CN113910246A - Robot module for automation equipment - Google Patents
Robot module for automation equipment Download PDFInfo
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- CN113910246A CN113910246A CN202111405523.0A CN202111405523A CN113910246A CN 113910246 A CN113910246 A CN 113910246A CN 202111405523 A CN202111405523 A CN 202111405523A CN 113910246 A CN113910246 A CN 113910246A
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- 238000012545 processing Methods 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000001012 protector Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 17
- 230000010354 integration Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 125000004122 cyclic group Chemical group 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
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Abstract
The invention discloses a robot module for automation equipment, which relates to the technical field of robot modules for automation equipment, and comprises a PLC (programmable logic controller), a controller, a driver, a robot transmission system, a motion part, a fault detection mechanism, an alarm, a protector and an I/O (input/output) interface, wherein the PLC is connected with the controller, the controller is respectively connected with the protector, the I/O interface and the driver, the driver is connected with the robot transmission system, the robot transmission system is connected with the motion part, the motion part is connected with the fault detection mechanism, the fault detection mechanism is connected with the alarm, and the alarm is connected with the protector. The robot is used for achieving integration of a production line of the manufacturing equipment, so that the problem that the whole operation of the system has errors or the system is disordered due to delay of a certain part is avoided, and the problem that the operation of automatic equipment cannot be realized during processing and the monitoring is required constantly is avoided.
Description
Technical Field
The invention relates to the technical field of robot modules for automation equipment, in particular to a robot module for automation equipment.
Background
China is advancing from a large manufacturing country to a strong manufacturing country, the competition of the manufacturing industry is more and more intense, the improvement of the product quality and the production efficiency is one of key factors of winning enterprises in intense competition, a large number of robots with high cost performance are used, the labor is reduced while the product quality and the production efficiency are improved, the production cost is reduced, and generally, along with the growth mode change of manufacturing enterprises in China, the continuous increase of the labor cost and the automatic change of production, the market prospect of the robots is very wide, and the inevitable trend of the development of the manufacturing industry in China is realized.
When using the robot module to carry out automation equipment's operation, the delay that can appear certain part often leads to other parts to appear the mistake when operating for whole running gear causes huge error to work in the operation, can't realize the operation whole synchronization to assembly line integration and go on, leads to system one to appear the error.
Disclosure of Invention
The invention aims to provide a robot module for automation equipment, which aims to solve the problem that when the robot module is used for operating the automation equipment, delay of a certain part often occurs to cause errors of other parts during operation, so that a whole operation mechanism causes huge errors to work during operation, and the operation of integration of a production line cannot be integrally and synchronously performed, thereby causing errors in a system.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automation equipment is with robot module, includes PLC, controller, driver, robot transmission system, moving part, fault detection mechanism, alarm, protector, IO interface, be connected between PLC and the controller, the controller is connected with protector, IO interface, driver respectively, and the driver is connected with robot transmission system, and robot transmission system is connected with moving part, and moving part is connected with fault detection mechanism, is connected between fault detection mechanism and the alarm, is connected between alarm and the protector.
Preferably, the PLC transmits the instruction to the controller, and the controller transmits the received signal to the controller;
the controller and the I/O interface transmit signals to each other, and the I/O interface receives signals of the sensor, the button, the relay, the switch valve, the indicator light and the overload protector;
the controller transmits the instruction to the driver, and the driver transmits the signal to the controller;
the driver drives the robot transmission system;
the robot drive system transmits instructions to the moving parts.
Preferably, the fault detection mechanism detects the state of the moving part, when the moving part fails, the detection mechanism transmits a signal to the alarm, the alarm sends out an alarm signal, the protector is started to stop the operation of the controller, and when the fault detection mechanism does not detect that the moving part fails, the moving part continues to operate.
Preferably, the motion part comprises an arm planning group, a leg planning group, a head planning group and a waist planning group, the PLC transmits the instruction to the controller, and the controller drives the arm planning group, the leg planning group, the head planning group and the waist planning group of the robot to realize the operation of corresponding actions.
Preferably, the PLC system control device is integrated with the starting robot controller and the numerical control system, when goods on the conveyor belt reach a designated position, the first robot takes the goods, when the goods are not transmitted to the designated position, the first robot continues to wait for the goods, the first robot places the taken goods at a processing position, the goods are processed by starting the numerical control processing center machine, when the numerical control processing center machine finishes processing, the second robot takes the goods away, meanwhile, the first robot places the goods on the processing table, when the numerical control processing center machine does not finish processing, the first robot and the second robot wait for the numerical control processing center machine to finish processing, the second robot sends the goods to the conveying system, when the goods reach the designated position, the third robot takes the goods away, and placed in a designated collection rack.
Preferably, the numerical control machining center machine and the robot moving part enter into cyclic operation through a main function while true, the main function while true is circularly loaded, a cyclic instruction is implanted into the numerical control machining center machine, meanwhile, a robot movement control subfunction is called to control the cyclic operation of the robot moving part, the numerical control center machine subfunction is called to carry out the cyclic instruction on the numerical control center machine, the numerical control center machine and the robot moving part are simultaneously delayed for 5s, after a field task is finished, the system is finished, and when the task is not finished, the system is restarted.
Preferably, the numerical control center machine loads processing information into the numerical control center machine when the numerical control center machine starts to operate, when the processing information needs to be changed, the processing information is changed, after the processing data configuration is completed, the data processing center is connected, when the connection is not completed, the data needs to be modified, the processing information is reloaded until the connection is successful, a signal is added, and the data is read and written by operating the numerical control center.
Preferably, the data reading and writing are divided into data reading and data writing;
the data reading step of storing the read data into a data register until the data reading is successful when the data reading is not completed;
the written data is stored in the data register, and when the data is not written completely, the data is written successfully;
and after the data writing and the data reading are finished, stopping the plug-in unit and finishing the operation.
The invention has the technical effects and advantages that:
1. the robot is used for achieving integration of a production line of the manufacturing equipment, the problem that the whole operation of a system is wrong or the system is disordered due to delay of a certain position is avoided, and the situation that the operation of automatic equipment cannot be achieved in processing is avoided, and the robot needs to monitor constantly.
2. The instruction is transmitted, data are summarized simultaneously, the data generated in the operation process are stored and memorized, errors occurring in the operation process are analyzed conveniently, convenience is brought to data change and adjustment, meanwhile, faults occurring in the operation process are convenient to prompt in time and stop running, the faults are prevented from affecting the operation of the whole system, and accidents occur.
3. The goods are transported and processed through the matching of the robot moving part and the numerical control center machine, and the robot moving part and the numerical control center machine are kept synchronous through the circulation of the master function while, so that the problem that the goods are unqualified in production and the quality is influenced due to the fact that the robot moving part and the numerical control center machine are not finished or are not processed timely due to the fact that the robot moving part and the numerical control center machine are asynchronous is avoided.
4. Processing data need be preserved at the in-process of processing, avoids appearing the error in the processing link and need examine entire system when the inspection, has caused huge work load, and the position of makeing mistakes can conveniently be found out fast in the inspection to the record of data, and convenient pertinence is overhauld, has avoided large-scale maintenance.
Drawings
Fig. 1 is a schematic diagram of the operation flow of the PLC program of the present invention.
Fig. 2 is a schematic diagram of the classification of the moving parts of the robot according to the invention.
FIG. 3 is a schematic view of the general PLC processing flow of the present invention.
FIG. 4 is a schematic diagram of the cycle of the NC machining center machine and the robot motion control unit according to the present invention.
FIG. 5 is a schematic view of information loading and reading and writing of the CNC machining center of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 first embodiment is as follows:
as shown in fig. 1, the automatic monitoring system comprises a PLC, a controller, a driver, a robot transmission system, a motion part, a fault detection mechanism, an alarm, a protector, an I/O interface, a connection between the PLC and the controller, the controller is respectively connected with the protector, the I/O interface, the driver is connected with the robot transmission system, the robot transmission system is connected with the motion part, the motion part is connected with the fault detection mechanism, the fault detection mechanism is connected with the alarm, the alarm is connected with the protector, the robot is used to achieve the integration of a fabrication equipment assembly line, the problem that the whole operation of the system is wrong or disordered due to delay of a certain part is avoided, the operation of automatic equipment cannot be realized in the processing process is avoided, and the automatic monitoring is required to be carried out constantly.
The second embodiment is as follows:
as shown in fig. 1 and 2, the PLC transmits a command to the controller, and the controller transmits a received signal to the controller;
signals are transmitted between the controller and the I/O interface, and the I/O interface receives signals of the sensor, the button, the relay, the switch valve, the indicator light and the overload protector;
the controller transmits the instruction to the driver, and the driver transmits the signal to the controller;
the driver drives the robot transmission system;
the robot transmission system transmits the instruction to the moving part;
the fault detection mechanism detects the state of the moving part, when the moving part fails, the detection mechanism transmits a signal to the alarm, the alarm sends an alarm signal, the protector is started to stop the controller, and when the fault detection mechanism does not detect that the moving part fails, the moving part continues to operate;
the motion part includes arm planning group, shank planning group, head planning group, waist planning group, give the controller with instruction transmission through PLC, the arm planning group of robot is planned to the drive that the controller passes through the driver, the shank planning group, head planning group, the operation of the action that waist planning group realized corresponding, transmit the instruction, conclude data simultaneously, memory is accomodate to produced data in the operation, the convenience is analyzed the mistake that appears in service, it is convenient for change data and adjustment, the trouble convenience that appears in the operation process simultaneously in time points out and the shutdown, the trouble of avoiding appearing influences entire system's operation, the accident appears.
The third concrete embodiment:
as shown in fig. 3 and 4, the PLC system control device is integrated with a starting robot controller and a numerical control system, when the goods on the conveyor belt reach a designated position, the first robot takes the goods, when the goods are not transferred to the designated position, the first robot continues to wait for the goods, the first robot places the taken goods at a processing position, the goods are processed by starting the numerical control processing center machine, when the numerical control processing center machine completes the processing, the second robot takes the goods away, and at the same time, the first robot places the goods on a processing table, when the numerical control processing center machine does not complete the processing, the first robot and the second robot wait for the numerical control processing center machine to complete the processing, the second robot sends the goods to the conveyor system, and through the conveyor system, when the goods reach the designated position, the third robot takes the goods away, and placed in a designated collection rack;
the numerical control machining center machine and the robot moving part enter into circulation operation through a main function while the main function is circularly loaded, a circulation instruction is implanted into the numerical control machining center machine, simultaneously a robot movement control subfunction is called to control the circulation operation of the robot moving part, the numerical control center machine subfunction is called to carry out the circulation instruction on the numerical control center machine, the numerical control center machine and the robot moving part delay for 5s simultaneously, after a field task is finished, the system is finished, when the task is not finished, the system is restarted, the goods are transported and processed through the cooperation of the robot moving part and the numerical control center machine, the robot moving part and the numerical control center machine are always kept synchronous in operation through the circulation of the main function while the operation of the robot moving part and the numerical control center machine is not finished, asynchronous machining or untimely machining caused by the robot moving part and the numerical control center machine is avoided, and the goods are unqualified in production, affecting quality.
The fourth concrete embodiment:
as shown in fig. 5, when the numerical control center starts to operate, the numerical control center loads the machining information into the numerical control center, when the machining information needs to be changed, the machining information is changed, after the machining data configuration is completed, the data machining center is connected, when the connection is not completed, the data needs to be modified, and the machining information is reloaded until the connection is successful, a signal is added, and the data is read and written by operating the numerical control center;
the data reading and writing is divided into data reading and data writing;
reading data, storing the read data into a data register, and when the data is not read completely, until the data is read successfully;
writing data, storing the written data into a data register, and when the data is not written completely, until the data is written successfully;
after data write in and data reading all accomplished, stop the plug-in components, the operation finishes, need preserve the processing data at the in-process of processing, avoids appearing the error in the processing link and need examine whole system when the inspection, has caused huge work load, and the record of data can conveniently be quick find out the position of makeing mistakes in the inspection, and convenient pertinence is overhauld, has avoided large-scale maintenance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides an automation equipment is with robot module, includes PLC, controller, driver, robot transmission system, moving part, fault detection mechanism, alarm, protector, IO interface, its characterized in that: the PLC is connected with the controller, the controller is respectively connected with the protector, the I/O interface and the driver, the driver is connected with the robot transmission system, the robot transmission system is connected with the moving part, the moving part is connected with the fault detection mechanism, the fault detection mechanism is connected with the alarm, and the alarm is connected with the protector.
2. The robot module for an automation device as set forth in claim 1, wherein: the PLC transmits the instruction to the controller, and the controller transmits the received signal to the controller;
the controller and the I/O interface transmit signals to each other, and the I/O interface receives signals of the sensor, the button, the relay, the switch valve, the indicator light and the overload protector;
the controller transmits the instruction to the driver, and the driver transmits the signal to the controller;
the driver drives the robot transmission system;
the robot drive system transmits instructions to the moving parts.
3. The robot module for an automation device according to claim 2, characterized in that: the fault detection mechanism detects the state of the moving part, when the moving part breaks down, the detection mechanism transmits a signal to the alarm, the alarm sends out an alarm signal, the protector is started to stop the controller, and when the fault detection mechanism does not detect that the moving part breaks down, the moving part continues to keep operating.
4. The robot module for an automation device according to claim 3, characterized in that: the motion parts comprise an arm planning group, a leg planning group, a head planning group and a waist planning group, instructions are transmitted to the controller through the PLC, and the controller drives the arm planning group, the leg planning group, the head planning group and the waist planning group of the robot to realize the operation of corresponding actions.
5. The robot module for an automation device according to claim 2, characterized in that: the PLC system control device is integrated, the robot controller and the numerical control system are started, when the goods on the conveyor belt reach the designated position, the first robot takes the goods, when the goods are not transmitted to the designated position, the first robot continues to wait for the goods, the first robot places the fetched goods at the processing position, the goods are processed by starting the numerical control processing center machine, the second robot takes away the goods when the numerical control processing center machine finishes processing, meanwhile, the first robot places the goods on the processing table, when the numerical control processing center machine does not finish processing, the first robot and the second robot wait for the numerical control processing center machine to finish processing, the second robot sends the goods to the conveying system, the goods pass through the conveying system, when the goods reach the designated position, the third robot takes the goods away and places the goods in the designated collection rack.
6. The robot module for an automation device as set forth in claim 5, wherein: the numerical control machining center machine and the robot moving part enter into circulation operation through a main function while true, the main function while true is circularly loaded, a circulation instruction is implanted into the numerical control machining center machine, meanwhile, a robot movement control subfunction is called to control the circulation operation of the robot moving part, the numerical control center machine subfunction is called to carry out the circulation instruction on the numerical control center machine, the numerical control center machine and the robot moving part are simultaneously delayed for 5s, after a field task is finished, the system is finished, and when the task is not finished, the system is restarted.
7. The robot module for an automation device as set forth in claim 6, wherein: when the numerical control center machine starts to operate, processing information is loaded into the numerical control center machine, when the processing information needs to be changed, the processing information is changed, after the processing data configuration is completed, the data processing center is connected, when the connection is not completed, the data needs to be modified, the processing information is reloaded until the connection is successful, signals are added, and the data is read and written by operating the numerical control center.
8. The robot module for an automation device as set forth in claim 7, wherein: the data reading and writing comprises data reading and data writing;
the data reading step of storing the read data into a data register until the data reading is successful when the data reading is not completed;
the written data is stored in the data register, and when the data is not written completely, the data is written successfully;
and after the data writing and the data reading are finished, stopping the plug-in unit and finishing the operation.
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| CN202111405523.0A CN113910246A (en) | 2021-11-24 | 2021-11-24 | Robot module for automation equipment |
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| CN202111405523.0A CN113910246A (en) | 2021-11-24 | 2021-11-24 | Robot module for automation equipment |
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-
2021
- 2021-11-24 CN CN202111405523.0A patent/CN113910246A/en active Pending
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