CN104932407A - Modular robot driving control system and method based on PLC - Google Patents
Modular robot driving control system and method based on PLC Download PDFInfo
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- CN104932407A CN104932407A CN201510279878.8A CN201510279878A CN104932407A CN 104932407 A CN104932407 A CN 104932407A CN 201510279878 A CN201510279878 A CN 201510279878A CN 104932407 A CN104932407 A CN 104932407A
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
Abstract
The invention discloses a modular robot driving control system and a method based on PLC. The modular robot driving control system and the method are realized via the logic setting of the PLC, all I/O signals acquired in the field are transferred to registers with corresponding addresses, the signals in the registers are decoded to logic determination program blocks via DECO decoding instructions, and the determination program blocks of all the units are the same except the addresses. As long as an address block is added in the program, a working unit can be added, and the problem of poor adaptability of on-site program control for robots is effectively solved.
Description
Technical field
The present invention relates to PLC and control Compiling Technique field, relate to a kind of modularization robot driving control system based on PLC and method specifically.
Background technology
Often need to carry out a large amount of control program authorized strength works in robot site control procedure, and the control of programmed method traditional at present and advanced person application defines a contradiction between requiring.Traditional method be by controlled unit needing step-by-steply write logic control instruction.Owing to not finding the common law of each cell operation, when several different funtion part, when being programmed respectively by different personnel, greatly hamper the raising of control program compiling level and the scheduling and planning in later stage and plant maintenance, the control effects of numerically-controlled machine is also difficult to obtain good guarantee at programming level simultaneously.I.e. not only program bad adaptability is simultaneously many for man-hour with consumption slip-stick artist.
Therefore, the present inventor needs a kind of new technology of design badly to improve its problem.
Summary of the invention
The present invention aims to provide a kind of modularization robot driving control system based on PLC and method, and it effectively can solve the problem of robot site control program bad adaptability.
For solving the problems of the technologies described above, technical scheme of the present invention is:
Based on a modularization robot driving control system of PLC, comprising:
Input arranges module, for selecting working cell on the touchscreen, working cell described in each is numbered, be simultaneously desired location key point in working cell described in each according to number order, wherein said position key point comprises two or more location point, each punch press or the artificial working cell of machine;
Fieldbus module, send it to PLC for the status information of real-time collecting working cell described in each and/or solicited message, wherein said status information comprises current location point, and described request information comprises location point, the action executing information of asking to enter;
PLC control module, for by analyzing the status information of all working unit and/or solicited message, judge the solicited message that whether can respond working cell described in each, if can respond, this working cell performs according to its solicited message, otherwise then this working cell enters predeterminated position wait.
Further, described PLC control module specifically comprises:
Register module, for being deposited in the register of different address by fieldbus module respectively by the status information of each working cell and/or solicited message, is preset with general function command in register described in each;
Decoding module, for decoding out the status information of register and/or solicited message that are arranged in different address by decoding instruction and sending to judging module;
Described judgement module, conflict for judging that whether location point that each working cell request enters has with the location point that current location point and/or the request of other working cells enter, if Lothrus apterus, then this working cell performs its solicited message by the function command called in its register, otherwise then this working cell and the working cell that clashes with it enter predeterminated position and wait for and giving the alarm simultaneously.
Further, described decoding instruction is DECO decoding instruction.
Further, described fieldbus module obtains its status information and solicited message by the I/O signal gathering working cell described in each.
Further, described position key point comprises three location points, and be respectively upstream position point, intermediate position points and downstream position point, described predeterminated position is the intermediate position points of this working cell.
Based on a modularization robot drived control method of PLC, comprise the steps:
S1: selected working cell on the touchscreen, working cell described in each is numbered, be simultaneously desired location key point in working cell described in each according to number order, wherein said position key point comprises two or more location point, each punch press or the artificial working cell of machine;
S2: the status information of real-time collecting working cell described in each and/or solicited message also send it to PLC, and wherein said status information comprises current location point, and described request information comprises location point, the action executing information of asking to enter;
S3:PLC is by analyzing the status information of all working unit and/or solicited message, judge the solicited message that whether can respond working cell described in each, if can respond, this working cell performs according to its solicited message, otherwise then this working cell enters predeterminated position wait.
Further, described step S3 specifically comprises:
S31: by fieldbus module, the status information of each working cell and/or solicited message are deposited in the register of different address respectively, are preset with general function command in register described in each;
S32: the status information of register and/or solicited message being arranged in different address is decoded out by decoding instruction;
S33: judge that whether location point that each working cell request enters has with the location point that current location point and/or the request of other working cells enter and conflict, if Lothrus apterus, then this working cell performs its solicited message by the function command called in its register, otherwise then this working cell and the working cell that clashes with it enter predeterminated position and wait for and giving the alarm simultaneously.
Further, the decoding instruction in described step S32 is DECO decoding instruction.
Further, the I/O signal by gathering working cell described in each in described step S2 obtains its status information and solicited message.
Further, described position key point comprises three location points, and be respectively upstream position point, intermediate position points and downstream position point, described predeterminated position is the intermediate position points of this working cell.
Adopt technique scheme, the present invention at least comprises following beneficial effect:
Modularization robot driving control system based on PLC of the present invention and method, realized by the logic setting of PLC, all I/O signals of collection in worksite are all moved in the register of appropriate address, use decoding instruction again the signal decoding in register in Logic judgment program block, the Logic judgment program block of all unit only has address different, and other are all identical.When a newly-increased working cell, only an address block need be increased in a program, thus the effective problem solving robot site control program bad adaptability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the modularization robot driving control system based on PLC of the present invention;
Fig. 2 is the process flow diagram of the modularization robot drived control method based on PLC of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
embodiment 1
As shown in Figure 1, for meeting a kind of modularization robot driving control system based on PLC of the present embodiment, comprising:
Input arranges module, for selecting working cell on the touchscreen, working cell described in each is numbered, be simultaneously desired location key point in working cell described in each according to number order, wherein said position key point comprises two or more location point, described location point can be concrete coordinate position point, also can be the operation order of upstream and downstream working cell, each punch press or the artificial working cell of machine;
Fieldbus module, send it to PLC for the status information of real-time collecting working cell described in each and/or solicited message, wherein said status information comprises current location point, and described request information comprises location point, the action executing information of asking to enter;
PLC control module, for by analyzing the status information of all working unit and/or solicited message, judge the solicited message that whether can respond working cell described in each, if can respond, this working cell performs according to its solicited message, otherwise then this working cell enters predeterminated position wait.
Further, described PLC control module specifically comprises:
Register module, for being deposited in the register of different address by fieldbus module respectively by the status information of each working cell and/or solicited message, is preset with general function command in register described in each; Described general function command includes but not limited to startup, suddenly stops, stops the handing-over of outer equipment upstream and downstream in addition, spot sensor feedback, air pressure feedback, latch feedback.Described alerting signal has fault-signal, electric voltage exception signal, and safety door breaks in signal, apparatus overload, and workpiece falls, and scram button does not reset.
Decoding module, for decoding out the status information of register and/or solicited message that are arranged in different address by decoding instruction and sending to judging module;
Described judgement module, i.e. Logic judgment program block, conflict for judging that whether location point that each working cell request enters has with the location point that current location point and/or the request of other working cells enter, if Lothrus apterus, then this working cell performs its solicited message by the function command called in its register, otherwise then this working cell and the working cell that clashes with it enter predeterminated position and wait for and giving the alarm, and wait for that staff confirms to ensure programme controlled accuracy and security simultaneously.
Preferably, described decoding instruction is DECO decoding instruction.Preferred partial decoding of h instruction is as follows:
Preferably, described fieldbus module obtains its status information and solicited message by the I/O signal gathering working cell described in each.Due to the routine techniques means that it is those skilled in the art, so place repeats no more.
Preferably, described position key point comprises three location points, and be respectively upstream position point, intermediate position points and downstream position point, described predeterminated position is the intermediate position points of this working cell.Particularly upstream, centre and three, downstream location point are set for the action of robot to it, slide block upper, middle and lower three points are then provided with as timing reference to punch press.Each being added into produces the module of line, and its motion all needs PLC to judge upstream, or whether upstream device conflicts with its position, and if First robot is in downstream, then second robot can not enter its upstream.
The present embodiment is realized by the logic setting of PLC, all I/O signals of collection in worksite are all moved in the register of appropriate address, use decoding instruction again the signal decoding in register in Logic judgment program block, the Logic judgment program block of all unit only has address different, and other are all identical.When a newly-increased unit, only need increase an address block in a program, the effective problem solving robot site control program bad adaptability.
embodiment 2
As shown in Figure 2, for meeting a kind of modularization robot drived control method based on PLC of the present embodiment, comprise the steps:
S1: selected working cell on the touchscreen, working cell described in each is numbered, be simultaneously desired location key point in working cell described in each according to number order, wherein said position key point comprises two or more location point, described location point can be concrete coordinate position point, also can be the operation order of upstream and downstream working cell, each punch press or the artificial working cell of machine;
S2: the status information of real-time collecting working cell described in each and/or solicited message also send it to PLC, and wherein said status information comprises current location point, and described request information comprises location point, the action executing information of asking to enter;
S3:PLC is by analyzing the status information of all working unit and/or solicited message, judge the solicited message that whether can respond working cell described in each, if can respond, this working cell performs according to its solicited message, otherwise then this working cell enters predeterminated position wait.
Further, described step S3 specifically comprises:
S31: by fieldbus module, the status information of each working cell and/or solicited message are deposited in the register of different address respectively, are preset with general function command in register described in each; Described general function command includes but not limited to startup, suddenly stops, stops the handing-over of outer equipment upstream and downstream in addition, spot sensor feedback, air pressure feedback, latch feedback.Described alerting signal has fault-signal, electric voltage exception signal, and safety door breaks in signal, apparatus overload, and workpiece falls, and scram button does not reset.
S32: the status information of register and/or solicited message being arranged in different address is decoded in Logic judgment program block by decoding instruction;
S33: judge that whether location point that each working cell request enters has with the location point that current location point and/or the request of other working cells enter and conflict, if Lothrus apterus, then this working cell performs its solicited message by the function command called in its register, otherwise then this working cell and the working cell that clashes with it enter predeterminated position and wait for and giving the alarm, and wait for that staff confirms to ensure programme controlled accuracy and security simultaneously.
Preferably, the decoding instruction in described step S32 is DECO decoding instruction.Preferred partial decoding of h instruction is as follows:
Preferably, the I/O signal by gathering working cell described in each in described step S2 obtains its status information and solicited message.Due to the routine techniques means that it is those skilled in the art, so place repeats no more.
Preferably, described position key point comprises three location points, and be respectively upstream position point, intermediate position points and downstream position point, described predeterminated position is the intermediate position points of this working cell.Particularly upstream, centre and three, downstream location point are set for the action of robot to it, slide block upper, middle and lower three points are then provided with as timing reference to punch press.Each being added into produces the module of line, and its motion all needs PLC to judge upstream, or whether upstream device conflicts with its position, and if First robot is in downstream, then second robot can not enter its upstream.
The present embodiment is realized by the logic setting of PLC, all I/O signals of collection in worksite are all moved in the register of appropriate address, use decoding instruction again the signal decoding in register in Logic judgment program block, the Logic judgment program block of all unit only has address different, and other are all identical.When a newly-increased unit, only need increase an address block in a program, the effective problem solving robot site control program bad adaptability.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the process flow diagram of the method for the embodiment of the present invention, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Claims (10)
1., based on a modularization robot driving control system of PLC, it is characterized in that, comprising:
Input arranges module, for selecting working cell on the touchscreen, working cell described in each is numbered, be simultaneously desired location key point in working cell described in each according to number order, wherein said position key point comprises two or more location point, each punch press or the artificial working cell of machine;
Fieldbus module, send it to PLC for the status information of real-time collecting working cell described in each and/or solicited message, wherein said status information comprises current location point, and described request information comprises location point, the action executing information of asking to enter;
PLC control module, for by analyzing the status information of all working unit and/or solicited message, judge the solicited message that whether can respond working cell described in each, if can respond, this working cell performs according to its solicited message, otherwise then this working cell enters predeterminated position wait.
2., as claimed in claim 1 based on the modularization robot driving control system of PLC, it is characterized in that, described PLC control module specifically comprises:
Register module, for being deposited in the register of different address by fieldbus module respectively by the status information of each working cell and/or solicited message, is preset with general function command in register described in each;
Decoding module, for decoding out the status information of register and/or solicited message that are arranged in different address by decoding instruction and sending to judging module;
Described judgement module, conflict for judging that whether location point that each working cell request enters has with the location point that current location point and/or the request of other working cells enter, if Lothrus apterus, then this working cell performs its solicited message by the function command called in its register, otherwise then this working cell and the working cell that clashes with it enter predeterminated position and wait for and giving the alarm simultaneously.
3., as claimed in claim 2 based on the modularization robot driving control system of PLC, it is characterized in that: described decoding instruction is DECO decoding instruction.
4. the modularization robot driving control system based on PLC as described in as arbitrary in claim 1-3, is characterized in that: described fieldbus module obtains its status information and solicited message by the I/O signal gathering working cell described in each.
5. the modularization robot driving control system based on PLC as described in as arbitrary in claim 1-4, it is characterized in that: described position key point comprises three location points, be respectively upstream position point, intermediate position points and downstream position point, described predeterminated position is the intermediate position points of this working cell.
6., based on a modularization robot drived control method of PLC, it is characterized in that, comprise the steps:
S1: selected working cell on the touchscreen, working cell described in each is numbered, be simultaneously desired location key point in working cell described in each according to number order, wherein said position key point comprises two or more location point, each punch press or the artificial working cell of machine;
S2: the status information of real-time collecting working cell described in each and/or solicited message also send it to PLC, and wherein said status information comprises current location point, and described request information comprises location point, the action executing information of asking to enter;
S3:PLC is by analyzing the status information of all working unit and/or solicited message, judge the solicited message that whether can respond working cell described in each, if can respond, this working cell performs according to its solicited message, otherwise then this working cell enters predeterminated position wait.
7., as claimed in claim 6 based on the modularization robot drived control method of PLC, it is characterized in that, described step S3 specifically comprises:
S31: by fieldbus module, the status information of each working cell and/or solicited message are deposited in the register of different address respectively, are preset with general function command in register described in each;
S32: the status information of register and/or solicited message being arranged in different address is decoded out by decoding instruction;
S33: judge that whether location point that each working cell request enters has with the location point that current location point and/or the request of other working cells enter and conflict, if Lothrus apterus, then this working cell performs its solicited message by the function command called in its register, otherwise then this working cell and the working cell that clashes with it enter predeterminated position and wait for and giving the alarm simultaneously.
8., as claimed in claim 7 based on the modularization robot drived control method of PLC, it is characterized in that: the decoding instruction in described step S32 is DECO decoding instruction.
9. the modularization robot drived control method based on PLC as described in as arbitrary in claim 6-8, is characterized in that: the I/O signal by gathering working cell described in each in described step S2 obtains its status information and solicited message.
10. the modularization robot drived control method based on PLC as described in as arbitrary in claim 6-9, it is characterized in that: described position key point comprises three location points, be respectively upstream position point, intermediate position points and downstream position point, described predeterminated position is the intermediate position points of this working cell.
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