CN114193438A - Method and device for controlling robot based on touch screen - Google Patents
Method and device for controlling robot based on touch screen Download PDFInfo
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- CN114193438A CN114193438A CN202111537343.8A CN202111537343A CN114193438A CN 114193438 A CN114193438 A CN 114193438A CN 202111537343 A CN202111537343 A CN 202111537343A CN 114193438 A CN114193438 A CN 114193438A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012986 modification Methods 0.000 claims abstract description 18
- 230000004048 modification Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000012549 training Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a method and a device for controlling a robot based on a touch screen. The method comprises the following steps: setting a control button for controlling the robot on the touch screen according to the business requirement; defining global interrupt in an external automatic program, setting an interrupt flag bit and opening the interrupt; setting a judgment condition, assigning coordinate values set on the touch screen to corresponding coordinate points when the teaching point modification condition meets the requirement of calling a teaching point modification subprogram, and sending coordinate variable values to the editable logic controller; establishing a robot program reset program, and adding a shake instruction and a resume instruction; a manual robot control program assigns the current coordinate value to the specified coordinate point and enters a cycle program; and establishing an array form transmission mode of the robot and the editable logic controller. The embodiment of the invention has the advantages of low cost, simple and clear operation, safe and reliable operation, and simple training of operators, and can be operated.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to a method and a device for controlling a robot based on a touch screen.
Background
In a conventional robot control system, a plurality of motion trajectory programs are programmed in a robot, then functional buttons matched with the trajectories are designed on a touch screen, and the robot executes the corresponding trajectory programs to realize the motion of the robot by clicking any trajectory button. When the grasping point or the placing point is changed, either visual deviation correction is adopted or the point is defined again by trial teaching. When faults such as collision, sudden stop and the like occur, the motion mode needs to be manually driven, then the robot is operated to a safe position by using the demonstrator, and the robot is required to be moved to the set HOME point position by using the demonstrator when the robot is operated again. The demonstrator has complex functions and dispersed required functions, so that the operation workers are required to have high professional technical requirements. In some industries with backward productivity, workers have low cultural degree, lack of professional technology and poor learning capability, so that equipment capable of controlling the operation of the robot through simple operation on a touch screen is urgently needed.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and the method and the device for controlling the robot based on the touch screen are provided.
In order to solve the above technical problem, an embodiment of the present invention provides a method for controlling a robot based on a touch screen, including:
setting a control button for controlling the robot on the touch screen according to the business requirement;
defining global interrupt in an external automatic program, setting an interrupt flag bit and opening the interrupt;
setting a judgment condition, assigning coordinate values set on the touch screen to corresponding coordinate points when the teaching point modification condition meets the requirement of calling a teaching point modification subprogram, and sending coordinate variable values to the editable logic controller;
establishing a robot program reset program, and adding a shake instruction and a resume instruction;
a manual robot control program assigns the current coordinate value to the specified coordinate point and enters a cycle program;
and establishing an array form transmission mode of the robot and the editable logic controller.
Optionally, according to the service requirement, setting a control button for controlling the robot on the touch screen includes:
and configuring a driver starting button, a driver stopping button, a program starting button and an error approval button on the touch screen according to the service requirement.
Optionally, the robot communicates with the editable logic controller via ethernet.
Optionally, the touch screen communicates with the editable logic controller via ethernet.
In order to solve the above technical problem, an embodiment of the present invention provides a device for controlling a robot based on a touch screen, including:
the control button setting module is used for setting a control button for controlling the robot on the touch screen according to the service requirement;
the interrupt flag bit setting module is used for defining global interrupt in an external automatic program, setting an interrupt flag bit and opening the interrupt;
the coordinate point endowing module is used for setting a judgment condition, endowing coordinate values set on the touch screen to corresponding coordinate points when the teaching point modification condition meets the requirement of calling a teaching point modification subprogram, and sending coordinate variable values to the editable logic controller;
the robot program resetting system comprises a resetting program establishing module, a resetting program establishing module and a resetting program resetting module, wherein the resetting program establishing module is used for establishing a robot program resetting program and adding a shake instruction and a resume instruction;
the coordinate point assignment module is used for a robot manual control program, assigning the current coordinate value to the specified coordinate point and entering a circulation program;
and the transmission mode establishing module is used for establishing an array form transmission mode of the robot and the editable logic controller.
Optionally, the manipulation button setting module includes:
and the control button configuration unit is used for configuring a driver starting button, a driver stopping button, a program starting button and an error approval button on the touch screen according to the service requirement.
Optionally, the robot communicates with the editable logic controller via ethernet.
Optionally, the touch screen communicates with the editable logic controller via ethernet.
Compared with the prior art, the invention has the advantages that:
the scheme provided by the embodiment of the invention has the advantages of low cost, simple and clear operation, safe and reliable operation, and simple training of operators, and can be used for operation.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for controlling a robot based on a touch screen according to an embodiment of the present invention;
FIG. 2 is a block diagram of a module provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of a touch screen manual control robot provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a modified grab point and a put point provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a device for controlling a robot based on a touch screen according to an embodiment of the present invention.
Detailed Description
Example one
Referring to fig. 1, a flowchart illustrating steps of a method for controlling a robot based on a touch screen according to an embodiment of the present invention is shown, and as shown in fig. 1, the method may include the following steps:
step 101: setting a control button for controlling the robot on the touch screen according to the business requirement;
step 102: defining global interrupt in an external automatic program, setting an interrupt flag bit and opening the interrupt;
step 103: setting a judgment condition, assigning coordinate values set on the touch screen to corresponding coordinate points when the teaching point modification condition meets the requirement of calling a teaching point modification subprogram, and sending coordinate variable values to the editable logic controller;
step 104: establishing a robot program reset program, and adding a shake instruction and a resume instruction;
step 105: a manual robot control program assigns the current coordinate value to the specified coordinate point and enters a cycle program;
step 106: and establishing an array form transmission mode of the robot and the editable logic controller.
In the embodiment of the invention, referring to a block diagram shown in fig. 2, the robot works in an external automatic mode, external automatic input ends such as driver starting, driver stopping, program starting, error recognition and the like are configured to be arranged to buttons according to needs, the robot communicates with the PLC through profinet, and the touch screen communicates with the PLC through Ethernet.
Src defines a global interrupt within the external auto-program cell, sets an interrupt flag, and turns on the interrupt. When the interrupt occurs, the reset program is called to reset the current program, and the program starts to run from the beginning. And when the conditions are met, executing a manual control program, and when the conditions are not met, executing a corresponding track running program according to selection. The CHECK HOME program line and the PTP HOME program line in the cell.src file are deleted, and the phenomenon that the robot stops when the program is initially operated without being at the HOME point is avoided.
Starting a track running main program, setting a judgment condition, calling a teaching point modification subprogram when the teaching point modification condition meets the requirement, assigning coordinate values set on the touch screen to corresponding coordinate points, sending coordinate variable values to the PLC, exiting the subprogram, and resetting the judgment condition, as shown in FIG. 4.
Its position is quickly modified by modifying the grab point, put point offset, as shown in fig. 4.
In order to ensure the safe operation of the equipment, a CHECK HOME program segment is added into the track operation main program. When the track motion program is operated, if the track motion program is at the HOME point, the program continues to operate, if the track motion program is not at the HOME point, the robot is moved to the HOME point through manual control, and then subsequent track actions are executed.
And establishing a robot program reset program, deleting INT initialization lines in the program, and adding brake and resume instructions.
And the robot manually controls the program, assigns the current coordinate value to the coordinate point Xp1, and then enters a LOOP circulation program. Different programs are executed according to different zone bits in the circulating program. When the mobile robot XYZABC coordinate axis is moved, the corresponding button is clicked, the corresponding coordinate value is changed, then the motion instruction PTP Xp1 is executed, and after the mobile robot moves to a target point, the current coordinate value is assigned to the coordinate point Xp1 again. If the move button is pressed continuously, the robot will run in this direction until the button is released.
When the safety of the robot returning to the HOME point is confirmed, buttons of 'confirm safety' and 'one-click HOME' are clicked, the robot pays the current coordinate value to Xp2, the Z-direction value of the HOME point coordinate is transmitted to Xp2, PTP XP2 and PTP XHOME are executed, the robot is firstly lifted to the height of the HOME point in the Z direction, and then runs to the HOME point. For safety, the HOME speed is 50% of the running speed, as shown in FIG. 3.
And defining an interrupt, triggering the interrupt when executing a command for modifying the teaching points, calling a track running program, and further executing a program for modifying the teaching points.
Data are transmitted between the PLC and the robot in an array form, and the number of communication points of the communication module is reduced. The integer array variables and the transmission variables are defined in the global variable table $ config as follows:
DECL INT receive[30,3]
SIGNAL receive_x$in[417]TO$in[432]
SIGNAL receive_y$in[433]TO$in[448]
SIGNAL receive_z$in[449]TO$in[464]
SIGNAL receive_p$in[465]TO$in[480]
SIGNAL send_x$OUT[497]TO$OUT[512]
SIGNAL send_y$OUT[545]TO$OUT[560]
SIGNAL send_z$OUT[561]TO$OUT[576]
SIGNAL send_p$OUT[577]TO$OUT[592]
and a data receiving program:
receive[receive_p,1]＝receive_x-1000
receive[receive_p,2]＝receive_y-1000
receive[receive_p,3]＝receive_z-1000
and transmitting trans _ x/y/z data to the array according to the corresponding meaning of trans _ p, and assigning a corresponding flag bit send _ p value when transmitting the robot data to the PLC in the same way.
Since the defined SIGNAL variable cannot be a negative value, but a negative number exists in practical application, 1000 needs to be added or subtracted on the two sides of the robot and the PLC according to the variable condition, and the data on the two sides are ensured to be the same and can be the negative number.
And writing the data transmission program into a backstage sps of the robot. And data is transmitted as long as the conditions are met, so that the real timeliness of the data is ensured. Because the scanning time of the PLC is different from the scanning time of the sps.sub of the robot, when the robot integrally transmits data, a group of data is not transmitted and needs to be delayed by 0.02S, and the PLC is guaranteed to have enough time to receive the data.
Example two
Referring to fig. 5, a schematic structural diagram of an apparatus for controlling a robot based on a touch screen according to an embodiment of the present invention is shown, and as shown in fig. 5, the apparatus may include the following modules:
a control button setting module 510, configured to set a control button for controlling the robot on the touch screen according to a service requirement;
an interrupt flag setting module 520, configured to define a global interrupt in an external automatic program, set an interrupt flag, and open an interrupt;
a coordinate point assigning module 530, configured to set a determination condition, assign a coordinate value set on the touch screen to a corresponding coordinate point when the teaching point modification condition satisfies a teaching point modification subroutine, and send a coordinate variable value to the editable logic controller;
a reset program establishing module 540, configured to establish a robot program reset program, and add a shake instruction and a resume instruction;
a coordinate point assignment module 550, configured to assign a current coordinate value to a specified coordinate point and enter a loop program in the robot manual control program;
and a transmission mode establishing module 560, configured to establish an array form transmission mode between the robot and the editable logic controller.
Optionally, the manipulation button setting module includes:
and the control button configuration unit is used for configuring a driver starting button, a driver stopping button, a program starting button and an error approval button on the touch screen according to the service requirement.
Optionally, the robot communicates with the editable logic controller via ethernet.
Optionally, the touch screen communicates with the editable logic controller via ethernet.
The detailed description set forth herein may provide those skilled in the art with a more complete understanding of the present application, and is not intended to limit the present application in any way. Thus, it will be appreciated by those skilled in the art that modifications or equivalents may still be made to the present application; all technical solutions and modifications thereof which do not depart from the spirit and technical essence of the present application should be covered by the scope of protection of the present patent application.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (8)
1. A method for controlling a robot based on a touch screen, comprising:
setting a control button for controlling the robot on the touch screen according to the business requirement;
defining global interrupt in an external automatic program, setting an interrupt flag bit and opening the interrupt;
setting a judgment condition, assigning coordinate values set on the touch screen to corresponding coordinate points when the teaching point modification condition meets the requirement of calling a teaching point modification subprogram, and sending coordinate variable values to the editable logic controller;
establishing a robot program reset program, and adding a shake instruction and a resume instruction;
a manual robot control program assigns the current coordinate value to the specified coordinate point and enters a cycle program;
and establishing an array form transmission mode of the robot and the editable logic controller.
2. The method according to claim 1, wherein the setting of a manipulation button for manipulating the robot on the touch screen according to the business requirement comprises:
and configuring a driver starting button, a driver stopping button, a program starting button and an error approval button on the touch screen according to the service requirement.
3. The method of claim 1, wherein the robot communicates with the editable logic controller via an ethernet network.
4. The method of claim 1, wherein the touch screen communicates with the editable logic controller via Ethernet.
5. An apparatus for controlling a robot based on a touch screen, comprising:
the control button setting module is used for setting a control button for controlling the robot on the touch screen according to the service requirement;
the interrupt flag bit setting module is used for defining global interrupt in an external automatic program, setting an interrupt flag bit and opening the interrupt;
the coordinate point endowing module is used for setting a judgment condition, endowing coordinate values set on the touch screen to corresponding coordinate points when the teaching point modification condition meets the requirement of calling a teaching point modification subprogram, and sending coordinate variable values to the editable logic controller;
the robot program resetting system comprises a resetting program establishing module, a resetting program establishing module and a resetting program resetting module, wherein the resetting program establishing module is used for establishing a robot program resetting program and adding a shake instruction and a resume instruction;
the coordinate point assignment module is used for a robot manual control program, assigning the current coordinate value to the specified coordinate point and entering a circulation program;
and the transmission mode establishing module is used for establishing an array form transmission mode of the robot and the editable logic controller.
6. The device of claim 5, wherein the manipulation button setting module comprises:
and the control button configuration unit is used for configuring a driver starting button, a driver stopping button, a program starting button and an error approval button on the touch screen according to the service requirement.
7. The apparatus of claim 5, wherein the robot communicates with the editable logic controller via Ethernet.
8. The apparatus of claim 5, wherein the touch screen communicates with the editable logic controller via Ethernet.
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| CN202111537343.8A CN114193438B (en) | 2021-12-15 | 2021-12-15 | Method and device for controlling robot based on touch screen |
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| CN202111537343.8A CN114193438B (en) | 2021-12-15 | 2021-12-15 | Method and device for controlling robot based on touch screen |
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| CN114193438B CN114193438B (en) | 2023-12-08 |
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| CN113146001A (en) * | 2021-03-13 | 2021-07-23 | 无锡信捷电气股份有限公司 | Demonstrator system and demonstration method of arc welding robot |
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2021
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|---|---|---|---|---|
| US20030114959A1 (en) * | 2000-10-11 | 2003-06-19 | Takayuki Sakamoto | Robot control system and robot control method |
| CN103368795A (en) * | 2013-07-26 | 2013-10-23 | 深圳市佳晨科技有限公司 | Automatic feeding, testing and sorting system and operation method thereof |
| KR20160041123A (en) * | 2014-10-06 | 2016-04-18 | 주식회사 제이지테크윈 | Handling robot system and method for controlling the same |
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