CN116834001A - Robot control system and control method - Google Patents
Robot control system and control method Download PDFInfo
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- CN116834001A CN116834001A CN202310692347.6A CN202310692347A CN116834001A CN 116834001 A CN116834001 A CN 116834001A CN 202310692347 A CN202310692347 A CN 202310692347A CN 116834001 A CN116834001 A CN 116834001A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004519 manufacturing process Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a robot control system and a control method, comprising the following steps: and (3) fixing a module: the workpiece is used for fixing the workpiece entering the working position on the production line; and an identification module: acquiring detailed data of a workpiece by scanning and identifying a two-dimensional code, an IC card or an RF card arranged on the workpiece; and the operation module is used for: the number of the operation modules is at least two, and the operation modules are respectively arranged at the working ends of the manipulator and are used for operating different workpieces, so that the operation modules cannot interfere with each other; a position acquisition module; acquiring the position of the operation module; and the main control module: the main control module is respectively in communication connection with the fixing module, the identification module, the operation module and the position acquisition module. The invention aims to ensure that one robot can meet the operation of different types of workpieces without increasing the number of robots, and reduce the cost while keeping the normal operation of a production line.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a robot control system and a control method.
Background
In an automated production line, robots are indispensable equipment, and the robots can perform work such as handling, cutting, cleaning, etc. by movement of a plurality of joints, and replace manual work in the production line to complete repeated work. The existing robot is generally provided with a single working part, and only aims at one operation during production, but usually in a production workshop, the same workpiece in the same production line can have different types, and the difference in materials or forms can cause the difference in operation, so that one robot cannot meet the requirement, and two or more robots are generally arranged and operate by different robots according to products; although the method of arranging a plurality of robots can solve the problem, the maintenance cost of the robots is increased, and if one of the robots is offline in advance, the corresponding robot is idle. Therefore, a robot control system and a control method are provided for realizing that the same production line middle stage robot correspondingly performs different processing operations on different types of workpieces of the same kind.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a robot control system and a control method. Under the condition of not increasing the number of robots, one robot can meet the operation of different types of workpieces, and the cost is reduced while the normal operation of a production line is maintained.
The technical aim of the invention is realized by the following technical scheme:
a robot control system, comprising:
and (3) fixing a module: the workpiece is used for fixing the workpiece entering the working position on the production line; the fixed module can be a fixed jacking cylinder arranged on the assembly line;
and an identification module: acquiring detailed data of a workpiece by scanning and identifying a two-dimensional code, an IC card or an RF card arranged on the workpiece; the identification module is a reading device matched with the data information arranged on the workpiece;
and the operation module is used for: the number of the operation modules is at least two, and the operation modules are respectively arranged at the working ends of the manipulator and are used for operating different workpieces, so that the operation modules cannot interfere with each other; the operation module can be cutting, grabbing, cutting or smoothing and the like;
a position acquisition module; acquiring the position of the operation module;
and the main control module: the main control module is respectively in communication connection with the fixing module, the identification module, the operation module and the position acquisition module.
In one embodiment, the main control module comprises a storage medium, a controller, a signal receiving part and a signal output part; the storage medium stores the action track of the working module, the controller outputs control signals through the signal output part, and the controller receives input signals through the signal receiving part. The input signals are sent to the controller by the fixing module, the identification module, the operation module and the position identification module.
In one embodiment, the input signal comprises an emergency signal.
In one embodiment, the number of work modules disposed at the working end of the robot is proportional to the type of workpiece, each work module corresponding to one type of workpiece.
In one embodiment, the operation module acquired by the position acquisition module is operation module position information corresponding to a workpiece type fixed by the current fixing module.
In one embodiment, a robot control method is applied to a robot control system as described above;
the fixing module is used for fixing the workpiece, and the identification module is used for acquiring detailed data of the workpiece and converting the detailed data into an input signal to the main control module;
the signal receiving part receives an input signal and feeds the input signal back to the controller, and the controller compares the workpiece data and calls an operation module corresponding to the workpiece and a movement track corresponding to the operation module;
the position acquisition module takes an operation module corresponding to the workpiece as a tracking object, acquires real-time coordinates of the operation module in real time and converts the real-time coordinates into input signals for output;
the controller compares the real-time coordinates of the acquired operation module with the action track, when the real-time coordinates are consistent with the action track, the information output part sends out a control signal to enable the movement to be continuous, and when the real-time coordinates are inconsistent with the action track, the information output part sends out a control signal to enable the movement to be suspended;
when the operation module returns to the initial coordinate point after completing the action track, and sends out an input signal, the controller sends out a control signal to the fixed module through the signal output part so as to enable the fixed module to pass. The operation module moves according to the action track, when the real-time coordinates are inconsistent with the action track, namely the robot loses the point position and breaks away from the set movement route, so that the movement needs to be stopped for checking; the initial position is the position where the work module is initially located, i.e., the origin, and is also the origin of the robot.
In one embodiment, when the controller receives an emergency signal sent by any module through the signal receiving part, the controller sends a control signal through the signal output part to stop movement. The emergency signal may be a fault alarm or an emergency stop procedure initiation.
In summary, the invention has the following beneficial effects:
according to the invention, different operation modules are arranged at the working end of the same robot, detailed data of the workpiece are acquired through the identification module, and the operation module suitable for the workpiece is used for processing the workpiece, so that one robot can adopt different processing methods to different types of workpieces, the maintenance cost is not increased, and the functions of the robot can be maximized.
When the operation module moves, the position acquisition module acquires the real-time coordinate position of the operation module in real time and compares the real-time coordinate position with the action track preset by the operation module, and when the operation module does not accord with the action track, the operation module stops moving, so that the robot is prevented from colliding with the machine, and the reliability is improved.
Drawings
Fig. 1 is a flow chart of a control method of the present invention.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
As shown in fig. 1; a robot control system, comprising:
and (3) fixing a module: the workpiece is used for fixing the workpiece entering the working position on the production line;
and an identification module: acquiring detailed data of a workpiece by scanning and identifying a two-dimensional code, an IC card or an RF card arranged on the workpiece;
and the operation module is used for: the number of the operation modules is at least two, and the operation modules are respectively arranged at the working ends of the manipulator and are used for operating different workpieces, so that the operation modules cannot interfere with each other;
a position acquisition module; acquiring the position of the operation module;
and the main control module: the main control module is respectively in communication connection with the fixing module, the identification module, the operation module and the position acquisition module.
The main control module comprises a storage medium, a controller, a signal receiving part and a signal output part; the storage medium stores the action track of the working module, the controller outputs control signals through the signal output part, and the controller receives input signals through the signal receiving part.
The input signal comprises an emergency signal.
The number of the operation modules arranged at the operation end of the robot is proportional to the type of the workpiece, and each operation module corresponds to one type of the workpiece.
The operation module acquired by the position acquisition module is operation module position information corresponding to the type of the workpiece fixed by the current fixing module.
A robot control method applied to the robot control system, characterized in that;
the fixing module is used for fixing the workpiece, and the identification module is used for acquiring detailed data of the workpiece and converting the detailed data into an input signal to the main control module;
the signal receiving part receives an input signal and feeds the input signal back to the controller, and the controller compares the workpiece data and calls an operation module corresponding to the workpiece and a movement track corresponding to the operation module;
the position acquisition module takes an operation module corresponding to the workpiece as a tracking object, acquires real-time coordinates of the operation module in real time and converts the real-time coordinates into input signals for output;
the controller compares the real-time coordinates of the acquired operation module with the action track, when the real-time coordinates are consistent with the action track, the information output part sends out a control signal to enable the movement to be continuous, and when the real-time coordinates are inconsistent with the action track, the information output part sends out a control signal to enable the movement to be suspended;
when the operation module returns to the initial coordinate point after completing the action track, and sends out an input signal, the controller sends out a control signal to the fixed module through the signal output part so as to enable the fixed module to pass.
When the controller receives an emergency signal sent by any module through the signal receiving part, the controller sends a control signal through the signal output part to suspend the movement.
The application process of the invention is as follows:
the method comprises the steps that a workpiece enters, a fixing module fixes the workpiece, an identification module scans a two-dimensional code on the workpiece to obtain detailed data of the workpiece, the identification module converts the obtained data into an input signal to a main control module, a controller confirms the type of the workpiece by comparing the stored medium with the obtained detailed data, then invokes a corresponding operation module and a movement track of the operation module, the position acquisition module takes the operation module as a tracking object, acquires a coordinate position in real time and converts the coordinate position into the input signal to the main control module, when the operation module moves according to the movement track, the position acquisition module sends the coordinate position obtained in real time to the main control module, the main control module compares whether the real-time coordinate position of the operation module accords with the movement track, if the real-time coordinate position of the operation module does not accord with the movement track, deviation occurs, and if the real-time coordinate position of the operation module accords with the movement track, the operation module continues to run until the operation returns to an initial position.
In the description of the present invention, it should be understood that the terms "middle," "length," "upper," "lower," "front," "rear," "vertical," "horizontal," "inner," "outer," "radial," "circumferential," and the like indicate an orientation or a positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention.
In the present invention, unless expressly stated or limited otherwise, a first feature "on" a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. The meaning of "a plurality of" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The above description is for the purpose of illustrating the embodiments of the present invention and is not to be construed as limiting the invention, but is intended to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. A robot control system, comprising:
and (3) fixing a module: the workpiece is used for fixing the workpiece entering the working position on the production line;
and an identification module: acquiring detailed data of a workpiece by scanning and identifying a two-dimensional code, an IC card or an RF card arranged on the workpiece;
and the operation module is used for: the number of the operation modules is at least two, and the operation modules are respectively arranged at the working ends of the manipulator and are used for operating different workpieces, so that the operation modules cannot interfere with each other;
a position acquisition module; acquiring the position of the operation module;
and the main control module: the main control module is respectively in communication connection with the fixing module, the identification module, the operation module and the position acquisition module.
2. The robot control system of claim 1, wherein the main control module comprises a storage medium, a controller, a signal receiving part, and a signal output part; the storage medium stores the action track of the working module, the controller outputs control signals through the signal output part, and the controller receives input signals through the signal receiving part.
3. A robotic control system as claimed in claim 2 in which the input signal includes an emergency signal.
4. A robot control system according to claim 3, wherein the number of work modules provided at the work end of the robot is proportional to the type of work piece, each work module corresponding to a type of work piece.
5. The robot control system of claim 4, wherein the job module acquired by the position acquisition module is job module position information corresponding to a type of workpiece to which the current fixing module is fixed.
6. A robot control method applied to the robot control system according to any one of claims 1 to 5, characterized in that;
the fixing module is used for fixing the workpiece, and the identification module is used for acquiring detailed data of the workpiece and converting the detailed data into an input signal to the main control module;
the signal receiving part receives an input signal and feeds the input signal back to the controller, and the controller compares the workpiece data and calls an operation module corresponding to the workpiece and a movement track corresponding to the operation module;
the position acquisition module takes an operation module corresponding to the workpiece as a tracking object, acquires real-time coordinates of the operation module in real time and converts the real-time coordinates into input signals for output;
the controller compares the real-time coordinates of the acquired operation module with the action track, when the real-time coordinates are consistent with the action track, the information output part sends out a control signal to enable the movement to be continuous, and when the real-time coordinates are inconsistent with the action track, the information output part sends out a control signal to enable the movement to be suspended;
when the operation module returns to the initial coordinate point after completing the action track, and sends out an input signal, the controller sends out a control signal to the fixed module through the signal output part so as to enable the fixed module to pass.
7. The robot control method of claim 6, wherein the controller pauses the movement by sending a control signal through the signal output part when the controller receives the emergency signal sent from any one of the modules through the signal receiving part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310692347.6A CN116834001A (en) | 2023-06-12 | 2023-06-12 | Robot control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310692347.6A CN116834001A (en) | 2023-06-12 | 2023-06-12 | Robot control system and control method |
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| CN116834001A true CN116834001A (en) | 2023-10-03 |
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| KR20060038532A (en) * | 2004-10-30 | 2006-05-04 | 한국과학기술연구원 | Autonomous vision display apparatus using pursuit of flying path about flying blimp screen or airship screen |
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