CN114193438B - 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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- CN114193438B CN114193438B CN202111537343.8A CN202111537343A CN114193438B CN 114193438 B CN114193438 B CN 114193438B CN 202111537343 A CN202111537343 A CN 202111537343A CN 114193438 B CN114193438 B CN 114193438B
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- robot
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- touch screen
- coordinate
- logic controller
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000012549 training Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process 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
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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 application discloses a method and a device for controlling a robot based on a touch screen. The method comprises the following steps: according to the service requirement, a control button for controlling the robot is arranged on the touch screen; defining global interrupt in an external automatic program, setting an interrupt flag bit, and opening the interrupt; setting judgment conditions, when the modified teaching point conditions meet the requirement of invoking the modified teaching point subprogram, assigning coordinate values set on the touch screen to corresponding coordinate points, and simultaneously transmitting coordinate variable values to the editable logic controller; a robot program reset program is established, and a brake instruction and a resume instruction are added; the robot manual control program assigns the current coordinate value to the designated coordinate point and enters the circulation program; and establishing an array form transmission mode of the robot and the editable logic controller. The embodiment of the application has low cost, simple and clear operation, safe and reliable operation and simple training of operators, and can be operated.
Description
Technical Field
The application 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
The conventional robot control system comprises the steps of programming a plurality of motion track programs in a robot, designing functional buttons matched with the tracks on a touch screen, and executing the corresponding track programs by clicking any track buttons to realize the motion of the robot. When the grabbing point or the placement point is changed, the visual correction is adopted or retried to define the point. When faults such as collision and sudden stop occur, the movement mode needs to be manually played, then the demonstrator is used for controlling the robot to a safe position, and the demonstrator is used for moving the robot to the position of the HOME point when the robot is rerun. The demonstrator has complex functions and scattered functions, so that operators are required to have high professional technical requirements. Some industries with lagging productivity have low cultural level, lack of professional technology and poor learning ability, so that a device capable of controlling the operation of a robot through simple operation on a touch screen is urgently needed.
Disclosure of Invention
The application solves the technical problems that: the defects of the prior art are overcome, and a method and a device for controlling a robot based on a touch screen are provided.
In order to solve the above technical problems, an embodiment of the present application provides a method for controlling a robot based on a touch screen, including:
according to the service requirement, a control button for controlling the robot is arranged on the touch screen;
defining global interrupt in an external automatic program, setting an interrupt flag bit, and opening the interrupt;
setting judgment conditions, when the modified teaching point conditions meet the requirement of invoking the modified teaching point subprogram, assigning coordinate values set on the touch screen to corresponding coordinate points, and simultaneously transmitting coordinate variable values to the editable logic controller;
a robot program reset program is established, and a brake instruction and a resume instruction are added;
the robot manual control program assigns the current coordinate value to the designated coordinate point and enters the circulation program;
and establishing an array form transmission mode of the robot and the editable logic controller.
Optionally, according to the service requirement, a control button for controlling the robot is set on the touch screen, including:
and configuring a driver start button, a driver stop button, a program start button and an error approval button on the touch screen according to service requirements.
Optionally, the robot communicates with the editable logic controller via ethernet.
Optionally, the touch screen communicates with the editable logic controller over ethernet.
In order to solve the above technical problems, an embodiment of the present application 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 service requirements;
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 giving module is used for setting judging conditions, giving coordinate values set on the touch screen to corresponding coordinate points when the modified teaching point conditions meet the requirement of invoking the modified teaching point subprogram, and simultaneously sending coordinate variable values to the editable logic controller;
the reset program establishing module is used for establishing a robot program reset program and adding a brake instruction and a resume instruction;
the coordinate point assignment module is used for a robot hand control program to assign the current coordinate value to a designated coordinate point and enter a circulation program;
and the transmission mode establishing module is used for establishing an array mode 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 start button, a driver stop button, a program start button and an error approval button on the touch screen according to service requirements.
Optionally, the robot communicates with the editable logic controller via ethernet.
Optionally, the touch screen communicates with the editable logic controller over ethernet.
Compared with the prior art, the application has the advantages that:
the scheme provided by the embodiment of the application has the advantages of low cost, simple and clear operation, safe and reliable operation and simple training of operators.
Drawings
Fig. 1 is a flowchart of steps of a method for controlling a robot based on a touch screen according to an embodiment of the present application;
FIG. 2 is a block diagram of a module according to an embodiment of the present application;
fig. 3 is a schematic diagram of a manual control robot with a touch screen according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a modified capture point and placement point according to an embodiment of the present application;
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 application.
Detailed Description
Example 1
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 application is shown, and as shown in fig. 1, the method may include the steps of:
step 101: according to the service requirement, a control button for controlling the robot is arranged on the touch screen;
step 102: defining global interrupt in an external automatic program, setting an interrupt flag bit, and opening the interrupt;
step 103: setting judgment conditions, when the modified teaching point conditions meet the requirement of invoking the modified teaching point subprogram, assigning coordinate values set on the touch screen to corresponding coordinate points, and simultaneously transmitting coordinate variable values to the editable logic controller;
step 104: a robot program reset program is established, and a brake instruction and a resume instruction are added;
step 105: the robot manual control program assigns the current coordinate value to the designated coordinate point and enters the circulation program;
step 106: and establishing an array form transmission mode of the robot and the editable logic controller.
In the embodiment of the present application, referring to the module diagram shown in fig. 2, the robot operates in an external automatic mode, and configures external automatic input ends such as driver start, driver stop, program start, error approval, etc., to the buttons as required, and the robot communicates with the PLC through profinet, and the touch screen communicates with the PLC through ethernet.
Defining global interrupt in external automatic program cell. Src, setting interrupt flag bit and opening interrupt. When the interrupt occurs, the reset program is called, the current program is reset, and the program runs from the beginning. And when the conditions are met, executing the manual control program, and when the conditions are not met, executing the corresponding track running program according to the selection. And deleting the CHECK HOME and PTP HOME program lines in the cell. Src file, so as to avoid stopping the robot without being at the HOME point when the program is initially run.
And starting the main track running program, setting judgment conditions, when the conditions of modifying the teaching points meet the requirements of calling the subroutines of modifying the teaching points, assigning coordinate values set on the touch screen to corresponding coordinate points, simultaneously transmitting the coordinate variable values to the PLC, exiting the subroutines, and resetting the judgment conditions, as shown in figure 4.
The position of the grabbing point and the placing point offset are quickly modified by modifying the grabbing point and the placing point offset, as shown in fig. 4.
To ensure safe operation of the device, a CHECK HOME program segment is added to the trace operation main program. When the track movement program is run, if the program is in the HOME point, the program continues to run, if the program is not in the HOME point, the robot is moved to the HOME point through manual control, and then the subsequent track action is executed.
And (3) establishing a robot program reset program, deleting an INT initialization line in the program, and adding a brake instruction and a resume instruction.
And (3) a manual control program of the robot, assigning the current coordinate value to the coordinate point Xp1, and entering a LOOP circulation program. And executing different programs according to different flag bits in the cyclic program. When the coordinate axis of the robot XYZABC is moved, a corresponding button is clicked, corresponding coordinate values are changed, then a motion instruction PTP Xp1 is executed, and when the robot moves to a target point, the current coordinate value is reassigned to the coordinate point Xp1. If the move button is continuously pressed, the robot will run in this direction until the button is released.
When confirming that the robot returns to the HOME point, clicking the 'confirm safe' and 'one-click return HOME' buttons, the robot gives the current coordinate value to Xp2, transmits the Z-direction value of the HOME point coordinate to Xp2, executes PTP Xp2 and PTP XHOME, and moves to the HOME point after the robot rises to the HOME point in the Z-direction. To ensure safety, the return HOME speed is 50% of the operating speed, as shown in fig. 3.
Defining an interrupt, triggering the interrupt when executing the command for modifying the teaching points, calling the track running program, and further executing the program for modifying the teaching points.
And data are transmitted between the PLC and the robot in an array form, so that the communication points of the communication module are reduced. The integer array variables and the transport 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]
receiving a data program:
receive[receive_p,1]＝receive_x-1000
receive[receive_p,2]＝receive_y-1000
receive[receive_p,3]＝receive_z-1000
and according to the meaning corresponding to the trans-p, transmitting trans-x/y/z data into an array, and similarly, when transmitting robot data to the PLC, designating a corresponding flag bit send_p value.
Because the defined SIGNAL variable cannot be a negative value, but a negative number exists in practical application, 1000 is required to be added or subtracted on two sides of the robot and the PLC according to variable conditions, so that the data on two sides are ensured to be the same, and the negative number can be obtained.
The data transfer program is written into the robot background sps. And data is transmitted as long as the condition is met, so that the real timeliness of the data is ensured. Because the PLC scanning time is different from the robot sps.sub scanning time, when the robot integrally transmits data, the time delay is 0.02S when a group of data is not transmitted, and the PLC is ensured to have enough time to receive the data.
Example two
Referring to fig. 5, a schematic structural diagram of a device for controlling a robot based on a touch screen according to an embodiment of the present application is shown, and as shown in fig. 5, the device may include the following modules:
the control button setting module 510 is 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 the interrupt;
a coordinate point giving module 530, configured to set a judgment condition, and when the modified teaching point condition satisfies the call of the modified teaching point subroutine, give coordinate values set on the touch screen to corresponding coordinate points, and send coordinate variable values to the editable logic controller;
a reset program creation module 540, configured to create a robot program reset program, and add a brake instruction and a resume instruction;
the coordinate point assignment module 550 is used for a robot hand control program to assign the current coordinate value to the designated coordinate point and enter a circulation program;
the transmission mode establishing module 560 is configured to establish an array mode 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 start button, a driver stop button, a program start button and an error approval button on the touch screen according to service requirements.
Optionally, the robot communicates with the editable logic controller via ethernet.
Optionally, the touch screen communicates with the editable logic controller over ethernet.
The described embodiments of the present application will enable those skilled in the art to more fully understand the application, but do not limit it in any way. Accordingly, it will be understood by those skilled in the art that the present application may be modified or equivalents substituted; all technical solutions and modifications thereof that do not depart from the spirit and technical essence of the application should be included in the protection scope of the patent of the application.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (8)
1. A method for controlling a robot based on a touch screen, comprising:
according to the service requirement, a control button for controlling the robot is arranged on the touch screen;
defining global interrupt in an external automatic program, setting an interrupt flag bit, and opening the interrupt;
setting judgment conditions, when the modified teaching point conditions meet the requirement of invoking the modified teaching point subprogram, assigning coordinate values set on the touch screen to corresponding coordinate points, and simultaneously transmitting coordinate variable values to an editable logic controller;
a robot program reset program is established, and a brake instruction and a resume instruction are added;
the robot manual control program assigns the current coordinate value to the designated coordinate point and enters the circulation 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 a manipulation button for manipulating the robot on the touch screen according to the service requirement comprises:
and configuring a driver start button, a driver stop button, a program start button and an error approval button on the touch screen according to service requirements.
3. The method of claim 1, wherein the robot communicates with the editable logic controller via ethernet.
4. The method of claim 1, wherein the touch screen communicates with the editable logic controller over 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 service requirements;
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 giving module is used for setting judging conditions, giving coordinate values set on the touch screen to corresponding coordinate points when the modified teaching point conditions meet the requirement of invoking the modified teaching point subprogram, and simultaneously sending the coordinate variable values to the editable logic controller;
the reset program establishing module is used for establishing a robot program reset program and adding a brake instruction and a resume instruction;
the coordinate point assignment module is used for a robot hand control program to assign the current coordinate value to a designated coordinate point and enter a circulation program;
and the transmission mode establishing module is used for establishing an array mode transmission mode of the robot and the editable logic controller.
6. The apparatus of claim 5, wherein the manipulation button setting module comprises:
and the control button configuration unit is used for configuring a driver start button, a driver stop button, a program start button and an error approval button on the touch screen according to service requirements.
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 over 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 true CN114193438B (en) | 2023-12-08 |
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