CN104808591A - Robot system for glass fiber pulling and control method - Google Patents
Robot system for glass fiber pulling and control method Download PDFInfo
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- CN104808591A CN104808591A CN201510089299.7A CN201510089299A CN104808591A CN 104808591 A CN104808591 A CN 104808591A CN 201510089299 A CN201510089299 A CN 201510089299A CN 104808591 A CN104808591 A CN 104808591A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4145—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using same processor to execute programmable controller and numerical controller function [CNC] and PC controlled NC [PCNC]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34269—Programmable computer controller, plc implemented with pc
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot system for glass fiber pulling and a control method. The robot system comprises a mechanical arm unit, laser sensors, and motion control cards, wherein the mechanical arm unit is arranged on a motion track for receiving an operation instruction, and executing glass fiber pulling, glass fiber cutting or reel replacing on a corresponding working table; the laser sensors are in one-to-one correspondence with the working tables, and are arranged on the motion track for detecting the diameter of the glass fiber and sending diameter data information obtained through detection; the motion control cards are arranged in an industrial control computer, are respectively connected with the mechanical arm unit, the laser sensors and the working table via control cables, and are used for storing operation logic information of the mechanical arm unit, receiving and analyzing the diameter data information and acquiring a detection result, and when the detection result is abnormal, an operation instruction is sent to the mechanical arm unit. The robot system for glass fiber pulling has the advantages that the operation is flexible, the precision is high, the cost is low, the size is small, the control logics can be adjusted conveniently, remote control is facilitated and the like.
Description
Technical field
The present invention relates to technical field, particularly relate to a kind of robot system for glass fiber wire-drawing and control method.
Background technology
Traditional glass fiber manufacturer belongs to labor-intensive enterprises, and salary earner's number is many, cost is high, work under bad environment, easily rubs between workman and field master.Workman's manual operations easily produces error, and glass fibre to pull etc. mechanical repetitive operation should not continuously high strength repeatedly continue carry out.
The companies such as external ABB adopt at present and control mechanically operated pattern by PLC, but to there is volume large for PLC, is not easy to write calculating, routine analyzer, not easily with the shortcoming such as internet is connected.There is no the robot system level scheme utilizing industrial control computer control for glass fiber wire-drawing at present.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
The invention provides one and utilize industrial control computer and motion control card control, for robot system and the control method of glass fiber wire-drawing.
The invention provides a kind of robot system for glass fiber wire-drawing, comprising:
Mechanical arm unit, is arranged in the tracks near multiple worktable, for receiving operational order, perform that glass fibre pulls according to described operational order to the worktable of correspondence, glass fibre cutting or changing bobbins operation;
Laser sensor, with described worktable one_to_one corresponding, is arranged in described tracks, for detecting the diameter of glass fibre, and the diameter data information that concurrent censorship records;
Motion control card, be arranged in industrial control computer, be connected with described mechanical arm unit, described laser sensor, described worktable respectively by control cables, for the operation logic information of store mechanical arm unit, receive and analyze described diameter data information, obtain testing result, when described testing result is abnormal according to described testing result and described operation logic information to described mechanical arm unit transmit operation instruction.
The present invention also provides a kind of robot system control method for glass fiber wire-drawing, comprising:
Laser sensor detects the diameter of glass fibre, and is sent to motion control card by detecting the diameter data information obtained;
Described motion control card receives and analyzes described diameter data information, obtains testing result, when described testing result is abnormal according to the mechanical arm unit transmit operation instruction of the operation logic information of described testing result and storage inside to correspondence;
Described mechanical arm unit according to receive operational order slides in tracks and to correspondence worktable perform glass fibre pull, glass fibre cutting or changing bobbins operate.
Robot system for glass fiber wire-drawing provided by the invention and control method carry out the operations such as glass fibre pulls by the motion control card control being arranged on industrial control computer inside, operate compared to workman's manual production, the robot motion that the present invention controls is more flexible, precision is higher and can intensive work continuously, and cost is more cheap; Compared to the robot controlled by PLC, robot system volume provided by the invention is less, the steering logic to motion control card programming adjustment robot can be passed through, industrial control computer can be controlled with remote control equipment by Cloud Server and receive warning, setting operation.In sum, the present invention is used for the robot system of glass fiber wire-drawing and control method has flexible operation, precision is high, and with low cost, volume is little, is convenient to adjust steering logic, is convenient to the advantages such as Long-distance Control.
Accompanying drawing explanation
Below with reference to the accompanying drawings illustrate embodiments of the invention, above and other objects, features and advantages of the present invention can be understood more easily.Parts in accompanying drawing are just in order to illustrate principle of the present invention.In the accompanying drawings, same or similar technical characteristic or parts will adopt same or similar Reference numeral to represent.
Fig. 1 is the structural representation of the present invention for a kind of embodiment of robot system of glass fiber wire-drawing.
Fig. 2 is the schematic flow sheet of the present invention for a kind of embodiment of robot system control method of glass fiber wire-drawing.
Fig. 3 is the schematic flow sheet of the present invention for step S30 in a kind of embodiment of robot system control method of glass fiber wire-drawing.
Fig. 4 is the schematic flow sheet of the present invention for step S30 in a kind of preferred implementation of robot system control method of glass fiber wire-drawing.
Description of reference numerals:
10 industrial control computers
20 motion control cards
30 tracks
40 mechanical arm unit
50 glass fiber bushings
60 laser sensors
70 worktable
80 cloud server terminal
90 remote control equipments
401 three-freedom mechanical arm
403 bionic hands
701 work reels
703 reels for subsequent use
705 reels to be installed
Embodiment
With reference to the accompanying drawings embodiments of the invention are described.The element described in an accompanying drawing of the present invention or a kind of embodiment and feature can combine with the element shown in one or more other accompanying drawing or embodiment and feature.It should be noted that for purposes of clarity, accompanying drawing and eliminate expression and the description of unrelated to the invention, parts known to persons of ordinary skill in the art and process in illustrating.
Fig. 1 is the structural representation of the present invention for a kind of embodiment of robot system of glass fiber wire-drawing.
As shown in Figure 1, in the present embodiment, the present invention comprises for the robot system of glass fiber wire-drawing:
Mechanical arm unit 40, is arranged in the tracks 30 near multiple worktable 70, for receiving operational order, perform that glass fibre pulls according to described operational order to the worktable 70 of correspondence, glass fibre cutting or changing bobbins operation;
Laser sensor 60, with worktable 70 one_to_one corresponding, is arranged in tracks 30, for detecting the diameter of glass fibre, and the diameter data information that concurrent censorship records;
Motion control card 20, be arranged in industrial control computer 10, be connected with mechanical arm unit 40, laser sensor 60, worktable 70 respectively by control cables, for the operation logic information of store mechanical arm unit 40, receive and analyze described diameter data information, obtain testing result, when described testing result is abnormal according to described testing result and described operation logic information to mechanical arm unit 40 transmit operation instruction.
Particularly, a mechanical arm unit 40 may correspond to the industrial accident processing the worktable 70 that 1-5 is not waited.Be preset with diameter threshold in motion control card 20, described diameter data information and the diameter threshold preset are compared, when described diameter data information is not more than described diameter threshold, testing result is qualified, and worktable 70 works on, and produces glass fiber; When described diameter data information is greater than described diameter threshold, testing result is defective, industrial control computer 10 sends the steering order of corresponding glass fibre cutting operation to motion control card 20, excises the excessive glass fibre of diameter by control cables controller mechanical arm unit 40.
Particularly, under automatic intelligent mode of operation, when defective, the last testing result of this testing result is qualified, motion control card 20 sends the operational order of corresponding glass fibre cutting operation, changing bobbins operation operation respectively, excises the excessive glass fibre of diameter by control cables controller mechanical arm unit 40; Motion control card 20 is rotated by control cables control worktable 70 to be exchanged work reel 701 and reel 703 for subsequent use, replaces former work reel 701 (existing reel 703 for subsequent use) by control cables controller mechanical arm unit 40 reel 705 to be installed.
When this is with when last time, testing result was defective, motion control card 20 sends the operational order of corresponding glass fibre cutting operation.Motion control card 20 excises the excessive glass fibre of diameter by control cables controller mechanical arm unit 40.
When this testing result is qualified, when last time, testing result was defective, motion control card 20 sends the operational order that corresponding glass fibre pulls operation, pulls glass fibre to work reel 701 by control cables controller mechanical arm unit 40.Worktable 70 works on production glass fibre.
Preferably, industrial control computer 10 is communicated to connect by cpci bus and motion control card 20, for being arranged the holding state of mechanical arm unit 40 by motion control card 20.
Preferably, industrial control computer 10 also comprises control command load module, and for inputting described operational order under manual operation mode of operation, holding state arranges instruction, correspondence setting instruction.Described holding state arrange instruction for arrange mechanical arm unit 40 standby time hovering position.Described correspondence setting instruction is for arranging the corresponding relation of mechanical arm unit 40 and worktable 70.Particularly, when industrial control computer 10 is in manual operation mode of operation, staff inputs described operational order by described control command load module, described holding state arranges the control command such as instruction, described correspondence setting instruction, thus controls described robot system and glass fiber wire-drawing production line by industrial control computer 10.
Preferably, industrial control computer 10 is also for adding up described testing result, obtain and display data analysis form, receive the work information of the mechanical arm unit 40 that motion control card 20 is obtained by described control cables, send described data analysis form and described work information.
Preferably, described robot system also comprises:
Remote control equipment 90, communicated to connect by cloud server terminal 80 and industrial control computer 10, for receiving and showing described data analysis form and described work information, analyze described data analysis form and described work information and obtain working position 70, the display alarm information that error frequency exceedes preset alarm threshold value, send that mode of operation is long-range arranges instruction and/or holding state is long-range arranges instruction.
Particularly, remote control equipment 90 can switch between automatic intelligent mode of operation and manual operation mode of operation by sending the long-range instruction setting industrial control computer 10 that arranges of mode of operation.Remote control equipment 90 can obtain the highest working position 70 of production development accident frequency by data analysis form, sends that holding state is long-range to be arranged instruction and make mechanical arm unit 40 standby at working position 70 place that described production development accident frequency is the highest.Remote control equipment 90 can also be arranged the corresponding relation of mechanical arm unit 40 and worktable 70, sends that corresponding relation is long-range arranges instruction.
Preferably, mechanical arm unit 40 comprises three-freedom mechanical arm 401, controls motor and bionic hand 403, three-freedom mechanical arm 401 first end is arranged in tracks 30, the second end is fixedly connected with bionic hand 403, described control motor is arranged in three-freedom mechanical arm 401, is connected with described control cables and bionic hand 403 respectively, and described control motor performs the corresponding operation of described operational order for receiving described operational order and controlling three-freedom mechanical arm 401 with bionic hand 403.
Preferably, bionic hand 403 also comprises the cutter for cutting glass fibre.
Preferably, in industrial control computer 10, be provided with at least six motion control cards 20, motion control card 20 and mechanical arm unit 40 one_to_one corresponding.Particularly, in the present embodiment, 6 motion control cards 20 in industrial control computer 10, are provided with, respectively corresponding control 6 mechanical arm unit 40.
Fig. 2 is the schematic flow sheet of the present invention for a kind of embodiment of robot system control method of glass fiber wire-drawing.
As shown in Figure 2, in the present embodiment, the present invention comprises for the robot system control method of glass fiber wire-drawing:
S10: laser sensor 60 detects the diameter of glass fibre, and be sent to motion control card 20 by detecting the diameter data information obtained;
S30: motion control card 20 receives and analyzes described diameter data information, obtains testing result, when described testing result is abnormal according to the mechanical arm unit 40 transmit operation instruction of the operation logic information of described testing result and storage inside to correspondence;
S50: mechanical arm unit 40 slides in tracks 30 according to the operational order received and perform to the worktable 70 of correspondence that glass fibre pulls, glass fibre cutting or changing bobbins operate.
Fig. 3 is the schematic flow sheet of the present invention for step S30 in a kind of embodiment of robot system control method of glass fiber wire-drawing.
As shown in Figure 3, in the present embodiment, step S30 comprises:
S301: motion control card 20 receives described diameter data information, and described diameter data information and the diameter threshold preset are compared.
S303: when described diameter data information is not more than described diameter threshold, described testing result is qualified.Particularly, when a upper testing result is defective, motion control card 20 sends the operational order that corresponding glass fibre pulls operation.
When described diameter data information is greater than described diameter threshold, described testing result is defective, and motion control card 20 sends the operational order of corresponding glass fibre cutting operation.Particularly, when a upper testing result is qualified, motion control card 20 sends the operational order of corresponding changing bobbins operation.
Fig. 4 is the schematic flow sheet of the present invention for step S30 in a kind of preferred implementation of robot system control method of glass fiber wire-drawing.
As shown in Figure 4, in the preferred embodiment, step S30 comprises:
S301: motion control card 20 stores described diameter data information, and described diameter data information and the diameter threshold preset are compared.
S303: when described diameter data information is not more than described diameter threshold, described testing result is qualified.Particularly, when a upper testing result is defective, motion control card 20 sends the operational order that corresponding glass fibre pulls operation.
When described diameter data information is greater than described diameter threshold, described testing result is defective, and motion control card 20 sends the operational order of corresponding glass fibre cutting operation.Particularly, when a upper testing result is qualified, motion control card 20 sends the operational order of corresponding changing bobbins operation.
S305: industrial control computer 10 is obtained by motion control card 20 and adds up described testing result, obtain and display data analysis form, receive the work information of the mechanical arm unit 40 that motion control card 20 is obtained by control cables, send described data analysis form and described work information.
S307: remote control equipment 90 is received by cloud server terminal 80 and shows described data analysis form and described work information, analyzes described data analysis form and described work information and obtains working position 70, the display alarm information that error frequency exceedes preset alarm threshold value.
In sum, robot system for glass fiber wire-drawing provided by the invention and control method carry out the operations such as glass fiber wire-drawing by the motion control card control being arranged on industrial control computer inside, operate compared to workman's manual production, the robot motion that the present invention controls is more flexible, precision is higher and can intensive work continuously, and cost is more cheap; Compared to the robot controlled by PLC, robot system volume provided by the invention is less, the steering logic to motion control card programming adjustment robot can be passed through, industrial control computer can be controlled with remote control equipment by Cloud Server and receive warning, setting operation.The present invention is used for the robot system of glass fiber wire-drawing and control method has flexible operation, precision is high, and with low cost, volume is little, is convenient to adjust steering logic, is convenient to the advantages such as Long-distance Control.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (12)
1. for a robot system for glass fiber wire-drawing, it is characterized in that, comprising:
Mechanical arm unit, is arranged in the tracks near multiple worktable, for receiving operational order, perform that glass fibre pulls according to described operational order to the worktable of correspondence, glass fibre cutting or changing bobbins operation;
Laser sensor, with described worktable one_to_one corresponding, is arranged in described tracks, for detecting the diameter of glass fibre, and the diameter data information that concurrent censorship records;
Motion control card, be arranged in industrial control computer, be connected with described mechanical arm unit, described laser sensor, described worktable respectively by control cables, for the operation logic information of store mechanical arm unit, receive and analyze described diameter data information, obtain testing result, when described testing result is abnormal according to described testing result and described operation logic information to described mechanical arm unit transmit operation instruction.
2. robot system according to claim 1, is characterized in that, described industrial control computer is communicated to connect by cpci bus and described motion control card, for being arranged the holding state of described mechanical arm unit by described motion control card.
3. robot system according to claim 2, it is characterized in that, described industrial control computer also comprises control command load module, and for inputting described operational order under manual operation mode of operation, holding state arranges instruction, correspondence setting instruction; Described holding state arrange instruction for arrange described mechanical arm unit standby time hovering position; Described correspondence setting instruction is for arranging the corresponding relation of described mechanical arm unit and described worktable.
4. robot system according to claim 2, it is characterized in that, described industrial control computer is also for adding up described testing result, obtain and display data analysis form, receive the work information of the described mechanical arm unit that described motion control card is obtained by described control cables, send described data analysis form and described work information.
5. robot system according to claim 4, is characterized in that, also comprises:
Remote control equipment, communicated to connect by cloud server terminal and described industrial control computer, for receiving and showing described data analysis form and described work information, analyze described data analysis form and described work information and obtain working position, the display alarm information that error frequency exceedes preset alarm threshold value, send that mode of operation is long-range arranges instruction and/or holding state is long-range arranges instruction.
6. robot system according to claim 1, it is characterized in that, described mechanical arm unit comprises three-freedom mechanical arm, controls motor and bionic hand, described three-freedom mechanical arm first end is arranged in described tracks, the second end is fixedly connected with described bionic hand, described control motor is arranged in described three-freedom mechanical arm, is connected with described control cables and described bionic hand respectively, and described control motor performs the corresponding operation of described operational order for receiving described operational order and controlling described three-freedom mechanical arm with described bionic hand.
7. robot system according to claim 6, is characterized in that, described bionic hand also comprises the cutter for cutting glass fibre.
8. the robot system according to any one of claim 1-7, is characterized in that, is provided with at least six described motion control cards in described industrial control computer, described motion control card and described mechanical arm unit one_to_one corresponding.
9., for a robot system control method for glass fiber wire-drawing, it is characterized in that, comprising:
Laser sensor detects the diameter of glass fibre, and is sent to motion control card by detecting the diameter data information obtained;
Described motion control card receives and analyzes described diameter data information, obtains testing result, when described testing result is abnormal according to the mechanical arm unit transmit operation instruction of the operation logic information of described testing result and storage inside to correspondence;
Described mechanical arm unit according to receive operational order slides in tracks and to correspondence worktable perform glass fibre pull, glass fibre cutting or changing bobbins operate.
10. robot system control method according to claim 9, it is characterized in that, described " described motion control card receives and analyzes described diameter data information; obtain testing result, when described testing result is abnormal according to the mechanical arm unit transmit operation instruction of the operation logic information of described testing result and storage inside to correspondence " comprising:
Described motion control card receives described diameter data information, and described diameter data information and the diameter threshold preset is compared;
When described diameter data information is not more than described diameter threshold, described testing result is qualified;
When described diameter data information is greater than described diameter threshold, described testing result is defective, and described motion control card sends the operational order of corresponding glass fibre cutting operation.
11. robot system control methods according to claim 10, is characterized in that, described " when described diameter data information is not more than described diameter threshold, described testing result is qualified " also comprises:
When a upper testing result is defective, described motion control card sends the operational order that corresponding glass fibre pulls operation;
Described " when described diameter data information is greater than described diameter threshold, described testing result is defective, the operational order that described motion control card sends the cutting of corresponding glass fibre, glass fibre pulls operation " also comprises:
When a upper testing result is qualified, described motion control card sends the operational order of corresponding changing bobbins operation.
12. robot system control methods according to claim 9, it is characterized in that, described " described motion control card receives and analyzes described diameter data information; obtain testing result, when described testing result is abnormal according to the mechanical arm unit transmit operation instruction of the operation logic information of described testing result and storage inside to correspondence " also comprises:
Described industrial control computer is obtained by described motion control card and adds up described testing result, obtain and display data analysis form, receive the work information of the described mechanical arm unit that described motion control card is obtained by control cables, send described data analysis form and described work information;
Remote control equipment is received by cloud server terminal and shows described data analysis form and described work information, analyzes described data analysis form and described work information and obtains working position, the display alarm information that error frequency exceedes preset alarm threshold value.
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| CN201510089299.7A CN104808591A (en) | 2015-02-27 | 2015-02-27 | Robot system for glass fiber pulling and control method |
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| CN201510089299.7A CN104808591A (en) | 2015-02-27 | 2015-02-27 | Robot system for glass fiber pulling and control method |
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| CN103963751A (en) * | 2014-04-24 | 2014-08-06 | 国家电网公司 | Method for replacing battery in chassis of electric automobile |
| CN104260094A (en) * | 2014-09-16 | 2015-01-07 | 深圳市佳晨科技有限公司 | Robot fault processing system and robot fault processing method |
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