CN113829354B - Lightweight control system based on robot system - Google Patents
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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
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a lightweight control system based on a robot system, which comprises a lightweight system control body unit; the MAIN program module MAIN is used for interacting with the programmable logic controller signals to realize the application of the robot system; the main task module PROGRAM is used for calculating a task PROGRAM called by the main task module; the main system module SFE is used for calculating the logic between a main program and a main task in the robot system, and meeting the realization of the logic functions of the main task module and the main program module; the lightweight system module UI is used for calculating all logical sums of the lightweight device in running; the lightweight production task module is a set of lightweight process tasks in the robot system, and logic instructions of the lightweight system module UI are nested to realize lightweight system control; the light-weight device records and forms light-weight control information according to the constraint information and the light-weight standard IO information. The invention simplifies the control of the lightweight equipment, realizes modularization and can effectively accelerate the application process of the lightweight equipment.
Description
Technical Field
The invention relates to the technical field of system control, in particular to a lightweight control system based on a robot system.
Background
For new energy automobiles, the problem of vehicle endurance is important, light weight is an important way for improving the vehicle endurance, and the traditional pure steel automobile body is not suitable for the new energy automobiles due to large weight; a conventional hybrid vehicle body for achieving weight reduction includes: a steel-aluminum mixed car body, an all-aluminum car body, etc.; with the application of hybrid material vehicle bodies, various lightweight linking devices including self-piercing riveting SPR, flow drill screw joint FDS, aluminum stud welding ALStud, aluminum spot welding ALSpot and the like have been widely used in the field of automobile equipment integration and the like, and the number of use is increasing. However, for the connection of new devices in a control system, at present, a debugger manually adds the new devices according to a control program provided by a device manufacturer, and the following problems exist in the manner: the manual addition workload is large, the efficiency is low, and the error rate is extremely high; the manual writing and calling are carried out, and the result depends on human factors greatly; the program integration level is low, the program has no modularized function, cannot be used on a large scale, and cannot be subjected to subsequent maintenance and upgrading.
Disclosure of Invention
The invention aims to avoid the defects in the prior art, and provides a lightweight control system based on a robot system, so as to control lightweight connecting equipment to stably and efficiently operate.
The invention adopts the following technical scheme for solving the technical problems:
the lightweight control system based on the robot system is characterized by comprising:
Light system control body unit: the method consists of initial control information BASE_JCS and basic process design information APP_JCS;
MAIN program module MAIN: the robot system is a functional block written in a machine language according to a standard, and is used for carrying out signal interaction with a Programmable Logic Controller (PLC) to realize the process production and service application of the robot system;
The main task module PROGRAM: the system comprises a main task module, a standard functional block written in a machine language, a service task module and a service task module, wherein the main task module is used for calling a production task program and a service task program;
Main system module SFE: the system is a system module written in machine language according to the standard, and is used for defining, storing and calculating the logic between a main program and a main task in the robot system; the logic function realization of the MAIN task module PROGRAM and the MAIN PROGRAM module MAIN is satisfied; the main system module SFE carries out logic control and logic call on the robot system; all logic in the main system module is defined and written according to clients or constraint rules according to conventions;
Lightweight system module UI: according to the working principle of the lightweight equipment, the lightweight equipment is written by adopting machine language, and is used for defining, storing and operating all logic sums of the lightweight equipment in running, and is an aggregation unit for realizing signal interaction and control logic macros by a robot system and the lightweight equipment; the light-weight system module UI meets the logic control and logic call of a light-weight production task module, and comprises a series of macros for light-weight system initialization, task program logic call macros, service program logic call macros, checking macros, reporting errors, light-weight initialization starting and initialization ending;
And a lightweight production task module: the method is a set of process task programs for light weight in a robot system, is a series of production task programs realized by process connection according to a process time sequence, is nested with logic instructions of a light weight system module UI, and realizes light weight system control;
the lightweight device controls standard output as follows:
The lightweight equipment adopts a machine language writing mode according to five types of constraint information defined by signal bridging, signal operation authority, signal security level, P (E) address and attribute and signals respectively, and performs input according to lightweight standard IO information to form lightweight control information JCS_APP.DAT of the robot system; different lightweight processes correspond to different lightweight standard IO information, and are defined according to own equipment information of lightweight equipment.
The lightweight control system based on the robot system is also characterized in that:
The MAIN program module MAIN operates as follows:
step 1: initializing the current system, namely defining a common signal for a user;
Step 2: initializing the accessory application of the current system, namely resetting and setting the accessory device signal logic carried by the robot system at present;
step 3: initializing a working safety point Home of the current system, and determining whether the robot is at the position of the working safety point Home, resetting logic signals between the robot and the PLC;
Step 4: the robot system performs cyclic check, and is used for detecting whether an interaction signal with the PLC meets the call of a process production task number, if so, the step 5 is entered; if not, continuing to carry out the cyclic inspection until the condition is met;
Step 5: invoking a vehicle type production task, circularly receiving a vehicle type number output by the matched PLC, and invoking a corresponding production subtask program for light-weight connection work aiming at the received vehicle type number; if the received vehicle type number exceeds the constraint range, alarming;
Step 6, finishing the cycle check after the vehicle type production task is finished, and performing logic interaction with the PLC until the PLC finishes the current task logic;
The lightweight control system based on the robot system is also characterized in that:
Eight constraint information of eight types are respectively defined according to system IO, industrial network types, signal bridging, signal operation authority, signal security level, D (E) network address and attribute, P (E) network address and attribute and signals, a machine language writing mode is adopted, basic control information of a robot system is sequentially input according to basic standard IO information, and initial control information BASE_JCS of the robot system is formed;
According to the process design, a machine language writing mode is adopted aiming at the D (E) network address and the attribute subordinate IO specification, and the basic application information of the robot system is sequentially input according to the application standard IO information, so that the basic process design information APP_JCS required by the practical application of the robot system is formed.
The lightweight control system based on the robot system is also characterized in that:
The MAIN program module MAIN is a task module which is only interacted with the programmable logic controller PLC in the robot system and comprises program number constraint information of a vehicle type production task and a service task, and each constraint is defined according to actual requirements; the actual production calls a task program in the robot system through logic control with the PLC.
The lightweight control system based on the robot system is also characterized in that:
The MAIN task module PROGRAM is a task module which is only interacted with a MAIN PROGRAM module MAIN in the robot system and comprises a series of task PROGRAMs for production, service, initialization, reset, die repair, cap replacement, nail filling and calibration, and each task PROGRAM is defined and selected according to a set rule; the established rules are the only rules provided or customized by the customer.
Compared with the prior art, the invention has the beneficial effects that:
The invention realizes the lightweight control method based on the robot system, simplifies the control of the lightweight equipment, realizes modularization, and can effectively accelerate the wide-range application of the lightweight equipment.
Drawings
Fig. 1 is a view showing a configuration of a lightweight control system based on a robot system according to the present invention.
Detailed Description
Referring to fig. 1, the lightweight control system based on the robot system in the present embodiment includes:
Light system control body unit: the method consists of initial control information BASE_JCS and basic process design information APP_JCS;
MAIN program module MAIN: the robot system is a functional block written in a machine language according to a standard, and is used for carrying out signal interaction with a Programmable Logic Controller (PLC) to realize the process production and service application of the robot system; the MAIN program module MAIN is a task module which is only interacted with the programmable logic controller PLC in the robot system and comprises program number constraint information of a vehicle type production task and a service task, and each constraint is defined according to actual requirements; the actual production calls a task program in the robot system through logic control with the PLC.
The main task module PROGRAM: the system comprises a main task module, a standard functional block written in a machine language, a service task module and a service task module, wherein the main task module is used for calling a production task program and a service task program; the MAIN task module PROGRAM is a task module which is only interacted with a MAIN PROGRAM module MAIN in a robot system and comprises a series of task PROGRAMs of production, service, initialization, reset, mold repair, cap replacement, nail filling and calibration, and each task PROGRAM is defined and selected according to a set rule; the established rules are the only rules that are provided or customized by the customer.
Main system module SFE: the system is a system module written in machine language according to the standard, and is used for defining, storing and calculating the logic between a main program and a main task in the robot system; the logic function realization of the MAIN task module PROGRAM and the MAIN PROGRAM module MAIN is satisfied; the main system module SFE carries out logic control and logic call on the robot system; all logic in the main system module is defined and written according to clients or constraint rules according to conventions;
lightweight system module UI: according to the working principle of the lightweight equipment, the lightweight equipment is written by adopting machine language, and is used for defining, storing and operating all logic sums of the lightweight equipment in running, and is an aggregation unit for realizing signal interaction and control logic macros by a robot system and the lightweight equipment; the light system module UI meets the logic control and logic call of a light production task module, and comprises a series of macros for initializing a light system, calling macros by task program logic, calling macros by service program logic, checking macros, reporting errors, starting initialization in light and ending initialization;
And a lightweight production task module: the method is a set of process task programs for light weight in a robot system, is a series of production task programs realized by process connection according to a process time sequence, is nested with logic instructions of a light weight system module UI, and realizes light weight system control;
the lightweight device controls standard output as follows:
The lightweight equipment adopts a machine language writing mode according to five types of constraint information defined by signal bridging, signal operation authority, signal security level, P (E) address and attribute and signals respectively, and performs input according to lightweight standard IO information to form lightweight control information JCS_APP. DAT of the robot system; different lightweight processes correspond to different lightweight standard IO information, and are defined according to own equipment information of lightweight equipment.
In specific implementation, the MAIN program module MAIN operates as follows:
step 1: initializing the current system, namely defining a common signal for a user;
Step 2: initializing the accessory application of the current system, namely resetting and setting the accessory device signal logic carried by the robot system at present;
step 3: initializing a working safety point Home of the current system, and determining whether the robot is at the position of the working safety point Home, resetting logic signals between the robot and the PLC;
Step 4: the robot system performs cyclic check, and is used for detecting whether an interaction signal with the PLC meets the call of a process production task number, if so, the step 5 is entered; if not, continuing to carry out the cyclic inspection until the condition is met;
Step 5: invoking a vehicle type production task, circularly receiving a vehicle type number output by the matched PLC, and invoking a corresponding production subtask program for light-weight connection work aiming at the received vehicle type number; if the received vehicle type number exceeds the constraint range, alarming;
Step 6, finishing the cycle check after the vehicle type production task is finished, and performing logic interaction with the PLC until the PLC finishes the current task logic;
in specific implementation, the corresponding technical measures further comprise:
eight constraint information of eight types are respectively defined according to system IO, industrial network types, signal bridging, signal operation authority, signal security level, D (E) network address and attribute, P (E) network address and attribute and signals, a machine language writing mode is adopted, basic control information of the robot system is sequentially input according to basic standard IO information, and initial control information BASE_JCS of the robot system is formed.
According to the process design, a machine language writing mode is adopted aiming at the D (E) network address and the attribute subordinate IO specification, and the basic application information of the robot system is sequentially input according to the application standard IO information, so that the basic process design information APP_JCS required by the practical application of the robot system is formed.
The method is realized based on the KSS8.3/KSS8.5 and the system versions above, the development language is KRL language which can be identified based on the KUKA robot system mode, and the KUKA robot KSS8.3/KSS8.5 and the system versions above are identified and operated.
The method is mainly used for controlling light-weight connecting equipment including self-piercing riveting SPR, stream drill screw connection FDS, aluminum stud welding ALStud, aluminum spot welding ALSpot and the like, and correspondingly changing and adapting according to different customer requirements, different light-weight equipment and different process lap joint requirements, so that the process of adapting from zero to one without any to multiple is realized.
The method of the invention has been verified in Jiang Huaiwei to the speed-up transformation project of Force, gemini, ES/ES 6, and has the following steps:
1. output standard IO Specification:
Eight constraint information of eight types are defined according to system IO, industrial network type, signal bridging, signal operation authority, signal security level, D (E) network address and attribute, P (E) network address and attribute and signals respectively, a machine language writing mode is adopted, and the eight constraint information is sequentially recorded according to a basic standard IO MAP, and is basic control information of a robot system; the basic control information is initial control information base_jcs of a robot system, and includes the above eight constraint information, where each constraint needs to be filled and selected according to actual requirements.
The initial control information base_jcs is the current system root information entry, and all subsequent functional implementations are based on the basic control information.
2. Definition of D (E) network address and attribute dependent IO Specification
According to the process design, the dependent IO specifications of the D (E) network are sequentially recorded according to the process IO MAP by adopting a machine language writing mode according to the process specification requirements, and the dependent IO specifications are basic process design information APP_JCS of the robot system; for example, robot system tower lights IO, tool stands IO, energy feedback or loop feedback IO; the basic process design information APP_JCS is basic application information of a robot, and is information required by actual application; theoretically, the basic application information of the client is uniform, and the situation that robots of different applications use different basic application information does not exist; the initial control information base_jcs and the basic process design information app_jcs constitute a lightweight system control body unit.
3. Output MAIN program module MAIN
The tasks in the MAIN program module MAIN are divided into six steps:
firstly, initializing a user of a current system, and defining a common signal for the user;
Initializing an accessory application of the current system, and resetting and setting accessory equipment signal logic carried by the current robot system; taking a transfer robot system as an example: after the execution of the current sequence is completed, all output signals for executing the carrying action are reset to zero.
Thirdly, initializing a working safety point Home of the current system, confirming whether the robot is at the Home position, and resetting logic signals between the robot and the PLC.
And fourthly, after the first to third steps are completed, the robot system performs cyclic checking to detect whether the interaction signal with the PLC meets the calling of the process production task number, if so, the next step is performed, and if not, the cyclic checking is continued until the condition is met.
A fifth step of calling a vehicle type production task for matching a vehicle type number output by the PLC, and starting to call a corresponding production subtask program for light-weight connection work aiming at the received vehicle type number; if not, continuing to carry out matching reception, and if the received number is out of the range of the constraint rule, alarming.
And step six, finishing the receiving of the vehicle type task after the production task is finished, and entering the circulation to finish. For logical interaction with the PLC until the PLC has completed the current task logic as well.
4. Program of main task module is compiled
The MAIN task module PROGRAM is also called a PROGRAM module, is a standard functional block written by adopting a machine language, is used for defining, storing and operating a set of a production task PROGRAM and a service task PROGRAM which are called by the MAIN task module MAIN, and is a medium and a bridge of a lightweight system control PROGRAM called by a robot system and the MAIN task module;
5. writing a main system module SFE
All logic within the main system module is defined and written according to customer or according to agreed constraint rules.
6. Lightweight device control standard output
Five constraint information of five types are defined according to signal bridging, signal operation authority, signal security level, P (E) address and attribute and signals respectively, and a machine language writing mode is adopted to form lightweight control information JCS_APP.DAT of the robot system according to input of lightweight equipment IO MAP; different lightweight processes, standard IO MAPs are also different, and need to be defined according to device information of specific lightweight devices. For example: SPR, FDS, ALStud, ALSpot, etc.; the same light-weight process is used, and standard IO MAP is different for different brands.
The lightweight control information JCS_APP.DAT is a basis for realizing lightweight control in the robot system and comprises the five constraint information, and each constraint needs to be written according to the actual lightweight ecological circle application; the lightweight control information jcs_app.dat is a sufficient condition for the lightweight system module logic implementation, and is a set of lightweight system signal definitions.
7. Light system module UI for writing
The light-weight system module UI needs to meet the logic control and logic call of the light-weight task module; the method comprises a series of macros such as light system initialization, task program logic call macros, service program logic call macros, checking macros, reporting errors, light starting initialization, ending initialization and the like.
8. Writing light-weight production task module
The lightweight production module is a set of lightweight process task programs in the robot system, is a series of production task programs realized by performing process connection according to a process time sequence, is nested with logic instructions of the lightweight system module UI, and realizes lightweight system control.
The control method for controlling the light system is formed after the process is completed; according to the method, in a KUKA robot system, a language format (KRL) recognizable by the system is adopted to carry out logic writing and language nesting, and a series of definition, storage and operation are carried out; finally, the process of the light system control method is realized and applied to Jiang Huaiwei Force projects and subsequent light projects.
The method of the invention can be applied to various light-weight equipment. According to the method, in an ABB robot system, a language format (VB/C++) which can be recognized by the system is adopted for logic writing and language nesting, and a series of definition, storage and operation are carried out; the process implementation of the light system control method can be completed.
Claims (5)
1. A lightweight control system based on a robot system is characterized by comprising:
Light system control body unit: the method consists of initial control information BASE_JCS and basic process design information APP_JCS;
MAIN program module MAIN: the robot system is a functional block written in a machine language according to a standard, and is used for carrying out signal interaction with a Programmable Logic Controller (PLC) to realize the process production and service application of the robot system;
The main task module PROGRAM: the system comprises a main task module, a standard functional block written in a machine language, a service task module and a service task module, wherein the main task module is used for calling a production task program and a service task program;
Main system module SFE: the system is a system module written in machine language according to the standard, and is used for defining, storing and calculating the logic between a main program and a main task in the robot system; the logic function realization of the MAIN task module PROGRAM and the MAIN PROGRAM module MAIN is satisfied; the main system module SFE carries out logic control and logic call on the robot system; all logic in the main system module is defined and written according to clients or constraint rules according to conventions;
Lightweight system module UI: according to the working principle of the lightweight equipment, the lightweight equipment is written by adopting machine language, and is used for defining, storing and operating all logic sums of the lightweight equipment in running, and is an aggregation unit for realizing signal interaction and control logic macros by a robot system and the lightweight equipment; the light-weight system module UI meets the logic control and logic call of a light-weight production task module, and comprises a series of macros for light-weight system initialization, task program logic call macros, service program logic call macros, checking macros, reporting errors, light-weight initialization starting and initialization ending;
And a lightweight production task module: the method is a set of process task programs for light weight in a robot system, is a series of production task programs realized by process connection according to a process time sequence, is nested with logic instructions of a light weight system module UI, and realizes light weight system control;
the lightweight device controls standard output as follows:
the lightweight equipment adopts a machine language writing mode according to five types of five constraint information of signal bridging, signal operation authority, signal security level, PE address and attribute and signal definition, and performs input according to lightweight standard IO information to form lightweight control information JCS_APP. DAT of the robot system; different lightweight processes correspond to different lightweight standard IO information, and are defined according to own equipment information of lightweight equipment.
2. The robotic system-based light-weight control system of claim 1, wherein:
The MAIN program module MAIN operates as follows:
step 1: initializing the current system, namely defining a common signal for a user;
Step 2: initializing the accessory application of the current system, namely resetting and setting the accessory device signal logic carried by the robot system at present;
step 3: initializing a working safety point Home of the current system, and determining whether the robot is at the position of the working safety point Home, resetting logic signals between the robot and the PLC;
Step 4: the robot system performs cyclic check, and is used for detecting whether an interaction signal with the PLC meets the call of a process production task number, if so, the step 5 is entered; if not, continuing to carry out the cyclic inspection until the condition is met;
Step 5: invoking a vehicle type production task, circularly receiving a vehicle type number output by the matched PLC, and invoking a corresponding production subtask program for light-weight connection work aiming at the received vehicle type number; if the received vehicle type number exceeds the constraint range, alarming;
And step 6, finishing the cycle check after the vehicle type production task is finished, and performing logic interaction with the PLC until the PLC finishes the current task logic.
3. The robotic system-based light-weight control system of claim 1, wherein:
Eight constraint information of eight types are defined according to system IO, industrial network types, signal bridging, signal operation authority, signal security level, DE network address and attribute, PE network address and attribute and signals respectively, a machine language writing mode is adopted, basic control information of the robot system is sequentially input according to basic standard IO information, and initial control information BASE_JCS of the robot system is formed;
according to the process design, a machine language writing mode is adopted aiming at the DE network address and the attribute subordinate IO specification, and the basic application information of the robot system is sequentially input according to the application standard IO information, so that basic process design information APP_JCS required by the practical application of the robot system is formed.
4. The robotic system-based light-weight control system of claim 1, wherein: the MAIN program module MAIN is a task module which is only interacted with the programmable logic controller PLC in the robot system and comprises program number constraint information of a vehicle type production task and a service task, and each constraint is defined according to actual requirements; the actual production calls a task program in the robot system through logic control with the PLC.
5. The robotic system-based light-weight control system of claim 1, wherein: the MAIN task module PROGRAM is a task module which is only interacted with a MAIN PROGRAM module MAIN in the robot system and comprises a series of task PROGRAMs for production, service, initialization, reset, die repair, cap replacement, nail filling and calibration, and each task PROGRAM is defined and selected according to a set rule; the established rules are the only rules provided or customized by the customer.
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