CN210573354U - Robot control system based on Ethernet architecture - Google Patents
Robot control system based on Ethernet architecture Download PDFInfo
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- CN210573354U CN210573354U CN201921654209.4U CN201921654209U CN210573354U CN 210573354 U CN210573354 U CN 210573354U CN 201921654209 U CN201921654209 U CN 201921654209U CN 210573354 U CN210573354 U CN 210573354U
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Abstract
The utility model discloses a robot control system based on Ethernet architecture, which comprises a server (1), a master control cabinet (2), a station control box (3), a robot control cabinet (4), a robot gripper control system (5) and a production library; a PLC (21) of the main control cabinet is interconnected with the server through an Ethernet (7), and an Ethernet module (22) of the main control cabinet is interconnected with the robot control cabinet and the production library; an Ethernet switch (32) of the station control box is interconnected with the PLC and the man-machine interaction terminal through Ethernet; the robot gripper control system comprises a 3D visual sensor (51) and an input/output port (521) thereof, the 3D visual sensor (51) and the robot gripper (52) of the robot gripper control system are connected with the robot control cabinet, and the robot gripper is interconnected with the PLC controller through the Ethernet module via the input/output port. The utility model discloses can realize the flexibility control to the robot orbit based on the ethernet communication and through PLC control.
Description
Technical Field
The utility model relates to a control system of car production robot especially relates to a robot control system based on ethernet framework.
Background
With the rapid development of industrial production, the automobile production line in the prior art can meet the requirement of mass production. However, with the continuous change of market demands, for example, the types and numbers of automobiles are more and more, the hybrid production is required, the customization degree of the automobiles is higher and higher, the functions of software and hardware of the automobiles are improved, and the like, the automobile production robot and the control system thereof in the prior art cannot meet the production rhythm and the flexible production requirement, so that the production efficiency is reduced and the production cost is increased.
Disclosure of Invention
An object of the utility model is to provide a robot control system based on ethernet framework can realize the flexibility control to the robot orbit based on the ethernet communication and through PLC control.
The utility model discloses a realize like this:
a robot control system based on an Ethernet architecture comprises a server, a main control cabinet, a station control box, a robot control cabinet, a robot gripper control system and a production library; the PLC controller of the main control cabinet is interconnected with the server through Ethernet, and an Ethernet module is arranged in the main control cabinet and is interconnected with the robot control cabinet and the production library through the Ethernet module; the station control box is provided with a human-computer interaction terminal and an Ethernet switch, the Ethernet switch is interconnected with the PLC through an Ethernet module of the main control cabinet through the Ethernet, and the Ethernet switch is interconnected with the human-computer interaction terminal through the Ethernet; the robot gripper control system comprises a 3D vision sensor, a robot gripper and an input/output port of the robot gripper, the 3D vision sensor is connected with the robot control cabinet, the robot gripper is connected with the robot control cabinet through a connecting plate, and the robot gripper is interconnected with the PLC through an Ethernet module of the master control cabinet through the input/output port.
The production libraries comprise a first production library and a second production library, the first production library is provided with a code scanner and a first proximity switch, and the second production library is provided with a second proximity switch; the code scanner is interconnected with the PLC through an Ethernet module of the main control cabinet through Ethernet, and the first proximity switch and the second proximity switch are connected with the PLC.
The robot gripper is composed of a plurality of vacuum chucks, and each vacuum chuck is independently controlled through a chuck control assembly in one-to-one correspondence.
The sucker control assembly comprises a vacuum valve and a vacuum breaking valve, and the vacuum valve and the vacuum breaking valve are respectively connected with the input/output port.
The sucker control assembly further comprises a vacuum sensor, and the vacuum sensor is connected with the input/output port.
The sucker control assembly further comprises an ultrasonic sensor, and the ultrasonic sensor is connected with the input/output port.
Compared with the prior art, the utility model, following beneficial effect has:
1. the utility model discloses owing to be equipped with the ethernet module, realized the communication interconnection between inside and the internet of network.
2. The utility model discloses owing to be equipped with 3D vision sensor, can realize through modes such as flat deviation compensation of user coordinate system that the robot tongs snatchs, deposits and the operation of sequencing to spare parts such as glass to better satisfy the production beat.
3. The utility model discloses owing to be equipped with intelligent human-computer interaction terminal, the operation orbit control of accurate and flexibility is realized to the robot tongs that can cooperate automated control.
The utility model discloses realize the communication interconnection based on ethernet module, realize the flexibility control to the robot orbit through PLC controller and cooperation 3D visual system and human-computer interaction system to realize the flexibility control of robot and the requirement of vision guide operation, be applicable to in the industrial production fields such as automobile production.
Drawings
Fig. 1 is an architecture diagram of the robot control system based on the ethernet architecture of the present invention.
In the figure, 1 server, 2 master control cabinet (MCP), 21 PLC controller, 22 ethernet module, 3-position control box, 31 human-computer interaction terminal (HMI), 32 ethernet switch, 4 robot control cabinet, 5 robot gripper control system, 513D vision sensor, 52 robot gripper, 521 input/output port, 522 vacuum valve, 523 vacuum breaker, 524 solenoid valve, 525 vacuum sensor, 526 ultrasonic sensor, 6 production library, 61 first production library, 611 code scanner, 612 first proximity switch, 62 second production library, 621 second proximity switch, 7 ethernet.
Detailed Description
The invention will be further explained with reference to the drawings and the specific embodiments.
Referring to fig. 1, a robot control system based on an ethernet architecture includes a server 1, a master control cabinet (MCP) 2, a station control box 3, a robot control cabinet 4, a robot gripper control system 5, and a production library 6; a PLC (programmable logic controller) 21 of the main control cabinet 2 is interconnected with the server 1 through an Ethernet 7, and an Ethernet module 22 is arranged in the main control cabinet 2 and is interconnected with the robot control cabinet 4 and the production library 6 through the Ethernet module 22; the station control box 3 is provided with a human-machine interaction terminal (HMI) 31 and an Ethernet switch 32, the Ethernet switch 32 is interconnected with the PLC 21 through the Ethernet by the Ethernet module 22 of the main control cabinet 2, and the Ethernet switch 32 is interconnected with the human-machine interaction terminal 31 through the Ethernet; the robot gripper control system 5 comprises a 3D visual sensor 51, a robot gripper 52 and an input/output port 521 thereof, the 3D visual sensor 51 is connected with the robot control cabinet 4, the 3D visual sensor 51 sends 3D image information to the robot gripper control system 5, the robot gripper 52 is connected with the robot control cabinet 4 through a connecting plate, is convenient to detach and replace, and is interconnected with the PLC 21 through the Ethernet module 22 of the main control cabinet 2 through the input/output port 521.
The production library 6 comprises a first production library 61 and a second production library 62, wherein the first production library 61 is provided with a code scanner 611 and a first proximity switch 612 for detecting whether a bin on a station of the first production library 61 is in place, and the second production library 62 is provided with a second proximity switch 621 for detecting whether a bin on a station of the second production library 62 is in place; the code scanner 611 is interconnected with the PLC controller 21 through the ethernet via the ethernet module 22 of the main control cabinet 2, and both the first proximity switch 612 and the second proximity switch 621 are connected with the PLC controller 21. The barcode scanner 611 is used to scan a barcode corresponding to each car, so as to determine production information such as a car type.
The robot gripper 52 is composed of a plurality of vacuum chucks, each vacuum chuck is independently controlled through a corresponding chuck control assembly on a vacuum valve island arranged on the station control box 3, and the stability of the vacuum chucks for gripping materials is improved, so that the robot gripper 52 is flexibly and accurately controlled.
The sucker control assembly comprises a vacuum valve 522, a vacuum breaking valve 523 and an electromagnetic valve 524, the vacuum valve 522, the vacuum breaking valve 523 and the electromagnetic valve 524 are respectively connected with the input/output port 521, and the electromagnetic valve 524 is used for controlling the on-off of compressed air, so that the vacuum valve 522 and the vacuum breaking valve 523 are controlled to control the sucker to grab, store and sort materials.
The sucker control assembly further comprises a vacuum sensor 525, and the vacuum sensor 525 is connected with the input/output port 521 and used for detecting the vacuum degree of the sucker and serving as a condition for adjusting the grabbing performance of the sucker.
The sucker control assembly further comprises an ultrasonic sensor 526, and the ultrasonic sensor 526 is connected with the input/output port 521 and used for detecting the distance between the gripper and materials such as glass at each position in the material box, so that the robot gripper 52 can conveniently grip the appropriate materials. Preferably, one or more input/output ports 521 may be provided to facilitate connection, digital signal communication, and control of various valve bodies, sensors, and the like with the PLC controller 21 through an ethernet network.
Preferably, the outer shell of the robot gripper 52 can adopt a lightweight design structure of an aluminum alloy profile, and the load capacity of the robot gripper is ensured to be more than 20kg, so that the reliability of gripping materials is further ensured.
The main control cabinet 2 is internally provided with electric control system components such as a direct current power supply and a circuit breaker, and the PLC 21 of the main control cabinet 2 realizes interconnection communication with the human-computer interaction terminal 31, the robot control cabinet 4 and the robot gripper 52 through the Ethernet module 22 and the Ethernet. Preferably, the PLC controller 21 may adopt a safety controller with a model 1756 GuardLogix, which has a dual-processor architecture, and the safety integration level reaches SIL 3. The PLC controller 21 is mainly composed of modules such as a 1756-a13 module, a 1756-PB75 module, a 1756-L73S module, a 1756-LSP module, a 2 × 1756-EN2T module, and a 1756-IB16I module, so as to complete data transfer processing and whole system control.
Preferably, the ethernet switch 32 may be a managed industrial ethernet switch with a model of scalnce X208, and mainly comprises modules, such as 1734-AENTR module, 1734-IB8S module, 1734-OB8 module, and 1734-IB8 module.
The 3D vision sensor 51 is used for identifying whether glass exists in each groove position on the material rack or not and judging the type of the glass, the 3D vision sensor 51 is controlled and managed by the PLC controller 21, the 3D vision sensor 51 transmits 3D influences to the robot control cabinet 4 and transmits the 3D influences to the PLC controller 21 through the Ethernet module 22 by the robot control cabinet 4, and therefore the PLC controller 21 can control the robot gripper 52 to achieve grabbing, storage and flexible sequencing operation of various types of parts, the requirement of vision guide operation is achieved, and production beats are better met.
The safety signals of the robot gripper 52 are transmitted through the input/output port 521 and are used for signal access of emergency stop, safety grating, safety door and the like. The station control box 3 controls the operation of the robot hand grip 52, the vacuum valve island, the code scanner 611 photoelectric switch and other sensing elements and equipment through the operation buttons on the box body and the man-machine interaction terminal 31, so as to realize the accurate control of the robot track and indicate the operation state in the whole process.
The utility model discloses a main control cabinet (MCP) 2, station control box 3, robot control cabinet 4, all kinds of intelligence such as robot tongs control system 5 equip and constitute the control layer, realize internet inside and internet interconnection based on ethernet, system configuration, human-computer interface design, work or material rest (case) detect the mistake proofing to realize that the production site is got and is put and the sequencing function, formed the comprehensive solution of digitization, networking and intellectuality, be applicable to among the industrial production assembly lines such as car production.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, therefore, any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (6)
1. A robot control system based on an Ethernet architecture is characterized in that: the system comprises a server (1), a master control cabinet (2), a station control box (3), a robot control cabinet (4), a robot gripper control system (5) and a production library (6); a PLC (21) of the main control cabinet (2) is interconnected with the server (1) through an Ethernet (7), and an Ethernet module (22) is arranged in the main control cabinet (2) and is interconnected with the robot control cabinet (4) and the production library (6) through the Ethernet module (22); the station control box (3) is provided with a human-computer interaction terminal (31) and an Ethernet switch (32), the Ethernet switch (32) is interconnected with the PLC (21) through an Ethernet via an Ethernet module (22) of the main control cabinet (2), and the Ethernet switch (32) is interconnected with the human-computer interaction terminal (31) through the Ethernet; the robot gripper control system (5) comprises a 3D visual sensor (51), a robot gripper (52) and an input/output port (521) of the robot gripper, the 3D visual sensor (51) is connected with the robot control cabinet (4), the robot gripper (52) is connected with the robot control cabinet (4) through a connecting plate, and is interconnected with the PLC controller (21) through an Ethernet module (22) of the main control cabinet (2) through the input/output port (521).
2. The ethernet architecture based robot control system of claim 1, wherein: the production library (6) comprises a first production library (61) and a second production library (62), the first production library (61) is provided with a code scanner (611) and a first proximity switch (612), and the second production library (62) is provided with a second proximity switch (621); the code scanner (611) is interconnected with the PLC controller (21) through an Ethernet module (22) of the main control cabinet (2), and the first proximity switch (612) and the second proximity switch (621) are both connected with the PLC controller (21).
3. The ethernet architecture based robot control system of claim 1, wherein: the robot gripper (52) is composed of a plurality of vacuum chucks, and each vacuum chuck is independently controlled through a chuck control assembly in one-to-one correspondence.
4. The ethernet architecture based robot control system of claim 3, wherein: the sucker control assembly comprises a vacuum valve (522), a vacuum breaking valve (523) and an electromagnetic valve (524), and the vacuum valve (522), the vacuum breaking valve (523) and the electromagnetic valve (524) are respectively connected with the input/output port (521).
5. An Ethernet based robot control system as claimed in claim 3 or 4, wherein: the sucker control assembly further comprises a vacuum sensor (525), and the vacuum sensor (525) is connected with the input/output port (521).
6. An Ethernet based robot control system as claimed in claim 3 or 4, wherein: the sucker control assembly further comprises an ultrasonic sensor (526), and the ultrasonic sensor (526) is connected with the input/output port (521).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921654209.4U CN210573354U (en) | 2019-09-30 | 2019-09-30 | Robot control system based on Ethernet architecture |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921654209.4U CN210573354U (en) | 2019-09-30 | 2019-09-30 | Robot control system based on Ethernet architecture |
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| CN210573354U true CN210573354U (en) | 2020-05-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115302542A (en) * | 2022-07-19 | 2022-11-08 | 中国第一汽车股份有限公司 | Multi-vehicle-type universal on-line automatic point inspection robot gripper system, method and equipment and storage medium |
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2019
- 2019-09-30 CN CN201921654209.4U patent/CN210573354U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115302542A (en) * | 2022-07-19 | 2022-11-08 | 中国第一汽车股份有限公司 | Multi-vehicle-type universal on-line automatic point inspection robot gripper system, method and equipment and storage medium |
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