CN101559601A - Method and system for controlling manipulator - Google Patents
Method and system for controlling manipulator Download PDFInfo
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- CN101559601A CN101559601A CNA200910082709XA CN200910082709A CN101559601A CN 101559601 A CN101559601 A CN 101559601A CN A200910082709X A CNA200910082709X A CN A200910082709XA CN 200910082709 A CN200910082709 A CN 200910082709A CN 101559601 A CN101559601 A CN 101559601A
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Abstract
The invention discloses a method and a system for controlling a manipulator. The manipulator control method comprises that: a programmable terminal receives tutorial program data and sends the tutorial program data to a motion controller, wherein the tutorial program data are used for indicating the motion of a manipulator to finish the operations of picking and placing an injection molding product; the motion controller analyzes the received tutorial program data, and outputs a motion control signal to a manipulator driving device according to the tutorial program data; and the manipulator driving device controls the motion of the manipulator according to the motion control signal to finish the operations of picking and placing the injection molding product. By adopting the method combining the programmable terminal and the motion controller to control the manipulator, the motion of the manipulator can be simply and effectively controlled, and the control response is sensitive.
Description
Technical field
The present invention relates to control technology, particularly a kind of method for controlling robot and system.
Background technology
Along with the raising of production automation level, it is also more and more that the application machine hand automatically performs production task.For example, manipulator can be applied in the production of injecting products.Injection machine is a kind of plastic molding machinery of special use, and along with developing rapidly of plastic processing industry, the automaticity of injection molding apparatus is also more and more higher.Modern injection machine usually disposes manipulator, needs to use manipulator to pick up the product that injection machine is produced, and is placed into preposition, to enhance productivity.The injection machine hand can imitate the partial function of human upper limb, it is controlled automatically make it carry the goods or the instrument of managing to carry out production operation according to pre-provisioning request.The injection machine hand is to be the special machinery that is equipped with of the injection moulding production automation, and it can be in the production efficiency, the stabilized product quality that alleviate heavy manual labor, improve working conditions and keep the safety in production, improve injection machine, the rate of reducing the number of rejects and seconds, reduce production costs, strengthen aspect such as Enterprises'Competitiveness plays important role.
But, there is following defective in the manipulator of prior art aspect control: on the one hand, manipulator generally is as main logic unit with single-chip microcomputer, because the programing work more complicated of single-chip microcomputer, its internal processes solidifies, need exploitation separately, in case break down or the manipulator task changes and needs update routine.By the professional internal processes of single-chip microcomputer is write again, made and to utilize the operating flexibility that single-chip microcomputer controls manipulator and versatility is poor, cost height, exploitation are complicated, and control accuracy and efficient are not high; On the other hand, the manipulator of prior art belongs to air-driven type control, is to control robot movement with air pressure, causes mechanical hand-guided reaction speed slow, insensitive.
Summary of the invention
The purpose of this invention is to provide a kind of method for controlling robot and system, solve the complicated and uncurrent problem of manipulator control, realize to manipulator flexibly, high accuracy and high efficiency control, and control method is simple, convenient.
The invention provides a kind of method for controlling robot, comprising:
Programmable terminal receives the tutorial program data, and described tutorial program data are sent to motion controller; Described tutorial program data are used to indicate robot movement, to finish the operation that picks and places injecting products, comprise at least: the speed of the starting point coordinate of described robot movement and terminal point coordinate, described robot movement and acceleration and manipulator are at the operation indication information at described starting point coordinate and terminal point coordinate place;
Described motion controller is resolved the described tutorial program data that receive, and according to described tutorial program data to manipulator driving device output movement control signal;
Described manipulator driving device is controlled described robot movement according to described motion control signal, to finish the operation that picks and places injecting products.
The invention provides a kind of manipulator control system, comprise: programmable terminal, motion controller and manipulator driving device, described motion controller is connected with manipulator driving device with described programmable terminal respectively, and described manipulator driving device is connected with manipulator;
Described programmable terminal is used to receive the tutorial program data, and described tutorial program data are sent to described motion controller; Described tutorial program data are used to indicate described robot movement, pick and place the injecting products operation to finish, comprise at least: the speed of the starting point coordinate of described robot movement and terminal point coordinate, described robot movement and acceleration and manipulator are at the operation indication information at described starting point coordinate and terminal point coordinate place;
Described motion controller is used to resolve the described tutorial program data that receive, and according to described tutorial program data to described manipulator driving device output movement control signal;
Described manipulator driving device is used for controlling described robot movement according to the motion control signal of described motion controller output, to finish the operation that picks and places injecting products.
Method for controlling robot of the present invention and system control manipulator by the method that adopts programmable terminal and motion controller to combine, realized controlling flexibly and simply and effectively to manipulator, improved control efficiency and precision, and control is quick on the draw to manipulator.
Description of drawings
Fig. 1 is the flow chart of method for controlling robot first embodiment of the present invention;
Fig. 2 is the flow chart of method for controlling robot second embodiment of the present invention;
Fig. 3 is the structural representation of manipulator control system first embodiment of the present invention;
Fig. 4 is the structural representation of manipulator control system second embodiment of the present invention.
The specific embodiment
The inventor finds in realizing process of the present invention, adopt the core of motion controller as control system, it is a kind of movement control mode preferably that the mode that combines with programmable terminal and motion control is carried out motion control to manipulator, motion controller can receive the control data of programmable terminal input, and according to this control data output control signal target device is carried out motion control.The motion controller volume is little, programming is simple, control accuracy is high, easy for installation, and middle compared to existing technology use single-chip microcomputer can reduce the cost of exploitation and maintenance as main logic unit, and flexible operation, has versatility.The present invention promptly adopts motion controller that manipulator is carried out motion control.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Fig. 1 is the flow chart of method for controlling robot first embodiment of the present invention, and as shown in Figure 1, the present embodiment method for controlling robot comprises:
Before motion controller control manipulator automatically performs action, the instruction that needs elder generation how manipulator is moved, the operation of this instruction robot movement is called teaching operation.The user can be by the programmable terminal that is connected with the input of motion controller, such as: touch-screen, enter the teaching pattern, manually instruct manipulator to carry out action, and the tutorial program data that manual teaching is generated are kept in the teaching file.The user also can pass through programmable terminal, such as: touch-screen, above-mentioned tutorial program data are edited, these tutorial program data comprise the starting point coordinate of robot movement and terminal point coordinate, the motor pattern from the starting point coordinate to the terminal point coordinate (such as rectilinear motion mode), the speed of robot movement and acceleration and at the Robot actions indication information (overturning behind the coordinate place that reaching home such as the indication manipulator) at starting point coordinate and terminal point coordinate place.Programmable terminal is sent to motion controller with the tutorial program data that receive
Programmable terminal, such as: touch-screen, after sending the tutorial program data that receive to motion controller, motion controller loads the tutorial program data of above-mentioned preservation, these tutorial program data are resolved, and according to these tutorial program data to manipulator driving device output movement control signal, this motion control signal is used to indicate manipulator driving device control robot movement.
The present embodiment method for controlling robot is controlled manipulator by the method that adopts programmable terminal and motion controller to combine, and can control manipulator simply and effectively and move, and control is quick on the draw.
Fig. 2 is the flow chart of method for controlling robot second embodiment of the present invention, and as shown in Figure 2, the present embodiment method for controlling robot comprises:
Before motion controller control manipulator automatically performs action, the instruction that needs elder generation how manipulator is moved, the operation of this instruction robot movement is called teaching operation.Can give manipulator the work that needs manipulator to do demonstration by doing and illustrating by teaching, in demonstration program, manipulator can memorize exercises, generates the tutorial program data, and these tutorial program data are kept in the teaching file.Therefore, before teaching operation, need newly-built teaching file earlier.The programmable terminal that is connected with the input of motion controller receives the establishment teaching file instruction that the user sends, and enters the teaching pattern, newly-built teaching file.
This programmable terminal is used to carry out man-machine interaction, and the operation of all and user interactions realizes by this programmable terminal; It can adopt 8 cun liquid crystal touch screens.Touch-screen in the present embodiment can adopt programming touch-screen simple, convenient for installation and maintenance, for example prestige synthetic fibre touch-screen MT506T.
The user is passing through programmable terminal, such as: touch-screen, behind the newly-built teaching file, can send the teaching instruction to programmable terminal, enter the teaching editing pictures, carry out the program teaching operation, define and edit the action parameter of each step of manipulator behavior successively.Programmable terminal receives the mode of tutorial program data, in concrete the enforcement, can be for programmable terminal receive the tutorial program data of user with the process inediting setting of touch definition robot movement track, these tutorial program data are used to indicate robot movement to pick and place the injecting products operation to finish.For example, the user manually adjusts by touch-screen and the definition manipulator moves to the B point with linear fashion from the A point, and determines the coordinate data that this A point and B are ordered, and this coordinate data of 2 is saved in the teaching file.In addition, the user can also pass through programmable terminal, such as: touch-screen, the kinematic parameter corresponding with the movement locus of manipulator is set, such as the speed of robot movement and acceleration etc., motor pattern from the starting point coordinate to the terminal point coordinate (such as rectilinear motion mode) can also be provided with the operation that manipulator need be carried out at the starting point and the destination county of robot movement, such as actions such as upsets.The user also can pass through programmable terminal, and such as touch-screen, the tutorial program data that teaching operation is generated are made amendment such as position data and speed parameter data etc. or are provided with.
Because in the present embodiment, when the robot movement track of teaching changes, operating personnel only need manual teaching to go out needed teaching movement locus to get final product, do not need the professional and technical personnel to participate in, compare the Single-chip Controlling mode, the present embodiment method is simple to operate, flexible, has versatility.
Motion controller is before the control manipulator automatically performs the motion that the tutorial program data are limited, also need at first single step to carry out the motion that these tutorial program data are limited, whether the motion that is limited with check tutorial program data meets user's requirement, prevents to automatically perform in the process defective work piece or manipulator itself is caused damage follow-up.Concrete way can for, user by programmable terminal, such as touch-screen, enter the program management module, select already present teaching file and load this teaching file to motion controller.Motion controller is resolved the tutorial program data in this teaching file, according to the tutorial program data to manipulator driving device output movement control signal, the indication manipulator driving device is carried out the motion that the tutorial program data are limited according to this motion control signal control manipulator single step, and whether check tutorial program data need to revise.If do not need to revise, then execution in step 206; Revise if desired, then execution in step 205.
In addition, before motion controller control manipulator moves, also need to be provided with and finish system parameter data, be provided with such as axle parameter, system password, unit etc.The setting of this system parameter data does not have clear and definite step to limit, and finishes as long as be provided with before motion controller control manipulator moves.Motion controller in the present embodiment can adopt the motion controller that volume is little, control accuracy is high, programming is simple, easy for installation, and for example Britain TRIO company model is the motion controller of MC205X.
For fear of automatically performing in the tutorial program at manipulator, performance of a different dive is closed regulation and workpiece or manipulator itself is caused damage, generally all will carry out single step earlier and carry out check, only carries out after the assay was approved in single step, just begins to automatically perform process.Carry out in the checkout procedure of tutorial program motion that data limit in above-mentioned single step, if find to exist the tutorial program data that need modification, then can pass through programmable terminal, such as: touch-screen, enter the program management module of motion controller, receive the modification order and/or the parameter of user's input, directly entering needs the parameter place of revising in the tutorial program, according to this modification order and/or parameter the tutorial program data are made amendment, also can increase or deletion tutorial program data.By the program management module can edit tutorial program, duplicate, modification and deletion action.
This program management not only can directly be made amendment to the tutorial program data in single step teaching check, and can automatically perform in the process of tutorial program at follow-up motion controller control manipulator, if when finding to need to revise the tutorial program data, such as, when the speed of service of manipulator need be regulated, also can make amendment by the place that this program management module is directly revised needs got final product.But, wait until that manipulator executes motion that whole tutorial program limits and stops and make amendment, revise finish after, continue execution in step 206.
The advantage of this program management module specifies as follows: be that order according to Robot actions goes on foot the operation that preface defined and edited each step of manipulator successively when the program teaching, if there is not the program management module, when needs are revised tutorial program, need again from the first step editor, more loaded down with trivial details, inconvenience; This program management module can directly be located needs the place of revising in the whole tutorial program, directly the parameter that needs are revised is provided with and revises, in carrying out the tutorial program process, can make amendment to controlling mechanical chirokinesthetic tutorial program data easily at any time, and need not update whole tutorial program, simple, convenient.
Behind above-mentioned single step check tutorial program data qualifier, motion controller just can load these tutorial program data, and the control manipulator automatically performs the operating procedure that defines in the tutorial program.In the process of the concrete executable operations step of manipulator, motion controller can also receiving sensor sends is used to detect the detection feedback signal that manipulator is carried out the result of tutorial program motion that data limit, and according to detecting feedback signal to manipulator driving device output detection adjustment signal, the indication manipulator driving device detects according to this and adjusts the mechanical hands movement of signal controlling.Such as, for preventing that manipulator behavior from surpassing sports limiting, the manipulator working site is provided with limit switch, when surpassing sports limiting in the robot movement, the limit switch that is used to identify sports limiting can be imported spacing cue to motion controller, and the action of notice motion controller manipulator is out-of-limit, after then motion controller receives this signal, can export spacing control signal to manipulator driving device, the control manipulator stops spacing motion, such as the stop motion of indication manipulator.
This type of input/output signal also has a lot, can also export sound and light alarm signal etc. such as motion controller, and these signals are used for the action implementation of manipulator is carried out concrete control.In addition, the user can pass through programmable terminal, such as: touch-screen, this type of input/output signal is carried out I/O monitor, the motion of manipulator is carried out controlled, when execution error, can in time report to the police and check.When the I/O port that motion control signal needs many, when the I/O port in the motion controller is not enough, can be by programmable logic controller (PROGRAMMABLE LOGIC CONTRLLOR, hereinafter to be referred as: PLC) or the input/output end port of other port expanding elements realize the motion controller port extension, this programmable logic controller (PLC) or port expanding element and motion controller communicate to connect.PLC in the present embodiment can adopt the CP1H-X40DR-A that satisfies the OMRON that the expansion of I/O port requires, power consumption is little, extended capability is strong; The port expanding element can adopt CP1W-40EDR.
Motion controller in the present embodiment moves by servo-driver control manipulator.In actual applications, servo-driver can be stepper motor or servomotor, servo motor or the like.The quantity of servo-driver can be decided according to the actual needs for two covers, three cover or more covers.Servo-driver in the present embodiment can be 3 covers, and this 3 cover servo-driver is respectively applied for the motion of X-axis, Y-axis and the Z-direction of control manipulator.Motion controller is specifically as follows pulse control signal or other forms of control signal to the control signal of servo-driver output, motion controller output pulse control signal in the present embodiment, the maximum impulse frequency of this pulse control signal can be 2M, is used to control the motion of servo-driver.In the present embodiment, can also comprise plural signal feedback device such as encoder, corresponding with servo-driver, the input of each encoder connects with corresponding servo-driver, and output is connected with motion controller.Each encoder can be used for the position of the manipulator of servo driver drives and speed parameter are fed back to motion controller, motion controller compares this feedback parameter and standard setting parameter value then, and can adjust the control of servo-driver according to error between the two to manipulator, improve the accuracy of robot movement control.Such as, the manipulator of setting in the tutorial program data is to the X-axis 10mm that moves, but the X-axis displacement parameter that encoded device feeds back is 9.8mm, then motion controller will be adjusted signal to servo-driver output according to this deviate, motion to manipulator is adjusted, the control robot movement so just can improve the control accuracy of robot movement to 10mm.Present embodiment utilizes servo-driver that manipulator is carried out motion control, compares the pneumatic control mode, and speed is fast, be quick on the draw, and can increase mechanical hand-guided precision and stability.Servo-driver in the present embodiment can adopt 3 cover Panasonic servo-drivers.
The production of injecting products is by the thrust of injection machine by screw rod (or plunger), and the plastics of the molten condition (being viscous state) that plastified are gone in the closed good die cavity with the high pressure fast injection, obtains goods after solidifying and setting.Wherein, just can " matched moulds " after the plastics of molten condition are injected die cavity, promptly mould is pulled fast and is pulled near cover half, and confirms that no foreign matter existence descends, and system transfers high pressure to, and template is sealed; The plastics of molten condition get final product " die sinking " after solidifying and setting becomes plastic product in die cavity, and promptly mould is pulled and retreated into original position, and can take out product this moment.In concrete the enforcement, the action of manipulator and the action of injection machine cooperatively interact, the actuation cycle process that manipulator is carried out under the control of motion controller is: at first manipulator is waited for " die sinking is intact " signal of injection machine at position of readiness, this signal indication injection machine product has been produced and has been finished, and manipulator can begin to get product.Motion controller receives behind this " die sinking intact " signal then can be controlled mechanical subordinate according to default tutorial program and fall and get product, treat that product takes out the back manipulator and also can send a signal, give motion controller such as " can close mould " signal, should can carry out the product that mould assembling action begins to produce next mould in order to the notice injection machine by " can close mould " signal.Motion controller continues the control robot movement to the predetermined position of putting product then, puts down product.Such as when putting product, may use matrix form and pile up parameter, matrix form is piled up parameter and promptly is meant when the manipulator blowing, control it and how to stack the parameter of material, respectively stack 3,4 and 5 such as a material X-axis, Y-axis and Z-direction when stacking, then can pass through programmable terminal, such as touch-screen, this matrix form is piled up parameter and is set to 3,4 and 5 when the tutorial program data are provided with; Manipulator just can be stacked product according to these tutorial program data that configure automatically when putting product.After having put product, manipulator is then got back to position of readiness and is continued to wait for intact next the mould product of injection machine production, waits for the die sinking signal condition, the execution of the circulation that so goes round and begins again.In the implementation in this process, motion controller promptly detects feedback signal by above-mentioned motion control signal and detect to adjust signal the action execution result of manipulator is carried out concrete control, makes its motion in each limits.In addition, the linear interpolation parameter can also be set the motion controller of present embodiment and the circular interpolation parameter is controlled the movement locus of manipulator, carries out automatic former point search at the volley but also can control manipulator.
The present embodiment method for controlling robot is controlled manipulator by the method that adopts touch-screen and motion controller to combine, and can control manipulator simply and effectively and move, and control is quick on the draw.
Fig. 3 is the structural representation of manipulator control system first embodiment of the present invention, as shown in Figure 3, the present embodiment manipulator control system comprises programmable terminal 1, motion controller 2 and manipulator driving device 3, motion controller 2 is connected with manipulator driving device 3 with programmable terminal 1 respectively, and manipulator driving device 3 is connected with manipulator.Wherein, programmable terminal 1 is used to receive the tutorial program data, and the tutorial program data are sent to motion controller; These tutorial program data are used to indicate robot movement, pick and place the injecting products operation to finish, comprise at least: the speed of the starting point coordinate of robot movement and terminal point coordinate, robot movement and acceleration and manipulator are at the operation indication information at starting point coordinate and terminal point coordinate place; Motion controller 2 is used to resolve the tutorial program data that receive, and is used to control robot movement to finish the motion control signal that picks and places the injecting products operation according to the tutorial program data to manipulator driving device output; Manipulator driving device 3 is used for the motion control signal control robot movement according to motion controller 2 outputs, to finish the operation that picks and places injecting products.
The present embodiment manipulator control system is when work, the user can at first pass through programmable terminal 1 newly-built teaching file, enter the teaching editing pictures, manipulator is carried out the tutorial program operation, generate the tutorial program data, comprise the speed of the starting point coordinate of robot movement and terminal point coordinate, robot movement and acceleration in these tutorial program data and in the Robot actions indication at starting point coordinate and terminal point coordinate place, such as the operation such as behind the coordinate place that reaches home, overturn of indication manipulator, and these tutorial program data are kept in the teaching file; Then, programmable terminal 1 sends these tutorial program data of keeping to motion controller 2, motion controller 2 is resolved the tutorial program data that receive, and is used to control robot movement to finish the motion control signal that picks and places the injecting products operation according to these tutorial program data to manipulator driving device 3 outputs.Manipulator driving device 3 picks and places the injecting products operation according to this motion control signal control robot movement to finish.Usually, for preventing that the wrong workpiece damage that causes from appearring in manipulator in automatically performing the process of tutorial program, motion controller 2 is to load these tutorial program data earlier to carry out single step run, check this program whether to meet user's request, carry out after the assay was approved in single step, motion controller 2 is just to manipulator driving device output movement control signal, and the indication manipulator driving device is carried out operation automatically according to motion control signal control manipulator.
The present embodiment manipulator control system uses programmable terminal and the motion controller core as control system, can be at a high speed, hi-Fix injection machine hand, and implementation is simple, and control is quick on the draw.Control system is simple, convenient, directly perceived.
Fig. 4 is the structural representation of manipulator control system second embodiment of the present invention, as shown in Figure 4, motion controller 2 in the present embodiment manipulator control system can comprise memory module 21 and operation module 22, wherein, memory module 21 is used to receive and store being used to that programmable terminal sends and indicates robot movement to finish the tutorial program data that pick and place the injecting products operation; Operation module 22 is used to resolve the tutorial program data, and according to these tutorial program data to manipulator driving device output movement control signal, the indication manipulator driving device picks and places the injecting products operation according to motion control signal control robot movement to finish.
Further, the manipulator driving device in the present embodiment can be servo-driver, such as stepper motor etc.Motion controller 2 can also comprise administration module 23 and detection module 24, wherein, administration module 23 be used for according to the tutorial program data to manipulator driving device output movement control signal, the indication manipulator driving device is when single step is carried out motion that the tutorial program data are limited and definite tutorial program data needs and revised according to motion control signal control manipulator, receive the modification order and/or the parameter of user's input, and revise order and/or parameter modification tutorial program data according to this; Detection module 24 is used for receiving the detection feedback signal, and this detection feedback signal is used to feed back the result that manipulator is carried out tutorial program motion that data limit, and detects feedback signal according to this and detect the adjustment signal to manipulator driving device output.The present embodiment manipulator control system can also comprise signal feedback device 4, is used for the position and the speed parameter of robot movement are fed back to motion controller.
The present embodiment manipulator control system is when work, the user can at first pass through programmable terminal 1 newly-built teaching file, enters the teaching editing pictures, and manipulator is carried out the tutorial program operation, generate the tutorial program data, and these tutorial program data are kept in the teaching file; Then, programmable terminal 1 sends these tutorial program data of keeping the memory module 21 of motion controller 2 to, and operation module 22 is resolved the tutorial program data that memory modules 21 receive, and moves according to this tutorial program Data Control manipulator.Operation module 22 elder generations load this tutorial program data execution single step run, check this program whether to meet user's request, if there is the place that needs modification in this program, then administration module 23 directly navigates to needs the tutorial program place of modification that it is made amendment.If single step check or modification back tutorial program meet user's regulation, then move module 22 according to these tutorial program data to manipulator driving device output movement control signal, indicate described manipulator driving device to move automatically according to described motion control signal control manipulator.Automatically perform in the process of tutorial program at manipulator, detection module 24 is used to feed back the detection feedback signal that manipulator is carried out the result of tutorial program motion that data limit by what receiving sensor sent, concrete action to manipulator is monitored, and detect the feedback signal generation according to this and detect the adjustment signal, should detect the adjustment signal by operation module 22 and export manipulator driving device 3 to, indication manipulator driving device 3 detects according to this and adjusts signal controlling machinery hands movement.Such as can when find that robot movement surpasses sports limiting, sending detection adjustment signal the action of manipulator is controlled, make it action in prescribed motion is spacing, such as also sending the sound and light alarm signal.The manipulator control system of present embodiment adopts servo-driver directly to control the motion of manipulator, but also servo-driver is carried out closed loop feedback to the control of robot movement.Signal feedback device 4 in the present embodiment can be encoder.The encoder that is connected with servo-driver feeds back to detection module 24 in the motion controller 2 with the operational factor of the manipulator of servo driver drives such as location parameter and speed parameter, if robot movement surpasses when spacing, detection module 24 will generate conditioning signal, export this conditioning signal to manipulator driving device 3 by operation module 22, the stop motion of control manipulator makes its motion in each limits.
The present embodiment manipulator control system uses programmable terminal and the motion controller core as control system, can be at a high speed, hi-Fix injection machine hand, and implementation is simple, and control is quick on the draw.Control system is simple, convenient, directly perceived.
It should be noted that at last: above embodiment is only in order to technical scheme of the present invention to be described but not limit it, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that: it still can make amendment or be equal to replacement technical scheme of the present invention, and these modifications or be equal to replacement and also can not make amended technical scheme break away from the spirit and scope of technical solution of the present invention.
Claims (12)
1, a kind of method for controlling robot is characterized in that, comprising:
Programmable terminal receives the tutorial program data, and described tutorial program data are sent to motion controller; Described tutorial program data are used to indicate robot movement, to finish the operation that picks and places injecting products, comprise at least: the speed of the starting point coordinate of described robot movement and terminal point coordinate, described robot movement and acceleration and described manipulator are at the operation indication information at described starting point coordinate and terminal point coordinate place;
Described motion controller is resolved the described tutorial program data that receive, and according to described tutorial program data to manipulator driving device output movement control signal;
Described manipulator driving device is controlled described robot movement according to described motion control signal, to finish the operation that picks and places injecting products.
2, method for controlling robot according to claim 1 is characterized in that, also comprises:
Programmable terminal receives the robot movement trajectory parameters of user's input, and editor is provided with described tutorial program data.
3, method for controlling robot according to claim 1 is characterized in that, also comprises:
Described manipulator driving device is controlled described manipulator single step according to described motion control signal and is carried out the motion that described tutorial program data are limited;
Described motion controller receives the modification order and/or the parameter of user's input, and according to described modification order and/or the described tutorial program data of parameter modification.
4, method for controlling robot according to claim 1 is characterized in that, also comprises:
Described motion controller receives and detects feedback signal, and described detection feedback signal is used to feed back the result that described manipulator is carried out described tutorial program motion that data limit;
Described motion controller detects to described manipulator driving device output according to described detection feedback signal and adjusts signal;
Described manipulator driving device is controlled described manipulator and is carried out the motion that signal limited of described detection adjustment.
5, method for controlling robot according to claim 4, it is characterized in that, programmable logic controller (PLC) receives described detection feedback signal by input port, and exports described detection adjustment signal by output port to described motion controller or manipulator driving device.
6, method for controlling robot according to claim 1 is characterized in that, described manipulator driving device also comprises after controlling described robot movement according to described motion control signal:
The position and the speed parameter of the described robot movement of described motion controller received signal feedback device feedback, and adjust signal to described manipulator driving device output movement according to the position and the speed parameter of described robot movement;
Described manipulator driving device is adjusted the motion that signal is adjusted described manipulator according to described motion.
7, a kind of manipulator control system, it is characterized in that, comprise: programmable terminal, motion controller and manipulator driving device, described motion controller is connected with manipulator driving device with described programmable terminal respectively, and described manipulator driving device is connected with manipulator;
Described programmable terminal is used to receive the tutorial program data, and described tutorial program data are sent to described motion controller; Described tutorial program data are used to indicate described robot movement, pick and place the injecting products operation to finish, comprise at least: the speed of the starting point coordinate of described robot movement and terminal point coordinate, described robot movement and acceleration and manipulator are at the operation indication information at described starting point coordinate and terminal point coordinate place;
Described motion controller is used to resolve the described tutorial program data that receive, and according to described tutorial program data to described manipulator driving device output movement control signal;
Described manipulator driving device is used for controlling described robot movement according to the motion control signal of described motion controller output, to finish the operation that picks and places injecting products.
8, manipulator control system according to claim 7 is characterized in that, described manipulator driving device is a servo-driver.
9, manipulator control system according to claim 7 is characterized in that, described motion controller comprises:
Memory module is used to receive and store the tutorial program data that programmable terminal sends;
The operation module, be used to resolve described tutorial program data, and according to described tutorial program data to manipulator driving device output movement control signal.
10, manipulator control system according to claim 7 is characterized in that, described motion controller also comprises:
Administration module is used to receive modification order and/or the parameter that the user imports, and according to described modification order and/or the described tutorial program data of parameter modification.
11, manipulator control system according to claim 7 is characterized in that, described motion controller also comprises:
Detection module is used for receiving and detects feedback signal, and detects the adjustment signal according to described detection feedback signal to described manipulator driving device output.
12, manipulator control system according to claim 7 is characterized in that, also comprises:
Signal feedback device is used for the position and the speed parameter of described robot movement are fed back to described motion controller.
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102189553A (en) * | 2011-05-18 | 2011-09-21 | 奇瑞汽车股份有限公司 | Manipulator control system and control method |
| CN102211389A (en) * | 2011-04-26 | 2011-10-12 | 西安电子科技大学 | Control method for injection molding manipulator |
| CN102554927A (en) * | 2011-12-14 | 2012-07-11 | 青岛吉阳新能源有限公司 | Method for controlling high-speed manipulator applied to production of semiconductors or solar cells |
| CN102756372A (en) * | 2011-04-28 | 2012-10-31 | 精工爱普生株式会社 | Robot control system, robot system and program |
| CN103358307A (en) * | 2012-04-09 | 2013-10-23 | 长毅技研股份有限公司 | Mechanical arm control action recurrence method |
| CN103514148A (en) * | 2012-06-27 | 2014-01-15 | 株式会社神户制钢所 | Training data editing system and program |
| CN103753584A (en) * | 2014-01-03 | 2014-04-30 | 中达电通股份有限公司 | Mechanical arm control system |
| CN103770115A (en) * | 2014-02-27 | 2014-05-07 | 西南大学 | Silkworm spinning trajectory and speed control method |
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN104714499A (en) * | 2013-12-15 | 2015-06-17 | 郑州新力光电技术有限公司 | Multiple crawler control method and system thereof |
| CN104827481A (en) * | 2015-04-29 | 2015-08-12 | 东莞市智捷自动化设备有限公司 | Method for controlling SCARA (selective compliance assembly robot arm) based on movement controller |
| CN104908039A (en) * | 2015-05-11 | 2015-09-16 | 东莞市金鸿自动化科技有限公司 | User usage pattern programming method for four-shaft horizontal manipulator |
| CN105511400A (en) * | 2016-02-04 | 2016-04-20 | 合肥泰禾光电科技股份有限公司 | Control system of stamping robots |
| CN105619738A (en) * | 2016-01-13 | 2016-06-01 | 重庆世纪精信实业（集团）有限公司 | Displacement control method and device for grabbing work-piece by manipulator of injection molding machine |
| CN105867315A (en) * | 2015-01-20 | 2016-08-17 | 桥弘数控科技（上海）有限公司 | Injection production management system and method |
| CN106068174A (en) * | 2014-01-31 | 2016-11-02 | Abb高姆技术有限责任公司 | Robot controls |
| CN106198072A (en) * | 2016-06-30 | 2016-12-07 | 东莞信易电热机械有限公司 | A kind of method of testing of the five axis robot control systems for injection machine |
| CN106863727A (en) * | 2016-12-29 | 2017-06-20 | 海天塑机集团有限公司 | The communication system and its method of a kind of injection machine and manipulator |
| CN107363440A (en) * | 2017-07-31 | 2017-11-21 | 淮海工学院 | A kind of control method of the welding robot with warning device |
| CN107378951A (en) * | 2017-07-28 | 2017-11-24 | 北京隆庆智能激光装备有限公司 | The visual programming method and operating system of a kind of truss manipulator |
| CN108238396A (en) * | 2017-11-07 | 2018-07-03 | 北京翰宁智能科技有限责任公司 | A kind of action command learning method of mobile transfer robot based on FPD card |
| CN109228213A (en) * | 2018-09-25 | 2019-01-18 | 珠海格力电器股份有限公司 | A kind of control rod double operation injection molding mechanical arm teaching machine and its control method |
| CN109434828A (en) * | 2018-10-12 | 2019-03-08 | 郑州成功财经学院 | A kind of industrial robot intelligent communication equipment and its means of communication |
| CN109927029A (en) * | 2019-03-27 | 2019-06-25 | 飞马智科信息技术股份有限公司 | A kind of method of controlling operation of manipulator |
| CN110653850A (en) * | 2019-11-07 | 2020-01-07 | 珠海格力智能装备有限公司 | Method and device for testing manipulator, storage medium and processor |
| CN110919993A (en) * | 2019-12-06 | 2020-03-27 | 深圳市山龙智控有限公司 | Injection molding machine manipulator control method and control device |
| CN111016107A (en) * | 2019-12-06 | 2020-04-17 | 深圳市山龙智控有限公司 | Injection molding machine mechanical arm demonstration system and demonstration method |
| CN111629869A (en) * | 2017-11-27 | 2020-09-04 | 川崎重工业株式会社 | Robot control device and robot system provided with same |
| CN111687830A (en) * | 2019-03-15 | 2020-09-22 | 广州市韦德电气机械有限公司 | Multi-axis bus link method and driving system of robot driving and controlling all-in-one machine |
| CN112060961A (en) * | 2020-09-01 | 2020-12-11 | 国网天津市电力公司 | Control method of automatic charging station control system |
| CN112276943A (en) * | 2020-10-14 | 2021-01-29 | 苏州华兴源创科技股份有限公司 | Robot teaching control method, teaching control system, computer device, and medium |
| CN112677155A (en) * | 2020-12-28 | 2021-04-20 | 北京配天技术有限公司 | Control method and control device for single-step movement of robot and storage medium |
| CN114803472A (en) * | 2022-04-22 | 2022-07-29 | 深圳航天科技创新研究院 | Robot-based clamping control method and control system |
-
2009
- 2009-04-28 CN CNA200910082709XA patent/CN101559601A/en active Pending
Cited By (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211389A (en) * | 2011-04-26 | 2011-10-12 | 西安电子科技大学 | Control method for injection molding manipulator |
| CN102756372A (en) * | 2011-04-28 | 2012-10-31 | 精工爱普生株式会社 | Robot control system, robot system and program |
| CN102189553A (en) * | 2011-05-18 | 2011-09-21 | 奇瑞汽车股份有限公司 | Manipulator control system and control method |
| CN102554927A (en) * | 2011-12-14 | 2012-07-11 | 青岛吉阳新能源有限公司 | Method for controlling high-speed manipulator applied to production of semiconductors or solar cells |
| CN103358307A (en) * | 2012-04-09 | 2013-10-23 | 长毅技研股份有限公司 | Mechanical arm control action recurrence method |
| CN103514148A (en) * | 2012-06-27 | 2014-01-15 | 株式会社神户制钢所 | Training data editing system and program |
| CN103514148B (en) * | 2012-06-27 | 2017-03-01 | 株式会社神户制钢所 | Training data editing system and welding robot system |
| CN104714499A (en) * | 2013-12-15 | 2015-06-17 | 郑州新力光电技术有限公司 | Multiple crawler control method and system thereof |
| CN103753584A (en) * | 2014-01-03 | 2014-04-30 | 中达电通股份有限公司 | Mechanical arm control system |
| CN106068174A (en) * | 2014-01-31 | 2016-11-02 | Abb高姆技术有限责任公司 | Robot controls |
| CN106068174B (en) * | 2014-01-31 | 2019-06-04 | Abb瑞士股份有限公司 | Robot control |
| CN103770115A (en) * | 2014-02-27 | 2014-05-07 | 西南大学 | Silkworm spinning trajectory and speed control method |
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN105867315A (en) * | 2015-01-20 | 2016-08-17 | 桥弘数控科技（上海）有限公司 | Injection production management system and method |
| CN104827481A (en) * | 2015-04-29 | 2015-08-12 | 东莞市智捷自动化设备有限公司 | Method for controlling SCARA (selective compliance assembly robot arm) based on movement controller |
| CN104908039A (en) * | 2015-05-11 | 2015-09-16 | 东莞市金鸿自动化科技有限公司 | User usage pattern programming method for four-shaft horizontal manipulator |
| CN105619738A (en) * | 2016-01-13 | 2016-06-01 | 重庆世纪精信实业（集团）有限公司 | Displacement control method and device for grabbing work-piece by manipulator of injection molding machine |
| CN105511400A (en) * | 2016-02-04 | 2016-04-20 | 合肥泰禾光电科技股份有限公司 | Control system of stamping robots |
| CN105511400B (en) * | 2016-02-04 | 2018-06-19 | 合肥泰禾光电科技股份有限公司 | A kind of pressing robot control system |
| CN106198072A (en) * | 2016-06-30 | 2016-12-07 | 东莞信易电热机械有限公司 | A kind of method of testing of the five axis robot control systems for injection machine |
| CN106863727B (en) * | 2016-12-29 | 2019-04-05 | 海天塑机集团有限公司 | A kind of communication system and its method of injection molding machine and manipulator |
| CN106863727A (en) * | 2016-12-29 | 2017-06-20 | 海天塑机集团有限公司 | The communication system and its method of a kind of injection machine and manipulator |
| CN107378951A (en) * | 2017-07-28 | 2017-11-24 | 北京隆庆智能激光装备有限公司 | The visual programming method and operating system of a kind of truss manipulator |
| CN107363440A (en) * | 2017-07-31 | 2017-11-21 | 淮海工学院 | A kind of control method of the welding robot with warning device |
| CN108238396A (en) * | 2017-11-07 | 2018-07-03 | 北京翰宁智能科技有限责任公司 | A kind of action command learning method of mobile transfer robot based on FPD card |
| CN108238396B (en) * | 2017-11-07 | 2019-04-12 | 北京翰宁智能科技有限责任公司 | Mobile action command learning method of the transfer robot based on FPD card |
| CN111629869B (en) * | 2017-11-27 | 2023-12-15 | 川崎重工业株式会社 | Robot control device and robot system provided with same |
| CN111629869A (en) * | 2017-11-27 | 2020-09-04 | 川崎重工业株式会社 | Robot control device and robot system provided with same |
| CN109228213A (en) * | 2018-09-25 | 2019-01-18 | 珠海格力电器股份有限公司 | A kind of control rod double operation injection molding mechanical arm teaching machine and its control method |
| CN109434828A (en) * | 2018-10-12 | 2019-03-08 | 郑州成功财经学院 | A kind of industrial robot intelligent communication equipment and its means of communication |
| CN111687830A (en) * | 2019-03-15 | 2020-09-22 | 广州市韦德电气机械有限公司 | Multi-axis bus link method and driving system of robot driving and controlling all-in-one machine |
| CN109927029A (en) * | 2019-03-27 | 2019-06-25 | 飞马智科信息技术股份有限公司 | A kind of method of controlling operation of manipulator |
| CN110653850A (en) * | 2019-11-07 | 2020-01-07 | 珠海格力智能装备有限公司 | Method and device for testing manipulator, storage medium and processor |
| CN111016107A (en) * | 2019-12-06 | 2020-04-17 | 深圳市山龙智控有限公司 | Injection molding machine mechanical arm demonstration system and demonstration method |
| CN110919993A (en) * | 2019-12-06 | 2020-03-27 | 深圳市山龙智控有限公司 | Injection molding machine manipulator control method and control device |
| CN112060961A (en) * | 2020-09-01 | 2020-12-11 | 国网天津市电力公司 | Control method of automatic charging station control system |
| CN112276943A (en) * | 2020-10-14 | 2021-01-29 | 苏州华兴源创科技股份有限公司 | Robot teaching control method, teaching control system, computer device, and medium |
| CN112677155A (en) * | 2020-12-28 | 2021-04-20 | 北京配天技术有限公司 | Control method and control device for single-step movement of robot and storage medium |
| CN114803472A (en) * | 2022-04-22 | 2022-07-29 | 深圳航天科技创新研究院 | Robot-based clamping control method and control system |
| CN114803472B (en) * | 2022-04-22 | 2023-12-26 | 深圳航天科技创新研究院 | Clamping control method and system based on robot |
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