CN112356035A - Robot control system and industrial robot operating system - Google Patents
Robot control system and industrial robot operating system Download PDFInfo
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- CN112356035A CN112356035A CN202011289814.3A CN202011289814A CN112356035A CN 112356035 A CN112356035 A CN 112356035A CN 202011289814 A CN202011289814 A CN 202011289814A CN 112356035 A CN112356035 A CN 112356035A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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Abstract
The invention provides a robot control system and an industrial robot operating system, the robot control system comprises an on-site protection device and a control device arranged in the on-site protection device, the on-site protection device is arranged at an operating site, the on-site protection device is used for protecting the control device, the control device comprises a communication module used for acquiring and sending an operating instruction and an on-site control instruction, a special control module for a robot is used for controlling a robot body according to the operating instruction, an environment adjusting module is used for adjusting the environment state in the on-site protection device according to the operating instruction, the invention also provides the industrial robot operating system, the control device and the like can be arranged at the operating site in a severe working condition environment, the lengths of various cables at the site can be shortened, and the lengths of a power line signal line and an on-site sensing signal line of the robot can be greatly shortened, the cost is reduced, and the signal is more stable.
Description
Technical Field
The invention relates to the field of industrial automation, in particular to a robot control system and an industrial robot operating system.
Background
With the development of industrial robot technology and the continuous expansion of application fields, more and more multi-functional robots are applied to severe working condition environments such as high temperature, high splashing, high dust and the like, such as metallurgy operation flows, so as to avoid high danger and instability of manual operation.
At present, robot control devices of a robot in a severe working condition environment, such as a special robot control device and an integrated control system, are arranged in an operation room or an electrical room to be far away from an operation site, and power line signal lines and site sensing signal lines of the robot need to be prolonged to different degrees, so that higher cost and signal instability are brought.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a robot control system and an industrial robot operating system, which are used to solve the technical problems of high cost and unstable signal, caused by the fact that a robot control device needs to be far away from an operating site under severe working conditions such as high temperature, high splashing, high dust, etc.
In view of the above problems, the present invention provides a robot control system, including a field protection device and a control device disposed in the field protection device; the field protection device is arranged on an operation field and used for protecting the control device;
the control device includes:
the communication module is used for acquiring and sending an operation instruction and a field control instruction;
the special control module for the robot is used for controlling the robot body according to the operation instruction;
the environment adjusting module is used for adjusting the environment state in the field protection device according to the operation instruction;
and the field input and output module is used for acquiring a field control instruction and sending the field control instruction to the communication module.
Optionally, the method further includes:
the field operation device is used for inputting the field control command;
and the upper control device is used for carrying out logic processing according to the field control instruction and generating an operation instruction.
Optionally, the communication module includes:
the environment adjusting communication module is in communication connection with the environment adjusting module;
the field input and output station module is in communication connection with the field input and output module and the environment adjusting communication module;
and the switch module is in communication connection with the special robot control module, the field input/output station module and the upper control device respectively and is used for transmitting the operation instruction and the field control instruction.
Optionally, the robot control system further comprises at least one of:
the human-computer interaction device is used for acquiring a remote control instruction, and the remote control instruction is logically processed by the upper control device to generate the operation instruction;
the communication module is further used for acquiring a signal state of a robot control system, the upper control device is further used for generating an operation instruction according to the field control instruction and the signal state, and the robot special control module is used for controlling the robot body according to the operation instruction.
Optionally, on-spot protector includes sealed cabinet, sealed cabinet includes the incoming line, the incoming line is in adopt at least one in fire prevention mud, the sealing washer to seal after the wiring of robot control system is accomplished.
Optionally, the robot control system further includes:
the field sensing device is used for collecting environment data of an operation field;
the processing module is in communication connection with the switch module and is used for acquiring operation field environment data, processing the operation field environment data to generate an operation field environment result and transmitting the operation field environment result to the special robot control module through the switch module in a preset mode;
the robot special control module is also used for controlling the robot body according to the operation site environment result;
the preset mode comprises at least one of the following modes: directly sending the data to the special control module for the robot; and sending the operation site environment result to the upper control device, processing the operation site environment result by the upper control device, and transmitting the operation site environment result to the special control module for the robot.
Optionally, the presence sensing device includes at least one of: proximity switches, industrial cameras, laser sensors.
Optionally, the on-site sensing device includes an image acquisition device, where the image acquisition device is used to acquire image information of a work target;
the processing module generates position information of the working target according to the working target image information and transmits the position information of the working target to the special control module for the robot;
the special control module for the robot is also used for controlling the robot body according to the position information of the working target.
Optionally, at least one of the following is also included:
the field operation device is also used for displaying the state of the robot body and the state of the robot control system, and the human-computer interaction device is also used for displaying the state of the robot body and the state of the robot control system;
the robot comprises at least two control devices, and the field operation device and the robot body which correspond to the control devices respectively, wherein the control devices are arranged on at least two operation fields respectively, and are in communication connection with the same upper control device respectively.
The invention also provides an industrial robot working system comprising a robot control system according to any of the embodiments described above.
As described above, the robot control system and the industrial robot operating system provided by the present invention have the following beneficial effects:
the control device is arranged in the field protection device with the protection function, the field protection device is arranged on an operation field, and the control device comprises the communication module, the environment adjusting module and the special control module for the robot, so that the control device and the like can be arranged on the operation field in a severe working condition environment, the lengths of various cables on the field can be shortened, the lengths of a power line signal line and a field sensing signal line of the robot are greatly shortened, the cost is reduced, and the signals are more stable.
Drawings
Fig. 1 is a schematic structural diagram of a robot control system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot control system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot control system according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of another specific robot control system according to the second embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Example one
Referring to fig. 1, an embodiment of the present invention provides a robot control system 1, including a field protection device 11 and a control device 10 disposed in the field protection device, where the field protection device 11 is used for protecting the control device 10, and the field protection device 11 is disposed in an operation field;
the control device 10 includes:
the communication module 12 is used for acquiring and sending a work instruction and a field control instruction;
the robot special control module 13 is used for controlling the robot body according to the operation instruction;
an environment adjusting module 14, configured to adjust an environment state in the field protection device 11 according to the operation instruction;
and the field input and output module 20 is used for acquiring a field control instruction and sending the field control instruction to the communication module 12.
Optionally, the robot control system can be applied to severe working conditions such as high temperature, low temperature, high splashing, high dust and the like.
Optionally, the field protection device is used for at least one of:
isolating substances outside the on-site protection device to ensure the cleanness of the internal environment of the on-site protection device;
and the internal environment of the on-site protection device is kept in a preset environment state under the combined action of the environmental regulation module.
Optionally, the field protection device has poor thermal conductivity, so that even if the field protection device is in a high-temperature or low-temperature state, the influence of the external temperature on the inside of the field protection device is slow and has a low influence degree.
Alternatively, the substances external to the in situ guard include, but are not limited to, various liquids, hard objects, dust, molten steel, and the like.
The field protection device can provide a proper equipment operation space for the control device. For example, if present operating mode environment is high temperature, high dust environment, can keep apart the dust in on-the-spot protector's outside through on-the-spot protector on the one hand, can keep apart outside high temperature on the one hand, and then can provide suitable environment for setting up the inside controlling means of on-the-spot protector.
Optionally, after the control device is arranged inside the field protection device, each opening of the field protection device is sealed.
Optionally, the communication module is further configured to obtain a signal state of the robot control system, the upper control device is further configured to generate an operation instruction according to the field control instruction and the signal state, and the robot dedicated control module is configured to control the robot body according to the operation instruction.
Optionally, the signal status includes, but is not limited to, current status information of the robot body, status information of the field operation device, the field sensing device, the field auxiliary device, and the like. Wherein the field-aid device includes, but is not limited to, other devices communicatively coupled to the robot control system to enable better devices including, but not limited to, aiding the robot in completing the work.
Optionally, the signal status includes, but is not limited to, job site environmental data, and the like.
Optionally, the upper control device is further configured to generate an operation instruction according to the field control instruction and the signal state, so as to control the robot body and the field auxiliary device.
Optionally, the operation site includes, but is not limited to, an electric furnace temperature measurement sampling operation site and the like.
Optionally, the robot control system and the robot body are arranged on the operation platform in front of the furnace together to perform electric furnace temperature measurement sampling operation.
Optionally, the robot includes an industrial robot, such as a KUKA industrial robot, and the robot control system may be applied to control operations of the industrial robot in harsh environments, including but not limited to operations such as electric furnace temperature measurement sampling operations.
It should be noted that, because the field protection device may have a certain heat conduction capability according to the selected material, the external high temperature or low temperature still affects the temperature inside the field protection device. Meanwhile, the operation of the control device can generate certain heat, and at the moment, the temperature inside the on-site protection device can be adjusted based on the environment adjusting module. Optionally, the environment adjusting module includes, but is not limited to, an air conditioner, such as a water-cooled air conditioner, an air-cooled air conditioner, and the like.
Optionally, the environment adjusting module may further include a humidity adjusting device to adjust a humidity state inside the in-situ protection device.
Optionally, the field control instruction is converted into an operation instruction through the upper control device, and the robot body and the like are controlled through the operation instruction.
Optionally, the communication module is further configured to obtain a signal state of each unit of the robot control system (e.g., at least one unit of the robot control system such as the upper control device, the human-computer interaction device, the field operating device, and the field sensing device), where the signal state is used to adjust each module of the robot control system and each device connected to the robot control system.
In some embodiments, referring to fig. 2, the robot control system 1 further includes:
a field operation device 16 for inputting a field control command;
and an upper control device 18 for performing logic processing based on the field control command to generate a work command.
Optionally, the field operation device is disposed at a robot operation site, such as a stokehole operation platform, the field operation device includes but is not limited to at least one of a handheld operation box, an operation box, and the like, and the field operation device is provided with at least one of the following: buttons, such as a temperature measuring and sampling start button and a robot stop button; fault warning lights, display screens, etc. Optionally, each button and the fault alarm lamp on the field operation device are connected with the field input/output module through hard wiring.
Optionally, the upper control device is arranged in a remote operation room or an electric room, and adopts a cabinet structure, and comprises a PLC controller, an input/output module, an optical fiber switch and the like, wherein the PLC controller is connected to the optical fiber switch through a network cable, and the optical fiber switch and a switch module in the communication module are connected through an optical fiber to realize remote communication, so that the PLC sends a control instruction to the special control module for the robot.
Optionally, the operation instruction is generated according to the field control instruction, and is further processed logically by combining signal states of each unit of the robot control system, so as to generate the operation instruction.
Alternatively, referring to fig. 2 and 3, the communication module 12 includes:
the environment adjusting communication module 123 is in communication connection with the environment adjusting module 14;
a site I/O site module 125 communicatively coupled to the site I/O module and the environment adjustment communication module; the switch module 124 is in communication connection with the robot dedicated control module 13, the site input/output site module 125, and the upper control device 18, respectively, and is configured to transmit a work instruction and a site control instruction.
The switch module is also used for transmitting the signal state acquired by the communication module.
Optionally, the switch module obtains a field control instruction, transmits the field control instruction to the upper control device, generates an operation instruction through logic processing of the upper control device, and transmits the operation instruction to at least one of the corresponding robot dedicated control module and the field input/output station module.
With reference to fig. 2, the site i/o site module 125 is connected to the site i/o module 20, and is configured to transmit a site control command obtained by the site i/o module 20 to the upper control device through the switch module 124, generate a work command correspondingly by the upper control device, transmit the work command to the robot dedicated control module 13 through the switch module, and further implement control of the robot body based on the site control command.
Optionally, the site module includes, but is not limited to, ET200 and the like.
Optionally, the field input/output module includes, but is not limited to, a DI \ DO module, etc.
Optionally, the environment adjustment communication module includes, but is not limited to, an RS485 communication module.
Optionally, the switch module includes, but is not limited to, a fabric switch.
Optionally, the environment adjusting module is further configured to determine a current temperature inside the field protection device, and transmit temperature information inside the field protection device to the environment adjusting communication module.
Optionally, the environment adjusting module includes an air conditioner, the air conditioner is configured with a communication function, and an RS485 port of the air conditioner is connected to the environment adjusting communication module, so as to control the start and stop of the air conditioner according to the temperature information in the current on-site protection device.
Optionally, the control device further includes but is not limited to at least one of the following: circuit breakers, contactors, relays, and the like.
Optionally, the robot-dedicated control device includes, but is not limited to, a KUKA robot-dedicated control device KRC4, a robot power port and a signal port of KRC4 are connected to the robot body through a robot-dedicated cable, and a network communication end of KRC4 is connected to the optical fiber switch through a network cable.
Optionally, with continued reference to fig. 2, the robot control system 1 further comprises:
and the human-computer interaction device 19 is used for acquiring a remote control instruction, and the remote control instruction is logically processed by the upper control device to generate a working instruction.
Optionally, the human-computer interaction device is arranged in the remote operation room, and comprises a host and a display screen, wherein the host is connected with the PLC controller of the upper control device through network communication, and an operation button and a system state display control are arranged on an interface of the display screen, so that the operation of the robot can be remotely completed. Optionally, the host includes, but is not limited to, any of: industrial personal computer, PC.
Optionally, the field protection device includes a sealing cabinet, the sealing cabinet includes a wire inlet, and the wire inlet is sealed by at least one of fire-proof mud and a sealing ring after the wiring of the robot control system is completed.
Optionally, with continued reference to fig. 2, the robot control system 1 further comprises:
the field sensing device 17 is used for collecting environment data of an operation field;
the processing module 15 is in communication connection with the switch module 124, and is used for acquiring the work site environment data, processing the work site environment data to generate a work site environment result, and transmitting the work site environment result to the special robot control module 13 through the switch module in a preset manner;
the robot special control module 13 is also used for controlling the robot body 2 according to the operation site environment result;
the preset mode comprises at least one of the following modes: directly to the robot specific control module 13; the work site environment result is sent to the upper control device 18, processed by the upper control device 18, and then transmitted to the robot dedicated control module 13.
The upper control device processes the work site environment result, including but not limited to determining whether the work site environment result should be transmitted to the robot-specific control module, and when to transmit the work site environment result to the robot-specific control module.
Optionally, the processing module may be disposed in the control device shown in fig. 2, or may be disposed in an upper control device or a human-computer interaction device, which is not limited herein.
Optionally, the robot dedicated control module obtains the operation site environment result through the switch module.
Optionally, the presence sensing device comprises at least one of: proximity switches, industrial cameras, laser sensors.
In some embodiments, the on-site sensing device includes an image acquisition device for acquiring image information of the work target; the processing module generates position information of the working target according to the image information of the working target and transmits the position information of the working target to the special control module of the robot; the special control module for the robot is also used for controlling the robot body according to the position information of the working target.
Optionally, the image acquisition device is disposed on the robot body. Optionally, the robot control system is arranged on a stokehole operation site; the on-site sensing device comprises an industrial camera, and the industrial camera is arranged on the operation platform in front of the furnace and is used for acquiring furnace mouth image information; the processing module comprises an industrial personal computer, the industrial personal computer acquires furnace mouth image information, processes the furnace mouth image information to generate a furnace mouth state, and transmits the furnace mouth state to the robot special control module; the special control module for the robot is also used for controlling the robot body according to the state of the furnace mouth.
Optionally, the robot control system is arranged on the continuous casting machine platform; the field sensing device comprises a first industrial camera and a second industrial camera, wherein the first industrial camera is arranged at a packet receiving position of a first operation field and used for acquiring image information of the packet receiving position; the second industrial camera is arranged at a casting position of a second operation site and used for acquiring casting position image information; the processing module determines the insertion positions of the oil cylinder and the pipeline according to the image information of the packet receiving position, transmits the insertion positions to the special control module of the first robot and controls the action of the first robot body; and determining the position of a ladle drain nozzle according to the casting position image information, transmitting the position to a special control module of the second robot, and controlling the action of the second robot body. Optionally, the robot control system further comprises at least one of:
the field operation device is also used for displaying the state of the robot body and the state of the robot control system, and the human-computer interaction device is also used for displaying the state of the robot body and the state of the robot control system;
the robot comprises at least two control devices, a field operation device and a robot body, wherein the field operation device and the robot body correspond to the control devices respectively, the control devices are arranged on at least two working fields respectively, and the control devices are in communication connection with the same upper control device respectively.
It should be noted that, if the robot control system includes at least two control devices, and each control device is respectively disposed at different operation sites, the robot control system further includes a plurality of site sensing devices and processing modules, and the site sensing devices and the processing modules correspond to the robot control devices one to one.
The embodiment of the invention also provides an industrial robot operating system which comprises the robot control system in any embodiment.
The embodiment of the invention provides a robot control system, wherein a control device is arranged in a field protection device with a protection function, the field protection device is arranged in an operation field, the control device comprises a communication module, an environment adjusting module and a special control module for a robot, so that the robot control device can be arranged in the operation field in a severe working condition environment, the lengths of various cables in the field can be shortened, the lengths of a power line signal line and a field sensing signal line of the robot are greatly shortened, the cost is reduced, and the signals are more stable.
Optionally, based on the robot control system provided by the embodiment of the invention, the network communication between the operation site and the electrical room, and between the electrical room and the central control room can be realized only through network cables or optical fibers, so that the working stability of the robot is improved, and the cost is reduced.
Optionally, the field sensing device is used for collecting environment data of the operation field, the processing module is used for processing the environment data of the operation field to generate an environment result of the operation field, the environment result of the operation field is transmitted to at least one of the special control module for the robot and the upper control device through the switch module, the special control module for the robot controls the robot body according to the environment result of the operation field, the control on the robot body can better meet the requirement of the current operation field, and the control accuracy and the working efficiency of the robot body are improved.
Taking an electric furnace temperature measurement sampling operation based on a KUKA industrial robot as an example, a robot control system provided in the first embodiment is exemplified by a specific embodiment, referring to fig. 3, taking two electric furnace temperature measurement sampling operation platforms as an example, the specific robot control system comprises a first control device 401, a first industrial personal computer 402, a first field operation device 403, a first field sensing device 404, a second control device 408, a second industrial personal computer 409, a second field operation device 410, a second field sensing device 411, which are applied to an operation field 1, and a same set of human-computer interaction device 406 and an upper control device 405 which are shared by the above devices. Wherein, the first control device 401 is disposed in a first field protection device (not shown in the figure) for controlling a first robot body 407 disposed in the working field 1; the second control device 408 is provided in a second field protection device (not shown) for controlling a second robot body 412 provided in the work site 2. The first and second field protection devices include, but are not limited to, a sealed cabinet structure, which is respectively installed with the first and second robot bodies at the operation site 1 and the operation site 2. The first control device is in communication connection with the first field operation device, the first field sensing device and the upper control device, the second control device is in communication connection with the second field operation device, the second field sensing device and the upper control device, and the upper control device is in communication connection with the human-computer interaction device.
Optionally, with continued reference to fig. 3, the first control device 401 includes a first siemens DI/DO module 4011, a first siemens RS485 communication module 4012, a first optical fiber switch 4013, a first siemens site ET 2004014, a first KRC44015 of the KUKA robot dedicated control device, and a first water-cooled air conditioner 4016. The second control device 408 comprises a second siemens DI/DO module 4082, a second siemens RS485 communication module 4083, a second optical fiber switch 4085, a second siemens site ET2004081, a second KRC 44086 of the control device dedicated to the KUKA robot, and a second water-cooled air conditioner 4084.
Optionally, the first and second control devices further include a circuit breaker, a contactor, a relay, and the like, which are not described herein again.
Optionally, a robot power port and a signal port of the first KRC4 are connected to the first robot body through a robot dedicated cable, and a network communication end of the first KRC4, the first industrial personal computer and the first siemens station ET200 are all connected to the first optical fiber switch through network cables; the first water-cooling air conditioner is provided with an RS485 communication function, an RS485 port of the first water-cooling air conditioner is connected to a first Siemens RS485 communication module, and temperature signals and air conditioner start and stop signals can be transmitted. And a wire inlet is arranged below the first field protection device, and the system is sealed by adopting fireproof mud after wiring. Similarly, the internal wiring of the second control device and the structure of the second field protection device are similar to the internal wiring of the first control device and the structure of the first field protection device, and are not described herein again.
Optionally, the first and second field operating devices are respectively disposed on the work site 1 and the work site 2, and include first and second operation boxes, which may be handheld operation boxes, and are more portable. The first and second operation boxes are also provided with a temperature measuring and sampling control switch, a robot stop switch and a system fault alarm indicator light, and are respectively connected with the first and second Siemens DI/DO modules in the first and second field protection devices through hard wiring.
Optionally, the first and second control devices further include a temperature measurement device for measuring the current temperatures in the first and second protection devices. Optionally, the temperature measuring device is integrated on the first and second water-cooled air conditioners.
Optionally, with continued reference to fig. 3, the first and second site sensing devices comprise a first industrial camera 4041 and a second industrial camera 4111, respectively, mounted at worksite 1 and worksite 2, respectively. The first industrial camera 4041 transmits the furnace mouth visual signal to the first industrial personal computer 402 through a network cable, the furnace mouth state is further obtained through the further processing of the first industrial personal computer 402, and the furnace mouth state is transmitted to the first KRC44015 so as to adjust the action of the first robot body 407. The second industrial camera 4111 transmits the furnace mouth visual signal to the second industrial personal computer 409 through a network cable, further processes the furnace mouth visual signal through the second industrial personal computer 409 to obtain the state of the furnace mouth, and transmits the state of the furnace mouth to the second KRC 44086 so as to adjust the action of the second robot body 412.
Optionally, the first industrial personal computer may be disposed in any one of the first field protection device, the upper control device, and the human-computer interaction device, and the second industrial personal computer may be disposed in any one of the second field protection device, the upper control device, and the human-computer interaction device.
Optionally, the first and second field sensing devices include, but are not limited to, one or more combinations of proximity switches, industrial cameras, laser sensors, and the like.
Optionally, the first field operating device is further configured to input a field control command of the job site 1 and display a state of the first robot operating system; the second site operation device is also used for inputting a site operation command to the work site 2 and displaying the status of the second robot operation system.
Optionally, the human-computer interaction unit is further configured to input a remote operation instruction and display states of the first and second robot operating systems.
Optionally, the upper control device is arranged in a remote control room, adopts a cabinet structure, and continuously refers to fig. 3, and includes a siemens PLC controller 4051 and a third optical fiber switch 4052, wherein the PLC controller is connected to the third optical fiber switch through a network cable, and the third optical fiber switch is connected with the first and second optical fiber switches through optical fibers to realize remote communication, so that the PLC controller 4051 sends a control instruction to the first and second KRCs 4. Optionally, the upper control device further includes a third DI \ DO module.
Optionally, the human-computer interaction device is disposed in the remote operation room, and with continued reference to fig. 3, the human-computer interaction device is composed of a host 4062 and a display screen 4061, wherein the host is connected with the PLC controller 4051 of the upper control device 405 through network communication, and the display screen 4061 interface is provided with an operation button and a system state display control, so that the operation of at least one of the first and second robot bodies can be remotely completed. Optionally, the host includes an industrial personal computer or a PC.
Taking the application of the ABB industrial robot to the operation of the platform of the continuous casting machine as an example, the robot control system provided in the first embodiment is exemplified by another specific embodiment, referring to fig. 4, taking two operation points of the ladle position and the casting position of the continuous casting machine as an example, the specific robot control system comprises a third control device 501, a third field operation device 503 and a third field sensing device 504 applied to the ladle position of the operation site 3, a fourth control device 508, a fourth field operation device 510 and a fourth field sensing device 511 applied to the casting position of the operation site 4, and the same set of human-machine interaction device 406 and an upper control device 505 shared by the above devices. Wherein, the third control means 501 is provided in a third site guard (not shown in the drawings) for controlling a third robot body 507 provided in the work site 3; the fourth control device 508 is provided in a fourth field protection device (not shown) and controls a fourth robot main body 512 provided in the work site 4. The third and fourth field protection devices include, but are not limited to, a sealed cabinet structure, which is respectively installed with the third and fourth robot bodies at the work site 3 and the work site 4. The third control device is in communication connection with the third field operation device, the third field sensing device and the upper control device, the fourth control device is in communication connection with the fourth field operation device, the fourth field sensing device and the upper control device, and the upper control device is in communication connection with the human-computer interaction device.
Optionally, with continued reference to fig. 4, the third control means 501 comprises a first rockver DI/DO module 5011, a third RS485 communication module 5012, a third fabric switch 5013, a first rockver site EN2T5014, a first IRC55015 of the ABB robot specific control means, a first air-cooled air conditioner 5016. The fourth control device 508 includes a second rockvier DI/DO module 5082, a fourth RS485 communication module 5083, a fourth fiber switch 5085, a second rockvier station EN2T5081, a second IRC 55086 of the ABB robot dedicated control device, and a second air-cooled air conditioner 5084.
Optionally, the third and fourth control devices further include a circuit breaker, a contactor, a relay, and the like, which are not described herein again.
Optionally, a robot power port and a signal port of the first IRC5 are connected to the third robot body through a robot dedicated cable, and a network communication end of the first IRC5 and the first rockvell site EN2T are both connected to the third optical fiber switch through a network cable; the first air cooling air conditioner is provided with an RS485 communication function, an RS485 port of the first air cooling air conditioner is connected to a third RS485 communication module, and the first air cooling air conditioner can transmit temperature signals and air conditioner start and stop signals. And a wire inlet is arranged below the third field protection device, and the system is sealed by adopting fireproof mud after wiring is completed. Similarly, the internal routing of the fourth control device and the structure of the fourth field protection device are similar to the internal routing of the third control device 508 and the structure of the third field protection device, and are not described herein again.
Optionally, the third and fourth field operation devices are respectively disposed at the receiving position of the continuous casting machine at the operation site 3 and the casting position of the continuous casting machine at the operation site 4, and respectively include a third operation box 5031, a fourth operation box 5101, a first touch screen 5032, and a second touch screen 5102, and the third and fourth operation boxes may be handheld operation boxes, which is more portable. The third operation box is provided with a control switch for hanging the oil cylinder and the medium pipeline, a robot stop switch and a system fault alarm indicator lamp, and the fourth operation box is provided with a control switch for dismounting the long water gap, measuring the temperature of the tundish, sampling and delivering the covering agent; the third and fourth operation boxes are respectively connected with the first and second Rockwell DI/DO modules in the third and fourth field protection devices through hard wires. The first touch screen and the second touch screen operate the operation interface, are used for inputting operation requirements and displaying system states, and are respectively connected with the third switch and the fourth switch.
Optionally, the third and fourth control devices further include a temperature measurement device for measuring the current temperature in the third and fourth protection devices. Optionally, the temperature measuring device is integrated on the first air-cooled air conditioner and the second air-cooled air conditioner.
Optionally, with continued reference to fig. 4, the third and fourth site sensing devices include a third industrial camera 5041 and a fourth industrial camera 5111, respectively, mounted at the jobsite 3 package site and the jobsite 4 casting site, respectively. The third industrial camera 5041 transmits the packet-receiving visual signal to an industrial personal computer (not shown in the figure) through a third switch, further processes the packet-receiving visual signal by the industrial personal computer to obtain the insertion positions of the oil cylinder and the pipeline, and transmits the position state to the first IRC 544015 so as to adjust the motion of the first robot body 407. The fourth industrial camera 5111 transmits the casting position visual signal to an industrial personal computer (not shown in the figure) through a fourth switch, the industrial personal computer further processes the casting position visual signal to obtain the position of the ladle nozzle, and transmits the position state of the ladle nozzle position to the second IRC54086 so as to adjust the action of the fourth robot body 512.
Optionally, the industrial personal computer may be disposed in any one of the first field protection device, the upper control device, and the human-computer interaction device.
Optionally, the third and fourth field sensing devices include, but are not limited to, one or more combinations of proximity switches, industrial cameras, laser sensors, and the like.
Optionally, the third field operating device is further configured to input a field control command of the work field 3 and display a state of the third robot work system; the fourth site operation device is also used for inputting site control commands to the work site 4 and displaying the status of the fourth robot work system, respectively.
Optionally, the human-computer interaction unit is further configured to input a remote control command and display states of the third and fourth robot operating systems.
Optionally, the upper control device is disposed in a remote control room, and with reference to fig. 4, the upper control device is of a cabinet structure, and includes a PLC controller 5051 (which may be a rocxwell PLC controller) and a fifth switch 5052, where the PLC controller is connected to the fifth switch through a network cable, and the fifth switch is connected to the third switch and the fourth switch through the network cable to implement remote communication, so that the PLC controller 5051 sends a control instruction to the first IRC5 and the second IRC 5. Optionally, the upper control device further includes an industrial personal computer 5053, which is in communication connection with the PLC controller 5051 and the fifth switch 5052, respectively. Optionally, the human-computer interaction device is disposed in the remote operation room, and with continued reference to fig. 4, the human-computer interaction device is composed of a host 4062 and a display screen 4061, wherein the host is connected to the PLC controller 5051 of the upper control device 505 through network communication, and an operation button and a system state display control are disposed on an interface of the display screen 4061, so that operation of at least one of the third and fourth robot bodies can be remotely completed. Optionally, the host includes an industrial personal computer or a PC.
By integrating the special control device for the robot in the field protection device, the special control device for the robot can be placed in a severe field, the actual requirements of shortening the lengths of various cables in the field can be met, finally, the field and an electric room, the electric room and a central control room are in network communication only through network cables or optical fibers, the stability of long-time work can be met, and meanwhile, the cost is reduced.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A robot control system is characterized by comprising an on-site protection device and a control device arranged in the on-site protection device; the field protection device is arranged on an operation field and used for protecting the control device;
the control device includes:
the communication module is used for acquiring and sending an operation instruction and a field control instruction;
the special control module for the robot is used for controlling the robot body according to the operation instruction;
the environment adjusting module is used for adjusting the environment state in the field protection device according to the operation instruction;
and the field input and output module is used for acquiring a field control instruction and sending the field control instruction to the communication module.
2. The robot control system of claim 1, further comprising:
the field operation device is used for inputting the field control command;
and the upper control device is used for carrying out logic processing according to the field control instruction and generating an operation instruction.
3. The robot control system of claim 2, wherein the communication module comprises:
the environment adjusting communication module is in communication connection with the environment adjusting module;
the field input and output station module is in communication connection with the field input and output module and the environment adjusting communication module;
and the switch module is in communication connection with the special robot control module, the field input/output station module and the upper control device respectively and is used for transmitting the operation instruction and the field control instruction.
4. The robotic control system of claim 3, further comprising at least one of:
the human-computer interaction device is used for acquiring a remote control instruction, and the remote control instruction is logically processed by the upper control device to generate the operation instruction;
the communication module is further used for acquiring a signal state of a robot control system, the upper control device is further used for generating an operation instruction according to the field control instruction and the signal state, and the robot special control module is used for controlling the robot body according to the operation instruction.
5. A robot control system according to any of claims 1-4, characterized in that the field protection device comprises a sealed cabinet comprising a wire inlet, which is sealed with at least one of a fire protection mud and a sealing ring after the wiring of the robot control system is completed.
6. A robot control system according to any of claims 1-4, characterized in that the robot control system further comprises:
the field sensing device is used for collecting environment data of an operation field;
the processing module is in communication connection with the switch module and is used for acquiring operation field environment data, processing the operation field environment data to generate an operation field environment result and transmitting the operation field environment result to the special robot control module through the switch module in a preset mode;
the robot special control module is also used for controlling the robot body according to the operation site environment result;
the preset mode comprises at least one of the following modes: directly sending the data to the special control module for the robot; and sending the operation site environment result to the upper control device, processing the operation site environment result by the upper control device, and transmitting the operation site environment result to the special control module for the robot.
7. The robotic control system of claim 6, wherein the presence sensing device includes at least one of: proximity switches, industrial cameras, laser sensors.
8. The robot control system according to claim 6, wherein the on-site sensing device includes an image capturing apparatus for acquiring work target image information;
the processing module generates position information of the working target according to the working target image information and transmits the position information of the working target to the special control module for the robot;
the special control module for the robot is also used for controlling the robot body according to the position information of the working target.
9. The robot control system of claim 2, further comprising at least one of:
the field operation device is also used for displaying the state of the robot body and the state of the robot control system, and the human-computer interaction device is also used for displaying the state of the robot body and the state of the robot control system;
at least two control devices, and the field operation device corresponding to each control device,
The robot body and the control devices are respectively arranged on at least two working sites, and the control devices are respectively in communication connection with the same upper control device.
10. An industrial robot working system, characterized in that it comprises a robot control system according to any of claims 1-8.
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| CN116690585A (en) * | 2023-07-25 | 2023-09-05 | 上海汇丰医疗器械股份有限公司 | Shadowless lamp path planning method and device based on automatic mechanical arm |
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| CN112356035B (en) | 2022-06-28 |
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