CN104932407B - A kind of modularization robot driving control system and method based on PLC - Google Patents
A kind of modularization robot driving control system and method based on PLC Download PDFInfo
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- CN104932407B CN104932407B CN201510279878.8A CN201510279878A CN104932407B CN 104932407 B CN104932407 B CN 104932407B CN 201510279878 A CN201510279878 A CN 201510279878A CN 104932407 B CN104932407 B CN 104932407B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
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Abstract
The invention discloses a kind of modularization robot driving control system based on PLC and method, set to realize by PLC logic, all I/O signals of collection in worksite are all moved into the register of appropriate address, the signal in register is decoded in logic judgment program block with DECO solution code instructions again, the logic judgment program block of all units only has address different, and other are all identical.When increasing a working cell newly, only it need to increase an address block in a program, the problem of effectively solving robot site control program bad adaptability.
Description
Technical field
The present invention relates to PLC control Compiling Techniques field, particularly relate to a kind of modularization robot based on PLC and drive
Autocontrol system and method.
Background technology
Generally require to carry out substantial amounts of control program authorized strength work in robot site control process, and it is traditional at present
A contradiction is formd between programmed method and advanced control application requirement.Traditional method be by controlled unit the need for
It is step-by-step to write logic control instruction.Due to not finding the common law of each unit running, when several different functions
Part, when being programmed respectively by different personnel, greatly hampers the raising of control program compiling level and the life in later stage
Production debugging and plant maintenance, while the control effect of Digit Control Machine Tool also is difficult to obtain good guarantee in programming level.I.e. not only
Program bad adaptability, while many with consumption engineer's man-hour.
Therefore, the present inventor needs a kind of new technology of design badly to improve its problem.
The content of the invention
The present invention is intended to provide a kind of modularization robot driving control system and method based on PLC, it can be effective
Solution robot site control program bad adaptability the problem of.
In order to solve the above technical problems, the technical scheme is that：
A kind of modularization robot driving control system based on PLC, including：
Setup module is inputted, for selecting working cell on the touchscreen, each working cell is numbered, together
When according to number order be each working cell setting position key point, wherein the position key point include two or
More than two location points, each artificial working cell of punch press or machine；
Fieldbus module, status information and/or solicited message and general for each working cell of real-time collecting
It is sent to PLC, wherein the status information includes current location point, the solicited message includes the position that request enters
Point, action executing information；
PLC control modules, for being analyzed by status information and/or solicited message to all working unit, sentence
Break and whether can respond the solicited message of each working cell, the working cell is believed according to its request if it can respond
Breath is performed, and the on the contrary then working cell is waited into predeterminated position.
Further, the PLC control modules are specifically included：
Register module, for by fieldbus module by the status information and/or solicited message of each working cell
It is deposited into respectively in the register of different address, general function command is preset with each register；
Module is decoded, for by solving code instruction the status information in the register of different address and/or request
Information, which is decoded, carrys out and is sent to judgement module；
The judgement module, for judge location point that the request of each working cell enters whether with other working cells
The location point that current location point and/or request enter has conflict, if Lothrus apterus, the working cell is by calling in its register
Function command perform its solicited message, the on the contrary then working cell and the working cell clashed with it enter predeterminated position
Wait is simultaneously emitted by alarm.
Further, the solution code instruction is that DECO solves code instruction.
Further, the fieldbus module obtains its shape by gathering the I/O signals of each working cell
State information and solicited message.
Further, the position key point includes three location points, respectively upstream position point, intermediate position points and under
Location point is swum, the predeterminated position is the intermediate position points of the working cell.
A kind of modularization robot drive control method based on PLC, comprises the following steps：
S1：Working cell is selected on the touchscreen, each working cell is numbered, while according to number order
For each working cell setting position key point, wherein the position key point includes two or more position
Point, each artificial working cell of punch press or machine；
S2：The status information and/or solicited message of each working cell of real-time collecting simultaneously send it to PLC, its
Described in status information include current location point, the solicited message include request enter location point, action executing information；
S3：Whether PLC is analyzed by status information and/or solicited message to all working unit, judge
To respond the solicited message of each working cell, the working cell is performed according to its solicited message if it can respond, instead
The then working cell into predeterminated position wait.
Further, the step S3 is specifically included：
S31：The status information and/or solicited message of each working cell are deposited into not respectively by fieldbus module
With in the register of address, general function command is preset with each register；
S32：The status information and/or solicited message in the register of different address are decoded by solving code instruction
Come；
S33：Judge location point that the request of each working cell enters whether with the current location points of other working cells and/
Or the location point that request enters has conflict, if Lothrus apterus, the working cell is by calling the function command in its register to hold
Its solicited message of row, the on the contrary then working cell and the working cell clashed with it enter predeterminated position wait and are simultaneously emitted by
Alarm.
Further, the solution code instruction in the step S32 is that DECO solves code instruction.
Further, its state letter is obtained in the step S2 by gathering the I/O signals of each working cell
Breath and solicited message.
Further, the position key point includes three location points, respectively upstream position point, intermediate position points and under
Location point is swum, the predeterminated position is the intermediate position points of the working cell.
Using above-mentioned technical proposal, the present invention at least includes following beneficial effect：
Modularization robot driving control system and method for the present invention based on PLC, are set by PLC logic
To realize, all I/O signals of collection in worksite are all moved into the register of appropriate address, then with solution code instruction in register
Signal be decoded in logic judgment program block, the logic judgment program blocks of all units only has address different, and other are all identical.
When increasing a working cell newly, an address block only need to be increased in a program, so as to effectively solve robot site
The problem of control program bad adaptability.
Brief description of the drawings
Fig. 1 is the structural representation of the modularization robot driving control system of the present invention based on PLC；
Fig. 2 is the flow chart of the modularization robot drive control method of the present invention based on PLC.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
Embodiment 1
As shown in figure 1, a kind of modularization robot driving control system based on PLC to meet the present embodiment, including：
Setup module is inputted, for selecting working cell on the touchscreen, each working cell is numbered, together
When according to number order be each working cell setting position key point, wherein the position key point include two or
More than two location points, the location point can be specific coordinate position point, or the fortune of upstream and downstream working cell
Row order, each artificial working cell of punch press or machine；
Fieldbus module, status information and/or solicited message and general for each working cell of real-time collecting
It is sent to PLC, wherein the status information includes current location point, the solicited message includes the position that request enters
Point, action executing information；
PLC control modules, for being analyzed by status information and/or solicited message to all working unit, sentence
Break and whether can respond the solicited message of each working cell, the working cell is believed according to its request if it can respond
Breath is performed, and the on the contrary then working cell is waited into predeterminated position.
Further, the PLC control modules are specifically included：
Register module, for by fieldbus module by the status information and/or solicited message of each working cell
It is deposited into respectively in the register of different address, general function command is preset with each register；It is described general
Function command includes but is not limited to startup, jerk, terminates outer also equipment upstream and downstream handing-over, and spot sensor feedback, air pressure is anti-
Feedback, latch feedback.The faulty signal of alarm signal, electric voltage exception signal, safety door breaks in signal, apparatus overload,
Workpiece falls, and scram button does not reset.
Module is decoded, for by solving code instruction the status information in the register of different address and/or request
Information, which is decoded, carrys out and is sent to judgement module；
The judgement module, i.e. logic judgment program block, for judging that the location point that the request of each working cell enters is
The no location point entered with the current location point of other working cells and/or request, which has, to conflict, if Lothrus apterus, the working cell
By calling the function command in its register to perform its solicited message, the on the contrary then working cell and the work clashed with it
Make unit and be simultaneously emitted by alarm into predeterminated position wait, wait staff to confirm to ensure programme controlled accuracy and peace
Quan Xing.
Preferably, the solution code instruction is that DECO solves code instruction.It is preferred that partial decoding of h instruction is as follows：
Preferably, the fieldbus module obtains its state by gathering the I/O signals of each working cell
Information and solicited message.Due to the conventional technical means that it is those skilled in the art, therefore here is omitted.
Preferably, the position key point includes three location points, respectively upstream position point, intermediate position points and downstream
Location point, the predeterminated position is the intermediate position points of the working cell.Its action is set specifically to robot
Trip, middle and three, downstream location point, then timing reference is used as to punch press provided with three points of sliding block upper, middle and lower.Each it is added into production
The module of line, its motion is required for PLC to judge whether upstream, or upstream device conflict with its position, and such as First robot exists
Downstream, then second robot can not enter its upstream.
The present embodiment is set to realize by PLC logic, and all I/O signals of collection in worksite are all moved into appropriate address
Register in, then with solution code instruction the signal in register is decoded in logic judgment program block, the logic of all units
Decision block only has address different, and other are all identical.When increasing a unit newly, an address block only need to be increased in a program
, the problem of effectively solving robot site control program bad adaptability.
Embodiment 2
As shown in Fig. 2 a kind of modularization robot drive control method based on PLC to meet the present embodiment, including
Following steps：
S1：Working cell is selected on the touchscreen, each working cell is numbered, while according to number order
For each working cell setting position key point, wherein the position key point includes two or more position
Point, the location point can be specific coordinate position point, or the operation order of upstream and downstream working cell, each punch press
Or the artificial working cell of machine；
S2：The status information and/or solicited message of each working cell of real-time collecting simultaneously send it to PLC, its
Described in status information include current location point, the solicited message include request enter location point, action executing information；
S3：Whether PLC is analyzed by status information and/or solicited message to all working unit, judge
To respond the solicited message of each working cell, the working cell is performed according to its solicited message if it can respond, instead
The then working cell into predeterminated position wait.
Further, the step S3 is specifically included：
S31：The status information and/or solicited message of each working cell are deposited into not respectively by fieldbus module
With in the register of address, general function command is preset with each register；The general function command includes
But it is not limited to startup, jerk, terminates outer also equipment upstream and downstream handing-over, spot sensor feedback, air pressure feedback, latch feedback.
The faulty signal of alarm signal, electric voltage exception signal, safety door breaks in signal, and apparatus overload, workpiece falls, jerk
Button does not reset.
S32：The status information and/or solicited message in the register of different address are decoded to by solving code instruction
In logic judgment program block；
S33：Judge location point that the request of each working cell enters whether with the current location points of other working cells and/
Or the location point that request enters has conflict, if Lothrus apterus, the working cell is by calling the function command in its register to hold
Its solicited message of row, the on the contrary then working cell and the working cell clashed with it enter predeterminated position wait and are simultaneously emitted by
Alarm, waits staff to confirm to ensure programme controlled accuracy and security.
Preferably, the solution code instruction in the step S32 is that DECO solves code instruction.It is preferred that partial decoding of h instruction is as follows：
Preferably, its status information is obtained by gathering the I/O signals of each working cell in the step S2
And solicited message.Due to the conventional technical means that it is those skilled in the art, therefore here is omitted.
Preferably, the position key point includes three location points, respectively upstream position point, intermediate position points and downstream
Location point, the predeterminated position is the intermediate position points of the working cell.Its action is set specifically to robot
Trip, middle and three, downstream location point, then timing reference is used as to punch press provided with three points of sliding block upper, middle and lower.Each it is added into production
The module of line, its motion is required for PLC to judge whether upstream, or upstream device conflict with its position, and such as First robot exists
Downstream, then second robot can not enter its upstream.
The present embodiment is set to realize by PLC logic, and all I/O signals of collection in worksite are all moved into appropriate address
Register in, then with solution code instruction the signal in register is decoded in logic judgment program block, the logic of all units
Decision block only has address different, and other are all identical.When increasing a unit newly, an address block only need to be increased in a program
, the problem of effectively solving robot site control program bad adaptability.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can be used in one or more computers for wherein including computer usable program code
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Claims (10)
1. a kind of modularization robot driving control system based on PLC, it is characterised in that including：
Setup module is inputted, for selecting working cell on the touchscreen, each working cell is numbered, pressed simultaneously
It is each working cell setting position key point according to number order, wherein the position key point includes two or two
Location point above, each artificial working cell of punch press or machine；
Fieldbus module, for each working cell of real-time collecting status information and/or solicited message and sent out
PLC is given, wherein the status information includes current location point, the solicited message includes the location point of request entrance, moved
Make execution information；
PLC control modules, for being analyzed by status information and/or solicited message to all working unit, judge
Whether the solicited message of each working cell can be responded, and the working cell is held according to its solicited message if it can respond
OK, the on the contrary then working cell is waited into predeterminated position.
2. the modularization robot driving control system as claimed in claim 1 based on PLC, it is characterised in that the PLC controls
Molding block is specifically included：
Register module, for being distinguished the status information of each working cell and/or solicited message by fieldbus module
It is deposited into the register of different address, general function command is preset with each register；
Module is decoded, for by solving code instruction the status information and/or solicited message in the register of different address
Decode and carry out and be sent to judgement module；
The judgement module, for judging whether the location point that each working cell request enters is current with other working cells
The location point that location point and/or request enter has conflict, if Lothrus apterus, the working cell is by calling the work(in its register
It can instruct and perform its solicited message, the on the contrary then working cell and the working cell clashed with it are waited into predeterminated position
It is simultaneously emitted by alarm.
3. the modularization robot driving control system as claimed in claim 2 based on PLC, it is characterised in that：The decoding
Instruct and solve code instruction for DECO.
4. the modularization robot driving control system based on PLC as described in claim 1-3 is any, it is characterised in that：Institute
Fieldbus module is stated by gathering the I/O signals of each working cell to obtain its status information and solicited message.
5. the modularization robot driving control system as claimed in claim 4 based on PLC, it is characterised in that：The position
Key point includes three location points, respectively upstream position point, intermediate position points and downstream position point, and the predeterminated position is should
The intermediate position points of working cell.
6. a kind of modularization robot drive control method based on PLC, it is characterised in that comprise the following steps：
S1：Working cell is selected on the touchscreen, each working cell is numbered, while being every according to number order
Working cell setting position key point described in one, wherein the position key point includes two or more location point,
Each punch press or the artificial working cell of machine；
S2：The status information and/or solicited message of each working cell of real-time collecting simultaneously send it to PLC, wherein institute
Stating status information includes current location point, and the solicited message includes location point, the action executing information that request enters；
S3：PLC is analyzed by status information and/or solicited message to all working unit, judges whether can ring
Answer the solicited message of each working cell, if it can respond the working cell according to its solicited message perform, it is on the contrary then
The working cell is waited into predeterminated position.
7. the modularization robot drive control method as claimed in claim 6 based on PLC, it is characterised in that the step
S3 is specifically included：
S31：The status information and/or solicited message of each working cell are deposited into differently respectively by fieldbus module
In the register of location, general function command is preset with each register；
S32：By solve code instruction the status information and/or solicited message in the register of different address decode come；
S33：Judge location point that the request of each working cell enters whether with the current location point of other working cells and/or please
Seeking the location point of entrance has conflict, if Lothrus apterus, and the working cell is by calling the function command in its register to perform it
Solicited message, the on the contrary then working cell and the working cell clashed with it enter predeterminated position wait and are simultaneously emitted by police
Report.
8. the modularization robot drive control method as claimed in claim 7 based on PLC, it is characterised in that：The step
Solution code instruction in S32 solves code instruction for DECO.
9. the modularization robot drive control method based on PLC as described in claim 6-8 is any, it is characterised in that：Institute
State in step S2 and obtain its status information and solicited message by gathering the I/O signals of each working cell.
10. the modularization robot drive control method as claimed in claim 9 based on PLC, it is characterised in that：The position
Key point includes three location points, respectively upstream position point, intermediate position points and downstream position point, and the predeterminated position is should
The intermediate position points of working cell.
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| CN105388833B (en) * | 2015-11-07 | 2018-07-06 | 江西清华泰豪三波电机有限公司 | A kind of method that power station ID is flexibly obtained by S7 200PLC |
| CN106393119B (en) * | 2016-11-25 | 2019-01-11 | 武汉华星光电技术有限公司 | A kind of control system and its method of robot both hands arm |
| CN114193431A (en) * | 2021-12-28 | 2022-03-18 | 深圳超磁机器人科技有限公司 | Method for controlling robot based on PLC |
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| CN100412736C (en) * | 2006-10-17 | 2008-08-20 | 哈尔滨工业大学 | Edition-translation type numerical-control system and edition-translation and operation control method of same |
| CN102236337A (en) * | 2011-04-18 | 2011-11-09 | 大连吉润高新技术机械有限公司 | Control and design of programmable logic controller (PLC) for electrical remolding of machine tool |
| CN103718120A (en) * | 2011-07-27 | 2014-04-09 | Abb技术有限公司 | System for commanding a robot |
| CN102658549A (en) * | 2012-05-10 | 2012-09-12 | 上海理工大学 | Six-axis industrial robot control system with PLC (programmable logic control) function |
| CN103207771B (en) * | 2013-03-19 | 2015-10-07 | 浙江中控研究院有限公司 | A kind of PLC program actuator IP kernel |
| CN103558826A (en) * | 2013-11-07 | 2014-02-05 | 东北大学 | Bus control system for thermo-forming stamping production line |
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Address after: 215000 Jiangsu city of Suzhou province Wuzhong District Shi Hu Lu 27-2 Patentee after: Suzhou Rongwei Industry & Trade Co., Ltd. Address before: Suzhou City, Jiangsu province 215151 Xuguan Industrial Zone hu Yang Road No. 2 Patentee before: Suzhou Rongwei Industry & Trade Co., Ltd. |