WO2018170665A1 - Industrial robot system, control system and method, controller and computing device - Google Patents

Abstract

Provided is an industrial robot system. An industrial robot control system (10) comprises: a controller (11) and a computing device (12). The controller (11) is connected to an operating machine of the industrial robot, and the computing device (12) is connected to the controller (11). The controller (11) is configured to run a first type of program corresponding to a first operation instruction to implement a first type of function; and the computing device (12) is configured to run a second type of program corresponding to a second operation instruction to implement a second type of function to which the second type of program corresponds by using the controller (11), wherein, the first type of program is different from the second type of program. The industrial robot control system can reduce the load of the controller (11) and improve the reliability of the robot operation. Also disclosed are a control system and method, a controller and a computing device.

Description

Industrial robot system, control system and method, controller and computing device

[Technical Field]

The present invention relates to the field of robot technology, and in particular to an industrial robot system, a control system and method, a controller, and a computing device.

 【Background technique】

Industrial robots are multi-joint robots or multi-degree-of-freedom machines for industrial applications. They are machines that can perform their own functions by relying on their own power and control capabilities. Due to its programmable, anthropomorphic, versatile and mechatronics technology, it is widely used in automotive and automotive parts, engineering machinery, rail transit, low-voltage electrical appliances, electric power, IC equipment, military, tobacco. , finance, medicine, metallurgy, printing and publishing, and many other industries.

However, since the function control software of the existing industrial robots is deployed on the internal controller of the industrial robot, and the functions of the industrial robot are mostly integrated in the function control software. As the demand for industry continues to increase, the functions integrated in the function control software are more and more complex, which puts higher and higher requirements on the internal controllers on industrial robots, resulting in the cost of industrial robot production and maintenance. Increased and reduced the reliability of industrial robots.

 [Summary of the Invention]

The technical problem mainly solved by the present invention is to provide an industrial robot system, a control system and method, a controller and a computing device, which can solve the problems of high cost and low operational reliability of industrial robot production and maintenance.

In order to solve the above technical problem, the technical solution adopted by the present invention is to provide a control system for an industrial robot, comprising: a controller and a computing device, the controller is connected with an operating machine of the industrial robot, and the computing device is connected with the controller; Receiving a user operation instruction, and determining that the user operation instruction is a first operation instruction or a second operation instruction, and when the user operation instruction is the first operation instruction, running the first type of program corresponding to the first operation instruction to implement the first type of function When the user operation instruction is the second operation instruction, sending the second operation instruction to the computing device; the computing device is configured to receive the second operation instruction sent by the controller, and run the second type of program corresponding to the second operation instruction, The second type of function corresponding to the second type of program is implemented by the controller; wherein the first type of program is different from the second type of program.

In order to solve the above technical problem, the technical solution adopted by the present invention is: providing an industrial robot system, the industrial robot comprising: an operating machine; a controller, connecting the operating machine, for receiving a user operation instruction, and determining that the user operation instruction is An operation instruction or a second operation instruction, when the user operation instruction is the first operation instruction, running the first type of program corresponding to the first operation instruction to implement the first type of function; when the user operation instruction is the second operation instruction, The second operation instruction sends a first type of program to the computing device to implement the first type of function; the computing device, the connection controller, is configured to receive the second operation instruction sent by the controller, and run the second class corresponding to the second operation instruction The program runs the second type of program by implementing a second type of function corresponding to the second type of program by the controller and implements the second type of function by the controller; wherein the first type of program is different from the second type of program.

In order to solve the above technical problem, the technical solution adopted by the present invention is to provide a controller for an industrial robot, comprising: a first communication interface for connecting an operation machine of an industrial robot; and a second communication interface for connecting an industrial robot The third communication interface is configured to receive a user operation instruction, and the processing circuit is coupled to the first communication interface, the second communication interface, and the third communication interface, and is configured to receive a user operation instruction through the third communication interface, and determine the user The operation instruction is a first operation instruction or a second operation instruction, and when the user operation instruction is the first operation instruction, running the first type program corresponding to the first operation instruction, and controlling the operation machine to implement the first type function through the first communication interface; When the user operation instruction is the second operation instruction, send the second operation instruction to the computing device through the second communication interface, so that the computing device runs the second type of program corresponding to the second operation instruction, and implements the second type through the controller. The second type of function corresponding to the program; wherein the first type of program is different from the second type of program.

In order to solve the above technical problem, the technical solution adopted by the present invention is to provide a computing device for an industrial robot, comprising: a fourth communication interface, a controller for connecting an industrial robot; and a processor coupled to the fourth communication The interface receives the second operation instruction sent by the controller through the fourth communication interface, and runs the second type of program corresponding to the second operation instruction, so as to implement the second type of function corresponding to the second type of program by the controller.

In order to solve the above technical problem, the technical solution adopted by the present invention is to provide a control method for an industrial robot, comprising: receiving a user operation instruction; determining that the user operation instruction is a first operation instruction or a second operation instruction; The operation instruction, the controller of the industrial robot runs the first type of program to implement the first type of function; if it is the second operation instruction, the controller sends the second operation instruction to the computing device of the industrial robot to make the computing device run The second type of program implements the second type of function; wherein the first type of program is different from the second type of program.

The invention has the beneficial effects that, different from the prior art, the present invention allocates a part of the control function of the industrial robot to the computing device by setting the computing device connected to the controller, and retains only the first on the controller. The first type of program corresponding to the class function, therefore, the main body of the control operation member is no longer limited to one controller, and the controller and the computing device can respectively run the corresponding programs, further adding new operation functions, and stepping back can reduce the controller The load, in turn, reduces the requirements on the controller and improves the reliability of the robot's operation.

 [Description of the Drawings]

1 is a schematic view of a frame of an embodiment of a control system for an industrial robot of the present invention;

2 is a schematic view of a frame of an embodiment of the industrial robot system of the present invention;

3 is a schematic structural view of an embodiment of an industrial robot controller of the present invention;

4 is a schematic structural view of an embodiment of a computing device for an industrial robot according to the present invention;

5 is a schematic flow chart of an embodiment of a control method of an industrial robot according to the present invention;

FIG. 6 is a schematic flow chart of step S120 in an embodiment of the control method of the industrial robot of the present invention.

【detailed description】

Referring to FIG. 1, an embodiment of a control system 10 for an industrial robot of the present invention includes a controller 11 and a computing device 12.

The controller 11 is specifically connected to the operating machine of the industrial robot, and is configured to receive a user operation instruction, and determine that the user operation instruction is the first operation instruction or the second operation instruction, and when the user operation instruction is the first operation instruction, the operation is performed. A first type of program corresponding to an operation instruction to implement a first type of function; and when the user operation instruction is a second operation instruction, the second operation instruction is sent to the computing device 12.

Optionally, when the controller 11 determines that the user operation instruction is the first operation instruction or the second operation instruction, the controller 11 first acquires an operation parameter of the user operation instruction, and according to the operation parameter and the operation instruction in the preset function program table. Corresponding relationship, and then determining that the user operation instruction matching the operation parameter is the first operation instruction or the second operation instruction.

It is easy to understand that the controller 11 is the core of the industrial robot, and is specifically connected to the operating machine of the industrial robot through the power line and the data line, thereby being able to power the operating machine and transmitting the power to the various operating parts of the operating machine through the power line. .

Specifically, in order to meet the industrial needs, the controller 11 is mostly composed of ARM series, DSP series, POWERPC series, Intel series and other chips with strong computing power. In some application scenarios, due to the function and performance of the existing general-purpose chips. The requirements of price, performance, integration, and interface of some industrial robots cannot be fully satisfied. In this case, specific processors can be integrated with the required interfaces as needed, which simplifies the design and reduction of peripheral circuits of the system. System size and cost reduction. At the same time, the controller 11 can be a portable device or a fixed device, depending on different needs.

Alternatively, the first type of function may include at least one of motion control, flow control, IO control, timing function, and the like. More specifically, the first type of function may be to move the individual joints of the manipulator separately, move the manipulator in the Cartesian coordinate system, read the encoder values of the joints of the manipulator, and read the Cartesian coordinates of the tool center point on the manipulator. , power-on and power-off, enable or disable the corresponding drive of the operation machine, read and set the input and output status of the controller, safety control, read and execute the execution code of the robot control program, and pause the execution process And restarting, controlling at least one of the internal variables of the program, and changing. It is easy to understand that the first type of program is a program that needs to be executed to implement the first type of function, and specifically may be related software, a plug-in or the like capable of controlling the implementation of the first type of function, and is integrated in the controller 11 in this embodiment.

In this embodiment, since the first type of function only retains the most basic control functions related to normal production of the industrial robot, in one application scenario, the first type of program only runs on the single chip of the controller 11, and further To some extent, the reliability of industrial robots has been improved. Of course, in other application scenarios, it is not limited to a single chip microcomputer. It is easy to understand, because the basic functions required by the robot do not change frequently, that is, the functions inside the basic function software usually do not need to be changed frequently. Therefore, in product development, only the other functions required by the robot are required. The program can be developed accordingly, which reduces unnecessary labor and time. Therefore, the product development cycle can be reduced by such a design.

At the same time, the computing device 12 is connected to the controller 11 for receiving the second operation instruction sent by the controller 11 and running the second type of program corresponding to the second operation instruction to implement the second type of program corresponding to the controller 11. The second type of function.

The computing device 12 can be at least one of an industrial control computer, a server, or even the controller 11 itself. Specifically, computing device 12 is coupled to controller 11 via a communication network. In some application scenarios, it is also possible to connect through a wireless network or a wired network.

It is easy to understand that the above first type of program is different from the second type of program.

In one application scenario, computing device 12 running a second type of program and implementing a second type of functionality by controller 11 includes running a second type of program on computing device 12 to obtain an executable file, and through a connection with controller 11. The executable file is sent to the controller 11 to implement the second type of functionality. Wherein, for example, when the robot is a joint type robot, the executable file may specifically be a simple data file such as a coordinate, an angle, a moving speed, an acceleration, and the like of each joint at a corresponding time point when the robot completes the second type of function. . At this time, although the controller 11 is still running, it is only necessary to run these simple executable files, which greatly reduces the operational load of the controller 11.

Specifically, the second type of functions may include a basic operation application and an extended function application. The basic operation application is an application function necessary for the user to complete the robot control, and may specifically be at least one of zero point calibration, coordinate system measurement, file management, file editing, compiling, downloading, debugging, etc.; and the extended function application is different. The application function used by the user may specifically include at least one of arc welding, spot welding, soft PLC, soft floating, force control, conveyor tracking, and the like.

Since the computing device 12 can be unrestricted to the controller 11, a general-purpose industrial control computer or an external server or the like having better performance can be selected. It is easy to understand that one computing device 12 may correspond to one operating machine, or may correspond to multiple operating devices to meet different usage requirements of the user, and is not specifically limited herein. In an application scenario, the computing device 12 can also be the controller 11 itself of the industrial robot system 10, which is easily understood, in which case the controller 11 can both run the first type of program to implement the first type of function, Ability to run a second type of program to implement a second type of functionality.

In the present embodiment, the basic operation application related to the industrial robot and the extended function application, that is, the second type of function, are integrated on the computing device 12 instead of being integrated on the controller 11 together with the first type of function. In this case, the main body of the control operating member is no longer limited to the controller 11, and the control device 11 and the computing device 12 can respectively operate the corresponding programs, further adding new operational functions, and stepping back can reduce the load on the controller 11. In turn, the requirements on the controller 11 are reduced, and the reliability of the operation of the robot is improved. At the same time, if only the corresponding basic operation function and the corresponding function of the extended function need to be upgraded, only the computing device 12 and/or the second type of program need to be upgraded, without requiring each controller 11 and/or the first type. Program upgrades greatly reduce maintenance costs and software usage costs.

Referring to FIG. 2, an embodiment of the industrial robot system 20 of the present invention includes an operating machine 21, a controller 22, and a computing device 23.

According to the mechanical structure, industrial robots can be divided into Cartesian robots, SCARA robots, articulated robots, parallel robots, etc. Different industrial robots are used according to different application requirements. At present, the industrial robot market is mainly an articulated industrial robot.

The controller 22 is connected to the operating machine 21 for receiving a user operation instruction, and determining that the user operation instruction is the first operation instruction or the second operation instruction. When the user operation instruction is the first operation instruction, the running the first operation instruction corresponds to The first type of program is to implement the first type of function; when the user operation instruction is the second operation instruction, the second operation instruction is sent to the computing device 23; the computing device 23 is connected to the controller 22 for receiving the controller 22 to send The second operation instruction and the second type of program corresponding to the second operation instruction are used to implement the second type of function corresponding to the second type of program by the controller 22.

The functions and the connection manners of the controller 22 and the computing device 23 in this embodiment are substantially the same as those in the embodiment of the control system of the industrial robot of the present invention. For details, refer to the foregoing embodiment, and details are not described herein again.

It should be noted that the manipulator 21 is the body structure and mechanical transmission system of the industrial robot system 20, and is the main control object of the controller 22 and the computing device 23. It is easy to understand that the manipulator 21 is an important component of the industrial robot system 20, and is also a support base and an actuator therein. All calculations, analysis and programming are ultimately performed by the manipulator 21 to implement various complex motions. In an application scenario, the basic structure of the operating machine 21 mainly includes: a transmission component, a body and a traveling mechanism, an arm, a wrist, a hand, and the like, and each component performs a preset action by the control of the controller 22, Then cooperate with each other to complete a specific task. Due to the special working environment and working nature of industrial robots, the common operating machine 21 materials include carbon structural steel and alloy structural steel, aluminum, aluminum alloy and other light alloy materials, fiber reinforced alloys, ceramics, fiber reinforced composite materials, etc. This is not limited here.

In an application scenario, the manipulator needs to perform the second type of function in the case of leaving the computing device 12. In this case, the computing device 12 is required to run the second type of program, and the executable file obtained by running the second type of program is downloaded. To the controller 11, and after leaving the computing device 12, the controller 11 can execute the executable file to control the manipulator to implement the second type of function.

For example, the user needs the manipulator to perform the palletizing function without the computing device 12. In this case, after the computer device 12 receives the instruction of the pallet, it is determined that the palletizing function corresponding to the palletizing instruction belongs to the second type of function, and then the computing device 12 runs the corresponding program of the palletizing function, and will run The executable file obtained by the program is downloaded to the controller 11, and then, after disconnecting the computer device 12 from the controller 11, the controller 11 can control the manipulator to implement the palletizing function by running the executable file.

Referring to FIG. 3, an embodiment of the controller 30 of the industrial robot of the present invention includes: a first communication interface 31 for connecting an operation machine of an industrial robot; and a second communication interface 32 for connecting a computing device of an industrial robot; The third communication interface 33 is configured to receive a user operation instruction, and the processing circuit 34 is coupled to the first communication interface 31, the second communication interface 32, and the third communication interface 33 for receiving user operations through the third communication interface 33. The instruction determines that the user operation instruction is the first operation instruction or the second operation instruction, and when the user operation instruction is the first operation instruction, runs the first type of program corresponding to the first operation instruction, and controls the operation machine through the first communication interface 31. a first type of function; when the user operation instruction is the second operation instruction, sending the second operation instruction to the computing device through the second communication interface 32, so that the computing device runs the second type of program corresponding to the second operation instruction, and passes The controller 30 implements a second type of function corresponding to the second type of program.

It is easy to understand that the above first type of program is different from the second type of program.

After the third communication interface 33 acquires the operation parameter of the user operation instruction, the processing circuit 34 determines that the user operation instruction matching the operation parameter is the first operation according to the correspondence between the operation parameter and the operation instruction in the preset function program table. Instruction or second operation instruction. Through the implementation of the foregoing embodiment, the processing circuit 34 receives the user operation instruction through the third communication interface 33, and determines that the user operation instruction is the first operation instruction or the second operation instruction, and when the user operation instruction is the first operation instruction, the first operation is performed. The first type of program corresponding to the operation instruction controls the operation machine to implement the first type of function through the first communication interface 31; when the user operation instruction is the second operation instruction, sends the second operation instruction to the computing device through the second communication interface 32. So that the computing device runs the second type of program corresponding to the second operation instruction, and implements the second type of function corresponding to the second type of program through the controller 30.

The processing circuit 34 may specifically be at least one of a processor, a server, a computer, and the like.

The related functions of the controller 30 and the like are the same as those in the embodiment of the control system of the industrial robot of the present invention and the embodiment of the industrial robot system of the present invention. For details, refer to the above embodiments, and details are not described herein again.

Referring to FIG. 4, the computing device 40 for an industrial robot of the present invention includes: a fourth communication interface 41 for connecting a controller of an industrial robot; a processor 42 coupled to the fourth communication interface 41, through the fourth communication interface The second operation instruction sent by the controller is received by the controller, and the second type of program corresponding to the second operation instruction is executed to implement the second type of function corresponding to the second type of program by the controller.

Through the implementation of the foregoing embodiment, the processor 42 receives the second operation instruction sent by the controller through the fourth communication interface 41, and runs the second type of program corresponding to the second operation instruction to implement the second type of program corresponding to the controller. The second type of function.

It should be noted that the functions and the like of the computing device 40 in this embodiment are the same as those in the embodiment of the control system of the industrial robot of the present invention and the embodiment of the industrial robot system of the present invention. For details, refer to the above embodiment. , will not repeat them here.

Referring to FIG. 5, an embodiment of a control method for an industrial robot according to the present invention includes:

Step S110, receiving a user operation instruction;

The user operation instruction may be specifically received by the controller, and/or the computing device; in this embodiment, the controller is specifically received by the controller.

Step S120, determining that the user operation instruction is the first operation instruction or the second operation instruction;

It will be readily understood that when the user operation instructions are received by the controller, the determination program can be executed by the controller, and when received by the computing device, the determination program is executed by the computing device. Of course, in other application scenarios, the controller and the computing device may simultaneously receive the foregoing instructions, and both execute the determining program; in this embodiment, the determining program is specifically executed by the controller.

Step S131, if it is the first operation instruction, the controller of the industrial robot runs the first type of program to implement the first type of function;

In other application scenarios, for example, when the computing device receives the user operation instruction and executes the determination program, when the determination result is the first operation instruction, the computing device sends the instruction to the controller, so that the computing device runs the first A type of program that implements the first type of functionality.

Step S132, if it is the second operation instruction, the controller sends the second operation instruction to the computing device of the industrial robot, so that the computing device runs the second type of program to implement the second type of function;

In other application scenarios, for example, when the computing device receives the user operation instruction and executes the determination program, when the determination result is the second operation instruction, the computing device directly runs the first type of program to implement the first type of function.

It is easy to understand that the first type of program is different from the second type of program.

Optionally, referring to FIG. 6, step S120 further includes:

Step S121, acquiring an operation parameter of a user operation instruction;

Step S122: Determine, according to the correspondence between the operation parameter and the operation instruction in the preset function program table, that the user operation instruction that matches the operation parameter is the first operation instruction or the second operation instruction.

Through the implementation of the above embodiments, the functions of the industrial robot are respectively integrated on the controller and the computing device. In this case, the main body of the control operating member is no longer limited to one controller, and the controller and the computing device can respectively run the corresponding programs. Further, new operational functions can be added, and a step back can reduce the load on the controller, thereby reducing the requirements on the controller and improving the reliability of the robot operation. At the same time, if you only need to upgrade the basic operation function and the corresponding program of the extended function, you only need to upgrade the computing device and/or the second type of program without upgrading each controller and/or the first type of program. Therefore, maintenance costs and software use costs are greatly reduced.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation made by the specification and the drawings of the present invention may be directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (15)

A control system for an industrial robot, characterized in that the system comprises: a controller and a computing device, the controller being connected to an operating machine of the industrial robot, the computing device being connected to the controller; The controller is configured to receive a user operation instruction, and determine that the user operation instruction is a first operation instruction or a second operation instruction, and when the user operation instruction is a first operation instruction, running the first operation instruction a first type of program to implement a first type of function; when the user operation instruction is the second operation instruction, send the second operation instruction to the computing device; The computing device is configured to receive a second operation instruction sent by the controller, and run a second type of program corresponding to the second operation instruction, to implement a second corresponding to the second type of program by using the controller Class function Wherein the first type of program is different from the second type of program. The system according to claim 1, wherein the controller determines that the user operation instruction is a first operation instruction or a second operation instruction, and includes: The controller acquires an operation parameter of the user operation instruction, and determines, according to a correspondence between the operation parameter and the operation instruction in the preset function program table, that the user operation instruction matching the operation parameter is the first Operation instruction or second operation instruction. The system of claim 1 wherein: The first type of function includes at least one of motion control, flow control, IO control, and timing function; the second type of function includes zero point calibration, coordinate system measurement, file management, file editing, compiling, downloading, debugging, and arc At least one of welding, spot welding, soft PLC, soft floating, force control, and conveyor tracking. The system of claim 1 wherein: The connection between the controller and the operating machine is implemented by a power line and a data line; The computing device is coupled to the controller via a communication network. The system of claim 1 wherein: The running the second type of program corresponding to the second operation instruction to implement the second type of function corresponding to the second type of program by using the controller comprises: running a second type of program corresponding to the second operation instruction Obtaining an executable file and transmitting the executable file to the controller to implement the second type of functionality by the controller. An industrial robot system, characterized in that the industrial robot system comprises: Operating machine a controller, configured to receive a user operation instruction, and determine that the user operation instruction is a first operation instruction or a second operation instruction, and when the user operation instruction is a first operation instruction, running the a first type of program corresponding to the first operation instruction to implement the first type of function; and when the user operation instruction is the second operation instruction, send the second operation instruction to the computing device; a computing device, connected to the controller, configured to receive a second operation instruction sent by the controller, and run a second type of program corresponding to the second operation instruction to implement the second class by using the controller The second type of function corresponding to the program; Wherein the first type of program is different from the second type of program. The system according to claim 6, wherein the controller determines that the user operation instruction is a first operation instruction or a second operation instruction, and includes: The controller acquires an operation parameter of the user operation instruction, and determines, according to a correspondence between the operation parameter and the operation instruction in the preset function program table, that the user operation instruction matching the operation parameter is the first Operation instruction or second operation instruction. A controller for an industrial robot, comprising: a first communication interface for connecting an operating machine of the industrial robot; a second communication interface, configured to connect the computing device of the industrial robot; a third communication interface, configured to receive a user operation instruction; a processing circuit, coupled to the first communication interface, the second communication interface, and the third communication interface, configured to receive the user operation instruction by using the third communication interface, and determine that the user operation instruction is An operation instruction or a second operation instruction, when the user operation instruction is the first operation instruction, running a first type of program corresponding to the first operation instruction, and controlling the operation machine to be implemented by the first communication interface a type of function; when the user operation instruction is the second operation instruction, sending the second operation instruction to the computing device through the second communication interface, so that the computing device runs the a second type of program corresponding to the second operation instruction, and implementing a second type of function corresponding to the second type of program by the controller; Wherein the first type of program is different from the second type of program. The controller according to claim 8, wherein the processing circuit determines that the user operation instruction is a first operation instruction or a second operation instruction, and includes: After the operation parameter of the user operation instruction is acquired by the third communication interface, the processing circuit determines that the operation parameter matches the operation parameter according to the corresponding relationship between the operation parameter and the operation instruction in the preset function program table. The user operation instruction is a first operation instruction or a second operation instruction. The controller of claim 8 wherein: The controller includes a microcontroller, and the first type of program runs on the microcontroller. The controller of claim 8 wherein: The controller is a portable device or a fixed device; A computing device for an industrial robot, comprising: a fourth communication interface, configured to connect the controller of the industrial robot; a processor, coupled to the fourth communication interface, receiving, by the fourth communication interface, a second operation instruction sent by the controller, and running a second type of program corresponding to the second operation instruction, to pass the The controller implements a second type of function corresponding to the second type of program. The computing device of claim 12 wherein: The computing device includes at least one of an industrial control computer, a server, and the controller itself. A method for controlling an industrial robot, characterized in that the method comprises: Receiving user operation instructions; Determining that the user operation instruction is a first operation instruction or a second operation instruction; If the first operation instruction is, the controller of the industrial robot runs the first type of program corresponding to the first operation instruction to implement the first type of function; If the second operation instruction is, the controller sends the second operation instruction to the computing device of the industrial robot, so that the computing device runs the second type program corresponding to the second operation instruction To achieve the second type of function; Wherein the first type of program is different from the second type of program. The method according to claim 14, wherein the determining that the user operation instruction is a first operation instruction or a second operation instruction comprises: Obtaining an operation parameter of the user operation instruction; Determining, according to a correspondence between the operation parameter and the operation instruction in the preset function program table, a user operation instruction that matches the operation parameter is a first operation instruction or a second operation instruction.