable program file of controller, and downloaded to the program after compiling in robot movement controller by download module.
5. a kind of method of controlling operation of manipulator a method according to any one of claims 1-3, it is characterised in that: in manipulator behavior
After controller receives sequence of movement file, the start button signal of HMI operation interface is received, successively execution movement is suitable in order
Corresponding action command in preface part.
6. a kind of method of controlling operation of manipulator as claimed in claim 5, it is characterised in that: refer to successively having executed movement
After order, if receiving stop signal, stops the program for executing downloading, otherwise execute movement according to the program automatic cycle of downloading
Instruction.
7. a kind of method of controlling operation of manipulator a method according to any one of claims 1-3, it is characterised in that: in robot movement
One reference location data table, and, cooperative mechanical hand action command corresponding with table corresponding on HMI computer are set in controller
It completes with reference to movement, in position of manipulator offset, corresponding reference is changed by the reference by location table in modification HMI computer
Position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910237588.5A CN109927029A (en) | 2019-03-27 | 2019-03-27 | A kind of method of controlling operation of manipulator |
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| CN201910237588.5A CN109927029A (en) | 2019-03-27 | 2019-03-27 | A kind of method of controlling operation of manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110688175A (en) * | 2019-10-09 | 2020-01-14 | 网易（杭州）网络有限公司 | File loading method and device, terminal equipment and storage medium |
| CN113635285A (en) * | 2021-08-19 | 2021-11-12 | 浙江启成智能科技有限公司 | Robot position calling method based on PLC |
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| CN1401098A (en) * | 2000-02-10 | 2003-03-05 | 株式会社安川电机 | Robot controller |
| EP1935577A1 (en) * | 2006-12-21 | 2008-06-25 | Abb Ab | A control system for controlling an industrial robot |
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| CN110688175A (en) * | 2019-10-09 | 2020-01-14 | 网易（杭州）网络有限公司 | File loading method and device, terminal equipment and storage medium |
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Application publication date: 20190625 |
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