CN113814994A - Intelligent robot polishing simulation training system - Google Patents
Intelligent robot polishing simulation training system Download PDFInfo
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- CN113814994A CN113814994A CN202111182297.4A CN202111182297A CN113814994A CN 113814994 A CN113814994 A CN 113814994A CN 202111182297 A CN202111182297 A CN 202111182297A CN 113814994 A CN113814994 A CN 113814994A
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- 238000004088 simulation Methods 0.000 title claims abstract description 43
- 238000005498 polishing Methods 0.000 title claims abstract description 27
- 238000012549 training Methods 0.000 title claims abstract description 24
- 238000005516 engineering process Methods 0.000 claims description 45
- 238000012545 processing Methods 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 13
- 238000013461 design Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 230000002457 bidirectional effect Effects 0.000 claims description 8
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 238000003754 machining Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012394 real-time manufacturing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 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
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Fuzzy Systems (AREA)
- Artificial Intelligence (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
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Abstract
The invention discloses an intelligent robot polishing simulation training system which comprises a PLC control module, wherein a programming PC (personal computer) is arranged in the PLC control module, the PLC control module is connected with a robot demonstrator, a polishing machining center system, a numerical control lathe system and a robot controller, the robot controller is connected with a simulation PC, and the numerical control lathe system is connected with a robot control cabinet, a teaching box, a human-computer programming interface, an electric control system, a numerical control lathe system and an identification read-write module. According to the intelligent robot polishing simulation training system, the PC and the physical control equipment are connected into the same switch through the industrial Ethernet, wherein the PLC is communicated with the robot controller through the Ethernet based on the Modbus TCP protocol, the PLC is not connected with the numerical control system through the traditional I/O module, and the PLC and the numerical control system are communicated through the Ethernet based on the TCP/IP protocol, so that part of cost can be saved, and better simulation and control are facilitated.
Description
Technical Field
The invention relates to the field of robot simulation, in particular to an intelligent robot polishing simulation training system.
Background
Real standard system of emulation of polishing of intelligent robot is a support equipment that carries out the intelligent simulation control of robot, and nowadays, in the industry, the use of robot is more and more generalized, and the robot can conveniently be controlled, and the security is higher, and along with the continuous development of science and technology, people are also higher and higher to the manufacturing process requirement of the real standard system of emulation of polishing of intelligent robot.
The existing intelligent robot polishing simulation practical training system has certain disadvantages when in use, firstly, the robot cannot be simulated and controlled conveniently when in use, the unstable control condition is easy to occur, the use of people is not facilitated, in addition, the control is troublesome, the communication is inconvenient, the cost is higher, certain adverse effects are brought to the use process of people, and for this reason, the intelligent robot polishing simulation practical training system is provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent robot polishing simulation training system, a PC and a physical control device are connected into the same switch through an industrial Ethernet, wherein the PLC is communicated with a robot controller through the Ethernet based on a Modbus TCP protocol, the PLC is not connected with a numerical control system through a traditional I/O module, and the PLC and the numerical control system are communicated through the Ethernet based on a TCP/IP protocol, so that part of cost can be saved, better simulation and control can be facilitated, and the problems in the background art can be effectively solved.
(II) technical scheme
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an intelligent robot simulation system of instructing of polishing, includes PLC control module, PLC control module is inside to be provided with the programming PC, PLC control module is connected with the robot demonstrator, polishes machining center system, numerical control lathe system, robot controller is connected with the simulation PC, numerical control lathe system connection has robot control cabinet, teaching box, man-machine programming interface, electric control system, numerical control lathe system, computer, numerical control lathe, machining center and discernment read-write module.
As an optimal technical scheme, the output end of a programmable PC machine in the PLC control module is electrically connected with the input ends of the robot demonstrator, the polishing center system, the numerical control lathe system and the robot controller, and the robot controller is electrically connected with the simulation PC machine in a two-way mode.
As a preferred technical scheme, the numerical control lathe system is electrically connected with the robot control cabinet, the teaching box, the human-computer programming interface, the electric control system, the numerical control lathe system, the computer, the numerical control lathe, the machining center and the identification read-write module in a bidirectional mode.
As an optimal technical scheme of this application, the robot control cabinet is connected with polishing robot and robot clamping jaw, the output of robot control cabinet and the input electric connection of polishing robot and robot clamping jaw.
As an optimal technical scheme, the robot controller is connected with a pneumatic technology module, an industrial robot technology module, a digital design technology module, a numerical control processing technology module, an industrial Internet of things technology module and an RFID digital information technology module.
As an optimal technical scheme, the robot controller is electrically connected with the pneumatic technical module, the industrial robot technical module, the digital design technical module, the numerical control processing technical module, the industrial Internet of things technical module and the RFID digital information technical module in a bidirectional mode.
As a preferred technical solution of the present application, the PLC control module is used as a central controller, and communicates with the robot controller through an industrial ethernet, and communicates with the numerically controlled lathe system and the machining center system through a switching value I/O module.
As a preferred technical scheme of the application, the system simulation process comprises the steps of firstly running a ladder program and an EFORT robot program in Siemens TIA portal software, then starting interactive control software, running a Siemens S7-1200 PLC plug-in, an EFORT robot plug-in, a KND numerical control lathe plug-in and a KND machining center plug-in, and then running a Python script program in RoboDK simulation software.
(III) advantageous effects
Compared with the prior art, the invention provides an intelligent robot polishing simulation training system, which has the following beneficial effects: the intelligent robot grinding simulation training system has the advantages that a PC (personal computer) and a physical control device are connected into the same switch through an industrial Ethernet, wherein the PLC is communicated with a robot controller through the Ethernet based on a Modbus TCP (transmission control protocol), the PLC is not connected with a numerical control system through a traditional I/O (input/output) module, and the PLC and the numerical control system are communicated through the Ethernet based on a TCP/IP (transmission control protocol), so that part of cost can be saved, better simulation and control are facilitated, the system integrates a plurality of advanced manufacturing technologies such as an industrial robot technology, a pneumatic technology, a digital design technology, a numerical control processing technology, an industrial Internet of things technology, an RFID (radio frequency identification) digital information technology and the like, and has the functions of digital design of parts, real-time manufacturing data acquisition in a processing process, automation of the processing process, traceability and processing flexibility based on an RFID processing state and the like, and is simple in structure, convenient operation, the effect of using is better than traditional mode.
Drawings
Fig. 1 is a schematic overall structure diagram of an intelligent robot polishing simulation training system according to the present invention.
Fig. 2 is a schematic structural diagram of a numerically controlled lathe system in an intelligent robot polishing simulation practical training system.
Fig. 3 is a schematic structural diagram of a robot control cabinet in the intelligent robot polishing simulation training system.
Fig. 4 is a schematic structural diagram of a robot controller in the intelligent robot polishing simulation training system of the invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and the detailed description, but those skilled in the art will understand that the following described embodiments are some, not all, of the embodiments of the present invention, and are only used for illustrating the present invention, and should not be construed as limiting the scope of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The examples, in which specific conditions are not specified, were conducted under conventional conditions or conditions recommended by the manufacturer. The reagents or instruments used are not indicated by the manufacturer, and are all conventional products available commercially.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The first embodiment is as follows:
as shown in fig. 1-4, an intelligent robot polishing simulation training system comprises a PLC control module, a programming PC is arranged in the PLC control module, the PLC control module is connected with a robot demonstrator, a polishing machining center system, a numerically controlled lathe system, and a robot controller, the robot controller is connected with a simulation PC, and the numerically controlled lathe system is connected with a robot control cabinet, a demonstration box, a human-computer programming interface, an electrical control system, a numerically controlled lathe system, a computer, a numerically controlled lathe, a machining center, and an identification read-write module.
The output end of the programmable PC machine in the PLC control module is electrically connected with the input ends of the robot demonstrator, the polishing center system, the numerical control lathe system and the robot controller, and the robot controller is electrically connected with the simulation PC machine in a bidirectional mode.
The numerical control lathe system is electrically connected with the robot control cabinet, the teaching box, the human-computer programming interface, the electrical control system, the numerical control lathe system, the computer, the numerical control lathe, the machining center and the identification read-write module in a bidirectional mode.
The robot control cabinet is connected with the polishing robot and the robot clamping jaw, and the output end of the robot control cabinet is electrically connected with the input ends of the polishing robot and the robot clamping jaw.
The robot controller is connected with a pneumatic technology module, an industrial robot technology module, a digital design technology module, a numerical control processing technology module, an industrial Internet of things technology module and an RFID digital information technology module.
The robot controller is electrically connected with the pneumatic technology module, the industrial robot technology module, the digital design technology module, the numerical control machining technology module, the industrial Internet of things technology module and the RFID digital information technology module in a bidirectional mode.
The PLC control module is used as a central controller, is communicated with the robot controller through an industrial Ethernet, and is communicated with the numerical control lathe system and the machining center system through a switching value I/O module.
Example two:
on the basis of the first embodiment, the system simulation flow is that firstly, a ladder program and an EFORT robot program in Siemens TIAportal software are run, then interactive control software is started, a Siemens S7-1200 PLC plug-in, an EFORT robot plug-in, a KND numerical control lathe plug-in and a KND machining center plug-in are run, and then a Python script program in RoboDK simulation software is run.
The working principle is as follows: the system mainly comprises a Siemens S7-1200 PLC, an EFFORT robot controller, a KND numerical control lathe system, a KND machining center system, an EFFORT robot demonstrator, a programming PC and a simulation PC, wherein the Siemens S7-1200 PLC, the EFFORT robot controller, the KND numerical control lathe system and the KND machining center system are physical control equipment for intelligent manufacturing and machining experiments; the EFFORT robot demonstrator is auxiliary equipment; the programming PC is used for compiling PLC and robot programs and simultaneously setting and starting interactive control software; the simulation PC is used for building a virtual environment and starting simulation software, the PC and the physical control equipment are connected into the same switch through an industrial Ethernet, and the PLC and the robot controller are communicated through the Ethernet based on a Modbus TCP protocol; the PLC is not connected with the numerical control system by using a traditional I/O module, the PLC and the numerical control system are communicated by Ethernet based on a TCP/IP protocol, a part of cost can be saved, after the virtual workstation and the physical environment are built, a control program needs to be compiled, the control program adopts a PLC ladder diagram, a robot script language, a numerical control system G code and a Python script language to jointly achieve the control purpose, wherein the PLC is a central controller of an intelligent manufacturing and processing experiment and performs logic control on the whole system through the ladder diagram; the robot script program is scheduled and executed by the PLC, and motion data is sent to the robot model in simulation; the numerical control system G code is used for finishing a processing task; the Python script program carries out logic control on the simulation model, the intelligent manufacturing and processing training system integrates multiple advanced manufacturing technologies such as an industrial robot technology, a pneumatic technology, a digital design technology, a numerical control processing technology, an industrial Internet of things technology, an RFID digital information technology and the like, has the functions of digital design of parts, real-time manufacturing data acquisition in the processing process, automation of the processing process, traceability based on the RFID processing state, processing flexibility and the like, and completes tasks of taking a workpiece from a warehouse, feeding the workpiece to a numerical control lathe, processing the numerical control lathe, taking the workpiece from the numerical control lathe, feeding the workpiece to a processing center, processing the processing center, taking the workpiece from the processing center and warehousing a finished product, virtually debugs input virtual signals of the ladder diagram program, such as the opening and closing states of a numerical control lathe, a safety door of the processing center and a chuck, and needs to be replaced by real switching value signals, after program modification is completed, the ladder diagram, the robot script program and the G code are respectively downloaded to an S7-1200 PLC, an EFORT robot and a KND numerical control system, then the system is electrified, all equipment is reset, the mode of the robot and the numerical control system is set to be automatic, the running speed of the robot is adjusted to be low, then an intelligent manufacturing and processing practical training system is started, the system running state is carefully checked, if the system is abnormal, the robot is stopped through a robot demonstrator, signals in the PLC ladder diagram program are modified for several times, experiments are repeated until tasks corresponding to a virtual debugging part are completed, finally, the system is reset and stopped, and the intelligent robot is convenient to polish and simulate operation.
It is noted that, herein, relational terms such as first and second (a, b, etc.) and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (8)
1. The utility model provides an intelligent robot simulation real standard system of polishing, includes PLC control module, its characterized in that: the PLC control module is internally provided with a programming PC, the PLC control module is connected with a robot demonstrator, a polishing machining center system, a numerical control lathe system and a robot controller, the robot controller is connected with a simulation PC, and the numerical control lathe system is connected with a robot control cabinet, a demonstration box, a human-computer programming interface, an electric control system, a numerical control lathe system, a computer, a numerical control lathe, a machining center and an identification read-write module.
2. The intelligent robot grinding simulation training system according to claim 1, characterized in that: the output end of a programmable PC machine in the PLC control module is electrically connected with the input ends of the robot demonstrator, the polishing center system, the numerical control lathe system and the robot controller, and the robot controller is electrically connected with the simulation PC machine in a bidirectional mode.
3. The intelligent robot grinding simulation training system according to claim 1, characterized in that: the numerical control lathe system is electrically connected with the robot control cabinet, the teaching box, the human-computer programming interface, the electrical control system, the numerical control lathe system, the computer, the numerical control lathe, the machining center and the identification read-write module in a bidirectional mode.
4. The intelligent robot grinding simulation training system according to claim 1, characterized in that: the robot control cabinet is connected with the polishing robot and the robot clamping jaw, and the output end of the robot control cabinet is electrically connected with the input ends of the polishing robot and the robot clamping jaw.
5. The intelligent robot grinding simulation training system according to claim 1, characterized in that: the robot controller is connected with a pneumatic technology module, an industrial robot technology module, a digital design technology module, a numerical control machining technology module, an industrial Internet of things technology module and an RFID digital information technology module.
6. The intelligent robot grinding simulation training system according to claim 5, characterized in that: the robot controller is electrically connected with the pneumatic technology module, the industrial robot technology module, the digital design technology module, the numerical control processing technology module, the industrial Internet of things technology module and the RFID digital information technology module in a bidirectional mode.
7. The intelligent robot grinding simulation training system according to claim 1, characterized in that: the PLC control module is used as a central controller and is communicated with the robot controller through an industrial Ethernet, and is communicated with the numerical control lathe system and the machining center system through a switching value I/O module.
8. The intelligent robot grinding simulation training system according to claim 1, characterized in that: the system simulation process comprises the steps of firstly running a ladder diagram program and an EFORT robot program in Siemens TIA portal software, then starting interactive control software, running a Siemens S7-1200 PLC plug-in, an EFORT robot plug-in, a KND numerical control lathe plug-in and a KND machining center plug-in, and then running a Python script program in RoboDK simulation software.
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| CN202111182297.4A CN113814994A (en) | 2021-10-11 | 2021-10-11 | Intelligent robot polishing simulation training system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106325215A (en) * | 2015-06-30 | 2017-01-11 | 遵义林棣科技发展有限公司 | Additional type numerically controlled lathe intelligent coding control system |
| CN207946698U (en) * | 2018-01-30 | 2018-10-09 | 北京赛育达科教有限责任公司 | Machining unit intelligence manufacture experience system |
| CN109396863A (en) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | Machining intelligence manufacture production line and its working method |
| CN109396862A (en) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | Intelligence manufacture production line and its working method |
| CN110597162A (en) * | 2019-07-30 | 2019-12-20 | 浙江工业大学 | Virtual debugging system for intelligent manufacturing and processing |
| CN112435571A (en) * | 2020-12-15 | 2021-03-02 | 陈晓明 | Industrial Internet + intelligent manufacturing technology fusion production and comprehensive training system |
-
2021
- 2021-10-11 CN CN202111182297.4A patent/CN113814994A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106325215A (en) * | 2015-06-30 | 2017-01-11 | 遵义林棣科技发展有限公司 | Additional type numerically controlled lathe intelligent coding control system |
| CN207946698U (en) * | 2018-01-30 | 2018-10-09 | 北京赛育达科教有限责任公司 | Machining unit intelligence manufacture experience system |
| CN109396863A (en) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | Machining intelligence manufacture production line and its working method |
| CN109396862A (en) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | Intelligence manufacture production line and its working method |
| CN110597162A (en) * | 2019-07-30 | 2019-12-20 | 浙江工业大学 | Virtual debugging system for intelligent manufacturing and processing |
| CN112435571A (en) * | 2020-12-15 | 2021-03-02 | 陈晓明 | Industrial Internet + intelligent manufacturing technology fusion production and comprehensive training system |
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