CN209304588U - Robot coordinated control system based on dual network framework - Google Patents
Robot coordinated control system based on dual network framework Download PDFInfo
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- CN209304588U CN209304588U CN201821516121.1U CN201821516121U CN209304588U CN 209304588 U CN209304588 U CN 209304588U CN 201821516121 U CN201821516121 U CN 201821516121U CN 209304588 U CN209304588 U CN 209304588U
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Abstract
The utility model discloses a kind of robot coordinated control systems based on dual network framework, including tooling platform (1), programmable logic control system (2), the first industrial robot (3) and the second industrial robot (4)；First industrial robot and the second industrial robot connect programmable logic control system by distinct interface, so that programmable logic control system is passed through different communication network and control the first industrial robot and the second industrial robot；Tooling platform connects programmable logic control system.Programmable logic control system includes programmable logic controller (PLC) (21), interchanger (22) and human-computer interaction interface (23)；Programmable logic controller (PLC) connects interchanger by the first communication network, and interchanger connects the first industrial robot, human-computer interaction interface and industrial personal computer；Programmable logic controller (PLC) connects the second industrial robot by the second network protocol.The utility model can solve Harmonic Control when coexisting using the robot of distinct interface.
Description
Technical field
The utility model relates to a kind of industrial control equipments more particularly to a kind of based on the robot coordinated of dual network framework
Control system.
Background technique
Currently, auto production line generally all uses the robot of unified interface, its advantage is that control system framework is simple, journey
Effective control also can be obtained in sequence design standard, robot manipulating task time.But once there is interface fault, production line will face
Stop the risk of line.Accomplish to resume production rapidly, or to promote the operation effect of production line, enables, need as station set
Quickly accomplish the replacement of corresponding module, it is more demanding to the auto production line of the prior art, realize that difficulty is larger.
Summary of the invention
The purpose of this utility model is to provide a kind of robot coordinated control systems based on dual network framework, can solve
Harmonic Control when being coexisted using the robot of different communication interface.
The utility model is realized in this way:
A kind of robot coordinated control system based on dual network framework, including tooling platform, Programmable logical controller system
System, the first industrial robot and the second industrial robot；First industrial robot and the second industrial machine are artificially connect using difference
The industrial robot of mouth is simultaneously connected to programmable logic control system by distinct interface respectively, makes programmable logic control system
The first industrial robot and the second industrial robot are controlled respectively by different communication networks；Tooling platform and programmable logic
Control system connection.
The programmable logic control system includes programmable logic controller (PLC), interchanger and human-computer interaction interface；It can
Programmed logic controller is connect by the first communication network with interchanger, interchanger and the first industrial robot, human-computer interaction circle
Face and industrial personal computer connection；Programmable logic controller (PLC) is connect by the second communication network with the second industrial robot.
The programmable logic controller (PLC) is equipped with the network interface card for supporting ICP/IP protocol, RJ45 network interface and is based on
The facility network network interface card of CAN bus.
First industrial robot includes the first robot body and the first robot controller, the first robot sheet
Body is connect with interchanger by the first robot controller and is connected to programmable logic controller (PLC) through the first communication network.
First communication network is Ethernet.
Second industrial robot includes the second robot body and the second robot controller, the second robot sheet
Body is connected to programmable logic controller (PLC) through the second communication network by the second robot controller.
Second communication network is facility network.
The tooling platform is industrial personal computer.
The utility model compared with prior art, has the following beneficial effects:
1, the industrial robot of two distinct interfaces is realized control by two different communication modes by the utility model,
Using cramped construction program control mode, realize that the flexibility of two industrial robots is coordinated by programmable logic control system
Operation.
2, the system high efficiency of the utility model is integrated, and control program uses Structured Programming, passes through subprogram or function
Can calling between block realize system function, form the bottom as factory's overall architecture --- one kind of process control station
Mode is factory's digitlization, networking, a kind of innovation of intelligent solution.
The utility model can solve Harmonic Control when coexisting using the robot of different communication interface, can occur
It resumes production rapidly when interface fault, improves production efficiency.
Detailed description of the invention
Fig. 1 is the schematic diagram of robot coordinated control system of the utility model based on dual network framework.
In figure, 1 tooling platform, 2 programmable logic control systems, 21 programmable logic controller (PLC)s (PLC), 22 interchangers,
23 human-computer interaction interfaces, 3 first industrial robots, 31 first robot bodies, 32 first robot controllers, 4 second industry
Robot, 41 second robot bodies, 42 second robot controllers.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
Refer to attached drawing 1, a kind of robot coordinated control system based on dual network framework, including tooling platform 1, can compile
The 2, first industrial robot 3 of journey logic control system (PLC system) and the second industrial robot 4；First industrial robot 3 and
Two industrial robots 4 are the industrial robot using distinct interface and are connected to Programmable logical controller by distinct interface respectively
System 2 makes programmable logic control system 2 control the first industrial robot 3 and the second work respectively by different communication networks
Industry robot 4；Tooling platform 1 is connect with programmable logic control system 2, is constituted the mixed system control architecture of double nets, is made two
The industrial robot of platform distinct interface different model passes through PLC program flexibility coordinated control respectively；Preferably, the utility model
More than two different interfaces can be extended according to use demand, and the control to more industrial robots is realized by dual network framework
System.
The programmable logic control system 2 includes programmable logic controller (PLC) 21, interchanger 22 and human-computer interaction circle
Face 23；Programmable logic controller (PLC) 21 is connect by the first communication network with interchanger 22, interchanger 22 and the first industrial machine
People 3, human-computer interaction interface 23 and industrial personal computer 1 connect；Programmable logic controller (PLC) 21 passes through the second communication network and the second industry
Robot 4 connects.Programmable logic control system 2 is integrated with the technologies such as related industries internet, control, robot, comprising: net
Network interconnection, system configuration, Human Machine Interface, assembled tool monitoring, are able to achieve production scene repertoire.
The programmable logic controller (PLC) 21 is equipped with the network interface card (communication for supporting ICP/IP protocol, RJ45 network interface
Rate 10/100Mb/s) and CAN bus based facility network (DeviceNet) network interface card, and institute is controlled by least hardwire
Some input/output signals, safety signal are transmitted by safe input/output end port.Different network interface cards corresponds to different networks
Communication protocol, to control the first industrial robot 3 and the second industrial robot 4 using distinct interface, it is preferred that can be used
Ethernet Ethernet transmission control protocol/internet protocol (TCP/IP) and facility network (DeviceNet) network protocol, Ethernet
Transmission control protocol/internet protocol is used for network internal or internet communication, completes operation and control.Facility network
(DeviceNet) network protocol uses the communication pattern of the producer/consumer (Producer/Consumer), allows on network
All nodes access same data simultaneously, communication baud rate 250Kbps realizes data communication and instruction transmission.
First industrial robot 3 includes the first robot body 31 and the first robot controller 32, the first machine
Device human body 31 is connect with interchanger 22 by the first robot controller 32 and is connected to programmable patrol through the first communication network
Collect controller 21, it is preferred that Ethernet can be used in the first communication network.
Second industrial robot 4 includes the second robot body 41 and the second robot controller 42, the second machine
Device human body 41 is connected to programmable logic controller (PLC) 21 through the second communication network by the second robot controller 42, preferably
, facility network (DeviceNet) network can be used in the second communication network.
Industrial personal computer can be used in the tooling platform 1, it is preferred that dual processor framework can be used in industrial personal computer, and safety is integrated
Grade reaches SIL3, makes the high reliablity of control system.
In use, passing through communication network protocol and a wherein industrial machine by the starting control of human-computer interaction interface 23
People establishes communication connection, can control industrial robot ann reset (Fault reset), program number selection (PNS) etc., by asking
Answer signal is asked (to start Start, enabled ENBL, PN filter PNSTROBE, be automatically brought into operation beginning PROD_START, order enables
Signal exports CMDENBL, the ready output SYSRDY of system, confirms that signal ACK, the confirmation of signal number export SNACK etc.), it is real
Existing accurate control of the programmable logic control system to a wherein industrial robot track.When interface occurs for the industrial robot
When failure, another industrial robot can be started by human-computer interaction interface 23, subtracted significantly by a personal-machine interactive interface 23
Lack wiring amount, and realizes the flexibility coordinated control of Multi net voting form Xia Liangtai robot.Programmable logic controller (PLC) 21
For expansible more network interfaces to control more industrial robots, control principle is identical as dual network framework, this is practical
Novel to repeat no more, when extending more industrial robots, industrial robot will pass through Ethernet Ethernet and interchanger 22
It is attached.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the protection scope of the utility model,
Therefore, any modification, equivalent substitution, improvement and etc. made within the spirit and principle of the present invention, should be included in
Within the protection scope of the utility model.
Claims (8)
1. a kind of robot coordinated control system based on dual network framework, it is characterized in that: including tooling platform (1), programmable
Logic control system (2), the first industrial robot (3) and the second industrial robot (4)；First industrial robot (3) and second
Industrial robot (4) is the industrial robot using distinct interface and is connected to Programmable logical controller by distinct interface respectively
System (2), make programmable logic control system (2) by different communication networks control respectively the first industrial robot (3) and
Second industrial robot (4)；Tooling platform (1) is connect with programmable logic control system (2).
2. the robot coordinated control system according to claim 1 based on dual network framework, it is characterized in that: described can
Programmed logic control system (2) includes programmable logic controller (PLC) (21), interchanger (22) and human-computer interaction interface (23)；It can compile
Journey logic controller (21) is connect by the first communication network with interchanger (22), interchanger (22) and the first industrial robot
(3), human-computer interaction interface (23) and tooling platform (1) connection；Programmable logic controller (PLC) (21) by the second communication network with
Second industrial robot (4) connection.
3. the robot coordinated control system according to claim 2 based on dual network framework, it is characterized in that: described can
Programmed logic controller (21) is equipped with the network interface card and CAN bus based equipment for supporting ICP/IP protocol, RJ45 network interface
Net network interface card.
4. the robot coordinated control system according to claim 1 to 3 based on dual network framework, it is characterized in that: institute
The first industrial robot (3) stated includes the first robot body (31) and the first robot controller (32), the first robot
Ontology (31) is connect with interchanger (22) by the first robot controller (32) and is connected to through the first communication network programmable
Logic controller (21).
5. the robot coordinated control system according to claim 4 based on dual network framework, it is characterized in that: described
One communication network is Ethernet.
6. the robot coordinated control system according to claim 1 to 3 based on dual network framework, it is characterized in that: institute
The second industrial robot (4) stated includes the second robot body (41) and the second robot controller (42), the second robot
Ontology (41) is connected to programmable logic controller (PLC) (21) through the second communication network by the second robot controller (42).
7. the robot coordinated control system according to claim 6 based on dual network framework, it is characterized in that: described
Two communication networks are facility network.
8. the robot coordinated control system according to claim 1 based on dual network framework, it is characterized in that: the work
Assembling platform (1) is industrial personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201821516121.1U CN209304588U (en) | 2018-09-17 | 2018-09-17 | Robot coordinated control system based on dual network framework |
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| CN201821516121.1U CN209304588U (en) | 2018-09-17 | 2018-09-17 | Robot coordinated control system based on dual network framework |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720484A (en) * | 2020-12-23 | 2021-04-30 | 谙布尔(北京)科学技术有限公司 | Control device, actuator, robot arm, control system and robot |
| CN114859833A (en) * | 2022-04-26 | 2022-08-05 | 广州东焊智能装备有限公司 | Production line robot integrated control system based on PLC |
| CN117301074A (en) * | 2023-11-17 | 2023-12-29 | 浙江孚宝智能科技有限公司 | Control method and chip of intelligent robot |
-
2018
- 2018-09-17 CN CN201821516121.1U patent/CN209304588U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720484A (en) * | 2020-12-23 | 2021-04-30 | 谙布尔(北京)科学技术有限公司 | Control device, actuator, robot arm, control system and robot |
| CN112720484B (en) * | 2020-12-23 | 2022-09-09 | 谙布尔(北京)科学技术有限公司 | Control device, actuator, robot arm, control system and robot |
| CN114859833A (en) * | 2022-04-26 | 2022-08-05 | 广州东焊智能装备有限公司 | Production line robot integrated control system based on PLC |
| CN117301074A (en) * | 2023-11-17 | 2023-12-29 | 浙江孚宝智能科技有限公司 | Control method and chip of intelligent robot |
| CN117301074B (en) * | 2023-11-17 | 2024-04-30 | 浙江孚宝智能科技有限公司 | Control method and chip of intelligent robot |
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