Multiple-heterogeneous industrial robot control system

A technology of industrial robots and control systems, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve problems such as independent selection of PLC controller types, poor scalability, difficulty in running the same control algorithm for robot controllers, and insufficient programming flexibility. , to achieve the effect of improving flexibility and convenience, flexible collaborative control, and improving resource utilization

Active Publication Date: 2017-01-04
FUZHOU UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to propose a multi-heterogeneous industrial robot control system based on the deficiencies of the prior art, which is used to solve the problem that the existing heterogeneous multi-robot control system is difficult to independently select the type of PLC controller, poor scalability, and different types of robots. It is difficult for the controller to run the same control algorithm, insufficient programming flexibility, low efficiency, unsatisfactory control effect and other technical problems

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Embodiment Construction

[0022] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0023] A multi-heterogeneous industrial robot control system of the present invention includes a heterogeneous robot execution layer, a heterogeneous controller calculation layer, and a host computer configuration layer;

[0024] The heterogeneous robot execution layer includes N different types of industrial robots, each industrial robot is composed of a mechanical arm body with multiple joints and multiple joint drive modules, which are used to drive the execution of robot pose actions;

[0025] The heterogeneous controller computing layer includes N' different types of PLC or IPC controllers, and each controller is composed of a computing module, a memory area, and a communication module; the function of each controller is used for: A, execution User control instructions from the configuration layer of the upper computer; B. Calculate ...

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Abstract

The invention relates to a multi-heterogeneous industrial robot control system. The system provides a distributive multi-heterogeneous industrial robot control system structure. The system consists of three parts, namely, a heterogeneous robot execution layer, a heterogeneous controller calculation layer and a principal computer configuration layer. Specifically, a same set of control algorithm configuration programs can run between the heterogeneous controllers of an industrial robot, different types of programmable logic controllers (PLC) or industrial process controllers (IPC) can share and synchronize control data of different robots in real time by virtue of data exchanging software, so that the real-time performance and effectiveness of the synergistic control of a plurality of heterogeneous robots can be improved.

Description

technical field [0001] The invention belongs to the technical field of industrial automation software control, in particular to a multi-heterogeneous industrial robot control system. Background technique [0002] At present, industrial robots are widely used in various environments, facing more and more complex procedures, and users have higher and higher requirements for product quality and efficiency. In order to overcome the shortcomings of unreachable workspace and low efficiency encountered in single-robot operation, the existing technology usually adopts multi-robot collaborative operation. At present, there are several main problems in the control structure of existing multi-industrial robots. First, the original special controllers of industrial robots are generally used. The design is good, but the application cost is very high; second, most of the research on multi-robot collaborative control is carried out on the same brand of robots, and there are few studies on...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J9/16
CPCB25J9/161B25J13/00
Inventor 郑松吕冬冬张望李真真卢喆王亮亮毕超庄晓芳
Owner FUZHOU UNIV
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