Method of realizing manipulator teaching function based on plc imitation robot instruction
A functional method and manipulator technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor program portability, high technical requirements for operators, cumbersome and complicated processes, etc., and achieve reduced operation difficulty, flexible operation, and Easy to edit effects
Active Publication Date: 2021-01-19
HANGZHOU DIANZI UNIV
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Problems solved by technology
Controllers include microcontrollers, PLCs, ARMs, DSP data processors, etc. They have the problem of solidifying the control process. If you want to modify the process flow, you need to change a large number of underlying codes. At the same time, the portability of the program is poor, and it is suitable for different controllers or configurations. Different peripherals need to customize different control programs to realize the process flow, the process is cumbersome and complicated, and the technical requirements for operators are high
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[0016] combined with figure 1 To further illustrate the present invention, it should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. After reading the present invention, those skilled in the art all fall within the scope of the present invention to the modifications of various equivalent forms of the present invention. The scope of the application is defined by the appended claims.
[0017] The specific implementation of the steps shown in the above content is as follows:
[0018]Step 1: Configure the configuration screen and write the control program. In the MCGS device window, add a general-purpose serial port device, add a PLC device, associate the configuration screen with the PLC, increase the read and write channels of the PLC-related code memory area, and increase the read and write channels of the control register. Define configuration-related variables in the rea...
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The invention discloses a method for achieving the teaching function of a mechanical arm based on an instruction of a PLC humanoid robot. A code compiler is constructed through a basic instruction of a PLC, and subprograms correspondingly meeting a motion control requirement and an industrial application requirement are set up through a system subprogram and sequentially controlled functions, and an arithmetic unit is constructed in the PLC in the manner of defining internal storage and calling a basic operation instruction to complete data operation; and the constructed main program and an edited PLC pulse output program cooperate to complete a recognition function of the system on a code, a parameter loading function and the function of finally achieving a teaching process. Compared with a current application, the method achieves the function of modifying the technological process and motion parameters by inputting control instruction stream under the condition that an underlying code is not changed, the system has higher flexibility and easy operation performance, and the technical requirements of the system are reduced.
Description
technical field [0001] The invention relates to a manipulator teaching method, in particular to a method for realizing the manipulator teaching function based on PLC imitating robot instructions. Background technique [0002] The first manipulator appeared in 1954, which opened up people's understanding of manipulators and proposed the idea of manipulator components. The main control principle of the manipulator is to input various motion parameters and trajectory information through human-computer interaction, the core processor calculates and outputs control signals, and then controls the movement of the manipulator through the intermediate driver, and controls the action of the manipulator through the output switch. Therefore, the manipulator teaching system now has multiple research directions: research on the input method of manipulator teaching information, research on the use of the core controller, research on the control mode of the motion process, and research on...
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IPC IPC(8): B25J9/22
CPCB25J9/0081
Inventor 张卫马玉良周靖淞
Owner HANGZHOU DIANZI UNIV