CN106393119A - Control system and control method for double arms of robot - Google Patents
Control system and control method for double arms of robot Download PDFInfo
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- CN106393119A CN106393119A CN201611053990.0A CN201611053990A CN106393119A CN 106393119 A CN106393119 A CN 106393119A CN 201611053990 A CN201611053990 A CN 201611053990A CN 106393119 A CN106393119 A CN 106393119A
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- 239000000463 material Substances 0.000 claims abstract description 32
- 239000000758 substrate Substances 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 abstract description 9
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- 238000007689 inspection Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
The invention provides a control system for double arms of a robot. The system comprises a factory robot server; the factory robot server is used for searching the location of a material carrier corresponding to a substrate demand signal, generating work instructions, building a task list, taking the work instruction in the first place in the task list as a first work instruction on the basis of the work instruction at the first place in the task list, searching the work instruction satisfying a first set condition in the task list as a second work instruction, forming an execution signal by the first work instruction and the second work instruction, and sending the execution signal to the robot through a second programmable logic controller so that the robot can respectively control a first arm and a second arm to sequentially execute operations according to the execution signal. The invention also provides a control method for the double arms of the robot. By adopting the control system and the control method provided by the invention, the two arms of the robot are capable of simultaneously respectively executing corresponding actions, the condition that one arm is in an idle state is reduced, and the utilization rate of the arms of the robot is increased.
Description
Technical field
The present invention relates to a kind of liquid crystal panel manufacturing technology, particularly one kind control robot both hands arm execution corresponding simultaneously
The control system of operation and its method.
Background technology
Robot (Robot) controls at present has robot (Robot) manufacturer voluntarily to control the logic picking and placeing piece, this control
Mode is used for the more single demand of logicality it is impossible to meet the strong demand of the big variability of client's flexibility.One kind is also had to be logical
The instruction crossing robot server (BC) controls Robot's to pick and place piece logic.The existing solution picking and placeing piece for both hands arm
It is all singly to take the instruction singly put to process in use.This mode makes Robot utilization rate not high, and the Robot stand-by period is long, no
Method plays the peak use rate of Robot.
Content of the invention
For overcoming the deficiencies in the prior art, it is an object of the invention to provide a kind of control system of robot both hands arm and its
Method, thus lift the utilization rate of two robot arms.
The invention provides a kind of control system of robot both hands arm it is characterised in that：Including millwork people service
First programmable logic controller (PLC) of device and millwork people's server connection communication and the second programmable logic controller (PLC) and
The robot that second programmable logic controller (PLC) connects, the first programmable logic controller (PLC) is connected with process work bench, described machine
People includes first arm and second arm, wherein：
First programmable logic controller (PLC), for record process work bench transmission want piece signal；
Millwork people's server, wants piece signal for obtain the first programmable logic controller (PLC) record, and according to will
Piece signal searches the position wanting the material carrier corresponding to piece signal in the daily record of the second programmable logic controller (PLC), generates work
Instruct and set up taskpad；To be in the work order of first place in taskpad as foundation, refer to as the first work
Order, searches in taskpad and meets the first work order imposing a condition as the second work order, by the first work order
Form an execution signal with the second work order and be sent to the second programmable logic controller (PLC)；Described execution signal is to take piece to believe
Number or film releasing signal；
Second programmable logic controller (PLC), for being sent to machine by the execution signal receiving from millwork people's server
People；
Robot, for receiving the execution signal that the second Programmable Logic Controller sends, and controls first according to execution signal
Prop up arm and second arm executes simultaneously and take piece or film releasing operation.
Further, described robot, is additionally operable to, when described execution signal is to take piece signal, first control first arm
Execution takes piece to operate, then controls second arm execution to take piece to operate；And for when described execution signal is film releasing signal, first
Control first arm execution film releasing operation, then control second arm execution film releasing operation.
Further, described work order comprises robot operating path and action, and described action is on material carrier
Substrate is taken to put into process work bench；Described daily record comprises the inventories of each material carrier.
Further, described first to impose a condition be identical with the operating path of the first work order.
Further, described millwork people's server, is additionally operable to impose a condition when not meeting first in taskpad
Work order when, search in taskpad and meet the second work order of imposing a condition as the 3rd work order, and will
First work order and the 3rd work order form one article of execution signal and are sent to the second programmable logic controller (PLC).
Further, described second to impose a condition be that operating path with the first work order partly overlaps and runs road
The operating path that the terminal in footpath is located at the first work order is along the line.
Further, described millwork people's server, is additionally operable to impose a condition when not meeting second in taskpad
Three work orders when, using the first work order as one execution signal be sent to the second programmable logic controller (PLC).
Present invention also offers a kind of control method of robot both hands arm, it is applied to the control of above-mentioned robot both hands arm
System processed is it is characterised in that methods described includes：
What millwork people's server obtained the first programmable logic controller (PLC) record wants piece signal, and according to wanting piece signal
Search, in the daily record of the second programmable logic controller (PLC), the position wanting the material carrier corresponding to piece signal, generate work order
And set up taskpad；
Millwork people's server, to be in the work order of first place in taskpad as foundation, works as first
Instruction, searches in taskpad and meets the first work order imposing a condition as the second work order, the first work is referred to
Order and the second work order form an execution signal and are sent to the second programmable logic controller (PLC)；
The execution signal receiving from millwork people's server is sent to robot by the second programmable logic controller (PLC)；
Robot receives the execution signal that the second Programmable Logic Controller sends, and controls first respectively according to execution signal
Arm and second arm execute simultaneously and take piece or film releasing operation；First imposes a condition is operating path with the first work order
Identical；
Described work order comprises robot operating path and action, and described action is to take substrate to put on material carrier
Process work bench；Described daily record comprises the inventories of each material carrier.
Further, methods described also includes：
When not meeting the second work order that first imposes a condition in taskpad, millwork people's server exists
Search in taskpad and meet the second work order of imposing a condition as the 3rd work order, and by the first work order and the
Three work orders form an execution signal and send to the second programmable logic controller (PLC), and described second imposes a condition is and first
The operating path of work order partly overlaps and the terminal of operating path is along the line positioned at the operating path of the first work order.
Further, methods described also includes：
When not meeting three work order that second does not impose a condition in taskpad, millwork people's server is by the
One work order is sent to the second programmable logic controller (PLC) as an execution signal.
The present invention compared with prior art, executes signal instruction by each that robot server sends to robot
All comprise two work orders so that two arms of robot can execute corresponding action respectively simultaneously, so can subtract
Few single arm action occurs and state that an other arm leaves unused so that the utilization rate of two robot arm actions simultaneously reaches
To 96%, improve the utilization rate of resource.
Brief description
The system diagram of the control system of Tu1Shi robot of the present invention both hands arm；
The flow chart of the control method of Tu2Shi robot of the present invention both hands arm；
A kind of flow chart of the embodiment of control method of Tu3Shi robot of the present invention both hands arm.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in further detail.
As shown in figure 1, a kind of control system of robot both hands arm of the present invention, including millwork people's server 1 and
First programmable logic controller (PLC) 3 of millwork people's server 1 connection communication and the second programmable logic controller (PLC) 2 and
The robot 6 that two programmable logic controller (PLC) 2 connects, the first programmable logic controller (PLC) is connected with process work bench 5, material carrier
4 leave storage area 7 in, and robot includes first arm and second arm, wherein：
Millwork people's server 1 be used for obtain the first programmable logic controller (PLC) 3 record want piece signal, and according to want
Piece signal searches the position wanting the material carrier 4 corresponding to piece signal in the daily record of the second programmable logic controller (PLC) 2, generates
Work order simultaneously sets up taskpad；To be in the work order of first place in taskpad as foundation, as the first work
Instruction, searches in taskpad and meets the first work order imposing a condition as the second work order, the first work is referred to
Order and the second work order form an execution signal and are sent to the second programmable logic controller (PLC) 2；Described execution signal is to take
Piece signal or film releasing signal；
Robot, for receiving the execution signal that the second Programmable Logic Controller sends, and controls first according to execution signal
Prop up arm and second arm executes simultaneously and take piece or film releasing operation, and through the second Programmable logical controller after having executed operation
Device 2 is sent completely information to millwork people's server 1；
First programmable logic controller (PLC) 3, for record make board 5 transmission want piece signal；Second FPGA
Controller 2, for the execution signal receiving from millwork people's server 1 is sent to robot 6, is additionally operable to recording materials and carries
The inventories of tool 4.
Described work order comprises robot 6 operating path and action, and described action is to take substrate to put on material carrier 4
Enter process work bench 5.
Daily record comprises the inventories of each material carrier 4.
First imposes a condition is identical with the operating path of the first work order；
Millwork people's server 1 is additionally operable to when the work order not having satisfaction first to impose a condition in taskpad,
Taskpad is searched and meets the second work order of imposing a condition as the 3rd work order, and by the first work order and
3rd work order forms one article of execution signal and is sent to the second programmable logic controller (PLC) 2；
Second imposes a condition be the operating path with the first work order partly overlap and operating path terminal position
Along the line in the operating path of the first work order, realize across material carrier and take piece.
Optionally, described robot, is additionally operable to, when described execution signal is to take piece signal, first control first arm to hold
Row takes piece to operate, then controls second arm execution to take piece to operate；And for when described execution signal is film releasing signal, first controlling
First arm execution film releasing operation of system, then control second arm execution film releasing operation, the wherein operating path of two arms
Identical, arrive at simultaneously and execution takes piece or film releasing operation successively, so ensure that two arms all use；As
Really the operating path of two arms partly overlap and operating path terminal be located at destination operating path along the line when, then
Control two arms to reach different places to carry out taking piece or film releasing operation, thus increasing operation rate simultaneously.
Specifically, in operating path, robot 6 can eventually arrive at targeted sites through some websites, and wherein website can
To be material carrier 4 or process work bench 5, in the operating path of first arm of robot 6, some targeted sites are machine
Website on the operating path of second arm of device people 6 is along the line, by by its reasonably optimizing, thus avoid the two of robot 6
Prop up arm and single idle situation occurs.
Described millwork people's server 1 is additionally operable to when the 3rd work that in taskpad, satisfaction second does not impose a condition
During instruction, the first work order is sent to the second programmable logic controller (PLC) 2 as an execution signal, second programmable patrols
Volume controller 2 will receive execution signal and be sent to robot 6, and robot 6 controls first arm or second arm to carry out
Take the operation of piece or film releasing.
As shown in Fig. 2 a kind of control method of robot both hands arm of the present invention, it is applied to above-mentioned robot both hands arm
Control system, methods described includes：
S01, millwork people's server obtain the first programmable logic controller (PLC) 3 record want piece signal, and according to want
Piece signal searches the position wanting the material carrier 4 corresponding to piece signal in the daily record of the second programmable logic controller (PLC) 2, generates
Work order simultaneously sets up taskpad；
S02, millwork people's server 1 to be in the work order of first place in taskpad as foundation, as the
One work order, searches in taskpad and meets the first work order imposing a condition as the second work order, by first
Work order and the second work order form an execution signal and send to the second programmable logic controller (PLC) 2；
The execution signal receiving from millwork people's server is sent to machine by S03, the second class programmed logic controller 2
People 6；
S04, robot 6 receive the execution signal that the second Programmable Logic Controller sends, and are controlled respectively according to execution signal
First arm of system and second arm execute simultaneously and take piece or film releasing operation.
Described work order comprises robot 6 operating path and action, and described action is to take substrate to put on material carrier
Enter process work bench 5.
Described daily record comprises the inventories of each material carrier 4.
When not meeting the second work order that first imposes a condition in taskpad, millwork people's server 1 exists
Search in taskpad and meet the second work order of imposing a condition as the 3rd work order, and by the first work order and the
Three work orders form an execution signal and send to the second programmable logic controller (PLC) 2.
When three work order that in taskpad, contentedly two do not impose a condition, millwork people's server 1 will
First work order is sent to the second programmable logic controller (PLC) 2 as an execution signal, controls first hand by robot 6
Arm or second arm execution take piece or film releasing operation.
First imposes a condition be and operating path identical with the operating path of the first work order terminal identical；
Second imposes a condition is partly overlapped with the operating path of the first work order and the terminal of operating path is located at the
The operating path of one work order is along the line.
As shown in figure 3, a kind of control method of robot both hands arm of the present invention, it is applied to the robot of above-described embodiment
The control system of both hands arm, as one of which embodiment, the method comprises the steps：
Step S101, millwork people's server 1 obtain the first programmable logic controller (PLC) 3 want piece signal, according to want
Piece signal searches, in the daily record of the second programmable logic controller (PLC) 2, the position wanting the material carrier corresponding to piece signal, will look into
Look for result to generate work order and set up taskpad, to be in the work order of first place in taskpad as foundation, made
For the first work order；Described work order comprises robot operating path and action, and described action is to take on material carrier 4
Substrate is put into process work bench 5 and/or takes substrate to be put on carrier on board；Described daily record comprises stock's feelings of each material carrier
Condition；
Step S102, millwork people's server 1 judge whether that also other process work bench 5 can receive substrate；It is then
Enter step S103；Otherwise enter step S109；
The searching work instruction in taskpad of step S103, millwork people's server 1 is made with the presence or absence of also other
Journey board 5 can receive the second work order of substrate, is then to enter step S104；Otherwise enter step S107；
Step S104, millwork people's server 1 judge the work order described in the first work order and step S103
Take substrate and put into process work bench operating path whether the same, be then using the work order described in step S103 as
Second work order simultaneously enters step S105；Otherwise enter step S109；Described Article 2 instructs as taking substrate and putting it into
The instruction of process work bench 5；
First work order and the second work order are formed one and execute letter by step S105, millwork people's server 1
Number, and this execution signal is sent to the second programmable logic controller (PLC) 2；
After step S106, the second programmable logic controller (PLC) 2 receive execution signal, the execution receiving signal is sent
To robot, wherein first arm is controlled to take the 1st plate base for robot 6, second arm takes the 2nd plate base and put successively
Enter in same process work bench 5；
Step S107, millwork people's server 1 judge that the work order in taskpad whether there is and the first work
Make the operating path that instructs partly overlap and operating path terminal be located at the first work order operating path along the line the
Three work orders, described website is material carrier；It is then to enter step S108, otherwise enter step S109；
Step S108, millwork people's server 1 determine whether whether this material carrier 4 also has substrate can take and (be
No also in stock)；It is then to enter step S110, otherwise enter step S109；
Step S109, millwork people's server 1 send execution signal, robot 6 to the second programmable logic controller (PLC) 2
In wherein one arm take substrate and film releasing；
Step S110, millwork people's server 1 find, in this material carrier 4, the substrate that also can take out, then will walk
The 3rd work order described in rapid S107 and the first work order form an execution signal, to the second Programmable logical controller
Device 2 sends execution signal execution step S106.
Piece is taken to put into board with to take piece in board and put into carrier and be only operating path contrary in above-mentioned steps on carrier,
And specifically step does not have change, therefore repeat no more.
The robot of the present invention more specifically execution step is as follows：
First, process work bench 5 wants piece, and process work bench 5 sends to the first programmable logic controller (PLC) 3 and wants piece signal；
What the 2nd, millwork people server 1 swept to the first programmable logic controller (PLC) 3 wants piece signal, and inspection can be with slice
Substrate；
3rd, millwork people server 1 disposably takes piece to instruct to robot 6 (Robot) from material carrier 4 for lower two；
4th, robot 6 replying instruction receives successfully；
5th, robot 6 position diverting material carrier direction, first arm stretches out, and sensor sensing is to substrate；
6th, first arm gets substrate；
7th, first arm takes and reports processing procedure event (Event) to millwork people's server 1；
8th, first arm is got back；
9th, second arm stretches out, and senses substrate；
Tenth, second arm gets substrate；
11, second arm takes and reports processing procedure event (Event) to millwork people's server 1；
12, second arm is got back；
13, two actions of millwork people server 1 next instruction are to robot 6 film releasing；
14, robot 6 replying instruction receives successfully；
15, robot 6 position rotates；
16, first arm discharges substrate；
17, first arm reports processing procedure event (Event) to millwork people's server 1 after discharging piece；
18, second arm discharges substrate；
19, second arm reports processing procedure event (Event) to millwork people's server 1 after discharging piece；
20, pick and place instruction execution to complete.
The present invention has by reasonably optimizing, and both hands arm is operated simultaneously to enable each robot, when saving wait
Between, and improve utilization rate.
Although illustrate and describing the present invention with reference to specific embodiment, it should be appreciated by those skilled in the art that：
In the case of without departing from the spirit and scope of the present invention being limited by claim and its equivalent, can here carry out form and
Various change in details.
Claims (10)
1. a kind of robot both hands arm control system it is characterised in that：Including millwork people's server and millwork people
First programmable logic controller (PLC) of server connection communication and the second programmable logic controller (PLC) and the second FPGA control
The robot that device processed connects, the first programmable logic controller (PLC) is connected with process work bench, and described robot includes first arm
With second arm, wherein：
First programmable logic controller (PLC), for record process work bench transmission want piece signal；
Millwork people's server, wants piece signal for obtain the first programmable logic controller (PLC) record, and according to wanting piece to believe
Search the position want the material carrier corresponding to piece signal number in the daily record of the second programmable logic controller (PLC), generation work refers to
Make and set up taskpad；To be in the work order of first place in taskpad as foundation, as the first work order,
Search in taskpad and meet the first work order imposing a condition as the second work order, by the first work order and second
Work order forms an execution signal and is sent to the second programmable logic controller (PLC)；Described execution signal is to take piece signal or put
Piece signal；
Second programmable logic controller (PLC), for being sent to robot by the execution signal receiving from millwork people's server；
Robot, for receiving the execution signal that the second Programmable Logic Controller sends, and controls first hand according to execution signal
Arm and second arm execute simultaneously and take piece or film releasing operation.
2. robot as claimed in claim 1 both hands arm control system it is characterised in that：Described robot, is additionally operable to
When described execution signal is to take piece signal, first control first arm execution to take piece to operate, then control second arm execution to take
Piece operates；And for when described execution signal is film releasing signal, first controlling the execution film releasing operation of first arm, then control the
Two arm execution film releasing operations.
3. robot according to claim 1 both hands arm control system it is characterised in that：Described work order comprises machine
Device people's operating path and action, described action is to take substrate to put into process work bench on material carrier；Described daily record comprises each material
The inventories of material carrier.
4. robot according to claim 1 both hands arm control system it is characterised in that：Described first impose a condition for
Identical with the operating path of the first work order.
5. robot according to claim 1 both hands arm control system it is characterised in that：Described millwork people service
Device, is additionally operable to, when not having to meet the work order that first imposes a condition in taskpad, search satisfaction the in taskpad
Two work orders imposing a condition are as the 3rd work order, and the first work order and one article of the 3rd work order composition are held
Row signal is sent to the second programmable logic controller (PLC).
6. robot according to claim 5 both hands arm control system it is characterised in that：Described second impose a condition for
Partly overlap with the operating path of the first work order and operating path terminal be located at the first work order operating path
Along the line.
7. robot according to claim 5 both hands arm control system it is characterised in that：Described millwork people service
Device, is additionally operable to when not meeting three work order that second does not impose a condition in taskpad, using the first work order as
Article one, execution signal is sent to the second programmable logic controller (PLC).
8. a kind of control method of robot both hands arm, is applied to the robot both hands described in any one of the claims 1-7
The control system of arm is it is characterised in that methods described includes：
What millwork people's server obtained the first programmable logic controller (PLC) record wants piece signal, and according to wanting piece signal the
Search, in the daily record of two programmable logic controller (PLC)s, the position wanting the material carrier corresponding to piece signal, generate work order and build
Vertical taskpad；
Millwork people's server, to be in the work order of first place in taskpad as foundation, refers to as the first work
Order, searches in taskpad and meets the first work order imposing a condition as the second work order, by the first work order
Form an execution signal with the second work order and be sent to the second programmable logic controller (PLC)；
The execution signal receiving from millwork people's server is sent to robot by the second programmable logic controller (PLC)；
Robot receives the execution signal that the second Programmable Logic Controller sends, and controls first arm respectively according to execution signal
Execute with second arm simultaneously and take piece or film releasing operation；First imposes a condition is operating path phase with the first work order
With；
Described work order comprises robot operating path and action, and described action is to take substrate to put into processing procedure on material carrier
Board；Described daily record comprises the inventories of each material carrier.
9. robot according to claim 8 both hands arm control method it is characterised in that：Methods described also includes：
When not meeting the second work order that first imposes a condition in taskpad, millwork people's server is in work
Search in inventory and meet the second work order of imposing a condition as the 3rd work order, and by the first work order and the 3rd work
Make one execution signal of instruction composition to send to the second programmable logic controller (PLC), described second imposes a condition is and the first work
The operating path of instruction partly overlaps and the terminal of operating path is along the line positioned at the operating path of the first work order.
10. robot according to claim 9 both hands arm control method it is characterised in that：Methods described also includes：
When not meeting three work order that second does not impose a condition in taskpad, millwork people's server is by the first work
Instruct and be sent to the second programmable logic controller (PLC) as an execution signal.
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| CN104647379A (en) * | 2015-01-19 | 2015-05-27 | 广东工业大学 | Dual-arm robot movement control method under non-linear condition of driver |
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