CN202716273U - Control system for stacking robot - Google Patents
Control system for stacking robot Download PDFInfo
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- CN202716273U CN202716273U CN 201220138216 CN201220138216U CN202716273U CN 202716273 U CN202716273 U CN 202716273U CN 201220138216 CN201220138216 CN 201220138216 CN 201220138216 U CN201220138216 U CN 201220138216U CN 202716273 U CN202716273 U CN 202716273U
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Abstract
The utility model discloses a control system for a stacking robot. The system is characterized by comprising an embedded central control module, a multi-axis movement control module, a servo driver, a teaching displayer, an external I/O (input/output) communication interface, a sensor and a control switch, wherein the embedded central control module and the multi-axis movement control module are connected through a PCI (Programmable Communications Interface) bus; the embedded central control module and the teaching displayer are connected through a special communication cable; the embedded central control module is connected with the external I/O communication interface; the multi-axis movement control module is connected with the servo driver, the sensor and the control switch through a digital I/O interface; and the embedded central control module controls the robot to stack. The system is convenient to operate. An operator can finish teaching and parameter input operation by holding the teaching displayer.
Description
Technical field
The utility model relates to a kind of control system, particularly a kind of control system for robot palletizer.
Background technology
Compare with the private code stack machine of cases of otherwise standard design, the robot palletizer floor space is little, applying flexible, cost are lower.The application of robot palletizer in every profession and trade greatly reduces the workman's who is engaged in carrying work labour intensity, improved simultaneously the operating efficiency of whole production process, thus robot palletizer at home and abroad association area obtain a wide range of applications.
Worldwide, specialize in the companies such as Fuji Yusoki Kogyo, Okura Yusoki that Japan is arranged of robot palletizer production.Also be useful on the model of palletizing operation in other universal type industrial robot product series, such as robot brands such as Japanese MOTOMAN, German KUKA, Sweden ABB.The control system of robot palletizer is different from the general industry robot, and the characteristics of himself are arranged.Be mainly reflected in the free degree usually less, move relatively simple; Rate request is higher; Comparatively fixing use pattern (piling and de-stacking) is arranged, the less GUIDANCE FOR AUTONOMIC GUIDED VEHICLES that adopts fully of programming mode.
Through the prior art literature search is found afterwards, there is no the correlation technique patent for the robot palletizer control system, the patented technology that relatively approaches has Chinese patent CN200810129766.4, this patent provides a kind of robot programming device of the palletizing operation for robot, this device can generate the piling program of robot in the Virtual Space, then the robot by the said firm realizes palletizing operation.This is in fact a kind of palletizing operation offline programmer, cooperates the universal industrial robot to use.Chinese utility model patent CN200610113040.2 and Chinese utility model patent CN200820081216.5 have introduced respectively robot palletizer mechanism, but do not relate to its control system.Chinese utility model patent CN00254080.0 has proposed opened industrial robot controlling platform, belong to general industrial robot control system, its outstanding feature is that general industrial computer is introduced in traditional robot control system, and the unique open and modular construction of employing, can control the servo bag of polytype, more flexible, can increase easily its function.Chinese utility model patent CN03100077.0 also proposes similar controller of open structure for robot, it comprises the hardware components that the peripheral equipment by industrial control computer and open architecture controller system forms, by the real-time oss of the open source code software section that the open architecture controller application software system forms of unifying; Feature with extensibility, portability, customizability and four aspects of interoperability.Method for designing open, general-purpose type that these patented technologies relate to, and be not suitable for robot palletizer mechanism and operating feature thereof, can not satisfy its proprietary feature and performance requirement.
The utility model content
Technical problem to be solved in the utility model provides a kind of control system for robot palletizer, and it is easy to operate, and the operator only needs can finish teaching and parameter input operation by the hand-held instruction display.
For solveing the technical problem, the utility model provides a kind of control system for robot palletizer, it is characterized in that, it comprises embedded central control module, multiaxial motion control module, servo-driver, instruction display, exterior I/O communication interface and sensor and gauge tap, and embedded central control module is connected by pci bus with the multiaxial motion control module; Embedded central control module is connected by dedicated communications cable with instruction display; Embedded central control module is connected with exterior I/O communication interface, and the multiaxial motion control module is connected by digital input-output interface with servo-driver, sensor and gauge tap, and the embedded central control module control is finished palletizing operation.
Preferably, described embedded central control module is made of an embedded industrial control computer.
Preferably, described multiaxial motion control module adopts general four-axis movement control card, can realize respectively speed and Position Control to four servomotors.
Preferably, described multiaxial motion control module receives the motion planning information from embedded central control module, generate the servomotor control signal according to given motion control arithmetic, send to each servo-driver by signal cable, control each servomotor motion.
Preferably, described instruction display is comprised of liquid crystal touch screen and one group of press button, is used for the demonstration of robot location's teaching and information, setting parameter; The shown graphical interfaces of instruction display is directly generated by embedded central control module control, and the liquid crystal touch screen that receives, the input message of press button directly send to embedded central control module and process.
Preferably, described embedded central control module can realize whole system control functions by systems soft ware, and systems soft ware adopts the modularized program design and comprises system interface submodule, file management submodule, communicator module, monitoring submodule, teaching submodule, motion planning submodule, Kinematic Algorithms submodule, Dynamics Optimization submodule, logic control submodule and bottom layer driving module.
Preferably, described system interface submodule provides graphical interfaces by instruction display to the user, and receives the information of user's input; The user finishes the setting of parameters by the system interface submodule, finish the operations to system, and the running status of energy real-time monitoring system.
Preferably, described motion planning submodule requires the action of robot is planned for the characteristics of palletizing operation, to realize palletizing operation.
Positive progressive effect of the present utility model is: one, the utlity model has modular design, controller core hardware is general embedded industrial control computer, its control function is mainly realized by operation systems soft ware wherein, systems soft ware is followed the modularized design principle equally, is convenient to the expansion of systemic-function.Two, has special control Functional Design for palletizing operation, automaticity is higher, the user only need determine buttress dish reference position, and piling object product size, can automatically generate whole series of acts according to the piling mode that presets, make things convenient for manyly than the general industry robot, can greatly save the Job readiness time.Three, structure opening of the present utility model by multiple communication modes commonly used such as ICP/IP protocol, RS232/RS485 interfaces, can combine with various control systems as basic platform.Flexible operation mode both can be connected with host computer, finished palletizing operation as the standard operation unit, also can be used as independently automation palletized unit control peripheral device and finished palletizing operation.Four, the utility model is easy to operate, and the operator only needs can finish teaching and parameter input operation by the hand-held instruction display.
Description of drawings
Fig. 1 is the structured flowchart that the utility model is used for the control system of robot palletizer.
Fig. 2 is the principle schematic that the utility model is used for the control system of robot palletizer.
The specific embodiment
The below lifts a preferred embodiment, and comes by reference to the accompanying drawings the clearer the utility model that intactly illustrates.
The control system that is used for robot palletizer of introducing in the present embodiment is a kind of open control system, has mainly comprised hardware system and software systems in the architecture of this controller.
As shown in Figure 1, the utility model comprises embedded central control module, multiaxial motion control module, servo-driver, instruction display, exterior I/O(I/O for the control system of robot palletizer) communication interface and sensor and gauge tap.
Described embedded central control module is made of an embedded industrial control computer.Embedded central control module is connected by pci bus with the multiaxial motion control module; Embedded central control module is connected by dedicated communications cable with instruction display; Embedded central control module and exterior I/O(I/O) be connected, multiaxial motion control module and servo-driver, sensor and gauge tap are by internal digital I/O(I/O) interface is connected.Embedded central control module realizes main control function by operation systems soft ware wherein, and control is finished piling (or de-stacking) operation.
Described multiaxial motion control module adopts general four-axis movement control card, can realize respectively speed and Position Control to four servomotors, and the linkage function of many servomotors.The multiaxial motion control module is connected with embedded central control module by pci bus, can receive the motion planning information from embedded central control module, generate the servomotor control signal according to given motion control arithmetic, send to each servo-driver by signal cable, control each servomotor motion.The status signals such as the position of each servomotor of multiaxial motion control module collection, speed send embedded central control module to by pci bus, for systems soft ware as the decision-making judgement.
Described servo-driver is the auxiliary products of the used AC servo motor of robot, and servo-driver and motor use respectively the driver of the R of SANYO company series and supporting motor thereof in this example.
Described instruction display is the man-machine interface of system, is used for robot location's teaching and the purposes such as information demonstration, setting parameter.Instruction display is comprised of liquid crystal touch screen and one group of press button, links to each other with embedded central control module by dedicated communications cable.Liquid crystal touch screen is made of liquid crystal display and the touch-screen parts that cover thereon.Press button comprises the emergency stop push button of China's industrial robot safety standard defined, three safety switches, and the load button switch commonly used such as mode selection switch, cursor movement button, input validation button.The digital quantity signal etc. that the signal that so-called dedicated communications cable is transmitted comprises the PS/2 interface signal that liquid crystal display required standard VGA interface signal, touch input device are required and is used for press button.The shown graphical interfaces of instruction display is directly generated by embedded central control module control, and the input messages such as the liquid crystal touch screen that receives, press button also directly send to embedded central control module and process.Instruction display itself does not have information processing capability, does not need to develop separately corresponding hardware and software.
Described each sensor and gauge tap refer to be installed in the various types of signal input units such as everywhere emergency stop push button, operational mode change-over switch, each joint limit position sensor of robot, peripheral device state sensor, and the signal output interface of the external equipment such as material gripping device, conveying device, industrial tri-colour LED.
As shown in Figure 2, described systems soft ware runs on embedded central control module, and systems soft ware adopts the modularized program design and comprises the following functions module:
One, the system interface submodule provides graphical interfaces by instruction display to the user, and receives the user by the information of the device inputs such as touch-screen, press button.Can finish the setting of parameters by this interface user, finish the operations to system, and the running status of energy real-time monitoring system.
Two, file management submodule is managed various system works files and Parameter File, and carries out the operations such as file interaction, backup with the host computer tool software.
Three, communicator module realizes the communication interfaces such as LAN, fieldbus.
Four, monitoring submodule comprises internal state monitoring and outer monitoring.Whether internal state is monitored main monitoring moving program and is calculated correctly, and whether motor program is complete etc.; Exterior I O signal etc. is mainly monitored and processed to outer monitoring, comprise the motor operating state that comes from multiaxial motion control module feedback, from user's input state of instruction display input acquisition, from other peripheral informations of each sensor acquisition, from the user to set information of each gauge tap acquisition.These status informations are shown to the user through the liquid crystal display by instruction display after certain computing, and according to operations such as the condition trigger alarm of setting and emergent stoppings.
Five, teaching submodule manually calls the needed motion of control completing place teaching and action under the teaching pattern.The operator is by the touch-screen input operation information of instruction display, and control is realized manual movement, and recorder people current location is as the teaching position.
Six, motion planning submodule calls under the robot automatic mode, and planning robot's continuous action namely can require for the characteristics of palletizing operation the action of robot is planned, to realize piling (or de-stacking) operation.According to predetermined piling mode, and by the determined buttress dish of position teaching position, automatically calculate the needed whole action sequences of piling (perhaps de-stacking) operation.
Seven, Kinematic Algorithms submodule provides and realizes that robot motion planning is needed just, Arithmetic of inverse kinematics.And in joint coordinates, the pedestal coordinate is realized the conversion of position between the coordinate systems such as user coordinates.
Eight, Dynamics Optimization submodule to improve accuracy and runtime as target, provides realization robot high-speed, high precision motion control needed algorithm.Determined action calculates the kinematic parameter of each joint motor according to motion planning, is sent to the multiaxial motion control module, finally realizes the machine human motion.
Nine, logic control submodule is processed the signal of each sensor, press button, controls its input and output, and calls different program modules according to these signals and finish relevant function, thereby realizes the analyzing logic control function.
Ten, bottom layer driving module, bottom layer driving module and bottom hardware interface, the bottom layer driving module is equipped with driver, and involved all kinds of bottom hardwares operation is described the bottom layer driving module to robot, as basic driver module and input/output signal interface by other routine call.
In general operating process, the operator moves to the reference position of buttress dish by instruction display manual control machine device people and records this position (such as the then at every turn duplicate record of this invariant position); Input subsequently the size (the at every turn duplicate record if same these data are constant) of piling object; Control mode is set to automated manner, selects piling mode (the piling order that namely presets and piling object relative position relation etc.), can begin the automatic stacking operation.
Although more than described the specific embodiment of the present utility model, but those skilled in the art is to be understood that, these only illustrate, and under the prerequisite that does not deviate from principle of the present utility model and essence, can make various changes or modifications to these embodiments.Therefore, protection domain of the present utility model is limited by appended claims.
Claims (5)
1. control system that is used for robot palletizer, it is characterized in that, it comprises embedded central control module, multiaxial motion control module, servo-driver, instruction display, exterior I/O communication interface and sensor and gauge tap, and embedded central control module is connected by pci bus with the multiaxial motion control module; Embedded central control module is connected by dedicated communications cable with instruction display; Embedded central control module is connected with exterior I/O communication interface, and the multiaxial motion control module is connected by digital input-output interface with servo-driver, sensor and gauge tap, and the embedded central control module control is finished palletizing operation.
2. the control system for robot palletizer as claimed in claim 1 is characterized in that, described embedded central control module is made of an embedded industrial control computer.
3. the control system for robot palletizer as claimed in claim 1 is characterized in that, described multiaxial motion control module adopts general four-axis movement control card, can realize respectively speed and Position Control to four servomotors.
4. the control system for robot palletizer as claimed in claim 1, it is characterized in that, described multiaxial motion control module receives the motion planning information from embedded central control module, generate the servomotor control signal according to given motion control arithmetic, send to each servo-driver by signal cable, control each servomotor motion.
5. the control system for robot palletizer as claimed in claim 1 is characterized in that, described instruction display is comprised of liquid crystal touch screen and one group of press button, is used for the demonstration of robot location's teaching and information, setting parameter; The shown graphical interfaces of instruction display is directly generated by embedded central control module control, and the liquid crystal touch screen that receives, the input message of press button directly send to embedded central control module and process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220138216 CN202716273U (en) | 2011-11-18 | 2012-04-05 | Control system for stacking robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120461352 | 2011-11-18 | ||
| CN201120461352.9 | 2011-11-18 | ||
| CN 201220138216 CN202716273U (en) | 2011-11-18 | 2012-04-05 | Control system for stacking robot |
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| CN202716273U true CN202716273U (en) | 2013-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012100963062A Pending CN102616577A (en) | 2011-11-18 | 2012-04-05 | Control system for robot palletizer |
| CN 201220138216 Expired - Lifetime CN202716273U (en) | 2011-11-18 | 2012-04-05 | Control system for stacking robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012100963062A Pending CN102616577A (en) | 2011-11-18 | 2012-04-05 | Control system for robot palletizer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
| WO2019010918A1 (en) * | 2017-07-12 | 2019-01-17 | 江苏科技大学 | Wave compensation robot system and control method therefor |
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| CN103802105A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm control system |
| CN104635649A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Clean stack machine control system |
| CN104635563A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Stack machine with double-position closed-loop control system |
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| CN105196293A (en) * | 2015-10-22 | 2015-12-30 | 合肥泰禾光电科技股份有限公司 | Control system for 120 kg loaded four-shaft stacking robot |
| CN105171734A (en) * | 2015-10-22 | 2015-12-23 | 哈尔滨联科自动化技术开发有限公司 | High-speed four-axis palletizing robot and palletizing method |
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| CN109318225A (en) * | 2017-08-01 | 2019-02-12 | 中达电子零组件(吴江)有限公司 | For controlling the method, apparatus and system of robot palletizer |
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| CN115057245B (en) * | 2022-07-28 | 2023-08-01 | 广东科伺智能科技有限公司 | Destacking system based on bus controller and servo system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101278244B (en) * | 2005-10-06 | 2012-05-30 | Abb股份有限公司 | Control system and teaching kit for industry robot |
| JP4302160B2 (en) * | 2007-09-12 | 2009-07-22 | ファナック株式会社 | Robot programming device for palletizing work by robot |
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
-
2012
- 2012-04-05 CN CN2012100963062A patent/CN102616577A/en active Pending
- 2012-04-05 CN CN 201220138216 patent/CN202716273U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
| WO2019010918A1 (en) * | 2017-07-12 | 2019-01-17 | 江苏科技大学 | Wave compensation robot system and control method therefor |
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| Publication number | Publication date |
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| CN102616577A (en) | 2012-08-01 |
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