CN108508840A - A kind of experimental provision of robot workstation's electric control system - Google Patents
A kind of experimental provision of robot workstation's electric control system Download PDFInfo
- Publication number
- CN108508840A CN108508840A CN201810627170.0A CN201810627170A CN108508840A CN 108508840 A CN108508840 A CN 108508840A CN 201810627170 A CN201810627170 A CN 201810627170A CN 108508840 A CN108508840 A CN 108508840A
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- plc
- slave station
- robot
- electrically connected
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Classifications
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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
- G05B19/054—Input/output
-
- 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
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of experimental provision of robot workstation's electric control system, including PLC master station system, main website analog switch, main website output display lamp, PC, industrial network interchanger, PLC slave stations system, slave station analog switch, slave station export display lamp；The PLC master station system, PC, PLC slave stations system are electrically connected by cable and industrial network interchanger；The PLC master station system is electrically connected with main website analog switch by numeral input mouth, is electrically connected by digital output with main website output display lamp, and the PLC slave stations system is electrically connected with slave station analog switch by numeral input mouth, display lamp is exported with slave station is electrically connected by digital output.Due to not needing industrial machine human body, space and cost is greatly saved.When implementing the design of hardware and software of robot workstation's electric control system, school and training organization can largely configure, and student can obtain more looming practice chances.
Description
Technical field
The present invention relates to electric control system technical fields, are that be related to a kind of robot workstation electrical more specifically
The experimental provision of control system, it is suitable for the teaching of robot workstation's electric control system and practices.
Background technology
Intelligence manufacture has been a great concern in the whole world, and the application of closely related industrial robot is more and more therewith
Extensively, the teaching of Industrial Robot Technology and training are in universities and colleges of undergraduate course, School of High Profession Technology, Zhong Zhi universities and colleges and training centers run by social sectors
Grow up like the mushrooms after rain.The electrical control of industrial robot work station and System Programming are in robot technology training
Advanced application, teaching needs to use robot workstation with training, each since floor space is larger and at high price
Class school and training organization can only be equipped with the seldom robot workstation of quantity, and student can only wait in line the upper machine tune of program
Examination, wastes a large amount of time, the effect of study is had a greatly reduced quality.Either floor space or price, robot sheet therein
Body occupies general 90%, and in the electrical control of robot and System Programming, the teaching programming of robot body is opposite
Simply, and simulating, verifying program correctness can often be passed through；More important, more complicated is peripheral hardware and peripheral hardware, peripheral hardware and machine
The programming of communication and PLC between device people and writing for PC end subscriber programs, and be difficult to communicate by simulating, verifying correct
Joint debugging between property and program.
Invention content
The purpose of the present invention is to provide a kind of experimental provision of robot workstation's electric control system, the experimental provisions
The device of the aided education and practice of actual robot work station electric control system is can be used as, floor space is few and price is low
It is honest and clean.
The present invention the technical solution to solve the technical problem is that：A kind of experiment dress of robot workstation's electric control system
Set, including PLC master station system, main website analog switch, main website output display lamp, PC, industrial network interchanger, PLC from
Stand system, slave station analog switch, slave station output display lamp；The PLC master station system, PC, PLC slave station systems pass through net
Line is electrically connected with industrial network interchanger；The PLC master station system and main website analog switch by numeral input mouth into
Row electrical connection is electrically connected with main website output display lamp by digital output, the PLC slave stations system and slave station mould
Quasi- switch is electrically connected by numeral input mouth, is electrically connected by digital output with slave station output display lamp.
The PLC master station system, PLC slave stations system include PLC module, input module, output module.
The industrial network interchanger electrically connects with the PLC module of PLC master station system, the PLC module of PLC slave station systems
It connects.
The input module of the main website analog switch and PLC master station system is electrically connected, the main website output display lamp with
The output module of PLC master station system is electrically connected.
The input module of the slave station analog switch and PLC slave station systems is electrically connected, the slave station output display lamp with
The output module of PLC slave station systems is electrically connected.
The PLC module of the PLC master station system is assisted with the user program run on PC by MODBUS TCP
View is communicated.
The PLC module of the PLC master station system and the PLC module of PLC slave station systems are carried out by MODBUS Transmission Control Protocol
Communication.
The beneficial effects of the invention are as follows：
The purpose of the present invention is to provide a kind of experimental provision of robot workstation's electric control system, using one from
The various types of signal of system of standing simulating industry robot, and accessed in the original electric control system of robot workstation, shape
At a kind of robot workstation's electric control system experimental provision.In this experimental provision, it may be implemented logical between equipment
News, and other programs in addition to robot body program test.
Compared with traditional robot workstation, which does not need robot body, be greatly saved space and
Cost, and the design of hardware and software of corresponding electric control system is not influenced, school and training organization can largely configure this reality
Experiment device makes student obtain the chance of more looming practices, is conducive to the promotion of learning effect.
Description of the drawings
Fig. 1 is the connection block diagram of the experimental provision of robot workstation's electric control system of the present invention.
Fig. 2 is the electrical diagram of PLC master station system in the present invention.
Fig. 3 is the electrical diagram of PLC slave stations system in the present invention.
Fig. 4 is the electrical general diagram of the experimental provision of robot workstation's electric control system of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should broadly understood, for example, it may be being fixedly connected.It may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
The concrete meaning of invention.
Referring to Fig. 1-4, a kind of experimental provision of robot workstation's electric control system, including PLC master station system 1, master
Stand analog switch 2, main website output display lamp 3, PC 4, industrial network interchanger 5, PLC slave stations system 6, slave station simulation open
It closes 7, slave station and exports display lamp 8.
PLC master station system includes a PLC module, an input module and two output modules, and PLC therein is using sea
PLC EH10-CPU-001 are obtained, MODBUS TCP interfaces is carried, is set as main website；Input module is using the extra large input module obtained
EH-DI-001；Output module is using the extra large output module EH-DO-TO1 obtained.PLC module, input module and output module are consolidated
It is scheduled on BPX bus card slots, is communicated by BPX buses between module.Main website analog switch is electrical by numeral input mouth
On be connected to the input module of PLC master station system, main website output display lamp is connected electrically to PLC master station by digital output
The output module of system.
PLC slave station systems include a PLC module, an input module and an output module, PLC module band therein
There are MODBUS TCP interfaces, be set as slave station, the type selecting and connection type of equipment are identical as PLC master station system.Slave station simulation is opened
The input module that PLC slave station systems are connected electrically to by numeral input mouth is closed, slave station output display lamp passes through numeral output
Mouth is connected electrically to the output module of PLC slave station systems.
The PLC module of PLC master station system, PC, PLC slave station systems PLC module pass through cable and industrial network
Interchanger is electrically connected.The PLC module of PLC master station system passes through MODBUS with the user program run on PC
Transmission Control Protocol is communicated.The PLC module of PLC master station system passes through MODBUS Transmission Control Protocol with the PLC module of PLC slave station systems
It is communicated.
PLC master station system, main website analog switch and main website output display lamp form main station system, PLC slave stations system, from
Stand analog switch and slave station output display lamp form slave station system.
The various types of signal of slave station system simulating industry robot, and accessed the original electrical control of robot workstation
In system, that is, access main station system.
Main website analog switch is used to simulate various input signals, including emergency stop, air pump overload, air pump are completely pressed, robot A light
The signals such as electric signal and robot B photosignals.
Main website exports display lamp and is used for analog output signal, including red greenish-yellow signal lamp, robot emergency stop, servo D it is enabled,
Servo D operation, servo C be enabled, servo C operations, camera E light sources, camera F light sources, air pump switch, robot A solenoid valves A1, machine
Device people's A solenoid valves A2, robot A solenoid valves A3, robot A solenoid valves A4, robot B solenoid valves B1, robot B solenoid valves
The signals such as B2, robot B solenoid valves B3, robot B solenoid valves B4 and robot B solenoid valves B5.
The signal of slave station analog switch includes that robot A is powered on, electricity, robot A operations, robot A are temporary under robot A
Stop, robot A stops, robot A returns working origin, robot B is powered on, electricity, robot B operations, robot B under robot B
Pause, robot B stop and robot B returns the signals such as working origin.
The signal of slave station output display lamp includes that robot A is ready, robot A is run in working origin, robot A
In, in robot A pauses, robot A fixtures solenoid valve, robot B be ready, robot B is in working origin, robot B
In operation, robot B pauses neutralize the signals such as robot B fixture solenoid valves.
The present invention uses the various types of signal of a slave station system simulating industry robot, and is accessed robot workstation
In original electric control system, a kind of robot workstation's electric control system experimental provision is formed.In this experimental provision
In, may be implemented the communication between equipment, and other programs in addition to robot body program test.
Application example：The control system program of rapid sorting work station, including host computer are designed using this experimental provision
The PLC program of user program, the PLC program of main website and slave station is not herein described this 3 writing for program, only introduces it
The function and operation to be realized process, it is specific as follows：
(1) " robot A is powered on " order is executed in the host computer user program of PC, which passes through system of main website
System sends slave station system to, and " robot A is ready " output display lamp of slave station is lighted, and indicates that robot A is powered on and prepared
Ready, slave station tells main website, main website to feed back to again in host computer user program the state；
(2) in the host computer user program of PC, the task of robot workstation is set to rapid sorting, it should
Order sends slave station system to by main station system；
(3) in the host computer user program of PC, the operational mode of system is set as automatic, which passes through
Main station system sends slave station system to, and " robot A is in working origin " output display lamp of slave station is lighted, and indicates robot A's
Mechanical arm has run to the position of working origin, and slave station tells main website, main website to feed back to host computer user again the state
In program；
(4) in the host computer user program of PC, start button occurs；
(5) it in the host computer user program of PC, executes and starts order；
(6) whether the air pressure of main station judging air pump completely presses, if be completely pressed into next step, otherwise booster air pump and waits for gas
The full pressure of pump；
(7) main station system sends slave station system, " in robot A operations " output display lamp point of slave station to order is started
It is bright, indicate that the mechanical arm of robot A is in operating status, slave station tells main website, main website to feed back to host computer again the state
In user program；
(8) " robot A fixtures solenoid valve " output display lamp flicker of slave station, indicates that the fixture of robot A is moved
Make, the signal of robot A fixture solenoid valves is transmitted to main website, " robot A solenoid valves A1 " output display of main website by slave station
Lamp also flickers accordingly, and expression controls corresponding solenoid valve；
(9) robot A sorting works complete (by being simulated for a period of time in slave station delay), slave station " robot A stops
Only " output display lamp is lighted, and indicates that the sorting work of robot A singles has been completed, slave station tells main website, main website the state
It feeds back to again in host computer user program.
Compared with traditional robot workstation, which does not need robot body, be greatly saved space and
Cost, and the design of hardware and software of corresponding electric control system is not influenced, school and training organization can largely configure this reality
Experiment device makes student obtain the chance of more looming practices, is conducive to the promotion of learning effect.
Although an embodiment of the present invention has been shown and described, it will be understood by those of ordinary skill in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent replacement, without creative work improvements introduced etc., should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of experimental provision of robot workstation's electric control system, it is characterised in that：Including PLC master station system, main website
Analog switch, main website output display lamp, PC, industrial network interchanger, PLC slave stations system, slave station analog switch, slave station
Export display lamp；The PLC master station system, PC, PLC slave stations system carry out electricity by cable and industrial network interchanger
Gas connects；The PLC master station system is electrically connected by numeral input mouth with main website analog switch, exports display with main website
Lamp is electrically connected by digital output, and the PLC slave stations system is carried out with slave station analog switch by numeral input mouth
Electrical connection is electrically connected with slave station output display lamp by digital output.
2. the experimental provision of robot workstation's electric control system according to claim 1, it is characterised in that：The PLC
Main station system, PLC slave stations system include PLC module, input module, output module.
3. the experimental provision of robot workstation's electric control system according to claim 2, it is characterised in that：The industry
The network switch and PLC module, the PLC module of PLC slave station systems of PLC master station system are electrically connected.
4. the experimental provision of robot workstation's electric control system according to claim 3, it is characterised in that：The main website
Analog switch and the input module of PLC master station system are electrically connected, the output of main website the output display lamp and PLC master station system
Modular electrical connects.
5. the experimental provision of robot workstation's electric control system according to claim 4, it is characterised in that：The slave station
Analog switch and the input module of PLC slave station systems are electrically connected, the output of slave station the output display lamp and PLC slave station systems
Modular electrical connects.
6. the experimental provision of robot workstation's electric control system according to claim 5, it is characterised in that：The PLC
The PLC module of main station system is communicated with the user program run on PC by MODBUS Transmission Control Protocol.
7. the experimental provision of robot workstation's electric control system according to claim 6, it is characterised in that：The PLC
The PLC module of main station system and the PLC module of PLC slave station systems are communicated by MODBUS Transmission Control Protocol.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627170.0A CN108508840A (en) | 2018-06-15 | 2018-06-15 | A kind of experimental provision of robot workstation's electric control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627170.0A CN108508840A (en) | 2018-06-15 | 2018-06-15 | A kind of experimental provision of robot workstation's electric control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108508840A true CN108508840A (en) | 2018-09-07 |
Family
ID=63403621
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810627170.0A Withdrawn CN108508840A (en) | 2018-06-15 | 2018-06-15 | A kind of experimental provision of robot workstation's electric control system |
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Cited By (3)
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| CN110209382A (en) * | 2019-06-05 | 2019-09-06 | 顺德职业技术学院 | A kind of work station Interface Design based on NETScada |
| CN110744542A (en) * | 2019-10-25 | 2020-02-04 | 中冶赛迪工程技术股份有限公司 | Robot digital simulation method and device, storage medium and electronic terminal |
| CN114248269A (en) * | 2021-12-09 | 2022-03-29 | 国网浙江省电力有限公司海宁市供电公司 | TherCAT-based electric six-axis robot control system and control method |
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| CN110744542A (en) * | 2019-10-25 | 2020-02-04 | 中冶赛迪工程技术股份有限公司 | Robot digital simulation method and device, storage medium and electronic terminal |
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| CN114248269A (en) * | 2021-12-09 | 2022-03-29 | 国网浙江省电力有限公司海宁市供电公司 | TherCAT-based electric six-axis robot control system and control method |
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Application publication date: 20180907 |