CN110815244A - Spraying robot workstation control system - Google Patents
Spraying robot workstation control system Download PDFInfo
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- CN110815244A CN110815244A CN201911124150.2A CN201911124150A CN110815244A CN 110815244 A CN110815244 A CN 110815244A CN 201911124150 A CN201911124150 A CN 201911124150A CN 110815244 A CN110815244 A CN 110815244A
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- control
- robot
- cabinet
- spraying
- pmac
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- 238000005507 spraying Methods 0.000 title claims abstract description 37
- XEBWQGVWTUSTLN-UHFFFAOYSA-M phenylmercury acetate Chemical compound CC(=O)O[Hg]C1=CC=CC=C1 XEBWQGVWTUSTLN-UHFFFAOYSA-M 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000007726 management method Methods 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000010422 painting Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000011248 coating agent Substances 0.000 abstract description 5
- 238000000576 coating method Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000001737 promoting effect Effects 0.000 abstract description 2
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000036651 mood Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 150000001299 aldehydes Chemical class 0.000 description 1
- 150000001412 amines Chemical class 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Spray Control Apparatus (AREA)
Abstract
A spraying robot workstation control system belongs to the technical field of robot spraying and comprises a station main control cabinet (MCP cabinet), a robot control cabinet, spraying equipment and external auxiliary equipment, wherein the system adopts a PMAC motion control card and an embedded PC mode based on a PC-104 bus to realize the control function of a parallel heavy-load operation robot, the whole system adopts a double-microcomputer hierarchical control mode, namely, a superior embedded PC is responsible for system management and path planning, and a subordinate PMAC motion controller realizes servo control on each joint. The invention can be used for replacing a manual robot workstation facing a spraying automation line, effectively shortens the working time of technical personnel in a severe environment, and is beneficial to promoting the establishment of a harmonious society. Meanwhile, after the robot workstation is adopted, the automation level of the coating industry is further improved, the production and operation management level is improved to the international advanced level, and the core competitiveness of the industry is effectively improved.
Description
Technical Field
The invention belongs to the technical field of robot spraying, relates to a robot control system, and particularly relates to a spraying robot workstation control system.
Background
With the increasing abundance of the substance level, people pay attention to the inherent quality of products and have higher and higher requirements on the appearance of the products. Almost all electromechanical products relate to surface coating operation surface spraying quality in the manufacturing process, influence the corrosion resistance and the service life of the products, and simultaneously directly influence the acceptance of users to the products and brands. Spray automation lines of varying scale and degree of automation have covered various areas of national economy. In the existing coating automation line, automation is mainly embodied on the aspect of conveying logistics, more than 70% of work piece loading, unloading and transferring operations are completed manually, and the existing coating automation line has the disadvantages of high noise, tedious work and high labor intensity. The spraying operation robot is very expensive, so that the spraying operation on the surface of a product is mostly carried out in a manual mode in the existing spraying line spraying and complementary spraying operation in China, and the harmful substances and gases which cause environmental pollution, such as benzene, aldehydes, amines and the like, generated in the process affect the health and labor mood of operators, so that the spraying quality is greatly affected by factors such as the technical level and mood of workers, the re-spraying rate of a spraying process is high, and the production capacity is restricted.
Disclosure of Invention
The invention aims to provide a control system of a spraying robot workstation, aiming at the defects in the technology, which can be used for replacing a manual robot workstation facing a spraying automation line, effectively shortens the working time of technical personnel in a severe environment, is beneficial to improving the production and operation management level and can further improve the core competitiveness of the industry.
The technical scheme of the invention is as follows: the utility model provides a spraying robot workstation control system which characterized in that: the control system consists of an MCP cabinet, a robot control cabinet, spraying equipment and external auxiliary equipment; the spraying equipment and the external auxiliary equipment, the needed electric control elements are respectively arranged in the robot control cabinet and the MCP cabinet, the MCP cabinet and the robot control cabinet realize the transmission of corresponding control instructions and the feedback and interaction of off signals through a circuit interface and a communication port, a control system adopts a PMAC motion control card and an embedded PC mode based on a PC-104 bus to realize the control of parallel heavy-load operation robots, adopts a double-microcomputer hierarchical control mode, namely a superior embedded PC is responsible for system management and path planning, a subordinate PMAC motion controller realizes the servo control of each joint, in order to improve the data exchange speed of the embedded PC and the PMAC, a RAM with double ports is used as a high-speed buffer area between the embedded PC and the PMAC, the track data in the memory of the embedded PC is downloaded to the PMAC, or the information of the joint position and the state information of the servo unit are fed back to the embedded PC, on the basis of the hardware composition of a control system, a transfer function model is established, and a multi-layer and hierarchical correction compliance control algorithm of joint error feedback information is adopted to realize good movement performance of the robot. .
The control system adopts Visual C + +6.0 as a software development tool to develop control software, the control software adopts modular design and is divided into an upper computer functional module and a lower computer motion calculation module, the upper computer functional module is developed by Visual C + +6.0 and is communicated through a PMAC PTALK control, the lower computer software is developed by utilizing PMAC self language, and the high-speed calculation function of the lower computer software is utilized to realize kinematic calculation, track interpolation, motion servo calculation control and the like of the robot workstation.
The spraying equipment adopts SIMATICS 7-1500 PLC and CPU1513F-1PN as a main controller.
The electric control element is composed of an industrial personal computer and a PLC, the electric control element is installed in the MCP cabinet, and a human-computer interaction interface is established between the electric control element and the MCP cabinet by means of related software and a communication mode to carry out information interaction.
The Windows XP or Windows 2000 system is used as an operating system for developing control software in the robot control cabinet.
The invention has the beneficial effects that: the invention provides a spraying robot workstation control system, which comprises a station main control cabinet (MCP cabinet), a robot control cabinet, spraying equipment and external auxiliary equipment, wherein the system adopts a PMAC motion control card and an embedded PC mode based on a PC-104 bus to realize the control function of a parallel heavy-duty operation robot, the whole system adopts a double-microcomputer hierarchical control mode, namely, an upper embedded PC is responsible for system management and path planning, and a lower PMAC motion controller realizes servo control on each joint. The invention can be used for replacing a manual robot workstation facing a spraying automation line, effectively shortens the working time of technical personnel in a severe environment, and is beneficial to promoting the establishment of a harmonious society. Meanwhile, after the robot workstation is adopted, the automation level of the coating industry is further improved, the production and operation management level is improved to the international advanced level, and the core competitiveness of the industry is effectively improved.
Drawings
Fig. 1 is a schematic diagram of the general structure of the control system of the present invention.
Fig. 2 is a block diagram showing the hardware configuration of the control system according to the present invention.
Fig. 3 is a software module diagram for controlling the robot motion according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in figures 1-3, a spraying robot workstation control system adopts a PMAC motion control card and an embedded PC mode based on a PC-104 bus to realize the control function of a parallel heavy-duty operation robot, the whole system adopts a double-microcomputer hierarchical control mode, namely, an upper embedded PC is responsible for system management and path planning, and a lower PMAC motion controller realizes servo control on each joint. In order to improve the data exchange speed between the embedded PC and the PMAC, the dual-port RAM is used as a high-speed buffer area between the embedded PC and the PMAC, track data in the memory of the embedded PC is downloaded to the PMAC, or information of joint positions and state information of a servo unit are fed back to the embedded PC. On the basis of the hardware composition of a control system, a transfer function model is established, and a multi-layer and hierarchical correction compliance control algorithm of joint error feedback information is adopted to realize good movement performance of the robot. Windows XP or Windows 2000 system is used as operating system for developing control software of spraying robot workstation
As shown in fig. 1-3, a control system for a spraying robot workstation selects Visual C + +6.0 as a software development tool for controlling software development. The control software adopts a modular design and is divided into an upper computer functional module and a lower computer motion calculation module. The upper computer functional module is developed by adopting Visual C + +6.0, communicates through a PTALK control of the PMAC, and is mainly used for trajectory planning, parameter setting and modification and manual operation of a robot. The lower computer software is developed by utilizing the language of the PMAC, and the high-speed computing function of the lower computer software is utilized to realize the kinematic computation, the track interpolation, the motion servo computation control and the like of the robot workstation.
As shown in fig. 1-3, a control system for a painting robot workstation is composed of four parts, namely a station main control cabinet (MCP cabinet), a robot control cabinet, a painting device and an external auxiliary device. The spraying equipment, the external auxiliary equipment and the required electric control elements are respectively arranged in the robot control cabinet and the MCP cabinet. The MCP cabinet and the robot control cabinet are communicated through related circuit interfaces and communication ports, and transmission of corresponding control instructions and feedback and interaction of off signals are achieved through different communication modes. The main controller is a core element in a control system of the workstation, and the quality of the performance of the main controller directly influences the spraying production efficiency of the workstation and the spraying quality of products. According to the technical requirements of the embodiment, in the design, the SIMATICS 7-1500 PLC (CPU1513F-1PN) is used as the main controller of the primer spraying workstation. The industrial personal computer and the PLC are installed in the MCP cabinet, and a human-computer interaction interface is established between the industrial personal computer and the PLC by means of related software and a communication mode to carry out information interaction.
Claims (5)
1. The utility model provides a spraying robot workstation control system which characterized in that: the control system consists of an MCP cabinet, a robot control cabinet, spraying equipment and external auxiliary equipment; the spraying equipment and the external auxiliary equipment, the needed electric control elements are respectively arranged in the robot control cabinet and the MCP cabinet, the MCP cabinet and the robot control cabinet realize the transmission of corresponding control instructions and the feedback and interaction of off signals through a circuit interface and a communication port, a control system adopts a PMAC motion control card and an embedded PC mode based on a PC-104 bus to realize the control of parallel heavy-load operation robots, adopts a double-microcomputer hierarchical control mode, namely a superior embedded PC is responsible for system management and path planning, a subordinate PMAC motion controller realizes the servo control of each joint, in order to improve the data exchange speed of the embedded PC and the PMAC, a RAM with double ports is used as a high-speed buffer area between the embedded PC and the PMAC, the track data in the memory of the embedded PC is downloaded to the PMAC, or the information of the joint position and the state information of the servo unit are fed back to the embedded PC, on the basis of the hardware composition of a control system, a transfer function model is established, and a multi-layer and hierarchical correction compliance control algorithm of joint error feedback information is adopted to realize good movement performance of the robot.
2. A painting robot workstation control system according to claim 1, characterized by: the control system adopts Visual C + +6.0 as a software development tool to develop control software, the control software adopts modular design and is divided into an upper computer functional module and a lower computer motion calculation module, the upper computer functional module is developed by Visual C + +6.0 and is communicated through a PMAC PTALK control, the lower computer software is developed by utilizing PMAC self language, and the high-speed calculation function of the lower computer software is utilized to realize kinematic calculation, track interpolation, motion servo calculation control and the like of the robot workstation.
3. A painting robot workstation control system according to claim 1, characterized by: the spraying equipment adopts SIMATICS 7-1500 PLC and CPU1513F-1PN as a main controller.
4. A painting robot workstation control system according to claim 1, characterized by: the electric control element is composed of an industrial personal computer and a PLC, the electric control element is installed in the MCP cabinet, and a human-computer interaction interface is established between the electric control element and the MCP cabinet by means of related software and a communication mode to carry out information interaction.
5. A painting robot workstation control system according to claim 1, characterized by: the Windows XP or Windows 2000 system is used as an operating system for developing control software in the robot control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911124150.2A CN110815244A (en) | 2019-11-18 | 2019-11-18 | Spraying robot workstation control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911124150.2A CN110815244A (en) | 2019-11-18 | 2019-11-18 | Spraying robot workstation control system |
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| Publication Number | Publication Date |
|---|---|
| CN110815244A true CN110815244A (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911124150.2A Pending CN110815244A (en) | 2019-11-18 | 2019-11-18 | Spraying robot workstation control system |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111346755A (en) * | 2020-03-24 | 2020-06-30 | 北京曲线智能装备有限公司 | Spraying control method for spraying robot |
| CN111966055A (en) * | 2020-07-16 | 2020-11-20 | 珠海小工蜂科技有限公司 | Industrial software robot system |
| CN114260901A (en) * | 2022-01-04 | 2022-04-01 | 珠海格力智能装备有限公司 | Control system of industrial robot |
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| CN201892840U (en) * | 2010-07-09 | 2011-07-06 | 广东工业大学 | Virtual reality technology-based integrated control system for spraying industry robot |
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| CN106774035A (en) * | 2017-03-13 | 2017-05-31 | 安徽朗巴智能科技有限公司 | A kind of spray robot control system based on IPC and PMAC platforms |
| CN106873401A (en) * | 2015-12-13 | 2017-06-20 | 申久祝 | A kind of paint-spray robot control system based on PMAC |
| CN107526338A (en) * | 2016-06-22 | 2017-12-29 | 璧典凯 | A kind of numerical control electrolytic machine tool control system based on PMAC |
| CN107899814A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot spraying system and its control method |
-
2019
- 2019-11-18 CN CN201911124150.2A patent/CN110815244A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201892840U (en) * | 2010-07-09 | 2011-07-06 | 广东工业大学 | Virtual reality technology-based integrated control system for spraying industry robot |
| CN104699122A (en) * | 2015-02-12 | 2015-06-10 | 哈尔滨工业大学 | Robot motion control system |
| CN106873401A (en) * | 2015-12-13 | 2017-06-20 | 申久祝 | A kind of paint-spray robot control system based on PMAC |
| CN107526338A (en) * | 2016-06-22 | 2017-12-29 | 璧典凯 | A kind of numerical control electrolytic machine tool control system based on PMAC |
| CN106774035A (en) * | 2017-03-13 | 2017-05-31 | 安徽朗巴智能科技有限公司 | A kind of spray robot control system based on IPC and PMAC platforms |
| CN107899814A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot spraying system and its control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111346755A (en) * | 2020-03-24 | 2020-06-30 | 北京曲线智能装备有限公司 | Spraying control method for spraying robot |
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| CN114260901A (en) * | 2022-01-04 | 2022-04-01 | 珠海格力智能装备有限公司 | Control system of industrial robot |
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Application publication date: 20200221 |