CN102139486B - Control system for robot palletizer with self-maintenance function - Google Patents

Control system for robot palletizer with self-maintenance function Download PDF

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Publication number
CN102139486B
CN102139486B CN 201110097081 CN201110097081A CN102139486B CN 102139486 B CN102139486 B CN 102139486B CN 201110097081 CN201110097081 CN 201110097081 CN 201110097081 A CN201110097081 A CN 201110097081A CN 102139486 B CN102139486 B CN 102139486B
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China
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robot
bus
control
circuit
module
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CN 201110097081
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Chinese (zh)
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CN102139486A (en
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唐奥林
曹其新
张蕾
曹波
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上海交通大学
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Abstract

The invention relates to a control system for a robot palletizer with the self-maintenance function, belonging to the technical field of automation control. The control system comprises a production line master control module, a bus interface module, a motor driver module, a sensor module, a communication bus, a robot master control module and a robot palletizer. The control system not only can control the movement of corresponding machine joints of the robot palletizer, but also can monitor the movement state of the robot palletizer in real time, can carry out the automatic adjustment when in malfunction so as to realize fault-tolerant control and simultaneously feeds back the fault information to a master control system. The master control system gives an alarm, displays the fault information and controls other robots on the same production line to take measures, so as to coordinate the robot with malfunction and maintain the normal operation of the production line.

Description

Has the robot palletizer control system from maintenance function

Technical field

What the present invention relates to is a kind of device of technical field of automatic control, specifically a kind of robot palletizer control system that has from maintenance function.

Background technology

Since eighties of last century end of the seventies, Japan has been applied to Robotics since the stacking and stacking technology, and robot palletizer has obtained rapidly development.Because its floor space is little, can process simultaneously a plurality of material buttress of various materials and piling, and processing speed is fast, weight capacity is also improving constantly, and the use of robot palletizer greatly reduces hand labor intensity, has improved greatly production efficiency.Thereby robot palletizer has been subject to widely favor in countries in the world, is used widely in fields such as oil, chemical industry, food processing, beverage, packed and transported.

Often formed by a plurality of robot palletizers on the growth line in the factory.They are tandem working on streamline, and the work of whole road is accomplished in cooperation by joint efforts mutually.Each robot is the different operating step in the complete independently work all.Therefore, in this process, guarantee that the normal operation of each robot palletizer is most important.Any one robot breaks down on streamline, the work at present of stopping of having to, and therefore whole production line all will be affected so, is forced to out of service.This accident will have a strong impact on the manufacturing schedule of factory, bring huge economic loss to enterprise.Therefore, how to guarantee that whole production line can normally move manufacturing enterprise significant to greatest extent.

Through the retrieval of prior art is found, the robot palletizer of current extensive use is independent operating separately usually, and each robot palletizer is comprised of a master control system and each shutdown drive system.According to its multiaxis control method, or realize multiaxis control based on PLC or PC, advanced robot palletizer adopts Fieldbus Based multi-axis control system, such as in automobile industry extensive use CAN bus.Such as Chinese patent literature number: CN1923468, title: a kind of robot for carrying and piling, Chinese patent literature number: CN101362329A, title: robot palletizer and Chinese patent literature number: CN101817452A, title: vanning, robot palletizer.Several different robot palletizers have been introduced in these several patents, wherein control system is roughly as described below: the motor in the machine joint that robot palletizer is corresponding is by the joint driver drive, carry out closed-loop control, and then the rotation in the machine joint of accurately control correspondence.Master control system is then controlled whole machine human motion, coordinates the motion in machine joint corresponding to control, and compensating error is to realize the accurate control to end effector.And three patents all do not relate to the current coordination of a plurality of robot palletizers and robot for certainly detection and the fault-tolerant control function of fault.Article one, there is no between each robot on the production line and intercom mutually and coordinate.Therefore when a robot palletizer broke down, the measure that robot oneself can not take to respond was adjusted, to realize fault-tolerant control, maintenance work.Other robot also can't obtain corresponding information, can not make response to this, and the robot that the cooperation of taking measures breaks down keeps the normal operation of production line.

Therefore, need to transform and innovate the control system of the robot palletizer on the existing production line, robot palletizer can be judged for the fault that occurs when breaking down, adjust kinematic parameter or change action, to realize self, to keep to greatest extent normally carrying out of whole production line running.On the other hand, the robot palletizer of makeing mistakes sends to the diagnostic message of oneself on the bus, with the fault message notice turn-key system of oneself and the other machines people on the same production line, turn-key system judges this, takes corresponding measure, on the one hand fault message is presented on the working interface, notice production line related management personnel, other machines people on the line of coordinating production simultaneously is such as reducing operating rate, with the robot that cooperation is broken down, the normal operation of keeping production line of maximum possible.

Summary of the invention

The present invention is directed to the prior art above shortcomings, a kind of robot palletizer control system that has from maintenance function is provided, can not only control the motion in machine joint corresponding to robot palletizer, and motion state that can the Real-Time Monitoring robot palletizer, when breaking down, can automatically adjust, realize fault-tolerant control, simultaneously fault message is fed back to general control system.General control system alarm indication fault message, the other machines people who controls simultaneously on the same production line takes measures, and the robot that cooperation breaks down keeps the normal operation of production line.

The present invention is achieved by the following technical solutions, the present invention includes: the production line main control module, bus interface module, motor drive module, sensor assembly, communication bus, robot main control module and robot palletizer, wherein: the robot main control module is connected with bus interface module and exports control information to the Local C AN bus of robot, be sent to the machine joint motor driver module of the correspondence of robot, the robot main control module is by the robotary information that Local C AN bus is connected with sensor assembly and the receiving sensor module is fed back of robot, be connected with bus interface module higher level CAN bus by production line of robot main control module is connected with the production line main control module and exports production line control information and feedback robotary information, described communication bus comprises: the Local C AN of robot bus is connected with production line CAN bus, the Local C AN of robot bus respectively with bus interface module, motor drive module is connected with sensor assembly and respectively transfer bus control information and then the motion of SERVO CONTROL joint motor, feedback controlled joint motions status information and feedback transducer information, the production line main control module is connected with production line CAN bus by bus interface module and transferring robot feedback states information and the control information that issues with the main control module of each robot.

Described motor drive module comprises: the first power circuit, the first bus communication circuit, first control circuit, motor status testing circuit and motor-drive circuit, wherein: the first power circuit and the first bus communication circuit, first control circuit, the motor status testing circuit links to each other with motor-drive circuit and provides work required operating voltage for each circuit, first control circuit is connected on the CAN bus by the first bus communication circuit and receives robot the main control module control information that sends and the status information of feeding back joint of robot, first control circuit is connected with motor-drive circuit and rotates according to control information control motor-drive circuit driven machine person joint, and first control circuit is connected with the motor status testing circuit and the running status that gathers joint motor feeds back to the robot main control module simultaneously.

Described sensor assembly comprises: second source circuit, the second bus communication circuit, second control circuit and sensor circuit, wherein: the second source circuit links to each other with sensor circuit with the second bus communication circuit, second control circuit and provides work required operating voltage for each circuit, second control circuit is connected on the CAN bus by the second bus communication circuit and feeds back the status information of robot, and second control circuit is connected with sensor circuit and the running status that gathers robot feeds back to the robot main control module simultaneously.

Described communication bus comprises: the higher level CAN bus of the Local C AN bus of robot and production line, wherein: the Local C AN of robot bus is connected with bus interface module, motor drive module and sensor assembly respectively and difference transfer bus control information and then the motion of SERVO CONTROL joint motor, feedback controlled joint motions status information and feedback transducer information, and the production line main control module is connected with production line higher level CAN bus by bus interface module and transferring robot feedback states information and the control information that issues with the main control module of each robot.

Described robot palletizer comprises: robot palletizer frame, several machine joints, end effector and joint motor, wherein: several machine joints are installed in series and directly link to each other with the robot palletizer frame, end effector is installed on the machine joint of least significant end, and joint motor is installed in corresponding machine joint.

During normal operation, each robot palletizer works alone separately on the production line.Robot main control computer control code stack machine device human motion, issue on the one hand the control information in corresponding machine joint to the machine joint motor driver module of correspondence by the Local C AN bus of robot, corresponding machine joint motor driver module is finished set action according to machine joint corresponding to control command control according to planning, the robot main control computer gathers the motion state information in corresponding machine joint and the status information of robot from sensor assembly simultaneously, such as the current attitude of robot, the angle in the machine joint that robot is corresponding, current of electric size etc.Analyze by the status information that these are collected, robot can judge whether present duty is normal.Each robot feeds back to the total control computer of production line with the CAN bus of status information by production line of oneself, and the total control computer of production line shows these information at master control room, can supply administrative staff's reference.And when some robot palletizers broke down, the robot main control computer was by the information of sensor feedback, tracing trouble information, the reason that failure judgement is possible, and automatically take corresponding measure, such as reducing the joint speed of service, re-start motion planning, avoid using the joint etc. of being out of order.By these fault-tolerant control measure, robot will guarantee the normal operation of work as far as possible, and to avoid the interruption of production line, on the other hand, the robot main control computer feeds back to the production line main control computer with fault message by the CAN bus at once.The production line main control computer obtains fault message, can start warning, fault message is presented on the display screen in control room, in addition fault message is notified other robot palletizers of same production line, make it reduce the speed of service, to cooperate the operating rate of fault robot, avoid product to pile up at out of order robot place, affect the operation of production line.

The present invention is by having added the new fault-tolerant control of certainly maintenance in common robot palletizer control system.When breaking down, can pass through the corresponding adjustment to other robot palletizers of fault robot and whole production line, the normal operation of keeping whole production line of maximum possible.When some robot palletizers break down on the production line, the control system of robot self can in time be found fault, carry out possible self, to realize fault-tolerant control, to keep the operation of production line, the robot palletizer of makeing mistakes simultaneously sends to the diagnostic message of oneself on the bus, with the fault message notice turn-key system of oneself and the other machines people on the same production line, turn-key system can be presented at fault message on the working interface on the one hand, notice production line related management personnel, the other machines people on the line that coordinates production simultaneously, with the robot that cooperation is broken down, the normal operation of keeping production line of maximum possible.

Description of drawings

Fig. 1 is system architecture schematic diagram of the present invention.

Fig. 2 is the embodiment workflow diagram.

Fig. 3 is motor drive module and sensor module structure schematic diagram

Fig. 4 is related robot palletizer structural representation

The specific embodiment

The below elaborates to embodiments of the invention, and present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

As shown in Figure 1, present embodiment comprises: production line main control module 1, bus interface module 2, motor drive module 3, sensor assembly 4, communication bus 5, robot main control module 6 and robot palletizer 7, wherein: robot main control module 6 is connected with bus interface module 2 and exports control information to the Local C AN bus 5 of robot, be sent to the machine joint motor driver module 3 of the correspondence of robot, robot main control module 6 is by the robotary information that Local C AN bus 5 is connected with sensor assembly 4 and receiving sensor module 4 is fed back of robot, be connected with bus interface module 2 higher level CAN bus by production line of robot main control module 6 is connected with production line main control module 1 and exports production line control information and feedback robotary information, described communication bus 5 comprises: the Local C AN of robot bus 5 is connected with production line CAN bus, the Local C AN of robot bus 5 respectively with bus interface module 2, motor drive module 3 is connected with sensor assembly 4 and respectively transfer bus control information and then the motion of SERVO CONTROL joint motor, feedback controlled joint motions status information and feedback transducer information, production line main control module 1 is connected with production line CAN bus by bus interface module 2 and transferring robot feedback states information and the control information that issues with the main control module 1 of each robot.

In the present embodiment:

Described production line main control module 1 is achieved by the total control computer of production line.

Described bus interface module 2 is achieved by the PC104CAN card.

Described robot main control module 6 is achieved by the robot main control computer.

Described motor drive module 3 comprises: the first power circuit 8, the first bus communication circuit 9, first control circuit 10, motor status testing circuit 11 and motor-drive circuit 12, wherein: the first power circuit 8 and the first bus communication circuit 9, first control circuit 10, motor status testing circuit 11 links to each other with motor-drive circuit 12 and provides work required operating voltage for each circuit, first control circuit 10 is connected on the CAN bus by the first bus communication circuit 9 and receives robot main control module 6 control information that sends and the status information of feeding back joint of robot, first control circuit 10 is connected with motor-drive circuit 12 and rotates according to control information control motor-drive circuit 12 driven machine person joints, and first control circuit 10 is connected with motor status testing circuit 11 and the running status that gathers joint motor feeds back to robot main control module 6 simultaneously.

Described sensor assembly 4 comprises: second source circuit 13, the second bus communication circuit 14, second control circuit 15 and sensor circuit 16, wherein: second source circuit 13 and the second bus communication circuit 14, second control circuit 15 links to each other with sensor circuit 16 and provides work required operating voltage for each circuit, second control circuit 15 is connected on the CAN bus by the second bus communication circuit 14 and feeds back the status information of robot, and second control circuit 15 is connected with sensor circuit 16 and the running status that gathers robot feeds back to robot main control module 6 simultaneously.

Described communication bus 5 comprises: the higher level CAN bus 18 of the Local C AN bus 17 of robot and production line, wherein: the Local C AN of robot bus 17 respectively with bus interface module 2, motor drive module 3 is connected with sensor assembly 4 and respectively transfer bus control information and then the motion of SERVO CONTROL joint motor, feedback controlled joint motions status information and feedback transducer information, production line main control module 1 is connected with production line higher level CAN bus 18 by bus interface module 2 and transferring robot feedback states information and the control information that issues with the main control module 1 of each robot.

Described robot palletizer 7 comprises: robot palletizer frame 19, several machine joints 20, end effector 21 and joint motor 22, wherein: several machine joints 20 are installed in series and directly link to each other with robot palletizer frame 19, end effector 21 is installed on the machine joint 20 of least significant end, and joint motor 22 is installed in corresponding 20 places, machine joint.

As shown in Figure 2, present embodiment carries out work in the following manner:

All robot palletizers 7 all are connected on the CAN bus, and set relevant parameter, start-up system, and at this moment, each robot finishes corresponding action according to own task of distributing.The robot main control computer is connected on the Local C AN bus 5 of robot in succession by one of them interface direct of PCCAN card.As the control core of robot palletizer 7, the robot main control computer is according to 7 motions of production task planning action control robot palletizer.The robot main control computer issues the machine joint that movement instruction controls robot palletizer 7 correspondences for corresponding machine joint control by the CAN bus and rotates, and motion is compensated, and coordination is to realize the accurate motion of end effector.The movable information in the machine joint that robot main control computer Real-time Collection robot is corresponding in addition and the output information of each sensor in the robot, the motion state of Real Time Monitoring robot accordingly, the machine joint of the correspondence of robot palletizer 7 is driven by motor drive module 3, the drive and control of electric machine module receives the control command that the robot main control computer issues from the CAN bus, control motor-drive circuit 12 driving joints rotate, realize the position, speed, the electric current loop closed-loop control, and obtain in real time the motion state in joint, feed back to the robot main control computer.Some sensor assembly 4 Real-time Collection ambient condition information also can be installed on the robot palletizer 7, end effector position and attitude information, and feed back to the robot main control computer by the control circuit 10 of sensor assembly 4.The robot main control computer is connected to the higher level CAN bus of production line by the another one interface of PCCAN card, and the real-time status information of this robot is fed back to the total control computer of production line.The total control computer of production line is installed in the master control room, by each robot palletizer 7 on the higher level CAN bus connection production line of production line, the running status of each robot palletizer 7 of Real-Time Monitoring.

When certain robot breaks down, inadequate such as the joint motor driving force, closing current this moment can sharply increase, the robot main control computer obtains the joint current values from joint drive module 3 and increases, so the robot main control computer is judged this joint and is broken down, the robot main control computer is by adjusting the Electric Machine Control parameter on the one hand, the measures such as change robot motion, reduce fail close joint current of electric, the robot main control computer feeds back to the total control computer of production line by the higher level CAN bus on the production line with fault message simultaneously, the total control computer of production line obtains fault message from the CAN bus, alarm production line related management personnel immediately, demonstration screen display fault message in the control room, the total control computer of production line reduces the speed of service by other robot palletizers 7 on the CAN bus notice production line simultaneously, to cooperate the operating rate of fault robot, to realize keeping to greatest extent the normal operation of whole production line.

Claims (5)

1. robot palletizer control system that has from maintenance function, it is characterized in that, comprise: the production line main control module, bus interface module, motor drive module, sensor assembly, communication bus, robot main control module and robot palletizer, wherein: the robot main control module is connected with bus interface module and exports control information to the Local C AN of robot bus, be sent to the machine joint motor driver module of the correspondence of robot, the robotary information that the robot main control module is connected with sensor assembly by robot Local C AN bus and the receiving sensor module is fed back, the robot main control module is connected with bus interface module and is connected with the production line main control module and exports production line control information and feedback robotary information by production line higher level CAN bus, described communication bus comprises: the Local C AN of robot bus is connected with production line higher level CAN bus, the Local C AN of robot bus respectively with bus interface module, motor drive module is connected with sensor assembly and respectively transfer bus control information and then the motion of SERVO CONTROL joint motor, feedback controlled joint motions status information and feedback transducer information, the production line main control module is connected with production line higher level CAN bus by bus interface module and transferring robot feedback states information and the control information that issues with the main control module of each robot.
2. the robot palletizer control system that has from maintenance function according to claim 1, it is characterized in that, described motor drive module comprises: the first power circuit, the first bus communication circuit, first control circuit, motor status testing circuit and motor-drive circuit, wherein: the first power circuit and the first bus communication circuit, first control circuit, the motor status testing circuit links to each other with motor-drive circuit and provides work required operating voltage for each circuit, first control circuit is connected on the Local C AN of the robot bus by the first bus communication circuit and receives robot the main control module control information that sends and the status information of feeding back joint of robot, first control circuit is connected with motor-drive circuit and rotates according to control information control motor-drive circuit driven machine person joint, and first control circuit is connected with the motor status testing circuit and the running status that gathers joint motor feeds back to the robot main control module simultaneously.
3. the robot palletizer control system that has from maintenance function according to claim 1, it is characterized in that, described sensor assembly comprises: the second source circuit, the second bus communication circuit, second control circuit and sensor circuit, wherein: second source circuit and the second bus communication circuit, second control circuit links to each other with sensor circuit and provides work required operating voltage for each circuit, second control circuit is connected on the Local C AN of the robot bus by the second bus communication circuit and feeds back the status information of robot, and second control circuit is connected with sensor circuit and the running status that gathers robot feeds back to the robot main control module simultaneously.
4. the robot palletizer control system that has from maintenance function according to claim 1, it is characterized in that, described communication bus comprises: robot Local C AN bus and production line higher level CAN bus, wherein: the Local C AN of robot bus respectively with bus interface module, motor drive module is connected with sensor assembly and respectively transfer bus control information and then the motion of SERVO CONTROL joint motor, feedback controlled joint motions status information and feedback transducer information, the production line main control module is connected with production line higher level CAN bus by bus interface module and transferring robot feedback states information and the control information that issues with the main control module of each robot.
5. the robot palletizer control system that has from maintenance function according to claim 1, it is characterized in that, described robot palletizer comprises: robot palletizer frame, several machine joints, end effector and joint motor, wherein: several machine joints are installed in series and directly link to each other with the robot palletizer frame, end effector is installed on the machine joint of least significant end, and joint motor is installed in corresponding machine joint.
CN 201110097081 2011-04-14 2011-04-14 Control system for robot palletizer with self-maintenance function CN102139486B (en)

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CN103802105A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Mechanical arm control system
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CN107614212A (en) * 2015-12-30 2018-01-19 深圳配天智能技术研究院有限公司 Industrial robot and its fault judgment method
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