CN212553842U

CN212553842U - Communication system of industrial robot equipment and industrial robot equipment applying same

Info

Publication number: CN212553842U
Application number: CN202020567986.1U
Authority: CN
Inventors: 刘浪; 张文斌
Original assignee: Beijing CHL Robotics Co ltd
Current assignee: Beijing CHL Robotics Co ltd
Priority date: 2020-04-16
Filing date: 2020-04-16
Publication date: 2021-02-19
Anticipated expiration: 2030-04-16

Abstract

The utility model relates to a communication system of industrial robot equipment, which comprises an execution unit, a storage unit, a visual detection unit, a polishing unit, a sorting unit, a press-fitting unit, a robot unit, a PLC module and a laser marking unit, wherein, industrial robot equipment carries out the during operation with the laser marking mode, the first communication interface of PLC module and pressure equipment unit, the first communication interface of laser marking unit, the storage unit, the unit of polishing, adopt first communication mode to communicate between the first communication interface of execution unit and letter sorting unit respectively, the PLC module and visual detection unit, the robot unit, adopt second communication mode to communicate between the second communication interface of laser marking unit and the second communication interface of letter sorting unit respectively, adopt the third communication mode to communicate between the second communication interface of PLC module and pressure equipment unit. The utility model provides a communication system can guarantee the unblocked stability of information exchange between the integrated multiple function module unit of industrial robot.

Description

Communication system of industrial robot equipment and industrial robot equipment applying same

Technical Field

The utility model relates to an industrial robot communication technical field especially relates to an industrial robot equipment's communication system and use its industrial robot equipment.

Background

At present, industrial robots for high-level intelligent manufacturing information teaching generally focus on teaching of various capabilities of automation equipment technologies, so that students are required to participate in complete project cycles of system function analysis, system integration design, cost control, layout planning to installation and deployment, programming debugging, optimization and improvement and the like, and the technical application, technical innovation and coordination capability of the students are inspected. In order to meet the current teaching requirements, a communication system of an industrial robot device is absolutely required to ensure information exchange among various functional module units integrated by the industrial robot.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

In view of the above-mentioned shortcoming, not enough of prior art, the utility model provides an industrial robot equipment's communication system and use its industrial robot equipment.

(II) technical scheme

In order to achieve the above object, the utility model discloses a main technical scheme include:

a communication system of industrial robot equipment comprises an execution unit, a storage unit, a visual detection unit, a polishing unit, a sorting unit, a press-fitting unit, a robot unit, a PLC module and a laser marking unit, wherein,

when the industrial robot equipment works in a laser marking mode, the PLC module is communicated with the first communication interface of the press-fitting unit, the first communication interface of the laser marking unit, the storage unit, the polishing unit, the execution unit and the first communication interface of the sorting unit in a first communication mode respectively, the PLC module is communicated with the visual detection unit, the robot unit, the second communication interface of the laser marking unit and the second communication interface of the sorting unit in a second communication mode respectively, and the PLC module is communicated with the second communication interface of the press-fitting unit in a third communication mode.

Preferably, the PLC module comprises a master control PLC, a first slave station PLC and a second slave station PLC, the master control PLC is communicated with the first slave station PLC in a first communication mode, and the first slave station PLC is communicated with the second slave station PLC in a first communication mode.

Preferably, the second slave station PLC is integrally arranged in the execution unit, the second slave station PLC communicates with a first huatai module and a servo motor controller in the execution unit in a third communication mode, the first slave station PLC communicates with a second huatai module in the execution unit in the first communication mode, the first huatai module communicates with the second huatai module in the third communication mode, and the first huatai module communicates with a six-axis robot in the execution unit in the fourth communication mode.

Preferably, the first communication mode is a Profinet communication mode, the second communication mode is a TCP/IP communication mode, the third communication mode is an IO communication mode, and the fourth communication mode is a DeviceNet communication mode.

Preferably, the master control PLC is in TCP/IP communication with a laser marking machine in the laser marking unit through an industrial switch, and the master control PLC is in TCP/IP communication with an RFID module in the sorting unit;

the master control PLC is used for carrying out IO communication with the four-axis robot in the robot unit through a first Huatai module in the robot unit, and the visual detection unit is used for carrying out TCP communication with the four-axis robot.

Preferably, the master control PLC further performs Profinet communication with a second huatai module in the press-fitting unit and a second huatai module in the laser marking unit, respectively.

Preferably, the master control PLC further performs IO communication with the stepping motor and the driving module in the press-fitting unit.

Preferably, the first slave station PLC is in Profinet communication with a second huatai module in the sorting unit, a second huatai module in the polishing unit and a second huatai module in the warehousing unit, respectively.

The technical scheme also provides industrial robot equipment, which comprises the communication system of the industrial robot equipment in any scheme.

(III) advantageous effects

The utility model has the advantages that: the utility model provides a pair of communication system of industrial robot equipment and use its industrial robot equipment has following beneficial effect:

the communication system can ensure smooth and stable information communication among various functional module units integrated by the industrial robot.

The industrial robot equipment applying the communication system enables a student to participate in complete project cycles of system function analysis, system integration design, cost control, layout planning to installation and deployment, programming debugging, optimization improvement and the like, and the technical application, technical innovation and coordination capability of the student are inspected. The talent culture quality of related majors in intelligent manufacturing of higher vocational schools is improved, and the application of an intelligent manufacturing technology is further promoted.

Drawings

Fig. 1 is a schematic communication overview of a communication system of an industrial robot apparatus according to the present invention;

fig. 2 is a schematic structural diagram of an execution unit in an industrial robot system provided by the present invention;

fig. 3 is a schematic structural diagram of a storage unit in an industrial robot system according to the present invention;

fig. 4 is a schematic structural diagram of a polishing unit in an industrial robot system provided by the present invention;

fig. 5 is a schematic structural diagram of a visual detection unit in an industrial robot system provided by the present invention;

fig. 6 is a schematic structural diagram of a tool unit in an industrial robot system according to the present invention;

fig. 7 is a schematic structural diagram of a sorting unit in an industrial robot system according to the present invention;

fig. 8 is a schematic structural diagram of a press-fitting unit in an industrial robot system according to the present invention;

fig. 9 is a schematic structural diagram of a laser unit in an industrial robot system provided by the present invention;

fig. 10 is a schematic structural diagram of a robot unit in an industrial robot system according to the present invention;

fig. 11 is the utility model provides a pair of the structure schematic diagram of total accuse unit in industrial robot system.

Detailed Description

For a better understanding of the present invention, reference will now be made in detail to the present invention, examples of which are illustrated in the accompanying drawings.

As shown in fig. 1: the embodiment discloses a communication system of industrial robot equipment, which comprises an execution unit, a storage unit, a visual detection unit, a grinding unit, a sorting unit, a press-fitting unit, a robot unit, a PLC module and a laser marking unit, wherein,

The PLC module in this embodiment includes always controlling PLC, first slave station PLC and second slave station PLC, always controlling PLC with adopt first communication mode to communicate between the first slave station PLC, first slave station PLC with adopt first communication mode to communicate between the second slave station PLC.

In this embodiment, the second slave station PLC is integrally disposed in the execution unit, the second slave station PLC communicates with a first huatai module and a servo motor controller in the execution unit in a third communication manner, the first slave station PLC communicates with a second huatai module in the execution unit in the first communication manner, the first huatai module communicates with the second huatai module in the third communication manner, and the first huatai module communicates with a six-axis robot in the execution unit in the fourth communication manner.

In this embodiment, the first communication mode is a Profinet communication mode, the second communication mode is a TCP/IP communication mode, the third communication mode is an IO communication mode, and the fourth communication mode is a DeviceNet communication mode.

In this embodiment, the master control PLC performs TCP/IP communication with the laser marking machine in the laser marking unit through the industrial switch, and the master control PLC performs TCP/IP communication with the RFID module in the sorting unit;

In this embodiment, the master control PLC further performs Profinet communication with the second huatai module in the press-fitting unit and the second huatai module in the laser marking unit, respectively.

In this embodiment, the master control PLC further performs IO communication with the stepping motor and the driving module in the press-fitting unit.

In this embodiment, the first slave station PLC performs Profinet communication with the second huatai module in the sorting unit, the second huatai module in the polishing unit, and the second huatai module in the warehousing unit, respectively.

It should be noted that: the information flow of each unit in this embodiment is as follows:

profinet communication is walked in information interaction between total PLC and slave station PLC

Profinet communication is carried out between a master control PLC and a laser unit and between a Huatai module of a press-mounting unit

IO communication is walked between total PLC and four-axis robot

Modbus-TCP communication between master control PLC and RFID

TCP communication between master control PLC and laser marking machine

IO communication between slave station PLC and six-axis robot through Huatai module

Profinet communication is walked between total PLC and storage unit, unit of polishing, execution unit Huatai module

IO communication between six-axis robot and execution unit PLC

Walking DeviceNet communication between six-axis robot and Huatai module

TCP communication between four-axis robot and camera

WINCC → total control PLC manual and automatic mode, stock bin numbering, position with tire of four-axis unit, product sorting mode information

Button → Master control PLC

Master control PLC → slave station PLC → execution unit Huatai → six-axis robot Huatai start IO

Storage unit

Six-axis robot Huatai → execution unit PLC → servo laser removal unit tool bit, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

652 board card → electromagnetic valve grasping tool IO of six-axis robot

Six-axis robot Huatai → execution unit PLC → servo deportation and storage location, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

Six-axis robot Huatai → execution unit Huatai → slave station PLC request grabbing IO

Slave station PLC → execution unit Huatai → solenoid valve cylinder extension

Magnetic switch → execution unit Huatai → slave station PLC IO in place

Slave station PLC → execution unit Huatai → six-axis robot Huatai in place and IO taking permission

652 board card → electromagnetic valve grabbing IO of six-axis robot

Six-axis robot Huatai → execution unit Huatai → slave station PLC captures and completes IO

Slave station PLC → execution unit Huatai → electromagnetic valve cylinder retraction IO

Polishing unit

Six-axis robot Huatai → execution unit PLC → servo polishing unit No. 1, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

Six-axis robot Huatai → execution unit Huatai → slave station PLC request placement IO

Slave station PLC → execution unit Huatai → six-axis robot Huatai allowing placement of IO

652 board card → solenoid valve placement IO of six-axis robot

Six-axis robot Huatai → execution unit Huatai → slave station PLC placement completion IO

Slave station PLC → polishing unit Huatai → electromagnetic valve clamping IO

Magnetic switch → polishing unit Huatai → slave station PLC clamping to complete IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

652 board card → electromagnetic valve grasping tool IO of six-axis robot

Six-axis robot Huatai → execution unit PLC → servo to polish No. 1 bit, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

652 board card → relay → motor grinding IO of six-axis robot

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

652 board card → electromagnetic valve switching grasping tool IO of six-axis robot

Six-axis robot Huatai → execution unit PLC → servo polishing unit No. 2 bit, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

Slave station PLC → polishing unit Huatai → electromagnetic valve turnover IO

Magnetic switch → polishing unit Huatai → slave station PLC IO in place

Slave station PLC → execution unit Huatai → six-axis robot Huatai allowing carrying IO

652 board card → electromagnetic valve carrying IO of six-axis robot

Six-axis robot Huatai → execution unit PLC → servo polishing unit No. 1, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

Six-axis robot Huatai → execution unit Huatai → slave station PLC request blowing IO

Slave station PLC → polishing unit Huatai → electromagnetic valve blowing IO

Slave station PLC → execution unit Huatai → six-axis robot Huatai blowing to complete IO

Six-axis robot Huatai → execution unit PLC → servo pressure-relief unit put hub, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

Six-axis robot Huatai → execution unit Huatai → slave station PLC → master control PLC for placing IO

Total control PLC → press-fitting stepping movement IO

Travel switch → press-mounting unit Huatai → general control PLC moves to IO

Master control PLC → slave station PLC → execution unit Huatai → six-axis robot Huatai allows IO release

652 board card → solenoid valve placement IO of six-axis robot

Laser unit

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

652 board card → electromagnetic valve switching tool IO of six-axis robot

Six-axis robot Huatai → execution unit PLC → servo laser removing unit marking position, IO

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

Six-axis robot Huatai → execution unit Huatai → slave station PLC → master control PLC for requesting to grab tag IO

General control PLC → laser unit Huatai → relay → laser host start IO

Master control PLC → laser host marking TCP

Laser host → relay → laser unit Huatai → general control PLC marks and accomplishes IO

Master control PLC → slave station PLC → execution unit Huatai → six-axis robot Huatai allowed to fetch IO

652 board card → electromagnetic valve grabbing IO of six-axis robot

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

652 board card → solenoid valve placement IO of six-axis robot

Six-axis robot Huatai → execution unit Huatai → slave station PLC → master control PLC for placement of IO completion

Servo → execution Unit PLC → six-axis robot Huatai in-place feedback IO

652 board card → solenoid valve placing tool return IO of six-axis robot

Six-axis robot Huatai → execution unit PLC → servo origin of return, IO

Photoelectricity → execution unit PLC → six-axis robot Huatai origin point completion IO

Press-fitting unit

General control PLC → press-fitting step-in press-in car position IO

General control PLC → Press mounting Unit Huatai → electromagnetic valve train pressing logo IO

Magnetic switch → press-mounting unit Huatai → general control PLC IO in place

Pressure digital display → press-mounting unit Huatai → master control PLC whether pressure exceeds IO limit

General control PLC → press-mounting unit Huatai → electromagnetic valve press-mounting mark cylinder retraction IO

General control PLC → Press fitting step-in tire placing position IO

Total control PLC → four-axis robot IO that targets in place

Total control PLC → four-axis robot tire position IO

Four-axis robot → solenoid valve grabs wheel hub tire and places IO

Four-axis robot → general control PLC places and accomplishes IO

General control PLC → press-fitting stepping-in pinch roller tire position IO

General control PLC → press-mounting unit Huatai → electromagnetic valve tire pressing cylinder retraction IO

General control PLC → press-fitting step-by-step removal of pilot cone position IO

Total control PLC → four-axis robot IO that targets in place

Four-axis robot → solenoid valve grabs wheel hub tire and places IO

Four-axis robot → camera detection TCP

Camera → four-axis robot detection result TCP

Four-axis robot → general control PLC detection result IO

Four-axis robot → total PLC put letter sorting belt IO that targets in place

Master control PLC → slave station PLC sorting position, starting Profinet

Sorting unit

Photoelectricity → sorting Unit Huatai → Slave station PLC → Master station PLC IO in place

Master control PLC → RFID reader reads information TCP

Total control PLC → slave station PLC sorting position Profinet

Slave station PLC → sorting Unit Huatai → electromagnetic valve blocking IO

Slave station PLC → sorting unit Huatai → frequency converter start IO

Photoelectricity → sorting Unit Huatai → slave station PLC IO in place

Slave station PLC → sorting unit Huatai → electromagnetic valve push IO

Magnetic switch → sorting Unit Huatai → slave station PLC push in place IO

Photoelectricity → sorting Unit Huatai → from station PLC to product warehouse IO

Slave station PLC → sorting Unit Huatai → electromagnetic valve positioning IO

Magnetic switch → sorting Unit Huatai → slave station PLC location IO

Slave station PLC → master control PLC to complete Profinet

The embodiment further provides an industrial robot apparatus including: the device comprises an execution unit, a storage unit, a visual detection unit, a polishing unit, a tool unit, a sorting unit, a press fitting unit, a robot unit, a master control unit, a laser unit and a communication system of the industrial robot equipment.

More detailed description of each unit is as follows:

execution unit

The execution unit is an execution terminal for product conversion and customized processing among units, is a core unit of an application platform, and is composed of a workbench, an industrial robot, a control cabinet, a translation sliding table, a quick change tool, a remote IO module and other components, as shown in fig. 2. The industrial robot body provides four different famous brands (ABB, KUKA, FUNAC and Efft) selection at home and abroad, and the six-degree-of-freedom can enable the industrial robot body to freely move in a working space to pick up parts or process the parts in different postures; the translation sliding table is used as an industrial robot expansion shaft, so that the reachable working space of the industrial robot is enlarged, and a complex process flow can be completed by matching with more functional units; the motion parameter information of the translation sliding table, such as speed, position and the like, is transmitted to the PLC by the industrial robot controller through a field IO signal, so that the servo motor is controlled to realize linear motion; the quick-change tool male head is arranged on a flange at the tail end of the industrial robot and can be matched with the quick-change tool female head, so that the automatic replacement of the industrial robot tool is realized; the remote IO module interacts with the master control unit through the industrial Ethernet according to the process control signal of the execution unit.

Storage unit

The storage unit is used for temporarily storing parts and comprises a workbench, a double-layer stereoscopic warehouse, a remote IO module, a photoelectric sensor and other components, as shown in fig. 3. The stereoscopic warehouse has a double-layer six-bin structure, and each bin can store one part; the bin supporting plate can be pushed out, so that the industrial robot can conveniently take and place parts in an unused mode; each bin is provided with a sensor and an indicator light, so that whether parts are stored in the current bin or not can be detected, and the state can be displayed; all cylinder actions and sensor signals of the storage unit are transmitted to the master control unit through the remote IO module through the industrial Ethernet.

Polishing unit

The polishing unit is a tool jig for finishing the polishing process of the surface of the part, and comprises a workbench, a polishing station, a rotating station, a turnover tool, a scrap blowing station, a protective cover, a remote IO module and other components, as shown in figure 4. The grinding station can accurately position the part and stably clamp the part, and is a main station for realizing grinding processing; the rotary station can accurately fix the part and drive the part to rotate 180 degrees along the axis of the part, so that the polishing area can be conveniently switched; the turnover tool realizes the transfer of the parts at the grinding station and the rotating station without the participation of an execution unit, and completes the turnover of the parts; the scrap blowing station can realize the function of blowing off the scraps after the part finishes the grinding process; all cylinder actions and sensor signals of the polishing unit are transmitted to the master control unit through the remote IO module and the industrial Ethernet.

Visual inspection unit

The visual detection unit can complete the functions of detecting and identifying parts according to different requirements, and comprises an annular light source, an industrial camera, a light source controller, a CCD (charge coupled device) controller, a workbench and the like, as shown in figure 5. The intelligent vision can realize the functions of bar code identification, shape matching, color detection, size measurement and the like according to different program settings, and the operation process and the result are displayed by a display; the program selection, the detection execution and the result output of the visual detection unit are transmitted to the industrial robot of the execution unit through the industrial Ethernet, and the result information is transmitted to the master control unit by the industrial robot, so that the subsequent work flow is determined. The vision lens is matched with the detection light source, so that the influence of an environmental light source on a detection result can be avoided as much as possible. By adopting the inverted installation, the robot can hold parts for detection, peripheral corollary equipment is reduced, and the track action of the robot is simplified.

Tool unit

The tool unit for storing tools of different functions is an auxiliary unit of the execution unit and is composed of components such as a workbench, a tool support, a tool, a demonstrator support and the like, as shown in fig. 6. The industrial robot can install or release the tool to a specified position through program control; the tool unit provides 7 different types of tools such as grinding, polishing, clamping jaws and suckers, each tool is provided with a quick-change tool female head, can be matched with a quick-change tool male head installed on the robot body, achieves the purpose of no need of human intervention, can be freely switched among different tools, ensures that gas circuit and circuit signal communication are normal, and greatly expands the application capability of the industrial robot.

Sorting unit

The sorting unit can realize sorting actions of different parts according to programs and comprises a workbench, a transmission belt, a sorting mechanism, sorting stations, remote IO modules and other components, as shown in fig. 7. The transmission belt can transmit the parts placed at the starting position to the RFID module, the RFID reader-writer reads information of electronic chips on the parts and then transmits the information to the PLC, and the PLC controls the transmission belt to send the parts to the front of a corresponding sorting mechanism according to the information content; the sorting mechanism intercepts parts on the conveying belt at different positions according to program requirements and pushes the parts into a designated sorting station; the sorting station can accurately position the sliding-in parts through a positioning mechanism, and a sensor is arranged to detect whether the parts exist in the current station; the sorting unit has three sorting stations, and each station can store one part; all cylinder actions and sensor signals of the sorting unit are transmitted to the master control unit through the remote IO module through the industrial Ethernet.

Press-fitting unit

The press-fitting unit can be used for respectively installing the car logo and the tire on the wheel hub to realize the automatic assembly function and mainly comprises a press-fitting cylinder, a stepping motor, a linear motion mechanism, a travel switch, a force sensor, a digital display instrument, a remote IO module, a workbench and the like, as shown in figure 8. The stepping motor drives the linear motion mechanism to realize the movement of a press-mounting station, stations at two ends are used for realizing the loading and unloading of materials, and the press-mounting air cylinder respectively realizes the assembly of a vehicle logo and a tire part; the force sensor is used for measuring the force value in the press mounting process and displaying the force value on the digital display instrument in real time, and if the force value is larger than a set threshold value, the system gives an alarm so as to stop the assembly process; the travel switch can detect whether the sliding table moves beyond the limit.

All cylinder actions and sensor signals of the press-mounting unit are transmitted to the master control unit through the remote IO module through the industrial Ethernet.

Laser unit

The laser unit is used for printing car LOGO LOGO of different brands, realizes the icon customization function, and mainly comprises laser marking machine, well formula feed module, marking machine elevating system, long-range IO module etc. as shown in FIG. 9, the laser unit and the public same workstation of tool unit, the overall arrangement is compact, saves space. The well type work material module can push out a vehicle mark blank to a marking position according to a program, and the lifting mechanism of the marking machine is used for adjusting the height of the laser marking machine up and down, so that the focal distance of laser is adjusted, and the optimal printing effect is obtained; all cylinder actions and sensor signals of the laser unit are transmitted to the master control unit through the remote IO module through the industrial Ethernet.

Robot unit

The robot unit is used for conveying corresponding materials to the press-mounting unit, achieves the function of loading and unloading, simultaneously detects the unloading of the assembled finished products, and mainly comprises an SCARA robot, a robot tail end tool, a material storage module, a guide cone tool, a workbench and the like, as shown in figure 10.

According to the press-fitting control program, the SCARA robot uses a tail end tool to grab the guide cone and the tire materials to a feeding and discharging station of the press-fitting unit, after the press-fitting process is completed, the SCARA robot takes off the finished products and moves the finished products to the visual detection unit for detection, and after the detection is completed, the finished products are placed on a transmission belt of the sorting unit. The robot unit and the execution unit form a double-robot work assembly line, and can be combined to execute various different tasks.

General control unit

The master control unit is a master control end of each unit program execution and action flow, is a core unit of the workstation, and is composed of a workbench, a control module, an operation panel, a power supply module, an air source module, a display terminal, a switch, a tri-color lamp and other components, as shown in fig. 11. The control module consists of two PLCs and an industrial switch, the PLCs realize information interaction with each unit controller and the remote IO module through an industrial Ethernet, and a user can program by himself according to requirements to realize a flow function;

the operation panel is provided with a power switch, an emergency stop switch and a self-defined button; electricity and gas of other units of the application platform are provided by the master control unit, and quick connection is realized through the provided cables; the display terminal is used for displaying the upper computer control interface and displaying the simulation debugging software content, and the HMI human-computer interface can realize the functions of information monitoring, flow control, order management and the like for the application platform.

While embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that modifications, alterations, substitutions and variations may be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. A communication system of industrial robot equipment is characterized by comprising an execution unit, a storage unit, a visual detection unit, a polishing unit, a sorting unit, a press-fitting unit, a robot unit, a PLC module and a laser marking unit, wherein,

2. The communication system of an industrial robot apparatus according to claim 1, wherein the PLC module includes a master PLC, a first slave PLC, and a second slave PLC, the master PLC communicates with the first slave PLC in a first communication manner, and the first slave PLC communicates with the second slave PLC in a first communication manner.

3. The communication system of an industrial robot apparatus according to claim 2, wherein the second slave station PLC is integrally provided in the execution unit, the second slave station PLC communicates with a first huatai module and a servo motor controller in the execution unit in a third communication manner, respectively, the first slave station PLC communicates with a second huatai module in the execution unit in a first communication manner, the first huatai module communicates with the second huatai module in the execution unit in a third communication manner, and the first huatai module communicates with the six-axis robot in the execution unit in a fourth communication manner.

4. A communication system of an industrial robot apparatus according to claim 3, wherein the first communication means is a Profinet communication means, the second communication means is a TCP/IP communication means, the third communication means is an IO communication means, and the fourth communication means is a DeviceNet communication means.

5. The communication system of an industrial robot device according to claim 2, wherein the master PLC communicates TCP/IP with the laser marking machine in the laser marking unit through an industrial exchanger, and the master PLC communicates TCP/IP with the RFID module in the sorting unit;

6. The communication system of an industrial robot device according to claim 5, wherein the master control PLC further performs Profinet communication with a second Huatai module in the press-fitting unit and a second Huatai module in the laser marking unit, respectively.

7. An industrial robot apparatus communication system according to claim 5, characterized in that the master control PLC also communicates IO with the stepping motor and drive module in the press-fitting unit.

8. The communication system of an industrial robot device according to claim 2, characterized in that the first slave station PLC is in Profinet communication with the second watset module in the sorting unit, the second watset module in the polishing unit and the second watset module in the warehousing unit, respectively.

9. An industrial robot device characterized in that it comprises a communication system of an industrial robot device according to any of claims 1-8.