CN114260901A - Control system of industrial robot - Google Patents
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- CN114260901A CN114260901A CN202210001763.2A CN202210001763A CN114260901A CN 114260901 A CN114260901 A CN 114260901A CN 202210001763 A CN202210001763 A CN 202210001763A CN 114260901 A CN114260901 A CN 114260901A
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- 238000011084 recovery Methods 0.000 claims description 11
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
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Abstract
The invention discloses a control system of an industrial robot, which comprises: the motion control module is used for issuing a control instruction, and the control instruction is used for planning a motion mode of the industrial robot; the servo module is arranged on the industrial robot and is in communication connection with the motion control module; and the servo module drives the industrial robot to move according to the control instruction. According to the arrangement, the control system is designed in a modularized mode, so that the modules are relatively independent, the interchangeability is good, and the universality of the control system is improved. And the combination of different modules can be suitable for different robot systems, so that the control system has good expansibility. Therefore, compared with the adoption of a special operating system, a robot language and a processor, the development period can be obviously greatly reduced, or the development is not needed, and meanwhile, the production cost can be reduced.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a control system of an industrial robot.
Background
With the development of industrial technology, robots are more widely applied, the robots are more intelligently manufactured, and the requirements on robot control systems are higher. The main task of the industrial robot control technology is to control the motion position, posture, trajectory, operation sequence, action time and the like of the industrial robot in the working space. The stacking robot has the main functions of stacking and stacking products and is mainly technically characterized by frequent acceleration and deceleration, high response speed, real-time movement planning and simple operation.
However, the development of the existing robot control system is basically independent, and a special operating system, a robot language and a processor are adopted, so that the development cost is high, and the development period is long.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to provide a control system for an industrial robot, which is based on the problems of high development cost and long development period of a robot control system in the prior art that a dedicated operating system, a robot language and a processor are adopted.
To achieve the above object, an embodiment of the present invention provides a control system of an industrial robot, including: the motion control module is used for issuing a control instruction, and the control instruction is used for planning a motion mode of the industrial robot; the servo module is arranged on the industrial robot and is in communication connection with the motion control module; and the servo module drives the industrial robot to move according to the control instruction.
Optionally, the motion control module is a motion control card.
Optionally, the motion modes include at least linear motion, PTP motion, and circular motion.
Optionally, the motion control module is further configured to receive feedback information of the industrial robot, and correct the motion of the industrial robot according to the feedback information.
Optionally, the control system further comprises: the real-time monitoring module is in communication connection with the industrial robot and the motion control module; and the motion control module receives feedback information of the industrial robot through the real-time monitoring module.
Optionally, the feedback information comprises at least operating parameters of the industrial robot.
Optionally, the control system further comprises: the human-computer interaction module is arranged on the industrial robot and is in communication connection with the industrial robot and the real-time monitoring module; the human-computer interaction module is used for adjusting set parameters of the industrial robot or/and manually controlling the industrial robot to move to a specified position.
Optionally, the human-computer interaction module is a demonstrator.
Optionally, the control system further comprises: the I/O module is arranged on the industrial robot and is in communication connection with the industrial robot; the I/O module is used for collecting I/O signals.
Optionally, the control system further comprises: a controller integrally provided with the motion control module; the controller is connected with the I/O module through a bus; the system backup and recovery module is in communication connection with the controller; the system backup and recovery module is used for storing system files and working files; and the controller reads the working file through the system backup and recovery module.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. an embodiment of the present invention provides a control system for an industrial robot, where the control system includes: the motion control module is used for issuing a control instruction, and the control instruction is used for planning a motion mode of the industrial robot; the servo module is arranged on the industrial robot and is in communication connection with the motion control module; and the servo module drives the industrial robot to move according to the control instruction.
According to the arrangement, the control system is designed in a modularized mode, so that the modules are relatively independent, the interchangeability is good, and the universality of the control system is improved. And the combination of different modules can be suitable for different robot systems, so that the control system has good expansibility. Therefore, compared with the adoption of a special operating system, a robot language and a processor, the development period can be obviously greatly reduced, or the development is not needed, and meanwhile, the production cost can be reduced.
2. According to the embodiment of the invention, the real-time monitoring module is arranged, so that the motion state of the industrial robot can be monitored in real time, other modules can obtain real-time information of the motion state of the robot, the real-time information is fed back to the motion control module through the real-time monitoring module, the motion control module can judge whether the operation of the industrial robot is stable or not according to the feedback information sent by the monitoring module, and technicians can improve or maintain the industrial robot. And once industrial robot breaks down, stop work immediately to record error message, technical staff can in time perceive and revise, improved industrial robot's security.
3. According to the embodiment of the invention, the human-computer interaction module is arranged, so that the feedback information of the real-time monitoring module can be fed back to the technical developer through the human-computer interaction module, and the technical developer can know the specific working performance of the industrial robot in more detail according to the feedback information and can further carry out optimization design on the industrial robot. Meanwhile, the man-machine interaction module is arranged, so that the industrial robot can be manually controlled to move to reach any required position, and when the position error of the industrial robot is too large, an operator can correct the position error in time. In addition, an operator can modify some set parameters of the industrial robot, so that the industrial robot can be used for stacking different products, and the industrial robot is universal.
4. According to the embodiment of the invention, the I/O module is arranged, so that I/O signals such as a limit switch signal, an alarm signal, an original point signal and a servo enabling signal can be acquired in real time, and signals of some external sensors can be added according to requirements, so that different requirements of the industrial robot on actual application scenes are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for a worker of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a general schematic diagram of a control system according to an embodiment of the present invention;
FIG. 2 is an overall diagram of hardware aspects of an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a worker skilled in the art without creative efforts based on the embodiments of the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases by a worker of ordinary skill in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
With the development of industrial technology, robots are more widely applied, the robots are more intelligently manufactured, and the requirements on robot control systems are higher. The main task of the industrial robot control technology is to control the motion position, posture, trajectory, operation sequence, action time and the like of the industrial robot in the working space. The stacking robot has the main functions of stacking and stacking products and is mainly technically characterized by frequent acceleration and deceleration, high response speed, real-time movement planning and simple operation. However, the development of the existing robot control system is basically independent, and a special operating system, a robot language and a processor are adopted, so that the development cost is high, and the development period is long.
Therefore, the technical problem to be solved by the present invention is to provide a control system for an industrial robot, which is based on the problems of high development cost and long development period of a robot control system in the prior art that a dedicated operating system, a robot language and a processor are adopted.
Example 1
As shown in fig. 1 and 2, an embodiment of the present invention provides a control system of an industrial robot, including: motion control module, servo module and industrial robot. In the embodiment of the invention, the industrial robot can be a palletizing robot, the palletizing robot can be a four-degree-of-freedom decoupling type industrial robot, the rotation center of a fourth joint of the palletizing robot is always vertical to the plane of the base in the motion process of the palletizing robot, and a robot paw is arranged on the fourth joint. The present embodiment is merely to illustrate the type of the industrial robot, but the present invention is not limited thereto, and those skilled in the art can change the type of the industrial robot according to actual situations, and the same technical effect can be achieved.
Specifically, in the embodiment of the present invention, the motion control module is configured to issue a control command, where the control command is used to plan a motion mode of the industrial robot. The servo module is arranged on the industrial robot and is in communication connection with the motion control module, and the communication connection can be wired connection or wireless connection. And the servo module drives the industrial robot to move according to the control instruction.
Further, the motion control module is a motion control card of the industrial robot and serves as the core of the whole control system. The motion modes of the industrial robot, such as linear motion, PTP motion, circular motion and the like, are planned by the motion control module, and various control instructions are sent to the servo module through the motion control module. The motion control module can receive information from each module, and reasonable on-line planning is carried out on the motion of the industrial robot through some control algorithms of the motion control module, so that the industrial robot can quickly, efficiently and accurately complete various stacking motions. Of course, the motion mode may include not only a linear motion, a PTP motion, and an arc motion, but this embodiment is merely an example, and is not limited thereto, and a person skilled in the art may change the motion mode according to actual situations, and may achieve the same technical effect.
According to the arrangement, the control system is designed in a modularized mode, so that the modules are relatively independent, the interchangeability is good, and the universality of the control system is improved. And the combination of different modules can be suitable for different robot systems, so that the control system has good expansibility. Therefore, compared with the adoption of a special operating system, a robot language and a processor, the development period can be obviously greatly reduced, or the development is not needed, and meanwhile, the production cost can be reduced.
Further, in an optional embodiment of the present invention, the motion control module may be further configured to receive feedback information of the industrial robot, and modify the motion of the industrial robot according to the feedback information. Specifically, the control system further comprises a real-time monitoring module, and the real-time monitoring module is in communication connection with the industrial robot and the motion control module. And the motion control module receives feedback information of the industrial robot through the real-time monitoring module. And the feedback information comprises at least operating parameters of the industrial robot. For example, the feedback information may also include the communication status of the industrial robot.
According to the embodiment of the invention, the real-time monitoring module is arranged, so that the motion state of the industrial robot can be monitored in real time, other modules can obtain real-time information of the motion state of the robot, the real-time information is fed back to the motion control module through the real-time monitoring module, the motion control module can judge whether the operation of the industrial robot is stable or not according to the feedback information sent by the monitoring module, and the motion of the robot can be corrected through the feedback information. Meanwhile, the technical personnel can also improve or maintain the industrial robot through the feedback information. And once industrial robot breaks down, stop work immediately to record error message, technical staff can in time perceive and revise, improved industrial robot's security.
Further, in an optional embodiment of the present invention, the control system further includes a human-machine interaction module, which is disposed on the industrial robot and is in communication connection with the industrial robot and the real-time monitoring module. The human-computer interaction module is used for adjusting set parameters of the industrial robot and manually controlling the industrial robot to move to a specified position. Of course, the human-computer interaction module can be used for only adjusting the set parameters of the industrial robot according to actual conditions, or manually controlling the industrial robot to move to a specified position. Specifically, the human-computer interaction module may be a teach pendant.
According to the embodiment of the invention, the human-computer interaction module is arranged, so that the feedback information of the real-time monitoring module can be fed back to the technical developer through the human-computer interaction module, and the technical developer can know the specific working performance of the industrial robot in more detail according to the feedback information and can further carry out optimization design on the industrial robot. Meanwhile, the demonstrator is arranged, so that the industrial robot can be manually controlled to move to reach any required position in the reachable space of the industrial robot, and an operator can correct the position error of the industrial robot in time when the position error of the industrial robot is too large. In addition, an operator can modify some set parameters of the industrial robot, so that the industrial robot can be used for stacking different products, and the industrial robot is universal.
Further, in an optional embodiment of the present invention, the control system further comprises an I/O module, which is disposed on the industrial robot and is in communication connection with the industrial robot. The I/O module is used for collecting I/O signals. According to the embodiment of the invention, the I/O module is arranged, so that I/O signals such as a limit switch signal, an alarm signal, an original point signal and a servo enabling signal can be acquired in real time, and signals of some external sensors can be added according to requirements, so that different requirements of the industrial robot on actual application scenes are met.
Further, in an optional embodiment of the present invention, the control system further includes a controller and a system backup and recovery module, the controller is integrated with the motion control module, and the controller is connected to the I/O module through a bus. The system backup and recovery module is in communication connection with the controller and is used for storing system files and working files. And the controller reads the working file through the system backup and recovery module.
The control system adopts an industrial controller which is an embedded PC and is combined with the motion control module into a whole, so that the control system is more stable and reliable, strong in anti-interference capability and high in cost performance. The controller adopts a field bus mode and provides a field bus expansion interface of high-speed I/O, thereby meeting the control requirement of multiple I/O points. The controller is connected with the I/O module, can access a plurality of paths of I/O signals, and is connected with the driver, and the driver can control the motor to drive the palletizing robot to move. The controller is also provided with a network card which can be connected with the internet access equipment for remote monitoring and operation.
In terms of software, the software system may be divided into common modules and common modules. The common module may include a system backup and restore module, a motion and coordinate transformation module. The system backup and recovery module is mainly used for storing some system files and working files. The industrial robot requires an operator to set some system parameters before working, if the system parameters need to be input through the system setting module for the first time, the parameters are stored in a system file, and if the working conditions are not changed when the industrial robot is started next time, the parameters do not need to be input again, and the parameters can be directly read from the system file. The work file of the industrial robot is obtained from the tool software.
The tool software is virtual stacking software, firstly, products are stacked in a virtual environment, position information of each product is recorded and stored as a working file, and a controller reads parameters in the working file through a system backup and recovery module. The point location information that needs to be corrected may be corrected by a teaching machine. All the relation to the movement in the control system is processed by the movement and coordinate transformation module, such as origin reset, demonstrator correction and the like. In the motion process of the industrial robot, the motion and coordinate transformation module can detect the motion process of the industrial robot in real time, once the industrial robot breaks down, the motion and coordinate transformation module stops working immediately and records error information, and a worker can timely notice and correct the fault and improve the safety of the industrial robot.
In summary, the control system adopts a modular design. The modules are mutually independent, so that the interchangeability is good; and a standard communication protocol is adopted, so that the data transmission is more reliable, and the data transmission has higher openness and compatibility. The friendly man-machine interaction module enables a user to better use the control system, and can facilitate the user to modify some system parameters, so that the system is more flexible. In the operation process, the operation state of the industrial robot is monitored in real time, the movement of the industrial robot can be stopped immediately under the condition of operation error, and error information is displayed, so that the operation of the industrial robot is safer and more reliable.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Variations and modifications in other variations may occur to those skilled in the art based upon the foregoing description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A control system of an industrial robot, comprising:
the motion control module is used for issuing a control instruction, and the control instruction is used for planning a motion mode of the industrial robot;
the servo module is arranged on the industrial robot and is in communication connection with the motion control module; and the servo module drives the industrial robot to move according to the control instruction.
2. The control system of claim 1, wherein the motion control module is a motion control card.
3. The control system of claim 2, wherein the motion patterns include at least linear motion, PTP motion, and circular motion.
4. A control system according to any one of claims 1 to 3, characterized in that the motion control module is further adapted to receive feedback information of the industrial robot and to modify the motion of the industrial robot in dependence of the feedback information.
5. The control system of claim 4, further comprising:
the real-time monitoring module is in communication connection with the industrial robot and the motion control module; and the motion control module receives feedback information of the industrial robot through the real-time monitoring module.
6. Control system according to claim 5, characterized in that the feedback information comprises at least operating parameters of the industrial robot.
7. The control system according to claim 5 or 6, characterized in that the control system further comprises:
the human-computer interaction module is arranged on the industrial robot and is in communication connection with the industrial robot and the real-time monitoring module; the human-computer interaction module is used for adjusting set parameters of the industrial robot or/and manually controlling the industrial robot to move to a specified position.
8. The control system of claim 7, wherein the human-machine interaction module is a teach pendant.
9. The control system according to any one of claims 1 to 3, characterized in that the control system further comprises:
the I/O module is arranged on the industrial robot and is in communication connection with the industrial robot; the I/O module is used for collecting I/O signals.
10. The control system of claim 9, further comprising:
a controller integrally provided with the motion control module; the controller is connected with the I/O module through a bus;
the system backup and recovery module is in communication connection with the controller; the system backup and recovery module is used for storing system files and working files; and the controller reads the working file through the system backup and recovery module.
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| CN202210001763.2A CN114260901A (en) | 2022-01-04 | 2022-01-04 | Control system of industrial robot |
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| CN202210001763.2A CN114260901A (en) | 2022-01-04 | 2022-01-04 | Control system of industrial robot |
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Cited By (1)
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| CN114890149A (en) * | 2022-04-26 | 2022-08-12 | 江西嘉鑫陶瓷有限公司 | Mud bar stacker crane operating system |
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