CN103846916A - Intelligent robot control system - Google Patents
Intelligent robot control system Download PDFInfo
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- CN103846916A CN103846916A CN201210519061.XA CN201210519061A CN103846916A CN 103846916 A CN103846916 A CN 103846916A CN 201210519061 A CN201210519061 A CN 201210519061A CN 103846916 A CN103846916 A CN 103846916A
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Abstract
The invention provides an intelligent robot control system which is applied to a flexible manufacturing system and comprises an intelligent robot, a controlling machine, an I/O (Input/Output) module and a robot control cabinet, wherein the controlling machine is used for storing an action state signal of the intelligent robot by a 16-bit binary code; the I/O module is in signal connection with the controlling machine by a bus and is used for receiving a control signal of the controlling machine and converting the control signal into a 16-bit binary signal corresponding to the action of the intelligent robot; the robot control cabinet is provided with an I/O terminal block and is in signal connection with the I/O module by an I/O cable; and the intelligent robot is in signal connection with the robot control cabinet by a cable. The intelligent robot control system has the advantage of flexibility for control.
Description
Technical field
The present invention relates to field of intelligent control, be specifically related to a kind of Study of Intelligent Robot Control system that is applied to flexible manufacturing system.
Background technology
Intelligent robot is towards the multi-joint manipulator in intelligent field or multivariant robot.Intelligent robot is the installations that automatically perform work, is to lean on self power and control ability to realize a kind of machine of various functions.It can accept mankind commander, also can be according to the program operation of layout in advance, and the principle guiding principle action that modern intelligent robot can also be formulated according to artificial intelligence technology.
Intelligent robot is made up of main body, drive system and three essential parts of control system.Main body is support and executing agency, comprises arm, wrist and hand, and some robots also have walking mechanism.Most of intelligent robots have 3～6 freedoms of motion, and wherein wrist has 1～3 freedom of motion conventionally; Drive system comprises power set and transmission mechanism, uses so that executing agency produces corresponding action; Control system is, according to the program of input, drive system and executing agency are sent to command signal, and controls.
Intelligent robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can move along three rectangular co-ordinates; The arm of circular cylindrical coordinate type can be made lifting, revolution and expanding-contracting action; The arm energy revolution of spherical coordinates type, pitching and flexible; The arm of joint type has multiple cradle heads.
Intelligent robot follow procedure input mode is distinguished imported and imported two classes of teaching of programming.Programming imported is by the operation procedure file of having finished on computer, is sent to robot control cabinet by communication modes such as RS232 serial ports or Ethernets.
The imported teaching method of teaching has two kinds: one is to use personal control (teaching maneuver box) by operator, and command signal is passed to drive system, and executing agency's sequence of movement and movement locus on request drilled one time; Another kind is that sequence of movement on request and movement locus are drilled one time by the direct Ling Dong of operator executing agency.In teaching process, the information of working procedure deposit in program storage automatically in the time of robot automatic operation, control system detects corresponding information from program storage, and command signal is passed to driving mechanism, makes executing agency reproduce the exercises of teaching.The intelligent robot of teaching input program is called teaching reproduction pattern intelligent robot.
There is the intelligent robot of sense of touch, power feel or simple vision, can comparatively under complex environment, work; As there is recognition function or further increase self adaptation, self-learning function, become intelligent intelligent robot." macro-instruction " that it can be given according to people free or self-compiling program is deacclimatized environment, and automatically completes more complicated work.
The intelligent robot of prior art mainly exists controls inflexible shortcoming.
Summary of the invention
For above-mentioned defect, the object of this invention is to provide a kind of Study of Intelligent Robot Control system, to solve the inflexible technical problem of Study of Intelligent Robot Control of prior art.
For achieving the above object, the present invention has adopted following technical scheme:
A kind of Study of Intelligent Robot Control system, is applied in flexible manufacturing system, comprises intelligent robot, also comprises:
Controller, it stores the operating state signal of described intelligent robot with 16 binary codes;
I/O module, it is connected with described controller signal by bus, accepts the control signal of described controller, is translated into 16 binary signals of corresponding described intelligence machine human action.；
Robot control cabinet, it is provided with I/O terminal board, and it is connected with described I/O module by signal by I/O cable, and described intelligent robot is connected with this robot control cabinet signal by cable.
According to the control system described in preferred embodiment of the present invention, described I/O module is provided with 16 output pins, corresponding 16 binary system state of a control signals.
According to the control system described in preferred embodiment of the present invention, described controller is connected with the DP interface of described I/O module by Profibus bus.
According to the control system described in preferred embodiment of the present invention, described controller be PLC controller or IPC Based Intelligent Control computer one of them.
According to the control system described in preferred embodiment of the present invention, between the I/O terminal board of described I/O module and described robot control cabinet, isolate by relay.
According to the control system described in preferred embodiment of the present invention, described I/O terminal board is provided with the coil opening and closing for controlling described intelligent robot jaw.
Owing to having adopted above technical characterictic, make the present invention than prior art, there is following advantage and good effect:
In the present invention to and pain each action execution program write the code of 0 ~ 65535, be stored in controller, controller is distributed to corresponding sequence number I/O module and sends to the form of 16 bits the receiving terminal of the I/O terminal board of robot control cabinet, in robot teaching device, write Action Selection program, the binary data receiving according to the I/O terminal board from robot control cabinet is selected corresponding action, thereby the object that reaches flexible control action, has and uses advantage flexibly.
Certainly, implement any one specific embodiment of content of the present invention, might not reach above whole technique effect simultaneously.
Brief description of the drawings
Fig. 1 is the configuration diagram of a kind of Study of Intelligent Robot Control system of the present invention;
Fig. 2 is the schematic diagram of the I/O module in the present invention;
Fig. 3 is the schematic diagram of the I/O terminal board in the present invention;
Fig. 4 is the schematic diagram of the relay in the present invention.
Detailed description of the invention
For ease of understanding, below in conjunction with accompanying drawing, to preferred embodiment of the present invention, be described in further detail.
As shown in Figure 1, a kind of Study of Intelligent Robot Control system, is applied in flexible manufacturing system, comprises intelligent robot 10, also comprises: adopt the controller 20 of IPC or PLC Programmable Logic Controller, I/O module 30, with the robot control cabinet 40 of I/O terminal board.
Wherein, controller 20 is stored the operating state signal of described intelligent robot with 16 binary codes, be connected with the DP interface signal of described I/O module by Profibus bus afterwards, I/O module 30 is accepted the control signal of described controller 20, is translated into 16 binary signals that corresponding described intelligent robot 10 moves.；
It is provided with I/O terminal board robot control cabinet 40, and it is connected with described I/O module 30 signals by I/O cable, and described intelligent robot 10 is connected with these robot control cabinet 30 signals by cable, is specifically connected to the teaching machine of robot control cabinet 30.
As shown in Figure 2, I/O module 30 is provided with 16 output pins, and corresponding 16 binary system state of a control signals, are provided with DP interface and are connected with controller bus
As shown in Figure 3, K1, the K2 in I/O terminal board is in robot work and the feedback signal Y1 of idle condition, Y2 are two coils of robot pneumatic jaw magnetic valve, is used for controlling opening of jaw and examines and closure.K3-K18 is the binary coded signal of corresponding 16 bit motion subprograms.
In actual applications, often due to reasons such as interference, may seal in suddenly a larger electric current in holding wire time, if distributed I/O module 30 is directly connected in the I/O terminal board of robot control cabinet, be easy to the I/O terminal board of distributed I/O module 30 or robot control cabinet to burn out.For example, the output level of distributed I/O module 30 is direct current 24V, but the incoming level of the I/O terminal board of robot control cabinet 40 may not be direct current 24V, be likely 5V or other, so just can not directly the output of distributed I/O module 30 be connected to the input of the I/O terminal board of robot control cabinet 40.Therefore need to utilize relay to do to isolate, even if there be like this sealing in also not of larger electric current can burning apparatus, can burn relay.
As shown in Figure 4, relay is generally made up of coil and electric shock, and circuit is isolated into input circuit (control system) and output loop (controlled system) by it, the input circuit control coil power on/off of relay, thereby the switch that output control loop gets an electric shock.Once have a larger electric current to flow into input circuit, its coil will burn, and can not affect output loop, this is relay protection effect.
The present invention, than prior art, has following advantage and good effect:
In the present invention, each action execution program of robot is write the code of 0 ~ 65535, be stored in controller, controller is distributed to corresponding sequence number I/O module and sends to the form of 16 bits the receiving terminal of the I/O terminal board of robot control cabinet, in robot teaching device, write Action Selection program, the binary data receiving according to the I/O terminal board from robot control cabinet is selected corresponding action, thereby reaches the object of flexible control action.
Disclosed is above only preferred embodiment of the present invention; but be not used for limiting itself, anyly have the knack of those skilled in the art, without prejudice to spiritual connotation of the present invention in the situation that; the equalization of doing changes and changes, and all should drop in protection scope of the present invention.
Claims (6)
1. a Study of Intelligent Robot Control system, is applied in flexible manufacturing system, comprises intelligent robot, it is characterized in that, also comprises:
Controller, it stores the operating state signal of described intelligent robot with 16 binary codes;
I/O module, it is connected with described controller signal by bus, accepts the control signal of described controller, is translated into 16 binary signals of corresponding described intelligence machine human action; Robot control cabinet, it is provided with I/O terminal board, and it is connected with described I/O module by signal by I/O cable, and described intelligent robot is connected with this robot control cabinet signal by cable.
2. control system as claimed in claim 1, is characterized in that, described I/O module is provided with 16 output pins, corresponding 16 binary system state of a control signals.
3. control system as claimed in claim 1, is characterized in that, described controller is connected with the DP interface of described I/O module by Profibus bus.
4. control system as claimed in claim 1, is characterized in that, described controller be PLC controller or IPC Based Intelligent Control computer one of them.
5. control system as claimed in claim 1, is characterized in that, between the I/O terminal board of described I/O module and described robot control cabinet, isolates by relay.
6. control system as claimed in claim 1, is characterized in that, described I/O terminal board is provided with the coil opening and closing for controlling described intelligent robot jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210519061.XA CN103846916A (en) | 2012-12-06 | 2012-12-06 | Intelligent robot control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210519061.XA CN103846916A (en) | 2012-12-06 | 2012-12-06 | Intelligent robot control system |
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| CN103846916A true CN103846916A (en) | 2014-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290946A (en) * | 2015-11-21 | 2016-02-03 | 中国船舶重工集团公司第七一六研究所 | Full-automatic plate making and polishing system and method for plate making and polishing |
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2012
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105290946A (en) * | 2015-11-21 | 2016-02-03 | 中国船舶重工集团公司第七一六研究所 | Full-automatic plate making and polishing system and method for plate making and polishing |
| CN105290946B (en) * | 2015-11-21 | 2017-10-10 | 中国船舶重工集团公司第七一六研究所 | A kind of full-automatic plate-making polishing system and the method for plate-making polishing |
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Application publication date: 20140611 |