CN207696540U - A kind of robot control system being conveniently operated - Google Patents
A kind of robot control system being conveniently operated Download PDFInfo
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- CN207696540U CN207696540U CN201721793727.5U CN201721793727U CN207696540U CN 207696540 U CN207696540 U CN 207696540U CN 201721793727 U CN201721793727 U CN 201721793727U CN 207696540 U CN207696540 U CN 207696540U
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Abstract
A kind of robot control system being conveniently operated includes touch screen, PLC controller, robot controller, robot and peripheral equipment, wherein, protocol stack module is provided in PLC controller, protocol stack module, for the control instruction of the PLC controller to be passed to robot controller, and the robotary and parameter that the robot controller is fed back are passed into PLC controller.Save an expensive robot demonstrator, system is more succinct, and being operated and being checked to robot need to only carry out when state on an interface.
Description
Technical field
The utility model is related to a kind of robot control system, robot that the industry that is especially conveniently operated is conveniently operated
Control system.
Background technology
In the automation equipment using industrial robot, traditional control system is as shown in Figure 1.Control object is divided into two
Class：It is responsible for the peripheral equipment of the robot and responsible auxiliary movement of carrying action.Peripheral equipment is controlled by PLC, and machine
People is then controlled by robot controller.The operation of peripheral equipment and status display realize on the touchscreen, the operation of robot and
Status display is realized in robot demonstrator.
The control system of this framework has two, first, in order to carry out operation to two class control objects and state is aobvious
Show, need that man-machine interface is respectively configured --- be robot configuration teaching machine and be peripheral equipment configuration touch screen.In addition, operation
Personnel need the operation at two personal-machine interface of learning and mastering, and the operation of robot demonstrator is more complicated and troublesome.Behaviour
When making or checking state, operating personnel need often to toggle between touch screen and robot demonstrator, very inconvenient.
Utility model content
In order to solve the above-mentioned technical problem, the utility model will provide a kind of robot control system being conveniently operated.
Technical solution adopted in the utility model is：A kind of robot control system being conveniently operated, system include touching
Touch screen, PLC controller, robot controller, robot and peripheral equipment, wherein protocol stack mould is provided in PLC controller
Block,
The touch screen passes through bus for showing the robotary and input robot control instruction and parameter
Connect the PLC controller；
The peripheral equipment feeds back to PLC controller for acquiring peripheral equipment work state information, receives PLC controls
Execution；
The PLC controller receives the peripheral equipment feedack, Yi Jixiang for controlling the peripheral equipment
The robot controller and peripheral equipment send control instruction, and the robot controller is connected by bus；
The robot controller executes control instruction, by the state and parameter feedback of robot for controlling robot
It controls to PLC, and is shown on the touchscreen；
The robot, for executing operation by control instruction；
The protocol stack module, for the control instruction of the PLC controller to be passed to robot controller, with
And the robotary and parameter that the robot controller is fed back are passed into PLC controller.
Further, the artificial industrial robot of the machine.
Further, the peripheral equipment includes NI Vision Builder for Automated Inspection.
Further, the protocol stack module uses transport layer communication protocol.
Further, robot motion control module is additionally provided in the PLC controller, the robot motion controls mould
Block is connect with protocol stack module.
Due to the adoption of the above technical scheme, advantageous effect caused by the utility model is：
（1）An expensive robot demonstrator can be saved, system is more succinct；
（2）More importantly being operated and being checked to robot need to only carry out when state on an interface, without
It is toggled between touch screen and robot demonstrator as legacy system, operates and check and is very convenient；
（3）Without program in robot controller so that the debugging of equipment and safeguard simpler and conveniently：When debugging
The program in debugging PLC is only needed, for operation maintenance personnel, it is only necessary to learning and mastering PLC programming tools and programming language, and
Without learning robot programming tool and programming language.
Description of the drawings
Fig. 1 is traditional robot control system；
Fig. 2 is the robot control system being conveniently operated of the utility model；
Fig. 3 is the screw machine control system of the utility model embodiment.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model：
As shown in Fig. 2, a kind of robot control system being conveniently operated, system includes touch screen, PLC controller, machine
People's controller, robot, peripheral equipment and protocol stack module.
The touch screen is connected for showing robotary and input robot control instruction and parameter by bus
The PLC controller；
The peripheral equipment, for acquiring（In addition to robot）The information such as equipment working state, feed back to PLC, connect
PLC controls are received to complete（In addition to robot）Action.
The PLC controller receives the peripheral equipment feedack, Yi Jixiang for controlling the peripheral equipment
The robot controller and peripheral equipment send control instruction.
The robot controller executes control instruction, by the state and parameter feedback of robot for controlling robot
It controls to PLC, and is shown on the touchscreen.
Robot, for executing operation by control instruction；Operation specifically include carried, welded by control instruction, point
The actions such as glue.
The protocol stack module, for the control instruction of the PLC controller to be passed to robot controller, with
And the robotary and parameter that the robot controller is fed back are passed into PLC.
Protocol stack module is software module, is run in PLC controller.Protocol stack module is controlled for specific robot
The communication protocol and control command of device, are individually developed in PLC controller, and can be transplanted in similar PLC controller after encapsulation makes
With.Different protocol stack modules is developed for different robot controllers, can enable the system to use a variety of different machines
People.
Present embodiment when in use, the artificial industrial robot of machine, including four axis robots, wu-zhi-shan pig, six axis
The robot of the models such as robot, although robot type is different, but as long as used control command is identical as control language,
Same protocol stack can be selected.And select different protocol stacks, so that it may to be applicable in the robot of different manufacturers.
When in use, the peripheral equipment includes NI Vision Builder for Automated Inspection to embodiment, and the location of workpiece is obtained by camera, will
Location information feeds back to PLC controller, to indicate that robot is operated to corresponding position.Peripheral equipment, which is also possible that, to be watched
Take the executing agencies such as positioning device, pneumatic clamper.
The transport layer communication protocol that protocol stack is all supported using PLC and robot control both sides, is developed in application layer.
Protocol stack supports the acquisition to the major parameter of robot controller, including robot current location and posture, movement velocity, fortune
Dynamic state, warning message etc.；Support the setting to robot progress major parameter；Support the behaviour moved manually to robot
Make；It supports that robot is carried out to carry out moving operation by movement instruction；It supports to carry out ann reset etc. to robot.
Robot motion control module is used to the control instruction being converted into joint of robot path command.
Specific implementation mode one：
As shown in figure 3, screw machine control system saves traditional teaching system, robot is provided in PLC controller
Action control module and protocol stack module, PLC controller are also connected with peripheral equipment, wherein peripheral equipment includes machine vision system
The equipment such as system, screwdriver, vision system include CCD, and peripheral equipment acquires the location of workpiece, feed back to PLC controller, PLC controls
The control instruction is converted into joint of robot path in robot motion control module and ordered by device according to the location of workpiece of feedback
It enables, and robot controller is transferred to by protocol stack, robot controller controls machine according to joint of robot path command
People carries screwdriver and carries out lock pair to workpiece position.
Embodiment described above is only that preferred embodiments of the present invention are described, not to this practicality
Novel conception and scope is defined.Without departing from the design concept of the present utility model, ordinary people in the field couple
The all variations and modifications that the technical solution of the utility model is made, should fall within the protection scope of the present utility model, this reality
With novel claimed technology contents, all record in detail in the claims.
Claims (5)
1. a kind of robot control system being conveniently operated, which is characterized in that system includes touch screen, PLC controller, robot
Controller, robot and peripheral equipment, wherein protocol stack module is provided in PLC controller,
The touch screen is connected for showing the robotary and input robot control instruction and parameter by bus
The PLC controller；
The peripheral equipment feeds back to PLC controller for acquiring peripheral equipment work state information, receives PLC controls and completes
Action；
The PLC controller receives the peripheral equipment feedack for controlling the peripheral equipment, and to described
Robot controller and peripheral equipment send control instruction, and the robot controller is connected by bus；
The robot controller executes control instruction, by the state of robot and parameter feedback to PLC for controlling robot
Control, and shown on the touchscreen；
The robot, for executing operation by control instruction；
The protocol stack module, for the control instruction of the PLC controller to be passed to robot controller, and general
The robotary and parameter of the robot controller feedback pass to PLC controller.
2. the robot control system being conveniently operated as described in claim 1, which is characterized in that the artificial industrial machine of machine
Device people.
3. the robot control system being conveniently operated as described in claim 1, which is characterized in that the peripheral equipment includes machine
Device vision system.
4. the robot control system being conveniently operated as described in claim 1, which is characterized in that the protocol stack module uses
Transport layer communication protocol.
5. the robot control system being conveniently operated as described in claim 1-4 is any, which is characterized in that the PLC controls
Robot motion control module is additionally provided on device, the robot motion control module is connect with protocol stack module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721793727.5U CN207696540U (en) | 2017-12-20 | 2017-12-20 | A kind of robot control system being conveniently operated |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721793727.5U CN207696540U (en) | 2017-12-20 | 2017-12-20 | A kind of robot control system being conveniently operated |
Publications (1)
| Publication Number | Publication Date |
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| CN207696540U true CN207696540U (en) | 2018-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721793727.5U Active CN207696540U (en) | 2017-12-20 | 2017-12-20 | A kind of robot control system being conveniently operated |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109550864A (en) * | 2018-11-09 | 2019-04-02 | 北京凌云东园科技有限公司 | A kind of security system changing automobile B-column radian |
| CN109623836A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
-
2017
- 2017-12-20 CN CN201721793727.5U patent/CN207696540U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109550864A (en) * | 2018-11-09 | 2019-04-02 | 北京凌云东园科技有限公司 | A kind of security system changing automobile B-column radian |
| CN109623836A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Distribution robot |
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