CN113157336A - C # language-based gripper configuration system, method, device and storage medium - Google Patents
C # language-based gripper configuration system, method, device and storage medium Download PDFInfo
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- CN113157336A CN113157336A CN202110407937.0A CN202110407937A CN113157336A CN 113157336 A CN113157336 A CN 113157336A CN 202110407937 A CN202110407937 A CN 202110407937A CN 113157336 A CN113157336 A CN 113157336A
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/445—Program loading or initiating
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Abstract
The invention discloses a gripper configuration system based on C # language, which mainly comprises a robot process information import module, a robot gripper standard information import module, a configuration information compiling module and a file generating module. The C # language-based gripper configuration method comprises the following steps: s1: the specific name information, the starting authority, the product information, the subordinate equipment information and the corresponding folder name of the gripping apparatus are sequentially input according to the process information of the client; s2: inputting authority information of the robot according to a client standard; s3: inputting configuration information of a current gripper according to the process requirements of each robot, and generating an original gripper information file; s4: and naming the generated original gripper information file, packaging the original gripper information file into a corresponding folder in the step S1, and sending the original gripper information file to a gripper configuration site. The invention can rapidly and orderly generate the gripper configuration files according to different customers and different gripper process requirements, is used for field configuration and improves the debugging efficiency.
Description
Technical Field
The invention relates to the field of gripper configuration, in particular to a gripper configuration system, method, device and storage medium based on C # language.
Background
At present, industrial robots are widely used in the field of electrical control of automobile equipment integrators and the like, and the number of the industrial robots used is increasing. For convenience of management and improvement of robot debugging efficiency, the data structure of the handling process in a project is usually the same and has a corresponding standard specification, which includes but is not limited to: input output allocation criteria, folder naming criteria, hierarchical classification criteria, file arrangement criteria, and the like.
When robot software is used for designing the gripper configuration files, a common method of a designer is to firstly read the relevant standard standards of the project, then establish a folder structure for storing gripper configuration data according to the corresponding standards, name the folder according to the standard standards, then establish all gripper configuration data files according to rules, classify and arrange the gripper configuration data files according to the standard structures, and then correspondingly store the gripper configuration data files of each level into the previously established folder according to the standards.
For welding debugging, the configuration of the gripping apparatus is a work with large workload, easy error and difficult inspection, and the method for establishing the configuration data of the gripping apparatus has the following defects:
(1) the method has the advantages that the work is complicated, the efficiency is low, the process flow is that a main-level folder is newly built and renamed, the content of a file is newly built, modified, copied, pasted and modified, and the process is repeated continuously;
(2) the result depends on human factors, and the manual operation is completely performed;
(3) the on-site investigation is difficult, and the generated file can be detected whether to have problems only by on-site import, so that the real-time detection cannot be carried out in advance;
(4) the virtual machine is required to be used for testing in advance, and if the virtual machine is not used for testing in advance, the correctness of the content and the format of the field imported file cannot be guaranteed;
it is therefore desirable to provide a new method for gripper configuration data and structure hierarchy generation based on customer standard specifications to solve the above problems.
Disclosure of Invention
The invention aims to solve the technical problem of providing a gripper configuration system, a gripper configuration method, a gripper configuration device and a storage medium thereof based on C # language, which can quickly and orderly generate gripper configuration files according to different customers and different gripper process requirements, are used for field configuration and improve debugging efficiency.
In order to solve the technical problems, the first technical scheme adopted by the invention is as follows: the utility model provides a C # language based gripper configuration system mainly includes:
the robot process information import module is used for sequentially inputting specific name information, starting permission, product information, subordinate equipment information and corresponding folder names of the gripper according to the process information of a client and generating a file format which can be recognized by a robot system by reading corresponding name information;
the robot gripper standard information import module is used for inputting the authority information of the robot according to the client standard and generating the corresponding authority according to the authority information and a file format which can be recognized by a robot system by reading the authority information of the robot;
the configuration information compiling module is used for inputting the configuration information of the current gripper according to the process requirement of each robot, and arranging and coding all parameters under the configuration information according to the process sequence in combination with the process information and the authority information to generate an original gripper information file;
and the file generation module is used for naming the generated original gripper information file, packaging the named original gripper information file into a corresponding folder imported by the robot process information import module and sending the named original gripper information file to a gripper configuration site.
In a preferred embodiment of the present invention, the robot gripper standard information importing module includes an operation level authority generating unit and a security level authority generating unit;
the operation authority level generation unit is used for selecting input and output operation authorities according to client standards, inputting operation authority information and generating operation level authorities according to a file format recognizable by a robot system;
the safety level authority generation unit is used for selecting the input and output safety authorities according to the client standard, inputting safety authority information and generating the safety level authority according to a file format recognizable by the robot system.
In a preferred embodiment of the present invention, the step of the configuration information writing module entering the current gripper configuration information is:
firstly, the number of groups of the minimum control units of the current gripping apparatus is sequentially recorded, and then the specific number of each unit is recorded on the basis of the current information.
In a preferred embodiment of the present invention, the configuration information writing module uses the configuration information of the air cylinder, the sensor and the vacuum detector of the gripper as input signals, the configuration information of the valve plate and the vacuum emitter as output signals, the robot process information and the authority information as attribute files, and the output signals are arranged and encoded according to the process requirements of the customer to generate an original gripper information file.
In order to solve the above technical problems, the second technical solution adopted by the present invention is: the gripper configuration method based on the C # language comprises the following steps:
s1: the specific name information, the starting authority, the product information, the subordinate equipment information and the corresponding folder name of the gripping apparatus are sequentially input according to the process information of the client;
s2: inputting authority information of the robot according to a client standard;
s3: inputting configuration information of a current gripper according to the process requirements of each robot, and generating an original gripper information file;
s4: and naming the generated original gripper information file, packaging the original gripper information file into a corresponding folder in the step S1, and sending the original gripper information file to a gripper configuration site.
In a preferred embodiment of the present invention, the step S2 includes the following steps:
s2.1: selecting input and output operation authorities according to client standards, inputting operation authority information, and generating operation level authorities;
s2.2: and selecting the input and output security rights according to the client standard, inputting security right information, and generating a security level right.
In a preferred embodiment of the present invention, in step S3, the step of entering the current gripper configuration information is:
firstly, the number of groups of the minimum control units of the current gripping apparatus is sequentially recorded, and then the specific number of each unit is recorded on the basis of the current information.
Further, the minimum control unit comprises a valve plate, a vacuum emitter and a sensor.
In order to solve the above technical problems, the third technical solution adopted by the present invention is: there is provided a C # language based gripper configuration device comprising a memory for storing at least one program and a processor for loading the at least one program to perform the method of any of the above.
In order to solve the technical problems, the fourth technical scheme adopted by the invention is as follows: there is provided a storage medium having stored therein processor-executable instructions, wherein the processor-executable instructions, when executed by a processor, are for performing any of the methods described above.
The invention has the beneficial effects that:
(1) the system is mainly applied to gripper configuration, is a gripper configuration Win Form window platform which can rapidly and orderly generate gripper configuration files according to different customers and different gripper process requirements and is developed based on C # language, is used for field configuration, and can rapidly confirm code operation and configuration rules through standard analysis;
(2) the window platform can output configuration files in real time, and the configuration files are mapped one by one, so that the items such as mistakes and omissions are avoided, manual field configuration is omitted, and debugging efficiency is greatly improved;
(3) the method is characterized in that the grab is configured through a Win Form window, is one of means for improving the field debugging efficiency, is also one of keys for improving the line debugging efficiency, and through statistics, the manual configuration and the test of each complex grab are about 1 hour, the manual configuration and the test of each simple grab are about 0.5 hour, and the grab can be configured in 2 minutes through a Win Form window platform.
Drawings
FIG. 1 is a block diagram of a preferred embodiment of a C # language based gripper configuration system according to the present invention;
FIG. 2 is a schematic interface diagram of a preferred embodiment of the C # language based gripper configuration system;
fig. 3 is a flowchart of the gripper configuration method based on the C # language.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1 and 2, an embodiment of the present invention includes:
a gripper configuration system based on C # language mainly comprises a robot craft information import module, a robot gripper standard information import module, a configuration information compiling module and a file generating module.
The robot process information import module is used for sequentially inputting specific name information (address name), starting authority, product information, subordinate device information (station information name) and corresponding folder names of the gripper according to process information of a client, and generating a file format recognizable by a robot system by reading corresponding name information, and is marked as 'part _ 1'; the process information is initial configuration information of a robot, and comprises a plurality of constraint information selections, each constraint is required to be filled and selected according to actual requirements, and the name information is unique. As shown in fig. 1, the robot process information import module includes the following information: address name (devicename), state-on-startup (statewheatstart), integrator name (VendorName), vendor name (ProductName), stack point name (StationName), folder name of export (flodernameoffport).
And the robot gripper standard information import module is used for inputting the authority information of the robot according to the client standard and reading the authority information of the robot to generate the corresponding authority according to the authority information and a file format which can be recognized by a robot system. The standard information is standard authority information of one robot, and comprises a plurality of standard authority requirements, theoretically, the same client standard is uniform to all the gripper standard requirements, and the standard information only needs to be filled once.
The robot gripper standard information import module comprises an operation level authority generation unit and a safety level authority generation unit.
The operation authority level generation unit is used for selecting input and output operation authorities according to a client standard, inputting operation authority information, and generating operation level authorities which are marked as 'part _ 2.1' according to a file format which can be recognized by a robot system; specifically, the operation authority includes manual filling and automatic program calling.
The safety level authority generation unit is used for selecting the input and output safety authorities according to the client standard and inputting safety authority information, and generating safety level authorities which are marked as 'part _ 2.2' according to a file format recognizable by a robot system. Specifically, under the conditions that the robot is powered off, restarted, and the manual mode is converted into the automatic mode, and the like, the safety level authority guarantees the integrity and consistency of information data.
part _2.1 and part _2.2 are right information of the output signals, and can be called as "part _ 3" by all the output signals, namely, part _3 ═ part (part2.1 or 2.2 or 2.1+2.2) + part _1 as an attribute file.
In the robot gripper standard information import module, the following information is included: an IO signal authority level (EIOAccess), an IO signal security level (EIOSignalSafeLevel), an ActionWhenStartup (ActionWhenStartup), and an ActionWhenNotaccessSible (ActionWhenNotaccessSible).
The configuration information compiling module is used for inputting the configuration information of the current gripper according to the process requirements of each robot, and arranging and coding all parameters under the configuration information according to the process sequence in combination with the process information and the authority information to generate an original gripper information file.
And sequentially inputting the number of groups of the current minimum control units according to the process requirements of each transfer robot, and then inputting the specific number of each unit on the basis of the current information. The minimum control unit is the number of valve plate/vacuum emitter/sensor groups. The information compiling method specifically comprises the following steps:
filling control information of each gripper, including the number of valve plates, the number of vacuum emitters (sucker groups) and the number of sensor groups. All information contained in the configuration information is processed by the system (Win Form window). Taking the number of the valve plates as an example: the Win Form reads the current valve plate number, records the current number, and generates a corresponding group number according to the current number of the signal stamps, namely the valve plate group number of the gripping apparatus; as shown in fig. 1, if filling 4 in the "number of valve groups", four groups of valves "valve 1, valve 2, valve 3, valve 4" appear correspondingly in the "number of cylinders per group"; and filling the number of cylinders in each group of valve plates according to the actual gripper process, namely filling the number of cylinders in filling frames behind the valves 1, 2, 3 and 4. Similarly, the number of sets of suction cups and the number of sets of sensors are the same. The signal stamp is stored in num Form in a buffer of the Win Form. The set of process information which has a dependency relationship with each other constitutes the configuration information of the current gripper.
The configuration information compiling module takes configuration information of an air cylinder, a sensor and a vacuum detector of the gripper as input signals and is marked as 'part _ 4.1', configuration information of a valve plate and a vacuum emitter as output signals and is marked as 'part _ 4.2', robot process information and authority information are used as an attribute file (part _3) and are arranged and coded with the output signal (part _4.2) according to process requirements of a client, and an original gripper information file is generated and is marked as 'part _ 4'.
The original gripper information file comprises CFG and SYS files.
For CFG file information, the Win Form arranges and codes the configuration information according to the naming rule of a client and generates the configuration information;
for SYS file information, Win Form reads the address name (DeviceName) according to the technological requirement of the customer, and then combines the address name and the gripper configuration information to generate a specific technological step sequence data template; and finally, calling part _4 in the CFG file information according to the actual gripper configuration information to replace the template information, thereby generating the template information.
The file generation module is used for naming the generated original gripper information file, packaging the original gripper information file into a corresponding folder imported by the robot process information import module and sending the original gripper information file to a gripper configuration site. As shown in fig. 1, the generated CFG file is named "EIO _ MH", the SYS file is named "MH _ USER", and the standard gripper configuration file is generated and then placed in a standard folder (flodernameofflmport). And packaging the generated files and sending the files to the site, directly importing the files into a corresponding robot according to the line body information matching corresponding folders, and completing the configuration of the gripper.
In the embodiment, the system is designed to be a software platform developed based on Visual Studio 2017 under the flag of Microsoft corporation, NET Framework 4.0 and the above, the development language is C # language based on a window mode, and C # not only retains the original C + + function, but also adds the NET Framework function. The system is a C # language development-based gripper configuration Win Form window platform capable of generating gripper configuration files rapidly and orderly according to different customers and different gripper process requirements, is mainly applied to gripper configuration, can rapidly confirm code operation and configuration rules through standard analysis, can output the configuration files in real time through the window platform, can perform one-to-one mapping, does not generate mistakes and omissions and the like, saves manual field configuration, and greatly improves debugging efficiency.
Referring to fig. 3, a method for gripper configuration using the system includes the steps of:
s1: the specific name information, the starting authority, the product information, the subordinate equipment information and the corresponding folder name of the gripping apparatus are sequentially input according to the process information of the client; specifically, the mode filled in by the window is adopted in the robot process information import module to input the relevant information of the gripper.
S2: inputting authority information of the robot according to a client standard; specifically, the authority information of the robot is input in the robot gripper standard information import module by adopting a mode selected and filled in a window. The method comprises the following specific steps:
s2.1: selecting input and output operation authorities according to client standards, inputting operation authority information, and generating operation level authorities;
s2.2: and selecting the input and output security rights according to the client standard, inputting security right information, and generating a security level right.
S3: inputting configuration information of a current gripper according to the process requirements of each robot, and generating an original gripper information file; firstly, the number of groups of the minimum control units of the current gripping apparatus is sequentially recorded, and then the specific number of each unit is recorded on the basis of the current information. And inputting the configuration information of the gripping apparatus by using the mode filled in by the window in the configuration information writing module.
S4: and naming the generated original gripper information file, packaging the original gripper information file into a corresponding folder in the step S1, and sending the original gripper information file to a gripper configuration site. And filling the name of the configuration file in the file generation module by adopting a window filling mode. And generating a standard gripper configuration file and putting the standard gripper configuration file into a standard folder. And packaging the generated files and sending the files to the site, directly importing the files into a corresponding robot according to the line body information matching corresponding folders, and completing the configuration of the gripper.
The method is characterized in that the grab is configured through a Win Form window, is one of means for improving the field debugging efficiency, is also one of keys for improving the line debugging efficiency, and through statistics, the manual configuration and the test of each complex grab are about 1 hour, the manual configuration and the test of each simple grab are about 0.5 hour, and the grab is configured in 2 minutes through a Win Form window platform.
The embodiment of the invention also provides a gripper configuration device based on the C # language, which comprises a memory and a processor, wherein the memory is used for storing at least one program, and the processor is used for loading the at least one program to execute the method.
Embodiments of the present invention also provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the method as described in any one of the above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. A gripper configuration system based on C # language is characterized by mainly comprising:
the robot process information import module is used for sequentially inputting specific name information, starting permission, product information, subordinate equipment information and corresponding folder names of the gripper according to the process information of a client and generating a file format which can be recognized by a robot system by reading corresponding name information;
the robot gripper standard information import module is used for inputting the authority information of the robot according to the client standard and generating the corresponding authority according to the authority information and a file format which can be recognized by a robot system by reading the authority information of the robot;
the configuration information compiling module is used for inputting the configuration information of the current gripper according to the process requirement of each robot, and arranging and coding all parameters under the configuration information according to the process sequence in combination with the process information and the authority information to generate an original gripper information file;
and the file generation module is used for naming the generated original gripper information file, packaging the named original gripper information file into a corresponding folder imported by the robot process information import module and sending the named original gripper information file to a gripper configuration site.
2. The gripper configuration system based on the C # language according to claim 1, wherein the robot gripper standard information importing module comprises an operation level authority generating unit and a safety level authority generating unit;
the operation authority level generation unit is used for selecting input and output operation authorities according to client standards, inputting operation authority information and generating operation level authorities according to a file format recognizable by a robot system;
the safety level authority generation unit is used for selecting the input and output safety authorities according to the client standard, inputting safety authority information and generating the safety level authority according to a file format recognizable by the robot system.
3. The C # language based gripper configuration system of claim 1, wherein said configuration information writing module entering current gripper configuration information comprises:
firstly, the number of groups of the minimum control units of the current gripping apparatus is sequentially recorded, and then the specific number of each unit is recorded on the basis of the current information.
4. The gripper configuration system according to claim 1, wherein the configuration information writing module takes configuration information of a cylinder, a sensor and a vacuum detector of the gripper as input signals, configuration information of a valve plate and a vacuum emitter as output signals, robot process information and authority information as attribute files, and the output signals are arranged and encoded according to process requirements of a client to generate an original gripper information file.
5. A gripper configuration method based on C # language is characterized by comprising the following steps:
s1: the specific name information, the starting authority, the product information, the subordinate equipment information and the corresponding folder name of the gripping apparatus are sequentially input according to the process information of the client;
s2: inputting authority information of the robot according to a client standard;
s3: inputting configuration information of a current gripper according to the process requirements of each robot, and generating an original gripper information file;
s4: and naming the generated original gripper information file, packaging the original gripper information file into a corresponding folder in the step S1, and sending the original gripper information file to a gripper configuration site.
6. The gripper configuration method based on the C # language according to claim 5, wherein the specific step of the step S2 comprises:
s2.1: selecting input and output operation authorities according to client standards, inputting operation authority information, and generating operation level authorities;
s2.2: and selecting the input and output security rights according to the client standard, inputting security right information, and generating a security level right.
7. The gripper configuration method based on the C # language according to claim 5, wherein in the step S3, the step of entering the current gripper configuration information is:
firstly, the number of groups of the minimum control units of the current gripping apparatus is sequentially recorded, and then the specific number of each unit is recorded on the basis of the current information.
8. The gripper configuration method according to claim 7, wherein the minimum control unit comprises a valve plate, a vacuum emitter, and a sensor.
9. A gripper configuration device based on C # language, characterized by comprising a memory for storing at least one program and a processor for loading the at least one program to perform the method according to any one of claims 5 to 8.
10. A storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the method of any one of claims 5 to 8.
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| CN202110407937.0A CN113157336A (en) | 2021-04-15 | 2021-04-15 | C # language-based gripper configuration system, method, device and storage medium |
| PCT/CN2021/127265 WO2022217889A1 (en) | 2021-04-15 | 2021-10-29 | C# language-based gripper configuration system, method and apparatus, and storage medium |
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| WO2022217889A1 (en) * | 2021-04-15 | 2022-10-20 | 安徽巨一科技股份有限公司 | C# language-based gripper configuration system, method and apparatus, and storage medium |
| CN115408334A (en) * | 2022-11-03 | 2022-11-29 | 江西兆驰半导体有限公司 | Recipe file management method, system, storage medium and computer |
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| WO2022217889A1 (en) * | 2021-04-15 | 2022-10-20 | 安徽巨一科技股份有限公司 | C# language-based gripper configuration system, method and apparatus, and storage medium |
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| CN115408334A (en) * | 2022-11-03 | 2022-11-29 | 江西兆驰半导体有限公司 | Recipe file management method, system, storage medium and computer |
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