CN114571471B - Method and system for centralized control of multiple SCARA robots - Google Patents

Method and system for centralized control of multiple SCARA robots Download PDF

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Publication number
CN114571471B
CN114571471B CN202210492390.3A CN202210492390A CN114571471B CN 114571471 B CN114571471 B CN 114571471B CN 202210492390 A CN202210492390 A CN 202210492390A CN 114571471 B CN114571471 B CN 114571471B
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scara
teaching
robot
data
server
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CN114571471A (en
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苏鑫
寇慧
代剑锋
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Guangdong Longqi Robot Co ltd
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Guangdong Longqi Robot Co ltd
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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • 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]

Abstract

The invention discloses a method and a system for centralized control of a multi-SCARA robot, which relate to the technical field of robots, and the method comprises the following steps: the server receives teaching data generated by the teaching equipment, wherein the teaching data comprises: robot hardware parameters and teaching operation parameters; the server matches a first SCARA robot matched with teaching data from the multiple SCARA robots based on the teaching data; the server sends motion control information to a motion controller of the first SCARA robot based on the teaching data; and the first SCARA robot controls a motor driver to drive the SCARA manipulator to operate according to the motion control information. The invention can complete the remote control of a plurality of SCARA robots by adopting one teaching device, thereby reducing the hardware investment of the teaching device and leading a plurality of SCAR robots to be controlled by one teaching device through a network protocol.

Description

Method and system for centralized control of multiple SCARA robots
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for centrally controlling a multi-SCARA robot.
Background
The Selective Compliance Assembly Robot Arm is a cylindrical coordinate type industrial Robot with four degrees of freedom and a built-in four-axis servo motor, a harmonic reducer and a brake system. The SCARA robot has four degrees of freedom including two horizontal joints and a link that can move both vertically and rotate. The first degree of freedom and the second degree of freedom are rotary joints formed by a large mechanical arm and a small mechanical arm, so that the horizontal connecting rod can perform rotary motion in a horizontal plane to complete quick and accurate positioning in the plane; the third degree of freedom is a movable joint with a vertical lifting function and can complete the motion vertical to the plane; the fourth degree of freedom is a rotary joint, so that the end effector can conveniently grab the target. Because SCARA robot both can guarantee stronger rigidity and can guarantee higher precision in the vertical direction, simultaneously can freely quick rotation in the horizontal plane, so be particularly suitable for carrying out the plane location and accomplish the letter sorting and snatch the work piece task. The actuator parts of the four joints of the SCARA robot use alternating current servo motors, can provide large torque, and has good execution effect on the movement speed and precision of a mechanical arm. The first and second joints of the SCARA robot are decelerated based on harmonics, while the third and fourth joints are decelerated based on synchronous belts.
When the SCARA robot is applied in an industrial field, an engineer is required to manually teach the SCARA robot on the basis of teaching equipment, along with the development of the Internet of things technology, the operation of the SCARA robot can be realized in a remote control mode, the teaching equipment needs to finish the teaching control process of the SCARA robot one by one, but how to realize the teaching equipment to solve the remote control of a plurality of SCARA robots, and no corresponding technical means can be realized at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method and a system for centrally controlling multiple SCARA robots.
In order to solve the above problems, the present invention proposes a method of centrally controlling multiple SCARA robots, the method comprising the steps of:
the server receives teaching data generated by the teaching device, wherein the teaching data comprises: robot hardware parameters and teaching operation parameters;
the server matches a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data;
the server sends motion control information to a motion controller of the first SCARA robot based on the teaching data;
and the first SCARA robot controls a motor driver to drive the SCARA manipulator to operate according to the motion control information.
Before the server receives teaching data generated by the teaching device, the method further comprises the following steps:
and receiving a login request of the teaching device, and displaying a teaching operation interface to the teaching device after the login request is passed.
After receiving the teaching data generated by the teaching device, the server further comprises:
the server obtains hardware parameter values and motion controller data for each robot from each of the multiple SCARA robots.
The server matches out a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data, and the server comprises:
the server analyzes hardware parameters and teaching operation parameters in the teaching data;
the server matches hardware parameters in the teaching data with hardware parameter values of each robot in the multiple SCARA robots to obtain matched SCARA robot object sets;
and extracting the motion controller data of each robot in the SCARA robot object set, matching the motion controller data of each robot in the SCARA robot object set with teaching operation parameters in the teaching data based on the motion controller data of each robot in the SCARA robot object set, and acquiring a first matched SCARA robot.
The server transmitting motion control information to a motion controller of the first SCARA robot based on the teaching data includes:
the server acquires a database data table and a data address associated with a motion controller of the first SCARA robot;
the server converts the teaching data into corresponding numerical values and writes the numerical values into a database data table and a data address to generate motion control information;
the server sends the motion control information to a motion controller of the first SCARA robot.
The server transmitting the motion control information to a motion controller of the first SCARA robot includes:
and when monitoring that the server generates motion control information based on an SSH protocol, a gateway communicated with the server sends the motion control information to a motion controller of the first SCARA robot through a TCP protocol.
The first SCARA robot controls a motor driver to drive a SCARA manipulator to operate according to the motion control information, and the method comprises the following steps:
the motion controller on the first SCARA robot receives motion control information and generates a pulse and a direction signal through the operation of a microprocessor of the motion controller;
and the motion controller on the first SCARA robot sends the pulse and the direction signal to a motor driver, and the motor driver drives each motor on the SCARA manipulator to rotate based on the pulse and the direction signal.
Correspondingly, the invention also provides a control system based on the SCARA robot, which comprises:
the teaching device is used for providing a teaching operation interface and receiving teaching data set by a user based on the teaching operation interface, and the teaching data comprises: hardware parameters and teaching operation parameters of the robot;
the server is used for receiving teaching data generated by the teaching equipment and matching a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data; transmitting motion control information to a motion controller of the first SCARA robot based on the teaching data;
and the plurality of SCARA robots are used for carrying out data communication with the server, and when a first SCARA robot in the plurality of SCARA robots receives the motion control information, the first SCARA robot controls the motor driver to drive the SCARA manipulator to operate according to the motion control information.
The control system further comprises:
and the gateway is used for connecting the motion controllers on the SCARA robots by adopting a serial communication interface and communicating with the server by adopting a data communication mode.
The gateway communicates with the server using an SSH protocol.
The method and the system can be suitable for remote control of the SCARA robots, teaching equipment does not need to pay attention to the operation content and hardware parameters of each SCARA robot in the SCARA robots, a teaching operation platform is set up in a centralized mode through a server, the teaching operation platform can be compatible with teaching operation behaviors of the SCARA robots, a user can generate teaching data based on the teaching operation platform, then the corresponding SCARA robot can be matched from the SCARA robots through the teaching data, user operation behaviors are greatly simplified, remote control of different SCARA robots is more intelligent, teaching modes are enriched, investment of the teaching equipment is reduced, and the teaching equipment can be compatible with different SCARA robots through the server.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a SCARA robot-based control system in an embodiment of the present invention;
fig. 2 is a flowchart of a method for centrally controlling a multi-SCARA robot in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 shows a schematic structural diagram of a SCARA robot-based control system in an embodiment of the present invention, where the control system includes: teaching equipment, server and a plurality of SCARA robot, wherein:
the teaching device is used for providing a teaching operation interface and receiving teaching data set by a user based on the teaching operation interface, and the teaching data comprises: hardware parameters and teaching operation parameters of the robot;
the server is used for receiving teaching data generated by the teaching equipment and matching a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data; transmitting motion control information to a motion controller of the first SCARA robot based on the teaching data;
and the plurality of SCARA robots are used for carrying out data communication with the server, and when a first SCARA robot in the plurality of SCARA robots receives the motion control information, the first SCARA robot controls a motor driver to drive the SCARA manipulator to operate according to the motion control information.
The plurality of SCARA robots includes a plurality of SCARA robots, i.e., a first SCARA robot, a second SCARA robot, a third SCARA robot, \8230;, an nth SCARA robot, etc., where the first SCARA robot may be one or more of the plurality of SCARA robots.
The control system further comprises: and the gateway is used for connecting the motion controllers on the SCARA robots by adopting a serial communication interface and communicating with the server by adopting a data communication mode. The gateway communicates with the server using SSH protocol.
In the specific implementation process, each SCARA robot in a plurality of SCARA robots comprises a motion controller and a SCARA manipulator, a motor driver on the SCARA manipulator is connected with the signal end of the motion controller, and the motor driver on the SCARA manipulator can receive signals output by the motion controller so as to complete the control of the SCARA manipulator. The motion controller of each SCARA robot is connected with the gateway through an RS485 serial communication interface, the motion controllers of a plurality of SCARA robots are connected through one gateway, the RS485 serial communication interface is set to support an MODBUS TCP protocol, and the motion controller connected to the gateway realizes data communication with the gateway through the MODBUS TCP protocol. The gateway and the server can communicate with each other through a wired communication module or a wireless communication module, and specifically, the gateway and the server can communicate with each other through an SSH protocol. The server is provided with a database associated with the motion controller, the database can be used for storing a data table and a data address of the database associated with the motion controller, the server and the teaching equipment can communicate by adopting an HTTP (hyper text transport protocol), and the teaching equipment sends teaching data input by a user to the server based on the HTTP.
It should be noted that the step of matching, by the server, a first SCARA robot matched with teaching data from multiple SCARA robots based on the teaching data includes: the server analyzes hardware parameters and teaching operation parameters in the teaching data; the server matches hardware parameters in the teaching data with hardware parameter values of each robot in the multiple SCARA robots to obtain matched SCARA robot object sets; and extracting the motion controller data of each robot in the SCARA robot object set, and matching the motion controller data of each robot in the SCARA robot object set with the teaching operation parameters in the teaching data to obtain a first matched SCARA robot. The first SCARA robot can be one SCARA robot or a plurality of SCARA robots, the matching process is completed by specifically combining teaching data, and in the matching process, if only one SCARA robot needs to be controlled to complete the controlled process, a function option can be provided to select one of the SCARA robots to operate.
The server transmitting the motion control information to the motion controller of the first SCARA robot includes: and when monitoring that the server generates motion control information based on an SSH protocol, a gateway communicated with the server sends the motion control information to a motion controller of the first SCARA robot through a TCP protocol. It should be noted that, an SSH (Secure Shell) Secure Shell protocol is a Secure protocol established on the basis of an application layer, and by performing encryption transmission verification on a password, a Secure transmission environment can be provided for a network service in an insecure network, so that connection between an SSH client and an SSH server is implemented, and therefore, SSH is based on a client-server mode. The SSH protocol guarantees secure remote access control of data in insecure networks.
The server, the teaching equipment, the gateway and the like in the embodiment of the invention can connect a plurality of SCARA robots to the network in a wireless communication mode, so that the trouble of erecting a circuit and renting the network to apply for a public network fixed IP address is avoided, the operation and the use are very convenient, and the motion controller connected with the SCARA manipulator is connected to a remote network without considering network layout.
It should be noted that the motion controller may adopt an independent DSP microprocessor technology, which may increase the processing speed of the motion controller, thereby increasing the calculation response speed of the motor driver to the command information sent by the motion controller. The teaching device can be a mobile terminal or a PC terminal and the like which are accessed to the Internet.
It should be noted that, the controlling the motor driver to drive the SCARA robot to operate by the first SCARA robot according to the motion control information includes: the motion controller on the first SCARA robot receives the motion control information and generates a pulse and a direction signal through the operation of a microprocessor on the motion controller; and the motion controller on the first SCARA robot sends the pulse and the direction signal to the motor driver, and the motor driver drives each motor on the SCARA manipulator to rotate based on the pulse and the direction signal, so that each joint on the SCARA manipulator finishes rotating. In the motion process of the SCARA robot, encoders on all shafts of the SCARA robot send feedback signals to a motion controller, and the motion controller generates control signals based on the feedback signals so as to correct the control of the SCARA manipulator to achieve high-precision control.
In the specific implementation process, a user opens a browser through a mobile terminal or a PC terminal which is connected to the Internet to input a corresponding server website, user identity authentication is required after the server website is opened, the user which accords with the identity authentication enters a teaching operation interface to perform teaching operation, after the user enters the teaching operation interface, a programming interface of a motion controller for the SCARA robot is opened, and a corresponding motion control program is loaded and operated.
After the server completes user identity authentication, a data communication token is generated based on the user identity, teaching data are sent by the teaching equipment based on the data communication token, and therefore safety of data communication is guaranteed. The data communication token is generated by adopting an encryption algorithm, the teaching equipment needs to carry the data communication token when sending teaching data to the server, the server can verify the legal validity of the data communication token, the server can analyze the corresponding teaching data for corresponding processing only through the legal validity verification, and the teaching equipment is controlled to send the teaching data to the server for business processing through the safety mechanism.
The control system provided by the embodiment of the invention can be suitable for remote control of the SCARA robots, teaching equipment does not need to pay attention to the operation content and hardware parameters of each SCARA robot in the multiple SCARA robots, a teaching operation platform is set up through a server in a centralized manner, the teaching operation platform can be compatible with teaching operation behaviors of the multiple SCARA robots, a user can generate teaching data based on the teaching operation platform, and then the corresponding SCARA robot can be automatically matched from the multiple SCARA robots through the teaching data, so that the user operation behavior is greatly simplified, remote control of different SCARA robots is more intelligent, the teaching mode is enriched, the investment of the teaching equipment is reduced, and the teaching equipment can be compatible with different SCARA robots through the server.
Example two
Based on the control system shown in fig. 1, the method for centrally controlling multiple SCARA robots in the embodiment of the present invention includes: the server receives teaching data generated by the teaching device, wherein the teaching data comprises: robot hardware parameters and teaching operation parameters; the server matches a first SCARA robot matched with teaching data from the multiple SCARA robots based on the teaching data; the server sends motion control information to a motion controller of the first SCARA robot based on the teaching data; and the first SCARA robot controls a motor driver to drive the SCARA manipulator to operate according to the motion control information.
Specifically, fig. 2 shows a flowchart of a method for centrally controlling multiple SCARA robots in an embodiment of the present invention, which specifically includes the following steps:
s201, receiving a login request of a teaching device, and displaying a teaching operation interface to the teaching device after the login request is passed;
in a specific implementation process, the teaching device may be a mobile terminal or a PC terminal, which may log in to a server based on wired communication or wireless communication, and the teaching device accessing the internet may access the server through a web browser or a teaching interface, which may complete a corresponding teaching operation process in combination with an application scenario or a setting requirement.
S202, the server receives teaching data generated by teaching equipment, wherein the teaching data comprises: robot hardware parameters and teaching operation parameters;
in the specific implementation process, a user opens a browser through a mobile terminal or a PC terminal which is connected to the Internet to input a corresponding server website, user identity authentication is required after the server website is opened, the user which accords with the identity authentication enters a teaching operation interface to perform teaching operation, after the user enters the teaching operation interface, a programming interface of a motion controller for the SCARA robot is opened, and a corresponding motion control program is loaded and operated.
After the server completes user identity authentication, a data communication token is generated based on the user identity, teaching data are sent by the teaching equipment based on the data communication token, and therefore safety of data communication is guaranteed. The data communication token is generated by adopting an encryption algorithm, the teaching equipment needs to carry the data communication token when sending teaching data to the server, the server can verify the legal validity of the data communication token, the server can analyze the corresponding teaching data for corresponding processing only through the legal validity verification, and the teaching equipment is controlled to send the teaching data to the server for business processing through the safety mechanism.
S203, the server obtains a hardware parameter value and motion controller data of each robot from each robot in the multiple SCARA robots;
after the server receives the teaching data and triggers and loads a corresponding motion control program, the gateway is triggered to collect hardware parameter values and motion controller data on each SCARA robot, and the hardware parameter values and the motion controller data are used for being matched with the teaching data generated by teaching equipment.
S204, the server matches a first SCARA robot matched with teaching data from multiple SCARA robots based on the teaching data;
in the embodiment of the present invention, the first SCARA robot is exemplified, and the first SCARA robot may have the same function and function as those of the first SCARA robot in the first embodiment, or may be a generic name of a SCARA robot that realizes the corresponding function and function of the first SCARA robot based on the embodiment of the present invention.
Specifically, the step of matching, by the server, a first SCARA robot matched with teaching data from the multiple SCARA robots based on the teaching data includes: the server analyzes hardware parameters and teaching operation parameters in the teaching data; the server matches hardware parameters in the teaching data with hardware parameter values of each robot in the multiple SCARA robots to obtain a matched SCARA robot object set; and extracting the motion controller data of each robot in the SCARA robot object set, matching the motion controller data of each robot in the SCARA robot object set with teaching operation parameters in the teaching data based on the motion controller data of each robot in the SCARA robot object set, and acquiring a first matched SCARA robot.
The gateway in the embodiment of the invention is connected with a plurality of SCARA robots, wherein whether the matching of teaching data can be met or not is determined by the hardware parameters configured by the SCARA robots, and the SCARA robots which do not meet the hardware configuration can not be influenced by the teaching data to carry out an operation control process, so that the consistency of the teaching data and the hardware parameter configuration of the SCARA robots is ensured; and then, whether the matching of teaching data is met or not is determined through the data of the motion controller on the SCARA robot, the SCARA robot which does not meet the configuration of the teaching data can not be influenced by the teaching data to carry out the operation control process, and by adopting the technical implementation process, the remote teaching process enables only the SCARA robot which meets the configuration of hardware parameters and the motion controller which meets the configuration of the teaching operation parameters to complete the response process of the teaching data, so that a plurality of SCARA robots can complete the self-adaptive matching process.
S205, the server sends motion control information to a motion controller of the first SCARA robot based on the teaching data;
specifically, the server transmitting the motion control information to the motion controller of the first SCARA robot based on the teaching data includes: the server acquires a data table and a data address of a database associated with a motion controller of the first SCARA robot; the server converts the teaching data into corresponding numerical values and writes the numerical values into a data table and a data address of a database to generate motion control information; the server sends the motion control information to a motion controller of the first SCARA robot.
Specifically, the sending, by the server, the motion control information to the motion controller of the first SCARA robot includes: and when monitoring that the server generates motion control information based on an SSH protocol, a gateway communicated with the server sends the motion control information to a motion controller of the first SCARA robot through a TCP protocol. It should be noted that, an SSH (Secure Shell) Secure Shell protocol is a Secure protocol established on the basis of an application layer, and by performing encryption transmission verification on a password, a Secure transmission environment can be provided for a network service in an insecure network, so that connection between an SSH client and an SSH server is implemented, and therefore, SSH is based on a client-server mode. The SSH protocol guarantees secure remote access control of data in insecure networks.
And S206, the first SCARA robot controls a motor driver to drive a SCARA manipulator to operate according to the motion control information.
Specifically, the first SCARA robot controls the motor driver to drive the SCARA manipulator to operate according to the motion control information, and the first SCARA robot comprises: a motion controller on the first SCARA robot receives motion control information and generates pulses and direction signals through microprocessor operation; and the motion controller on the first SCARA robot sends the pulse and the direction signal to the motor driver, and the motor driver drives each motor on the SCARA manipulator to rotate based on the pulse and the direction signal, so that each joint on the SCARA manipulator finishes rotating. In the motion process of the SCARA robot, encoders on all shafts of the SCARA robot send feedback signals to a motion controller, and the motion controller generates control signals based on the feedback signals so as to correct the control of the SCARA manipulator to achieve high-precision control.
The method provided by the embodiment of the invention can be suitable for remote control of the SCARA robots, teaching equipment does not need to pay attention to the operation content and hardware parameters of each SCARA robot in the SCARA robots, a teaching operation platform is set up through a server in a centralized manner, the teaching operation platform can be compatible with teaching operation behaviors of a plurality of SCARA robots, a user can generate teaching data based on the teaching operation platform, and then the corresponding SCARA robot can be automatically matched from the SCARA robots through the teaching data, so that the user operation behaviors are greatly simplified, remote control of different SCARA robots is more intelligent, teaching modes are enriched, investment of the teaching equipment is reduced, and one teaching equipment can be compatible with different SCARA robots through the server.
The above embodiments of the present invention are described in detail, and the principle and the implementation of the present invention are described herein by using specific embodiments, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (7)

1. A method for centralized control of multiple SCARA robots, characterized in that the method comprises the steps of:
receiving a login request of a teaching device, and displaying a teaching operation interface to the teaching device after the login request is passed;
after the server completes user identity verification, a data communication token is generated based on the user identity, and teaching data are sent to the teaching equipment based on the data communication token control;
the server receives teaching data generated by the teaching device, wherein the teaching data comprises: robot hardware parameters and teaching operation parameters;
the server acquires a hardware parameter value and motion controller data of each robot from each robot in the multiple SCARA robots;
the server matches a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data;
the server sends motion control information to a motion controller of the first SCARA robot based on the teaching data;
the first SCARA robot controls a motor driver to drive a SCARA manipulator to operate according to the motion control information;
the server matches out a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data, and the method comprises the following steps: the server analyzes hardware parameters and teaching operation parameters in the teaching data; the server matches hardware parameters in the teaching data with hardware parameter values of each robot in the multiple SCARA robots to obtain matched SCARA robot object sets; and extracting the motion controller data of each robot in the SCARA robot object set, and matching the motion controller data of each robot in the SCARA robot object set with the teaching operation parameters in the teaching data to obtain a first matched SCARA robot.
2. The method of centrally controlling multiple SCARA robots according to claim 1, wherein the server sending motion control information to the motion controller of the first SCARA robot based on the teaching data comprises:
the server acquires a data table and a data address of a database associated with a motion controller of the first SCARA robot;
the server converts the teaching data into corresponding numerical values and writes the numerical values into a data table and a data address of a database to generate motion control information;
the server sends the motion control information to a motion controller of the first SCARA robot.
3. A method for centralized control of multiple SCARA robots according to claim 2, wherein said server sending said motion control information onto motion controllers of said first SCARA robot comprises:
and when monitoring that the server generates motion control information based on an SSH protocol, a gateway communicated with the server sends the motion control information to a motion controller of the first SCARA robot through a TCP protocol.
4. The method for centrally controlling multiple SCARA robots according to claim 3, wherein the first SCARA robot controlling motor drivers to drive SCARA robots to perform motion control process according to the motion control information comprises:
the motion controller on the first SCARA robot receives motion control information and generates a pulse and a direction signal through the operation of a microprocessor of the motion controller;
and the motion controller on the first SCARA robot sends the pulse and the direction signal to a motor driver, and the motor driver drives each motor on the SCARA manipulator to rotate based on the pulse and the direction signal.
5. A SCARA robot-based control system, comprising:
the teaching device is used for providing a teaching operation interface and receiving teaching data set by a user based on the teaching operation interface, and the teaching data comprises: hardware parameters and teaching operation parameters of the robot;
the server is used for receiving a login request of the teaching equipment and displaying a teaching operation interface to the teaching equipment after the login request is passed; after the user identity is verified, generating a data communication token based on the user identity, and controlling the teaching equipment to send teaching data based on the data communication token; receiving teaching data generated by teaching equipment, acquiring a hardware parameter value and motion controller data of each robot from each of the multiple SCARA robots, and matching a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data; transmitting motion control information to a motion controller of the first SCARA robot based on the teaching data;
the SCARA robots are used for carrying out data communication with the server, and when a first SCARA robot in the SCARA robots receives the motion control information, the first SCARA robot controls the motor driver to drive the SCARA manipulator to carry out a motion control process according to the motion control information;
the server matches out a first SCARA robot matched with the teaching data from the multiple SCARA robots based on the teaching data, and the server comprises: the server analyzes hardware parameters and teaching operation parameters in the teaching data; the server matches hardware parameters in the teaching data with hardware parameter values of each robot in the multiple SCARA robots to obtain matched SCARA robot object sets; and extracting the motion controller data of each robot in the SCARA robot object set, matching the motion controller data of each robot in the SCARA robot object set with teaching operation parameters in the teaching data based on the motion controller data of each robot in the SCARA robot object set, and acquiring a first matched SCARA robot.
6. The control system of claim 5, further comprising:
and the gateway is used for connecting the motion controllers on the SCARA robots by adopting a serial communication interface and communicating with the server by adopting a data communication mode.
7. The control system of claim 6, wherein the gateway communicates with the server using SSH protocol.
CN202210492390.3A 2022-05-07 2022-05-07 Method and system for centralized control of multiple SCARA robots Active CN114571471B (en)

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