CN106113044A - Commercial Application teaching robot's control method - Google Patents
Commercial Application teaching robot's control method Download PDFInfo
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- CN106113044A CN106113044A CN201610707241.9A CN201610707241A CN106113044A CN 106113044 A CN106113044 A CN 106113044A CN 201610707241 A CN201610707241 A CN 201610707241A CN 106113044 A CN106113044 A CN 106113044A
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- robot
- teaching
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- control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
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Abstract
Commercial Application teaching robot's control method that the present invention provides, robot is fixed on teaching platform, control unit is connected with driver element by bus, by control unit read machine people's kinematic parameter, and operate robot motion to specifying location point, and set up and fill in formula table, the action automatically run by formula table editor robot, controlling robot and enter automatic mode, automatic mode includes single working method and circulation working method；Commercial Application teaching robot's control method of the present invention, the exploration of system is good, and degree of freedom is high, it is simple to carry out the carrying out of teaching of robot, make student can grasp general principle, thus grasp robot manipulation and control technology, it being more favorable for robot control system is carried out secondary development, the present invention has with low cost, floor space is little, practical, safety is high, the obvious feature of teaching efficiency.
Description
Technical field
The present invention relates to automation control area, particularly relate to a kind of commercial Application teaching robot's control method.
Background technology
Industrial robot is a kind of automation equipment the strongest to working condition and production environment adaptability and motility.Special
It is not suitable for multi items, becomes flexible production in batches.It to stable raising product quality, improve production efficiency and improve work bar
Part plays a very important role.Owing to robot is a kind of to adapt to the flexible automation equipment that product updates rapidly,
So its application substantially reduce new product change the product cycle, thus improve the competitiveness of product in market.At contemporary industry
In technology, commercial production day by day tends to flexible automation direction and develops, and Industrial Robot Technology has become modern industrial technology leather
Ordering an important component part, many is heavy, repeat dull, poisonous, harmful and dangerous work was completed by robot already, raw
The automated procedures produced greatly improve, and occur in that many unmanned workshops and unmanned factory, product quality, production efficiency and enterprise pair
The raising of market strain rate effect ability, promotes the productivity fast-developing.Industrial robot has been widely used for automobile, machinery at present
In the industrial circles such as processing, electronics and plastic.In the industrial production, arc-welding, spot welding, assemble, spray and the operation such as carrying
Industrial robot used the most in large quantities.
At present, domestic robot teaching generally by buying brand industrial robot as teaching platform, this occurs as soon as
Railway Project: 1) industrial robot tens to twenties ten thousand easily, such as, build one with five artificial radixes of industrial machine
Individual laboratory, the purchase cost of single robot will nearly million more than.2) place (floor space) takies greatly, only with 8 kilogram six
As a example by axle robot, a robot need to take 4 square metres, adds safety protection facility, at least takies the area of 6 square metres.
3) Safety building: security protection is required the highest by the use of six-shaft industrial robot, engineering construction needs many works
The input of Cheng Zijin.4) exploration of system and degree of freedom: the robot produced due to Ge great industrial robot manufacturer
Control system is established one's own system, and a lot of technology do not open.So learning the robot manipulation of a kind of brand, not necessarily operate
Other brand robot.It is less useful for the secondary development to robot control system, therefore, needs a kind of new robot teaching badly
System and control method, to overcome above-mentioned technical problem.
Summary of the invention
In view of this, the present invention provides a kind of commercial Application teaching robot's control method, has solved above-mentioned technical problem.
Commercial Application teaching robot's control method that the present invention provides, including
A. robot is fixed on teaching platform,
B. control unit is connected with driver element by bus, by control unit read machine people's kinematic parameter, and grasps
Make robot motion to specify location point,
C. set up and fill in formula table, the action automatically run by formula table editor robot,
D. controlling robot and enter automatic mode, automatic mode includes single working method and circulation working method.
Further, the artificial six-joint robot of described machine, axle each to six-joint robot is driven respectively, controls arbitrarily
One axle moves, and when moving to the taught point needing to carry out teaching, records the position of current taught point, and edits automatically
The action run.
Further, control unit is connected with driver element, by motor to six-joint robot by CANopen bus
Each axle be driven.
Further, bus-type driver is connected with corresponding motor respectively, control to appoint by instructional terminal equipment
An axle of anticipating moves, and when moving to the taught point needing to carry out teaching, records the position of current taught point, and edits certainly
The dynamic action run, the action as arranged is breakpoint, then carrying out returning after tool operation completes breakpoint, continuing following moving
Making, teaching sets up formula table after completing automatically), location parameter, speed parameter and the break point parameter (work recorded according to formula table
Tool) everything that automatically runs and complete in teaching..
Further, described robot motion's parameter includes position coordinate parameters, speed parameter and break point parameter.
Further, re-power after electricity, reset or first control robot motion time, redefine base by control unit
Quasi-location point, described reference position point can freely set.
Further, after determining reference position point and having set the action of all of taught point, machine is set by control unit
Device people carries out the motion mode of action along the taught point set, and motion mode includes one-time exercise or shuttling movement, in motion
During can reset reference position point, when this motion terminate after, robot returns to newly-installed reference position point.
Further, the movement velocity of robot include accelerate, at the uniform velocity and slow down.
Further, when the control unit of robot and driver element break down, reported by instructional terminal equipment
Alert.
Beneficial effects of the present invention: commercial Application teaching robot's control method of the present invention, the exploration of system is good, from
By degree height, it is simple to carry out the carrying out of teaching of robot, make student can grasp general principle, thus grasp robot manipulation
Control technology, is more favorable for robot control system is carried out secondary development, and the present invention has with low cost, and floor space is little,
Practical, safety is high, the obvious feature of teaching efficiency.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings:
Fig. 1 is the principle schematic of the present invention.
Fig. 2 is the schematic flow sheet of the present invention.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings: Fig. 1 is the principle schematic of the present invention, Fig. 1
It it is the principle schematic of the present invention.
Commercial Application teaching robot's control method in the present embodiment, including
A. robot is fixed on teaching platform,
B. control unit is connected with driver element by bus, by control unit read machine people's kinematic parameter, and grasps
Make robot motion to specify location point,
C. set up and fill in formula table, the action automatically run by formula table editor robot,
D. controlling robot and enter automatic mode, automatic mode includes single working method and circulation working method.
The movement velocity of robot include accelerate, at the uniform velocity and slow down.
When the control unit of robot and driver element break down, reported to the police by instructional terminal equipment.
In the present embodiment, robot body is as it is shown in figure 1, robot body is six-joint robot, and robot can edge
In figure, the direction of mark rotates, thus realizes the motion of robot, and in the present embodiment, control unit is total by CANopen
Line is connected with driver element, and described control unit at least includes setting for the instructional terminal arranging or revising robot motion's mode
Standby and for controlling the control module of driver element, described instructional terminal equipment at least includes central processing unit, display module, deposits
Storage module and input module, the input of described display module is connected with the outfan of central processing unit, described input module
Outfan is connected with the input of central processing unit, and described control module includes master controller and sub-controller, master controller with
Sub-controller connects, and described sub-controller is multiple, and sub-controller is 6 in the present embodiment, is respectively used to control J1-J6 six
Individual axle rotates, and each axle of described six-joint robot is driven by the present embodiment by motor, passes through bus-type
Driver connects with corresponding motor respectively, then controls any one axle by instructional terminal equipment and move, this reality
Execute and example use HMI touch screen man-machine, when moving to the taught point needing to carry out teaching, record the position of current taught point,
And edit the action automatically run, if the action arranged is breakpoint, carry out tool operation, return breakpoint after completing, under continuation
The action in face, after all teachings of each motor point, automatically sets up and joins a table, the position ginseng that automatic operation can be recorded according to formula table
Number, speed parameter and break point parameter (instrument) complete the everything in teaching.
In the present embodiment, Schneider embedded computer is used to use as the control core of system, master controller
M241 (embedded control system), body has USB (universal serial bus), CANopen communication interface, ethernet communication interface, this enforcement
Example can support following IEC61131-3 programming language: IL: instruction catalogue (is similar to assembler language)；This (similar meter of ST: structuring side
The high-level language of calculation machine)；FBD: FBD, CFC: continuous function block figure (principle diagram design in similar microelectric technique)；
SFC: SFC；LD: ladder diagram, and it is multiple firmly to be integrated with the HMI that can support in Automated condtrol, servo, frequency conversion etc.
Part, so can bring efficient, flexible and open advantage in actual applications.Systemic-function is powerful, and purchase cost is the most very
Low.Six axles use the FM860 stepper motor driver of Shenzhen step section, and a kind of band of the electric up-to-date release of this driver Shi Bu section is total
The stepper motor driver of wire protocol, is suitable for driving the biphase or three-phase hybrid stepping motor of various brands.According to specifically wanting
Ask selection: pulse/direction, internal motion control, CANopen, Modbus, EtherNet/IP, RS232/RS485, it is preferable that
The present embodiment uses and selects CANopen high-speed bus.Teaching robot's comprehensive considering various effects in the present embodiment, selects row
Star reductor, at home, planetary reducer manufacturing process and technology are highly developed, and cost is the lowest, and can accomplish miniaturization,
Precision is sufficient to reach the technology requirement of teaching robot.Industrial multi-joint robots's motor all uses band absolute encoding
The servomotor of device, servomotor and servo drive system can build the closed-loop control system (semi-closure of mode position well
Ring controls), torque change does not results in motion and loses step, control accuracy and repeatable accuracy and can accomplish the highest, and shortcoming is cost
The highest.Need not for a long time in view of teaching robot, high intensity, high stability operation, so this teaching robot selects two
Phase composite stepper motor mixes the stepper motor driver FM860 structure of the full digital of Shenzhen step section, band high speed communication bus
Build up motor system.Advantage is that cost is the lowest, easy to control, and control accuracy can pass through FM860 drive parameter advanced configuration
It is greatly improved.
In the present embodiment, control unit also includes the external interface unit for connecting ancillary equipment, after power down again
Power on, reset or first control robot motion time, need to determine reference position point, described reference position point by control unit
Can freely set.Owing to industrial robot controller assembly is the most, manufacturer's only part provides interface definition, does not provides
The hardware resources such as schematic diagram.User uses, maintenance is the most difficult, and equipment goes wrong and will supplier (or manufacturer) send someone existing
Field solves.For automated productin line, due to the reason such as delay of time, it will the loss that cause the user is bigger.Separately
Separate due to the system of various brands manufacturer outward, incompatible, it is impossible to exchange, and the whole system of this teaching robot is logical
Cross CANopen high speed communication line control system to be linked together with each assembly (such as six axle step actuators etc.).M241 body
Hardware resource can use flexibly, and expansion module can be inserted flexibly according to the needs of engineering project: discrete magnitude
The multiple abundant expansion modules such as I/O module, analog quantity I/O module, security module, bus extender module, in the present embodiment
Control unit employs universal PLC (M241 of Schneider), it is provided that library file that versatility is the strongest and functional device.There is certain electricity
The technician of gas control theory and the basis of software training through the short time just can need design robot system according to controlling oneself,
Owing to using general controller, thus explorative fine.
In the present embodiment, teaching robot's operation sequence need not be write, but by the way of read-write tables of data,
Any axle of HMI (man machine interface) → entrance teaching pattern → six axles of teaching campaign and export in speed frame movement velocity →
Pressing write, will currently the parameter such as the position of taught point, speed insert in table, the movement velocity of robot includes accelerating, even
Speed and deceleration.
Control unit in the present embodiment is connected with driver element, by motor to described by CANopen bus
Each axle of six-joint robot is driven, and each sub-controller connects with corresponding motor respectively, passes through instructional terminal
Equipment controls any one axle and moves, and when moving to the taught point needing to carry out teaching, records the position of current taught point
Putting, and edit the action automatically run, the action automatically run includes recording current location point, arranging movement velocity and breakpoint.
Re-power after electricity, reset or first control robot motion time, need to determine reference position point, described base by control unit
Quasi-location point can freely set.After determining reference position point and having set the action of all of taught point, pass through control unit
The taught point setting Robot setting carries out the motion mode of action, and motion mode includes one-time exercise or shuttling movement,
Can reset reference position point during motion, after this motion terminates, robot returns to newly-installed benchmark
Location point.
In the present embodiment, teaching mode interface can be entered by by teaching mode button, put teaching movement velocity
(iSpeed_Manual), needing which axle that moves, only need the positive/negative axle button of respective shaft, robot respective shaft is by with setting
Teaching movement velocity is moved, and unclamps with regard to stop motion.When robot motion is to a target location, click on fortune when automatically running
Dynamic speed frame (Table_axis_Speed) inputs velocity amplitude, then point writes table button, thus robot motion to this mesh
The relevant parameter of cursor position is write in parameter list.In each mode, enter parameter picture, each target location can be checked
Relevant parameter (mainly including position coordinate parameters, movement velocity parameter etc.), and can online (in motor process) revise
These parameters.Each kinematic axis due to industrial robot all uses the servomotor of band absolute type encoder, so system exists
Having a power failure or occur abnormal, the current location parameter control system of robot can read.And teaching robot is open loop type control
Mode, selection is motor, so system is having a power failure or occurring abnormal, after again powering on or resetting, system does not knows that
Robot location's parameter, needs to re-start the confirmation work of reference coordinate, and user can control motor and rotate, choosing
Select optional position as reference position.Any null pick-up is not namely installed on robot body, further, since industrial
Robot is to be write or call special function program by demonstrator, the design of the operation sequence of industrial robot be by with machine
The supporting demonstrator of device people carries out programming, and program format, language are not the most unified.Operating operator, can a kind of brand name computer
The programming of device people, it is not necessary to the programming of the another kind of brand robot of meeting.And the teaching robot in the present embodiment is
By parameter list arranges breakpoint, and selected the one of six kinds of programming languages (LD, SFC, FBD, CFC, ST, IL) by system program
Planting or polyglot mixing is write, designer or faculty are according to the instrument (finger) installing robot or third party's work
The action of tool understands, writes with freely playing, explorative high, does not has any restriction, it is preferable that can use Mobile Teaching eventually
End equipment carries out the operation to robot, when robot breaks down, can report to the police, it is to avoid cause unnecessary economy
Loss.
Finally illustrating, above example is only in order to illustrate technical scheme and unrestricted, although with reference to relatively
The present invention has been described in detail by good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent, and without deviating from objective and the scope of technical solution of the present invention, it all should be contained at this
In the middle of the right of invention.
Claims (9)
1. commercial Application teaching robot's control method, it is characterised in that: include
A. robot is fixed on teaching platform,
B. control unit is connected with driver element by bus, by control unit read machine people's kinematic parameter, and operates machine
Device people moves to specify location point,
C. set up and fill in formula table, the action automatically run by formula table editor robot,
D. controlling robot and enter automatic mode, automatic mode includes single working method and circulation working method.
Commercial Application teaching robot's control method the most according to claim 1, it is characterised in that: described machine artificial six
Axle robot, axle each to six-joint robot is driven respectively, controls any one axle and moves, when move to need into
During the taught point of row teaching, record the position of current taught point, and edit the action automatically run.
Commercial Application teaching robot's control method the most according to claim 2, it is characterised in that: control unit is passed through
CANopen bus is connected with driver element, is driven each axle of six-joint robot by motor.
Commercial Application teaching robot's control method the most according to claim 3, it is characterised in that: by bus-type driver
Connect with corresponding motor respectively, control any one axle by instructional terminal equipment and move, when moving to needs
When carrying out the taught point of teaching, recording the position of current taught point, and edit the action automatically run, the action as arranged is disconnected
Point, then carrying out returning after tool operation completes breakpoint, continuing following action, and teaching sets up formula table after completing automatically), root
Location parameter, speed parameter and the break point parameter recorded according to formula table, the everything automatically running and completing in teaching..
Commercial Application teaching robot's control method the most according to claim 1, it is characterised in that: described robot motion
Parameter includes position coordinate parameters, speed parameter and break point parameter.
Commercial Application teaching robot's control method the most according to claim 1, it is characterised in that: after system electrification or weight
Newly power on, reset or first control robot motion time, redefine reference position point, described reference position by control unit
Point can freely set.
Commercial Application teaching robot's control method the most according to claim 1, it is characterised in that: determine reference position point
And after having set the action of all of taught point, the taught point set by control unit setting Robot carries out the fortune of action
Flowing mode, motion mode includes one-time exercise or shuttling movement, can reset reference position point during motion,
After this motion terminates, robot returns to newly-installed reference position point.
8. according to the commercial Application teaching robot's control method described in claim 4 or 5, it is characterised in that: the fortune of robot
Dynamic speed include accelerate, at the uniform velocity and slow down.
Commercial Application teaching robot's control method the most according to claim 1, it is characterised in that: when the control of robot
When unit and driver element break down, reported to the police by instructional terminal equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610707241.9A CN106113044A (en) | 2016-08-23 | 2016-08-23 | Commercial Application teaching robot's control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610707241.9A CN106113044A (en) | 2016-08-23 | 2016-08-23 | Commercial Application teaching robot's control method |
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| CN106113044A true CN106113044A (en) | 2016-11-16 |
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| CN201610707241.9A Pending CN106113044A (en) | 2016-08-23 | 2016-08-23 | Commercial Application teaching robot's control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108388252A (en) * | 2018-04-10 | 2018-08-10 | 中科新松有限公司 | A kind of robot teaching method, apparatus, equipment and medium |
| CN112792812A (en) * | 2020-12-02 | 2021-05-14 | 配天机器人技术有限公司 | Robot control device and robot system |
| CN113406979A (en) * | 2021-06-21 | 2021-09-17 | 珠海格力电器股份有限公司 | Encoder abnormality detection method, device, storage medium, controller and equipment |
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| CN1054681A (en) * | 1989-03-03 | 1991-09-18 | 三菱重工业株式会社 | Manipulator for teaching demonstration purposes |
| US5550953A (en) * | 1994-04-20 | 1996-08-27 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | On-line method and apparatus for coordinated mobility and manipulation of mobile robots |
| JP2009274180A (en) * | 2008-05-15 | 2009-11-26 | Kawasaki Heavy Ind Ltd | Robot movement plan method and device using the same |
| CN103231374A (en) * | 2013-04-03 | 2013-08-07 | 华中科技大学 | Teaching box for industrial robot based on Ethernet communication |
| CN203204923U (en) * | 2013-03-14 | 2013-09-18 | 浙江天煌科技实业有限公司 | Industrial robot, intelligent vision and RFID data transmission teaching training system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1054681A (en) * | 1989-03-03 | 1991-09-18 | 三菱重工业株式会社 | Manipulator for teaching demonstration purposes |
| US5550953A (en) * | 1994-04-20 | 1996-08-27 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | On-line method and apparatus for coordinated mobility and manipulation of mobile robots |
| JP2009274180A (en) * | 2008-05-15 | 2009-11-26 | Kawasaki Heavy Ind Ltd | Robot movement plan method and device using the same |
| CN203204923U (en) * | 2013-03-14 | 2013-09-18 | 浙江天煌科技实业有限公司 | Industrial robot, intelligent vision and RFID data transmission teaching training system |
| CN103231374A (en) * | 2013-04-03 | 2013-08-07 | 华中科技大学 | Teaching box for industrial robot based on Ethernet communication |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108388252A (en) * | 2018-04-10 | 2018-08-10 | 中科新松有限公司 | A kind of robot teaching method, apparatus, equipment and medium |
| CN108388252B (en) * | 2018-04-10 | 2021-04-09 | 中科新松有限公司 | Robot teaching method, device, equipment and medium |
| CN112792812A (en) * | 2020-12-02 | 2021-05-14 | 配天机器人技术有限公司 | Robot control device and robot system |
| CN113406979A (en) * | 2021-06-21 | 2021-09-17 | 珠海格力电器股份有限公司 | Encoder abnormality detection method, device, storage medium, controller and equipment |
| CN113406979B (en) * | 2021-06-21 | 2022-11-18 | 珠海格力电器股份有限公司 | Encoder abnormality detection method, device, storage medium, controller and equipment |
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