CN214818593U

CN214818593U - Robot control system

Info

Publication number: CN214818593U
Application number: CN202120402461.7U
Authority: CN
Inventors: 谭宝; 李鹏
Original assignee: Shanghai Step Robotics Co ltd
Current assignee: Shanghai Step Robotics Co ltd
Priority date: 2021-02-23
Filing date: 2021-02-23
Publication date: 2021-11-23
Anticipated expiration: 2031-02-23

Abstract

The embodiment of the utility model provides a relate to the robot field, disclose a robot control system. The utility model discloses in, robot control system includes: the system comprises a controller, a communication bus module and an IO module, wherein the communication bus module and the IO module are connected with the controller; the communication bus module includes: bus master station and bus slave station, the bus master station includes: EtherCAT main website interface and Canopen main website interface, bus slave station includes: an Anybus interface. The utility model provides a robot control system can realize the information interaction between the different equipment.

Description

Robot control system

Technical Field

The embodiment of the utility model provides a relate to the robot field, in particular to robot control system.

Background

In recent years, new technologies represented by the internet, big data, and artificial intelligence have been increasingly integrated with manufacturing industries, and development of intelligent manufacturing has been promoted. The application of the industrial robot also covers more extensive industries, such as automobile manufacturing, 3C electronic and electric, rubber and plastic, food, chemical industry, casting and other industries, the production is more and more intelligent, and the requirements of informatization, digitization, accuracy and the like are met.

The inventor finds that at least the following problems exist in the prior art: in some application scenarios, a plurality of robots are required to cooperate to meet certain process requirements, and data communication between different devices on site is not well solved.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model is to provide a robot control system can realize the information interaction between the different equipment.

In order to solve the above technical problem, an embodiment of the present invention provides a robot control system, including: the system comprises a controller, a communication bus module and an IO module, wherein the communication bus module and the IO module are connected with the controller; the communication bus module includes: bus master station and bus slave station, the bus master station includes: EtherCAT main website interface and Canopen main website interface, bus slave station includes: an Anybus interface.

Compared with the prior art, the embodiment of the utility model realizes the connection and communication between the controller and the servo drive through the EtherCAT main station interface, thereby controlling the operation control of multiple shafts, and more digital quantity or analog quantity IO channel expansion can be added through the EtherCAT main station interface, thereby meeting the field logic requirement; the controller is communicated with a Canopen slave station of the external equipment through a Canopen master station interface; through setting up different configurations to the Anybus interface, can realize the connection communication of bus slave station of controller and multiple different equipment, realized the information interaction between the different equipment.

In addition, the system also comprises a switching slave station module connected with the Anybus interface, and the switching slave station module is used for being connected with a bus slave station of external equipment.

In addition, the switching slave station module is used for being connected with any one of a Canopen bus slave station, a CC-Link bus slave station, a Devicenet bus slave station, an Ethernet IP bus slave station, a Profibus _ DP bus slave station and a Profinet bus slave station.

In addition, still include: and the RS232 bus interface is used for connecting and communicating the controller and the HMI human-machine interface when the communication distance is less than or equal to the preset distance.

In addition, still include: and the RS485 bus interface is connected with the controller and is used for connecting and communicating the controller and the HMI human-machine interface when the communication distance is greater than the preset distance. By the arrangement, the anti-interference capability of signals can be improved, and a long communication distance is realized.

In addition, still include: and the EtherNet universal network port is used for connecting and communicating the controller with any one of a PC (personal computer), a handheld demonstrator and a visual camera.

In addition, the IO module includes: the SPI bus that links to each other with the controller and with the STM32 chip that the SPI bus links to each other, STM32 is used for providing 16 way digital quantity IO and 4 way analog quantity IO. By the arrangement, the requirement of a user on an IO interface is met, the IO of the bus does not need to be expanded, and the cost is reduced.

In addition, still include: and the HDMI interface is connected with the controller and is used for being connected with the display screen. So set up, realized local visual.

In addition, the controller includes: and the OPC UA Server module is used for automatically triggering the controller to communicate with the client when the data value and the data state change. By the arrangement, data exchange and transmission among the devices based on different hardware architectures or different operating systems and between the devices and the factory are realized.

In addition, the controller includes: the Automation Server module is used for uploading the state and the application program version of the controller to a cloud end and connecting the controller with remote equipment to carry out remote debugging on the robot.

Drawings

Fig. 1 is a schematic diagram of a robot control system according to an embodiment of the present invention;

fig. 2 is a topological diagram of a robot control system in practical application according to an embodiment of the present invention;

fig. 3 is an architecture diagram of an OPC UA Server module according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a welding application site provided by the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will explain in detail each embodiment of the present invention with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in various embodiments of the invention, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

The utility model discloses an embodiment relates to a robot control system, as shown in FIG. 1, FIG. 2, FIG. 3, FIG. 4, include: controller 11, communication bus module 12 and IO module 13 all link to each other with controller 11, and communication bus module 12 includes: bus master station and bus slave station, the bus master station includes: EtherCAT master station interface 121 and CanOpen master station interface 122, bus slave station includes: an Anybus interface 123.

The controller 11 and the servo drive are connected and communicated through the EtherCAT master station interface 121, so that the operation control of multiple shafts is controlled. According to actual field requirements, a servo shaft can be conveniently added through the Ethercat bus. In a four-axis or six-axis robot control system, additional axes can be added through EtherCat to implement other processes. In addition, more digital quantity or analog quantity IO channel expansion can be added through the EtherCAT master station interface 121, and the field logic requirements are met.

A CanOpen master protocol is implemented on the controller 11, and communication between the controller 11 and a CanOpen slave of an external device is implemented through a CanOpen master interface 122. In addition, a protocol of an application layer may be written by itself on the basis of the Can protocol, for example, in this embodiment, the CanOpen master interface 122 supports not only the CanOpen master protocol but also a custom Socketcan protocol.

In an industrial field, the robot needs to perform information interaction with other different devices and complete operation together, and bus protocols needed by PLC devices in different application fields are inconsistent, so that bus diversification exists. The requirement for the interfaces of different bus slave stations on the controller 11 may cause the cost of the controller 11 to be too high, and in a specific application site, only one interface is used, and other bus protocol interfaces are not used, thereby causing resource waste. In order to solve the technical problem, in the present embodiment, by providing the Anybus interface 123 and setting different configurations for different devices, connection communication between the controller 11 and bus slaves of multiple different devices can be achieved, and information interaction between different devices is achieved.

Wherein, the controller 11 may be a CPU module, optionally, the robot control system may further include: and the switching slave station module (not shown) is connected with the Anybus interface 123 and is used for being connected with a bus slave station of an external device. Further, the slave transit module may be adapted to connect to any one of a CanOpen bus slave, a CC-Link bus slave, a Devicenet bus slave, an ethernet ip bus slave, a Profibus _ DP bus slave, and a Profinet bus slave. That is to say, for different application scenarios, only one external switching slave station module is required to be connected to realize communication with other PLCs.

In this embodiment, the robot control system may further include: and the RS232 bus 124 is connected with the controller 11, and the RS232 bus 124 interface is used for connecting and communicating the controller 11 with the HMI human-machine interface when the communication distance is less than or equal to the preset distance, so that the data of the controller 11 is displayed on the HMI interface in real time and/or an instruction is issued to the controller 11 through the HMI to operate the robot.

Optionally, the robot control system may further include: the RS485 bus interface 125 is connected with the controller 11, and the RS485 bus interface 125 is used for connecting and communicating the controller 11 and the HMI when the communication distance is larger than the preset distance, so that data of the controller 11 is displayed on the HMI in real time and/or an instruction is issued to the controller 11 through the HMI to operate the robot. And, the RS485 bus interface 125 can be used for networking to form a distributed system to realize multi-point interconnection when multiple machines are required to complete the operation cooperatively. That is, when one process flow may involve the cooperative operation of multiple robots, each robot performs one process, and not only IO signals but also information such as the working state and position of the front robot in parentheses are handed over to the next robot, so that the subsequent process makes corresponding judgment and action, and the RS485 bus interface 125 can realize the multi-robot cooperative operation on the production line to complete the process action.

In practical applications, the robot control system may further include: an EtherNet universal portal 126 connected to the controller 11, the EtherNet universal portal 126 may provide a data transmission environment, for example, the EtherNet universal portal 126 may be used for the controller 11 of the robot to communicate with any one of a PC computer, a handheld teach pendant, and a vision camera. That is, the EtherNet universal portal 126 can be used for PC computer program download, communication with the human machine interaction hand-held teach pendant of the robot to control the robot 11, and can communicate with other EtherNet portal devices, such as vision cameras, etc.

In order to solve the demand of the user to the IO interface, compare in the technique that causes cost increase through EtherCat bus expansion bus IO, through setting up IO module 13 in this embodiment, wherein, IO module 13 can include: an SPI bus (not shown) connected to the controller 11, and an STM32 chip (not shown) connected to the SPI bus, the STM32 is used to provide 16 digital IO channels and 4 analog IO channels, thereby expanding local 16DI/16DO and 4AI/4AO channels and reducing cost. In practical application, after receiving an external signal, the STM32 chip performs filtering processing, performs data interaction with the CPU through the SPI bus, and the CPU sends a command of the controller 11 to the STM32 chip through the SPI bus and sends the processed command to corresponding DO and AO outputs.

To achieve local visualization, the robot control system may further include: HDMI interface 127 that links to each other with controller 11, HDMI interface 127 is used for linking to each other with the display screen, information such as running state of robot all can show in real time on the HDMI display, so set up, avoided because of the interface of handheld demonstrator too little, the problem that needs that the information of every page of demonstration leads to too little turn over the page and show and bring inconvenience for the operator, and simultaneously, need not extra communication programming work, reduce development work, the real-time is better, the reliability is higher, realize local visual interface. Optionally, the display screen uses a screen supporting a touch function, so that the robot can be controlled by clicking the screen.

In order to implement data exchange and transmission between devices based on different hardware architectures or different operating systems, and between the devices and the plant, the controller 11 may further include: the OPC UA Server module 128 is used for automatically triggering the controller 11 to communicate with the client when the data values and the data states change, and although the devices of different manufacturers may have different hardware architectures and different operating systems, as long as the OPC protocol is supported, the OPC UA Server module can realize data intercommunication with the robot control system in the present embodiment, and realize all data exchange and sharing in a factory, thereby realizing factory intelligence.

Optionally, the controller 11 may further include: the Automation Server module 129 is used for uploading the state and the application program version of the controller 11 to the cloud end, so that a user can immediately check the state and the application program version of the controller 11 through a Web webpage and directly push out a new application program and a new firmware through a browser if necessary; the Automation Server module 129 may further connect the controller 11 with a remote device to perform remote debugging of the robot, specifically, the same application program may be used to perform centralized debugging on a plurality of controllers 11, and the remote protocol may be used for field debugging by users who are not familiar with the program.

In practical application, a CPU module in a control position in the robot control system has rich peripheral interfaces. For complex motion control, the requirement on computing power is high, and an X86 platform with good performance is selected; for application scenarios with high cost requirements and uncomplicated calculation, multiple peripheral interfaces are required, and an ARM platform with low power consumption and low cost is recommended to be selected. The system selects an open-source Linux system, and realizes the real-time requirement in a mode of opening a Preempt RT real-time patch.

As shown in fig. 3, for the field of welding applications, a variety of communication protocols are involved. Can utilize Canopen protocol bus and welding machine to communicate, the welding machine carries out welding parameter's setting, guarantees the welding effect. The welding robot A, the welding robot B, the carrying robot and the palletizing robot are communicated with each other by utilizing an OPC UA module through the equipment 1, and information sharing is realized. The device 1 can also upload the working state information of all the robots on the spot to the cloud end through the Automation Server module 129, so as to realize remote management and monitoring.

After the joint welding of the welding robot A and the welding robot B is completed, the equipment to be welded transmits the working state information to the equipment 1, so that the carrying robot and the palletizing robot can acquire the welding state, and corresponding preparation is made; after the welding parts are welded, the carrying robot carries the welding parts to a specified station, and then the stacking machine stacks the welding parts at a specified position; and finally, uploading the state information, the working position, the carrying quantity, the stacking quantity and the like of the whole field robot to a cloud end for online monitoring.

Compared with the prior art, the embodiment of the utility model realizes the communication between the controller 11 and the servo drive through the EtherCAT master station interface 121, thereby controlling the operation control of multiple shafts, and more digital quantity or analog quantity IO channel expansion can be added through the EtherCAT master station interface 121, thereby meeting the field logic requirement; the controller 11 communicates with the CanOpen slave station of the external device through the CanOpen master station interface 122; by setting different configurations for the Anybus interface 123, connection and communication between the controller 11 and bus slave stations of various different devices can be realized, and information interaction between different devices is realized.

It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.

Claims

1. A robotic control system, comprising: the system comprises a controller, a communication bus module and an IO module, wherein the communication bus module and the IO module are connected with the controller;

the communication bus module includes: bus master station and bus slave station, the bus master station includes: EtherCAT main website interface and Canopen main website interface, bus slave station includes: an Anybus interface.

2. The robot control system of claim 1, further comprising a transfer slave module connected to the Anybus interface, the transfer slave module for connection to a bus slave of an external device.

3. The robotic control system of claim 2, wherein the tandem slave module is configured to connect to any one of a Canopen bus slave, a CC-Link bus slave, a Devicenet bus slave, an Ethernet IP bus slave, a Profibus _ DP bus slave, and a Profinet bus slave.

4. The robot control system of claim 1, further comprising: and the RS232 bus interface is used for connecting and communicating the controller and the HMI human-machine interface when the communication distance is less than or equal to the preset distance.

5. The robot control system of claim 1, further comprising: and the RS485 bus interface is connected with the controller and is used for connecting and communicating the controller and the HMI human-machine interface when the communication distance is greater than the preset distance.

6. The robot control system of claim 1, further comprising: and the EtherNet universal network port is used for connecting and communicating the controller with any one of a PC (personal computer), a handheld demonstrator and a visual camera.

7. The robotic control system of claim 1, wherein the IO module comprises: the SPI bus that links to each other with the controller and with the STM32 chip that the SPI bus links to each other, STM32 is used for providing 16 way digital quantity IO and 4 way analog quantity IO.

8. The robot control system of claim 1, further comprising: and the HDMI interface is connected with the controller and is used for being connected with the display screen.

9. The robot control system of claim 1, wherein the controller comprises: and the OPC UA Server module is used for automatically triggering the controller to communicate with the client when the data value and the data state change.

10. The robot control system of claim 1, wherein the controller comprises: the Automation Server module is used for uploading the state and the application program version of the controller to a cloud end and connecting the controller with remote equipment to carry out remote debugging on the robot.