CN110561436A - industrial robot data transmission method and system - Google Patents
industrial robot data transmission method and system Download PDFInfo
- Publication number
- CN110561436A CN110561436A CN201910875172.6A CN201910875172A CN110561436A CN 110561436 A CN110561436 A CN 110561436A CN 201910875172 A CN201910875172 A CN 201910875172A CN 110561436 A CN110561436 A CN 110561436A
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- industrial robot
- programmable logic
- logic controller
- processing module
- change signal
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
the invention relates to a data transmission method and a data transmission system for an industrial robot, which realize data transmission with the industrial robot by utilizing a selected front processing module, a selected rear processing module, a handheld operator and a programmable logic controller through matching of a posture file and a control signal and through a demonstrator and a control cabinet of a control device. The invention can be suitable for data interaction of various industrial robots to realize secondary development of the industrial robots, greatly reduce the cost of the secondary development of the industrial robots, and make the scheme simple in operation control and easy to install and debug by utilizing the existing communication protocol.
Description
Technical Field
The invention relates to the technical field of data transmission, in particular to an industrial robot data transmission method and an industrial robot data transmission system.
Background
At present, with the rapid development of industrial robot technology, industrial robots are widely applied in the industries of transportation, processing, welding and the like. In actual use, secondary development needs to be performed on industrial robots under many conditions, the industrial robots in the market are various, secondary development systems of various manufacturers are sold as an independent module, and the industrial robots of different types have no universality of data interaction. Because the secondary development system is expensive, a lot of capital investment is added to the project, and the cost is extremely high during secondary development.
Disclosure of Invention
the invention aims to overcome the defects of the prior art and provides a data transmission method and a data transmission system for an industrial robot, which realize the universal data interaction with the industrial robot so as to realize the secondary development of the industrial robot.
the technical scheme of the invention is as follows:
a data transmission method for an industrial robot comprises the following steps:
1) The pre-processing module generates a first attitude file;
2) the first attitude file is sent to a post-processing module, and the post-processing module generates a second attitude file according to the first attitude file;
3) sending the second attitude file to a control device, and carrying out segmented loading on the second attitude file by the control device to obtain a third attitude file;
4) the control device controls the industrial robot to execute the related instruction through the third attitude file;
5) The handheld operator acquires a parameter change instruction, generates a first parameter change signal according to the parameter change instruction, and sends the first parameter change signal to the programmable logic controller;
6) the programmable logic controller acquires a first parameter change signal and generates a second parameter change signal;
7) And the programmable logic controller sends the second parameter change signal to the control device, and the control device controls the industrial robot to change the parameters.
preferably, in step 5), the hand-held operator communicates via TCP/IP protocol to send the first parameter change signal to the programmable logic controller.
Preferably, the control device comprises a demonstrator and a control cabinet which are connected, and in the step 3), the second posture file is sent to the demonstrator, and the demonstrator carries out segment loading on the second posture file through a StartLoad instruction to obtain a third posture file; in the step 4), the demonstrator sends the third posture file to the control cabinet, and the control cabinet controls the industrial robot to execute a relevant instruction; and 7), the programmable logic controller sends a second parameter change signal to the control cabinet through a Profinet communication protocol.
preferably, if the parameter updating instruction is a speed change instruction, in step 5), the handheld operator acquires the speed change instruction, generates a first speed change signal according to the speed change instruction, and sends the first speed change signal to the programmable logic controller; in step 6), the programmable logic controller acquires a first speed change signal and generates a second speed change signal; and 7), the programmable logic controller sends the second speed change signal to a control cabinet, and the control cabinet controls the industrial robot to change the speed.
A data transmission system of an industrial robot comprises a pre-processing module, a post-processing module, a handheld manipulator, a programmable logic controller and a control device, wherein the pre-processing module and the post-processing module are sequentially connected with the control device; the data transmission system of the industrial robot is based on the data transmission method of the industrial robot in any one of claims 1 to 5, and the data interaction is carried out with the industrial robot.
Preferably, the hand-held operator communicates with the programmable logic controller through a TCP/IP protocol to realize human-computer interaction with the programmable logic controller.
Preferably, the control device comprises a demonstrator and a control cabinet which are connected; the front-end processing module and the rear-end processing module are sequentially connected with the demonstrator, and the handheld operator and the programmable logic controller are sequentially connected with the control cabinet.
preferably, the programmable logic controller communicates with the control cabinet via the Profinet protocol.
Preferably, the programmable logic controller is provided with a storage unit for storing data input when the hand-held operator and the programmable logic controller perform human-computer interaction.
Preferably, the pre-processing module is a PowerMill, the post-processing module is a RobotMaster, the hand-held operator is a Sukong HMI, and the programmable logic controller is SIMATIC S7-300.
The invention has the following beneficial effects:
The industrial robot data transmission method and the system realize data transmission with the industrial robot by utilizing the selected front processing module, the rear processing module, the hand-held manipulator and the programmable logic controller, matching control signals through the attitude file and through the demonstrator and the control cabinet of the control device. The invention can be suitable for data interaction of various industrial robots to realize secondary development of the industrial robots, greatly reduce the cost of the secondary development of the industrial robots, and make the scheme simple in operation control and easy to install and debug by utilizing the existing communication protocol.
drawings
FIG. 1 is a schematic block diagram of a system according to the present invention.
Detailed Description
the present invention will be described in further detail with reference to the accompanying drawings and examples.
the invention provides an industrial robot data transmission method and an industrial robot data transmission system for solving the problem that the industrial robot in the prior art cannot realize a universal data interaction method, and realizes data interaction with different types of industrial robots by using the universal method.
the data transmission method of the industrial robot comprises the following steps:
1) The pre-processing module generates a first attitude file;
2) The first attitude file is sent to a post-processing module, and the post-processing module generates a second attitude file according to the first attitude file;
3) Sending the second attitude file to a control device, and carrying out segmented loading on the second attitude file by the control device to obtain a third attitude file;
4) The control device controls the industrial robot to execute the related instruction through the third attitude file;
5) the handheld operator acquires a parameter change instruction, generates a first parameter change signal according to the parameter change instruction, and sends the first parameter change signal to the programmable logic controller; in the embodiment, the handheld operator communicates through a TCP/IP protocol and sends a first parameter change signal to the programmable logic controller;
6) The programmable logic controller acquires a first parameter change signal and generates a second parameter change signal;
7) And the programmable logic controller sends the second parameter change signal to the control device, and the control device controls the industrial robot to change the parameters.
In the embodiment, the control device comprises a demonstrator and a control cabinet which are connected, and in the step 3), the second posture file is sent to the demonstrator, and the demonstrator carries out segment loading on the second posture file through a StartLoad instruction to obtain a third posture file; in the step 4), the demonstrator sends the third posture file to the control cabinet, and the control cabinet controls the industrial robot to execute a relevant instruction; and 7), the programmable logic controller sends a second parameter change signal to the control cabinet through a Profinet communication protocol.
As an example, in this embodiment, if the parameter updating instruction is a speed change instruction, in step 5), the handheld operator acquires the speed change instruction, generates a first speed change signal according to the speed change instruction, and sends the first speed change signal to the programmable logic controller; in step 6), the programmable logic controller acquires a first speed change signal and generates a second speed change signal; and 7), the programmable logic controller sends the second speed change signal to a control cabinet, and the control cabinet controls the industrial robot to change the speed.
That is, the steps of this embodiment are as follows:
1) the pre-processing module generates a first attitude file;
2) the first attitude file is sent to a post-processing module, and the post-processing module generates a second attitude file according to the first attitude file;
3) Sending the second attitude file to a demonstrator, and loading the second attitude file by the demonstrator in a segmented manner through a StartLoad instruction to obtain a third attitude file;
4) The demonstrator sends the third attitude file to the control cabinet, and the control cabinet controls the industrial robot to execute related instructions;
5) The method comprises the steps that a handheld operator obtains a speed change instruction and generates a first speed change signal according to the speed change instruction, the handheld operator communicates through a TCP/IP protocol and sends the first speed change signal to a programmable logic controller;
6) The programmable logic controller acquires a first speed change signal, generates a second speed change signal, and sends the second speed change signal to an internet access communication module of a Profinet protocol;
7) And sending a second speed change signal to the control cabinet through the internet access communication module, and controlling the industrial robot to change the speed by the control cabinet.
The invention also provides an industrial robot data transmission system, as shown in fig. 1, comprising a pre-processing module, a post-processing module, a hand-held manipulator, a programmable logic controller and a control device, wherein the pre-processing module and the post-processing module are sequentially connected with the control device, and the hand-held manipulator and the programmable logic controller are sequentially connected with the control device; the hand-held operator and the programmable logic controller are communicated through a TCP/IP protocol, and man-machine interaction with the programmable logic controller is achieved. The data transmission system of the industrial robot performs data interaction with the industrial robot based on the data transmission method of the industrial robot.
In this embodiment, the control device includes a demonstrator and a control cabinet connected to each other; the front-end processing module and the rear-end processing module are sequentially connected with the demonstrator, and the handheld operator and the programmable logic controller are sequentially connected with the control cabinet. In this embodiment, the programmable logic controller and the control cabinet communicate with each other via a Profinet protocol. The programmable logic controller is provided with a storage unit for storing data input when the hand-held operator and the programmable logic controller carry out human-computer interaction.
in specific implementation, the models of the modules are as follows:
The pre-processing module is PowerMill, the post-processing module is RobotMaster, the hand-held operator is Sukong HMI, and the programmable logic controller is SIMATIC S7-300.
the above examples are provided only for illustrating the present invention and are not intended to limit the present invention. Changes, modifications, etc. to the above-described embodiments are intended to fall within the scope of the claims of the present invention as long as they are in accordance with the technical spirit of the present invention.
Claims (10)
1. A data transmission method for an industrial robot is characterized by comprising the following steps:
1) The pre-processing module generates a first attitude file;
2) The first attitude file is sent to a post-processing module, and the post-processing module generates a second attitude file according to the first attitude file;
3) Sending the second attitude file to a control device, and carrying out segmented loading on the second attitude file by the control device to obtain a third attitude file;
4) the control device controls the industrial robot to execute the related instruction through the third attitude file;
5) The handheld operator acquires a parameter change instruction, generates a first parameter change signal according to the parameter change instruction, and sends the first parameter change signal to the programmable logic controller;
6) the programmable logic controller acquires a first parameter change signal and generates a second parameter change signal;
7) and the programmable logic controller sends the second parameter change signal to the control device, and the control device controls the industrial robot to change the parameters.
2. the industrial robot data transmission method according to claim 1, characterized in that in step 5) the hand-held manipulator communicates via TCP/IP protocol to send a first parameter change signal to the programmable logic controller.
3. The industrial robot data transmission method according to claim 1, wherein the control device comprises a teach pendant and a control cabinet connected, and in step 3), the second posture file is sent to the teach pendant, and the teach pendant performs segment loading on the second posture file through a StartLoad instruction to obtain a third posture file; in the step 4), the demonstrator sends the third posture file to the control cabinet, and the control cabinet controls the industrial robot to execute a relevant instruction; and 7), the programmable logic controller sends a second parameter change signal to the control cabinet through a Profinet communication protocol.
4. The data transmission method of the industrial robot according to claim 3, wherein the parameter update command is a speed change command, and in step 5), the hand-held manipulator acquires the speed change command, generates a first speed change signal according to the speed change command, and sends the first speed change signal to the programmable logic controller; in step 6), the programmable logic controller acquires a first speed change signal and generates a second speed change signal; and 7), the programmable logic controller sends the second speed change signal to a control cabinet, and the control cabinet controls the industrial robot to change the speed.
5. the data transmission system of the industrial robot is characterized by comprising a pre-processing module, a post-processing module, a handheld manipulator, a programmable logic controller and a control device, wherein the pre-processing module, the post-processing module and the control device are sequentially connected, and the handheld manipulator, the programmable logic controller and the control device are sequentially connected; the data transmission system of the industrial robot is based on the data transmission method of the industrial robot in any one of claims 1 to 4, and the data interaction is carried out with the industrial robot.
6. the industrial robot data transfer system of claim 5, wherein the hand-held manipulator communicates with the programmable logic controller via a TCP/IP protocol to effect human-machine interaction with the programmable logic controller.
7. An industrial robot data transfer system according to claim 5, characterized in that the control means comprises a teach pendant and a control cabinet connected; the front-end processing module and the rear-end processing module are sequentially connected with the demonstrator, and the handheld operator and the programmable logic controller are sequentially connected with the control cabinet.
8. an industrial robot data transfer system according to claim 7, characterized in that the programmable logic controller communicates with the control cabinet via the Profinet protocol.
9. The industrial robot data transmission system according to claim 5, wherein the programmable logic controller is provided with a storage unit for storing data inputted when the hand-held manipulator interacts with the programmable logic controller.
10. An industrial robot data transfer system according to claim 5, characterized in that the pre-processing module is a PowerMill, the post-processing module is a RobotMaster, the hand-held manipulator is a Sukong HMI and the programmable logic controller is a SIMATIC S7-300.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910875172.6A CN110561436B (en) | 2019-09-17 | 2019-09-17 | Industrial robot data transmission method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910875172.6A CN110561436B (en) | 2019-09-17 | 2019-09-17 | Industrial robot data transmission method and system |
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| CN110561436A true CN110561436A (en) | 2019-12-13 |
| CN110561436B CN110561436B (en) | 2022-08-26 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09244722A (en) * | 1996-03-06 | 1997-09-19 | Toyota Autom Loom Works Ltd | Teaching data generation method for industrial robot, teaching data generation device for industrial robot and industrial robot system |
| CN104647346A (en) * | 2013-11-19 | 2015-05-27 | 广东工业大学 | Carrying manipulator for pulp molding machine |
| CN104972362A (en) * | 2014-04-14 | 2015-10-14 | 沈阳远大科技园有限公司 | Intelligent force control robot grinding system and method |
| CN106444638A (en) * | 2016-07-26 | 2017-02-22 | 南京国际船舶设备配件有限公司 | Marine low-speed machine air valve welding robot work station control system |
-
2019
- 2019-09-17 CN CN201910875172.6A patent/CN110561436B/en active Active
Patent Citations (4)
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|---|---|---|---|---|
| JPH09244722A (en) * | 1996-03-06 | 1997-09-19 | Toyota Autom Loom Works Ltd | Teaching data generation method for industrial robot, teaching data generation device for industrial robot and industrial robot system |
| CN104647346A (en) * | 2013-11-19 | 2015-05-27 | 广东工业大学 | Carrying manipulator for pulp molding machine |
| CN104972362A (en) * | 2014-04-14 | 2015-10-14 | 沈阳远大科技园有限公司 | Intelligent force control robot grinding system and method |
| CN106444638A (en) * | 2016-07-26 | 2017-02-22 | 南京国际船舶设备配件有限公司 | Marine low-speed machine air valve welding robot work station control system |
Non-Patent Citations (1)
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| 王晶等: "CAM在石材数控雕刻中的应用", 《制造业自动化》 * |
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