CN110561436A - industrial robot data transmission method and system - Google Patents
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- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- 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
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Abstract
本发明涉及一种工业机器人数据传输方法及系统，利用选配的前置处理模块、后置处理模块、手持操作器和可编程逻辑控制器，通过姿态文件配合控制信号，通过控制装置的示教器与控制柜，实现与工业机器人间的数据传输。本发明可适用于各种类型的工业机器人的数据交互，以实现对工业机器人的二次开发，大大降低工业机器人二次开发的成本，利用现有通讯协议，使得该方案操作控制简单、易于安装调试。
The invention relates to a data transmission method and system for an industrial robot, which utilizes an optional pre-processing module, a post-processing module, a hand-held operator and a programmable logic controller to coordinate a control signal through an attitude file, and teach through a control device. controller and control cabinet to realize data transmission with industrial robots. The invention can be applied to the data interaction of various types of industrial robots, so as to realize the secondary development of the industrial robots, greatly reduce the cost of the secondary development of the industrial robots, and use the existing communication protocol to make the operation and control of the scheme simple and easy to install. debugging.
Description
技术领域technical field
本发明涉及数据传输技术领域，更具体地说，涉及一种工业机器人数据传输方法，以及一种工业机器人数据传输系统。The present invention relates to the technical field of data transmission, and more particularly, to a data transmission method for an industrial robot and a data transmission system for an industrial robot.
背景技术Background technique
目前，随着工业机器人技术的快速发展，工业机器人在搬运、加工和焊接等行业中得到大量应用。而在实际使用中，很多情况下需要对工业机器人做二次开发，由于市场上工业机器人种类繁多，而各大厂商的二次开发系统是作为一个单独模块进行出售，并且不同种类的工业机器人之间不具备数据交互的通用性。由于二次开发系统价格昂贵，给项目增加了很多的资金投入，造成二次开发时成本极高。At present, with the rapid development of industrial robot technology, industrial robots have been widely used in industries such as handling, processing and welding. In actual use, secondary development of industrial robots is required in many cases. Due to the wide variety of industrial robots on the market, the secondary development systems of major manufacturers are sold as a separate module, and different types of industrial robots There is no universality of data interaction between them. Due to the high price of the secondary development system, a lot of capital investment has been added to the project, resulting in extremely high costs during secondary development.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于克服现有技术的不足，提供一种工业机器人数据传输方法与系统，实现与工业机器人的通用性数据交互，以实现对工业机器人的二次开发。The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a method and system for data transmission of an industrial robot, to realize the universal data interaction with the industrial robot, and to realize the secondary development of the industrial robot.
本发明的技术方案如下：The technical scheme of the present invention is as follows:
一种工业机器人数据传输方法，步骤如下：A data transmission method for an industrial robot, the steps are as follows:
1)前置处理模块生成第一姿态文件；1) The preprocessing module generates a first attitude file;
2)将第一姿态文件发送至后置处理模块，后置处理模块根据第一姿态文件生成第二姿态文件；2) sending the first posture file to the post-processing module, and the post-processing module generates the second posture file according to the first posture file;
3)将第二姿态文件发送至控制装置，控制装置将第二姿态文件进行分段加载，获得第三姿态文件；3) sending the second posture file to the control device, and the control device loads the second posture file in sections to obtain the third posture file;
4)控制装置通过第三姿态文件控制工业机器人执行相关指令；4) The control device controls the industrial robot to execute relevant instructions through the third attitude file;
5)手持操作器获取参数更改指令，并根据参数更改指令生成第一参数更改信号，将第一参数更改信号发送至可编程逻辑控制器；5) The handheld operator obtains the parameter change instruction, generates the first parameter change signal according to the parameter change instruction, and sends the first parameter change signal to the programmable logic controller;
6)可编程逻辑控制器获取第一参数更改信号，并生成第二参数更改信号；6) The programmable logic controller obtains the first parameter change signal, and generates the second parameter change signal;
7)可编程逻辑控制器将第二参数更改信号发送至控制装置，控制装置控制工业机器人更改参数。7) 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.
作为优选，步骤5)中，手持操作器通过TCP/IP协议进行通讯，将第一参数更改信号发送至可编程逻辑控制器。Preferably, in step 5), the handheld operator communicates through the TCP/IP protocol, and sends the first parameter change signal to the programmable logic controller.
作为优选，控制装置包括相连接的示教器与控制柜，则步骤3)中，将第二姿态文件发送至示教器，示教器通过StartLoad指令将第二姿态文件进行分段加载，获得第三姿态文件；步骤4)中，示教器将第三姿态文件发送至控制柜，控制柜控制工业机器人执行相关指令；步骤7)中，可编程逻辑控制器通过Profinet通讯协议将第二参数更改信号发送至控制柜。Preferably, the control device includes a connected teach pendant and a control cabinet, then in step 3), the second posture file is sent to the teach pendant, and the teach pendant loads the second posture file in sections through the StartLoad instruction, and obtains The third posture file; in step 4), the teach pendant sends the third posture file to the control cabinet, and the control cabinet controls the industrial robot to execute the relevant instructions; in step 7), the programmable logic controller transmits the second parameter through the Profinet communication protocol The change signal is sent to the control cabinet.
作为优选，所述的参数更新指令为速度更改指令，则步骤5)中，手持操作器获取速度更改指令，并根据速度更改指令生成第一速度更改信号，将第一速度更改信号发送至可编程逻辑控制器；步骤6)中，可编程逻辑控制器获取第一速度更改信号，并生成第二速度更改信号；步骤7)中，可编程逻辑控制器将第二速度更改信号发送至控制柜，控制柜控制工业机器人更改速度。Preferably, the parameter update command is a speed change command, then in step 5), the handheld operator obtains 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 controller logic controller; in step 6), the programmable logic controller obtains the first speed change signal, and generates a second speed change signal; in step 7), the programmable logic controller sends the second speed change signal to the control cabinet, The control cabinet controls the industrial robot to change the speed.
一种工业机器人数据传输系统，包括前置处理模块、后置处理模块、手持操作器、可编程逻辑控制器、控制装置，前置处理模块、后置处理模块与控制装置依次连接，手持操作器、可编程逻辑控制器与控制装置依次连接；所述的工业机器人数据传输系统基于权利要求1至5任一项所述的工业机器人数据传输方法，与工业机器人进行数据交互。An industrial robot data transmission system, comprising a pre-processing module, a post-processing module, a hand-held operator, 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 hand-held operator . The programmable logic controller and the control device are connected in sequence; the industrial robot data transmission system is based on the industrial robot data transmission method according to any one of claims 1 to 5, and performs data interaction with the industrial robot.
作为优选，手持操作器与可编程逻辑控制器通过TCP/IP协议进行通讯，实现与可编程逻辑控制器的人机交互。Preferably, the handheld operator communicates with the programmable logic controller through the TCP/IP protocol, so as to realize human-computer interaction with the programmable logic controller.
作为优选，控制装置包括相连接的示教器与控制柜；前置处理模块、后置处理模块与示教器依次连接，手持操作器、可编程逻辑控制器与控制柜依次连接。Preferably, the control device includes a connected teaching pendant and a control cabinet; the pre-processing module and the post-processing module are sequentially connected to the teaching pendant, and the hand-held operator and the programmable logic controller are sequentially connected to the control cabinet.
作为优选，可编程逻辑控制器与控制柜通过Profinet协议进行通讯。Preferably, the programmable logic controller communicates with the control cabinet through the Profinet protocol.
作为优选，可编程逻辑控制器上设有存储单元，用于存储手持操作器与可编程逻辑控制器进行人机交互时输入的数据。Preferably, the programmable logic controller is provided with a storage unit for storing data input when the handheld operator and the programmable logic controller perform human-computer interaction.
作为优选，前置处理模块为PowerMill，后置处理模块为RobotMaster，手持操作器为Sukong HMI，可编程逻辑控制器为SIMATIC S7-300。Preferably, the pre-processing module is PowerMill, the post-processing module is RobotMaster, the handheld operator is Sukong HMI, and the programmable logic controller is SIMATIC S7-300.
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
本发明所述的工业机器人数据传输方法及系统，利用选配的前置处理模块、后置处理模块、手持操作器和可编程逻辑控制器，通过姿态文件配合控制信号，通过控制装置的示教器与控制柜，实现与工业机器人间的数据传输。本发明可适用于各种类型的工业机器人的数据交互，以实现对工业机器人的二次开发，大大降低工业机器人二次开发的成本，利用现有通讯协议，使得该方案操作控制简单、易于安装调试。The industrial robot data transmission method and system of the present invention utilizes the optional pre-processing module, post-processing module, hand-held operator and programmable logic controller to coordinate control signals through attitude files, and through the teaching of the control device. controller and control cabinet to realize data transmission with industrial robots. The invention can be applied to the data interaction of various types of industrial robots, so as to realize the secondary development of the industrial robots, greatly reduce the cost of the secondary development of the industrial robots, and use the existing communication protocol to make the operation and control of the scheme simple and easy to install. debugging.
附图说明Description of drawings
图1是本发明所述的系统的原理框图。FIG. 1 is a principle block diagram of the system according to the present invention.
具体实施方式Detailed ways
以下结合附图及实施例对本发明进行进一步的详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
本发明为了解决现有技术存在的工业机器人无法实现通用性的数据交互方法，提供一种工业机器人数据传输方法，以及一种工业机器人数据传输系统，以通用性方法实现与不同类型的工业机器人的数据交互，本发明适用于不同类型的工业机器人，进而对不同类型的工业机器人进行二次开发时，不再依赖特定的二次开发系统。In order to solve the problem that the existing industrial robots in the prior art cannot realize the universal data interaction method, the present invention provides an industrial robot data transmission method and an industrial robot data transmission system. Data interaction, the present invention is suitable for different types of industrial robots, and further, when secondary development of different types of industrial robots is performed, it no longer depends on a specific secondary development system.
本发明所述的工业机器人数据传输方法，步骤如下：The industrial robot data transmission method of the present invention, the steps are as follows:
1)前置处理模块生成第一姿态文件；1) The preprocessing module generates a first attitude file;
2)将第一姿态文件发送至后置处理模块，后置处理模块根据第一姿态文件生成第二姿态文件；2) sending the first posture file to the post-processing module, and the post-processing module generates the second posture file according to the first posture file;
3)将第二姿态文件发送至控制装置，控制装置将第二姿态文件进行分段加载，获得第三姿态文件；3) sending the second posture file to the control device, and the control device loads the second posture file in sections to obtain the third posture file;
4)控制装置通过第三姿态文件控制工业机器人执行相关指令；4) The control device controls the industrial robot to execute relevant instructions through the third attitude file;
5)手持操作器获取参数更改指令，并根据参数更改指令生成第一参数更改信号，将第一参数更改信号发送至可编程逻辑控制器；本实施例中，手持操作器通过TCP/IP协议进行通讯，将第一参数更改信号发送至可编程逻辑控制器；5) The handheld operator obtains the parameter modification instruction, and generates the first parameter modification signal according to the parameter modification instruction, and sends the first parameter modification signal to the programmable logic controller; Communication, sending the first parameter change signal to the programmable logic controller;
6)可编程逻辑控制器获取第一参数更改信号，并生成第二参数更改信号；6) The programmable logic controller obtains the first parameter change signal, and generates the second parameter change signal;
7)可编程逻辑控制器将第二参数更改信号发送至控制装置，控制装置控制工业机器人更改参数。7) 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.
本实施例中，控制装置包括相连接的示教器与控制柜，则步骤3)中，将第二姿态文件发送至示教器，示教器通过StartLoad指令将第二姿态文件进行分段加载，获得第三姿态文件；步骤4)中，示教器将第三姿态文件发送至控制柜，控制柜控制工业机器人执行相关指令；步骤7)中，可编程逻辑控制器通过Profinet通讯协议将第二参数更改信号发送至控制柜。In this embodiment, the control device includes a connected teach pendant and a control cabinet, then in step 3), the second posture file is sent to the teach pendant, and the teach pendant loads the second posture file in sections through the StartLoad instruction , obtain the third posture file; in step 4), the teaching pendant sends the third posture file to the control cabinet, and the control cabinet controls the industrial robot to execute relevant instructions; in step 7), the programmable logic controller sends the third posture file through the Profinet communication protocol. The second parameter change signal is sent to the control cabinet.
作为一个实例，本实施例中，所述的参数更新指令为速度更改指令，则步骤5)中，手持操作器获取速度更改指令，并根据速度更改指令生成第一速度更改信号，将第一速度更改信号发送至可编程逻辑控制器；步骤6)中，可编程逻辑控制器获取第一速度更改信号，并生成第二速度更改信号；步骤7)中，可编程逻辑控制器将第二速度更改信号发送至控制柜，控制柜控制工业机器人更改速度。As an example, in this embodiment, the parameter update command is a speed change command, then in step 5), the handheld operator obtains the speed change command, and generates a first speed change signal according to the speed change command, and converts the first speed The change signal is sent to the programmable logic controller; in step 6), the programmable logic controller obtains the first speed change signal, and generates a second speed change signal; in step 7), the programmable logic controller changes the second speed The signal is sent to the control cabinet, which controls the industrial robot to change the speed.
即，本实施例的步骤如下：That is, the steps of this embodiment are as follows:
1)前置处理模块生成第一姿态文件；1) The preprocessing module generates a first attitude file;
2)将第一姿态文件发送至后置处理模块，后置处理模块根据第一姿态文件生成第二姿态文件；2) sending the first posture file to the post-processing module, and the post-processing module generates the second posture file according to the first posture file;
3)将第二姿态文件发送至示教器，示教器通过StartLoad指令将第二姿态文件进行分段加载，获得第三姿态文件；3) sending the second posture file to the teach pendant, and the teach pendant loads the second posture file in sections through the StartLoad instruction to obtain the third posture file;
4)示教器将第三姿态文件发送至控制柜，控制柜控制工业机器人执行相关指令；4) The teach pendant sends the third attitude file to the control cabinet, and the control cabinet controls the industrial robot to execute relevant instructions;
5)手持操作器获取速度更改指令，并根据速度更改指令生成第一速度更改信号，手持操作器通过TCP/IP协议进行通讯，将第一速度更改信号发送至可编程逻辑控制器；5) The hand-held operator obtains the speed change command, and generates the first speed change signal according to the speed change command, the hand-held operator communicates through the TCP/IP protocol, and sends the first speed change signal to the programmable logic controller;
6)可编程逻辑控制器获取第一速度更改信号，并生成第二速度更改信号，发送第二速度更改信号至Profinet协议的网口通讯模块；6) The programmable logic controller obtains the first speed change signal, generates the second speed change signal, and sends the second speed change signal to the network port communication module of the Profinet protocol;
7)通过网口通讯模块将第二速度更改信号发送至控制柜，控制柜控制工业机器人更改速度。7) Send the second speed change signal to the control cabinet through the network port communication module, and the control cabinet controls the industrial robot to change the speed.
本发明还提供一种工业机器人数据传输系统，如图1所示，包括前置处理模块、后置处理模块、手持操作器、可编程逻辑控制器、控制装置，前置处理模块、后置处理模块与控制装置依次连接，手持操作器、可编程逻辑控制器与控制装置依次连接；其中，手持操作器与可编程逻辑控制器通过TCP/IP协议进行通讯，实现与可编程逻辑控制器的人机交互。所述的工业机器人数据传输系统基于所述的工业机器人数据传输方法，与工业机器人进行数据交互。The present invention also provides an industrial robot data transmission system, as shown in Figure 1, including a preprocessing module, a postprocessing module, a handheld operator, a programmable logic controller, a control device, a preprocessing module, a postprocessing The module and the control device are connected in turn, and the hand-held operator, the programmable logic controller and the control device are connected in turn; among them, the hand-held operator and the programmable logic controller communicate through the TCP/IP protocol, so that the human machine interaction. The industrial robot data transmission system performs data interaction with the industrial robot based on the industrial robot data transmission method.
本实施例中，控制装置包括相连接的示教器与控制柜；前置处理模块、后置处理模块与示教器依次连接，手持操作器、可编程逻辑控制器与控制柜依次连接。本实施例中，可编程逻辑控制器与控制柜通过Profinet协议进行通讯。可编程逻辑控制器上设有存储单元，用于存储手持操作器与可编程逻辑控制器进行人机交互时输入的数据。In this embodiment, the control device includes a connected teaching pendant and a control cabinet; the pre-processing module and the post-processing module are sequentially connected to the teaching pendant, and the hand-held operator and the programmable logic controller are sequentially connected to the control cabinet. In this embodiment, the programmable logic controller communicates with the control cabinet through the Profinet protocol. The programmable logic controller is provided with a storage unit for storing the data input when the hand-held operator and the programmable logic controller perform man-machine interaction.
具体实施时，关于各模块的型号如下：In the specific implementation, the model of each module is as follows:
前置处理模块为PowerMill，后置处理模块为RobotMaster，手持操作器为SukongHMI，可编程逻辑控制器为SIMATIC S7-300。The pre-processing module is PowerMill, the post-processing module is RobotMaster, the handheld operator is SukongHMI, and the programmable logic controller is SIMATIC S7-300.
上述实施例仅是用来说明本发明，而并非用作对本发明的限定。只要是依据本发明的技术实质，对上述实施例进行变化、变型等都将落在本发明的权利要求的范围内。The above-mentioned embodiments are only used to illustrate the present invention, but not to limit the present invention. As long as it is in accordance with the technical essence of the present invention, changes, modifications, etc. to the above-described embodiments will fall within the scope of the claims of the present invention.
Claims (10)
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| 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 |
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