CN114505845A - Controller system and welding system for multi-mechanical arm cooperative control based on EtherCAT - Google Patents
Controller system and welding system for multi-mechanical arm cooperative control based on EtherCAT Download PDFInfo
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- CN114505845A CN114505845A CN202210154664.8A CN202210154664A CN114505845A CN 114505845 A CN114505845 A CN 114505845A CN 202210154664 A CN202210154664 A CN 202210154664A CN 114505845 A CN114505845 A CN 114505845A
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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
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a controller system and a welding system for multi-mechanical-arm cooperative control based on EtherCAT, wherein the controller system comprises a power module, a control module and a plurality of driving modules, the control module is provided with a main control board, the power module converts 220V unidirectional input into 24V power conversion input to supply power to the main control board, the driving module is provided with a servo driver, the input and the output of the servo driver are in an aviation plug mode, the output end of the servo driver is connected with a corresponding mechanical arm through an aviation plug to drive the mechanical arm, the main control board is connected with the input ends of the plurality of servo drivers through communication connectors to convert aviation plugs into aviation plugs, and data communication and control are carried out on the plurality of servo drivers through the EtherCAT protocol. The invention has the advantages of being capable of adapting according to the number of the mechanical arms, convenient and flexible to install and simultaneously enhancing the real-time performance and the reliability of data transmission.
Description
Technical Field
The invention belongs to the technical field of multi-mechanical arm cooperative control, and particularly relates to a controller system for performing multi-mechanical arm cooperative control based on EtherCAT; simultaneously still relate to the duplex position welding system that multimachine tool arm is cooperative.
Background
The mechanical arm control cabinet is important intelligent automatic equipment and is widely applied to the manufacturing industry in the world.
Control and motor drive have all been integrated to traditional arm switch board, and the driver is connected with the cable conductor for the motor, and this defect that just leads to traditional switch board electric circuit to be loaded down with trivial details, mobility and flexibility relatively poor still exists to overhaul complicacy, the more not enough of unknown potential safety hazard simultaneously, makes the configurable performance of controller and applied scene and usage space all receive very big restriction.
In addition, the traditional mechanical arm control cabinet also has the defects that the industrial peripheral module cannot be effectively expanded, and the real-time performance and the reliability of data transmission are poor.
Prior patent 201710076613.7 discloses a multi-arm wireless control cabinet, which includes a power supply bottom plate, a power supply management module and a plurality of controllers, wherein the controllers are detachably and fixedly connected with the power supply bottom plate, each controller includes a wireless transmission module, any one of the controllers serves as a multi-arm cooperative controller, and the other controllers serve as single-arm controllers; still disclose a multimachine arm control system, including a plurality of arms, host computer, multimachine arm wireless control cabinet, the arm includes arm wireless transmission module, and the host computer includes host computer wireless transmission module.
Disclosure of Invention
The invention provides a controller system and a welding system for multi-mechanical arm cooperative control based on EtherCAT, which have the advantages of being capable of being adapted according to the number of mechanical arms and convenient and flexible to install, and meanwhile, the real-time performance and the reliability of data transmission are enhanced.
The invention provides a controller system for performing multi-mechanical-arm cooperative control based on EtherCAT, which comprises a power supply module, a control module and a plurality of driving modules, wherein the control module is provided with a main control board, the power supply module converts 220V unidirectional input into 24V power supply conversion input to supply power to the main control board, the driving modules are provided with servo drivers, the input and the output of each servo driver adopt an aviation plug mode, the output ends of the servo drivers are connected with corresponding mechanical arms through aviation plugs to drive the mechanical arms, the main control board is connected with the input ends of the plurality of servo drivers through communication connectors to convert aviation plugs into aviation plugs, and data communication and control are performed on the plurality of servo drivers through EtherCAT protocols.
As another specific embodiment of the present invention, the present invention further includes a local I/O module, the main control board is connected to the I/O module through a double-stranded shielded wire, wherein the power supply module converts 220V unidirectional input into 24V power supply conversion input for supplying power to the local I/O module.
In another embodiment of the present invention, the servo driver is a six-in-one servo driver and the robot is a six-axis robot.
In another embodiment of the present invention, the servo driver incorporates an EMC filter.
As another specific embodiment of the present invention, the present invention further comprises an access module, the access module has a software access end and a hardware access end;
the software access end provides a PC communication interface to establish connection with external equipment, is connected with the main control board through a communication connector and carries out data communication and control through an EtherCAT protocol;
the hardware access end is provided with a multi-signal conversion interface to establish connection with external equipment, is connected with the main control board through the communication connector and carries out data communication and control through an EtherCAT protocol;
and performing time sequence processing by using the access stack slave station, measuring time delay according to a reference clock, synchronously controlling the period, and transmitting a standardized signal according to the function of the equipment.
As another specific embodiment of the present invention, the hardware connection end is connected to an industrial camera, an intelligent algorithm platform, a sensor, a display and an upper computer, wherein the industrial camera is connected to the hardware connection end through a USB, the intelligent algorithm platform is connected to the hardware connection end through a PCIE bus, the sensor is connected to the hardware connection end through a USB or RS485 communication cable or RS232, the display is connected to the hardware connection end through an HDMI bus, and the upper computer is connected to the hardware connection end through a WIFI or LAN bus.
As another specific embodiment of the present invention, the hardware connection end is further connected to a remote I/O module, and the hardware connection end is connected to the remote I/O module through a CANopen bus.
As another specific embodiment of the present invention, the present invention further includes a security module for monitoring different interface signals, the main control board is connected to the input end of the security module through an EtherCAT bus, the output end of the security module is converted into an aviation plug connection end, wherein the power supply module converts 220V unidirectional input into 24V power supply conversion input to supply power to the security module.
The safety module can meet the switching of the robot in different running states and can timely stop the robot running when an external influence safety event occurs, so that the use safety guarantee is met.
A second object of the present invention is to provide a multi-robot coordinated dual station welding system, comprising:
a first platform for placing a workpiece to be welded;
the second platform is used for positioning the workpiece to be welded before welding;
a third platform for storing the welded workpieces;
welding a mechanical arm;
two grabbing mechanical arms;
the controller system is used for performing multi-mechanical arm cooperative control based on EtherCAT;
the main control board is connected with the welding mechanical arm, and the output end of the servo driver is connected with the grabbing mechanical arms through the aviation plug so as to synchronously and/or asynchronously drive the two grabbing mechanical arms.
The invention has the following beneficial effects:
the controller system adopts integrated design and modular design, avoids the complicated cable routing of the traditional controller system, can be more flexibly configured according to the number of mechanical arms, and is more convenient and flexible to install; and the industrial control system with the configurable multi-mechanical arm adopts an EtherCAT high-speed industrial bus to transmit data, so that the real-time performance and the reliability of the industrial control system with the multi-mechanical arm are enhanced.
In addition, the power input and output of the servo driver are connected by the aviation plug, so that the servo driver is more stable and effective in industrial environment and can meet the requirement of power output.
In addition, the invention integrates a safety module, realizes the control safety logic function of the mechanical arm, adopts access equipment to provide abundant interface expansion, can be connected with various industrial peripherals, and is convenient to directly expand.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a control module of the present invention;
FIG. 2 is a schematic diagram of the drive module of the present invention;
FIG. 3 is a schematic diagram of the wiring of the single-phase 220V power system of the present invention;
FIG. 4 is a simplified schematic diagram of the connection of the control module to the access module of the present invention;
fig. 5 is a schematic diagram of a framework of an access module of the present invention;
FIG. 6 is a schematic diagram of a security module framework of the present invention;
FIG. 7 is a schematic view of a multi-robot coordinated dual position welding system of the present invention;
in fig. 7, reference numerals 2, 10, 11 denote three members forming an "i" shaped workpiece;
reference numerals 3, 12 denote grasping robot arms, and reference numeral 8 denotes a welding robot arm;
reference numerals 5, 6, and 7 denote three pockets corresponding to three members forming the i-shaped workpiece;
reference numerals 14, 15, 16, 17, 18, 21, 22 denote clamp cylinders;
reference numerals 19, 20 denote CCD industrial cameras.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Example 1
A controller system for performing multi-robot arm cooperative control based on EtherCAT, as shown in fig. 1, includes a power module, a control module, and a plurality of driving modules.
Control module has the main control board, power module turns into 24V power conversion input with 220V one-way input and supplies power for the main control board, drive module has servo driver, servo driver's input and output all adopt the aviation plug mode, wherein servo driver's output is connected in order to drive this arm through aviation plug and the arm that corresponds, the main control board is connected with a plurality of servo driver's input through communication connector air plug that changes, and carry out data communication and control to a plurality of servo driver through the EtherCAT agreement.
Correspondingly, the control module in this embodiment further includes a local I/O module and a remote I/O module, where the main control board is connected to the I/O module through a duplex shielded wire, the remote I/O module is connected to the main control board through a CANopen bus, and the power supply module converts 220V unidirectional input into a 24V power supply, converts the input into a local I/O module, and supplies power.
Specifically, the servo driver in this embodiment is a six-in-one servo driver, the robot is a six-axis robot, and the servo driver has an EMC filter built therein, as shown in fig. 2 to 3, wherein the driving module further includes other circuit control components such as an air switch and a contactor.
In current industrial production, a plurality of field buses and communication protocols are required for control. The data formats, transmission media, transmission rates and the like of different protocols are different, which causes great difficulty for multi-bus synchronous control. The real-time performance and the reliability of the EtherCAT communication protocol and the characteristics of the master-slave mode are suitable for incorporating various devices with different communication protocols into a control network, so that the control is more convenient.
In order to further improve the integration level, an access module may also be provided in this embodiment, as shown in fig. 4, the access module has a software access end and a hardware access end;
the software access end provides a PC communication interface to establish connection with external equipment, is connected with the main control board through a communication connector and carries out data communication and control through an EtherCAT protocol;
for the equipment controlled by the general PC, the access module is installed in the controller in a software mode, the access software supports common Windows and Linux systems, can call the functions of the controller by using a function packaging method, and is connected to a field control station (namely a main control board) through a standard Ethernet;
the hardware access end is provided with a multi-signal conversion interface to establish connection with external equipment, is connected with the main control board through the communication connector and carries out data communication and control through an EtherCAT protocol;
for the equipment using the commercial proprietary controller, the access module hardware designed for a specific communication protocol is used for signal conversion, and according to the communication mode provided by the proprietary controller, the corresponding conversion module is used for converting the signals into a uniform format, and the uniform format is also connected to a field control station (namely a main control board).
Wherein the external equipment is mainly execution or sensing or process equipment and is marked by using equipment type and ID; the specific access module is accessed into the multi-machine cooperative controller through simple configuration according to different time sequence characteristics, functional characteristics and system architectures of execution, perception or process equipment, and the like, so that the rapid reconstruction of the existing production environment is realized, and the large-scale rapid deployment of a distributed control system for heterogeneous equipment is ensured.
And performing time sequence processing by using the access stack slave station, measuring time delay according to a reference clock, synchronously controlling the period, and transmitting a standardized signal according to the function of the equipment.
The expansion say, combine fig. 4 and fig. 5, the hardware link end is connected with the industry camera, intelligent algorithm platform, the sensor, display and host computer (demonstrator), wherein the industry camera passes through USB and is connected with the hardware link end, the intelligent algorithm platform passes through the PCIE bus and is connected with the hardware link end, the sensor passes through USB or RS485 communication cable or RS232 and is connected with the hardware link end, the display passes through the HDMI bus and is connected with the hardware link end, the host computer passes through WIFI or LAN bus and is connected with the hardware link end.
In this embodiment, the robot further includes a safety module for monitoring different interface signals, as shown in fig. 6, the safety module can meet the switching of the robot in different operation states, and can timely stop the operation of the robot when a safety event is affected by the outside, so as to meet the use safety guarantee;
specifically, the safety module is mainly used for monitoring different interface signals such as an external key, a switch input interface, a sensor input interface, a power state input monitoring interface and the like, managing the robot to enter different running states according to different interface inputs, and controlling a power switch, a motor brake and the like.
The main control board is connected with the input end of the safety module through an EtherCAT bus, the output end of the safety module is converted into an aviation plug connecting end, and the power supply module converts 220V unidirectional input into 24V power supply conversion input to supply power for the safety module.
This embodiment can be directed against the demand of arm quantity and the demand of technology in a flexible way, carries out quick configuration.
Example 2
A multi-robot-arm-cooperation double-station welding system, as shown in fig. 7, includes a first platform, a second platform, a third platform, the controller system for performing multi-robot-arm cooperation control based on EtherCAT provided in embodiment 1, a welding robot, and two grabbing robots.
The first platform is used for placing a workpiece to be welded, the second platform is used for positioning the workpiece to be welded before welding, and the third platform is used for storing the workpiece after welding;
the main control board is connected with the welding mechanical arm, and the output end of the servo driver is connected with the grabbing mechanical arms through the aviation plug so as to synchronously and/or asynchronously drive the two grabbing mechanical arms.
The welding process of the i-shaped workpiece is described below with reference to fig. 7 by using two grabbing mechanical arms and one welding mechanical arm, and specifically referring to the following steps:
firstly, placing a workpiece to be welded on a first platform;
specifically, two first platforms for placing the workpieces to be welded are arranged in the embodiment, and the two first platforms are respectively close to the two grabbing mechanical arms so as to grab the workpieces to be welded;
arranging more than one group of clamps on a second platform for positioning a workpiece to be welded before welding, and arranging a welding mechanical arm and two grabbing mechanical arms on the periphery of the second platform, wherein the two grabbing mechanical arms are separately arranged on two opposite sides of the welding mechanical arm;
specifically, three groups of clamps are arranged in the embodiment, the three clamps respectively correspond to three components forming the i-shaped workpiece, correspondingly, three clamping grooves corresponding to the three components forming the i-shaped workpiece are arranged on the second platform, each clamp comprises a plurality of clamping cylinders, and the components in the clamping grooves are clamped by the plurality of clamping cylinders to complete positioning;
synchronously or asynchronously grabbing two or more workpieces to be welded on a first platform by using two grabbing mechanical arms, placing the workpieces to be welded in a set area (namely a clamping groove) of a second platform, positioning and clamping the workpieces to be welded through a clamp, and welding the front sides of the two or more workpieces to be welded through the welding mechanical arms;
specifically, a CCD industrial camera is used for identifying and detecting a workpiece to be welded placed on a first platform, and a threshold segmentation method is used for obtaining the grabbing position of the workpiece to be welded placed on the first platform;
and more specifically, the workpieces to be welded, which are grabbed by the two grabbing mechanical arms, are placed in a set area (namely a clamping groove) of the second platform in a teaching mode, and the workpieces to be welded are positioned, clamped and spliced through the clamp to wait for welding operation.
Releasing the clamp, grabbing two or more workpieces to be welded after front welding by using two grabbing mechanical arms in cooperation, turning over and displacing the workpieces for 180 degrees, supporting the two or more workpieces to be welded after front welding by using the two grabbing mechanical arms, and welding the reverse side by using the welding mechanical arms;
specifically, in order to prevent the workpiece from being damaged due to excessive internal force, the two grabbing mechanical arms are controlled by a multi-arm force/position coupling cooperative control algorithm to grab, overturn and shift the I-shaped workpiece after front welding in the overturning process.
And fifthly, after welding is finished, placing the welded workpiece on a third platform for storage by utilizing the cooperation of the two grabbing mechanical arms, wherein in order to place the workpiece damaged by overlarge internal force, the two grabbing mechanical arms are controlled by utilizing a multi-arm force/position coupling cooperative control algorithm to place the I-shaped workpiece on the third platform.
Specifically, the third platform is placed between the two grabbing mechanical arms, so that the workpieces after welding are placed conveniently.
In the embodiment, the welding of the welding robot arm to the weld joint is performed in the third step and the fourth step in a teaching mode, and the welding robot arm returns to the initial position after the single welding is completed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (9)
1. The utility model provides a controller system based on etherCAT carries out multirobot arm cooperative control which characterized in that, includes power module, control module and a plurality of drive module, control module has the master control board, power module converts 220V unidirectional input into 24V power conversion input for the master control board supplies power, drive module has servo driver, servo driver's input and output all adopt the aviation plug mode, wherein servo driver's output is connected with corresponding arm through aviation plug and is driven this arm, the master control board changes the aviation plug through communication connector and is connected with a plurality of servo driver's input to it is a plurality of to carry out data communication and control through etherCAT agreement to servo driver.
2. The EtherCAT-based controller system for multi-robot coordinated control, according to claim 1, further comprising a local I/O module, wherein the main control board is connected to the I/O module through a twisted pair of shielded wires, and wherein the power supply module converts 220V unidirectional input into 24V power conversion input for supplying power to the local I/O module.
3. The EtherCAT-based controller system for multi-robot coordinated control, according to claim 1, wherein the servo drives are six-in-one servo drives and the robot is a six-axis robot.
4. The EtherCAT-based controller system for multi-robot coordinated control, according to claim 3, wherein the servo driver has built-in EMC filters.
5. The EtherCAT-based controller system for multi-robot coordinated control, according to claim 1, further comprising an access module having a software access and a hardware access;
the software access end provides a PC communication interface to establish connection with external equipment, is connected with the main control board through a communication connector and performs data communication and control through an EtherCAT protocol;
the hardware access end is provided with a multi-signal conversion interface to establish connection with external equipment, is connected with the main control board through a communication connector and carries out data communication and control through an EtherCAT protocol;
and performing time sequence processing by using the access stack slave station, measuring time delay according to a reference clock, synchronously controlling the period, and transmitting a standardized signal according to the function of the equipment.
6. The EtherCAT-based controller system for multi-robot cooperative control, according to claim 5, wherein the hardware connection end is connected with an industrial camera, an intelligent algorithm platform, a sensor, a display and an upper computer, wherein the industrial camera is connected with the hardware connection end through a USB, the intelligent algorithm platform is connected with the hardware connection end through a PCIE bus, the sensor is connected with the hardware connection end through a USB or RS485 communication cable or RS232, the display is connected with the hardware connection end through an HDMI bus, and the upper computer is connected with the hardware connection end through a WIFI or LAN bus.
7. The EtherCAT-based controller system for multi-robot coordinated control, according to claim 6, wherein the hardware connection end is further connected with a remote I/O module, and the hardware connection end is connected with the remote I/O module through a CANopen bus.
8. The EtherCAT-based controller system for multi-robot coordinated control, according to claim 1, further comprising a safety module for monitoring different interface signals, wherein the main control board is connected with the input end of the safety module through an EtherCAT bus, the output end of the safety module is converted into an aviation plug connection end, and the power supply module converts 220V unidirectional input into 24V power conversion input to supply power to the safety module.
9. A multi-robot coordinated dual-station welding system, comprising:
the first platform is used for placing a workpiece to be welded;
the second platform is used for positioning the workpiece to be welded before welding;
a third platform for storing the welded workpieces;
welding a mechanical arm;
two grabbing mechanical arms;
and a controller system for multi-robot arm cooperative control based on EtherCAT according to any one of claims 1 to 8;
the main control board is connected with the welding mechanical arms, and the output end of the servo driver is connected with the grabbing mechanical arms through aviation plugs so as to synchronously and/or asynchronously drive the two grabbing mechanical arms.
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